diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/CHANGELOG.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/CHANGELOG.txt deleted file mode 100644 index edb2adf3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/CHANGELOG.txt +++ /dev/null @@ -1,685 +0,0 @@ -ODE CHANGELOG -------------- - -the rules for this file: - * entries are sorted newest-first. - * summarize sets of changes - dont reproduce every CVS log comment here. - * don't ever delete anything. - * keep the format consistent (79 char width, M/D/Y date format). - ------------------------------------------------------------------------------- -10/10/08 Remi Ricard (papaDoc) - * Fix bug in dJointGetPUAxis2. The axis was not multiplier with the - the rotation matrix of the good body. - * Fix bug if there is only one body on the PU joint the axis returned - was not the right one. - * Add unit test to verify previous bug. - -10/03/08 Rodrigo Hernandez (Kwizatz) - * Added Blender script to create ODE convex geoms under tools. - -10/01/08 Rodrigo Hernandez (Kwizatz) - * Convex-Convex collision detection code is finally stable. - -08/31/08 Daniel K. O. - * Applied patch 2080674: Improved dBodySetRotation; now exact rotation - matrices are preserved until the next simulation step. - -08/07/08 Daniel K. O. - * Fixed strict aliasing issue that was breaking the new trimesh collider. - -07/24/08 Daniel K. O. - * New functions: dBodyGetGyroscopicMode and dBodySetGyroscopicMode - (patch #2019242). - -07/15/08 Remi Ricard (papaDoc) - * Add a new define ODE_API_DEPRECATED to mark function as deprecated - when necessary. - -07/14/08 Remi Ricard (papaDoc) - * Finish adding patch 1336066: Joint feedback in quickstep by jsinecky - * demo_boxstack.cpp can now print joint feedback - -07/11/08 Daniel K. O. - * Bumped version for 0.10.1 - * Added proper usage of libtool's version info. - -07/10/08 Remi Ricard (papaDoc) - * Add new function dJointSetPistonAnchorOffset - * Add unittest for the piston joint - * Fix problem with dJointGetPistonPosition and - dJointGetPistonPositionRate when the joint is attached to only - a body 2. The sign was inversed. - -07/09/08 Remi Ricard (papaDoc) - * Optimize function Multiply1_12q1 in quickstep - Patch proposed by Riemer v.d. Zee and modified by Patrick Baggett - -07/08/08 Remi Ricard (papaDoc) - * Update the slider joint to have the same behavior as the other joint - when there is only a body2 attached to it. - * Update documentation for the slider joint. - * Remove warning by using REAL() - * Add new unittest for dJointGetSliderPositionRate - -07/08/08 Remi Ricard (papaDoc) - * Update unittest for the slider. - * Rename the new function dJointSetHingeAxisDelta to - dJointSetHingeAxisOffset. This remove will remove confusion with - the old function dJointSetHingeAnchorDelta - * Update documentation for the Hinge unittest - * Remove warning by using REAL() - -07/07/08 Daniel K. O. - * Max Correcting Vel doesn't affect bounciness, as before. - -07/03/08 Remi Ricard (papaDoc) - * Add new function dJointSetHingeAxisDelta - * Add unittest for this new function - -06/17/08 Remi Ricard (papaDoc) - - * Move the computation of the Relative Rotation for the slider joint - into a function. - * Add unittest for to check qrel - -06/17/08 Remi Ricard (papaDoc) - - * Remove unused variables. - * Remove a conversion warning between unsigned int and int - -06/17/08 Remi Ricard (papaDoc) - - * Move the function hingeComputeRelativeRotation as a member of - the hinge structure/class. - -06/17/08 Remi Ricard (papaDoc) - - * Move the computation of the Relative Rotation for the fixed joint - into a function. - -06/16/08 Remi Ricard (papaDoc) - - * Add testunit for the dxJointFixed - -06/04/08 Daniel K. O. - - * Moved joints to ode/src/joints, converted them to true virtual - methods. - -06/02/08 Daniel K. O. - - * Added an Auto template to step.cpp to handle memory deallocation. - -05/09/08 Daniel K. O. - - * Applied patch #1335202: Contact Joint Motion (with some corrections), - and added demo_motion. - -05/01/08 Oleh_Derevenko - - * Memory leak in GIMPACT fixed (reported by Derek) - -04/28/08 Oleh_Derevenko - - * Added possibility to collide a space of lower sublevel as a geometry - against another space of a higher level with dSpaceCollide2. - dSpaceSetSublevel/dSpaceGetSublevel are used for sublevel assignment/ - retrieval. - -04/27/08 Oleh_Derevenko - - * Fixed incorrect memory copying which could lead to memory corruption - in GIMPACT (luckily, in unused code) - * Fixed possible memory read beyond the end of allocated buffer along - with unnecessary extra memory copying in GIMPACT. - * Fixed buffer reserve being incorrectly reset to zero for bitsets - what resulted in unnecessary memory reallocations in GIMPACT. - * Implemented support for ability to run collision detection from - multiple threads for separate spaces. - -04/14/08 Oleh_Derevenko - - * Fixed possible memory corruption in new trimesh-trimesh collider - in case if two degenerated triangles are checked against each other. - -04/12/08 Oleh_Derevenko - - * Fixed sporadic assertion failure on vector normalization caused - by small triangles degenerating into segments during space - transformations. - -03/28/08 Remi - - * Fix a bug in dJointXXXGetInfo. The value in limot.limit was not - always updated. (Ex: If hi and lo limit were changed). - -03/27/08 Remi - - * Added a new Joint: Prismatic Universal (patch #1828454). - - Daniel K. O. - - * Fixed bug #1841309: collide2() method buggy. - -03/18/08 Rodrigo - - * New function: dVector4Copy. - -03/14/08 david - - * Added stub calls for trimesh functions. - * Applied patch #1914232: dGetConfiguration. - * Applied patch #1655333: Optimize the function dNormalize3. - * New function: dSetColliderOverride. - * New function: dCheckConfiguration. - - Daniel K. O. - - * Disabled building shared library by default with autotools. - -03/13/08 david - - * New function: dJointGetNumBodies (patch #1901550). - * New function: dSpaceGetClass (patch #1901637). - * Applied patch #1901649: Add missing function in the export - -03/12/08 Rodrigo - - * Fixed drawstuff build issues on OSX. - -01/12/08 Daniel K. O. - - * Fixed a typedef bug in configure.in. - * Added dCylinder to the C++ wrappers. - * Applied patch 1851394: support for GIMPACT with double precision, - dCollide fix. - * Moved bunny geometry to bunny_geom.h. - -12/11/07 Daniel K. O. - - * Added damping and MaxAngularVel() functions. - * Const-correctness: added const qualifier to some dWorldGet and dBodyGet - functions. - * Updated the odecpp.h header. - -12/07/07 Daniel K. O. - - * Removed most of the compiler warnings from Drawstuff, ODE and - OPCODE - * Upgraded automake requirement to 1.10, and change some Makefile.am - -12/06/07 Rodrigo - - * Modified autotools to use libtool for - library generation and administration - * Removed release and debug flags for configure.in - CPPFLAGS, CFLAGS, CXXFLAGS should be set by the - user to their liking, respecting autotools policies. - -11/30/07 Daniel K. O. - * Applied patch 1813079 (moved callback) - * Replaced moveAndRotateBody by dxStepBody in stepfast.cpp - -11/10/07 david - - * Added 'Sweep and Prune' collision space. - * New Piston joint type with demo, by Remi Ricard - * Added build option to use 16-bit indices for OPCODE trimesh - -11/03/06 david - - * Integrated Christoph Beyer's average based sampling system for body - disabling. - -10/26/06 Francisco Leon - - * Totally refactored trimesh collision system. - Using GIMPACT instead of OPCODE. Now works correctly, and faster. - Visit http://gimpact.sourceforge.net. - - * Finally, test_moving_trimesh.exe works nicely. - - * Fixed autodisable system. Now is possible to set bigger sleeping - threshold values and objects won't be sleeping on the air. They will - rest on the floor properly. - - * dInitODE function added. - - * Is Obligatory to call dInitODE() at the beginning for initialize ODE, - and calling dCloseODE() when the program ends. - -09/20/06 bram - - * Fixed two bugs in cyl/plane collision test. - -09/13/06 Remi - - * New Rotoide - Prismatic joint type - * dJointGetUniversalAngles for efficient angle retrieval. - -08/09/06 david - - * Integrated plane2d joint type which constrains bodies to z == 0. - -07/06/06 david - - * Added heightfield primitive collision code. Simple test available in - ode/test/test_heightfield - -04/03/06 rodrigo - - * Added Convex primitive collision code, - currently only convex-sphere and convex-plane work - -04/01/06 bram - - * Added program to test trimesh vs sphere: ode/test/test_basket - -03/20/06 jason379 - - * Added new autogenerated Visual Studio projects, with Premake scripts - -03/17/06 bram - - * Added plane/cyl intersection test - * Renamed CCylinder to Capsule - -02/04/06 gcarlton - - * Added support for geom offsets. - -10/26/05 rodrigo - - * Removed LIBTOOL from autotools since it was not really required. - * Added a target to build ODE as a shared library, this shared - library gets build alongside the static one, no flags required. - -10/24/05 tfautre - - (Backported patches from STABLE branch, applied by Adam) - - * dRandInt changed for a non-double all-int version. - * mics minor fixes and improvements. - -04/05/05 tfautre - - * Fixed segmentation fault with OPCODE on 64 bits systems. - -03/31/05 tfautre - - * Fixed timer.cpp compiler error on x86-64 using GCC. - -03/29/05 colin - - * Added trimesh preprocessing to mark unneeded edges and verts. Also - added support for preprocessed info to the ccylinder-trimesh - collider. - -12/07/04 adam - - * Important AMotors bugfix - -09/22/04 jeff - - * Assorted small bugfixes and tweaks for - trimesh_{box,ccylinder,trimesh} collisions - -09/21/04 jeff - - * added functions to joint.cpp to allow joint attachment to moving - geoms. - - * added malloc-based memory allocation in step.cpp & lcp.cpp (turned - on with a #define switch in common.h) - -05/29/04 russ - - * added joint feedback to the QuickStep solver - -05/18/04 russ - - * added warm starting to the QuickStep solver - -05/18/04 russ - - * added the QuickStep solver - - * added contact parameter functions. - -05/05/04 adam - - * use dRandInt instead of rand() in stepfast. - -04/21/04 russ - - * added auto-disable support from Aras Pranckevicius (with - modifications by russ). this useful feature can speed up - simulation significantly in some cases. - - * various internal tidyups. - -04/20/04 russ - - * changed the meaning of the 'index' argument to dJointGetBody(): - it was the only remaining API function that does not respect - dJOINT_REVERSE (spotted by Matthew D. Hancher). - - * updated the C++ headers: fixed two minor bugs and added - support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method - (from Matthew D. Hancher). - -04/18/04 russ - - * changed the way that the dInfinity constant is implemented: now it - is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or - a large numeric constant. previously it was a variable that was - exported from the library. this simplifies the configuration and - build process quite a bit, especially in the case of DLLs. - - * removed the old, deprecated collision system (geom.cpp,space.cpp, - geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION - configuration setting no longer has any meaning. - - * removed support for dGeomGroups, which have been deprecated for - a while and are equivalent to 'spaces' anyway. - -04/13/04 russ - - * bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher. - -04/08/04 russ - - * added trimesh-CCylinder capability, from Vadim Macagon - . - -04/04/04 adam - - * yet another rewrite of triangle-box collision code, this - time based on code donated by Croteam, ported by asko@jetti.org - and tweaked by Erwin. - -04/04/04 adam - - * merged trimesh-trimesh collision code by - Jeffrey Smith . - - * changed it to not break the trimesh interface, fix - some GCC compilation problems, bring it up to date with - ODE changes from 2003-11-15 -> 2004-04-04. - - * add ability to drop meshes on meshes in test_moving_trimesh, - not as good as it could be but it's illustrative. - -01/16/04 adam - - * implement a bunch of ultra-simple TriMesh functions that were - in the headers but not in the code -- patch by - Vadim Macagon - - * disable temporal coherence on trimeshes by default, since - it has scaleability issues that don't make it a general clear win. - -12/01/03 adam - - * implement dxHashSpace::collide2(), not particularly efficiently. - -11/14/03 adam - - * applied several Trimesh fixes and improvements from - Aras Pranckevicius - -10/22/03 adam - - * apply Nguyen Binh's work for removing many dSetZero() calls - and some other extraneous initializations. - -07/29/03 martin - - * added dJointAdd*Torque/Force(). - -07/10/03 russ - - * added the StepFast code, by David Whittaker. - -07/02/03 martin - - * added dMassSet*Total(). - -07/01/03 martin - - * added joint limits and motors to universal joints. - - * reversed the polarity of the dJOINT_REVERSE flag. - -06/30/03 russ - - * added the TriMesh geom class and the quad tree space to the ODE - core. both of these were developed by Erwin de Vries. added OPCODE - to the ODE distribution, this is required by TriMesh. - -06/23/03 martin - - * added dGeomSetQuaternion() and dGeomGetQuaternion() - - * added dJointGet*Anchor2() - -05/07/03 russ - - * added dGeomGetSpace(). - -02/05/03 russ - - * added dMassSetCylinder(). - -12/07/02 russ - - * added dAreConnectedExcluding(). - -11/30/02 russ - - * added the ray geom class. - - * added the dGeomXXXPointDepth() functions. - - * added a collision test infrastructure, and some more tests. - -11/24/02 russ - - * added support for multiple box-box contacts. - -11/10/02 russ - - * added new collision system. select between the old/new system by - setting the ODE_OLD_COLLISION variable in config/user-settings. - -10/28/02 russ - - * fixed two problems in the LCP code to improve the reliability of - the dContactApprox1 contact mode. - - * added a FAQ question about rolling bodies getting stuck when they - hit multiple geoms. - -09/08/02 russ - - * added dClosestLineSegmentPoints(). - * implemented dCollideCB(). - -08/28/02 russ - - * added dJointSetFeedback() and dJointGetFeedback(). - -08/05/02 russ - - * added dGeomTransformSetInfo() and dGeomTransformGetInfo(). - -07/13/02 russ - - * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(), - dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(), - dBodyVectorFromWorld(). - - * added dBodyGetPointVel() (thanks to Colin Reed). - - * added a new C++ interface (from Martin C. Martin, with modifications - by russ). the old C++ interface is now in odecpp_old.h. - -06/25/02 russ - - * added an additional BSD-style licensing option for ODE. - -06/23/02 russ - - * added dCloseODE(), contributed by Nate Waddoups and David McClurg. - -05/16/02 russ - - * added dSpaceQuery(), contributed by Nate Waddoups. - -04/07/02 russ - - * added a section to the documentation for universal joints. - this includes a picture of the joint. - -04/05/02 russ - - * added a universal joint class (generously contributed by - Martin C. Martin). it doesn't (yet) have a motor or joint limits, - but it does come with tests. - -03/11/02 russ - - * makefile changes to accomodate OSs with command line length - limitations (thanks to Norman Lin). - -01/06/02 russ - - * added the dBodySetGravityMode() and dBodyGetGravityMode() - functions, which change the dxBodyNoGravity body flag. - - * added support for building a DLL with MSVC - there is now a - msvc-dll target. thanks to Norman Lin for doing this. - -12/28/01 russ - - * added the dParamCFM joint parameter. - -12/24/01 russ - - * reworked the build system to make it more cross-platform. - there is now a single top-level makefile and a configurator.c - program. see the INSTALL file for details. - -12/04/01 russ - - * the "angular motor" joint has been completed, and a new section - has been added to the documentation. - -11/26/01 russ - - * added a new joint type: "angular motor". using this joint is a good - way to get ball-joint motors and limits. this is work in progress - - it has not been fully implemented or tested yet. - -11/22/01 russ - - * replaced the mmap()-based joint group stack (stack.cpp) with a - malloc()-based arena stack (obstack.cpp). this will be more - portable and should not impact performance. - -11/12/01 russ - - * changed the meaning of the 'flags' parameter to dCollide() and - related functions: now the size of the contact buffer is kept in - the lower 16 bits. this change will be backward compatible. - - * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis(). - - * added dBodyAddForceAtRelPos() function. - -11/11/01 russ - - * added the ability to manually enable and disable bodies. - see dBodyEnable(), dBodyDisable(), dBodyIsEnabled(). - - * fixed a potential bug: when a world is destroyed that contains - joints in joint groups, those joints are marked as "deactivated" in - the joint group, so when the joint group is destroyed they can be - ignored. - - * the test_boxstack demo has new options to enable and disable bodies. - - * new configuration parameter in config.h: dEFFICIENT_SIZE. - -11/11/01 russ - - * started the change log for ODE. changes older than today were added - to this file by inspecting the CVS logs. - -11/05/01 russ - - * added REAL() constructions for floating point numbers, to prevent - many warnings when compiling under VC++. - -11/03/01 russ - - * added geometry transform class, documented composite objects. - - * added collision rule: no contacts if both geoms on the same body. - this is not the best rule, may have to remove this in the future. - - * new dMassAdd() function. - - * capped cylinder to capped cylinder collision function. - -10/31/01 russ - - * increase CFM in some demos to make them more robust. - -10/29/01 russ - - * added new accessor functions. - -10/19/01 russ - - * added the dJOINT_TWOBODIES flag to the joint, that says it can not - be attached to just one body. - -10/12/01 russ - - * fixed a collision bug in dCollide() that was causing memory - corruption when multiple contacts were being returned. - -10/11/01 russ - - * joints can now return m=0 to be "inactive". added a "null" joint - to test this. - -10/09/01 russ - - * in the LCP solver, try to fail gracefully when s <= 0. - - * dAABBTestFn() API change. - -10/08/01 russ - - * fixed a contact swapping bug in dCollide(). - -10/07/01 russ - - * added capped cylinder geometry object. - -09/30/01 russ - - * the test_buggy demo now uses geometry groups. - - * added a dAABBTestFn field in the geometry classes. - -09/29/01 russ - - * added geometry groups. - -09/20/01 russ - - * added finite rotation stuff. diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/GIMPACT-LICENSE-BSD.TXT b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/GIMPACT-LICENSE-BSD.TXT deleted file mode 100644 index d501dccf..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/GIMPACT-LICENSE-BSD.TXT +++ /dev/null @@ -1,29 +0,0 @@ -GIMPACT : Geometric tools for VR. - -Copyright (c) 2006 , Francisco León. -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - * Neither the name of the GIMPACT nor the names of its contributors may be used - to endorse or promote products derived from this software without specific prior - written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS -OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. -IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, -INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - 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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. - - , 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/Makefile.am deleted file mode 100644 index 7a4f8e53..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/Makefile.am +++ /dev/null @@ -1,4 +0,0 @@ -EXTRA_DIST = GIMPACT-LICENSE-BSD.TXT GIMPACT-LICENSE-LGPL.TXT - -SUBDIRS = include src - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/Makefile.am deleted file mode 100644 index 347ae72c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/Makefile.am +++ /dev/null @@ -1,6 +0,0 @@ -noinst_HEADERS = \ - gim_boxpruning.h gim_contact.h gim_geometry.h \ - gim_math.h gim_memory.h gimpact.h \ - gim_radixsort.h gim_tri_capsule_collision.h gim_tri_collision.h \ - gim_trimesh.h gim_tri_sphere_collision.h - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_boxpruning.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_boxpruning.h deleted file mode 100644 index 2db8b233..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_boxpruning.h +++ /dev/null @@ -1,323 +0,0 @@ -#ifndef GIM_BOXPRUNING_H_INCLUDED -#define GIM_BOXPRUNING_H_INCLUDED - -/*! \file gim_boxpruning.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/gim_radixsort.h" -#include "GIMPACT/gim_geometry.h" - -/*! \defgroup BOX_PRUNNING - -\brief -Tools for find overlapping objects on a scenary. These functions sort boxes for faster collisioin queries, using radix sort or quick sort as convenience. See \ref SORTING . -
    -
  • For using these collision routines, you must create a \ref GIM_AABB_SET by using this function : \ref gim_aabbset_alloc. -
  • The GIM_AABB_SET objects must be updated on their boxes on each query, and they must be update by calling \ref gim_aabbset_update -
  • Before calling collision functions, you must create a pair set with \ref GIM_CREATE_PAIR_SET -
  • For finding collision pairs on a scene (common space for objects), call \ref gim_aabbset_self_intersections -
  • For finding collision pairs between two box sets , call \ref gim_aabbset_box_collision -
  • After using collision routines, you must destroy the pairset with \ref GIM_DESTROY_PAIR_SET -
  • When the box set is no longer used, you must destroy it by calling \ref gim_aabbset_destroy -
-*/ -//! @{ -//! Overlapping pair -struct GIM_PAIR -{ - GUINT m_index1; - GUINT m_index2; -}; -//typedef struct _GIM_PAIR GIM_PAIR; - -//! Box container -struct GIM_AABB_SET -{ - GUINT m_count; - aabb3f m_global_bound;//!< Global calculated bound of all boxes - aabb3f * m_boxes; - GUINT * m_maxcoords;//!m_sorted_mincoords == 0, then it allocs the sorted coordinates -*/ -void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound); - -//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. -/*! -\pre aabbset must be allocated and sorted, the boxes must be already set. -\param aabbset Must be sorted. Global bound isn't required -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs); - -//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. -/*! -\pre aabbset must be allocated, the boxes must be already set. -\param aabbset Global bound isn't required. Doen't need to be sorted. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs); - -//! log(N) Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. -/*! -\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set. -\param aabbset1 Must be sorted, Global bound is required. -\param aabbset2 Must be sorted, Global bound is required. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_bipartite_intersections_sorted(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs); - -//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. -/*! -\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set. -\param aabbset1 Must be sorted, Global bound is required. -\param aabbset2 Must be sorted, Global bound is required. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs); - - -/* - Brute-Force Vs Sorted pruning -Different approaches must be applied when colliding sets with different number of -elements. When sets have less of 100 boxes, is often better to apply force brute -approach instead of sorted methods, because at lowlevel bruteforce routines gives -better perormance and consumes less resources, due of their simplicity. -But when sets are larger, the complexiity of bruteforce increases exponencially. -In the case of large sets, sorted approach is applied. So GIMPACT has the following -strategies: - -On Sorting sets: -!) When sets have more of 140 boxes, the boxes are sorted by its coded min coord -and the global box is calculated. But when sets are smaller (less of 140 boxes), -Is convenient to apply brute force approach. - -*******************************************************************************/ - -//! Constant for apply approaches between brute force and sorted pruning on bipartite queries -#define GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES 600 -//! Constant for apply approaches between brute force and sorted pruning for box collision -#define GIM_MIN_SORTED_PRUNING_BOXES 140 - - -//Use these functions for general initialization - -//! Initalizes the set. Sort Boxes if needed. -/*! -\pre aabbset must be allocated. And the boxes must be already set. -\post If the set has less of GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES boxes, only calcs the global box, - else it Sorts the entire set( Only applicable for large sets) -*/ -void gim_aabbset_update(GIM_AABB_SET * aabbset); - -///Use these functions for general collision - -//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. -/*! -This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted. This is an example of how to use this function: -\code -//Create contact list -GDYNAMIC_ARRAY collision_pairs; -GIM_CREATE_PAIR_SET(collision_pairs); -//Do collision -gim_aabbset_self_intersections(&aabbset,&collision_pairs); -if(collision_pairs.m_size==0) -{ - GIM_DYNARRAY_DESTROY(collision_pairs);// - return; //no collisioin -} - -//pair pointer -GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs); -GUINT i, ti1,ti2; -for (i=0;im_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted. Global box won't be calculated. -*/ -void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs); - -//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. -/*! -\pre aabbset1 and aabbset2 must be allocated and updated. See gim_aabbset_update. -\param aabbset1 Must be updated. -\param aabbset2 Must be updated. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs); - -///Function for create Box collision result set - -#define GIM_CREATE_BOXQUERY_LIST(dynarray) GIM_DYNARRAY_CREATE(GUINT,dynarray,G_ARRAY_GROW_SIZE) - -//! Finds intersections between a box and a set. Return the colliding boxes of the set -/*! -\pre aabbset must be allocated and initialized. -\param test_aabb Box for collision query -\param aabbset Set of boxes .Global bound is required. -\param collided Array of GUINT elements, indices of boxes. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided); - -//! Finds intersections between a box and a set. Return the colliding boxes of the set -/*! -\pre aabbset must be allocated and initialized. -\param vorigin Origin point of ray. -\param vdir Direction vector of ray. -\param tmax Max distance param for ray. -\param aabbset Set of boxes .Global bound is required. -\param collided Array of GUINT elements, indices of boxes. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided); - - -/* -For sorting, each box corner must be discretized to a 32 bit integer. -For this, we take the x and z coordinates from the box corner (a vector vec3f) -Then convert the (x,z) pair to an integer. For convenience, we choose an error -constant for converting the coordinates (0.05). -*******************************************************************************/ - -/** - For fitting the coordinate to an integer, we need to constraint the range of its values. So each coord component (x, z) must lie between 0 and 65536. - 20 give us a 0.05 floating point error -*/ -#define ERROR_AABB 20.0f - -/** -An error of 0.05 allows to make coordinates up to 1638.0f and no less of -1638.0f. -So the maximum size of a room should be about 3276x3276 . Its dimensions must lie between [-1638,1638.0f] -*/ -#define MAX_AABB_SIZE 1638.0f - -//! Converts a vector coordinate to an integer for box sorting -/*! -\param vx X component -\param vz Z component -\param uint_key a GUINT -*/ -#define GIM_CONVERT_VEC3F_GUINT_XZ(vx,vz,uint_key)\ -{\ - GUINT _z = ((GUINT)(vz*ERROR_AABB))+32768;\ - uint_key = ((GUINT)(vx*ERROR_AABB))+32768;\ - uint_key = (uint_key<<16) + _z;\ -}\ - -//! Converts a vector coordinate to an integer for box sorting,rounding to the upper int -/*! -\param vx X component -\param vz Z component -\param uint_key a GUINT -*/ -#define GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(vx,vz,uint_key)\ -{\ - GUINT _z = ((GUINT)ceilf(vz*ERROR_AABB))+32768;\ - uint_key = ((GUINT)ceilf(vx*ERROR_AABB))+32768;\ - uint_key = (uint_key<<16) + _z;\ -}\ - - -//! Converts a vector coordinate to an integer for box sorting. Secure clamped -/*! -\param vx X component -\param vz Z component -\param uint_key a GUINT -*/ -#define GIM_CONVERT_VEC3F_GUINT_XZ_CLAMPED(vx,vz,uint_key)\ -{\ - GREAL _cx = CLAMP(vx,-MAX_AABB_SIZE,MAX_AABB_SIZE);\ - GREAL _cz = CLAMP(vz,-MAX_AABB_SIZE,MAX_AABB_SIZE);\ - GUINT _z = ((GUINT)(_cz*ERROR_AABB))+32768;\ - uint_key = ((GUINT)(_cx*ERROR_AABB))+32768;\ - uint_key = (uint_key<<16) + _z;\ -}\ - -//! Converts a vector coordinate to an integer for box sorting. Secure clamped, rounded -/*! -\param vx X component -\param vz Z component -\param uint_key a GUINT -*/ -#define GIM_CONVERT_VEC3F_GUINT_XZ_UPPER_CLAMPED(vx,vz,uint_key)\ -{\ - GREAL _cx = CLAMP(vx,-MAX_AABB_SIZE,MAX_AABB_SIZE);\ - GREAL _cz = CLAMP(vz,-MAX_AABB_SIZE,MAX_AABB_SIZE);\ - GUINT _z = ((GUINT)ceilf(_cz*ERROR_AABB))+32768;\ - uint_key = ((GUINT)ceilf(_cx*ERROR_AABB))+32768;\ - uint_key = (uint_key<<16) + _z;\ -}\ - -//! @} - -#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_contact.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_contact.h deleted file mode 100644 index b65c0191..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_contact.h +++ /dev/null @@ -1,115 +0,0 @@ -#ifndef GIM_CONTACT_H_INCLUDED -#define GIM_CONTACT_H_INCLUDED - -/*! \file gim_contact.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/gim_geometry.h" -#include "GIMPACT/gim_radixsort.h" - -/*! \defgroup CONTACTS -\brief -Functions for managing and sorting contacts resulting from a collision query. -
    -
  • Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST -
  • After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY -
  • Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts -
- -*/ -//! @{ -/// Structure for collision results -struct GIM_CONTACT -{ - vec3f m_point; - vec3f m_normal; - GREAL m_depth;//Positive value indicates interpenetration - void * m_handle1; - void * m_handle2; - GUINT m_feature1;//Face number - GUINT m_feature2;//Face number -}; -//typedef struct _GIM_CONTACT GIM_CONTACT; - -#define CONTACT_DIFF_EPSILON 0.00001f - -#define GIM_CALC_KEY_CONTACT(pos,hash)\ -{\ - GINT _coords[] = {(GINT)(pos[0]*1000.0f+1.0f),(GINT)(pos[1]*1333.0f),(GINT)(pos[2]*2133.0f+3.0f)};\ - GUINT _hash=0;\ - GUINT *_uitmp = (GUINT *)(&_coords[0]);\ - _hash = *_uitmp;\ - _uitmp++;\ - _hash += (*_uitmp)<<4;\ - _uitmp++;\ - _hash += (*_uitmp)<<8;\ - hash = _hash;\ -}\ - -///Creates a contact list for queries -#define GIM_CREATE_CONTACT_LIST(contact_array) GIM_DYNARRAY_CREATE(GIM_CONTACT,contact_array,100) - -#define GIM_PUSH_CONTACT(contact_array, point, normal, deep,handle1, handle2, feat1, feat2)\ -{\ - GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,contact_array);\ - GIM_CONTACT * _last = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,contact_array);\ - VEC_COPY(_last->m_point,point);\ - VEC_COPY(_last->m_normal,normal);\ - _last->m_depth = deep;\ - _last->m_handle1 = handle1;\ - _last->m_handle2 = handle2;\ - _last->m_feature1 = feat1;\ - _last->m_feature2 = feat2;\ -}\ - -///Receive pointer to contacts -#define GIM_COPY_CONTACTS(dest_contact, source_contact)\ -{\ - VEC_COPY(dest_contact->m_point,source_contact->m_point);\ - VEC_COPY(dest_contact->m_normal,source_contact->m_normal);\ - dest_contact->m_depth = source_contact->m_depth;\ - dest_contact->m_handle1 = source_contact->m_handle1;\ - dest_contact->m_handle2 = source_contact->m_handle2;\ - dest_contact->m_feature1 = source_contact->m_feature1;\ - dest_contact->m_feature2 = source_contact->m_feature2;\ -}\ - -//! Merges duplicate contacts with minimum depth criterion -void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts, - GDYNAMIC_ARRAY * dest_contacts); - - -//! Merges to an unique contact -void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts, - GDYNAMIC_ARRAY * dest_contacts); - -//! @} -#endif // GIM_CONTACT_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_geometry.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_geometry.h deleted file mode 100644 index 0b8d10c0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_geometry.h +++ /dev/null @@ -1,1872 +0,0 @@ -#ifndef GIM_VECTOR_H_INCLUDED -#define GIM_VECTOR_H_INCLUDED - -/*! \file gim_geometry.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/gim_math.h" - -/*! \defgroup GEOMETRIC_TYPES -\brief -Basic types and constants for geometry -*/ -//! @{ - -//! Integer vector 2D -typedef GINT vec2i[2]; -//! Integer vector 3D -typedef GINT vec3i[3]; -//! Integer vector 4D -typedef GINT vec4i[4]; - -//! Float vector 2D -typedef GREAL vec2f[2]; -//! Float vector 3D -typedef GREAL vec3f[3]; -//! Float vector 4D -typedef GREAL vec4f[4]; - -//! Matrix 2D, row ordered -typedef GREAL mat2f[2][2]; -//! Matrix 3D, row ordered -typedef GREAL mat3f[3][3]; -//! Matrix 4D, row ordered -typedef GREAL mat4f[4][4]; - -//! Quaternion -typedef GREAL quatf[4]; - -//! Axis aligned box -struct aabb3f{ - GREAL minX; - GREAL maxX; - GREAL minY; - GREAL maxY; - GREAL minZ; - GREAL maxZ; -}; -//typedef struct _aabb3f aabb3f; -//! @} - - -/*! \defgroup VECTOR_OPERATIONS -Operations for vectors : vec2f,vec3f and vec4f -*/ -//! @{ - -//! Zero out a 2D vector -#define VEC_ZERO_2(a) \ -{ \ - (a)[0] = (a)[1] = 0.0f; \ -}\ - - -//! Zero out a 3D vector -#define VEC_ZERO(a) \ -{ \ - (a)[0] = (a)[1] = (a)[2] = 0.0f; \ -}\ - - -/// Zero out a 4D vector -#define VEC_ZERO_4(a) \ -{ \ - (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ -}\ - - -/// Vector copy -#define VEC_COPY_2(b,a) \ -{ \ - (b)[0] = (a)[0]; \ - (b)[1] = (a)[1]; \ -}\ - - -/// Copy 3D vector -#define VEC_COPY(b,a) \ -{ \ - (b)[0] = (a)[0]; \ - (b)[1] = (a)[1]; \ - (b)[2] = (a)[2]; \ -}\ - - -/// Copy 4D vector -#define VEC_COPY_4(b,a) \ -{ \ - (b)[0] = (a)[0]; \ - (b)[1] = (a)[1]; \ - (b)[2] = (a)[2]; \ - (b)[3] = (a)[3]; \ -}\ - - -/// Vector difference -#define VEC_DIFF_2(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] - (v1)[0]; \ - (v21)[1] = (v2)[1] - (v1)[1]; \ -}\ - - -/// Vector difference -#define VEC_DIFF(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] - (v1)[0]; \ - (v21)[1] = (v2)[1] - (v1)[1]; \ - (v21)[2] = (v2)[2] - (v1)[2]; \ -}\ - - -/// Vector difference -#define VEC_DIFF_4(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] - (v1)[0]; \ - (v21)[1] = (v2)[1] - (v1)[1]; \ - (v21)[2] = (v2)[2] - (v1)[2]; \ - (v21)[3] = (v2)[3] - (v1)[3]; \ -}\ - - -/// Vector sum -#define VEC_SUM_2(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] + (v1)[0]; \ - (v21)[1] = (v2)[1] + (v1)[1]; \ -}\ - - -/// Vector sum -#define VEC_SUM(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] + (v1)[0]; \ - (v21)[1] = (v2)[1] + (v1)[1]; \ - (v21)[2] = (v2)[2] + (v1)[2]; \ -}\ - - -/// Vector sum -#define VEC_SUM_4(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] + (v1)[0]; \ - (v21)[1] = (v2)[1] + (v1)[1]; \ - (v21)[2] = (v2)[2] + (v1)[2]; \ - (v21)[3] = (v2)[3] + (v1)[3]; \ -}\ - - -/// scalar times vector -#define VEC_SCALE_2(c,a,b) \ -{ \ - (c)[0] = (a)*(b)[0]; \ - (c)[1] = (a)*(b)[1]; \ -}\ - - -/// scalar times vector -#define VEC_SCALE(c,a,b) \ -{ \ - (c)[0] = (a)*(b)[0]; \ - (c)[1] = (a)*(b)[1]; \ - (c)[2] = (a)*(b)[2]; \ -}\ - - -/// scalar times vector -#define VEC_SCALE_4(c,a,b) \ -{ \ - (c)[0] = (a)*(b)[0]; \ - (c)[1] = (a)*(b)[1]; \ - (c)[2] = (a)*(b)[2]; \ - (c)[3] = (a)*(b)[3]; \ -}\ - - -/// accumulate scaled vector -#define VEC_ACCUM_2(c,a,b) \ -{ \ - (c)[0] += (a)*(b)[0]; \ - (c)[1] += (a)*(b)[1]; \ -}\ - - -/// accumulate scaled vector -#define VEC_ACCUM(c,a,b) \ -{ \ - (c)[0] += (a)*(b)[0]; \ - (c)[1] += (a)*(b)[1]; \ - (c)[2] += (a)*(b)[2]; \ -}\ - - -/// accumulate scaled vector -#define VEC_ACCUM_4(c,a,b) \ -{ \ - (c)[0] += (a)*(b)[0]; \ - (c)[1] += (a)*(b)[1]; \ - (c)[2] += (a)*(b)[2]; \ - (c)[3] += (a)*(b)[3]; \ -}\ - - -/// Vector dot product -#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) - - -/// Vector dot product -#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) - -/// Vector dot product -#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) - -/// vector impact parameter (squared) -#define VEC_IMPACT_SQ(bsq,direction,position) {\ - GREAL _llel_ = VEC_DOT(direction, position);\ - bsq = VEC_DOT(position, position) - _llel_*_llel_;\ -}\ - - -/// vector impact parameter -#define VEC_IMPACT(bsq,direction,position) {\ - VEC_IMPACT_SQ(bsq,direction,position); \ - GIM_SQRT(bsq,bsq); \ -}\ - -/// Vector length -#define VEC_LENGTH_2(a,l)\ -{\ - GREAL _pp = VEC_DOT_2(a,a);\ - GIM_SQRT(_pp,l);\ -}\ - - -/// Vector length -#define VEC_LENGTH(a,l)\ -{\ - GREAL _pp = VEC_DOT(a,a);\ - GIM_SQRT(_pp,l);\ -}\ - - -/// Vector length -#define VEC_LENGTH_4(a,l)\ -{\ - GREAL _pp = VEC_DOT_4(a,a);\ - GIM_SQRT(_pp,l);\ -}\ - -/// Vector inv length -#define VEC_INV_LENGTH_2(a,l)\ -{\ - GREAL _pp = VEC_DOT_2(a,a);\ - GIM_INV_SQRT(_pp,l);\ -}\ - - -/// Vector inv length -#define VEC_INV_LENGTH(a,l)\ -{\ - GREAL _pp = VEC_DOT(a,a);\ - GIM_INV_SQRT(_pp,l);\ -}\ - - -/// Vector inv length -#define VEC_INV_LENGTH_4(a,l)\ -{\ - GREAL _pp = VEC_DOT_4(a,a);\ - GIM_INV_SQRT(_pp,l);\ -}\ - - - -/// distance between two points -#define VEC_DISTANCE(_len,_va,_vb) {\ - vec3f _tmp_; \ - VEC_DIFF(_tmp_, _vb, _va); \ - VEC_LENGTH(_tmp_,_len); \ -}\ - - -/// Vector length -#define VEC_CONJUGATE_LENGTH(a,l)\ -{\ - GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ - GIM_SQRT(_pp,l);\ -}\ - - -/// Vector length -#define VEC_NORMALIZE(a) { \ - GREAL len;\ - VEC_INV_LENGTH(a,len); \ - if(len -Last column is added as the position -*/ -#define MAT_DOT_VEC_3X4(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ - p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ -}\ - -/*! vector transpose times matrix */ -/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */ -#define VEC_DOT_MAT_3X3(p,v,m) \ -{ \ - p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ - p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ - p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ -}\ - - -/*! affine matrix times vector */ -/** The matrix is assumed to be an affine matrix, with last two - * entries representing a translation */ -#define MAT_DOT_VEC_2X3(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ -}\ - - -/** inverse transpose of matrix times vector - * - * This macro computes inverse transpose of matrix m, - * and multiplies vector v into it, to yeild vector p - * - * DANGER !!! Do Not use this on normal vectors!!! - * It will leave normals the wrong length !!! - * See macro below for use on normals. - */ -#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ -{ \ - GREAL det; \ - \ - det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ - p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ - p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ - \ - /* if matrix not singular, and not orthonormal, then renormalize */ \ - if ((det!=1.0f) && (det != 0.0f)) { \ - det = 1.0f / det; \ - p[0] *= det; \ - p[1] *= det; \ - } \ -}\ - - -/** transform normal vector by inverse transpose of matrix - * and then renormalize the vector - * - * This macro computes inverse transpose of matrix m, - * and multiplies vector v into it, to yeild vector p - * Vector p is then normalized. - */ -#define NORM_XFORM_2X2(p,m,v) \ -{ \ - double len; \ - \ - /* do nothing if off-diagonals are zero and diagonals are \ - * equal */ \ - if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ - p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ - p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ - \ - len = p[0]*p[0] + p[1]*p[1]; \ - GIM_INV_SQRT(len,len); \ - p[0] *= len; \ - p[1] *= len; \ - } else { \ - VEC_COPY_2 (p, v); \ - } \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define OUTER_PRODUCT_2X2(m,v,t) \ -{ \ - m[0][0] = v[0] * t[0]; \ - m[0][1] = v[0] * t[1]; \ - \ - m[1][0] = v[1] * t[0]; \ - m[1][1] = v[1] * t[1]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define OUTER_PRODUCT_3X3(m,v,t) \ -{ \ - m[0][0] = v[0] * t[0]; \ - m[0][1] = v[0] * t[1]; \ - m[0][2] = v[0] * t[2]; \ - \ - m[1][0] = v[1] * t[0]; \ - m[1][1] = v[1] * t[1]; \ - m[1][2] = v[1] * t[2]; \ - \ - m[2][0] = v[2] * t[0]; \ - m[2][1] = v[2] * t[1]; \ - m[2][2] = v[2] * t[2]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define OUTER_PRODUCT_4X4(m,v,t) \ -{ \ - m[0][0] = v[0] * t[0]; \ - m[0][1] = v[0] * t[1]; \ - m[0][2] = v[0] * t[2]; \ - m[0][3] = v[0] * t[3]; \ - \ - m[1][0] = v[1] * t[0]; \ - m[1][1] = v[1] * t[1]; \ - m[1][2] = v[1] * t[2]; \ - m[1][3] = v[1] * t[3]; \ - \ - m[2][0] = v[2] * t[0]; \ - m[2][1] = v[2] * t[1]; \ - m[2][2] = v[2] * t[2]; \ - m[2][3] = v[2] * t[3]; \ - \ - m[3][0] = v[3] * t[0]; \ - m[3][1] = v[3] * t[1]; \ - m[3][2] = v[3] * t[2]; \ - m[3][3] = v[3] * t[3]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ -{ \ - m[0][0] += v[0] * t[0]; \ - m[0][1] += v[0] * t[1]; \ - \ - m[1][0] += v[1] * t[0]; \ - m[1][1] += v[1] * t[1]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ -{ \ - m[0][0] += v[0] * t[0]; \ - m[0][1] += v[0] * t[1]; \ - m[0][2] += v[0] * t[2]; \ - \ - m[1][0] += v[1] * t[0]; \ - m[1][1] += v[1] * t[1]; \ - m[1][2] += v[1] * t[2]; \ - \ - m[2][0] += v[2] * t[0]; \ - m[2][1] += v[2] * t[1]; \ - m[2][2] += v[2] * t[2]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ -{ \ - m[0][0] += v[0] * t[0]; \ - m[0][1] += v[0] * t[1]; \ - m[0][2] += v[0] * t[2]; \ - m[0][3] += v[0] * t[3]; \ - \ - m[1][0] += v[1] * t[0]; \ - m[1][1] += v[1] * t[1]; \ - m[1][2] += v[1] * t[2]; \ - m[1][3] += v[1] * t[3]; \ - \ - m[2][0] += v[2] * t[0]; \ - m[2][1] += v[2] * t[1]; \ - m[2][2] += v[2] * t[2]; \ - m[2][3] += v[2] * t[3]; \ - \ - m[3][0] += v[3] * t[0]; \ - m[3][1] += v[3] * t[1]; \ - m[3][2] += v[3] * t[2]; \ - m[3][3] += v[3] * t[3]; \ -}\ - - -/** determinant of matrix - * - * Computes determinant of matrix m, returning d - */ -#define DETERMINANT_2X2(d,m) \ -{ \ - d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ -}\ - - -/** determinant of matrix - * - * Computes determinant of matrix m, returning d - */ -#define DETERMINANT_3X3(d,m) \ -{ \ - d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ - d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ - d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ -}\ - - -/** i,j,th cofactor of a 4x4 matrix - * - */ -#define COFACTOR_4X4_IJ(fac,m,i,j) \ -{ \ - int __ii[4], __jj[4], __k; \ - \ - for (__k=0; __k (aabb2).maxX ||\ - (aabb1).maxX < (aabb2).minX ||\ - (aabb1).minY > (aabb2).maxY ||\ - (aabb1).maxY < (aabb2).minY ||\ - (aabb1).minZ > (aabb2).maxZ ||\ - (aabb1).maxZ < (aabb2).minZ )\ - {\ - intersected = 0;\ - }\ -}\ - -#define AXIS_INTERSECT(min,max, a, d,tfirst, tlast,is_intersected) {\ - if(IS_ZERO(d))\ - {\ - is_intersected = !(a < min || a > max);\ - }\ - else\ - {\ - GREAL a0, a1;\ - a0 = (min - a) / (d);\ - a1 = (max - a) / (d);\ - if(a0 > a1) SWAP_NUMBERS(a0, a1);\ - tfirst = MAX(a0, tfirst);\ - tlast = MIN(a1, tlast);\ - if (tlast < tfirst)\ - {\ - is_intersected = 0;\ - }\ - else\ - {\ - is_intersected = 1;\ - }\ - }\ -}\ - -/*! \brief Finds the Ray intersection parameter. - -\param aabb Aligned box -\param vorigin A vec3f with the origin of the ray -\param vdir A vec3f with the direction of the ray -\param tparam Output parameter -\param tmax Max lenght of the ray -\param is_intersected 1 if the ray collides the box, else false - -*/ -#define BOX_INTERSECTS_RAY(aabb, vorigin, vdir, tparam, tmax,is_intersected) { \ - GREAL _tfirst = 0.0f, _tlast = tmax;\ - AXIS_INTERSECT(aabb.minX,aabb.maxX,vorigin[0], vdir[0], _tfirst, _tlast,is_intersected);\ - if(is_intersected)\ - {\ - AXIS_INTERSECT(aabb.minY,aabb.maxY,vorigin[1], vdir[1], _tfirst, _tlast,is_intersected);\ - }\ - if(is_intersected)\ - {\ - AXIS_INTERSECT(aabb.minZ,aabb.maxZ,vorigin[2], vdir[2], _tfirst, _tlast,is_intersected);\ - }\ - tparam = _tfirst;\ -}\ - -#define AABB_PROJECTION_INTERVAL(aabb,direction, vmin, vmax)\ -{\ - GREAL _center[] = {(aabb.minX + aabb.maxX)*0.5f, (aabb.minY + aabb.maxY)*0.5f, (aabb.minZ + aabb.maxZ)*0.5f};\ - \ - GREAL _extend[] = {aabb.maxX-_center[0],aabb.maxY-_center[1],aabb.maxZ-_center[2]};\ - GREAL _fOrigin = VEC_DOT(direction,_center);\ - GREAL _fMaximumExtent = _extend[0]*fabsf(direction[0]) + \ - _extend[1]*fabsf(direction[1]) + \ - _extend[2]*fabsf(direction[2]); \ -\ - vmin = _fOrigin - _fMaximumExtent; \ - vmax = _fOrigin + _fMaximumExtent; \ -}\ - -/*! -classify values: -
    -
  1. 0 : In back of plane -
  2. 1 : Spanning -
  3. 2 : In front of -
-*/ -#define PLANE_CLASSIFY_BOX(plane,aabb,classify)\ -{\ - GREAL _fmin,_fmax; \ - AABB_PROJECTION_INTERVAL(aabb,plane, _fmin, _fmax); \ - if(plane[3] >= _fmax) \ - { \ - classify = 0;/*In back of*/ \ - } \ - else \ - { \ - if(plane[3]+0.000001f>=_fmin) \ - { \ - classify = 1;/*Spanning*/ \ - } \ - else \ - { \ - classify = 2;/*In front of*/ \ - } \ - } \ -}\ -//! @} - -/*! \defgroup GEOMETRIC_OPERATIONS -*/ -//! @{ - - -#define PLANEDIREPSILON 0.0000001f -#define PARALELENORMALS 0.000001f - -#define TRIANGLE_NORMAL(v1,v2,v3,n){\ - vec3f _dif1,_dif2; \ - VEC_DIFF(_dif1,v2,v1); \ - VEC_DIFF(_dif2,v3,v1); \ - VEC_CROSS(n,_dif1,_dif2); \ - VEC_NORMALIZE(n); \ -}\ - -/// plane is a vec4f -#define TRIANGLE_PLANE(v1,v2,v3,plane) {\ - TRIANGLE_NORMAL(v1,v2,v3,plane);\ - plane[3] = VEC_DOT(v1,plane);\ -}\ - -/// Calc a plane from an edge an a normal. plane is a vec4f -#define EDGE_PLANE(e1,e2,n,plane) {\ - vec3f _dif; \ - VEC_DIFF(_dif,e2,e1); \ - VEC_CROSS(plane,_dif,n); \ - VEC_NORMALIZE(plane); \ - plane[3] = VEC_DOT(e1,plane);\ -}\ - -#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3]) - -#define PROJECT_POINT_PLANE(point,plane,projected) {\ - GREAL _dis;\ - _dis = DISTANCE_PLANE_POINT(plane,point);\ - VEC_SCALE(projected,-_dis,plane);\ - VEC_SUM(projected,projected,point); \ -}\ - -#define POINT_IN_HULL(point,planes,plane_count,outside)\ -{\ - GREAL _dis;\ - outside = 0;\ - GUINT _i = 0;\ - do\ - {\ - _dis = DISTANCE_PLANE_POINT(planes[_i],point);\ - if(_dis>0.0f) outside = 1;\ - _i++;\ - }while(_i -
  • 0 : Segment in front of plane, s1 closest -
  • 1 : Segment in front of plane, s2 closest -
  • 2 : Segment in back of plane, s1 closest -
  • 3 : Segment in back of plane, s2 closest -
  • 4 : Segment collides plane, s1 in back -
  • 5 : Segment collides plane, s2 in back - -*/ -#define PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped,intersection_type) \ -{\ - GREAL _dis1,_dis2;\ - _dis1 = DISTANCE_PLANE_POINT(plane,s1);\ - _dis2 = DISTANCE_PLANE_POINT(plane,s2);\ - if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)\ - {\ - if(_dis1<_dis2) intersection_type = 0;\ - else intersection_type = 1;\ - }\ - else if(_dis1 _dis2) intersection_type = 2;\ - else intersection_type = 3; \ - }\ - else\ - {\ - if(_dis1<_dis2) intersection_type = 4;\ - else intersection_type = 5;\ - VEC_DIFF(clipped,s2,s1);\ - _dis2 = VEC_DOT(clipped,plane);\ - VEC_SCALE(clipped,-_dis1/_dis2,clipped);\ - VEC_SUM(clipped,clipped,s1); \ - }\ -}\ - -//! Confirms if the plane intersect the edge or not -/*! -clipped1 and clipped2 are the vertices behind the plane. -clipped1 is the closest - -intersection_type must have the following values -
      -
    • 0 : Segment in front of plane, s1 closest -
    • 1 : Segment in front of plane, s2 closest -
    • 2 : Segment in back of plane, s1 closest -
    • 3 : Segment in back of plane, s2 closest -
    • 4 : Segment collides plane, s1 in back -
    • 5 : Segment collides plane, s2 in back -
    -*/ -#define PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,plane,clipped1,clipped2,intersection_type)\ -{\ - PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1,intersection_type);\ - if(intersection_type == 0)\ - {\ - VEC_COPY(clipped1,s1);\ - VEC_COPY(clipped2,s2);\ - }\ - else if(intersection_type == 1)\ - {\ - VEC_COPY(clipped1,s2);\ - VEC_COPY(clipped2,s1);\ - }\ - else if(intersection_type == 2)\ - {\ - VEC_COPY(clipped1,s1);\ - VEC_COPY(clipped2,s2);\ - }\ - else if(intersection_type == 3)\ - {\ - VEC_COPY(clipped1,s2);\ - VEC_COPY(clipped2,s1);\ - }\ - else if(intersection_type == 4)\ - { \ - VEC_COPY(clipped2,s1);\ - }\ - else if(intersection_type == 5)\ - { \ - VEC_COPY(clipped2,s2);\ - }\ -}\ - - -//! Finds the 2 smallest cartesian coordinates of a plane normal -#define PLANE_MINOR_AXES(plane, i0, i1)\ -{\ - GREAL A[] = {fabs(plane[0]),fabs(plane[1]),fabs(plane[2])};\ - if(A[0]>A[1])\ - {\ - if(A[0]>A[2])\ - {\ - i0=1; /* A[0] is greatest */ \ - i1=2;\ - }\ - else \ - {\ - i0=0; /* A[2] is greatest */ \ - i1=1; \ - }\ - }\ - else /* A[0]<=A[1] */ \ - {\ - if(A[2]>A[1]) \ - { \ - i0=0; /* A[2] is greatest */ \ - i1=1; \ - }\ - else \ - {\ - i0=0; /* A[1] is greatest */ \ - i1=2; \ - }\ - } \ -}\ - -//! Ray plane collision -#define RAY_PLANE_COLLISION(plane,vDir,vPoint,pout,tparam,does_intersect)\ -{\ - GREAL _dis,_dotdir; \ - _dotdir = VEC_DOT(plane,vDir);\ - if(_dotdir1.0f)\ - {\ - VEC_COPY(cp,e2);\ - }\ - else \ - {\ - VEC_SCALE(cp,_scalar,_n);\ - VEC_SUM(cp,cp,e1);\ - } \ -}\ - - -/*! \brief Finds the line params where these lines intersect. - -\param dir1 Direction of line 1 -\param point1 Point of line 1 -\param dir2 Direction of line 2 -\param point2 Point of line 2 -\param t1 Result Parameter for line 1 -\param t2 Result Parameter for line 2 -\param dointersect 0 if the lines won't intersect, else 1 - -*/ -#define LINE_INTERSECTION_PARAMS(dir1,point1, dir2, point2,t1,t2,dointersect) {\ - GREAL det;\ - GREAL e1e1 = VEC_DOT(dir1,dir1);\ - GREAL e1e2 = VEC_DOT(dir1,dir2);\ - GREAL e2e2 = VEC_DOT(dir2,dir2);\ - vec3f p1p2;\ - VEC_DIFF(p1p2,point1,point2);\ - GREAL p1p2e1 = VEC_DOT(p1p2,dir1);\ - GREAL p1p2e2 = VEC_DOT(p1p2,dir2);\ - det = e1e2*e1e2 - e1e1*e2e2;\ - if(IS_ZERO(det))\ - {\ - dointersect = 0;\ - }\ - else\ - {\ - t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;\ - t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;\ - dointersect = 1;\ - }\ -}\ - -//! Find closest points on segments -#define SEGMENT_COLLISION(vA1,vA2,vB1,vB2,vPointA,vPointB)\ -{\ - vec3f _AD,_BD,_N;\ - vec4f _M;\ - VEC_DIFF(_AD,vA2,vA1);\ - VEC_DIFF(_BD,vB2,vB1);\ - VEC_CROSS(_N,_AD,_BD);\ - VEC_CROSS(_M,_N,_BD);\ - _M[3] = VEC_DOT(_M,vB1);\ - float _tp; \ - LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,0.0f, 1.0f);\ - /*Closest point on segment*/ \ - VEC_DIFF(vPointB,vPointA,vB1);\ - _tp = VEC_DOT(vPointB, _BD); \ - _tp/= VEC_DOT(_BD, _BD); \ - _tp = CLAMP(_tp,0.0f,1.0f); \ - VEC_SCALE(vPointB,_tp,_BD);\ - VEC_SUM(vPointB,vPointB,vB1);\ -}\ - -//! @} - -///Additional Headers for Collision -#include "GIMPACT/gim_tri_collision.h" -#include "GIMPACT/gim_tri_sphere_collision.h" -#include "GIMPACT/gim_tri_capsule_collision.h" - -#endif // GIM_VECTOR_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_math.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_math.h deleted file mode 100644 index c25a512d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_math.h +++ /dev/null @@ -1,147 +0,0 @@ -#ifndef GIM_MATH_H_INCLUDED -#define GIM_MATH_H_INCLUDED - -/*! \file gim_math.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include -#include - - -/*! \defgroup BASIC_TYPES -Basic types and constants -Conventions: -Types starting with G -Constants starting with G_ -*/ -//! @{ -/*! Types */ -#define GREAL float -#define GINT long -#define GUINT unsigned long -/*! Constants for integers*/ -#define GUINT_BIT_COUNT 32 -#define GUINT_EXPONENT 5 - -#define G_FASTMATH 1 -#define G_PI 3.14159265358979f -#define G_HALF_PI 1.5707963f -//267948966 -#define G_TWO_PI 6.28318530f -//71795864 -#define G_ROOT3 1.73205f -#define G_ROOT2 1.41421f -#define G_UINT_INFINITY 65534 -#define G_REAL_INFINITY FLT_MAX -#define G_SIGN_BITMASK 0x80000000 -#define G_USE_EPSILON_TEST -#define G_EPSILON 0.0000001f -//! @} - -/*! \defgroup MATH_FUNCTIONS -mathematical functions -*/ -//! @{ -#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) -#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) - -//! Integer representation of a floating-point value. -#define IR(x) ((GUINT&)(x)) - -//! Signed integer representation of a floating-point value. -#define SIR(x) ((GINT&)(x)) - -//! Absolute integer representation of a floating-point value -#define AIR(x) (IR(x)&0x7fffffff) - -//! Floating-point representation of an integer value. -#define FR(x) ((GREAL&)(x)) - -#define MAX(a,b) ((a)<(b)?(b):(a)) -#define MIN(a,b) ((a)>(b)?(b):(a)) - -#define MAX3(a,b,c) MAX(a,MAX(b,c)) -#define MIN3(a,b,c) MIN(a,MIN(b,c)) - -#define IS_ZERO(value) ((value) < G_EPSILON && (value) > -G_EPSILON) - -#define IS_NEGATIVE(value) ((value) <= -G_EPSILON) - -#define IS_POSISITVE(value) ((value) >= G_EPSILON) - -///returns a clamped number -#define CLAMP(number,minval,maxval) ((number)<(minval)?(minval):((number)>(maxval)?(maxval):(number))) - -///Swap numbers -#define SWAP_NUMBERS(a,b){ \ - (a) = (a)+(b); \ - (b) = (a)-(b); \ - (a) = (a)-(b); \ -}\ - -#define GIM_INV_SQRT(va,isva)\ -{\ - if((va)<=0.0000001f)\ - {\ - (isva) = G_REAL_INFINITY;\ - }\ - else\ - {\ - GREAL _x = (va) * 0.5f;\ - GUINT _y = 0x5f3759df - ( IR(va) >> 1);\ - (isva) = FR(_y);\ - (isva) = (isva) * ( 1.5f - ( _x * (isva) * (isva) ) );\ - }\ -}\ - -#define GIM_SQRT(va,sva)\ -{\ - GIM_INV_SQRT(va,sva);\ - (sva) = 1.0f/(sva);\ -}\ - -//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html -GREAL gim_inv_sqrt(GREAL f); - -//! Computes sqrtf(x) faster. -/*! -\sa gim_inv_sqrt -*/ -GREAL gim_sqrt(GREAL f); - -//!Initializes mathematical functions -void gim_init_math(); - -//! Generates an unit random -GREAL gim_unit_random(); -//! @} - -#endif // GIM_MATH_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_memory.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_memory.h deleted file mode 100644 index 1ceb1893..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_memory.h +++ /dev/null @@ -1,1056 +0,0 @@ -#ifndef GIM_MEMORY_H_INCLUDED -#define GIM_MEMORY_H_INCLUDED -/*! \file gim_memory.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/gim_math.h" -#include - -//#define PREFETCH 1 -//! \defgroup PREFETCH -//! @{ -#ifdef PREFETCH -#include // for prefetch -#define pfval 64 -#define pfval2 128 -//! Prefetch 64 -#define pf(_x,_i) _mm_prefetch((void *)(_x + _i + pfval), 0) -//! Prefetch 128 -#define pf2(_x,_i) _mm_prefetch((void *)(_x + _i + pfval2), 0) -#else -//! Prefetch 64 -#define pf(_x,_i) -//! Prefetch 128 -#define pf2(_x,_i) -#endif -//! @} - -/*! \defgroup ARRAY_UTILITIES -\brief -Functions for manip packed arrays of numbers -*/ -//! @{ -#define GIM_COPY_ARRAYS(dest_array, source_array, element_count)\ -{\ - GUINT _i_;\ - for (_i_ = 0; _i_ < (element_count); _i_++)\ - {\ - (dest_array)[_i_] = (source_array)[_i_];\ - }\ -}\ - -#define GIM_COPY_ARRAYS_1(dest_array, source_array, element_count, copy_macro)\ -{\ - GUINT _i_;\ - for (_i_=0; _i_ < (element_count); _i_++)\ - {\ - copy_macro((dest_array)[_i_], (source_array)[_i_]);\ - }\ -}\ - - -#define GIM_ZERO_ARRAY(array, element_count)\ -{\ - GUINT _i_;\ - for (_i_=0; _i_ < (element_count); _i_++)\ - {\ - (array)[_i_] = 0;\ - }\ -}\ - -#define GIM_CONSTANT_ARRAY(array, element_count, constant)\ -{\ - GUINT _i_;\ - for (_i_ = 0; _i_ < (element_count); _i_++)\ - {\ - (array)[_i_] = (constant);\ - }\ -}\ -//! @} - -/*! \defgroup MEMORY_FUNCTION_PROTOTYPES -Function prototypes to allocate and free memory. -*/ -//! @{ -typedef void * gim_alloc_function (size_t size); -typedef void * gim_alloca_function (size_t size);//Allocs on the heap -typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize); -typedef void gim_free_function (void *ptr, size_t size); -//! @} - -/*! \defgroup MEMORY_FUNCTION_HANDLERS -\brief -Memory Function Handlers - set new memory management functions. if fn is 0, the default handlers are - used. */ -//! @{ -void gim_set_alloc_handler (gim_alloc_function *fn); -// void gim_set_alloca_handler (gim_alloca_function *fn); -- a nonsense -void gim_set_realloc_handler (gim_realloc_function *fn); -void gim_set_free_handler (gim_free_function *fn); -//! @} - -/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS -\brief -get current memory management functions. -*/ -//! @{ -gim_alloc_function *gim_get_alloc_handler (void); -// gim_alloca_function *gim_get_alloca_handler(void); -- a nonsense -gim_realloc_function *gim_get_realloc_handler (void); -gim_free_function *gim_get_free_handler (void); -//! @} - -/*! \defgroup MEMORY_FUNCTIONS -Standar Memory functions -*/ -//! @{ -void * gim_alloc(size_t size); -// void * gim_alloca(size_t size); -- a nonsense -void * gim_realloc(void *ptr, size_t oldsize, size_t newsize); -void gim_free(void *ptr, size_t size); -//! @} - -/*! \defgroup DYNAMIC_ARRAYS -\brief -Dynamic Arrays. Allocated from system memory. -
      -
    • For initializes a dynamic array, use GIM_DYNARRAY_CREATE or GIM_DYNARRAY_CREATE_SIZED. -
    • When an array is no longer used, must be terminated with the macro GIM_DYNARRAY_DESTROY. -
    -*/ -//! @{ -#define G_ARRAY_GROW_SIZE 64 -#define G_ARRAY_BUFFERMANAGER_INIT_SIZE 2 - -//! Dynamic array handle. -struct GDYNAMIC_ARRAY -{ - char * m_pdata; - GUINT m_size; - GUINT m_reserve_size; -}; -//typedef struct _GDYNAMIC_ARRAY GDYNAMIC_ARRAY; - -//! Creates a dynamic array zero sized -#define GIM_DYNARRAY_CREATE(type, array_data, reserve_size) \ -{ \ - (array_data).m_pdata = (char *)gim_alloc((reserve_size) * sizeof(type)); \ - (array_data).m_size = 0; \ - (array_data).m_reserve_size = (reserve_size); \ -} \ - -//! Creates a dynamic array with n = size elements -#define GIM_DYNARRAY_CREATE_SIZED(type, array_data, size) \ -{ \ - (array_data).m_pdata = (char *)gim_alloc((size) * sizeof(type)); \ - (array_data).m_size = (size); \ - (array_data).m_reserve_size = (size); \ -} \ - -//! Reserves memory for a dynamic array. -#define GIM_DYNARRAY_RESERVE_SIZE(type, array_data, old_size, reserve_size) \ -{ \ - if ((reserve_size) > (array_data).m_reserve_size) \ - { \ - (array_data).m_pdata = (char *) gim_realloc((array_data).m_pdata, (old_size) * sizeof(type), (reserve_size) * sizeof(type)); \ - (array_data).m_reserve_size = (reserve_size); \ - } \ -} \ - -//! Set the size of the array -#define GIM_DYNARRAY_SET_SIZE(type, array_data, size) \ -{ \ - GIM_DYNARRAY_RESERVE_SIZE(type, array_data, (array_data).m_size, size); \ - (array_data).m_size = size; \ -} \ - -//! Gets a pointer from the beginning of the array -#define GIM_DYNARRAY_POINTER(type, array_data) ((type *)((array_data).m_pdata)) - -//! Gets a pointer from the last elemento of the array -#define GIM_DYNARRAY_POINTER_LAST(type, array_data) (((type *)(array_data).m_pdata) + ((array_data).m_size - 1)) - -//! Inserts an element at the last position -#define GIM_DYNARRAY_PUSH_ITEM(type, array_data, item)\ -{ \ - if ((array_data).m_reserve_size <= (array_data).m_size)\ - {\ - GIM_DYNARRAY_RESERVE_SIZE(type, array_data, (array_data).m_size, (array_data).m_size + G_ARRAY_GROW_SIZE); \ - }\ - type * _pt = GIM_DYNARRAY_POINTER(type, array_data); \ - memcpy(&_pt[(array_data).m_size], &(item), sizeof(type)); \ - (array_data).m_size++; \ -} \ - -//! Inserts an element at the last position -#define GIM_DYNARRAY_PUSH_EMPTY(type, array_data) \ -{ \ - if ((array_data).m_reserve_size <= (array_data).m_size) \ - { \ - GIM_DYNARRAY_RESERVE_SIZE(type, array_data, (array_data).m_size, (array_data).m_size + G_ARRAY_GROW_SIZE); \ - } \ - (array_data).m_size++; \ -} \ - -//! Inserts an element -#define GIM_DYNARRAY_INSERT_ITEM(type, array_data, item, index) \ -{ \ - if ((array_data).m_reserve_size <= (array_data).m_size) \ - { \ - GIM_DYNARRAY_RESERVE_SIZE(type, array_data, (array_data).m_size, (array_data).m_size + G_ARRAY_GROW_SIZE); \ - } \ - type * _pt = GIM_DYNARRAY_POINTER(type, array_data); \ - if ((index) < (array_data).m_size - 1) \ - { \ - memmove(&_pt[(index) + 1], &_pt[(index)], ((array_data).m_size - (index)) * sizeof(type)); \ - } \ - memcpy(&_pt[(index)], &(item), sizeof(type)); \ - array_data.m_size++; \ -} \ - -//! Removes an element -#define GIM_DYNARRAY_DELETE_ITEM(type, array_data, index) \ -{ \ - if ((index) < (array_data).m_size - 1) \ - { \ - type * _pt = GIM_DYNARRAY_POINTER(type, array_data);\ - memmove(&_pt[(index)], &_pt[(index) + 1], ((array_data).m_size - (index) - 1) * sizeof(type)); \ - } \ - (array_data).m_size--; \ -} \ - -//! Removes an element at the last position -#define GIM_DYNARRAY_POP_ITEM(array_data) \ -{ \ - if ((array_data).m_size > 0) \ - { \ - (array_data).m_size--; \ - } \ -}\ - -//! Destroys the array -void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data); -//! @} - -/*! \defgroup BITSET -\brief -Bitsets , based on \ref DYNAMIC_ARRAYS . -
      -
    • For initializes a bitset array, use \ref GIM_BITSET_CREATE or \ref GIM_BITSET_CREATE_SIZED. -
    • When the bitset is no longer used, must be terminated with the macro \ref GIM_DYNARRAY_DESTROY. -
    • For putting a mark on the bitset, call \ref GIM_BITSET_SET -
    • For clearing a mark on the bitset, call \ref GIM_BITSET_CLEAR -
    • For retrieving a bit value from a bitset, call \ref GIM_BITSET_GET- -
    -*/ -//! @{ - -//! Creates a bitset -#define GIM_BITSET_CREATE(array_data) GIM_DYNARRAY_CREATE(GUINT, array_data, G_ARRAY_GROW_SIZE) - -//! Creates a bitset, with their bits set to 0. -#define GIM_BITSET_CREATE_SIZED(array_data, bits_count) \ -{ \ - GUINT array_size = (bits_count) / GUINT_BIT_COUNT + 1; \ - GIM_DYNARRAY_CREATE(GUINT, array_data, array_size); \ - GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT, array_data); \ - memset(_pt, 0, sizeof(GUINT) * ((array_data).m_size)); \ -} \ - -//! Gets the bitset bit count. -#define GIM_BITSET_SIZE(array_data) ((array_data).m_size * GUINT_BIT_COUNT) - -//! Resizes a bitset, with their bits set to 0. -#define GIM_BITSET_RESIZE(array_data, new_bits_count) \ -{ \ - GUINT _oldsize = (array_data).m_size; \ - (array_data).m_size = (new_bits_count) / GUINT_BIT_COUNT + 1; \ - if (_oldsize < (array_data).m_size) \ - { \ - if ((array_data).m_size > (array_data).m_reserve_size) \ - { \ - GIM_DYNARRAY_RESERVE_SIZE(GUINT, array_data, _oldsize, (array_data).m_size + G_ARRAY_GROW_SIZE); \ - } \ - GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT, array_data); \ - memset(&_pt[_oldsize], 0, sizeof(GUINT) * ((array_data).m_size - _oldsize)); \ - } \ -} \ - -//! Sets all bitset bit to 0. -#define GIM_BITSET_CLEAR_ALL(array_data) \ -{ \ - memset((array_data).m_pdata, 0, sizeof(GUINT) * (array_data).m_size); \ -} \ - -//! Sets all bitset bit to 1. -#define GIM_BITSET_SET_ALL(array_data) \ -{ \ - memset((array_data).m_pdata, 0xFF, sizeof(GUINT) * (array_data).m_size); \ -} \ - -///Sets the desired bit to 1 -#define GIM_BITSET_SET(array_data, bit_index) \ -{ \ - if ((bit_index) >= GIM_BITSET_SIZE(array_data)) \ - { \ - GIM_BITSET_RESIZE(array_data, bit_index); \ - } \ - GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT, array_data); \ - _pt[(bit_index) >> GUINT_EXPONENT] |= (1 << ((bit_index) & (GUINT_BIT_COUNT - 1))); \ -} \ - -///Return 0 or 1 -#define GIM_BITSET_GET(array_data, bit_index, get_value) \ -{ \ - if ((bit_index) >= GIM_BITSET_SIZE(array_data)) \ - { \ - (get_value) = 0; \ - } \ - else \ - { \ - GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT, array_data); \ - (get_value) = _pt[(bit_index) >> GUINT_EXPONENT] & (1 << ((bit_index) & (GUINT_BIT_COUNT - 1))); \ - } \ -} \ - -///Sets the desired bit to 0 -#define GIM_BITSET_CLEAR(array_data, bit_index) \ -{ \ - if ((bit_index) < GIM_BITSET_SIZE(array_data)) \ - { \ - GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT, array_data); \ - _pt[(bit_index) >> GUINT_EXPONENT] &= ~(1 << ((bit_index) & (GUINT_BIT_COUNT - 1))); \ - } \ -} \ -//! @} - -/*! \defgroup MEMORY_ACCESS_CONSTANTS -\brief -Memory Access constants. -\sa BUFFERS -*/ -//! @{ -#define G_MA_READ_ONLY 1 -#define G_MA_WRITE_ONLY 2 -#define G_MA_READ_WRITE 3 -//! @} - -/*! \defgroup MEMORY_USAGE_CONSTANTS -\brief -Memory usage constants. -\sa BUFFERS -*/ -//! @{ -/// Don't care how memory is used -#define G_MU_EITHER 0 -/// specified once, doesn't allow read information -#define G_MU_STATIC_WRITE 1 -/// specified once, allows to read information from a shadow buffer -#define G_MU_STATIC_READ 2 -/// write directly on buffer, allows to read information from a shadow buffer -#define G_MU_STATIC_READ_DYNAMIC_WRITE 3 -/// upload data to buffer from the shadow buffer, allows to read information from a shadow buffer -#define G_MU_STATIC_READ_DYNAMIC_WRITE_COPY 4 -/// specified once, allows to read information directly from memory -#define G_MU_STATIC_WRITE_DYNAMIC_READ 5 -/// write directly on buffer, allows to read information directly from memory -#define G_MU_DYNAMIC_READ_WRITE 6 -//! @} - -/*! \defgroup BUFFER_ERRORS -\brief -Buffer operation errors -\sa BUFFERS -*/ -//! @{ -#define G_BUFFER_OP_SUCCESS 0 -#define G_BUFFER_OP_INVALID 1 -#define G_BUFFER_OP_STILLREFCOUNTED 2 -//! @} - -/*! \defgroup BUFFER_MANAGER_IDS -\brief -Buffer manager identifiers -\sa BUFFERS, BUFFER_MANAGERS -*/ -//! @{ -enum -{ - G_BUFFER_MANAGER_SYSTEM, - G_BUFFER_MANAGER_SHARED, - - G_BUFFER_MANAGER__MAX, -}; -//! @} - -/*! \defgroup BUFFERS -\brief -Buffer operations and structs. -
      -
    • Before using buffers you must initializes GIMPACT buffer managers by calling \ref gimpact_init. -
    • For initializes a buffer, use \ref gim_create_buffer, \ref gim_create_buffer_from_data , \ref gim_create_common_buffer, \ref gim_create_common_buffer_from_data or \ref gim_create_shared_buffer_from_data. -
    • For accessing to the buffer memory, you must call \ref gim_lock_buffer, and then \ref gim_unlock_buffer for finish the access. -
    • When a buffer is no longer needed, you must free it by calling \ref gim_buffer_free. -
    • You must call \ref gimpact_terminate when finish your application. -
    • For a safe manipulation of buffers, use \ref BUFFER_ARRAYS -
    -\sa BUFFER_MANAGERS, BUFFER_ARRAYS -*/ -//! @{ - -struct GBUFFER_MANAGER_DATA; - -//! Buffer handle. -struct GBUFFER_ID -{ - GBUFFER_MANAGER_DATA * m_bm_data; - GUINT m_buffer_id; -}; -//typedef struct _GBUFFER_ID GBUFFER_ID; - -//! Buffer internal data -struct GBUFFER_DATA -{ - GUINT m_buffer_handle;//!< if 0, buffer doesn't exists - GUINT m_size; - GUINT m_usage; - GINT m_access; - GUINT m_lock_count; - char * m_mapped_pointer; - GBUFFER_ID m_shadow_buffer; - GUINT m_refcount;//! Reference counting for safe garbage collection -}; -//typedef struct _GBUFFER_DATA GBUFFER_DATA; -//! @} - -/*! \defgroup BUFFERS_MANAGER_PROTOTYPES -\brief -Function prototypes to allocate and free memory for buffers -\sa BUFFER_MANAGERS, BUFFERS -*/ -//! @{ - -//! Returns a Buffer handle -typedef GUINT gim_buffer_alloc_function(GUINT size,int usage); - -//! Returns a Buffer handle, and copies the pdata to the buffer -typedef GUINT gim_buffer_alloc_data_function(const void * pdata,GUINT size,int usage); - -//! Changes the size of the buffer preserving the content, and returns the new buffer id -typedef GUINT gim_buffer_realloc_function(GUINT buffer_handle,GUINT oldsize,int old_usage,GUINT newsize,int new_usage); - -//! It changes the m_buffer_handle member to 0/0 -typedef void gim_buffer_free_function(GUINT buffer_handle,GUINT size); - -//! It maps the m_mapped_pointer. Returns a pointer -typedef char * gim_lock_buffer_function(GUINT buffer_handle,int access); - -//! It sets the m_mapped_pointer to 0 -typedef void gim_unlock_buffer_function(GUINT buffer_handle); - -typedef void gim_download_from_buffer_function( - GUINT source_buffer_handle, - GUINT source_pos, - void * destdata, - GUINT copysize); - -typedef void gim_upload_to_buffer_function( - GUINT dest_buffer_handle, - GUINT dest_pos, - void * sourcedata, - GUINT copysize); - -typedef void gim_copy_buffers_function( - GUINT source_buffer_handle, - GUINT source_pos, - GUINT dest_buffer_handle, - GUINT dest_pos, - GUINT copysize); -//! @} - - -/*! \defgroup BUFFER_MANAGERS -\brief -Buffer Manager operations -*/ -//! @{ -//! Buffer manager prototype -struct GBUFFER_MANAGER_PROTOTYPE -{ - gim_buffer_alloc_function * alloc_fn; - gim_buffer_alloc_data_function *alloc_data_fn; - gim_buffer_realloc_function * realloc_fn; - gim_buffer_free_function * free_fn; - gim_lock_buffer_function * lock_buffer_fn; - gim_unlock_buffer_function * unlock_buffer_fn; - gim_download_from_buffer_function * download_from_buffer_fn; - gim_upload_to_buffer_function * upload_to_buffer_fn; - gim_copy_buffers_function * copy_buffers_fn; -}; -//typedef struct _GBUFFER_MANAGER_PROTOTYPE GBUFFER_MANAGER_PROTOTYPE; - -//! Buffer manager -struct GBUFFER_MANAGER_DATA -{ - GDYNAMIC_ARRAY m_buffer_array;//!< Array of GBUFFER_DATA objects - GDYNAMIC_ARRAY m_free_positions;//!< Array of GUINT elements. Free positions - const GBUFFER_MANAGER_PROTOTYPE *m_prototype;//!< Prototype of functions - GUINT m_buffer_manager_id;//!< Buffer manager id -}; -//typedef struct _GBUFFER_MANAGER_DATA GBUFFER_MANAGER_DATA; - -//! Checks if buffer manager is used -int gim_is_buffer_manager_active(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id); -//! Adds a buffer Manager to the Memory Singleton -void gim_create_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id); -//! Destroys a buffer manager -void gim_destroy_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], GUINT buffer_manager_id); -void gim_get_buffer_manager_data(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data); -void gim_init_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[]); -void gim_terminate_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[]); - -//! @} - - -/*! \addtogroup BUFFERS -*/ -//! @{ - -//!Creates a buffer on the buffer manager specified by buffer_manager_id -/*! -\param buffer_manager_id -\param buffer_size -\param usage An usage constant. Use G_MU_DYNAMIC_READ_WRITE as default. -\param buffer_id a pointer for receive the new buffer id -\return An error code. 0 if success. -\post m_refcount = 0 -*/ -GUINT gim_create_buffer( - GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id, - GUINT buffer_size, - int usage, - GBUFFER_ID * buffer_id); - -//!Creates a buffer on the buffer manager specified by buffer_manager_id -/*! -\param buffer_manager_id -\param pdata Data for allocating -\param buffer_size Size of the data buffer -\param usage An usage constant. Use G_MU_DYNAMIC_READ_WRITE as default. -\param buffer_id a pointer for receive the new buffer id -\return An error code. 0 if success. -\post m_refcount = 0 -*/ -GUINT gim_create_buffer_from_data( - GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id, - const void * pdata, - GUINT buffer_size, - int usage, - GBUFFER_ID * buffer_id); - -//!Allocates on the G_BUFFER_MANAGER_SYSTEM -GUINT gim_create_common_buffer(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_size, GBUFFER_ID * buffer_id); -//!Allocates on the G_BUFFER_MANAGER_SYSTEM, and copies the data -GUINT gim_create_common_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[], - const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id); -//!Creates a buffer with shared data -GUINT gim_create_shared_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[], - const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id); - - -//! Add reference counting to buffer. -GINT gim_buffer_add_ref(GBUFFER_ID * buffer_id); - -//! Function for resize buffer, preserving the content -/*! -\param buffer_id -\param newsize -\return An error code. 0 if success. -\post If m_refcount>0 then it decrements it. -*/ -GINT gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT newsize); - -//! Eliminates the buffer. -/*! -If the buffer reference counting is <= 1 and is unlocked, then it eliminates the buffer. -*/ -GINT gim_buffer_free(GBUFFER_ID * buffer_id); - -//! Locks the buffer for memory access. -/*! -\param buffer_id Id from buffer. -\param access Must have the following values: G_MA_READ_ONLY,G_MA_WRITE_ONLY or G_MA_READ_WRITE. -\param map_pointer Dest Pointer of the memory address from buffer. -\post m_lock_count increases. -*/ -GINT gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer); - -//! Unlocks the buffer for memory access. -GINT gim_unlock_buffer(GBUFFER_ID * buffer_id); - -//! Gets the buffer size in bytes -GINT gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT * buffer_size); - -//! Determines if the buffer is locked -GINT gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT * lock_count); - -//! Copies the content of the buffer to a dest pointer -GINT gim_download_from_buffer( - GBUFFER_ID * buffer_id, - GUINT source_pos, - void * destdata, - GUINT copysize); - -//! Copies the content of a memory pointer to the buffer -GINT gim_upload_to_buffer( - GBUFFER_ID * buffer_id, - GUINT dest_pos, - void * sourcedata, - GUINT copysize); - -//! Copies two buffers. -GINT gim_copy_buffers( - GBUFFER_ID * source_buffer_id, - GUINT source_pos, - GBUFFER_ID * dest_buffer_id, - GUINT dest_pos, - GUINT copysize); -//! @} - - -/*! \defgroup BUFFER_ARRAYS - -\brief -Buffered Arrays, for manip elements on a buffer and treat it as an array. -
      -
    • Before using buffer arrays you must initializes GIMPACT buffer managers by calling gimpact_init. -
    • Before creating buffer arrays, you must create a buffer. see \ref BUFFERS. -
    • Create a buffer narray by calling \ref GIM_BUFFER_ARRAY_INIT_TYPE, \ref GIM_BUFFER_ARRAY_INIT_TYPE_OFFSET or \ref GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE. -
    • For accessing to the array elements, you must call \ref gim_buffer_array_lock, and then \ref gim_buffer_array_unlock for finish the access. -
    • When a buffer array is no longer needed, you must free it by calling \ref GIM_BUFFER_ARRAY_DESTROY. -
    -The following example shows how Buffer arrays can be used: - -\code -int main() -{ - //init gimpact - gimpact_init(); - - //Buffer handle to use - GBUFFER_ID bufferhandle; - - //Create a memory buffer of 100 float numbers - gim_create_common_buffer(100*sizeof(float), &bufferhandle); - - //Create a buffer array from the bufferhandle - GBUFFER_ARRAY buffer_float_array; - GIM_BUFFER_ARRAY_INIT_TYPE(float,buffer_float_array,bufferhandle,100); - - ////Access to the buffer data, set all elements of the array - - int i, count; - count = buffer_float_array.m_element_count; - //Locks the array - gim_buffer_array_lock(&buffer_float_array,G_MA_READ_WRITE); - float * pelements = GIM_BUFFER_ARRAY_POINTER(float, buffer_float_array, 0); // A pointer to the buffer memory - - //fill the array with random numbers - for (i = 0;i < count;i++ ) - { - pelements[i] = gim_unit_random(); - } - //unlock buffer - gim_buffer_array_unlock(&buffer_float_array); - - //Program code - .... - .... - - //Destroy array - GIM_BUFFER_ARRAY_DESTROY(buffer_float_array); - - //terminate gimpact - gimpact_terminate(); -} -\endcode - -\sa BUFFERS -*/ -//! @{ - -//! Buffer managed array struct. -struct GBUFFER_ARRAY -{ - GBUFFER_ID m_buffer_id; - char * m_buffer_data; - char m_byte_stride; - GUINT m_byte_offset; - GUINT m_element_count; -}; -//typedef struct _GBUFFER_ARRAY GBUFFER_ARRAY; - -//! Sets offset for a buffered array. -#define GIM_BUFFER_ARRAY_SET_OFFSET(_array_data,_offset) (_array_data).m_byte_offset = (_offset)*(_array_data).m_byte_stride; - -//! Sets offset for a buffered array. -#define GIM_BUFFER_ARRAY_GET_OFFSET(_array_data,_offset) (_offset) = (_array_data).m_byte_offset/(_array_data).m_byte_stride; - -//!Return a pointer of the element at the _index -#define GIM_BUFFER_ARRAY_POINTER(_type,_array_data,_index) (_type *)((_array_data).m_buffer_data + (_index)*(_array_data).m_byte_stride) - -//! Sets stride for a buffered array. -#define GIM_BUFFER_ARRAY_SET_STRIDE(_type,_array_data) (_array_data).m_byte_stride = sizeof(_type); - -//! Is array stride equal to the size of the type ? -#define GIM_BUFFER_ARRAY_IS_ALIGNED(_type,_array_data) ((_array_data).m_byte_stride == sizeof(_type)) - -///Verify if two arrays have the same data -#define GIM_BUFFER_ARRAY_ARE_SAME(_array_data1,_array_data2,aresame) \ -{ \ - (aresame) = 1; \ - if ((_array_data1).m_buffer_id.m_buffer_id != (_array_data2).m_buffer_id.m_buffer_id || (_array_data1).m_buffer_id.m_buffer_manager_id != (_array_data2).m_buffer_id.m_buffer_manager_id || (_array_data1).m_byte_offset != (_array_data2).m_byte_offset) \ - { \ - (aresame) = 0; \ - } \ -} \ - -//! Reserve size for a buffered array. -/*! -\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED ) -*/ -#define GIM_BUFFER_ARRAY_RESERVE_SIZE(type, array_data, reserve_size) \ -{ \ - if ((reserve_size) > (array_data).m_element_count) \ - { \ - GUINT _buffer_size, _newarray_size; \ - gim_get_buffer_size(&(array_data).m_buffer_id, _buffer_size); \ - _newarray_size = (reserve_size) * (array_data).m_byte_stride; \ - if(_newarray_size > _buffer_size) \ - { \ - _newarray_size += G_ARRAY_GROW_SIZE * (array_data).m_byte_stride; \ - gim_buffer_realloc(&(array_data).m_buffer_id, _newarray_size); \ - } \ - } \ -} \ - -//! Pushes an element at last position -/*! -\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED ) -*/ -#define GIM_BUFFER_ARRAY_PUSH_ITEM(type, array_data, item) \ -{ \ - GIM_BUFFER_ARRAY_RESERVE_SIZE(type, array_data, (array_data).m_element_count + 1); \ - gim_buffer_array_lock(&(array_data), G_MA_WRITE_ONLY); \ - type * _pt = GIM_BUFFER_ARRAY_POINTER(type, array_data, (array_data).m_element_count); \ - memcpy(_pt, &(item), sizeof(type)); \ - gim_buffer_array_unlock(&(array_data)); \ - (array_data)->m_element_count++; \ -} \ - -//! Pushes a new element at last position -/*! -\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED ) -*/ -#define GIM_BUFFER_ARRAY_PUSH_EMPTY(type, array_data) \ -{\ - GIM_BUFFER_ARRAY_RESERVE_SIZE(type, array_data, (array_data).m_element_count + 1); \ - (array_data)->m_element_count++; \ -}\ - -//! Inserts an element -/*! -\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED ) -*/ -#define GIM_BUFFER_ARRAY_INSERT_ITEM(type, array_data, item, index) \ -{ \ - GIM_BUFFER_ARRAY_RESERVE_SIZE(type, array_data, (array_data).m_element_count + 1); \ - gim_buffer_array_lock(&(array_data), G_MA_WRITE_ONLY); \ - type * _pt = GIM_BUFFER_ARRAY_POINTER(type, array_data, 0); \ - if ((index) < (array_data)->m_element_count - 1) \ - { \ - memmove(&_pt[(index) + 1], &_pt[(index)], ((array_data).m_element_count - (index)) * sizeof(type)); \ - } \ - memcpy(&_pt[(index)], &(item), sizeof(type)); \ - gim_buffer_array_unlock(&(array_data)); \ - (array_data).m_element_count++; \ -} \ - -//! Deletes an element -/*! -\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED ) -*/ -#define GIM_BUFFER_ARRAY_DELETE_ITEM(type, array_data, index) \ -{ \ - if ((index) < (array_data).m_element_count - 1) \ - { \ - gim_buffer_array_lock(&(array_data), G_MA_WRITE_ONLY); \ - type * _pt = GIM_BUFFER_ARRAY_POINTER(type, array_data, 0); \ - memmove(&_pt[(index)], &_pt[(index) + 1],((array_data).m_element_count - (index) - 1) * sizeof(type)); \ - gim_buffer_array_unlock(&(array_data)); \ - } \ - (array_data).m_element_count--; \ -} \ - -//! Deletes an element at last position -/*! -\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED ) -*/ -#define GIM_BUFFER_ARRAY_POP_ITEM(array_data) \ -{ \ - if ((array_data).m_element_count > 0) \ - { \ - (array_data).m_element_count--; \ - } \ -} \ - - -//! Initializes an GBUFFER_ARRAY object from a buffer ID -/*! -m_buffer_data will be 0, for acces to the elements, you'd need to call lock_array -\param array_data Array structure to be filled -\param buffer_id A GBUFFER_ID structure which this array_daya will refer to -\param element_count Number of elements -\param offset element offset, it isn't byte offset. 0 is recomended -\param byte_stride size of each element. 0 is recomended. -\post Adds reference to the buffer -\sa gim_buffer_add_ref -*/ -#define GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(array_data, buffer_id, element_count, offset, byte_stride) \ -{ \ - (array_data).m_buffer_id.m_buffer_id = (buffer_id).m_buffer_id; \ - (array_data).m_buffer_id.m_buffer_manager_id = (buffer_id).m_buffer_manager_id; \ - (array_data).m_buffer_data = 0; \ - (array_data).m_element_count = (element_count); \ - (array_data).m_byte_stride = (byte_stride); \ - GIM_BUFFER_ARRAY_SET_OFFSET(array_data, offset); \ - gim_buffer_add_ref(&(buffer_id)); \ -} \ - -//! Initializes an GBUFFER_ARRAY object from a buffer ID and a Given type -/*! -m_buffer_data will be 0, for acces to the elements, you'd need to call lock_array -\param type Type of the Array. It determines the stride. -\param array_data Array structure to be filled -\param buffer_id A GBUFFER_ID structure which this array_daya will refer to -\param element_count Number of elements -\param offset element offset, it isn't byte offset. 0 is recomended -\post Adds reference to the buffer -\sa gim_buffer_add_ref -*/ -#define GIM_BUFFER_ARRAY_INIT_TYPE_OFFSET(type, array_data, buffer_id, element_count, offset) \ -{ \ - (array_data).m_buffer_id.m_buffer_id = (buffer_id).m_buffer_id; \ - (array_data).m_buffer_id.m_bm_data = (buffer_id).m_bm_data; \ - (array_data).m_buffer_data = 0; \ - (array_data).m_element_count = (element_count);\ - GIM_BUFFER_ARRAY_SET_STRIDE(type, array_data); \ - GIM_BUFFER_ARRAY_SET_OFFSET(array_data, offset); \ - gim_buffer_add_ref(&(buffer_id)); \ -}\ - -//! Initializes a buffer array giving a data type and a buffer id -/*! -m_buffer_data will be 0, for acces to the elements, you'd need to call lock_array. -\param type Type of the Array. It determines the stride. -\param array_data Array structure to be filled -\param buffer_id A GBUFFER_ID structure which this array_daya will refer to -\param element_count Number of elements -\post Adds reference to the buffer -\sa gim_buffer_add_ref -*/ -#define GIM_BUFFER_ARRAY_INIT_TYPE(type, array_data, buffer_id, element_count) GIM_BUFFER_ARRAY_INIT_TYPE_OFFSET(type, array_data, buffer_id, element_count, 0) - -//! Gain access to the array buffer through the m_buffer_data element -/*! -m_buffer_data pointer will be located at the m_byte_offset position of the buffer m_buffer -Then, You'd need to call unlock_array when finish to using the array access. - -\pre if m_buffer_data != 0, the function returns -\param array_data Array structure to be locked -\param access A constant for access to the buffer. can be G_MA_READ_ONLY,G_MA_WRITE_ONLY or G_MA_READ_WRITE -\return an Buffer error code -*/ -GINT gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access); - -//! close the access to the array buffer through the m_buffer_data element -/*! -\param array_data Array structure to be locked -\return an Buffer error code -*/ -GINT gim_buffer_array_unlock(GBUFFER_ARRAY * array_data); - -//! Copy an array by reference -/*! -\post A reference to the m_buffer_id is increased. -*/ -void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY * dest_data); - - -//! Copy an array by value -/*! -\post A new buffer is created -*/ -void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data, - GBUFFER_MANAGER_DATA dest_buffer_managers[],GBUFFER_ARRAY * dest_data, - GUINT buffer_manager_id,int usage); - -//! Destroys an GBUFFER_ARRAY object -/*! -\post Attemps to destroy the buffer, decreases reference counting -*/ -void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data); - -//! Copy the content of the array to a pointer -/*! -\pre dest_data must have the same size as the array_data -\param type -\param array_data A GBUFFERED_ARRAY structure -\param dest_data A type pointer -*/ -#define GIM_BUFFER_ARRAY_DOWNLOAD(type,array_data,dest_data) \ -{ \ - if (GIM_BUFFER_ARRAY_IS_ALIGNED(type, array_data)) \ - { \ - gim_download_from_buffer(&(array_data).m_buffer_id, (array_data).m_byte_offset, (void *)(dest_data), (array_data).m_element_count * (array_data).m_byte_stride); \ - } \ - else \ - { \ - GUINT _k_, _ecount_= (array_data).m_element_count; \ - type * _source_vert_; \ - type * _dest_vert_ = (dest_data); \ - gim_buffer_array_lock(&(array_data), G_MA_READ_ONLY); \ - for (_k_ = 0; _k_ < _ecount_; _k_++) \ - { \ - _source_vert_ = GIM_BUFFER_ARRAY_POINTER(type, array_data, _k_); \ - memcpy(_dest_vert_, _source_vert_, sizeof(type)); \ - _dest_vert_++; \ - } \ - gim_buffer_array_unlock(&(array_data)); \ - } \ -} \ - -//! Upload the content of a a pointer to a buffered array -/*! -\pre source_data must have the same size as the array_data -\param type -\param array_data A GBUFFERED_ARRAY structure -\param source_data A void pointer -*/ -#define GIM_BUFFER_ARRAY_UPLOAD(type, array_data, source_data) \ -{ \ - if (GIM_BUFFER_ARRAY_IS_ALIGNED(type, array_data)) \ - { \ - gim_upload_to_buffer(&(array_data).m_buffer_id, (array_data).m_byte_offset, (void *)(source_data), (array_data).m_element_count * (array_data).m_byte_stride); \ - } \ - else \ - { \ - GUINT _k_, _ecount_= (array_data).m_element_count; \ - type * _source_vert_ = (source_data); \ - type * _dest_vert_; \ - gim_buffer_array_lock(&(array_data), G_MA_WRITE_ONLY); \ - for (_k_ = 0; _k_ < _ecount_; _k_++) \ - { \ - _dest_vert_ = GIM_BUFFER_ARRAY_POINTER(type, array_data, _k_); \ - memcpy(_dest_vert_, _source_vert_, sizeof(type)); \ - _source_vert_++; \ - } \ - gim_buffer_array_unlock(&(array_data)); \ - } \ -} \ - - -//!Kernel function prototype for process streams, given a buffered array as source and -/*! -\param 1 the uniform arguments -\param 2 the source stream -\param 3 the destination stream -*/ -typedef void (* gim_kernel_func)(void *,GBUFFER_ARRAY *,GBUFFER_ARRAY *); - -//! Generic Stream Processingp loop -/*! - -This macro executes a kernel macro or function for each element of the streams -\pre _src_array->m_count <= _dst_array->m_count - -\param _uniform_data An argument to be passed to the Kernel function -\param _src_array An GBUFFER_ARRAY structure passed as the source stream -\param _dst_array An GBUFFER_ARRAY structure passed as the source stream -\param _kernel Macro or function of the kernel -\param _src_type Required. Type of all elements of the source stream -\param _dst_type Required. Type of all elements of the dest stream -*/ -#define GIM_PROCESS_BUFFER_ARRAY(_uniform_data, _src_array, _dst_array, _kernel, _src_type, _dst_type) \ -{ \ -\ - gim_buffer_array_lock(&(_src_array), G_MA_READ_ONLY); \ - gim_buffer_array_lock(&(_dst_array), G_MA_WRITE_ONLY); \ -\ - GUINT _i_, _count_=(_src_array).m_element_count; \ -\ - _src_type * _source_vert_; \ - _dst_type * _dest_vert_; \ - if (GIM_BUFFER_ARRAY_IS_ALIGNED(_src_type, _src_array) && GIM_BUFFER_ARRAY_IS_ALIGNED(_dst_type, _dst_array)) \ - { \ -\ - _source_vert_ = GIM_BUFFER_ARRAY_POINTER(_src_type, _src_array, 0); \ - _dest_vert_ = GIM_BUFFER_ARRAY_POINTER(_dst_type, _dst_array, 0); \ - for (_i_ = 0;_i_< _count_; _i_++) \ - { \ - _kernel(_uniform_data, *_source_vert_, *_dest_vert_); \ - _source_vert_++; \ - _dest_vert_++; \ - } \ - } \ - else \ - { \ - for (_i_ = 0; _i_ < _count_; _i_++) \ - { \ - _source_vert_ = GIM_BUFFER_ARRAY_POINTER(_src_type, _src_array, _i_); \ - _dest_vert_ = GIM_BUFFER_ARRAY_POINTER(_dst_type, _dst_array, _i_); \ - _kernel(_uniform_data, *_source_vert_, *_dest_vert_); \ - } \ - } \ - gim_buffer_array_unlock(&(_src_array)); \ - gim_buffer_array_unlock(&(_dst_array)); \ -} \ - -//! @} - -#endif // GIM_MEMORY_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_radixsort.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_radixsort.h deleted file mode 100644 index 841c5518..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_radixsort.h +++ /dev/null @@ -1,258 +0,0 @@ -#ifndef GIM_RADIXSORT_H_INCLUDED -#define GIM_RADIXSORT_H_INCLUDED -/*! \file gim_radixsort.h -\author Francisco León. -Based on the work of Michael Herf : "fast floating-point radix sort" -Avaliable on http://www.stereopsis.com/radix.html -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_memory.h" - -/*! \defgroup SORTING -\brief -Macros for sorting. -*/ -//! @{ -struct GIM_RSORT_TOKEN -{ - GUINT m_key; - GUINT m_value; -}; -//typedef struct _GIM_RSORT_TOKEN GIM_RSORT_TOKEN; - -//comparator for sorting -#define RSORT_TOKEN_COMPARATOR(x, y) ((int)((x.m_key) - (y.m_key))) - -// ---- utils for accessing 11-bit quantities -#define D11_0(x) (x & 0x7FF) -#define D11_1(x) (x >> 11 & 0x7FF) -#define D11_2(x) (x >> 22 ) - - -//COMMON FUNCTIONS FOR ACCESSING THE KEY OF AN ELEMENT - - -//For the type of your array, you need to declare a macro for obtaining the key, like these: -#define SIMPLE_GET_FLOAT32KEY(e,key) {key =(GREAL)(e);} - -#define SIMPLE_GET_INTKEY(e,key) {key =(GINT)(e);} - -#define SIMPLE_GET_UINTKEY(e,key) {key =(GUINT)(e);} - -//For the type of your array, you need to declare a macro for copy elements, like this: - -#define SIMPLE_COPY_ELEMENTS(dest,src) {dest = src;} - -#define kHist 2048 - -///Radix sort for unsigned integer keys - -#define GIM_RADIX_SORT_RTOKENS(array,sorted,element_count)\ -{\ - GUINT i;\ - GUINT b0[kHist * 3];\ - GUINT *b1 = b0 + kHist;\ - GUINT *b2 = b1 + kHist;\ - for (i = 0; i < kHist * 3; i++)\ - {\ - b0[i] = 0;\ - }\ - GUINT fi;\ - GUINT pos;\ - for (i = 0; i < element_count; i++)\ - {\ - fi = array[i].m_key;\ - b0[D11_0(fi)] ++;\ - b1[D11_1(fi)] ++;\ - b2[D11_2(fi)] ++;\ - }\ - {\ - GUINT sum0 = 0, sum1 = 0, sum2 = 0;\ - GUINT tsum;\ - for (i = 0; i < kHist; i++)\ - {\ - tsum = b0[i] + sum0;\ - b0[i] = sum0 - 1;\ - sum0 = tsum;\ - tsum = b1[i] + sum1;\ - b1[i] = sum1 - 1;\ - sum1 = tsum;\ - tsum = b2[i] + sum2;\ - b2[i] = sum2 - 1;\ - sum2 = tsum;\ - }\ - }\ - for (i = 0; i < element_count; i++)\ - {\ - fi = array[i].m_key;\ - pos = D11_0(fi);\ - pos = ++b0[pos];\ - sorted[pos].m_key = array[i].m_key;\ - sorted[pos].m_value = array[i].m_value;\ - }\ - for (i = 0; i < element_count; i++)\ - {\ - fi = sorted[i].m_key;\ - pos = D11_1(fi);\ - pos = ++b1[pos];\ - array[pos].m_key = sorted[i].m_key;\ - array[pos].m_value = sorted[i].m_value;\ - }\ - for (i = 0; i < element_count; i++)\ - {\ - fi = array[i].m_key;\ - pos = D11_2(fi);\ - pos = ++b2[pos];\ - sorted[pos].m_key = array[i].m_key;\ - sorted[pos].m_value = array[i].m_value;\ - }\ -}\ - -/// Get the sorted tokens from an array. For generic use. Tokens are GIM_RSORT_TOKEN -#define GIM_RADIX_SORT_ARRAY_TOKENS(array, sorted_tokens, element_count, get_uintkey_macro)\ -{\ - GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN )*element_count);\ - GUINT _i;\ - for (_i=0;_i 0)\ - {\ - _stack_index_ --;\ - _start_ = _start_stack_[_stack_index_];\ - _end_ = _end_stack_[_stack_index_];\ - while (_end_ - _start_ > 2)\ - {\ - _p_ = _start_;\ - _i_ = _start_ + 1;\ - _j_ = _end_ - 1;\ - while (_i_<_j_) \ - {\ - for(; _i_<=_j_ && comp_macro(((array)[_i_]),((array)[_p_]))<=0; _i_++) ;\ - if (_i_ > _j_) \ - {\ - exchange_macro(type, array, _j_, _p_);\ - _i_ = _j_;\ - }\ - else\ - {\ - for(; _i_<=_j_ && comp_macro(((array)[_j_]),((array)[_p_]))>=0; _j_--) ;\ - if (_i_ > _j_) \ - {\ - exchange_macro(type, array, _j_, _p_);\ - _i_ = _j_;\ - }\ - else if (_i_ < _j_)\ - {\ - exchange_macro(type, array, _i_, _j_);\ - if (_i_+2 < _j_) {_i_++; _j_--;}\ - else if (_i_+1 < _j_) _i_++;\ - }\ - }\ - }\ - if (_i_-_start_ > 1 && _end_-_j_ > 1) \ - {\ - if (_i_-_start_ < _end_-_j_-1) \ - {\ - _start_stack_[_stack_index_] = _j_+1;\ - _end_stack_[_stack_index_] = _end_;\ - _stack_index_ ++;\ - _end_ = _i_;\ - }\ - else\ - {\ - _start_stack_[_stack_index_] = _start_;\ - _end_stack_[_stack_index_] = _i_;\ - _stack_index_ ++;\ - _start_ = _j_+1;\ - }\ - }\ - else\ - {\ - if (_i_-_start_ > 1)\ - {\ - _end_ = _i_;\ - }\ - else \ - {\ - _start_ = _j_+1;\ - }\ - }\ - }\ - if (_end_ - _start_ == 2) \ - {\ - if (comp_macro(((array)[_start_]),((array)[_end_-1])) > 0) \ - {\ - exchange_macro(type, array, _start_, _end_-1);\ - }\ - }\ - }\ -}\ - -#define GIM_DEF_EXCHANGE_MACRO(type, _array, _i, _j)\ -{\ - type _e_tmp_ =(_array)[(_i)];\ - (_array)[(_i)]=(_array)[(_j)];\ - (_array)[(_j)]= _e_tmp_;\ -}\ - -#define GIM_COMP_MACRO(x, y) ((GINT)((x) - (y))) -//! @} -#endif // GIM_RADIXSORT_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h deleted file mode 100644 index 8f9447ef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h +++ /dev/null @@ -1,111 +0,0 @@ -#ifndef GIM_TRI_CAPSULE_COLLISION_H_INCLUDED -#define GIM_TRI_CAPSULE_COLLISION_H_INCLUDED - -/*! \file gim_tri_capsule_collision.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_memory.h" - -/*! \addtogroup GEOMETRIC_OPERATIONS -*/ -//! @{ - -//! Capsule struct -struct GIM_CAPSULE_DATA -{ - GREAL m_radius; - vec3f m_point1; - vec3f m_point2; -}; -//typedef struct _GIM_CAPSULE_DATA GIM_CAPSULE_DATA; - -#define CALC_CAPSULE_AABB(capsule,aabb)\ -{\ - if(capsule.m_point1[0]G_EPSILON ?1:0; \ - if(_classif == 0) \ - { \ - if(_prevclassif==1) \ - {\ - if(clipped_count u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] - - --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] - - --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] - - --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] - - --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] - - --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) - -if 0.0<= u+v <=1.0 then they are inside of triangle - - */ -#define TRIANGLE_GET_UVPARAMETERS(point,vec1,vec2,vec3,tri_plane,u,v,outside)\ -{\ - vec3f _axe1, _axe2, _vecproj;\ - VEC_DIFF(_axe1,vec2,vec1);\ - VEC_DIFF(_axe2,vec3,vec1);\ - VEC_DIFF(_vecproj,point,vec1);\ - GUINT _i1,_i2;\ - PLANE_MINOR_AXES(tri_plane, _i1, _i2);\ - if(fabsf(_axe2[_i2])G_EPSILON)\ - {\ - outside = 1;\ - }\ - else\ - {\ - outside = 0;\ - }\ - }\ -}\ - -//! Finds the collision of a ray and a triangle. -#define RAY_TRIANGLE_INTERSECTION(vOrigin,vDir,vec1,vec2,vec3,tri_plane,pout,u,v,tparam,tmax,does_intersect)\ -{\ - RAY_PLANE_COLLISION(tri_plane,vDir,vOrigin,pout,tparam,does_intersect);\ - if(does_intersect != 0)\ - {\ - if(tparam<-G_EPSILON||tparam>tmax+G_EPSILON)\ - {\ - does_intersect = 0;\ - }\ - else\ - {\ - TRIANGLE_GET_UVPARAMETERS(pout,vec1,vec2,vec3,tri_plane,u,v,does_intersect);\ - does_intersect = !does_intersect;\ - }\ - }\ -}\ - - -//! @} - -#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h deleted file mode 100644 index 184d5bf6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h +++ /dev/null @@ -1,51 +0,0 @@ -#ifndef GIM_TRI_SPHERE_COLLISION_H_INCLUDED -#define GIM_TRI_SPHERE_COLLISION_H_INCLUDED - -/*! \file gim_tri_sphere_collision.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -/*! \addtogroup GEOMETRIC_OPERATIONS -*/ -//! @{ - -//! Finds the contact points from a collision of a triangle and a sphere -/*! -\param tri -\param center -\param radius -\param contact_data Contains the closest points on the Sphere, and the normal is pointing to triangle -*/ -int gim_triangle_sphere_collision( - GIM_TRIANGLE_DATA *tri, - vec3f center, GREAL radius, - GIM_TRIANGLE_CONTACT_DATA * contact_data); - -//! @} -#endif // GIM_TRI_SPHERE_COLLISION_H_INCLUDED diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_trimesh.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_trimesh.h deleted file mode 100644 index 8778df3b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/include/GIMPACT/gim_trimesh.h +++ /dev/null @@ -1,544 +0,0 @@ -#ifndef GIM_TRIMESH_H_INCLUDED -#define GIM_TRIMESH_H_INCLUDED -/*! \file gim_trimesh.h -\author Francisco León -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_boxpruning.h" -#include "GIMPACT/gim_contact.h" - - -///MAsk defines -#define GIM_TRIMESH_TRANSFORMED_REPLY 1 -#define GIM_TRIMESH_NEED_UPDATE 2 - -/*! \addtogroup TRIMESH -\brief -A Trimesh is the basic geometric structure for representing solid objects. -

    CREATING TRIMESHES

    -
      -
    • For creating trimeshes, you must initialize Buffer managers by calling \ref gimpact_init -
    • Then you must define the vertex and index sources by creating them with \ref BUFFER_ARRAYS routines, and then call \ref gim_trimesh_create_from_arrays. -
    • An alternative way for creaing trimesh objects is calling \ref gim_trimesh_create_from_data. -
    • For access to the trimesh data (vertices, triangle indices), you must call \ref gim_trimesh_locks_work_data , and \ref gim_trimesh_unlocks_work_data for finish the access. -
    • Each time when the trimesh data is modified, you must call \ref gim_trimesh_update after. -
    • When a trimesh is no longer needed, you must call \ref gim_trimesh_destroy. -
    - -

    This is an example of how to create a deformable trimesh that shares vertices with the user application:

    -\code -//Declaration of vertices -vec3f trimeshvertices[200]; -//Declaration of indices -GUINT trimeshindices[100]; - -... Initializing vertices and triangle indices at beginning - -//Then create trimesh -GIM_TRIMESH mytrimesh; - -//Calling trimesh create function - -gim_trimesh_create_from_data( -&mytrimesh, -trimeshvertices,200, -0 ,//copy_vertices is 0 -trimeshindices, -100, -0, //copy_indices is 0 -0 //transformed_reply is 0 -); -\endcode -

    Note that parameter transformed_reply is 0, that means that m_transformed_vertex_buffer is a reference to m_source_vertex on the trimesh, and transformations are not avaliable. Use that configuration if you have to simulate a deformable trimesh like cloth or elastic bodies.

    -

    When the trimesh is no longer needed, destroy it safely with gim_trimesh_destroy()

    -

    UPDATING TRIMESHES

    -

    On simulation loops, is needed to update trimeshes every time for update vertices althought updating triangle boxes and planes cache. There is two ways for update trimeshes:

    -
      -
    • Updating vertices directly. You need to access to the \ref GIM_TRIMESH.m_source_vertex_buffer member; a vertex buffer which has access to the source vertices. -\code -// Access to the source vertices -gim_buffer_array_lock(&mytrimesh.m_source_vertex_buffer, G_MA_READ_WRITE); - -//Get a pointer to the vertex buffer -vec3f * vertexpointer = GIM_BUFFER_ARRAY_POINTER(vec3f,mytrimesh.m_source_vertex_buffer,0); - -//Get the amount of vertices -int veccount = mytrimesh.m_source_vertex_buffer.m_element_count; - -//Modify vertices -for (int i=0;itransformed_reply = 0. -
    -
      -
    • Aplying a transformation. Simply use \ref gim_trimesh_set_tranform . Remember that with this method trimeshes must be created with \ref gim_trimesh_create_from_data with parameter transformed_reply = 1. -
    -

    After updating vertices, you must call \ref gim_trimesh_update()

    -

    TRIMESHES COLLISION

    -

    Before collide trimeshes, you need to update them first.

    -

    Then you must use \ref gim_trimesh_trimesh_collision().

    - -*/ -//! @{ - -//! Prototype for updating vertices -typedef void * gim_update_trimesh_function(struct _GIM_TRIMESH *); - -//! Trimesh -struct GIM_TRIMESH -{ - ///Original - //@{ - GBUFFER_ARRAY m_source_vertex_buffer;//!< Buffer of vec3f coordinates - - //! (GUINT) Indices of triangles,groups of three elements. - /*! - Array of GUINT. Triangle indices. Each triple contains indices of the vertices for each triangle. - \invariant must be aligned - */ - GBUFFER_ARRAY m_tri_index_buffer; - //@} - ///Allocated - //@{ - char m_mask;//!< Don't use directly - - //! Allocated transformed vertices vec3f - /*! - Array of vec3f.If gim_trimesh_has_tranformed_reply(this) == 1 then it refers to the m_source_vertex_buffer - \invariant must be aligned - */ - GBUFFER_ARRAY m_transformed_vertex_buffer; - //@} - ///Auxiliary data - //@{ - GIM_AABB_SET m_aabbset; - GDYNAMIC_ARRAY m_planes_cache_buffer;//! Allocated GIM_TRIPLANES_CACHE - GDYNAMIC_ARRAY m_planes_cache_bitset; - gim_update_trimesh_function * m_update_callback;//! If null, then m_transform is applied. - mat4f m_transform; - //@} -}; -//typedef struct _GIM_TRIMESH GIM_TRIMESH; - -/// Info about mesh -//! Return the trimesh triangle count -GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh); - -//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer -char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh); - -//! Returns 1 if the trimesh needs to update their aabbset and the planes cache. -char gim_trimesh_needs_update(GIM_TRIMESH * trimesh); - -//! Change the state of the trimesh for force it to update -/*! -Call it after made changes to the trimesh. -\post gim_trimesh_need_update(trimesh) will return 1 -\sa gim_trimesh_needs_update,gim_trimesh_has_tranformed_reply -*/ -void gim_trimesh_post_update(GIM_TRIMESH * trimesh); - -//! Creates the aabb set and the triangles cache -/*! - -\param trimesh -\param vertex_array -\param triindex_array -\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. -\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer) -*/ -void gim_trimesh_create_from_arrays(GBUFFER_MANAGER_DATA buffer_managers[], - GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply); - - - -//! Create a trimesh from vertex array and an index array -/*! -\param trimesh An uninitialized GIM_TRIMESH structure -\param vertex_array A buffer to a vec3f array -\param vertex_count -\param triindex_array -\param index_count -\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. -\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. -\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. Use 1 if you will apply transformations to the trimesh. See \ref gim_trimesh_set_tranform(). -*/ -void gim_trimesh_create_from_data(GBUFFER_MANAGER_DATA buffer_managers[], - GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, - GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply); - -//! Clears auxiliary data and releases buffer arrays -void gim_trimesh_destroy(GIM_TRIMESH * trimesh); - -//! Copies two meshes -/*! -\param source_trimesh -\param dest_trimesh -\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices -\param transformed_reply If 1, transformed vertices are reply of source vertives. 1 Is recommended -*/ -void gim_trimesh_copy(GIM_TRIMESH * source_trimesh, - GBUFFER_MANAGER_DATA dest_buffer_managers[], GIM_TRIMESH * dest_trimesh, - char copy_by_reference, char transformed_reply); - - -//! Locks the trimesh for working with it -/*! -\post locks m_tri_index_buffer and m_transformed_vertex_buffer. -\param trimesh -*/ -void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh); - - -//! unlocks the trimesh -/*! -\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer. -\param trimesh -*/ -void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh); - -//! Updates m_transformed_vertex_buffer -/*! -\pre m_transformed_vertex_buffer must be unlocked -*/ -void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh); - -//! Updates m_aabbset and m_planes_cache_bitset -/*! -\pre gim_trimesh_locks_work_data must be called before -*/ -void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh); - -//! Calls before perfom collisions. Updates the trimesh if needed -/*! -\post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset -*/ -void gim_trimesh_update(GIM_TRIMESH * trimesh); - -//! Set the transform of a trimesh -/*! -\post This function calls to gim_trimesh_post_update -*/ -void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform); - -//! Fetch triangle data -/*! -\pre gim_trimesh_locks_work_data must be called before -*/ -void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data); - -//! Fetch triangle vertices -/*! -\pre gim_trimesh_locks_work_data must be called before -*/ -void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3); - -//! Trimesh Trimesh Collisions -/*! -Before use this function you must update each trimesh: -\code -gim_trimesh_update(TriMesh1); -gim_trimesh_update(TriMesh2); -\endcode -Then you must use the trimesh collision in this way: -\code -int collide_trimeshes(GIM_TRIMESH * TriMesh1, GIM_TRIMESH * TriMesh2) -{ - //Create contact list - GDYNAMIC_ARRAY trimeshcontacts; - GIM_CREATE_CONTACT_LIST(trimeshcontacts); - - //Collide trimeshes - gim_trimesh_trimesh_collision(TriMesh1,TriMesh2,&trimeshcontacts); - - if(trimeshcontacts.m_size == 0) //do nothing - { - GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array - return 0; - } - - //Getting a pointer to the contact array - GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); - - int contactcount = trimeshcontacts.m_size; - int i; - //Process contacts - for (i=0;i -
  • m_handle1 points to trimesh1. -
  • m_handle2 points to trimesh2. -
  • m_feature1 Is a triangle index of trimesh1. -
  • m_feature2 Is a triangle index of trimesh2. - - -\param trimesh1 Collider -\param trimesh2 Collidee -\param contacts A GIM_CONTACT array. Must be initialized -*/ -void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts); - - -//! Trimesh Sphere Collisions -/*! -Before use this function you must update the trimesh: -\code -gim_trimesh_update(trimesh); -\endcode -Then you must use this function in this way: -\code -int collide_trimesh_sphere(GIM_TRIMESH * trimesh, vec3f center,GREAL radius) -{ - //Create contact list - GDYNAMIC_ARRAY trimeshcontacts; - GIM_CREATE_CONTACT_LIST(trimeshcontacts); - - //Collide trimeshes - gim_trimesh_sphere_collision(trimesh,center,radius,&trimeshcontacts); - - if(trimeshcontacts.m_size == 0) //do nothing - { - GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array - return 0; - } - - //Getting a pointer to the contact array - GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); - - int contactcount = trimeshcontacts.m_size; - int i; - //Process contacts - for (i=0;i -
  • m_handle1 points to trimesh. -
  • m_handle2 points to NULL. -
  • m_feature1 Is a triangle index of trimesh. - - -\param trimesh -\param center -\param radius -\param contacts A GIM_CONTACT array. Must be initialized -*/ -void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts); - - -//! Trimesh Capsule collision -/*! -Find the closest primitive collided by the ray. - -Before use this function you must update the trimesh: -\code -gim_trimesh_update(trimesh); -\endcode -Then you must use this function in this way: -\code -int collide_trimesh_capsule(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule) -{ - //Create contact list - GDYNAMIC_ARRAY trimeshcontacts; - GIM_CREATE_CONTACT_LIST(trimeshcontacts); - - //Collide trimeshes - gim_trimesh_capsule_collision(trimesh,capsule,&trimeshcontacts); - - if(trimeshcontacts.m_size == 0) //do nothing - { - GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array - return 0; - } - - //Getting a pointer to the contact array - GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); - - int contactcount = trimeshcontacts.m_size; - int i; - //Process contacts - for (i=0;i -
  • m_handle1 points to trimesh. -
  • m_handle2 points to NULL. -
  • m_feature1 Is a triangle index of trimesh. - - -\param trimesh -\param capsule -\param contacts A GIM_CONTACT array. Must be initialized -*/ -void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts); - - -///Function for create Trimesh Plane collision result -#define GIM_CREATE_TRIMESHPLANE_CONTACTS(dynarray) GIM_DYNARRAY_CREATE(vec4f,dynarray,G_ARRAY_GROW_SIZE) - -//! Trimesh Plane Collisions -/*! - -Before use this function you must update the trimesh: -\code -gim_trimesh_update(trimesh); -\endcode -Then you must use this function in this way: -\code -int collide_trimesh_plane(GIM_TRIMESH * trimesh, vec4f plane) -{ - //Create contact list - GDYNAMIC_ARRAY tri_plane_contacts; - GIM_CREATE_TRIMESHPLANE_CONTACTS(tri_plane_contacts); - - //Collide trimeshes - gim_trimesh_plane_collision(trimesh,plane,&tri_plane_contacts); - - if(tri_plane_contacts.m_size == 0) //do nothing - { - GIM_DYNARRAY_DESTROY(tri_plane_contacts);//clean contact array - return 0; - } - - //Getting a pointer to the contact array - vec4f * planecontacts = GIM_DYNARRAY_POINTER(vec4f,tri_plane_contacts); - - int contactcount = tri_plane_contacts.m_size; - int i; - //Process contacts - for (i=0;im_count = count; - aabbset->m_boxes = (aabb3f *)gim_alloc(sizeof(aabb3f)*count); - - if(countm_maxcoords = 0; - aabbset->m_sorted_mincoords = 0; - } - else - { - aabbset->m_maxcoords = (GUINT *)gim_alloc(sizeof(GUINT)*aabbset->m_count ); - aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count); - } - aabbset->m_shared = 0; - INVALIDATE_AABB(aabbset->m_global_bound); -} - -//! Destroys the aabb set. -void gim_aabbset_destroy(GIM_AABB_SET * aabbset) -{ - aabbset->m_count = 0; - if(aabbset->m_shared==0) - { - gim_free(aabbset->m_boxes,0); - gim_free(aabbset->m_maxcoords,0); - gim_free(aabbset->m_sorted_mincoords,0); - } - aabbset->m_boxes = 0; - aabbset->m_sorted_mincoords = 0; - aabbset->m_maxcoords = 0; -} - -void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset) -{ - aabb3f * paabb = aabbset->m_boxes; - aabb3f * globalbox = &aabbset->m_global_bound; - AABB_COPY((*globalbox),(*paabb)); - - GUINT count = aabbset->m_count-1; - paabb++; - while(count) - { - MERGEBOXES(*globalbox,*paabb) - paabb++; - count--; - } -} - - -//! Sorts the boxes for box prunning. -/*! -1) find the integer representation of the aabb coords -2) Sorts the min coords -3) Calcs the global bound -\pre aabbset must be allocated. And the boxes must be already set. -\param aabbset -\param calc_global_bound If 1 , calcs the global bound -\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates -*/ -void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound) -{ - if(aabbset->m_sorted_mincoords == 0) - {//allocate - aabbset->m_maxcoords = (GUINT *)gim_alloc(sizeof(GUINT)*aabbset->m_count ); - aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count); - } - - GUINT i, count = aabbset->m_count; - aabb3f * paabb = aabbset->m_boxes; - GUINT * maxcoords = aabbset->m_maxcoords; - GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords; - - if(count<860)//Calibrated on a Pentium IV - { - //Sort by quick sort - //Calculate keys - for(i=0;im_index1 = i;\ - _pair->m_index2 = j;\ -} - -#define PUSH_PAIR_INV(i,j,pairset)\ -{\ - GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\ - GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\ - _pair->m_index1 = j;\ - _pair->m_index2 = i;\ -} - -#define FIND_OVERLAPPING_FOWARD(\ - curr_index,\ - test_count,\ - test_aabb,\ - max_coord_uint,\ - sorted_tokens,\ - aabbarray,\ - pairset,\ - push_pair_macro)\ -{\ - GUINT _i = test_count;\ - char _intersected;\ - GIM_RSORT_TOKEN * _psorted_tokens = sorted_tokens;\ - while(_i>0 && max_coord_uint >= _psorted_tokens->m_key)\ - {\ - AABBCOLLISION(_intersected,test_aabb,aabbarray[_psorted_tokens->m_value]);\ - if(_intersected)\ - {\ - push_pair_macro(curr_index, _psorted_tokens->m_value,pairset);\ - }\ - _psorted_tokens++;\ - _i--;\ - }\ -} - -//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. -/*! -\pre aabbset must be allocated and sorted, the boxes must be already set. -\param aabbset Must be sorted. Global bound isn't required -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs) -{ - collision_pairs->m_size = 0; - GUINT count = aabbset->m_count; - aabb3f * paabb = aabbset->m_boxes; - GUINT * maxcoords = aabbset->m_maxcoords; - GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords; - aabb3f test_aabb; - while(count>1) - { - ///current cache variables - GUINT curr_index = sorted_tokens->m_value; - GUINT max_coord_uint = maxcoords[curr_index]; - AABB_COPY(test_aabb,paabb[curr_index]); - - ///next pairs - sorted_tokens++; - count--; - FIND_OVERLAPPING_FOWARD( curr_index, count, test_aabb, max_coord_uint, sorted_tokens , paabb, (*collision_pairs),PUSH_PAIR); - } -} - -//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. -/*! -\pre aabbset must be allocated, the boxes must be already set. -\param aabbset Global bound isn't required. Doen't need to be sorted. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs) -{ - collision_pairs->m_size = 0; - GUINT i,j; - GUINT count = aabbset->m_count; - aabb3f * paabb = aabbset->m_boxes; - char intersected; - for (i=0;i< count-1 ;i++ ) - { - for (j=i+1;jm_size = 0; - - AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound); - if(intersected == 0) return; - - GUINT count1 = aabbset1->m_count; - aabb3f * paabb1 = aabbset1->m_boxes; - GUINT * maxcoords1 = aabbset1->m_maxcoords; - GIM_RSORT_TOKEN * sorted_tokens1 = aabbset1->m_sorted_mincoords; - - GUINT count2 = aabbset2->m_count; - aabb3f * paabb2 = aabbset2->m_boxes; - GUINT * maxcoords2 = aabbset2->m_maxcoords; - GIM_RSORT_TOKEN * sorted_tokens2 = aabbset2->m_sorted_mincoords; - - GUINT curr_index; - - GUINT max_coord_uint; - aabb3f test_aabb; - - //Classify boxes - //Find Set intersection - aabb3f int_abbb; - BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb); - - //Clasify set 1 - GIM_RSORT_TOKEN * classified_tokens1 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count1); - GUINT i,classified_count1 = 0,classified_count2 = 0; - - - for (i=0;i0&&classified_count2>0) - { - if(sorted_tokens1->m_key <= sorted_tokens2->m_key) - { - ///current cache variables - curr_index = sorted_tokens1->m_value; - max_coord_uint = maxcoords1[curr_index]; - AABB_COPY(test_aabb,paabb1[curr_index]); - ///next pairs - sorted_tokens1++; - classified_count1--; - FIND_OVERLAPPING_FOWARD( curr_index, classified_count2, test_aabb, max_coord_uint, sorted_tokens2 , paabb2, (*collision_pairs), PUSH_PAIR); - } - else ///Switch test - { - ///current cache variables - curr_index = sorted_tokens2->m_value; - max_coord_uint = maxcoords2[curr_index]; - AABB_COPY(test_aabb,paabb2[curr_index]); - ///next pairs - sorted_tokens2++; - classified_count2--; - FIND_OVERLAPPING_FOWARD( curr_index, classified_count1, test_aabb, max_coord_uint, sorted_tokens1 , paabb1, (*collision_pairs), PUSH_PAIR_INV ); - } - } - gim_free(classified_tokens1 ,0); - gim_free(classified_tokens2 ,0); -} - -//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. -/*! -\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set. -\param aabbset1 Must be sorted, Global bound is required. -\param aabbset2 Must be sorted, Global bound is required. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs) -{ - char intersected; - collision_pairs->m_size = 0; - AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound); - if(intersected == 0) return; - - aabb3f int_abbb; - //Find Set intersection - BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb); - //Clasify set 1 - GUINT i,j; - GUINT classified_count = 0; - - GUINT count = aabbset1->m_count; - aabb3f * paabb1 = aabbset1->m_boxes; - aabb3f * paabb2 = aabbset2->m_boxes; - - GUINT * classified = (GUINT *) gim_alloc(sizeof(GUINT)*count); - - for (i=0;im_count; - for (i=0;im_count < GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES) - {//Brute force approach - gim_aabbset_calc_global_bound(aabbset); - } - else - {//Sorted force approach - gim_aabbset_sort(aabbset,1); - } -} - -//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. -/*! -This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted. - -\param aabbset Set of boxes. Sorting isn't required. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -\pre aabbset must be allocated and initialized. -\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted. -*/ -void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs) -{ - if(aabbset->m_count < GIM_MIN_SORTED_PRUNING_BOXES) - {//Brute force approach - gim_aabbset_self_intersections_brute_force(aabbset,collision_pairs); - } - else - {//Sorted force approach - gim_aabbset_sort(aabbset,0); - gim_aabbset_self_intersections_sorted(aabbset,collision_pairs); - } -} - -//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. -/*! -\pre aabbset1 and aabbset2 must be allocated and updated. See . -\param aabbset1 Must be sorted, Global bound is required. -\param aabbset2 Must be sorted, Global bound is required. -\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100) -*/ -void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs) -{ - if(aabbset1->m_sorted_mincoords == 0||aabbset2->m_sorted_mincoords == 0) - {//Brute force approach - gim_aabbset_bipartite_intersections_brute_force(aabbset1,aabbset2,collision_pairs); - } - else - {//Sorted force approach - gim_aabbset_bipartite_intersections_sorted(aabbset1,aabbset2,collision_pairs); - } -} - -void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided) -{ - collided->m_size = 0; - char intersected; - AABBCOLLISION(intersected,aabbset->m_global_bound,(*test_aabb)); - if(intersected == 0) return; - - GUINT i; - GUINT count = aabbset->m_count; - aabb3f * paabb = aabbset->m_boxes; - aabb3f _testaabb; - AABB_COPY(_testaabb,*test_aabb); - - for (i=0;i< count;i++ ) - { - AABBCOLLISION(intersected,paabb[i],_testaabb); - if(intersected) - { - GIM_DYNARRAY_PUSH_ITEM(GUINT,(*collided),i); - } - } -} - -void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided) -{ - collided->m_size = 0; - char intersected; - GREAL tparam = 0; - BOX_INTERSECTS_RAY(aabbset->m_global_bound, vorigin, vdir, tparam, tmax,intersected); - if(intersected==0) return; - - GUINT i; - GUINT count = aabbset->m_count; - aabb3f * paabb = aabbset->m_boxes; - - for (i=0;i< count;i++ ) - { - BOX_INTERSECTS_RAY(paabb[i], vorigin, vdir, tparam, tmax,intersected); - if(intersected) - { - GIM_DYNARRAY_PUSH_ITEM(GUINT,(*collided),i); - } - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_contact.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_contact.cpp deleted file mode 100644 index d82e1b52..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_contact.cpp +++ /dev/null @@ -1,132 +0,0 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_contact.h" - -void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts, - GDYNAMIC_ARRAY * dest_contacts) -{ - dest_contacts->m_size = 0; - - GUINT source_count = source_contacts->m_size; - GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts)); - //create keys - GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count); - - GUINT i; - for(i=0;im_size;i++) - { - key = keycontacts[i].m_key; - scontact = &psource_contacts[keycontacts[i].m_value]; - - if(i>0 && last_key == key) - { - //merge contact - if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON) - { - GIM_COPY_CONTACTS(pcontact, scontact); - } - } - else - {//add new contact - GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts)); - pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts)); - GIM_COPY_CONTACTS(pcontact, scontact); - } - last_key = key; - } - gim_free(keycontacts,0); -} - -void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts, - GDYNAMIC_ARRAY * dest_contacts) -{ - dest_contacts->m_size = 0; - //Traverse the source contacts - GUINT source_count = source_contacts->m_size; - if(source_count==0) return; - - GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts)); - - //add the unique contact - GIM_CONTACT * pcontact = 0; - GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts)); - pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts)); - //set the first contact - GIM_COPY_CONTACTS(pcontact, psource_contacts); - - if(source_count==1) return; - //scale the first contact - VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal); - - psource_contacts++; - - //Average the contacts - GUINT i; - for(i=1;im_point,pcontact->m_point,psource_contacts->m_point); - VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal); - psource_contacts++; - } - - GREAL divide_average = 1.0f/((GREAL)source_count); - - VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point); - - pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average; - GIM_SQRT(pcontact->m_depth,pcontact->m_depth); - - VEC_NORMALIZE(pcontact->m_normal); - - /*GREAL normal_len; - VEC_INV_LENGTH(pcontact->m_normal,normal_len); - VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal); - - //Deep = LEN(normal)/SQRT(source_count) - GIM_SQRT(divide_average,divide_average); - pcontact->m_depth = divide_average/normal_len; - */ -} - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_math.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_math.cpp deleted file mode 100644 index cc50bb33..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_math.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/gim_math.h" -#include "stdlib.h" -#include "time.h" - - -GREAL gim_inv_sqrt(GREAL f) -{ - GREAL r; - GIM_INV_SQRT(f,r); - return r; -} - -GREAL gim_sqrt(GREAL f) -{ - GREAL r; - GIM_SQRT(f,r); - return r; -} - -//!Initializes mathematical functions -void gim_init_math() -{ - srand( static_cast< unsigned int >( time( 0 ) ) ); -} - -//! Generates an unit random -GREAL gim_unit_random() -{ - GREAL rn = static_cast< GREAL >( rand() ); - rn/=(GREAL)RAND_MAX; - return rn; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_memory.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_memory.cpp deleted file mode 100644 index 8b0e55ed..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_memory.cpp +++ /dev/null @@ -1,876 +0,0 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include -#include -#include "GIMPACT/gim_memory.h" -#include -#include "config.h" -//#include "malloc.h" -//#include "mm_malloc.h" - -static gim_alloc_function *g_allocfn = 0; -// static gim_alloca_function *g_allocafn = 0; -- a nonsense -static gim_realloc_function *g_reallocfn = 0; -static gim_free_function *g_freefn = 0; - - -#define VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)\ - if(buffer_manager_id>=G_BUFFER_MANAGER__MAX) return G_BUFFER_OP_INVALID;\ - GBUFFER_MANAGER_DATA * bm_data;\ - gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);\ - if(bm_data == 0) return G_BUFFER_OP_INVALID;\ - -#define VALIDATE_BUFFER_ID_PT(buffer_id)\ - GBUFFER_MANAGER_DATA * bm_data = buffer_id->m_bm_data;\ - if(bm_data == 0) return G_BUFFER_OP_INVALID;\ - if(buffer_id->m_buffer_id>=bm_data->m_buffer_array.m_size) return G_BUFFER_OP_INVALID;\ - GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);\ - pbuffer += buffer_id->m_buffer_id;\ - if(pbuffer->m_buffer_handle==0) return G_BUFFER_OP_INVALID;\ - - -void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data) -{ - gim_buffer_array_unlock(&array_data); - gim_buffer_free(&(array_data).m_buffer_id); -} - -void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data) -{ - if(array_data.m_pdata != 0) - { - gim_free(array_data.m_pdata,0); - array_data.m_reserve_size = 0; - array_data.m_size = 0; - array_data.m_pdata = 0; - } -} - -void gim_set_alloc_handler (gim_alloc_function *fn) -{ - g_allocfn = fn; -} - -/* -- a nonsense -void gim_set_alloca_handler (gim_alloca_function *fn) -{ - g_allocafn = fn; -} -*/ - -void gim_set_realloc_handler (gim_realloc_function *fn) -{ - g_reallocfn = fn; -} - -void gim_set_free_handler (gim_free_function *fn) -{ - g_freefn = fn; -} - -gim_alloc_function *gim_get_alloc_handler() -{ - return g_allocfn; -} - -/* -- a nonsense -gim_alloca_function *gim_get_alloca_handler() -{ - return g_allocafn; -} -*/ - -gim_realloc_function *gim_get_realloc_handler () -{ - return g_reallocfn; -} - - -gim_free_function *gim_get_free_handler () -{ - return g_freefn; -} - - -void * gim_alloc(size_t size) -{ - void * ptr; -/* - if (g_allocfn) - { - ptr = g_allocfn(size); - } - else -*/ - { - ptr = malloc(size);//_mm_malloc(size,0);*/ - } - assert(ptr); - return ptr; -} - -/* -- a nonsense -void * gim_alloca(size_t size) -{ - if (g_allocafn) return g_allocafn(size); else return alloca(size); -} -*/ - -void * gim_realloc(void *ptr, size_t oldsize, size_t newsize) -{ - /*if (g_reallocfn) return g_reallocfn(ptr,oldsize,newsize); - else return realloc(ptr,newsize);*/ - //return realloc(ptr,newsize); - void * newptr = gim_alloc(newsize); - size_t copysize = newsize> oldsize? oldsize: newsize; - memcpy(newptr,ptr,copysize); - gim_free(ptr,oldsize); - return newptr; -} - -void gim_free(void *ptr, size_t size) -{ - if (!ptr) return; -/* -- if custom allocation function is not used, custom free must not be used too - if (g_freefn) - { - g_freefn(ptr,size); - } - else -*/ - { - free(ptr);//_mm_free(ptr); - } -} - -///******************************* BUFFER MANAGERS ******************************/// - -//!** Basic buffer prototype functions - -static GUINT _system_buffer_alloc_function(GUINT size,int usage) -{ - void * newdata = gim_alloc(size); - memset(newdata,0,size); - return (GUINT)(newdata); -} - -static GUINT _system_buffer_alloc_data_function(const void * pdata,GUINT size,int usage) -{ - void * newdata = gim_alloc(size); - memcpy(newdata,pdata,size); - return (GUINT)(newdata); -} - -static GUINT _system_buffer_realloc_function(GUINT buffer_handle,GUINT oldsize,int old_usage,GUINT newsize,int new_usage) -{ - void * newdata = gim_realloc((void *)buffer_handle,oldsize,newsize); - return (GUINT)(newdata); -} - -static void _system_buffer_free_function(GUINT buffer_handle,GUINT size) -{ - gim_free((void*)buffer_handle,size); -} - -static char * _system_lock_buffer_function(GUINT buffer_handle,int access) -{ - return (char * )(buffer_handle); -} - - -static void _system_unlock_buffer_function(GUINT buffer_handle) -{ -} - -static void _system_download_from_buffer_function( - GUINT source_buffer_handle, - GUINT source_pos, - void * destdata, - GUINT copysize) -{ - char * pdata; - pdata = (char *)source_buffer_handle; - memcpy(destdata,pdata+source_pos,copysize); -} - -static void _system_upload_to_buffer_function( - GUINT dest_buffer_handle, - GUINT dest_pos, - void * sourcedata, - GUINT copysize) -{ - char * pdata; - pdata = (char * )dest_buffer_handle; - memcpy(pdata+dest_pos,sourcedata,copysize); -} - -static void _system_copy_buffers_function( - GUINT source_buffer_handle, - GUINT source_pos, - GUINT dest_buffer_handle, - GUINT dest_pos, - GUINT copysize) -{ - char * pdata1,*pdata2; - pdata1 = (char *)source_buffer_handle; - pdata2 = (char *)dest_buffer_handle; - memcpy(pdata2+dest_pos,pdata1+source_pos,copysize); -} - -static GUINT _shared_buffer_alloc_function(GUINT size,int usage) -{ - return 0; -} - -static GUINT _shared_buffer_alloc_data_function(const void * pdata,GUINT size,int usage) -{ - return (GUINT)pdata; -} - -static GUINT _shared_buffer_realloc_function(GUINT buffer_handle,GUINT oldsize,int old_usage,GUINT newsize,int new_usage) -{ - return 0; -} - -static void _shared_buffer_free_function(GUINT buffer_handle,GUINT size) -{ -} - -static inline int _is_buffer_manager_data_active(GBUFFER_MANAGER_DATA * bm_data) -{ - return bm_data->m_buffer_array.m_pdata != 0; -} - -static inline void _init_buffer_manager_data(GBUFFER_MANAGER_DATA * bm_data) -{ - bm_data->m_buffer_array.m_pdata = 0; -} - -static const GBUFFER_MANAGER_PROTOTYPE g_bm_prototypes[G_BUFFER_MANAGER__MAX] = -{ - { - &_system_buffer_alloc_function, // alloc_fn; - &_system_buffer_alloc_data_function, // alloc_data_fn; - &_system_buffer_realloc_function, // realloc_fn; - &_system_buffer_free_function, // free_fn; - &_system_lock_buffer_function, // lock_buffer_fn; - &_system_unlock_buffer_function, // unlock_buffer_fn; - &_system_download_from_buffer_function, // download_from_buffer_fn; - &_system_upload_to_buffer_function, // upload_to_buffer_fn; - &_system_copy_buffers_function, // copy_buffers_fn; - }, // G_BUFFER_MANAGER_SYSTEM - - { - &_shared_buffer_alloc_function, // alloc_fn; - &_shared_buffer_alloc_data_function, // alloc_data_fn; - &_system_buffer_realloc_function, // realloc_fn; - &_shared_buffer_free_function, // free_fn; - &_system_lock_buffer_function, // lock_buffer_fn; - &_system_unlock_buffer_function, // unlock_buffer_fn; - &_system_download_from_buffer_function, // download_from_buffer_fn; - &_system_upload_to_buffer_function, // upload_to_buffer_fn; - &_system_copy_buffers_function, // copy_buffers_fn; - }, // G_BUFFER_MANAGER_SHARED -}; - -int gim_is_buffer_manager_active(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id) -{ - GBUFFER_MANAGER_DATA * bm_data; - bm_data = &buffer_managers[buffer_manager_id]; - return _is_buffer_manager_data_active(bm_data); -} - -//!** Buffer manager operations -void gim_create_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id) -{ - GBUFFER_MANAGER_DATA * bm_data; - bm_data = &buffer_managers[buffer_manager_id]; - - if (_is_buffer_manager_data_active(bm_data)) - { - gim_destroy_buffer_manager(buffer_managers, buffer_manager_id); - } - - //CREATE ARRAYS - GIM_DYNARRAY_CREATE(GBUFFER_DATA,bm_data->m_buffer_array,G_ARRAY_BUFFERMANAGER_INIT_SIZE); - GIM_DYNARRAY_CREATE(GUINT,bm_data->m_free_positions,G_ARRAY_BUFFERMANAGER_INIT_SIZE); - bm_data->m_prototype = g_bm_prototypes + buffer_manager_id; - bm_data->m_buffer_manager_id = buffer_manager_id; -} - -void gim_destroy_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], GUINT buffer_manager_id) -{ - GBUFFER_MANAGER_DATA * bm_data; - gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data); - if(bm_data == 0) return; - //Destroy all buffers - - GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array); - GUINT i, buffer_count = bm_data->m_buffer_array.m_size; - for (i=0;im_buffer_handle!=0) //Is active - { - // free handle - bm_data->m_prototype->free_fn(current_buffer->m_buffer_handle,current_buffer->m_size); - } - } - - //destroy buffer array - GIM_DYNARRAY_DESTROY(bm_data->m_buffer_array); - //destroy free positions - GIM_DYNARRAY_DESTROY(bm_data->m_free_positions); -} -void gim_get_buffer_manager_data(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data) -{ - GBUFFER_MANAGER_DATA * bm_data; - bm_data = &buffer_managers[buffer_manager_id]; - - if (_is_buffer_manager_data_active(bm_data)) - { - *pbm_data = bm_data; - } - else - { - *pbm_data = 0; - } -} - -void gim_init_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[]) -{ - GUINT i; - for (i=0;im_free_positions.m_size>0)\ - { - GUINT * _pointer = GIM_DYNARRAY_POINTER(GUINT,buffer_manager->m_free_positions); - buffer_id = _pointer[buffer_manager->m_free_positions.m_size-1]; - GIM_DYNARRAY_POP_ITEM(buffer_manager->m_free_positions); - } - else - { - buffer_id = buffer_manager->m_buffer_array.m_size; - GIM_DYNARRAY_PUSH_EMPTY(GBUFFER_DATA,buffer_manager->m_buffer_array); - } -} - -GINT _validate_buffer_id(GBUFFER_ID * buffer_id,GBUFFER_DATA ** ppbuffer,GBUFFER_MANAGER_DATA ** pbm_data) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - *ppbuffer = pbuffer; - *pbm_data = bm_data; - return G_BUFFER_OP_SUCCESS; -} - -GUINT gim_create_buffer( - GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id, - GUINT buffer_size, - int usage, - GBUFFER_ID * buffer_id) -{ - VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id) - - GUINT newbufferhandle = bm_data->m_prototype->alloc_fn(buffer_size,usage); - if(newbufferhandle==0) return G_BUFFER_OP_INVALID; - - GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id); - buffer_id->m_bm_data = bm_data; - - GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array); - pbuffer += buffer_id->m_buffer_id ; - pbuffer->m_buffer_handle = newbufferhandle; - pbuffer->m_size = buffer_size; - pbuffer->m_usage = usage; - pbuffer->m_lock_count = 0; - pbuffer->m_refcount = 0; - pbuffer->m_mapped_pointer = 0; - - //set shadow buffer if needed - - if(usage == G_MU_STATIC_READ || - usage == G_MU_STATIC_READ_DYNAMIC_WRITE|| - usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) - { - gim_create_common_buffer(buffer_managers,buffer_size,&pbuffer->m_shadow_buffer); - } - else - { - pbuffer->m_shadow_buffer.m_bm_data = 0; - pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY; - } - return G_BUFFER_OP_SUCCESS; -} - - -GUINT gim_create_buffer_from_data( - GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_manager_id, - const void * pdata, - GUINT buffer_size, - int usage, - GBUFFER_ID * buffer_id) -{ - VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id) - - GUINT newbufferhandle = bm_data->m_prototype->alloc_data_fn(pdata,buffer_size,usage); - if(newbufferhandle==0) return G_BUFFER_OP_INVALID; - - GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id); - buffer_id->m_bm_data = bm_data; - - GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array); - pbuffer += buffer_id->m_buffer_id ; - pbuffer->m_buffer_handle = newbufferhandle; - pbuffer->m_size = buffer_size; - pbuffer->m_usage = usage; - pbuffer->m_lock_count = 0; - pbuffer->m_mapped_pointer = 0; - pbuffer->m_refcount = 0; - - //set shadow buffer if needed - - if(usage == G_MU_STATIC_READ || - usage == G_MU_STATIC_READ_DYNAMIC_WRITE|| - usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) - { - gim_create_common_buffer_from_data(buffer_managers,pdata,buffer_size,&pbuffer->m_shadow_buffer); - } - else - { - pbuffer->m_shadow_buffer.m_bm_data = 0; - pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY; - } - return G_BUFFER_OP_SUCCESS; -} - -GUINT gim_create_common_buffer(GBUFFER_MANAGER_DATA buffer_managers[], - GUINT buffer_size, GBUFFER_ID * buffer_id) -{ - return gim_create_buffer(buffer_managers,G_BUFFER_MANAGER_SYSTEM,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id); -} - -GUINT gim_create_common_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[], - const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id) -{ - return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SYSTEM,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id); -} - -GUINT gim_create_shared_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[], - const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id) -{ - return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SHARED,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id); -} - -GINT gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT newsize) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID; - GUINT newhandle = buffer_id->m_bm_data->m_prototype->realloc_fn( - pbuffer->m_buffer_handle,pbuffer->m_size,pbuffer->m_usage,newsize,pbuffer->m_usage); - if(newhandle==0) return G_BUFFER_OP_INVALID; - pbuffer->m_buffer_handle = newhandle; - //realloc shadow buffer if any - gim_buffer_realloc(&pbuffer->m_shadow_buffer,newsize); - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_buffer_add_ref(GBUFFER_ID * buffer_id) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - pbuffer->m_refcount++; - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_buffer_free(GBUFFER_ID * buffer_id) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID; - if(pbuffer->m_refcount>0) pbuffer->m_refcount--; - if(pbuffer->m_refcount>0) return G_BUFFER_OP_STILLREFCOUNTED; - - buffer_id->m_bm_data->m_prototype->free_fn( - pbuffer->m_buffer_handle,pbuffer->m_size); - //destroy shadow buffer if needed - gim_buffer_free(&pbuffer->m_shadow_buffer); - // Obtain a free slot index for a new buffer - GIM_DYNARRAY_PUSH_ITEM(GUINT,bm_data->m_free_positions,buffer_id->m_buffer_id); - pbuffer->m_buffer_handle = 0; - pbuffer->m_size = 0; - pbuffer->m_shadow_buffer.m_bm_data = 0; - pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY; - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - if(pbuffer->m_lock_count>0) - { - if(pbuffer->m_access!=access) return G_BUFFER_OP_INVALID; - pbuffer->m_lock_count++; - *map_pointer = pbuffer->m_mapped_pointer; - return G_BUFFER_OP_SUCCESS; - } - - pbuffer->m_access = access; - - GUINT result; - if(pbuffer->m_usage==G_MU_STATIC_WRITE) - { - *map_pointer = 0;///no access - return G_BUFFER_OP_INVALID; - } - else if(pbuffer->m_usage==G_MU_STATIC_READ) - { - if(pbuffer->m_access == G_MA_READ_ONLY) - { - result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer); - if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - pbuffer->m_mapped_pointer = *map_pointer; - pbuffer->m_lock_count++; - } - else - { - *map_pointer = 0; - return G_BUFFER_OP_INVALID; - } - } - else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE) - { - if(pbuffer->m_access == G_MA_READ_ONLY) - { - result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer); - if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - pbuffer->m_mapped_pointer = *map_pointer; - pbuffer->m_lock_count++; - } - else if(pbuffer->m_access == G_MA_WRITE_ONLY) - { - pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn( - pbuffer->m_buffer_handle,access); - *map_pointer = pbuffer->m_mapped_pointer; - pbuffer->m_lock_count++; - } - else if(pbuffer->m_access == G_MA_READ_WRITE) - { - *map_pointer = 0; - return G_BUFFER_OP_INVALID; - } - } - else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) - { - result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer); - if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - pbuffer->m_mapped_pointer = *map_pointer; - pbuffer->m_lock_count++; - } - else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ) - { - if(pbuffer->m_access == G_MA_READ_ONLY) - { - pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn( - pbuffer->m_buffer_handle,access); - *map_pointer = pbuffer->m_mapped_pointer; - pbuffer->m_lock_count++; - } - else - { - *map_pointer = 0; - return G_BUFFER_OP_INVALID; - } - } - else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE) - { - pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn( - pbuffer->m_buffer_handle,access); - *map_pointer = pbuffer->m_mapped_pointer; - pbuffer->m_lock_count++; - } - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_unlock_buffer(GBUFFER_ID * buffer_id) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - if(pbuffer->m_lock_count==0) return G_BUFFER_OP_INVALID; - - if(pbuffer->m_lock_count>1) - { - pbuffer->m_lock_count--; - return G_BUFFER_OP_SUCCESS; - } - - - GUINT result; - if(pbuffer->m_usage==G_MU_STATIC_WRITE) - { - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - return G_BUFFER_OP_INVALID; - } - else if(pbuffer->m_usage==G_MU_STATIC_READ) - { - if(pbuffer->m_access == G_MA_READ_ONLY) - { - result = gim_unlock_buffer(&pbuffer->m_shadow_buffer); - if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - } - else - { - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - return G_BUFFER_OP_INVALID; - } - } - else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE) - { - if(pbuffer->m_access == G_MA_READ_ONLY) - { - result = gim_unlock_buffer(&pbuffer->m_shadow_buffer); - if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - } - else if(pbuffer->m_access == G_MA_WRITE_ONLY) - { - buffer_id->m_bm_data->m_prototype->unlock_buffer_fn( - pbuffer->m_buffer_handle); - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - } - else if(pbuffer->m_access == G_MA_READ_WRITE) - { - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - return G_BUFFER_OP_INVALID; - } - } - else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY) - { - result = gim_unlock_buffer(&pbuffer->m_shadow_buffer); - if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - if(pbuffer->m_access == G_MA_WRITE_ONLY||pbuffer->m_access == G_MA_READ_WRITE) - { - gim_copy_buffers(&pbuffer->m_shadow_buffer,0,buffer_id,0,pbuffer->m_size); - } - } - else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ) - { - if(pbuffer->m_access == G_MA_READ_ONLY) - { - buffer_id->m_bm_data->m_prototype->unlock_buffer_fn( - pbuffer->m_buffer_handle); - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - } - else - { - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - return G_BUFFER_OP_INVALID; - } - } - else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE) - { - buffer_id->m_bm_data->m_prototype->unlock_buffer_fn( - pbuffer->m_buffer_handle); - pbuffer->m_mapped_pointer = 0; - pbuffer->m_lock_count=0; - } - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT * buffer_size) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - *buffer_size = pbuffer->m_size; - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT * lock_count) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - *lock_count = pbuffer->m_lock_count; - return G_BUFFER_OP_SUCCESS; -} - - -GINT gim_download_from_buffer( - GBUFFER_ID * buffer_id, - GUINT source_pos, - void * destdata, - GUINT copysize) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - buffer_id->m_bm_data->m_prototype->download_from_buffer_fn( - pbuffer->m_buffer_handle,source_pos,destdata,copysize); - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_upload_to_buffer( - GBUFFER_ID * buffer_id, - GUINT dest_pos, - void * sourcedata, - GUINT copysize) -{ - VALIDATE_BUFFER_ID_PT(buffer_id) - buffer_id->m_bm_data->m_prototype->upload_to_buffer_fn( - pbuffer->m_buffer_handle,dest_pos,sourcedata,copysize); - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_copy_buffers( - GBUFFER_ID * source_buffer_id, - GUINT source_pos, - GBUFFER_ID * dest_buffer_id, - GUINT dest_pos, - GUINT copysize) -{ - GBUFFER_MANAGER_DATA * bm_data1,* bm_data2; - GBUFFER_DATA * pbuffer1, * pbuffer2; - void * tempdata; - if(_validate_buffer_id(source_buffer_id,&pbuffer1,&bm_data1)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - - if(_validate_buffer_id(dest_buffer_id,&pbuffer2,&bm_data2)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID; - - if((bm_data1->m_buffer_manager_id == bm_data2->m_buffer_manager_id)|| - (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)|| - (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM) - ) - {//smooth copy - bm_data1->m_prototype->copy_buffers_fn( - pbuffer1->m_buffer_handle,source_pos,pbuffer2->m_buffer_handle,dest_pos,copysize); - } - else if(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM || - bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED) - { - //hard copy - tempdata = (void *)pbuffer1->m_buffer_handle; - //upload data - bm_data2->m_prototype->upload_to_buffer_fn( - pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize); - } - else - { - //very hard copy - void * tempdata = gim_alloc(copysize); - //download data - bm_data1->m_prototype->download_from_buffer_fn( - pbuffer1->m_buffer_handle,source_pos,tempdata,copysize); - - //upload data - bm_data2->m_prototype->upload_to_buffer_fn( - pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize); - //delete temp buffer - gim_free(tempdata,copysize); - } - return G_BUFFER_OP_SUCCESS; -} - -GINT gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access) -{ - if(array_data->m_buffer_data != 0) return G_BUFFER_OP_SUCCESS; - GINT result = gim_lock_buffer(&array_data->m_buffer_id,access,&array_data->m_buffer_data); - if(result!= G_BUFFER_OP_SUCCESS) return result; - array_data->m_buffer_data += array_data->m_byte_offset; - return result; -} - -GINT gim_buffer_array_unlock(GBUFFER_ARRAY * array_data) -{ - if(array_data->m_buffer_data == 0) return G_BUFFER_OP_SUCCESS; - GINT result = gim_unlock_buffer(&array_data->m_buffer_id); - if(result!= G_BUFFER_OP_SUCCESS) return result; - array_data->m_buffer_data = 0; - return result; -} - -void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY * dest_data) -{ - dest_data->m_buffer_id.m_buffer_id = source_data->m_buffer_id.m_buffer_id; - dest_data->m_buffer_id.m_bm_data = source_data->m_buffer_id.m_bm_data; - dest_data->m_buffer_data = 0; - dest_data->m_byte_stride = source_data->m_byte_stride; - dest_data->m_byte_offset = source_data->m_byte_offset; - dest_data->m_element_count = source_data->m_element_count; - gim_buffer_add_ref(&dest_data->m_buffer_id); -} - -void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data, - GBUFFER_MANAGER_DATA dest_buffer_managers[],GBUFFER_ARRAY * dest_data, - GUINT buffer_manager_id,int usage) -{ - //Create new buffer - GUINT buffsize = source_data->m_element_count*source_data->m_byte_stride; - gim_create_buffer(dest_buffer_managers,buffer_manager_id,buffsize,usage,&dest_data->m_buffer_id); - - //copy ref data - dest_data->m_buffer_data = 0; - dest_data->m_byte_stride = source_data->m_byte_stride; - dest_data->m_byte_offset = 0; - dest_data->m_element_count = source_data->m_element_count; - gim_buffer_add_ref(&dest_data->m_buffer_id); - //copy buffers - gim_copy_buffers(&source_data->m_buffer_id,source_data->m_byte_offset,&dest_data->m_buffer_id,0,buffsize); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_tri_tri_overlap.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_tri_tri_overlap.cpp deleted file mode 100644 index cfbeabfb..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_tri_tri_overlap.cpp +++ /dev/null @@ -1,251 +0,0 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_trimesh.h" - - -#define FABS(x) (float(fabs(x))) /* implement as is fastest on your machine */ - -/* some macros */ - -#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\ -{ \ - _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\ - _distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\ - _distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \ - if(_distances[1]>0.0f && _distances[2]>0.0f)\ - {\ - out_of_face = 1;\ - }\ - else\ - {\ - out_of_face = 0;\ - }\ -}\ - -/* sort so that a<=b */ -#define SORT(a,b) \ - if(a>b) \ - { \ - float c; \ - c=a; \ - a=b; \ - b=c; \ - } - - -/* this edge to edge test is based on Franlin Antonio's gem: - "Faster Line Segment Intersection", in Graphics Gems III, - pp. 199-202 */ -#define EDGE_EDGE_TEST(V0,U0,U1) \ - Bx=U0[i0]-U1[i0]; \ - By=U0[i1]-U1[i1]; \ - Cx=V0[i0]-U0[i0]; \ - Cy=V0[i1]-U0[i1]; \ - f=Ay*Bx-Ax*By; \ - d=By*Cx-Bx*Cy; \ - if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \ - { \ - e=Ax*Cy-Ay*Cx; \ - if(f>0) \ - { \ - if(e>=0 && e<=f) return 1; \ - } \ - else \ - { \ - if(e<=0 && e>=f) return 1; \ - } \ - } - -#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \ -{ \ - float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \ - Ax=V1[i0]-V0[i0]; \ - Ay=V1[i1]-V0[i1]; \ - /* test edge U0,U1 against V0,V1 */ \ - EDGE_EDGE_TEST(V0,U0,U1); \ - /* test edge U1,U2 against V0,V1 */ \ - EDGE_EDGE_TEST(V0,U1,U2); \ - /* test edge U2,U1 against V0,V1 */ \ - EDGE_EDGE_TEST(V0,U2,U0); \ -} - -#define POINT_IN_TRI(V0,U0,U1,U2) \ -{ \ - float a,b,c,d0,d1,d2; \ - /* is T1 completly inside T2? */ \ - /* check if V0 is inside tri(U0,U1,U2) */ \ - a=U1[i1]-U0[i1]; \ - b=-(U1[i0]-U0[i0]); \ - c=-a*U0[i0]-b*U0[i1]; \ - d0=a*V0[i0]+b*V0[i1]+c; \ - \ - a=U2[i1]-U1[i1]; \ - b=-(U2[i0]-U1[i0]); \ - c=-a*U1[i0]-b*U1[i1]; \ - d1=a*V0[i0]+b*V0[i1]+c; \ - \ - a=U0[i1]-U2[i1]; \ - b=-(U0[i0]-U2[i0]); \ - c=-a*U2[i0]-b*U2[i1]; \ - d2=a*V0[i0]+b*V0[i1]+c; \ - if(d0*d1>0.0) \ - { \ - if(d0*d2>0.0) return 1; \ - } \ -} - -int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1, - GIM_TRIANGLE_DATA *tri2) -{ - short i0,i1; - /* first project onto an axis-aligned plane, that maximizes the area */ - /* of the triangles, compute indices: i0,i1. */ - PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1); - - /* test all edges of triangle 1 against the edges of triangle 2 */ - EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]); - EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]); - EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]); - - /* finally, test if tri1 is totally contained in tri2 or vice versa */ - POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0); - if(i0==0) return 1; - - POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0); - if(i0==0) return 1; - - return 0; -} - - - -#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \ -{ \ - if(D0D1>0.0f) \ - { \ - /* here we know that D0D2<=0.0 */ \ - /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ - A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \ - } \ - else if(D0D2>0.0f)\ - { \ - /* here we know that d0d1<=0.0 */ \ - A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \ - } \ - else if(D1*D2>0.0f || D0!=0.0f) \ - { \ - /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ - A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \ - } \ - else if(D1!=0.0f) \ - { \ - A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \ - } \ - else if(D2!=0.0f) \ - { \ - A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \ - } \ - else \ - { \ - /* triangles are coplanar */ \ - return coplanar_tri_tri(tri1,tri2); \ - } \ -}\ - - - -int gim_triangle_triangle_overlap( - GIM_TRIANGLE_DATA *tri1, - GIM_TRIANGLE_DATA *tri2) -{ - vec3f _distances; - char out_of_face; - CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face); - if(out_of_face==1) return 0; - - CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face); - if(out_of_face==1) return 0; - - - float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0; - float D[3]; - float isect1[2], isect2[2]; - float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0; - short index; - float vp0,vp1,vp2; - float up0,up1,up2; - float bb,cc,max; - - /* compute direction of intersection line */ - VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]); - - /* compute and index to the largest component of D */ - max=(float)FABS(D[0]); - index=0; - bb=(float)FABS(D[1]); - cc=(float)FABS(D[2]); - if(bb>max) max=bb,index=1; - if(cc>max) max=cc,index=2; - - /* this is the simplified projection onto L*/ - vp0= tri1->m_vertices[0][index]; - vp1= tri1->m_vertices[1][index]; - vp2= tri1->m_vertices[2][index]; - - up0= tri2->m_vertices[0][index]; - up1= tri2->m_vertices[1][index]; - up2= tri2->m_vertices[2][index]; - - /* compute interval for triangle 1 */ - float a,b,c,x0,x1; - NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1); - - /* compute interval for triangle 2 */ - float d,e,f,y0,y1; - NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1); - - float xx,yy,xxyy,tmp; - xx=x0*x1; - yy=y0*y1; - xxyy=xx*yy; - - tmp=a*xxyy; - isect1[0]=tmp+b*x1*yy; - isect1[1]=tmp+c*x0*yy; - - tmp=d*xxyy; - isect2[0]=tmp+e*xx*y1; - isect2[1]=tmp+f*xx*y0; - - SORT(isect1[0],isect1[1]); - SORT(isect2[0],isect2[1]); - - if(isect1[1] -#include "GIMPACT/gim_trimesh.h" - -GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh) -{ - return trimesh->m_tri_index_buffer.m_element_count/3; -} - -//! Creates the aabb set and the triangles cache -/*! - -\param trimesh -\param vertex_array -\param triindex_array -\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. -\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer) -*/ -void gim_trimesh_create_from_arrays(GBUFFER_MANAGER_DATA buffer_managers[], - GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply) -{ - assert(trimesh); - assert(vertex_array); - assert(triindex_array); - gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer); - gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer); - - trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update - //Create the transformed vertices - if(transformed_reply==1) - { - trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY; - gim_buffer_array_copy_value(vertex_array, - buffer_managers,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE); - } - else - { - gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer); - } - //create the box set - GUINT facecount = gim_trimesh_get_triangle_count(trimesh); - - gim_aabbset_alloc(&trimesh->m_aabbset,facecount); - //create the planes cache - GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount); - //Create the bitset - GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount); - //Callback is 0 - trimesh->m_update_callback = 0; - //set to identity - IDENTIFY_MATRIX_4X4(trimesh->m_transform); -} - - - -//! Create a trimesh from vertex array and an index array -/*! - -\param trimesh An uninitialized GIM_TRIMESH structure -\param vertex_array A buffer to a vec3f array -\param vertex_count -\param triindex_array -\param index_count -\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. -\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. -\param transformed_reply If , then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. -*/ -void gim_trimesh_create_from_data(GBUFFER_MANAGER_DATA buffer_managers[], - GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, - GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply) -{ - GBUFFER_ARRAY buffer_vertex_array; - GBUFFER_ARRAY buffer_triindex_array; - - //Create vertices - if(copy_vertices == 1) - { - gim_create_common_buffer_from_data(buffer_managers, - vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id); - } - else//Create a shared buffer - { - gim_create_shared_buffer_from_data(buffer_managers, - vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id); - } - GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count); - - - //Create vertices - if(copy_indices == 1) - { - gim_create_common_buffer_from_data(buffer_managers, - triindex_array, index_count*sizeof(GUINT), &buffer_triindex_array.m_buffer_id); - } - else//Create a shared buffer - { - gim_create_shared_buffer_from_data(buffer_managers, - triindex_array, index_count*sizeof(GUINT), &buffer_triindex_array.m_buffer_id); - } - GIM_BUFFER_ARRAY_INIT_TYPE(GUINT,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count); - - gim_trimesh_create_from_arrays(buffer_managers, trimesh, - &buffer_vertex_array, &buffer_triindex_array,transformed_reply); - - ///always call this after create a buffer_array - GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array); - GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array); -} - -//! Clears auxiliary data and releases buffer arrays -void gim_trimesh_destroy(GIM_TRIMESH * trimesh) -{ - gim_aabbset_destroy(&trimesh->m_aabbset); - - GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer); - GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset); - - GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer); - GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer); - GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer); -} - -//! Copies two meshes -/*! -\pre dest_trimesh shouldn't be created -\post dest_trimesh will be created -\param source_trimesh -\param dest_trimesh -\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices -\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be a reply of the source vertices -*/ -void gim_trimesh_copy(GIM_TRIMESH * source_trimesh, - GBUFFER_MANAGER_DATA dest_buffer_managers[], GIM_TRIMESH * dest_trimesh, - char copy_by_reference, char transformed_reply) -{ -/* -- trimesh can not be copied by reference until GBUFFER_MANAGER_DATA is rewritten - to be thread safe and until it is moved back to global variables. - if(copy_by_reference==1) - { - gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply); - } - else -*/ - { - GBUFFER_ARRAY buffer_vertex_array; - GBUFFER_ARRAY buffer_triindex_array; - - gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer, - dest_buffer_managers,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE); - - gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer, - dest_buffer_managers,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE); - - gim_trimesh_create_from_arrays(dest_buffer_managers, dest_trimesh, - &buffer_vertex_array, &buffer_triindex_array,transformed_reply); - - ///always call this after create a buffer_array - GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array); - GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array); - } -} -//! Locks the trimesh for working with it -/*! -\post locks m_tri_index_buffer and m_transformed_vertex_buffer. -\param trimesh -*/ -void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh) -{ - GINT res; - res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY); - assert(res==G_BUFFER_OP_SUCCESS); - res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY); - assert(res==G_BUFFER_OP_SUCCESS); -} - -//! unlocks the trimesh -/*! -\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer. -\param trimesh -*/ -void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh) -{ - gim_buffer_array_unlock(&trimesh->m_tri_index_buffer); - gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer); -} - - -//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer -char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh) -{ - if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1; - return 0; -} - -//! Returns 1 if the trimesh needs to update their aabbset and the planes cache. -char gim_trimesh_needs_update(GIM_TRIMESH * trimesh) -{ - if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1; - return 0; -} - -//! Change the state of the trimesh for force it to update -/*! -Call it after made changes to the trimesh. -\post gim_trimesh_need_update(trimesh) will return 1 -*/ -void gim_trimesh_post_update(GIM_TRIMESH * trimesh) -{ - trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE; -} - -//kernel -#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src)) - -//! Updates m_transformed_vertex_buffer -/*! -\pre m_transformed_vertex_buffer must be unlocked -*/ -void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh) -{ - if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation - - //Vertices - GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer; - GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer; - //Temp transform - mat4f transform; - COPY_MATRIX_4X4(transform,trimesh->m_transform); - - GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f); -} - -//! Updates m_aabbset and m_planes_cache_bitset -/*! -\pre gim_trimesh_locks_work_data must be called before -*/ -void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh) -{ - vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); - assert(transformed_vertices); - - GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,0); - assert(triangle_indices); - // box set - aabb3f * paabb = trimesh->m_aabbset.m_boxes; - GUINT triangle_count = gim_trimesh_get_triangle_count(trimesh); - float * v1,*v2,*v3; - GUINT i; - for (i=0; im_planes_cache_bitset); - //Sorts set - gim_aabbset_update(&trimesh->m_aabbset); -} - -//! Updates the trimesh if needed -/*! -\post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset -*/ -void gim_trimesh_update(GIM_TRIMESH * trimesh) -{ - if(gim_trimesh_needs_update(trimesh)==0) return; - gim_trimesh_update_vertices(trimesh); - gim_trimesh_locks_work_data(trimesh); - gim_trimesh_update_aabbset(trimesh); - gim_trimesh_unlocks_work_data(trimesh); - - //Clear update flag - trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE; -} - -void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform) -{ - GREAL diff = 0.0f; - float * originaltrans = &trimesh->m_transform[0][0]; - float * newtrans = &transform[0][0]; - GUINT i; - for (i=0;i<16;i++) - { - diff += fabs(originaltrans[i]-newtrans[i]); - } - -// if(IS_ZERO(diff)) return ;///don't need to update - if(diff< 0.00001f) return ;///don't need to update - - COPY_MATRIX_4X4(trimesh->m_transform,transform); - - gim_trimesh_post_update(trimesh); -} - -void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data) -{ - vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); - - GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,triangle_index*3); - - - //Copy the vertices - VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]); - VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]); - VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]); - - //Get the planes - GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer); - planes += triangle_index; - - //verify planes cache - GUINT bit_eval; - GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval); - if(bit_eval == 0)// Needs to calc the planes - { - //Calc the face plane - TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]); - //Calc the edge 1 - EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1])); - - //Calc the edge 2 - EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2])); - - //Calc the edge 3 - EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3])); - - //mark - GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index); - } - - - VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane - VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1 - VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2 - VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3 -} - -void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3) -{ - vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); - - GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,triangle_index*3); - - //Copy the vertices - VEC_COPY(v1,transformed_vertices[triangle_indices[0]]); - VEC_COPY(v2,transformed_vertices[triangle_indices[1]]); - VEC_COPY(v3,transformed_vertices[triangle_indices[2]]); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp deleted file mode 100644 index 2520ec02..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp +++ /dev/null @@ -1,285 +0,0 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_trimesh.h" - -//! Utility function for find the closest point between a segment and a triangle -/*! - -\param triangle -\param s1 -\param s2 -\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance - -\post The contacts array is not set to 0. It adds aditional contacts -*/ -void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts) -{ - vec3f segment_points[4] = {{0}}; - vec3f closest_points[2] = {{0}}; - GUINT intersection_type, out_edge= 10; - GREAL dis, dis_temp,perpend; - vec4f sdiff; - - dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1); - dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2); - - if(dis<=0.0f && dis_temp<=0.0f) return; - - VEC_DIFF(sdiff,s2,s1); - perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]); - - if(!IS_ZERO(perpend)) // Not perpendicular - { - if(dis=0.0f && dis_temp>=0.0f) - { - POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge); - - if(out_edge==0)//Point over face - { - GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); - return; - } - } - else - { - - PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]); - - POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge); - - if(out_edge==0)//Point over face - { - GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); - return; - } - } - - } - else // Perpendicular Face - { - //out_edge=10 - //Clip segment by triangle - // Edge1 - PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type); - if(intersection_type==0||intersection_type==1) - { - out_edge = 0; - VEC_COPY(closest_points[0],segment_points[0]); - } - else - { - //Edge2 - PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type); - if(intersection_type==0||intersection_type==1) - { - out_edge = 1; - VEC_COPY(closest_points[0],segment_points[3]); - } - else - { - //Edge3 - PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type); - if(intersection_type==0||intersection_type==1) - { - out_edge = 2; - } - } - } - //POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2 - if(out_edge>2) // Over triangle - { - dis = VEC_DOT(closest_points[0],triangle->m_planes.m_planes[0]); - GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); - GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); - return; - } - } - - //Find closest edges - out_edge = 10; - dis = G_REAL_INFINITY; - GUINT i; - for(i=0;i<3;i++) - { - SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]); - VEC_DIFF(sdiff,segment_points[0],segment_points[1]); - dis_temp = VEC_DOT(sdiff,sdiff); - if(dis_temp< dis) - { - dis = dis_temp; - out_edge = i; - VEC_COPY(closest_points[0],segment_points[0]); - VEC_COPY(closest_points[1],sdiff);//normal - } - } - if(out_edge>2) return ;// ???? ASSERT this please - - if(IS_ZERO(dis)) - { - //Set face plane - GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0); - - } - else - { - GIM_SQRT(dis,dis); - VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal - GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0); - } -} - - -//! Utility function for find the closest point between a capsule and a triangle -/*! - -\param triangle -\param capsule -\param contacts Contains the closest points on the capsule, and the normal points to triangle - -\post The contacts array is not set to 0. It adds aditional contacts -*/ -int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) -{ - GUINT old_contact_size = contacts->m_size; - gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts); - - if (contacts->m_size == old_contact_size) - { - return 0; - } - - GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts)); - pcontact+= old_contact_size; - - if(pcontact->m_depth > capsule->m_radius) - { - contacts->m_size = old_contact_size; - return 0; - } - - vec3f vec; - while(old_contact_sizem_size) - { - //Scale the normal for pointing to triangle - VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal); - //Fix the contact point - VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal); - VEC_SUM(pcontact->m_point,vec,pcontact->m_point); - //Fix the depth - pcontact->m_depth = capsule->m_radius - pcontact->m_depth; - - pcontact++; - old_contact_size++; - } - - return 1; -} - - -//! Trimesh Capsule collision -/*! -Find the closest primitive collided by the ray -\param trimesh -\param capsule -\param contact -\param contacts A GIM_CONTACT array. Must be initialized -*/ -void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) -{ - contacts->m_size = 0; - - aabb3f test_aabb; - CALC_CAPSULE_AABB((*capsule),test_aabb); - - GDYNAMIC_ARRAY collision_result; - GIM_CREATE_BOXQUERY_LIST(collision_result); - - gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result); - - if(collision_result.m_size==0) - { - GIM_DYNARRAY_DESTROY(collision_result); - } - - //collide triangles - //Locks trimesh - gim_trimesh_locks_work_data(trimesh); - //dummy contacts - GDYNAMIC_ARRAY dummycontacts; - GIM_CREATE_CONTACT_LIST(dummycontacts); - - int cresult; - unsigned int i; - GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result); - GIM_TRIANGLE_DATA tri_data; - GUINT old_contact_size; - GIM_CONTACT * pcontact; - - for(i=0;im_handle1 = trimesh; - pcontact->m_handle2 = capsule; - pcontact->m_feature1 = boxesresult[i]; - pcontact->m_feature2 = 0; - pcontact++; - old_contact_size++; - } - } - } - ///unlocks - gim_trimesh_unlocks_work_data(trimesh); - ///Destroy box result - GIM_DYNARRAY_DESTROY(collision_result); - - //merge contacts - gim_merge_contacts(&dummycontacts,contacts); - - //Destroy dummy - GIM_DYNARRAY_DESTROY(dummycontacts); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_ray_collision.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_ray_collision.cpp deleted file mode 100644 index a855bd00..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_ray_collision.cpp +++ /dev/null @@ -1,140 +0,0 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_trimesh.h" - - -//! Trimesh Ray Collisions -/*! - -\param trimesh -\param contact -\return 1 if the ray collides, else 0 -*/ -int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact) -{ - GDYNAMIC_ARRAY collision_result; - GIM_CREATE_BOXQUERY_LIST(collision_result); - - gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result); - - if(collision_result.m_size==0) - { - GIM_DYNARRAY_DESTROY(collision_result); - return 0; - } - - //collide triangles - - GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result); - GIM_TRIANGLE_DATA tridata; - vec3f pout; - GREAL tparam,u,v; - char does_intersect; - - gim_trimesh_locks_work_data(trimesh); - - for(unsigned int i=0;itparam = tparam; - contact->u = u; - contact->v = v; - contact->m_face_id = boxesresult[i]; - VEC_COPY(contact->m_point,pout); - VEC_COPY(contact->m_normal,tridata.m_planes.m_planes[0]); - - gim_trimesh_unlocks_work_data(trimesh); - GIM_DYNARRAY_DESTROY(collision_result); - return 1; - } - } - - gim_trimesh_unlocks_work_data(trimesh); - GIM_DYNARRAY_DESTROY(collision_result); - return 0;//no collisiion -} - - -//! Trimesh Ray Collisions closest -/*! -Find the closest primitive collided by the ray -\param trimesh -\param contact -\return 1 if the ray collides, else 0 -*/ -int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact) -{ - GDYNAMIC_ARRAY collision_result; - GIM_CREATE_BOXQUERY_LIST(collision_result); - - gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result); - - if(collision_result.m_size==0) - { - GIM_DYNARRAY_DESTROY(collision_result); - return 0; - } - - //collide triangles - - GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result); - GIM_TRIANGLE_DATA tridata; - vec3f pout; - GREAL tparam,u,v; - char does_intersect; - contact->tparam = tmax + 0.1f; - - - gim_trimesh_locks_work_data(trimesh); - - for(unsigned int i=0;itparam)) - { - contact->tparam = tparam; - contact->u = u; - contact->v = v; - contact->m_face_id = boxesresult[i]; - VEC_COPY(contact->m_point,pout); - VEC_COPY(contact->m_normal,tridata.m_planes.m_planes[0]); - } - } - - gim_trimesh_unlocks_work_data(trimesh); - GIM_DYNARRAY_DESTROY(collision_result); - if(contact->tparam > tmax) return 0; - return 1; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp deleted file mode 100644 index 5b34ce68..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp +++ /dev/null @@ -1,196 +0,0 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/gim_trimesh.h" - -int gim_triangle_sphere_collision( - GIM_TRIANGLE_DATA *tri, - vec3f center, GREAL radius, - GIM_TRIANGLE_CONTACT_DATA * contact_data) -{ - contact_data->m_point_count = 0; - - //Find Face plane distance - GREAL dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[0],center); - if(dis>radius) return 0; //out - if(dis<-radius) return 0;//Out of triangle - contact_data->m_penetration_depth = dis; - - //Find the most edge - GUINT most_edge = 4;//no edge - GREAL max_dis = 0.0f; - dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[1],center); - if(dis>radius) return 0;//Out of triangle - if(dis>0.0f) - { - max_dis = dis; - most_edge = 0; - } - - dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[2],center); - if(dis>radius) return 0;//Out of triangle - if(dis>max_dis)// && dis>0.0f) - { - max_dis = dis; - most_edge = 1; - } - - dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[3],center); - if(dis>radius) return 0;//Out of triangle - if(dis>max_dis)// && dis>0.0f) - { - max_dis = dis; - most_edge = 2; - } - - if(most_edge == 4) //Box is into triangle - { - //contact_data->m_penetration_depth = dis is set above - //Find Face plane point - VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[0]); - //Find point projection on plane - if(contact_data->m_penetration_depth>=0.0f) - { - VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal); - } - else - { - VEC_SCALE(contact_data->m_points[0],radius,contact_data->m_separating_normal); - } - contact_data->m_penetration_depth = radius - contact_data->m_penetration_depth; - - VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center); - //Scale normal for pointing to triangle - VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal); - contact_data->m_point_count = 1; - return 1; - } - //find the edge - vec3f e1,e2; - VEC_COPY(e1,tri->m_vertices[most_edge]); - VEC_COPY(e2,tri->m_vertices[(most_edge+1)%3]); - - CLOSEST_POINT_ON_SEGMENT(contact_data->m_points[0],center,e1,e2); - //find distance - VEC_DIFF(e1,center,contact_data->m_points[0]); - VEC_LENGTH(e1,dis); - if(dis>radius) return 0; - - contact_data->m_penetration_depth = radius - dis; - - if(IS_ZERO(dis)) - { - VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[most_edge+1]); - VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal); - VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center); - } - else - { - VEC_SCALE(contact_data->m_separating_normal,1.0f/dis,e1); - VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal); - VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center); - } - - //Scale normal for pointing to triangle - VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal); - - contact_data->m_point_count = 1; - return 1; - -} - -//! Trimesh Sphere Collisions -/*! -In each contact -
      -
    • m_handle1 points to trimesh. -
    • m_handle2 points to NULL. -
    • m_feature1 Is a triangle index of trimesh. -
    - -\param trimesh -\param center -\param radius -\param contacts A GIM_CONTACT array. Must be initialized -*/ -void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts) -{ - contacts->m_size = 0; - - aabb3f test_aabb; - test_aabb.minX = center[0]-radius; - test_aabb.maxX = center[0]+radius; - test_aabb.minY = center[1]-radius; - test_aabb.maxY = center[1]+radius; - test_aabb.minZ = center[2]-radius; - test_aabb.maxZ = center[2]+radius; - - GDYNAMIC_ARRAY collision_result; - GIM_CREATE_BOXQUERY_LIST(collision_result); - - gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result); - - if(collision_result.m_size==0) - { - GIM_DYNARRAY_DESTROY(collision_result); - } - - //collide triangles - //Locks trimesh - gim_trimesh_locks_work_data(trimesh); - //dummy contacts - GDYNAMIC_ARRAY dummycontacts; - GIM_CREATE_CONTACT_LIST(dummycontacts); - - int cresult; - unsigned int i; - GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result); - GIM_TRIANGLE_CONTACT_DATA tri_contact_data; - GIM_TRIANGLE_DATA tri_data; - - for(i=0;i0.0f && _distances[2]>0.0f)\ - {\ - out_of_face = 1;\ - }\ - else\ - {\ - out_of_face = 0;\ - }\ -}\ - - -//! Receives the 3 edge planes -#define MOST_DEEP_POINTS(plane,points,point_count,deep_points,deep_points_count,maxdeep)\ -{\ - maxdeep=-1000.0f;\ - GUINT _k;\ - GREAL _dist;\ - deep_points_count = 0;\ - for(_k=0;_kmaxdeep)\ - {\ - maxdeep = _dist;\ - _max_candidates[0] = _k;\ - deep_points_count=1;\ - }\ - else if((_dist+G_EPSILON)>=maxdeep)\ - {\ - _max_candidates[deep_points_count] = _k;\ - deep_points_count++;\ - }\ - }\ - if(maxdeep<0.0f)\ - {\ - deep_points_count = 0;\ - }\ - else\ - {\ - for(_k=0;_k0)\ - {\ - _temp_clip_count2 = 0;\ - PLANE_CLIP_POLYGON(tri_edge_planes[1],_temp_clip,_temp_clip_count,_temp_clip2,_temp_clip_count2,MAX_TRI_CLIPPING);\ - if(_temp_clip_count2>0)\ - {\ - PLANE_CLIP_POLYGON(tri_edge_planes[2],_temp_clip2,_temp_clip_count2,clipped_points,clipped_point_count,MAX_TRI_CLIPPING);\ - }\ - }\ -}\ - - - -int _gim_triangle_triangle_collision( - GIM_TRIANGLE_DATA *tri1, - GIM_TRIANGLE_DATA *tri2, - GIM_TRIANGLE_CONTACT_DATA * contact_data) -{ - //Cache variables for triangle intersection - GUINT _max_candidates[MAX_TRI_CLIPPING]; - vec3f _temp_clip[MAX_TRI_CLIPPING]; - GUINT _temp_clip_count = 0; - vec3f _temp_clip2[MAX_TRI_CLIPPING]; - GUINT _temp_clip_count2 = 0; - vec3f clipped_points2[MAX_TRI_CLIPPING]; - vec3f deep_points2[MAX_TRI_CLIPPING]; - vec3f clipped_points1[MAX_TRI_CLIPPING]; - vec3f deep_points1[MAX_TRI_CLIPPING]; - - - - //State variabnles - GUINT mostdir=0; - GUINT clipped2_count=0; - - //Clip tri2 by tri1 edges - - CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri2->m_vertices,(&tri1->m_planes.m_planes[1]), clipped_points2, clipped2_count); - - if(clipped2_count == 0 ) - { - return 0;//Reject - } - - //find most deep interval face1 - GUINT deep2_count=0; - - GREAL maxdeep; - - MOST_DEEP_POINTS((tri1->m_planes.m_planes[0]), clipped_points2, clipped2_count, deep_points2, deep2_count, maxdeep); - if(deep2_count==0) - { -// *perror = 0.0f; - return 0;//Reject - } - - //Normal pointing to triangle1 - VEC_SCALE(contact_data->m_separating_normal,-1.0f,(tri1->m_planes.m_planes[0])); - - - //Clip tri1 by tri2 edges - - GUINT clipped1_count=0; - - CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri1->m_vertices,(&tri2->m_planes.m_planes[1]), clipped_points1, clipped1_count); - - if(clipped2_count == 0 ) - { -// *perror = 0.0f; - return 0;//Reject - } - - - //find interval face2 - GUINT deep1_count=0; - - GREAL dist; - - MOST_DEEP_POINTS((tri2->m_planes.m_planes[0]), clipped_points1, clipped1_count, deep_points1, deep1_count, dist); - - if(deep1_count==0) - { -// *perror = 0.0f; - return 0; - } - - if(distm_separating_normal,(tri2->m_planes.m_planes[0])); - } - //set deep - contact_data->m_penetration_depth = maxdeep; - - ////check most dir for contacts - if(mostdir==0) - { - contact_data->m_point_count = deep2_count; - for(mostdir=0;mostdirm_points[mostdir] ,deep_points2[mostdir]); - } - } - else - { - contact_data->m_point_count = deep1_count; - for(mostdir=0;mostdirm_points[mostdir] ,deep_points1[mostdir]); - } - } - return 1; -} - - - -//! Finds the contact points from a collision of two triangles -/*! -Returns the contact points, the penetration depth and the separating normal of the collision -between two triangles. The normal is pointing toward triangle 1 from triangle 2 -*/ -int gim_triangle_triangle_collision( - GIM_TRIANGLE_DATA *tri1, - GIM_TRIANGLE_DATA *tri2, - GIM_TRIANGLE_CONTACT_DATA * contact_data) -{ - vec3f _distances; - char out_of_face=0; - - CLASSIFY_TRI_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face); - if(out_of_face==1) return 0; - - CLASSIFY_TRI_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face); - if(out_of_face==1) return 0; - - return _gim_triangle_triangle_collision(tri1,tri2,contact_data); -} - -//! Trimesh Trimesh Collisions -/*! - -In each contact -
      -
    • m_handle1 points to trimesh1. -
    • m_handle2 points to trimesh2. -
    • m_feature1 Is a triangle index of trimesh1. -
    • m_feature2 Is a triangle index of trimesh2. -
    - -\param trimesh1 Collider -\param trimesh2 Collidee -\param contacts A GIM_CONTACT array. Must be initialized -*/ -void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts) -{ - contacts->m_size = 0; - GDYNAMIC_ARRAY collision_pairs; - GIM_CREATE_PAIR_SET(collision_pairs) - - gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs); - - if(collision_pairs.m_size==0) - { - GIM_DYNARRAY_DESTROY(collision_pairs); - return; //no collisioin - } - - //Locks meshes - gim_trimesh_locks_work_data(trimesh1); - gim_trimesh_locks_work_data(trimesh2); - - - //pair pointer - GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs); - //dummy contacts - GDYNAMIC_ARRAY dummycontacts; - GIM_CREATE_CONTACT_LIST(dummycontacts); - - //Auxiliary triangle data - GIM_TRIANGLE_CONTACT_DATA tri_contact_data; - GIM_TRIANGLE_DATA tri1data,tri2data; - - - GUINT i, ti1,ti2,ci; - int colresult; - for (i=0;im_size = 0; - char classify; - PLANE_CLASSIFY_BOX(plane,trimesh->m_aabbset.m_global_bound,classify); - if(classify>1) return; // in front of plane - - //Locks mesh - gim_trimesh_locks_work_data(trimesh); - //Get vertices - GUINT i, vertcount = trimesh->m_transformed_vertex_buffer.m_element_count; - vec3f * vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0); - - GREAL dist; - vec4f * result_contact; - - for (i=0;i - Copyright (C) - - 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. - - , 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/Makefile.am deleted file mode 100644 index be7c6425..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/Makefile.am +++ /dev/null @@ -1,35 +0,0 @@ -if ENABLE_OU -OU_DIR = ou -endif - -if ENABLE_DEMOS -DRAWSTUFF_DIR = drawstuff -endif - -if GIMPACT -GIMPACT_DIR = GIMPACT -endif - -if OPCODE -OPCODE_DIR = OPCODE -endif - -SUBDIRS = include \ - $(DRAWSTUFF_DIR) \ - $(GIMPACT_DIR) \ - $(OPCODE_DIR) \ - $(OU_DIR) \ - ode \ - tests - -bin_SCRIPTS = ode-config - -# Utility rule for making a release -release: dist-gzip dist-bzip2 - @echo Created release packages for ${PACKAGE}-${VERSION}. - -EXTRA_DIST = autogen.sh build tools \ - CHANGELOG.txt INSTALL.txt README.txt LICENSE.TXT - -pkgconfigdir = $(libdir)/pkgconfig -pkgconfig_DATA = ode.pc diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/Makefile.deps b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/Makefile.deps deleted file mode 100644 index 8d9e8ba7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/Makefile.deps +++ /dev/null @@ -1,1845 +0,0 @@ -ode/src/array.o: \ - ode/src/array.cpp \ - include/ode/config.h \ - include/ode/memory.h \ - include/ode/error.h \ - ode/src/array.h -ode/src/error.o: \ - ode/src/error.cpp \ - include/ode/config.h \ - include/ode/error.h -ode/src/memory.o: \ - ode/src/memory.cpp \ - include/ode/config.h \ - include/ode/memory.h \ - include/ode/error.h -ode/src/obstack.o: \ - ode/src/obstack.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/memory.h \ - ode/src/obstack.h \ - ode/src/objects.h \ - include/ode/mass.h \ - ode/src/array.h -ode/src/odemath.o: \ - ode/src/odemath.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/odemath.h -ode/src/matrix.o: \ - ode/src/matrix.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/matrix.h -ode/src/misc.o: \ - ode/src/misc.cpp \ - include/ode/config.h \ - include/ode/misc.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/matrix.h -ode/src/rotation.o: \ - ode/src/rotation.cpp \ - include/ode/rotation.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/compatibility.h \ - include/ode/odemath.h -ode/src/mass.o: \ - ode/src/mass.cpp \ - include/ode/config.h \ - include/ode/mass.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/odemath.h \ - include/ode/matrix.h -ode/src/ode.o: \ - ode/src/ode.cpp \ - ode/src/objects.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - include/ode/ode.h \ - include/ode/compatibility.h \ - include/ode/contact.h \ - include/ode/odemath.h \ - include/ode/matrix.h \ - include/ode/timer.h \ - include/ode/rotation.h \ - include/ode/misc.h \ - include/ode/objects.h \ - include/ode/odecpp.h \ - include/ode/collision_space.h \ - include/ode/collision.h \ - include/ode/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - ode/src/joint.h \ - ode/src/obstack.h \ - ode/src/step.h \ - ode/src/quickstep.h \ - ode/src/util.h -ode/src/step.o: \ - ode/src/step.cpp \ - ode/src/objects.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/joint.h \ - include/ode/contact.h \ - ode/src/obstack.h \ - include/ode/odemath.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/timer.h \ - include/ode/matrix.h \ - ode/src/lcp.h \ - ode/src/util.h -ode/src/stepfast.o: \ - ode/src/stepfast.cpp \ - ode/src/objects.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/joint.h \ - include/ode/contact.h \ - ode/src/obstack.h \ - include/ode/objects.h \ - include/ode/odemath.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/timer.h \ - include/ode/matrix.h \ - include/ode/misc.h \ - ode/src/lcp.h \ - ode/src/step.h \ - ode/src/util.h -ode/src/quickstep.o: \ - ode/src/quickstep.cpp \ - ode/src/objects.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/joint.h \ - include/ode/contact.h \ - ode/src/obstack.h \ - include/ode/odemath.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/timer.h \ - include/ode/matrix.h \ - ode/src/lcp.h \ - ode/src/util.h -ode/src/util.o: \ - ode/src/util.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - ode/src/objects.h \ - ode/src/array.h \ - ode/src/joint.h \ - ode/src/obstack.h \ - ode/src/util.h -ode/src/lcp.o: \ - ode/src/lcp.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - ode/src/lcp.h \ - include/ode/matrix.h \ - include/ode/misc.h \ - ode/src/mat.h \ - include/ode/timer.h -ode/src/joint.o: \ - ode/src/joint.cpp \ - include/ode/odemath.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/matrix.h \ - ode/src/joint.h \ - ode/src/objects.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - include/ode/contact.h \ - ode/src/obstack.h -ode/src/timer.o: \ - ode/src/timer.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/timer.h -ode/src/mat.o: \ - ode/src/mat.cpp \ - include/ode/config.h \ - include/ode/misc.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/matrix.h \ - include/ode/memory.h \ - ode/src/mat.h -ode/src/testing.o: \ - ode/src/testing.cpp \ - include/ode/config.h \ - include/ode/misc.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/memory.h \ - ode/src/testing.h \ - ode/src/array.h -ode/src/export-dif.o: \ - ode/src/export-dif.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - ode/src/objects.h \ - ode/src/array.h \ - ode/src/joint.h \ - ode/src/obstack.h \ - ode/src/collision_kernel.h -ode/src/collision_kernel.o: \ - ode/src/collision_kernel.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/matrix.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/objects.h \ - include/ode/mass.h \ - include/ode/contact.h \ - ode/src/collision_kernel.h \ - include/ode/collision.h \ - include/ode/collision_space.h \ - include/ode/collision_trimesh.h \ - ode/src/objects.h \ - include/ode/memory.h \ - ode/src/array.h \ - ode/src/collision_util.h \ - ode/src/collision_std.h \ - ode/src/collision_transform.h \ - ode/src/collision_trimesh_internal.h -ode/src/collision_util.o: \ - ode/src/collision_util.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/collision.h \ - include/ode/collision_space.h \ - include/ode/contact.h \ - include/ode/collision_trimesh.h \ - include/ode/odemath.h \ - ode/src/collision_util.h -ode/src/collision_std.o: \ - ode/src/collision_std.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/collision.h \ - include/ode/collision_space.h \ - include/ode/contact.h \ - include/ode/collision_trimesh.h \ - include/ode/matrix.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/odemath.h \ - ode/src/collision_kernel.h \ - ode/src/objects.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/collision_std.h \ - ode/src/collision_util.h -ode/src/collision_space.o: \ - ode/src/collision_space.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/matrix.h \ - include/ode/collision_space.h \ - include/ode/collision.h \ - include/ode/contact.h \ - include/ode/collision_trimesh.h \ - ode/src/collision_kernel.h \ - ode/src/objects.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/collision_space_internal.h -ode/src/collision_transform.o: \ - ode/src/collision_transform.cpp \ - include/ode/collision.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/collision_space.h \ - include/ode/contact.h \ - include/ode/collision_trimesh.h \ - include/ode/matrix.h \ - include/ode/rotation.h \ - include/ode/compatibility.h \ - include/ode/odemath.h \ - ode/src/collision_transform.h \ - ode/src/collision_kernel.h \ - ode/src/objects.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/collision_util.h -ode/src/collision_quadtreespace.o: \ - ode/src/collision_quadtreespace.cpp \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h \ - include/ode/matrix.h \ - include/ode/collision_space.h \ - include/ode/collision.h \ - include/ode/contact.h \ - include/ode/collision_trimesh.h \ - ode/src/collision_kernel.h \ - ode/src/objects.h \ - include/ode/memory.h \ - include/ode/mass.h \ - ode/src/array.h \ - ode/src/collision_space_internal.h -ode/src/OPC_AABBCollider.o: \ - OPCODE/OPC_AABBCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_BoxBoxOverlap.h \ - OPCODE/OPC_TriBoxOverlap.h -ode/src/OPC_AABBTree.o: \ - OPCODE/OPC_AABBTree.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_BaseModel.o: \ - OPCODE/OPC_BaseModel.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_BoxPruning.o: \ - OPCODE/OPC_BoxPruning.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_Collider.o: \ - OPCODE/OPC_Collider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_Common.o: \ - OPCODE/OPC_Common.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_HybridModel.o: \ - OPCODE/OPC_HybridModel.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_LSSCollider.o: \ - OPCODE/OPC_LSSCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_LSSAABBOverlap.h \ - OPCODE/OPC_LSSTriOverlap.h -ode/src/OPC_MeshInterface.o: \ - OPCODE/OPC_MeshInterface.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_Model.o: \ - OPCODE/OPC_Model.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_OBBCollider.o: \ - OPCODE/OPC_OBBCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_BoxBoxOverlap.h \ - OPCODE/OPC_TriBoxOverlap.h -ode/src/Opcode.o: \ - OPCODE/Opcode.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_OptimizedTree.o: \ - OPCODE/OPC_OptimizedTree.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_Picking.o: \ - OPCODE/OPC_Picking.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_PlanesCollider.o: \ - OPCODE/OPC_PlanesCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_PlanesAABBOverlap.h \ - OPCODE/OPC_PlanesTriOverlap.h -ode/src/OPC_RayCollider.o: \ - OPCODE/OPC_RayCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_RayAABBOverlap.h \ - OPCODE/OPC_RayTriOverlap.h -ode/src/OPC_SphereCollider.o: \ - OPCODE/OPC_SphereCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_SphereAABBOverlap.h \ - OPCODE/OPC_SphereTriOverlap.h -ode/src/OPC_SweepAndPrune.o: \ - OPCODE/OPC_SweepAndPrune.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_TreeBuilders.o: \ - OPCODE/OPC_TreeBuilders.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/OPC_TreeCollider.o: \ - OPCODE/OPC_TreeCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h \ - OPCODE/OPC_BoxBoxOverlap.h \ - OPCODE/OPC_TriBoxOverlap.h \ - OPCODE/OPC_TriTriOverlap.h -ode/src/OPC_VolumeCollider.o: \ - OPCODE/OPC_VolumeCollider.cpp \ - OPCODE/Stdafx.h \ - OPCODE/Opcode.h \ - OPCODE/OPC_IceHook.h \ - OPCODE/Ice/IcePreprocessor.h \ - OPCODE/Ice/IceTypes.h \ - OPCODE/Ice/IceFPU.h \ - OPCODE/Ice/IceMemoryMacros.h \ - OPCODE/Ice/IceUtils.h \ - OPCODE/Ice/IceContainer.h \ - OPCODE/Ice/IcePairs.h \ - OPCODE/Ice/IceRevisitedRadix.h \ - OPCODE/Ice/IceRandom.h \ - OPCODE/Ice/IceAxes.h \ - OPCODE/Ice/IcePoint.h \ - OPCODE/Ice/IceHPoint.h \ - OPCODE/Ice/IceMatrix3x3.h \ - OPCODE/Ice/IceMatrix4x4.h \ - OPCODE/Ice/IcePlane.h \ - OPCODE/Ice/IceRay.h \ - OPCODE/Ice/IceIndexedTriangle.h \ - OPCODE/Ice/IceTriangle.h \ - OPCODE/Ice/IceTriList.h \ - OPCODE/Ice/IceAABB.h \ - OPCODE/Ice/IceOBB.h \ - OPCODE/Ice/IceBoundingSphere.h \ - OPCODE/Ice/IceSegment.h \ - OPCODE/Ice/IceLSS.h \ - OPCODE/OPC_Settings.h \ - OPCODE/OPC_Common.h \ - OPCODE/OPC_MeshInterface.h \ - OPCODE/OPC_TreeBuilders.h \ - OPCODE/OPC_AABBTree.h \ - OPCODE/OPC_OptimizedTree.h \ - OPCODE/OPC_BaseModel.h \ - OPCODE/OPC_Model.h \ - OPCODE/OPC_HybridModel.h \ - OPCODE/OPC_Collider.h \ - OPCODE/OPC_VolumeCollider.h \ - OPCODE/OPC_TreeCollider.h \ - OPCODE/OPC_RayCollider.h \ - OPCODE/OPC_SphereCollider.h \ - OPCODE/OPC_OBBCollider.h \ - OPCODE/OPC_AABBCollider.h \ - OPCODE/OPC_LSSCollider.h \ - OPCODE/OPC_PlanesCollider.h \ - OPCODE/OPC_Picking.h \ - OPCODE/OPC_BoxPruning.h \ - OPCODE/OPC_SweepAndPrune.h -ode/src/fastldlt.o: \ - ode/src/fastldlt.c \ - include/ode/matrix.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h -ode/src/fastlsolve.o: \ - ode/src/fastlsolve.c \ - include/ode/matrix.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h -ode/src/fastltsolve.o: \ - ode/src/fastltsolve.c \ - include/ode/matrix.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h -ode/src/fastdot.o: \ - ode/src/fastdot.c \ - include/ode/matrix.h \ - include/ode/common.h \ - include/ode/config.h \ - include/ode/error.h -drawstuff/src/drawstuff.o: \ - drawstuff/src/drawstuff.cpp \ - include/ode/config.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h \ - drawstuff/src/internal.h -drawstuff/src/x11.o: \ - drawstuff/src/x11.cpp \ - include/ode/config.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h \ - drawstuff/src/internal.h -ode/test/test_ode.o: \ - ode/test/test_ode.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h -ode/test/test_chain2.o: \ - ode/test/test_chain2.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_hinge.o: \ - ode/test/test_hinge.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_slider.o: \ - ode/test/test_slider.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_collision.o: \ - ode/test/test_collision.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_boxstack.o: \ - ode/test/test_boxstack.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_buggy.o: \ - ode/test/test_buggy.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_crash.o: \ - ode/test/test_crash.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_joints.o: \ - ode/test/test_joints.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_space.o: \ - ode/test/test_space.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_I.o: \ - ode/test/test_I.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_step.o: \ - ode/test/test_step.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_friction.o: \ - ode/test/test_friction.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_space_stress.o: \ - ode/test/test_space_stress.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_trimesh.o: \ - ode/test/test_trimesh.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -ode/test/test_moving_trimesh.o: \ - ode/test/test_moving_trimesh.cpp \ - include/ode/ode.h \ - include/ode/config.h \ - include/ode/compatibility.h \ - include/ode/common.h \ - include/ode/error.h \ - include/ode/contact.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/collision_trimesh.h \ - include/ode/odecpp_collision.h \ - include/ode/export-dif.h \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h -drawstuff/dstest/dstest.o: \ - drawstuff/dstest/dstest.cpp \ - include/drawstuff/drawstuff.h \ - include/drawstuff/version.h diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceAABB.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceAABB.cpp deleted file mode 100644 index d96cd88d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceAABB.cpp +++ /dev/null @@ -1,405 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains AABB-related code. - * \file IceAABB.cpp - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * AABB class. - * \class AABB - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the sum of two AABBs. - * \param aabb [in] the other AABB - * \return Self-Reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABB& AABB::Add(const AABB& aabb) -{ - // Compute new min & max values - Point Min; GetMin(Min); - Point Tmp; aabb.GetMin(Tmp); - Min.Min(Tmp); - - Point Max; GetMax(Max); - aabb.GetMax(Tmp); - Max.Max(Tmp); - - // Update this - SetMinMax(Min, Max); - return *this; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Makes a cube from the AABB. - * \param cube [out] the cube AABB - * \return cube edge length - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float AABB::MakeCube(AABB& cube) const -{ - Point Ext; GetExtents(Ext); - float Max = Ext.Max(); - - Point Cnt; GetCenter(Cnt); - cube.SetCenterExtents(Cnt, Point(Max, Max, Max)); - return Max; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Makes a sphere from the AABB. - * \param sphere [out] sphere containing the AABB - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABB::MakeSphere(Sphere& sphere) const -{ - GetExtents(sphere.mCenter); - sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds - GetCenter(sphere.mCenter); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks a box is inside another box. - * \param box [in] the other AABB - * \return true if current box is inside input box - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABB::IsInside(const AABB& box) const -{ - if(box.GetMin(0)>GetMin(0)) return false; - if(box.GetMin(1)>GetMin(1)) return false; - if(box.GetMin(2)>GetMin(2)) return false; - if(box.GetMax(0) max.x) ? 2 : 0) // 2 = right - + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom - + ((local_eye.y > max.y) ? 8 : 0) // 8 = top - + ((local_eye.z < min.z) ? 16 : 0) // 16 = front - + ((local_eye.z > max.z) ? 32 : 0); // 32 = back - - // Look up number of vertices in outline - num = (sdword)gIndexList[pos][7]; - // Zero indicates invalid case - if(!num) return null; - - return &gIndexList[pos][0]; -} - -// calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box - -//const Point& eye, //eye point (in bbox object coordinates) -//const AABB& box, //3d bbox -//const Matrix4x4& mat, //free transformation for bbox -//float width, float height, int& num) -float AABB::ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const -{ - const sbyte* Outline = ComputeOutline(eye, num); - if(!Outline) return -1.0f; - - // Compute box vertices - Point vertexBox[8], dst[8]; - ComputePoints(vertexBox); - - // Transform all outline corners into 2D screen space - for(sdword i=0;i GetMax(0) || p.x < GetMin(0)) return FALSE; \ - if(p.y > GetMax(1) || p.y < GetMin(1)) return FALSE; \ - if(p.z > GetMax(2) || p.z < GetMin(2)) return FALSE; \ - return TRUE; \ - } - - enum AABBType - { - AABB_RENDER = 0, //!< AABB used for rendering. Not visible == not rendered. - AABB_UPDATE = 1, //!< AABB used for dynamic updates. Not visible == not updated. - - AABB_FORCE_DWORD = 0x7fffffff, - }; - -#ifdef USE_MINMAX - - struct ICEMATHS_API ShadowAABB - { - Point mMin; - Point mMax; - }; - - class ICEMATHS_API AABB - { - public: - //! Constructor - inline_ AABB() {} - //! Destructor - inline_ ~AABB() {} - - //! Type-independent methods - AABB_COMMON_METHODS; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an AABB from min & max vectors. - * \param min [in] the min point - * \param max [in] the max point - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetMinMax(const Point& min, const Point& max) { mMin = min; mMax = max; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an AABB from center & extents vectors. - * \param c [in] the center point - * \param e [in] the extents vector - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetCenterExtents(const Point& c, const Point& e) { mMin = c - e; mMax = c + e; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an empty AABB. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetEmpty() { Point p(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); mMin = -p; mMax = p;} - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups a point AABB. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetPoint(const Point& pt) { mMin = mMax = pt; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the size of the AABB. The size is defined as the longest extent. - * \return the size of the AABB - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - float GetSize() const { Point e; GetExtents(e); return e.Max(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Extends the AABB. - * \param p [in] the next point - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void Extend(const Point& p) - { - if(p.x > mMax.x) mMax.x = p.x; - if(p.x < mMin.x) mMin.x = p.x; - - if(p.y > mMax.y) mMax.y = p.y; - if(p.y < mMin.y) mMin.y = p.y; - - if(p.z > mMax.z) mMax.z = p.z; - if(p.z < mMin.z) mMin.z = p.z; - } - // Data access - - //! Get min point of the box - inline_ void GetMin(Point& min) const { min = mMin; } - //! Get max point of the box - inline_ void GetMax(Point& max) const { max = mMax; } - - //! Get component of the box's min point along a given axis - inline_ float GetMin(udword axis) const { return mMin[axis]; } - //! Get component of the box's max point along a given axis - inline_ float GetMax(udword axis) const { return mMax[axis]; } - - //! Get box center - inline_ void GetCenter(Point& center) const { center = (mMax + mMin)*0.5f; } - //! Get box extents - inline_ void GetExtents(Point& extents) const { extents = (mMax - mMin)*0.5f; } - - //! Get component of the box's center along a given axis - inline_ float GetCenter(udword axis) const { return (mMax[axis] + mMin[axis])*0.5f; } - //! Get component of the box's extents along a given axis - inline_ float GetExtents(udword axis) const { return (mMax[axis] - mMin[axis])*0.5f; } - - //! Get box diagonal - inline_ void GetDiagonal(Point& diagonal) const { diagonal = mMax - mMin; } - inline_ float GetWidth() const { return mMax.x - mMin.x; } - inline_ float GetHeight() const { return mMax.y - mMin.y; } - inline_ float GetDepth() const { return mMax.z - mMin.z; } - - //! Volume - inline_ float GetVolume() const { return GetWidth() * GetHeight() * GetDepth(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes the intersection between two AABBs. - * \param a [in] the other AABB - * \return true on intersection - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL Intersect(const AABB& a) const - { - if(mMax.x < a.mMin.x - || a.mMax.x < mMin.x - || mMax.y < a.mMin.y - || a.mMax.y < mMin.y - || mMax.z < a.mMin.z - || a.mMax.z < mMin.z) return FALSE; - - return TRUE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes the 1D-intersection between two AABBs, on a given axis. - * \param a [in] the other AABB - * \param axis [in] the axis (0, 1, 2) - * \return true on intersection - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL Intersect(const AABB& a, udword axis) const - { - if(mMax[axis] < a.mMin[axis] || a.mMax[axis] < mMin[axis]) return FALSE; - return TRUE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. - * Original code by Charles Bloom on the GD-Algorithm list. (I slightly modified it) - * \param mtx [in] the transform matrix - * \param aabb [out] the transformed AABB [can be *this] - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const - { - // The three edges transformed: you can efficiently transform an X-only vector - // by just getting the "X" column of the matrix - Point vx,vy,vz; - mtx.GetRow(0, vx); vx *= (mMax.x - mMin.x); - mtx.GetRow(1, vy); vy *= (mMax.y - mMin.y); - mtx.GetRow(2, vz); vz *= (mMax.z - mMin.z); - - // Transform the min point - aabb.mMin = aabb.mMax = mMin * mtx; - - // Take the transformed min & axes and find new extents - // Using CPU code in the right place is faster... - if(IS_NEGATIVE_FLOAT(vx.x)) aabb.mMin.x += vx.x; else aabb.mMax.x += vx.x; - if(IS_NEGATIVE_FLOAT(vx.y)) aabb.mMin.y += vx.y; else aabb.mMax.y += vx.y; - if(IS_NEGATIVE_FLOAT(vx.z)) aabb.mMin.z += vx.z; else aabb.mMax.z += vx.z; - if(IS_NEGATIVE_FLOAT(vy.x)) aabb.mMin.x += vy.x; else aabb.mMax.x += vy.x; - if(IS_NEGATIVE_FLOAT(vy.y)) aabb.mMin.y += vy.y; else aabb.mMax.y += vy.y; - if(IS_NEGATIVE_FLOAT(vy.z)) aabb.mMin.z += vy.z; else aabb.mMax.z += vy.z; - if(IS_NEGATIVE_FLOAT(vz.x)) aabb.mMin.x += vz.x; else aabb.mMax.x += vz.x; - if(IS_NEGATIVE_FLOAT(vz.y)) aabb.mMin.y += vz.y; else aabb.mMax.y += vz.y; - if(IS_NEGATIVE_FLOAT(vz.z)) aabb.mMin.z += vz.z; else aabb.mMax.z += vz.z; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the AABB is valid. - * \return true if the box is valid - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL IsValid() const - { - // Consistency condition for (Min, Max) boxes: min < max - if(mMin.x > mMax.x) return FALSE; - if(mMin.y > mMax.y) return FALSE; - if(mMin.z > mMax.z) return FALSE; - return TRUE; - } - - //! Operator for AABB *= float. Scales the extents, keeps same center. - inline_ AABB& operator*=(float s) - { - Point Center; GetCenter(Center); - Point Extents; GetExtents(Extents); - SetCenterExtents(Center, Extents * s); - return *this; - } - - //! Operator for AABB /= float. Scales the extents, keeps same center. - inline_ AABB& operator/=(float s) - { - Point Center; GetCenter(Center); - Point Extents; GetExtents(Extents); - SetCenterExtents(Center, Extents / s); - return *this; - } - - //! Operator for AABB += Point. Translates the box. - inline_ AABB& operator+=(const Point& trans) - { - mMin+=trans; - mMax+=trans; - return *this; - } - private: - Point mMin; //!< Min point - Point mMax; //!< Max point - }; - -#else - - class ICEMATHS_API AABB - { - public: - //! Constructor - inline_ AABB() {} - //! Destructor - inline_ ~AABB() {} - - //! Type-independent methods - AABB_COMMON_METHODS; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an AABB from min & max vectors. - * \param min [in] the min point - * \param max [in] the max point - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an AABB from center & extents vectors. - * \param c [in] the center point - * \param e [in] the extents vector - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetCenterExtents(const Point& c, const Point& e) { mCenter = c; mExtents = e; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an empty AABB. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetEmpty() { mCenter.Zero(); mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT);} - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups a point AABB. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetPoint(const Point& pt) { mCenter = pt; mExtents.Zero(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the size of the AABB. The size is defined as the longest extent. - * \return the size of the AABB - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - float GetSize() const { return mExtents.Max(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Extends the AABB. - * \param p [in] the next point - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void Extend(const Point& p) - { - Point Max = mCenter + mExtents; - Point Min = mCenter - mExtents; - - if(p.x > Max.x) Max.x = p.x; - if(p.x < Min.x) Min.x = p.x; - - if(p.y > Max.y) Max.y = p.y; - if(p.y < Min.y) Min.y = p.y; - - if(p.z > Max.z) Max.z = p.z; - if(p.z < Min.z) Min.z = p.z; - - SetMinMax(Min, Max); - } - // Data access - - //! Get min point of the box - inline_ void GetMin(Point& min) const { min = mCenter - mExtents; } - //! Get max point of the box - inline_ void GetMax(Point& max) const { max = mCenter + mExtents; } - - //! Get component of the box's min point along a given axis - inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } - //! Get component of the box's max point along a given axis - inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } - - //! Get box center - inline_ void GetCenter(Point& center) const { center = mCenter; } - //! Get box extents - inline_ void GetExtents(Point& extents) const { extents = mExtents; } - - //! Get component of the box's center along a given axis - inline_ float GetCenter(udword axis) const { return mCenter[axis]; } - //! Get component of the box's extents along a given axis - inline_ float GetExtents(udword axis) const { return mExtents[axis]; } - - //! Get box diagonal - inline_ void GetDiagonal(Point& diagonal) const { diagonal = mExtents * 2.0f; } - inline_ float GetWidth() const { return mExtents.x * 2.0f; } - inline_ float GetHeight() const { return mExtents.y * 2.0f; } - inline_ float GetDepth() const { return mExtents.z * 2.0f; } - - //! Volume - inline_ float GetVolume() const { return mExtents.x * mExtents.y * mExtents.z * 8.0f; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes the intersection between two AABBs. - * \param a [in] the other AABB - * \return true on intersection - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL Intersect(const AABB& a) const - { - float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(AIR(tx) > IR(ex)) return FALSE; - float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(AIR(ty) > IR(ey)) return FALSE; - float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(AIR(tz) > IR(ez)) return FALSE; - return TRUE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * The standard intersection method from Gamasutra. Just here to check its speed against the one above. - * \param a [in] the other AABB - * \return true on intersection - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool GomezIntersect(const AABB& a) - { - Point T = mCenter - a.mCenter; // Vector from A to B - return ((fabsf(T.x) <= (a.mExtents.x + mExtents.x)) - && (fabsf(T.y) <= (a.mExtents.y + mExtents.y)) - && (fabsf(T.z) <= (a.mExtents.z + mExtents.z))); - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes the 1D-intersection between two AABBs, on a given axis. - * \param a [in] the other AABB - * \param axis [in] the axis (0, 1, 2) - * \return true on intersection - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL Intersect(const AABB& a, udword axis) const - { - float t = mCenter[axis] - a.mCenter[axis]; - float e = a.mExtents[axis] + mExtents[axis]; - if(AIR(t) > IR(e)) return FALSE; - return TRUE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Recomputes the AABB after an arbitrary transform by a 4x4 matrix. - * \param mtx [in] the transform matrix - * \param aabb [out] the transformed AABB [can be *this] - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void Rotate(const Matrix4x4& mtx, AABB& aabb) const - { - // Compute new center - aabb.mCenter = mCenter * mtx; - - // Compute new extents. FPU code & CPU code have been interleaved for improved performance. - Point Ex(mtx.m[0][0] * mExtents.x, mtx.m[0][1] * mExtents.x, mtx.m[0][2] * mExtents.x); - IR(Ex.x)&=0x7fffffff; IR(Ex.y)&=0x7fffffff; IR(Ex.z)&=0x7fffffff; - - Point Ey(mtx.m[1][0] * mExtents.y, mtx.m[1][1] * mExtents.y, mtx.m[1][2] * mExtents.y); - IR(Ey.x)&=0x7fffffff; IR(Ey.y)&=0x7fffffff; IR(Ey.z)&=0x7fffffff; - - Point Ez(mtx.m[2][0] * mExtents.z, mtx.m[2][1] * mExtents.z, mtx.m[2][2] * mExtents.z); - IR(Ez.x)&=0x7fffffff; IR(Ez.y)&=0x7fffffff; IR(Ez.z)&=0x7fffffff; - - aabb.mExtents.x = Ex.x + Ey.x + Ez.x; - aabb.mExtents.y = Ex.y + Ey.y + Ez.y; - aabb.mExtents.z = Ex.z + Ey.z + Ez.z; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the AABB is valid. - * \return true if the box is valid - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL IsValid() const - { - // Consistency condition for (Center, Extents) boxes: Extents >= 0 - if(IS_NEGATIVE_FLOAT(mExtents.x)) return FALSE; - if(IS_NEGATIVE_FLOAT(mExtents.y)) return FALSE; - if(IS_NEGATIVE_FLOAT(mExtents.z)) return FALSE; - return TRUE; - } - - //! Operator for AABB *= float. Scales the extents, keeps same center. - inline_ AABB& operator*=(float s) { mExtents*=s; return *this; } - - //! Operator for AABB /= float. Scales the extents, keeps same center. - inline_ AABB& operator/=(float s) { mExtents/=s; return *this; } - - //! Operator for AABB += Point. Translates the box. - inline_ AABB& operator+=(const Point& trans) - { - mCenter+=trans; - return *this; - } - private: - Point mCenter; //!< AABB Center - Point mExtents; //!< x, y and z extents - }; - -#endif - - inline_ void ComputeMinMax(const Point& p, Point& min, Point& max) - { - if(p.x > max.x) max.x = p.x; - if(p.x < min.x) min.x = p.x; - - if(p.y > max.y) max.y = p.y; - if(p.y < min.y) min.y = p.y; - - if(p.z > max.z) max.z = p.z; - if(p.z < min.z) min.z = p.z; - } - - inline_ void ComputeAABB(AABB& aabb, const Point* list, udword nb_pts) - { - if(list) - { - Point Maxi(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); - Point Mini(MAX_FLOAT, MAX_FLOAT, MAX_FLOAT); - while(nb_pts--) - { -// _prefetch(list+1); // off by one ? - ComputeMinMax(*list++, Mini, Maxi); - } - aabb.SetMinMax(Mini, Maxi); - } - } - -#endif // __ICEAABB_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceAxes.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceAxes.h deleted file mode 100644 index 8af57e1e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceAxes.h +++ /dev/null @@ -1,54 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains axes definition. - * \file IceAxes.h - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEAXES_H__ -#define __ICEAXES_H__ - - enum PointComponent - { - X = 0, - Y = 1, - Z = 2, - W = 3, - - FORCE_DWORD = 0x7fffffff - }; - - enum AxisOrder - { - AXES_XYZ = (X)|(Y<<2)|(Z<<4), - AXES_XZY = (X)|(Z<<2)|(Y<<4), - AXES_YXZ = (Y)|(X<<2)|(Z<<4), - AXES_YZX = (Y)|(Z<<2)|(X<<4), - AXES_ZXY = (Z)|(X<<2)|(Y<<4), - AXES_ZYX = (Z)|(Y<<2)|(X<<4), - - AXES_FORCE_DWORD = 0x7fffffff - }; - - class ICEMATHS_API Axes - { - public: - - inline_ Axes(AxisOrder order) - { - mAxis0 = (order ) & 3; - mAxis1 = (order>>2) & 3; - mAxis2 = (order>>4) & 3; - } - inline_ ~Axes() {} - - udword mAxis0; - udword mAxis1; - udword mAxis2; - }; - -#endif // __ICEAXES_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceBoundingSphere.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceBoundingSphere.h deleted file mode 100644 index 945d38cf..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceBoundingSphere.h +++ /dev/null @@ -1,142 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code to compute the minimal bounding sphere. - * \file IceBoundingSphere.h - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEBOUNDINGSPHERE_H__ -#define __ICEBOUNDINGSPHERE_H__ - - enum BSphereMethod - { - BS_NONE, - BS_GEMS, - BS_MINIBALL, - - BS_FORCE_DWORD = 0x7fffffff - }; - - class ICEMATHS_API Sphere - { - public: - //! Constructor - inline_ Sphere() {} - //! Constructor - inline_ Sphere(const Point& center, float radius) : mCenter(center), mRadius(radius) {} - //! Constructor - Sphere(udword nb_verts, const Point* verts); - //! Copy constructor - inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {} - //! Destructor - inline_ ~Sphere() {} - - BSphereMethod Compute(udword nb_verts, const Point* verts); - bool FastCompute(udword nb_verts, const Point* verts); - - // Access methods - inline_ const Point& GetCenter() const { return mCenter; } - inline_ float GetRadius() const { return mRadius; } - - inline_ const Point& Center() const { return mCenter; } - inline_ float Radius() const { return mRadius; } - - inline_ Sphere& Set(const Point& center, float radius) { mCenter = center; mRadius = radius; return *this; } - inline_ Sphere& SetCenter(const Point& center) { mCenter = center; return *this; } - inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if a point is contained within the sphere. - * \param p [in] the point to test - * \return true if inside the sphere - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool Contains(const Point& p) const - { - return mCenter.SquareDistance(p) <= mRadius*mRadius; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if a sphere is contained within the sphere. - * \param sphere [in] the sphere to test - * \return true if inside the sphere - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool Contains(const Sphere& sphere) const - { - // If our radius is the smallest, we can't possibly contain the other sphere - if(mRadius < sphere.mRadius) return false; - // So r is always positive or null now - float r = mRadius - sphere.mRadius; - return mCenter.SquareDistance(sphere.mCenter) <= r*r; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if a box is contained within the sphere. - * \param aabb [in] the box to test - * \return true if inside the sphere - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL Contains(const AABB& aabb) const - { - // I assume if all 8 box vertices are inside the sphere, so does the whole box. - // Sounds ok but maybe there's a better way? - float R2 = mRadius * mRadius; -#ifdef USE_MIN_MAX - const Point& Max = ((ShadowAABB&)&aabb).mMax; - const Point& Min = ((ShadowAABB&)&aabb).mMin; -#else - Point Max; aabb.GetMax(Max); - Point Min; aabb.GetMin(Min); -#endif - Point p; - p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE; - p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE; - - return TRUE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if the sphere intersects another sphere - * \param sphere [in] the other sphere - * \return true if spheres overlap - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool Intersect(const Sphere& sphere) const - { - float r = mRadius + sphere.mRadius; - return mCenter.SquareDistance(sphere.mCenter) <= r*r; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the sphere is valid. - * \return true if the box is valid - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL IsValid() const - { - // Consistency condition for spheres: Radius >= 0.0f - if(mRadius < 0.0f) return FALSE; - return TRUE; - } - public: - Point mCenter; //!< Sphere center - float mRadius; //!< Sphere radius - }; - -#endif // __ICEBOUNDINGSPHERE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceContainer.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceContainer.cpp deleted file mode 100644 index 8a4a5702..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceContainer.cpp +++ /dev/null @@ -1,345 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a simple container class. - * \file IceContainer.cpp - * \author Pierre Terdiman - * \date February, 5, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a list of 32-bits values. - * Use this class when you need to store an unknown number of values. The list is automatically - * resized and can contains 32-bits entities (dwords or floats) - * - * \class Container - * \author Pierre Terdiman - * \version 1.0 - * \date 08.15.98 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceCore; - -// Static members -#ifdef CONTAINER_STATS -udword Container::mNbContainers = 0; -udword Container::mUsedRam = 0; -#endif - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. No entries allocated there. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Container::Container() : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f) -{ -#ifdef CONTAINER_STATS - mNbContainers++; - mUsedRam+=sizeof(Container); -#endif -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. Also allocates a given number of entries. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Container::Container(udword size, float growth_factor) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(growth_factor) -{ -#ifdef CONTAINER_STATS - mNbContainers++; - mUsedRam+=sizeof(Container); -#endif - SetSize(size); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Copy constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Container::Container(const Container& object) : mMaxNbEntries(0), mCurNbEntries(0), mEntries(null), mGrowthFactor(2.0f) -{ -#ifdef CONTAINER_STATS - mNbContainers++; - mUsedRam+=sizeof(Container); -#endif - *this = object; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. Frees everything and leaves. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Container::~Container() -{ - Empty(); -#ifdef CONTAINER_STATS - mNbContainers--; - mUsedRam-=GetUsedRam(); -#endif -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Clears the container. All stored values are deleted, and it frees used ram. - * \see Reset() - * \return Self-Reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Container& Container::Empty() -{ -#ifdef CONTAINER_STATS - mUsedRam-=mMaxNbEntries*sizeof(udword); -#endif - DELETEARRAY(mEntries); - mCurNbEntries = mMaxNbEntries = 0; - return *this; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Resizes the container. - * \param needed [in] assume the container can be added at least "needed" values - * \return true if success. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool Container::Resize(udword needed) -{ -#ifdef CONTAINER_STATS - // Subtract previous amount of bytes - mUsedRam-=mMaxNbEntries*sizeof(udword); -#endif - - // Get more entries - mMaxNbEntries = mMaxNbEntries ? udword(float(mMaxNbEntries)*mGrowthFactor) : 2; // Default nb Entries = 2 - if(mMaxNbEntriesmMaxNbEntries) Resize(nb); - - // Add new entry - CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(uword)); - mCurNbEntries+=nb; - return *this; - } - - inline_ Container& Add(const udword* entries, udword nb) - { - // Resize if needed - if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb); - - // Add new entry - CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(udword)); - mCurNbEntries+=nb; - return *this; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * A O(1) method to add a value in the container. The container is automatically resized if needed. - * The method is inline, not the resize. The call overhead happens on resizes only, which is not a problem since the resizing operation - * costs a lot more than the call overhead... - * - * \param entry [in] a float to store in the container - * \see Add(udword entry) - * \see Empty() - * \see Contains(udword entry) - * \return Self-Reference - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ Container& Add(float entry) - { - // Resize if needed - if(mCurNbEntries==mMaxNbEntries) Resize(); - - // Add new entry - mEntries[mCurNbEntries++] = IR(entry); - return *this; - } - - inline_ Container& Add(const float* entries, udword nb) - { - // Resize if needed - if(mCurNbEntries+nb>mMaxNbEntries) Resize(nb); - - // Add new entry - CopyMemory(&mEntries[mCurNbEntries], entries, nb*sizeof(float)); - mCurNbEntries+=nb; - return *this; - } - - //! Add unique [slow] - inline_ Container& AddUnique(udword entry) - { - if(!Contains(entry)) Add(entry); - return *this; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Clears the container. All stored values are deleted, and it frees used ram. - * \see Reset() - * \return Self-Reference - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - Container& Empty(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Resets the container. Stored values are discarded but the buffer is kept so that further calls don't need resizing again. - * That's a kind of temporal coherence. - * \see Empty() - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void Reset() - { - // Avoid the write if possible - // ### CMOV - if(mCurNbEntries) mCurNbEntries = 0; - } - - // HANDLE WITH CARE - inline_ void ForceSize(udword size) - { - mCurNbEntries = size; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Sets the initial size of the container. If it already contains something, it's discarded. - * \param nb [in] Number of entries - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool SetSize(udword nb); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Refits the container and get rid of unused bytes. - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Refit(); - - // Checks whether the container already contains a given value. - bool Contains(udword entry, udword* location=null) const; - // Deletes an entry - doesn't preserve insertion order. - bool Delete(udword entry); - // Deletes an entry - does preserve insertion order. - bool DeleteKeepingOrder(udword entry); - //! Deletes the very last entry. - inline_ void DeleteLastEntry() { if(mCurNbEntries) mCurNbEntries--; } - //! Deletes the entry whose index is given - inline_ void DeleteIndex(udword index) { mEntries[index] = mEntries[--mCurNbEntries]; } - - // Helpers - Container& FindNext(udword& entry, FindMode find_mode=FIND_CLAMP); - Container& FindPrev(udword& entry, FindMode find_mode=FIND_CLAMP); - // Data access. - inline_ udword GetNbEntries() const { return mCurNbEntries; } //!< Returns the current number of entries. - inline_ udword GetEntry(udword i) const { return mEntries[i]; } //!< Returns ith entry - inline_ udword* GetEntries() const { return mEntries; } //!< Returns the list of entries. - - inline_ udword GetFirst() const { return mEntries[0]; } - inline_ udword GetLast() const { return mEntries[mCurNbEntries-1]; } - - // Growth control - inline_ float GetGrowthFactor() const { return mGrowthFactor; } //!< Returns the growth factor - inline_ void SetGrowthFactor(float growth) { mGrowthFactor = growth; } //!< Sets the growth factor - inline_ bool IsFull() const { return mCurNbEntries==mMaxNbEntries; } //!< Checks the container is full - inline_ BOOL IsNotEmpty() const { return mCurNbEntries; } //!< Checks the container is empty - - //! Read-access as an array - inline_ udword operator[](udword i) const { ASSERT(i>=0 && i=0 && i>31); - return (float&)y; - } - - //! Computes 1.0f / sqrtf(x). - inline_ float frsqrt(float f) - { - float x = f * 0.5f; - udword y = 0x5f3759df - ((udword&)f >> 1); - // Iteration... - (float&)y = (float&)y * ( 1.5f - ( x * (float&)y * (float&)y ) ); - // Result - return (float&)y; - } - - //! Computes 1.0f / sqrtf(x). Comes from NVIDIA. - inline_ float InvSqrt(const float& x) - { - udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - *(udword*)&x) >> 1; - float y = *(float*)&tmp; - return y * (1.47f - 0.47f * x * y * y); - } - - //! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above. - //! See http://www.magic-software.com/3DGEDInvSqrt.html - inline_ float RSqrt(float number) - { - long i; - float x2, y; - const float threehalfs = 1.5f; - - x2 = number * 0.5f; - y = number; - i = * (long *) &y; - i = 0x5f3759df - (i >> 1); - y = * (float *) &i; - y = y * (threehalfs - (x2 * y * y)); - - return y; - } - - //! TO BE DOCUMENTED - inline_ float fsqrt(float f) - { - udword y = ( ( (sdword&)f - 0x3f800000 ) >> 1 ) + 0x3f800000; - // Iteration...? - // (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f; - // Result - return (float&)y; - } - - //! Returns the float ranged espilon value. - inline_ float fepsilon(float f) - { - udword b = (udword&)f & 0xff800000; - udword a = b | 0x00000001; - (float&)a -= (float&)b; - // Result - return (float&)a; - } - - //! Is the float valid ? - inline_ bool IsNAN(float value) { return (IR(value)&0x7f800000) == 0x7f800000; } - inline_ bool IsIndeterminate(float value) { return IR(value) == 0xffc00000; } - inline_ bool IsPlusInf(float value) { return IR(value) == 0x7f800000; } - inline_ bool IsMinusInf(float value) { return IR(value) == 0xff800000; } - - inline_ bool IsValidFloat(float value) - { - if(IsNAN(value)) return false; - if(IsIndeterminate(value)) return false; - if(IsPlusInf(value)) return false; - if(IsMinusInf(value)) return false; - return true; - } - - #define CHECK_VALID_FLOAT(x) ASSERT(IsValidFloat(x)); - -/* - //! FPU precision setting function. - inline_ void SetFPU() - { - // This function evaluates whether the floating-point - // control word is set to single precision/round to nearest/ - // exceptions disabled. If these conditions don't hold, the - // function changes the control word to set them and returns - // TRUE, putting the old control word value in the passback - // location pointed to by pwOldCW. - { - uword wTemp, wSave; - - __asm fstcw wSave - if (wSave & 0x300 || // Not single mode - 0x3f != (wSave & 0x3f) || // Exceptions enabled - wSave & 0xC00) // Not round to nearest mode - { - __asm - { - mov ax, wSave - and ax, not 300h ;; single mode - or ax, 3fh ;; disable all exceptions - and ax, not 0xC00 ;; round to nearest mode - mov wTemp, ax - fldcw wTemp - } - } - } - } -*/ - //! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON) - inline_ float ComputeFloatEpsilon() - { - float f = 1.0f; - ((udword&)f)^=1; - return f - 1.0f; // You can check it's the same as FLT_EPSILON - } - - inline_ bool IsFloatZero(float x, float epsilon=1e-6f) - { - return x*x < epsilon; - } - - #define FCOMI_ST0 _asm _emit 0xdb _asm _emit 0xf0 - #define FCOMIP_ST0 _asm _emit 0xdf _asm _emit 0xf0 - #define FCMOVB_ST0 _asm _emit 0xda _asm _emit 0xc0 - #define FCMOVNB_ST0 _asm _emit 0xdb _asm _emit 0xc0 - - #define FCOMI_ST1 _asm _emit 0xdb _asm _emit 0xf1 - #define FCOMIP_ST1 _asm _emit 0xdf _asm _emit 0xf1 - #define FCMOVB_ST1 _asm _emit 0xda _asm _emit 0xc1 - #define FCMOVNB_ST1 _asm _emit 0xdb _asm _emit 0xc1 - - #define FCOMI_ST2 _asm _emit 0xdb _asm _emit 0xf2 - #define FCOMIP_ST2 _asm _emit 0xdf _asm _emit 0xf2 - #define FCMOVB_ST2 _asm _emit 0xda _asm _emit 0xc2 - #define FCMOVNB_ST2 _asm _emit 0xdb _asm _emit 0xc2 - - #define FCOMI_ST3 _asm _emit 0xdb _asm _emit 0xf3 - #define FCOMIP_ST3 _asm _emit 0xdf _asm _emit 0xf3 - #define FCMOVB_ST3 _asm _emit 0xda _asm _emit 0xc3 - #define FCMOVNB_ST3 _asm _emit 0xdb _asm _emit 0xc3 - - #define FCOMI_ST4 _asm _emit 0xdb _asm _emit 0xf4 - #define FCOMIP_ST4 _asm _emit 0xdf _asm _emit 0xf4 - #define FCMOVB_ST4 _asm _emit 0xda _asm _emit 0xc4 - #define FCMOVNB_ST4 _asm _emit 0xdb _asm _emit 0xc4 - - #define FCOMI_ST5 _asm _emit 0xdb _asm _emit 0xf5 - #define FCOMIP_ST5 _asm _emit 0xdf _asm _emit 0xf5 - #define FCMOVB_ST5 _asm _emit 0xda _asm _emit 0xc5 - #define FCMOVNB_ST5 _asm _emit 0xdb _asm _emit 0xc5 - - #define FCOMI_ST6 _asm _emit 0xdb _asm _emit 0xf6 - #define FCOMIP_ST6 _asm _emit 0xdf _asm _emit 0xf6 - #define FCMOVB_ST6 _asm _emit 0xda _asm _emit 0xc6 - #define FCMOVNB_ST6 _asm _emit 0xdb _asm _emit 0xc6 - - #define FCOMI_ST7 _asm _emit 0xdb _asm _emit 0xf7 - #define FCOMIP_ST7 _asm _emit 0xdf _asm _emit 0xf7 - #define FCMOVB_ST7 _asm _emit 0xda _asm _emit 0xc7 - #define FCMOVNB_ST7 _asm _emit 0xdb _asm _emit 0xc7 - - //! A global function to find MAX(a,b) using FCOMI/FCMOV - inline_ float FCMax2(float a, float b) - { -#ifdef _MSC_VER - float Res; - _asm fld [a] - _asm fld [b] - FCOMI_ST1 - FCMOVB_ST1 - _asm fstp [Res] - _asm fcomp - return Res; -#else - return (a > b) ? a : b; -#endif - } - - //! A global function to find MIN(a,b) using FCOMI/FCMOV - inline_ float FCMin2(float a, float b) - { -#ifdef _MSC_VER - float Res; - _asm fld [a] - _asm fld [b] - FCOMI_ST1 - FCMOVNB_ST1 - _asm fstp [Res] - _asm fcomp - return Res; -#else - return (a < b) ? a : b; -#endif - } - - //! A global function to find MAX(a,b,c) using FCOMI/FCMOV - inline_ float FCMax3(float a, float b, float c) - { -#ifdef _MSC_VER - float Res; - _asm fld [a] - _asm fld [b] - _asm fld [c] - FCOMI_ST1 - FCMOVB_ST1 - FCOMI_ST2 - FCMOVB_ST2 - _asm fstp [Res] - _asm fcompp - return Res; -#else - return (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c); -#endif - } - - //! A global function to find MIN(a,b,c) using FCOMI/FCMOV - inline_ float FCMin3(float a, float b, float c) - { -#ifdef _MSC_VER - float Res; - _asm fld [a] - _asm fld [b] - _asm fld [c] - FCOMI_ST1 - FCMOVNB_ST1 - FCOMI_ST2 - FCMOVNB_ST2 - _asm fstp [Res] - _asm fcompp - return Res; -#else - return (a < b) ? ((a < c) ? a : c) : ((b < c) ? b : c); -#endif - } - - inline_ int ConvertToSortable(float f) - { - int& Fi = (int&)f; - int Fmask = (Fi>>31); - Fi ^= Fmask; - Fmask &= ~(1<<31); - Fi -= Fmask; - return Fi; - } - - enum FPUMode - { - FPU_FLOOR = 0, - FPU_CEIL = 1, - FPU_BEST = 2, - - FPU_FORCE_DWORD = 0x7fffffff - }; - - FUNCTION ICECORE_API FPUMode GetFPUMode(); - FUNCTION ICECORE_API void SaveFPU(); - FUNCTION ICECORE_API void RestoreFPU(); - FUNCTION ICECORE_API void SetFPUFloorMode(); - FUNCTION ICECORE_API void SetFPUCeilMode(); - FUNCTION ICECORE_API void SetFPUBestMode(); - - FUNCTION ICECORE_API void SetFPUPrecision24(); - FUNCTION ICECORE_API void SetFPUPrecision53(); - FUNCTION ICECORE_API void SetFPUPrecision64(); - FUNCTION ICECORE_API void SetFPURoundingChop(); - FUNCTION ICECORE_API void SetFPURoundingUp(); - FUNCTION ICECORE_API void SetFPURoundingDown(); - FUNCTION ICECORE_API void SetFPURoundingNear(); - - FUNCTION ICECORE_API int intChop(const float& f); - FUNCTION ICECORE_API int intFloor(const float& f); - FUNCTION ICECORE_API int intCeil(const float& f); - -#endif // __ICEFPU_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceHPoint.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceHPoint.cpp deleted file mode 100644 index f806a0c9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceHPoint.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for homogeneous points. - * \file IceHPoint.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Homogeneous point. - * - * Use it: - * - for clipping in homogeneous space (standard way) - * - to differentiate between points (w=1) and vectors (w=0). - * - in some cases you can also use it instead of Point for padding reasons. - * - * \class HPoint - * \author Pierre Terdiman - * \version 1.0 - * \warning No cross-product in 4D. - * \warning HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Point Mul = HPoint * Matrix3x3; -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Point HPoint::operator*(const Matrix3x3& mat) const -{ - return Point( - x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0], - x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1], - x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] ); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// HPoint Mul = HPoint * Matrix4x4; -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HPoint HPoint::operator*(const Matrix4x4& mat) const -{ - return HPoint( - x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0], - x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1], - x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2], - x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// HPoint *= Matrix4x4 -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HPoint& HPoint::operator*=(const Matrix4x4& mat) -{ - float xp = x * mat.m[0][0] + y * mat.m[1][0] + z * mat.m[2][0] + w * mat.m[3][0]; - float yp = x * mat.m[0][1] + y * mat.m[1][1] + z * mat.m[2][1] + w * mat.m[3][1]; - float zp = x * mat.m[0][2] + y * mat.m[1][2] + z * mat.m[2][2] + w * mat.m[3][2]; - float wp = x * mat.m[0][3] + y * mat.m[1][3] + z * mat.m[2][3] + w * mat.m[3][3]; - - x = xp; y = yp; z = zp; w = wp; - - return *this; -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceHPoint.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceHPoint.h deleted file mode 100644 index a3770cd5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceHPoint.h +++ /dev/null @@ -1,160 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for homogeneous points. - * \file IceHPoint.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEHPOINT_H__ -#define __ICEHPOINT_H__ - - class ICEMATHS_API HPoint : public Point - { - public: - - //! Empty constructor - inline_ HPoint() {} - //! Constructor from floats - inline_ HPoint(float xx, float yy, float zz, float ww=0.0f) : Point(xx, yy, zz), w(ww) {} - //! Constructor from array - inline_ HPoint(const float f[4]) : Point(f), w(f[3]) {} - //! Constructor from a Point - inline_ HPoint(const Point& p, float ww=0.0f) : Point(p), w(ww) {} - //! Destructor - inline_ ~HPoint() {} - - //! Clear the point - inline_ HPoint& Zero() { x = y = z = w = 0.0f; return *this; } - - //! Assignment from values - inline_ HPoint& Set(float xx, float yy, float zz, float ww ) { x = xx; y = yy; z = zz; w = ww; return *this; } - //! Assignment from array - inline_ HPoint& Set(const float f[4]) { x = f[X]; y = f[Y]; z = f[Z]; w = f[W]; return *this; } - //! Assignment from another h-point - inline_ HPoint& Set(const HPoint& src) { x = src.x; y = src.y; z = src.z; w = src.w; return *this; } - - //! Add a vector - inline_ HPoint& Add(float xx, float yy, float zz, float ww ) { x += xx; y += yy; z += zz; w += ww; return *this; } - //! Add a vector - inline_ HPoint& Add(const float f[4]) { x += f[X]; y += f[Y]; z += f[Z]; w += f[W]; return *this; } - - //! Subtract a vector - inline_ HPoint& Sub(float xx, float yy, float zz, float ww ) { x -= xx; y -= yy; z -= zz; w -= ww; return *this; } - //! Subtract a vector - inline_ HPoint& Sub(const float f[4]) { x -= f[X]; y -= f[Y]; z -= f[Z]; w -= f[W]; return *this; } - - //! Multiplies by a scalar - inline_ HPoint& Mul(float s) { x *= s; y *= s; z *= s; w *= s; return *this; } - - //! Returns MIN(x, y, z, w); - float Min() const { return MIN(x, MIN(y, MIN(z, w))); } - //! Returns MAX(x, y, z, w); - float Max() const { return MAX(x, MAX(y, MAX(z, w))); } - //! Sets each element to be componentwise minimum - HPoint& Min(const HPoint& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); w = MIN(w, p.w); return *this; } - //! Sets each element to be componentwise maximum - HPoint& Max(const HPoint& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); w = MAX(w, p.w); return *this; } - - //! Computes square magnitude - inline_ float SquareMagnitude() const { return x*x + y*y + z*z + w*w; } - //! Computes magnitude - inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z + w*w); } - - //! Normalize the vector - inline_ HPoint& Normalize() - { - float M = Magnitude(); - if(M) - { - M = 1.0f / M; - x *= M; - y *= M; - z *= M; - w *= M; - } - return *this; - } - - // Arithmetic operators - //! Operator for HPoint Negate = - HPoint; - inline_ HPoint operator-() const { return HPoint(-x, -y, -z, -w); } - - //! Operator for HPoint Plus = HPoint + HPoint; - inline_ HPoint operator+(const HPoint& p) const { return HPoint(x + p.x, y + p.y, z + p.z, w + p.w); } - //! Operator for HPoint Minus = HPoint - HPoint; - inline_ HPoint operator-(const HPoint& p) const { return HPoint(x - p.x, y - p.y, z - p.z, w - p.w); } - - //! Operator for HPoint Mul = HPoint * HPoint; - inline_ HPoint operator*(const HPoint& p) const { return HPoint(x * p.x, y * p.y, z * p.z, w * p.w); } - //! Operator for HPoint Scale = HPoint * float; - inline_ HPoint operator*(float s) const { return HPoint(x * s, y * s, z * s, w * s); } - //! Operator for HPoint Scale = float * HPoint; - inline_ friend HPoint operator*(float s, const HPoint& p) { return HPoint(s * p.x, s * p.y, s * p.z, s * p.w); } - - //! Operator for HPoint Div = HPoint / HPoint; - inline_ HPoint operator/(const HPoint& p) const { return HPoint(x / p.x, y / p.y, z / p.z, w / p.w); } - //! Operator for HPoint Scale = HPoint / float; - inline_ HPoint operator/(float s) const { s = 1.0f / s; return HPoint(x * s, y * s, z * s, w * s); } - //! Operator for HPoint Scale = float / HPoint; - inline_ friend HPoint operator/(float s, const HPoint& p) { return HPoint(s / p.x, s / p.y, s / p.z, s / p.w); } - - //! Operator for float DotProd = HPoint | HPoint; - inline_ float operator|(const HPoint& p) const { return x*p.x + y*p.y + z*p.z + w*p.w; } - // No cross-product in 4D - - //! Operator for HPoint += HPoint; - inline_ HPoint& operator+=(const HPoint& p) { x += p.x; y += p.y; z += p.z; w += p.w; return *this; } - //! Operator for HPoint += float; - inline_ HPoint& operator+=(float s) { x += s; y += s; z += s; w += s; return *this; } - - //! Operator for HPoint -= HPoint; - inline_ HPoint& operator-=(const HPoint& p) { x -= p.x; y -= p.y; z -= p.z; w -= p.w; return *this; } - //! Operator for HPoint -= float; - inline_ HPoint& operator-=(float s) { x -= s; y -= s; z -= s; w -= s; return *this; } - - //! Operator for HPoint *= HPoint; - inline_ HPoint& operator*=(const HPoint& p) { x *= p.x; y *= p.y; z *= p.z; w *= p.w; return *this; } - //! Operator for HPoint *= float; - inline_ HPoint& operator*=(float s) { x*=s; y*=s; z*=s; w*=s; return *this; } - - //! Operator for HPoint /= HPoint; - inline_ HPoint& operator/=(const HPoint& p) { x /= p.x; y /= p.y; z /= p.z; w /= p.w; return *this; } - //! Operator for HPoint /= float; - inline_ HPoint& operator/=(float s) { s = 1.0f / s; x*=s; y*=s; z*=s; w*=s; return *this; } - - // Arithmetic operators - - //! Operator for Point Mul = HPoint * Matrix3x3; - Point operator*(const Matrix3x3& mat) const; - //! Operator for HPoint Mul = HPoint * Matrix4x4; - HPoint operator*(const Matrix4x4& mat) const; - - // HPoint *= Matrix3x3 doesn't exist, the matrix is first casted to a 4x4 - //! Operator for HPoint *= Matrix4x4 - HPoint& operator*=(const Matrix4x4& mat); - - // Logical operators - - //! Operator for "if(HPoint==HPoint)" - inline_ bool operator==(const HPoint& p) const { return ( (x==p.x)&&(y==p.y)&&(z==p.z)&&(w==p.w)); } - //! Operator for "if(HPoint!=HPoint)" - inline_ bool operator!=(const HPoint& p) const { return ( (x!=p.x)||(y!=p.y)||(z!=p.z)||(w!=p.w)); } - - // Cast operators - - //! Cast a HPoint to a Point. w is discarded. -#ifdef _MSC_VER - inline_ operator Point() const { return Point(x, y, z); } - // gcc complains that conversion to a base class will never use a type conversion operator -#endif - - public: - float w; - }; - -#endif // __ICEHPOINT_H__ - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceIndexedTriangle.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceIndexedTriangle.cpp deleted file mode 100644 index d317113d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceIndexedTriangle.cpp +++ /dev/null @@ -1,548 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a handy indexed triangle class. - * \file IceIndexedTriangle.cpp - * \author Pierre Terdiman - * \date January, 17, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains an indexed triangle class. - * - * \class Triangle - * \author Pierre Terdiman - * \version 1.0 - * \date 08.15.98 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Flips the winding order. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::Flip() -{ - Swap(mVRef[1], mVRef[2]); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle area. - * \param verts [in] the list of indexed vertices - * \return the area - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::Area(const Point* verts) const -{ - if(!verts) return 0.0f; - const Point& p0 = verts[0]; - const Point& p1 = verts[1]; - const Point& p2 = verts[2]; - return ((p0-p1)^(p0-p2)).Magnitude() * 0.5f; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle perimeter. - * \param verts [in] the list of indexed vertices - * \return the perimeter - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::Perimeter(const Point* verts) const -{ - if(!verts) return 0.0f; - const Point& p0 = verts[0]; - const Point& p1 = verts[1]; - const Point& p2 = verts[2]; - return p0.Distance(p1) - + p0.Distance(p2) - + p1.Distance(p2); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle compacity. - * \param verts [in] the list of indexed vertices - * \return the compacity - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::Compacity(const Point* verts) const -{ - if(!verts) return 0.0f; - float P = Perimeter(verts); - if(P==0.0f) return 0.0f; - return (4.0f*PI*Area(verts)/(P*P)); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle normal. - * \param verts [in] the list of indexed vertices - * \param normal [out] the computed normal - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::Normal(const Point* verts, Point& normal) const -{ - if(!verts) return; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - normal = ((p2-p1)^(p0-p1)).Normalize(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle denormalized normal. - * \param verts [in] the list of indexed vertices - * \param normal [out] the computed normal - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::DenormalizedNormal(const Point* verts, Point& normal) const -{ - if(!verts) return; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - normal = ((p2-p1)^(p0-p1)); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle center. - * \param verts [in] the list of indexed vertices - * \param center [out] the computed center - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::Center(const Point* verts, Point& center) const -{ - if(!verts) return; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - center = (p0+p1+p2)*INV3; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the centered normal - * \param verts [in] the list of indexed vertices - * \param normal [out] the computed centered normal - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::CenteredNormal(const Point* verts, Point& normal) const -{ - if(!verts) return; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - Point Center = (p0+p1+p2)*INV3; - normal = Center + ((p2-p1)^(p0-p1)).Normalize(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes a random point within the triangle. - * \param verts [in] the list of indexed vertices - * \param normal [out] the computed centered normal - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::RandomPoint(const Point* verts, Point& random) const -{ - if(!verts) return; - - // Random barycentric coords - float Alpha = UnitRandomFloat(); - float Beta = UnitRandomFloat(); - float Gamma = UnitRandomFloat(); - float OneOverTotal = 1.0f / (Alpha + Beta + Gamma); - Alpha *= OneOverTotal; - Beta *= OneOverTotal; - Gamma *= OneOverTotal; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - random = Alpha*p0 + Beta*p1 + Gamma*p2; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes backface culling. - * \param verts [in] the list of indexed vertices - * \param source [in] source point (in local space) from which culling must be computed - * \return true if the triangle is visible from the source point - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::IsVisible(const Point* verts, const Point& source) const -{ - // Checkings - if(!verts) return false; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - - // Compute denormalized normal - Point Normal = (p2 - p1)^(p0 - p1); - - // Backface culling - return (Normal | source) >= 0.0f; - -// Same as: -// Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); -// return PL.Distance(source) > PL.d; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes backface culling. - * \param verts [in] the list of indexed vertices - * \param source [in] source point (in local space) from which culling must be computed - * \return true if the triangle is visible from the source point - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::BackfaceCulling(const Point* verts, const Point& source) const -{ - // Checkings - if(!verts) return false; - - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - - // Compute base -// Point Base = (p0 + p1 + p2)*INV3; - - // Compute denormalized normal - Point Normal = (p2 - p1)^(p0 - p1); - - // Backface culling -// return (Normal | (source - Base)) >= 0.0f; - return (Normal | (source - p0)) >= 0.0f; - -// Same as: (but a bit faster) -// Plane PL(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); -// return PL.Distance(source)>0.0f; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the occlusion potential of the triangle. - * \param verts [in] the list of indexed vertices - * \param source [in] source point (in local space) from which occlusion potential must be computed - * \return the occlusion potential - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::ComputeOcclusionPotential(const Point* verts, const Point& view) const -{ - if(!verts) return 0.0f; - // Occlusion potential: -(A * (N|V) / d^2) - // A = polygon area - // N = polygon normal - // V = view vector - // d = distance viewpoint-center of polygon - - float A = Area(verts); - Point N; Normal(verts, N); - Point C; Center(verts, C); - float d = view.Distance(C); - return -(A*(N|view))/(d*d); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Replaces a vertex reference with another one. - * \param oldref [in] the vertex reference to replace - * \param newref [in] the new vertex reference - * \return true if success, else false if the input vertex reference doesn't belong to the triangle - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::ReplaceVertex(dTriIndex oldref, dTriIndex newref) -{ - if(mVRef[0]==oldref) { mVRef[0] = newref; return true; } - else if(mVRef[1]==oldref) { mVRef[1] = newref; return true; } - else if(mVRef[2]==oldref) { mVRef[2] = newref; return true; } - return false; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks whether the triangle is degenerate or not. A degenerate triangle has two common vertex references. This is a zero-area triangle. - * \return true if the triangle is degenerate - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::IsDegenerate() const -{ - if(mVRef[0]==mVRef[1]) return true; - if(mVRef[1]==mVRef[2]) return true; - if(mVRef[2]==mVRef[0]) return true; - return false; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks whether the input vertex reference belongs to the triangle or not. - * \param ref [in] the vertex reference to look for - * \return true if the triangle contains the vertex reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::HasVertex(dTriIndex ref) const -{ - if(mVRef[0]==ref) return true; - if(mVRef[1]==ref) return true; - if(mVRef[2]==ref) return true; - return false; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks whether the input vertex reference belongs to the triangle or not. - * \param ref [in] the vertex reference to look for - * \param index [out] the corresponding index in the triangle - * \return true if the triangle contains the vertex reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::HasVertex(dTriIndex ref, dTriIndex* index) const -{ - if(mVRef[0]==ref) { *index = 0; return true; } - if(mVRef[1]==ref) { *index = 1; return true; } - if(mVRef[2]==ref) { *index = 2; return true; } - return false; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Finds an edge in a tri, given two vertex references. - * \param vref0 [in] the edge's first vertex reference - * \param vref1 [in] the edge's second vertex reference - * \return the edge number between 0 and 2, or 0xff if input refs are wrong. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -ubyte IndexedTriangle::FindEdge(dTriIndex vref0, dTriIndex vref1) const -{ - if(mVRef[0]==vref0 && mVRef[1]==vref1) return 0; - else if(mVRef[0]==vref1 && mVRef[1]==vref0) return 0; - else if(mVRef[0]==vref0 && mVRef[2]==vref1) return 1; - else if(mVRef[0]==vref1 && mVRef[2]==vref0) return 1; - else if(mVRef[1]==vref0 && mVRef[2]==vref1) return 2; - else if(mVRef[1]==vref1 && mVRef[2]==vref0) return 2; - return 0xff; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Gets the last reference given the first two. - * \param vref0 [in] the first vertex reference - * \param vref1 [in] the second vertex reference - * \return the last reference, or INVALID_ID if input refs are wrong. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -dTriIndex IndexedTriangle::OppositeVertex(dTriIndex vref0, dTriIndex vref1) const -{ - if(mVRef[0]==vref0 && mVRef[1]==vref1) return mVRef[2]; - else if(mVRef[0]==vref1 && mVRef[1]==vref0) return mVRef[2]; - else if(mVRef[0]==vref0 && mVRef[2]==vref1) return mVRef[1]; - else if(mVRef[0]==vref1 && mVRef[2]==vref0) return mVRef[1]; - else if(mVRef[1]==vref0 && mVRef[2]==vref1) return mVRef[0]; - else if(mVRef[1]==vref1 && mVRef[2]==vref0) return mVRef[0]; - return (dTriIndex)INVALID_ID; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Gets the three sorted vertex references according to an edge number. - * edgenb = 0 => edge 0-1, returns references 0, 1, 2 - * edgenb = 1 => edge 0-2, returns references 0, 2, 1 - * edgenb = 2 => edge 1-2, returns references 1, 2, 0 - * - * \param edgenb [in] the edge number, 0, 1 or 2 - * \param vref0 [out] the returned first vertex reference - * \param vref1 [out] the returned second vertex reference - * \param vref2 [out] the returned third vertex reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::GetVRefs(ubyte edgenb, dTriIndex& vref0, dTriIndex& vref1, dTriIndex& vref2) const -{ - if(edgenb==0) - { - vref0 = mVRef[0]; - vref1 = mVRef[1]; - vref2 = mVRef[2]; - } - else if(edgenb==1) - { - vref0 = mVRef[0]; - vref1 = mVRef[2]; - vref2 = mVRef[1]; - } - else if(edgenb==2) - { - vref0 = mVRef[1]; - vref1 = mVRef[2]; - vref2 = mVRef[0]; - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle's smallest edge length. - * \param verts [in] the list of indexed vertices - * \return the smallest edge length - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::MinEdgeLength(const Point* verts) const -{ - if(!verts) return 0.0f; - - float Min = MAX_FLOAT; - float Length01 = verts[0].Distance(verts[1]); - float Length02 = verts[0].Distance(verts[2]); - float Length12 = verts[1].Distance(verts[2]); - if(Length01 < Min) Min = Length01; - if(Length02 < Min) Min = Length02; - if(Length12 < Min) Min = Length12; - return Min; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle's largest edge length. - * \param verts [in] the list of indexed vertices - * \return the largest edge length - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::MaxEdgeLength(const Point* verts) const -{ - if(!verts) return 0.0f; - - float Max = MIN_FLOAT; - float Length01 = verts[0].Distance(verts[1]); - float Length02 = verts[0].Distance(verts[2]); - float Length12 = verts[1].Distance(verts[2]); - if(Length01 > Max) Max = Length01; - if(Length02 > Max) Max = Length02; - if(Length12 > Max) Max = Length12; - return Max; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes a point on the triangle according to the stabbing information. - * \param verts [in] the list of indexed vertices - * \param u,v [in] point's barycentric coordinates - * \param pt [out] point on triangle - * \param nearvtx [out] index of nearest vertex - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void IndexedTriangle::ComputePoint(const Point* verts, float u, float v, Point& pt, dTriIndex* nearvtx) const -{ - // Checkings - if(!verts) return; - - // Get face in local or global space - const Point& p0 = verts[mVRef[0]]; - const Point& p1 = verts[mVRef[1]]; - const Point& p2 = verts[mVRef[2]]; - - // Compute point coordinates - pt = (1.0f - u - v)*p0 + u*p1 + v*p2; - - // Compute nearest vertex if needed - if(nearvtx) - { - // Compute distance vector - Point d(p0.SquareDistance(pt), // Distance^2 from vertex 0 to point on the face - p1.SquareDistance(pt), // Distance^2 from vertex 1 to point on the face - p2.SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face - - // Get smallest distance - *nearvtx = mVRef[d.SmallestAxis()]; - } -} - - //************************************** - // Angle between two vectors (in radians) - // we use this formula - // uv = |u||v| cos(u,v) - // u ^ v = w - // |w| = |u||v| |sin(u,v)| - //************************************** - float Angle(const Point& u, const Point& v) - { - float NormU = u.Magnitude(); // |u| - float NormV = v.Magnitude(); // |v| - float Product = NormU*NormV; // |u||v| - if(Product==0.0f) return 0.0f; - float OneOverProduct = 1.0f / Product; - - // Cosinus - float Cosinus = (u|v) * OneOverProduct; - - // Sinus - Point w = u^v; - float NormW = w.Magnitude(); - - float AbsSinus = NormW * OneOverProduct; - - // Remove degeneracy - if(AbsSinus > 1.0f) AbsSinus = 1.0f; - if(AbsSinus < -1.0f) AbsSinus = -1.0f; - - if(Cosinus>=0.0f) return asinf(AbsSinus); - else return (PI-asinf(AbsSinus)); - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the angle between two triangles. - * \param tri [in] the other triangle - * \param verts [in] the list of indexed vertices - * \return the angle in radians - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float IndexedTriangle::Angle(const IndexedTriangle& tri, const Point* verts) const -{ - // Checkings - if(!verts) return 0.0f; - - // Compute face normals - Point n0, n1; - Normal(verts, n0); - tri.Normal(verts, n1); - - // Compute angle - float dp = n0|n1; - if(dp>1.0f) return 0.0f; - if(dp<-1.0f) return PI; - return acosf(dp); - -// return ::Angle(n0,n1); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks a triangle is the same as another one. - * \param tri [in] the other triangle - * \return true if same triangle - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool IndexedTriangle::Equal(const IndexedTriangle& tri) const -{ - // Test all vertex references - return (HasVertex(tri.mVRef[0]) && - HasVertex(tri.mVRef[1]) && - HasVertex(tri.mVRef[2])); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceIndexedTriangle.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceIndexedTriangle.h deleted file mode 100644 index d545e41a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceIndexedTriangle.h +++ /dev/null @@ -1,76 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a handy indexed triangle class. - * \file IceIndexedTriangle.h - * \author Pierre Terdiman - * \date January, 17, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -#include "ode/common.h" - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEINDEXEDTRIANGLE_H__ -#define __ICEINDEXEDTRIANGLE_H__ - - // Forward declarations -#ifdef _MSC_VER - enum CubeIndex; -#else - typedef int CubeIndex; -#endif - - // An indexed triangle class. - class ICEMATHS_API IndexedTriangle - { - public: - - //! Constructor - inline_ IndexedTriangle() {} - //! Constructor - inline_ IndexedTriangle(dTriIndex r0, dTriIndex r1, dTriIndex r2) { mVRef[0]=r0; mVRef[1]=r1; mVRef[2]=r2; } - //! Copy constructor - inline_ IndexedTriangle(const IndexedTriangle& triangle) - { - mVRef[0] = triangle.mVRef[0]; - mVRef[1] = triangle.mVRef[1]; - mVRef[2] = triangle.mVRef[2]; - } - //! Destructor - inline_ ~IndexedTriangle() {} - - //! Vertex-references - dTriIndex mVRef[3]; - - // Methods - void Flip(); - float Area(const Point* verts) const; - float Perimeter(const Point* verts) const; - float Compacity(const Point* verts) const; - void Normal(const Point* verts, Point& normal) const; - void DenormalizedNormal(const Point* verts, Point& normal) const; - void Center(const Point* verts, Point& center) const; - void CenteredNormal(const Point* verts, Point& normal) const; - void RandomPoint(const Point* verts, Point& random) const; - bool IsVisible(const Point* verts, const Point& source) const; - bool BackfaceCulling(const Point* verts, const Point& source) const; - float ComputeOcclusionPotential(const Point* verts, const Point& view) const; - bool ReplaceVertex(dTriIndex oldref, dTriIndex newref); - bool IsDegenerate() const; - bool HasVertex(dTriIndex ref) const; - bool HasVertex(dTriIndex ref, dTriIndex* index) const; - ubyte FindEdge(dTriIndex vref0, dTriIndex vref1) const; - dTriIndex OppositeVertex(dTriIndex vref0, dTriIndex vref1) const; - inline_ dTriIndex OppositeVertex(ubyte edgenb) const { return mVRef[2-edgenb]; } - void GetVRefs(ubyte edgenb, dTriIndex& vref0, dTriIndex& vref1, dTriIndex& vref2) const; - float MinEdgeLength(const Point* verts) const; - float MaxEdgeLength(const Point* verts) const; - void ComputePoint(const Point* verts, float u, float v, Point& pt, dTriIndex* nearvtx=null) const; - float Angle(const IndexedTriangle& tri, const Point* verts) const; - inline_ Plane PlaneEquation(const Point* verts) const { return Plane(verts[mVRef[0]], verts[mVRef[1]], verts[mVRef[2]]); } - bool Equal(const IndexedTriangle& tri) const; - CubeIndex ComputeCubeIndex(const Point* verts) const; - }; - -#endif // __ICEINDEXEDTRIANGLE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceLSS.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceLSS.h deleted file mode 100644 index bd260c1e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceLSS.h +++ /dev/null @@ -1,75 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for line-swept spheres. - * \file IceLSS.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICELSS_H__ -#define __ICELSS_H__ - - class ICEMATHS_API LSS : public Segment - { - public: - //! Constructor - inline_ LSS() {} - //! Constructor - inline_ LSS(const Segment& seg, float radius) : Segment(seg), mRadius(radius) {} - //! Destructor - inline_ ~LSS() {} - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes an OBB surrounding the LSS. - * \param box [out] the OBB - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void ComputeOBB(OBB& box); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if a point is contained within the LSS. - * \param pt [in] the point to test - * \return true if inside the LSS - * \warning point and LSS must be in same space - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool Contains(const Point& pt) const { return SquareDistance(pt) <= mRadius*mRadius; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if a sphere is contained within the LSS. - * \param sphere [in] the sphere to test - * \return true if inside the LSS - * \warning sphere and LSS must be in same space - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool Contains(const Sphere& sphere) - { - float d = mRadius - sphere.mRadius; - if(d>=0.0f) return SquareDistance(sphere.mCenter) <= d*d; - else return false; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if an LSS is contained within the LSS. - * \param lss [in] the LSS to test - * \return true if inside the LSS - * \warning both LSS must be in same space - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ bool Contains(const LSS& lss) - { - // We check the LSS contains the two spheres at the start and end of the sweep - return Contains(Sphere(lss.mP0, lss.mRadius)) && Contains(Sphere(lss.mP0, lss.mRadius)); - } - - float mRadius; //!< Sphere radius - }; - -#endif // __ICELSS_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix3x3.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix3x3.cpp deleted file mode 100644 index af56d3e5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix3x3.cpp +++ /dev/null @@ -1,48 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for 3x3 matrices. - * \file IceMatrix3x3.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * 3x3 matrix. - * DirectX-compliant, ie row-column order, ie m[Row][Col]. - * Same as: - * m11 m12 m13 first row. - * m21 m22 m23 second row. - * m31 m32 m33 third row. - * Stored in memory as m11 m12 m13 m21... - * - * Multiplication rules: - * - * [x'y'z'] = [xyz][M] - * - * x' = x*m11 + y*m21 + z*m31 - * y' = x*m12 + y*m22 + z*m32 - * z' = x*m13 + y*m23 + z*m33 - * - * \class Matrix3x3 - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -// Cast operator -Matrix3x3::operator Matrix4x4() const -{ - return Matrix4x4( - m[0][0], m[0][1], m[0][2], 0.0f, - m[1][0], m[1][1], m[1][2], 0.0f, - m[2][0], m[2][1], m[2][2], 0.0f, - 0.0f, 0.0f, 0.0f, 1.0f); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix3x3.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix3x3.h deleted file mode 100644 index ce383ce7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix3x3.h +++ /dev/null @@ -1,496 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for 3x3 matrices. - * \file IceMatrix3x3.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEMATRIX3X3_H__ -#define __ICEMATRIX3X3_H__ - - // Forward declarations - class Quat; - - #define MATRIX3X3_EPSILON (1.0e-7f) - - class ICEMATHS_API Matrix3x3 - { - public: - //! Empty constructor - inline_ Matrix3x3() {} - //! Constructor from 9 values - inline_ Matrix3x3(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22) - { - m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; - m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; - m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; - } - //! Copy constructor - inline_ Matrix3x3(const Matrix3x3& mat) { CopyMemory(m, &mat.m, 9*sizeof(float)); } - //! Destructor - inline_ ~Matrix3x3() {} - - //! Assign values - inline_ void Set(float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22) - { - m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; - m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; - m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; - } - - //! Sets the scale from a Point. The point is put on the diagonal. - inline_ void SetScale(const Point& p) { m[0][0] = p.x; m[1][1] = p.y; m[2][2] = p.z; } - - //! Sets the scale from floats. Values are put on the diagonal. - inline_ void SetScale(float sx, float sy, float sz) { m[0][0] = sx; m[1][1] = sy; m[2][2] = sz; } - - //! Scales from a Point. Each row is multiplied by a component. - inline_ void Scale(const Point& p) - { - m[0][0] *= p.x; m[0][1] *= p.x; m[0][2] *= p.x; - m[1][0] *= p.y; m[1][1] *= p.y; m[1][2] *= p.y; - m[2][0] *= p.z; m[2][1] *= p.z; m[2][2] *= p.z; - } - - //! Scales from floats. Each row is multiplied by a value. - inline_ void Scale(float sx, float sy, float sz) - { - m[0][0] *= sx; m[0][1] *= sx; m[0][2] *= sx; - m[1][0] *= sy; m[1][1] *= sy; m[1][2] *= sy; - m[2][0] *= sz; m[2][1] *= sz; m[2][2] *= sz; - } - - //! Copy from a Matrix3x3 - inline_ void Copy(const Matrix3x3& source) { CopyMemory(m, source.m, 9*sizeof(float)); } - - // Row-column access - //! Returns a row. - inline_ void GetRow(const udword r, Point& p) const { p.x = m[r][0]; p.y = m[r][1]; p.z = m[r][2]; } - //! Returns a row. - inline_ const Point& GetRow(const udword r) const { return *(const Point*)&m[r][0]; } - //! Returns a row. - inline_ Point& GetRow(const udword r) { return *(Point*)&m[r][0]; } - //! Sets a row. - inline_ void SetRow(const udword r, const Point& p) { m[r][0] = p.x; m[r][1] = p.y; m[r][2] = p.z; } - //! Returns a column. - inline_ void GetCol(const udword c, Point& p) const { p.x = m[0][c]; p.y = m[1][c]; p.z = m[2][c]; } - //! Sets a column. - inline_ void SetCol(const udword c, const Point& p) { m[0][c] = p.x; m[1][c] = p.y; m[2][c] = p.z; } - - //! Computes the trace. The trace is the sum of the 3 diagonal components. - inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2]; } - //! Clears the matrix. - inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } - //! Sets the identity matrix. - inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = 1.0f; } - //! Checks for identity - inline_ bool IsIdentity() const - { - if(IR(m[0][0])!=IEEE_1_0) return false; - if(IR(m[0][1])!=0) return false; - if(IR(m[0][2])!=0) return false; - - if(IR(m[1][0])!=0) return false; - if(IR(m[1][1])!=IEEE_1_0) return false; - if(IR(m[1][2])!=0) return false; - - if(IR(m[2][0])!=0) return false; - if(IR(m[2][1])!=0) return false; - if(IR(m[2][2])!=IEEE_1_0) return false; - - return true; - } - - //! Checks matrix validity - inline_ BOOL IsValid() const - { - for(udword j=0;j<3;j++) - { - for(udword i=0;i<3;i++) - { - if(!IsValidFloat(m[j][i])) return FALSE; - } - } - return TRUE; - } - - //! Makes a skew-symmetric matrix (a.k.a. Star(*) Matrix) - //! [ 0.0 -a.z a.y ] - //! [ a.z 0.0 -a.x ] - //! [ -a.y a.x 0.0 ] - //! This is also called a "cross matrix" since for any vectors A and B, - //! A^B = Skew(A) * B = - B * Skew(A); - inline_ void SkewSymmetric(const Point& a) - { - m[0][0] = 0.0f; - m[0][1] = -a.z; - m[0][2] = a.y; - - m[1][0] = a.z; - m[1][1] = 0.0f; - m[1][2] = -a.x; - - m[2][0] = -a.y; - m[2][1] = a.x; - m[2][2] = 0.0f; - } - - //! Negates the matrix - inline_ void Neg() - { - m[0][0] = -m[0][0]; m[0][1] = -m[0][1]; m[0][2] = -m[0][2]; - m[1][0] = -m[1][0]; m[1][1] = -m[1][1]; m[1][2] = -m[1][2]; - m[2][0] = -m[2][0]; m[2][1] = -m[2][1]; m[2][2] = -m[2][2]; - } - - //! Neg from another matrix - inline_ void Neg(const Matrix3x3& mat) - { - m[0][0] = -mat.m[0][0]; m[0][1] = -mat.m[0][1]; m[0][2] = -mat.m[0][2]; - m[1][0] = -mat.m[1][0]; m[1][1] = -mat.m[1][1]; m[1][2] = -mat.m[1][2]; - m[2][0] = -mat.m[2][0]; m[2][1] = -mat.m[2][1]; m[2][2] = -mat.m[2][2]; - } - - //! Add another matrix - inline_ void Add(const Matrix3x3& mat) - { - m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2]; - m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2]; - m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2]; - } - - //! Sub another matrix - inline_ void Sub(const Matrix3x3& mat) - { - m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2]; - m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2]; - m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2]; - } - //! Mac - inline_ void Mac(const Matrix3x3& a, const Matrix3x3& b, float s) - { - m[0][0] = a.m[0][0] + b.m[0][0] * s; - m[0][1] = a.m[0][1] + b.m[0][1] * s; - m[0][2] = a.m[0][2] + b.m[0][2] * s; - - m[1][0] = a.m[1][0] + b.m[1][0] * s; - m[1][1] = a.m[1][1] + b.m[1][1] * s; - m[1][2] = a.m[1][2] + b.m[1][2] * s; - - m[2][0] = a.m[2][0] + b.m[2][0] * s; - m[2][1] = a.m[2][1] + b.m[2][1] * s; - m[2][2] = a.m[2][2] + b.m[2][2] * s; - } - //! Mac - inline_ void Mac(const Matrix3x3& a, float s) - { - m[0][0] += a.m[0][0] * s; m[0][1] += a.m[0][1] * s; m[0][2] += a.m[0][2] * s; - m[1][0] += a.m[1][0] * s; m[1][1] += a.m[1][1] * s; m[1][2] += a.m[1][2] * s; - m[2][0] += a.m[2][0] * s; m[2][1] += a.m[2][1] * s; m[2][2] += a.m[2][2] * s; - } - - //! this = A * s - inline_ void Mult(const Matrix3x3& a, float s) - { - m[0][0] = a.m[0][0] * s; m[0][1] = a.m[0][1] * s; m[0][2] = a.m[0][2] * s; - m[1][0] = a.m[1][0] * s; m[1][1] = a.m[1][1] * s; m[1][2] = a.m[1][2] * s; - m[2][0] = a.m[2][0] * s; m[2][1] = a.m[2][1] * s; m[2][2] = a.m[2][2] * s; - } - - inline_ void Add(const Matrix3x3& a, const Matrix3x3& b) - { - m[0][0] = a.m[0][0] + b.m[0][0]; m[0][1] = a.m[0][1] + b.m[0][1]; m[0][2] = a.m[0][2] + b.m[0][2]; - m[1][0] = a.m[1][0] + b.m[1][0]; m[1][1] = a.m[1][1] + b.m[1][1]; m[1][2] = a.m[1][2] + b.m[1][2]; - m[2][0] = a.m[2][0] + b.m[2][0]; m[2][1] = a.m[2][1] + b.m[2][1]; m[2][2] = a.m[2][2] + b.m[2][2]; - } - - inline_ void Sub(const Matrix3x3& a, const Matrix3x3& b) - { - m[0][0] = a.m[0][0] - b.m[0][0]; m[0][1] = a.m[0][1] - b.m[0][1]; m[0][2] = a.m[0][2] - b.m[0][2]; - m[1][0] = a.m[1][0] - b.m[1][0]; m[1][1] = a.m[1][1] - b.m[1][1]; m[1][2] = a.m[1][2] - b.m[1][2]; - m[2][0] = a.m[2][0] - b.m[2][0]; m[2][1] = a.m[2][1] - b.m[2][1]; m[2][2] = a.m[2][2] - b.m[2][2]; - } - - //! this = a * b - inline_ void Mult(const Matrix3x3& a, const Matrix3x3& b) - { - m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[1][0] + a.m[0][2] * b.m[2][0]; - m[0][1] = a.m[0][0] * b.m[0][1] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[2][1]; - m[0][2] = a.m[0][0] * b.m[0][2] + a.m[0][1] * b.m[1][2] + a.m[0][2] * b.m[2][2]; - m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[1][2] * b.m[2][0]; - m[1][1] = a.m[1][0] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[2][1]; - m[1][2] = a.m[1][0] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[1][2] * b.m[2][2]; - m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[1][0] + a.m[2][2] * b.m[2][0]; - m[2][1] = a.m[2][0] * b.m[0][1] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[2][1]; - m[2][2] = a.m[2][0] * b.m[0][2] + a.m[2][1] * b.m[1][2] + a.m[2][2] * b.m[2][2]; - } - - //! this = transpose(a) * b - inline_ void MultAtB(const Matrix3x3& a, const Matrix3x3& b) - { - m[0][0] = a.m[0][0] * b.m[0][0] + a.m[1][0] * b.m[1][0] + a.m[2][0] * b.m[2][0]; - m[0][1] = a.m[0][0] * b.m[0][1] + a.m[1][0] * b.m[1][1] + a.m[2][0] * b.m[2][1]; - m[0][2] = a.m[0][0] * b.m[0][2] + a.m[1][0] * b.m[1][2] + a.m[2][0] * b.m[2][2]; - m[1][0] = a.m[0][1] * b.m[0][0] + a.m[1][1] * b.m[1][0] + a.m[2][1] * b.m[2][0]; - m[1][1] = a.m[0][1] * b.m[0][1] + a.m[1][1] * b.m[1][1] + a.m[2][1] * b.m[2][1]; - m[1][2] = a.m[0][1] * b.m[0][2] + a.m[1][1] * b.m[1][2] + a.m[2][1] * b.m[2][2]; - m[2][0] = a.m[0][2] * b.m[0][0] + a.m[1][2] * b.m[1][0] + a.m[2][2] * b.m[2][0]; - m[2][1] = a.m[0][2] * b.m[0][1] + a.m[1][2] * b.m[1][1] + a.m[2][2] * b.m[2][1]; - m[2][2] = a.m[0][2] * b.m[0][2] + a.m[1][2] * b.m[1][2] + a.m[2][2] * b.m[2][2]; - } - - //! this = a * transpose(b) - inline_ void MultABt(const Matrix3x3& a, const Matrix3x3& b) - { - m[0][0] = a.m[0][0] * b.m[0][0] + a.m[0][1] * b.m[0][1] + a.m[0][2] * b.m[0][2]; - m[0][1] = a.m[0][0] * b.m[1][0] + a.m[0][1] * b.m[1][1] + a.m[0][2] * b.m[1][2]; - m[0][2] = a.m[0][0] * b.m[2][0] + a.m[0][1] * b.m[2][1] + a.m[0][2] * b.m[2][2]; - m[1][0] = a.m[1][0] * b.m[0][0] + a.m[1][1] * b.m[0][1] + a.m[1][2] * b.m[0][2]; - m[1][1] = a.m[1][0] * b.m[1][0] + a.m[1][1] * b.m[1][1] + a.m[1][2] * b.m[1][2]; - m[1][2] = a.m[1][0] * b.m[2][0] + a.m[1][1] * b.m[2][1] + a.m[1][2] * b.m[2][2]; - m[2][0] = a.m[2][0] * b.m[0][0] + a.m[2][1] * b.m[0][1] + a.m[2][2] * b.m[0][2]; - m[2][1] = a.m[2][0] * b.m[1][0] + a.m[2][1] * b.m[1][1] + a.m[2][2] * b.m[1][2]; - m[2][2] = a.m[2][0] * b.m[2][0] + a.m[2][1] * b.m[2][1] + a.m[2][2] * b.m[2][2]; - } - - //! Makes a rotation matrix mapping vector "from" to vector "to". - Matrix3x3& FromTo(const Point& from, const Point& to); - - //! Set a rotation matrix around the X axis. - //! 1 0 0 - //! RX = 0 cx sx - //! 0 -sx cx - void RotX(float angle); - //! Set a rotation matrix around the Y axis. - //! cy 0 -sy - //! RY = 0 1 0 - //! sy 0 cy - void RotY(float angle); - //! Set a rotation matrix around the Z axis. - //! cz sz 0 - //! RZ = -sz cz 0 - //! 0 0 1 - void RotZ(float angle); - //! cy sx.sy -sy.cx - //! RY.RX 0 cx sx - //! sy -sx.cy cx.cy - void RotYX(float y, float x); - - //! Make a rotation matrix about an arbitrary axis - Matrix3x3& Rot(float angle, const Point& axis); - - //! Transpose the matrix. - void Transpose() - { - IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]); - IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]); - IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); - } - - //! this = Transpose(a) - void Transpose(const Matrix3x3& a) - { - m[0][0] = a.m[0][0]; m[0][1] = a.m[1][0]; m[0][2] = a.m[2][0]; - m[1][0] = a.m[0][1]; m[1][1] = a.m[1][1]; m[1][2] = a.m[2][1]; - m[2][0] = a.m[0][2]; m[2][1] = a.m[1][2]; m[2][2] = a.m[2][2]; - } - - //! Compute the determinant of the matrix. We use the rule of Sarrus. - float Determinant() const - { - return (m[0][0]*m[1][1]*m[2][2] + m[0][1]*m[1][2]*m[2][0] + m[0][2]*m[1][0]*m[2][1]) - - (m[2][0]*m[1][1]*m[0][2] + m[2][1]*m[1][2]*m[0][0] + m[2][2]*m[1][0]*m[0][1]); - } -/* - //! Compute a cofactor. Used for matrix inversion. - float CoFactor(ubyte row, ubyte column) const - { - static const sdword gIndex[3+2] = { 0, 1, 2, 0, 1 }; - return (m[gIndex[row+1]][gIndex[column+1]]*m[gIndex[row+2]][gIndex[column+2]] - m[gIndex[row+2]][gIndex[column+1]]*m[gIndex[row+1]][gIndex[column+2]]); - } -*/ - //! Invert the matrix. Determinant must be different from zero, else matrix can't be inverted. - Matrix3x3& Invert() - { - float Det = Determinant(); // Must be !=0 - float OneOverDet = 1.0f / Det; - - Matrix3x3 Temp; - Temp.m[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDet; - Temp.m[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDet; - Temp.m[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDet; - Temp.m[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDet; - Temp.m[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDet; - Temp.m[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDet; - Temp.m[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDet; - Temp.m[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDet; - Temp.m[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDet; - - *this = Temp; - - return *this; - } - - Matrix3x3& Normalize(); - - //! this = exp(a) - Matrix3x3& Exp(const Matrix3x3& a); - -void FromQuat(const Quat &q); -void FromQuatL2(const Quat &q, float l2); - - // Arithmetic operators - //! Operator for Matrix3x3 Plus = Matrix3x3 + Matrix3x3; - inline_ Matrix3x3 operator+(const Matrix3x3& mat) const - { - return Matrix3x3( - m[0][0] + mat.m[0][0], m[0][1] + mat.m[0][1], m[0][2] + mat.m[0][2], - m[1][0] + mat.m[1][0], m[1][1] + mat.m[1][1], m[1][2] + mat.m[1][2], - m[2][0] + mat.m[2][0], m[2][1] + mat.m[2][1], m[2][2] + mat.m[2][2]); - } - - //! Operator for Matrix3x3 Minus = Matrix3x3 - Matrix3x3; - inline_ Matrix3x3 operator-(const Matrix3x3& mat) const - { - return Matrix3x3( - m[0][0] - mat.m[0][0], m[0][1] - mat.m[0][1], m[0][2] - mat.m[0][2], - m[1][0] - mat.m[1][0], m[1][1] - mat.m[1][1], m[1][2] - mat.m[1][2], - m[2][0] - mat.m[2][0], m[2][1] - mat.m[2][1], m[2][2] - mat.m[2][2]); - } - - //! Operator for Matrix3x3 Mul = Matrix3x3 * Matrix3x3; - inline_ Matrix3x3 operator*(const Matrix3x3& mat) const - { - return Matrix3x3( - m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0], - m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1], - m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2], - - m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0], - m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1], - m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2], - - m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0], - m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1], - m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2]); - } - - //! Operator for Point Mul = Matrix3x3 * Point; - inline_ Point operator*(const Point& v) const { return Point(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v); } - - //! Operator for Matrix3x3 Mul = Matrix3x3 * float; - inline_ Matrix3x3 operator*(float s) const - { - return Matrix3x3( - m[0][0]*s, m[0][1]*s, m[0][2]*s, - m[1][0]*s, m[1][1]*s, m[1][2]*s, - m[2][0]*s, m[2][1]*s, m[2][2]*s); - } - - //! Operator for Matrix3x3 Mul = float * Matrix3x3; - inline_ friend Matrix3x3 operator*(float s, const Matrix3x3& mat) - { - return Matrix3x3( - s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], - s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], - s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2]); - } - - //! Operator for Matrix3x3 Div = Matrix3x3 / float; - inline_ Matrix3x3 operator/(float s) const - { - if (s) s = 1.0f / s; - return Matrix3x3( - m[0][0]*s, m[0][1]*s, m[0][2]*s, - m[1][0]*s, m[1][1]*s, m[1][2]*s, - m[2][0]*s, m[2][1]*s, m[2][2]*s); - } - - //! Operator for Matrix3x3 Div = float / Matrix3x3; - inline_ friend Matrix3x3 operator/(float s, const Matrix3x3& mat) - { - return Matrix3x3( - s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], - s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], - s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2]); - } - - //! Operator for Matrix3x3 += Matrix3x3 - inline_ Matrix3x3& operator+=(const Matrix3x3& mat) - { - m[0][0] += mat.m[0][0]; m[0][1] += mat.m[0][1]; m[0][2] += mat.m[0][2]; - m[1][0] += mat.m[1][0]; m[1][1] += mat.m[1][1]; m[1][2] += mat.m[1][2]; - m[2][0] += mat.m[2][0]; m[2][1] += mat.m[2][1]; m[2][2] += mat.m[2][2]; - return *this; - } - - //! Operator for Matrix3x3 -= Matrix3x3 - inline_ Matrix3x3& operator-=(const Matrix3x3& mat) - { - m[0][0] -= mat.m[0][0]; m[0][1] -= mat.m[0][1]; m[0][2] -= mat.m[0][2]; - m[1][0] -= mat.m[1][0]; m[1][1] -= mat.m[1][1]; m[1][2] -= mat.m[1][2]; - m[2][0] -= mat.m[2][0]; m[2][1] -= mat.m[2][1]; m[2][2] -= mat.m[2][2]; - return *this; - } - - //! Operator for Matrix3x3 *= Matrix3x3 - inline_ Matrix3x3& operator*=(const Matrix3x3& mat) - { - Point TempRow; - - GetRow(0, TempRow); - m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; - m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; - m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; - - GetRow(1, TempRow); - m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; - m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; - m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; - - GetRow(2, TempRow); - m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0]; - m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1]; - m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2]; - return *this; - } - - //! Operator for Matrix3x3 *= float - inline_ Matrix3x3& operator*=(float s) - { - m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; - m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; - m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; - return *this; - } - - //! Operator for Matrix3x3 /= float - inline_ Matrix3x3& operator/=(float s) - { - if (s) s = 1.0f / s; - m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; - m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; - m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; - return *this; - } - - // Cast operators - //! Cast a Matrix3x3 to a Matrix4x4. - operator Matrix4x4() const; - //! Cast a Matrix3x3 to a Quat. - operator Quat() const; - - inline_ const Point& operator[](int row) const { return *(const Point*)&m[row][0]; } - inline_ Point& operator[](int row) { return *(Point*)&m[row][0]; } - - public: - - float m[3][3]; - }; - -#endif // __ICEMATRIX3X3_H__ - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix4x4.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix4x4.cpp deleted file mode 100644 index 0b258f0c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix4x4.cpp +++ /dev/null @@ -1,135 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for 4x4 matrices. - * \file IceMatrix4x4.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * 4x4 matrix. - * DirectX-compliant, ie row-column order, ie m[Row][Col]. - * Same as: - * m11 m12 m13 m14 first row. - * m21 m22 m23 m24 second row. - * m31 m32 m33 m34 third row. - * m41 m42 m43 m44 fourth row. - * Translation is (m41, m42, m43), (m14, m24, m34, m44) = (0, 0, 0, 1). - * Stored in memory as m11 m12 m13 m14 m21... - * - * Multiplication rules: - * - * [x'y'z'1] = [xyz1][M] - * - * x' = x*m11 + y*m21 + z*m31 + m41 - * y' = x*m12 + y*m22 + z*m32 + m42 - * z' = x*m13 + y*m23 + z*m33 + m43 - * 1' = 0 + 0 + 0 + m44 - * - * \class Matrix4x4 - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Inverts a PR matrix. (which only contains a rotation and a translation) - * This is faster and less subject to FPU errors than the generic inversion code. - * - * \relates Matrix4x4 - * \fn InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src) - * \param dest [out] destination matrix - * \param src [in] source matrix - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -ICEMATHS_API void IceMaths::InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src) -{ - dest.m[0][0] = src.m[0][0]; - dest.m[1][0] = src.m[0][1]; - dest.m[2][0] = src.m[0][2]; - dest.m[3][0] = -(src.m[3][0]*src.m[0][0] + src.m[3][1]*src.m[0][1] + src.m[3][2]*src.m[0][2]); - - dest.m[0][1] = src.m[1][0]; - dest.m[1][1] = src.m[1][1]; - dest.m[2][1] = src.m[1][2]; - dest.m[3][1] = -(src.m[3][0]*src.m[1][0] + src.m[3][1]*src.m[1][1] + src.m[3][2]*src.m[1][2]); - - dest.m[0][2] = src.m[2][0]; - dest.m[1][2] = src.m[2][1]; - dest.m[2][2] = src.m[2][2]; - dest.m[3][2] = -(src.m[3][0]*src.m[2][0] + src.m[3][1]*src.m[2][1] + src.m[3][2]*src.m[2][2]); - - dest.m[0][3] = 0.0f; - dest.m[1][3] = 0.0f; - dest.m[2][3] = 0.0f; - dest.m[3][3] = 1.0f; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Compute the cofactor of the Matrix at a specified location -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Matrix4x4::CoFactor(udword row, udword col) const -{ - return (( m[(row+1)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+3)&3][(col+3)&3] + - m[(row+1)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+3)&3][(col+1)&3] + - m[(row+1)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+3)&3][(col+2)&3]) - - (m[(row+3)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+1)&3][(col+3)&3] + - m[(row+3)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+1)&3][(col+1)&3] + - m[(row+3)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+1)&3][(col+2)&3])) * ((row + col) & 1 ? -1.0f : +1.0f); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Compute the determinant of the Matrix -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Matrix4x4::Determinant() const -{ - return m[0][0] * CoFactor(0, 0) + - m[0][1] * CoFactor(0, 1) + - m[0][2] * CoFactor(0, 2) + - m[0][3] * CoFactor(0, 3); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Compute the inverse of the matrix -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Matrix4x4& Matrix4x4::Invert() -{ - float Det = Determinant(); - Matrix4x4 Temp; - - if(fabsf(Det) < MATRIX4X4_EPSILON) - return *this; // The matrix is not invertible! Singular case! - - float IDet = 1.0f / Det; - - Temp.m[0][0] = CoFactor(0,0) * IDet; - Temp.m[1][0] = CoFactor(0,1) * IDet; - Temp.m[2][0] = CoFactor(0,2) * IDet; - Temp.m[3][0] = CoFactor(0,3) * IDet; - Temp.m[0][1] = CoFactor(1,0) * IDet; - Temp.m[1][1] = CoFactor(1,1) * IDet; - Temp.m[2][1] = CoFactor(1,2) * IDet; - Temp.m[3][1] = CoFactor(1,3) * IDet; - Temp.m[0][2] = CoFactor(2,0) * IDet; - Temp.m[1][2] = CoFactor(2,1) * IDet; - Temp.m[2][2] = CoFactor(2,2) * IDet; - Temp.m[3][2] = CoFactor(2,3) * IDet; - Temp.m[0][3] = CoFactor(3,0) * IDet; - Temp.m[1][3] = CoFactor(3,1) * IDet; - Temp.m[2][3] = CoFactor(3,2) * IDet; - Temp.m[3][3] = CoFactor(3,3) * IDet; - - *this = Temp; - - return *this; -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix4x4.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix4x4.h deleted file mode 100644 index 45919be7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMatrix4x4.h +++ /dev/null @@ -1,455 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for 4x4 matrices. - * \file IceMatrix4x4.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEMATRIX4X4_H__ -#define __ICEMATRIX4X4_H__ - - // Forward declarations - class PRS; - class PR; - - #define MATRIX4X4_EPSILON (1.0e-7f) - - class ICEMATHS_API Matrix4x4 - { -// void LUBackwardSubstitution( sdword *indx, float* b ); -// void LUDecomposition( sdword* indx, float* d ); - - public: - //! Empty constructor. - inline_ Matrix4x4() {} - //! Constructor from 16 values - inline_ Matrix4x4( float m00, float m01, float m02, float m03, - float m10, float m11, float m12, float m13, - float m20, float m21, float m22, float m23, - float m30, float m31, float m32, float m33) - { - m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; - m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; - m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; - m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; - } - //! Copy constructor - inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); } - //! Destructor. - inline_ ~Matrix4x4() {} - - //! Assign values (rotation only) - inline_ Matrix4x4& Set( float m00, float m01, float m02, - float m10, float m11, float m12, - float m20, float m21, float m22) - { - m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; - m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; - m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; - return *this; - } - //! Assign values - inline_ Matrix4x4& Set( float m00, float m01, float m02, float m03, - float m10, float m11, float m12, float m13, - float m20, float m21, float m22, float m23, - float m30, float m31, float m32, float m33) - { - m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03; - m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13; - m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23; - m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33; - return *this; - } - - //! Copy from a Matrix4x4 - inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); } - - // Row-column access - //! Returns a row. - inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; } - //! Returns a row. - inline_ void GetRow(const udword r, Point& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; } - //! Returns a row. - inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; } - //! Returns a row. - inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; } - //! Sets a row. - inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; } - //! Sets a row. - inline_ void SetRow(const udword r, const Point& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; } - //! Returns a column. - inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; } - //! Returns a column. - inline_ void GetCol(const udword c, Point& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; } - //! Sets a column. - inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; } - //! Sets a column. - inline_ void SetCol(const udword c, const Point& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; } - - // Translation - //! Returns the translation part of the matrix. - inline_ const HPoint& GetTrans() const { return GetRow(3); } - //! Gets the translation part of the matrix - inline_ void GetTrans(Point& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; } - //! Sets the translation part of the matrix, from a Point. - inline_ void SetTrans(const Point& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; } - //! Sets the translation part of the matrix, from a HPoint. - inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; } - //! Sets the translation part of the matrix, from floats. - inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; } - - // Scale - //! Sets the scale from a Point. The point is put on the diagonal. - inline_ void SetScale(const Point& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; } - //! Sets the scale from floats. Values are put on the diagonal. - inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; } - //! Scales from a Point. Each row is multiplied by a component. - void Scale(const Point& p) - { - m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z; - m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z; - m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z; - } - //! Scales from floats. Each row is multiplied by a value. - void Scale(float sx, float sy, float sz) - { - m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz; - m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz; - m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz; - } -/* - //! Returns a row. - inline_ HPoint GetRow(const udword row) const { return mRow[row]; } - //! Sets a row. - inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; } - //! Sets a row. - Matrix4x4& SetRow(const udword row, const Point& p) - { - m[row][0] = p.x; - m[row][1] = p.y; - m[row][2] = p.z; - m[row][3] = (row != 3) ? 0.0f : 1.0f; - return *this; - } - //! Returns a column. - HPoint GetCol(const udword col) const - { - HPoint Res; - Res.x = m[0][col]; - Res.y = m[1][col]; - Res.z = m[2][col]; - Res.w = m[3][col]; - return Res; - } - //! Sets a column. - Matrix4x4& SetCol(const udword col, const HPoint& p) - { - m[0][col] = p.x; - m[1][col] = p.y; - m[2][col] = p.z; - m[3][col] = p.w; - return *this; - } - //! Sets a column. - Matrix4x4& SetCol(const udword col, const Point& p) - { - m[0][col] = p.x; - m[1][col] = p.y; - m[2][col] = p.z; - m[3][col] = (col != 3) ? 0.0f : 1.0f; - return *this; - } -*/ - //! Computes the trace. The trace is the sum of the 4 diagonal components. - inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; } - //! Computes the trace of the upper 3x3 matrix. - inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; } - //! Clears the matrix. - inline_ void Zero() { ZeroMemory(&m, sizeof(m)); } - //! Sets the identity matrix. - inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; } - //! Checks for identity - inline_ bool IsIdentity() const - { - if(IR(m[0][0])!=IEEE_1_0) return false; - if(IR(m[0][1])!=0) return false; - if(IR(m[0][2])!=0) return false; - if(IR(m[0][3])!=0) return false; - - if(IR(m[1][0])!=0) return false; - if(IR(m[1][1])!=IEEE_1_0) return false; - if(IR(m[1][2])!=0) return false; - if(IR(m[1][3])!=0) return false; - - if(IR(m[2][0])!=0) return false; - if(IR(m[2][1])!=0) return false; - if(IR(m[2][2])!=IEEE_1_0) return false; - if(IR(m[2][3])!=0) return false; - - if(IR(m[3][0])!=0) return false; - if(IR(m[3][1])!=0) return false; - if(IR(m[3][2])!=0) return false; - if(IR(m[3][3])!=IEEE_1_0) return false; - return true; - } - - //! Checks matrix validity - inline_ BOOL IsValid() const - { - for(udword j=0;j<4;j++) - { - for(udword i=0;i<4;i++) - { - if(!IsValidFloat(m[j][i])) return FALSE; - } - } - return TRUE; - } - - //! Sets a rotation matrix around the X axis. - void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; } - //! Sets a rotation matrix around the Y axis. - void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; } - //! Sets a rotation matrix around the Z axis. - void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; } - - //! Makes a rotation matrix about an arbitrary axis - Matrix4x4& Rot(float angle, Point& p1, Point& p2); - - //! Transposes the matrix. - void Transpose() - { - IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]); - IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]); - IR(m[3][0]) ^= IR(m[0][3]); IR(m[0][3]) ^= IR(m[3][0]); IR(m[3][0]) ^= IR(m[0][3]); - IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]); - IR(m[1][3]) ^= IR(m[3][1]); IR(m[3][1]) ^= IR(m[1][3]); IR(m[1][3]) ^= IR(m[3][1]); - IR(m[2][3]) ^= IR(m[3][2]); IR(m[3][2]) ^= IR(m[2][3]); IR(m[2][3]) ^= IR(m[3][2]); - } - - //! Computes a cofactor. Used for matrix inversion. - float CoFactor(udword row, udword col) const; - //! Computes the determinant of the matrix. - float Determinant() const; - //! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted. - Matrix4x4& Invert(); -// Matrix& ComputeAxisMatrix(Point& axis, float angle); - - // Cast operators - //! Casts a Matrix4x4 to a Matrix3x3. - inline_ operator Matrix3x3() const - { - return Matrix3x3( - m[0][0], m[0][1], m[0][2], - m[1][0], m[1][1], m[1][2], - m[2][0], m[2][1], m[2][2]); - } - //! Casts a Matrix4x4 to a Quat. - operator Quat() const; - //! Casts a Matrix4x4 to a PR. - operator PR() const; - - // Arithmetic operators - //! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4; - inline_ Matrix4x4 operator+(const Matrix4x4& mat) const - { - return Matrix4x4( - m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3], - m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3], - m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3], - m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]); - } - - //! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4; - inline_ Matrix4x4 operator-(const Matrix4x4& mat) const - { - return Matrix4x4( - m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3], - m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3], - m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3], - m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]); - } - - //! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4; - inline_ Matrix4x4 operator*(const Matrix4x4& mat) const - { - return Matrix4x4( - m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0], - m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1], - m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2], - m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3], - - m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0], - m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1], - m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2], - m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3], - - m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0], - m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1], - m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2], - m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3], - - m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0], - m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1], - m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2], - m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]); - } - - //! Operator for HPoint Mul = Matrix4x4 * HPoint; - inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); } - - //! Operator for Point Mul = Matrix4x4 * Point; - inline_ Point operator*(const Point& v) const - { - return Point( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3], - m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3], - m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] ); - } - - //! Operator for Matrix4x4 Scale = Matrix4x4 * float; - inline_ Matrix4x4 operator*(float s) const - { - return Matrix4x4( - m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, - m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, - m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, - m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); - } - - //! Operator for Matrix4x4 Scale = float * Matrix4x4; - inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat) - { - return Matrix4x4( - s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3], - s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3], - s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3], - s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]); - } - - //! Operator for Matrix4x4 Div = Matrix4x4 / float; - inline_ Matrix4x4 operator/(float s) const - { - if(s) s = 1.0f / s; - - return Matrix4x4( - m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s, - m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s, - m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s, - m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s); - } - - //! Operator for Matrix4x4 Div = float / Matrix4x4; - inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat) - { - return Matrix4x4( - s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3], - s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3], - s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3], - s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]); - } - - //! Operator for Matrix4x4 += Matrix4x4; - inline_ Matrix4x4& operator+=(const Matrix4x4& mat) - { - m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3]; - m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3]; - m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3]; - m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3]; - return *this; - } - - //! Operator for Matrix4x4 -= Matrix4x4; - inline_ Matrix4x4& operator-=(const Matrix4x4& mat) - { - m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3]; - m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3]; - m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3]; - m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3]; - return *this; - } - - //! Operator for Matrix4x4 *= Matrix4x4; - Matrix4x4& operator*=(const Matrix4x4& mat) - { - HPoint TempRow; - - GetRow(0, TempRow); - m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; - m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; - m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; - m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; - - GetRow(1, TempRow); - m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; - m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; - m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; - m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; - - GetRow(2, TempRow); - m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; - m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; - m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; - m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; - - GetRow(3, TempRow); - m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0]; - m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1]; - m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2]; - m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3]; - - return *this; - } - - //! Operator for Matrix4x4 *= float; - inline_ Matrix4x4& operator*=(float s) - { - m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; - m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; - m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; - m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; - return *this; - } - - //! Operator for Matrix4x4 /= float; - inline_ Matrix4x4& operator/=(float s) - { - if(s) s = 1.0f / s; - m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s; - m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s; - m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s; - m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s; - return *this; - } - - inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; } - inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; } - - public: - - float m[4][4]; - }; - - //! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix - inline_ void TransformPoint4x3(Point& dest, const Point& source, const Matrix4x4& rot) - { - dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; - dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; - dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; - } - - //! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix - inline_ void TransformPoint3x3(Point& dest, const Point& source, const Matrix4x4& rot) - { - dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0]; - dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1]; - dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2]; - } - - ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src); - -#endif // __ICEMATRIX4X4_H__ - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMemoryMacros.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMemoryMacros.h deleted file mode 100644 index 1ebaf372..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceMemoryMacros.h +++ /dev/null @@ -1,112 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains all memory macros. - * \file IceMemoryMacros.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEMEMORYMACROS_H__ -#define __ICEMEMORYMACROS_H__ - -#undef ZeroMemory -#undef CopyMemory -#undef MoveMemory -#undef FillMemory - - //! Clears a buffer. - //! \param addr [in] buffer address - //! \param size [in] buffer length - //! \see FillMemory - //! \see StoreDwords - //! \see CopyMemory - //! \see MoveMemory - inline_ void ZeroMemory(void* addr, udword size) { memset(addr, 0, size); } - - //! Fills a buffer with a given byte. - //! \param addr [in] buffer address - //! \param size [in] buffer length - //! \param val [in] the byte value - //! \see StoreDwords - //! \see ZeroMemory - //! \see CopyMemory - //! \see MoveMemory - inline_ void FillMemory(void* dest, udword size, ubyte val) { memset(dest, val, size); } - - //! Fills a buffer with a given dword. - //! \param addr [in] buffer address - //! \param nb [in] number of dwords to write - //! \param value [in] the dword value - //! \see FillMemory - //! \see ZeroMemory - //! \see CopyMemory - //! \see MoveMemory - //! \warning writes nb*4 bytes ! - inline_ void StoreDwords(udword* dest, udword nb, udword value) - { - // The asm code below **SHOULD** be equivalent to one of those C versions - // or the other if your compiled is good: (checked on VC++ 6.0) - // - // 1) while(nb--) *dest++ = value; - // - // 2) for(udword i=0;iRelease(); (x) = null; } //!< Safe D3D-style release - #define SAFE_DESTRUCT(x) if (x) { (x)->SelfDestruct(); (x) = null; } //!< Safe ICE-style release - -#ifdef __ICEERROR_H__ - #define CHECKALLOC(x) if(!x) return SetIceError("Out of memory.", EC_OUT_OF_MEMORY); //!< Standard alloc checking. HANDLE WITH CARE. -#else - #define CHECKALLOC(x) if(!x) return false; -#endif - - //! Standard allocation cycle - #define SAFE_ALLOC(ptr, type, count) DELETEARRAY(ptr); ptr = new type[count]; CHECKALLOC(ptr); - -#endif // __ICEMEMORYMACROS_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceOBB.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceOBB.cpp deleted file mode 100644 index 0ad1ce3e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceOBB.cpp +++ /dev/null @@ -1,324 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains OBB-related code. - * \file IceOBB.cpp - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * An Oriented Bounding Box (OBB). - * \class OBB - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Tests if a point is contained within the OBB. - * \param p [in] the world point to test - * \return true if inside the OBB - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool OBB::ContainsPoint(const Point& p) const -{ - // Point in OBB test using lazy evaluation and early exits - - // Translate to box space - Point RelPoint = p - mCenter; - - // Point * mRot maps from box space to world space - // mRot * Point maps from world space to box space (what we need here) - - float f = mRot.m[0][0] * RelPoint.x + mRot.m[0][1] * RelPoint.y + mRot.m[0][2] * RelPoint.z; - if(f >= mExtents.x || f <= -mExtents.x) return false; - - f = mRot.m[1][0] * RelPoint.x + mRot.m[1][1] * RelPoint.y + mRot.m[1][2] * RelPoint.z; - if(f >= mExtents.y || f <= -mExtents.y) return false; - - f = mRot.m[2][0] * RelPoint.x + mRot.m[2][1] * RelPoint.y + mRot.m[2][2] * RelPoint.z; - if(f >= mExtents.z || f <= -mExtents.z) return false; - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds an OBB from an AABB and a world transform. - * \param aabb [in] the aabb - * \param mat [in] the world transform - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBB::Create(const AABB& aabb, const Matrix4x4& mat) -{ - // Note: must be coherent with Rotate() - - aabb.GetCenter(mCenter); - aabb.GetExtents(mExtents); - // Here we have the same as OBB::Rotate(mat) where the obb is (mCenter, mExtents, Identity). - - // So following what's done in Rotate: - // - x-form the center - mCenter *= mat; - // - combine rotation with identity, i.e. just use given matrix - mRot = mat; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the obb planes. - * \param planes [out] 6 box planes - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool OBB::ComputePlanes(Plane* planes) const -{ - // Checkings - if(!planes) return false; - - Point Axis0 = mRot[0]; - Point Axis1 = mRot[1]; - Point Axis2 = mRot[2]; - - // Writes normals - planes[0].n = Axis0; - planes[1].n = -Axis0; - planes[2].n = Axis1; - planes[3].n = -Axis1; - planes[4].n = Axis2; - planes[5].n = -Axis2; - - // Compute a point on each plane - Point p0 = mCenter + Axis0 * mExtents.x; - Point p1 = mCenter - Axis0 * mExtents.x; - Point p2 = mCenter + Axis1 * mExtents.y; - Point p3 = mCenter - Axis1 * mExtents.y; - Point p4 = mCenter + Axis2 * mExtents.z; - Point p5 = mCenter - Axis2 * mExtents.z; - - // Compute d - planes[0].d = -(planes[0].n|p0); - planes[1].d = -(planes[1].n|p1); - planes[2].d = -(planes[2].n|p2); - planes[3].d = -(planes[3].n|p3); - planes[4].d = -(planes[4].n|p4); - planes[5].d = -(planes[5].n|p5); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the obb points. - * \param pts [out] 8 box points - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool OBB::ComputePoints(Point* pts) const -{ - // Checkings - if(!pts) return false; - - Point Axis0 = mRot[0]; - Point Axis1 = mRot[1]; - Point Axis2 = mRot[2]; - - Axis0 *= mExtents.x; - Axis1 *= mExtents.y; - Axis2 *= mExtents.z; - - // 7+------+6 0 = --- - // /| /| 1 = +-- - // / | / | 2 = ++- - // / 4+---/--+5 3 = -+- - // 3+------+2 / y z 4 = --+ - // | / | / | / 5 = +-+ - // |/ |/ |/ 6 = +++ - // 0+------+1 *---x 7 = -++ - - pts[0] = mCenter - Axis0 - Axis1 - Axis2; - pts[1] = mCenter + Axis0 - Axis1 - Axis2; - pts[2] = mCenter + Axis0 + Axis1 - Axis2; - pts[3] = mCenter - Axis0 + Axis1 - Axis2; - pts[4] = mCenter - Axis0 - Axis1 + Axis2; - pts[5] = mCenter + Axis0 - Axis1 + Axis2; - pts[6] = mCenter + Axis0 + Axis1 + Axis2; - pts[7] = mCenter - Axis0 + Axis1 + Axis2; - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes vertex normals. - * \param pts [out] 8 box points - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool OBB::ComputeVertexNormals(Point* pts) const -{ - static const float VertexNormals[] = - { - -INVSQRT3, -INVSQRT3, -INVSQRT3, - INVSQRT3, -INVSQRT3, -INVSQRT3, - INVSQRT3, INVSQRT3, -INVSQRT3, - -INVSQRT3, INVSQRT3, -INVSQRT3, - -INVSQRT3, -INVSQRT3, INVSQRT3, - INVSQRT3, -INVSQRT3, INVSQRT3, - INVSQRT3, INVSQRT3, INVSQRT3, - -INVSQRT3, INVSQRT3, INVSQRT3 - }; - - if(!pts) return false; - - const Point* VN = (const Point*)VertexNormals; - for(udword i=0;i<8;i++) - { - pts[i] = VN[i] * mRot; - } - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Returns edges. - * \return 24 indices (12 edges) indexing the list returned by ComputePoints() - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -const udword* OBB::GetEdges() const -{ - static const udword Indices[] = { - 0, 1, 1, 2, 2, 3, 3, 0, - 7, 6, 6, 5, 5, 4, 4, 7, - 1, 5, 6, 2, - 3, 7, 4, 0 - }; - return Indices; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Returns local edge normals. - * \return edge normals in local space - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -const Point* OBB::GetLocalEdgeNormals() const -{ - static const float EdgeNormals[] = - { - 0, -INVSQRT2, -INVSQRT2, // 0-1 - INVSQRT2, 0, -INVSQRT2, // 1-2 - 0, INVSQRT2, -INVSQRT2, // 2-3 - -INVSQRT2, 0, -INVSQRT2, // 3-0 - - 0, INVSQRT2, INVSQRT2, // 7-6 - INVSQRT2, 0, INVSQRT2, // 6-5 - 0, -INVSQRT2, INVSQRT2, // 5-4 - -INVSQRT2, 0, INVSQRT2, // 4-7 - - INVSQRT2, -INVSQRT2, 0, // 1-5 - INVSQRT2, INVSQRT2, 0, // 6-2 - -INVSQRT2, INVSQRT2, 0, // 3-7 - -INVSQRT2, -INVSQRT2, 0 // 4-0 - }; - return (const Point*)EdgeNormals; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Returns world edge normal - * \param edge_index [in] 0 <= edge index < 12 - * \param world_normal [out] edge normal in world space - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBB::ComputeWorldEdgeNormal(udword edge_index, Point& world_normal) const -{ - ASSERT(edge_index<12); - world_normal = GetLocalEdgeNormals()[edge_index] * mRot; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes an LSS surrounding the OBB. - * \param lss [out] the LSS - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBB::ComputeLSS(LSS& lss) const -{ - Point Axis0 = mRot[0]; - Point Axis1 = mRot[1]; - Point Axis2 = mRot[2]; - - switch(mExtents.LargestAxis()) - { - case 0: - lss.mRadius = (mExtents.y + mExtents.z)*0.5f; - lss.mP0 = mCenter + Axis0 * (mExtents.x - lss.mRadius); - lss.mP1 = mCenter - Axis0 * (mExtents.x - lss.mRadius); - break; - case 1: - lss.mRadius = (mExtents.x + mExtents.z)*0.5f; - lss.mP0 = mCenter + Axis1 * (mExtents.y - lss.mRadius); - lss.mP1 = mCenter - Axis1 * (mExtents.y - lss.mRadius); - break; - case 2: - lss.mRadius = (mExtents.x + mExtents.y)*0.5f; - lss.mP0 = mCenter + Axis2 * (mExtents.z - lss.mRadius); - lss.mP1 = mCenter - Axis2 * (mExtents.z - lss.mRadius); - break; - default: {} - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the OBB is inside another OBB. - * \param box [in] the other OBB - * \return TRUE if we're inside the other box - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL OBB::IsInside(const OBB& box) const -{ - // Make a 4x4 from the box & inverse it - Matrix4x4 M0Inv; - { - Matrix4x4 M0 = box.mRot; - M0.SetTrans(box.mCenter); - InvertPRMatrix(M0Inv, M0); - } - - // With our inversed 4x4, create box1 in space of box0 - OBB _1in0; - Rotate(M0Inv, _1in0); - - // This should cancel out box0's rotation, i.e. it's now an AABB. - // => Center(0,0,0), Rot(identity) - - // The two boxes are in the same space so now we can compare them. - - // Create the AABB of (box1 in space of box0) - const Matrix3x3& mtx = _1in0.mRot; - - float f = fabsf(mtx.m[0][0] * mExtents.x) + fabsf(mtx.m[1][0] * mExtents.y) + fabsf(mtx.m[2][0] * mExtents.z) - box.mExtents.x; - if(f > _1in0.mCenter.x) return FALSE; - if(-f < _1in0.mCenter.x) return FALSE; - - f = fabsf(mtx.m[0][1] * mExtents.x) + fabsf(mtx.m[1][1] * mExtents.y) + fabsf(mtx.m[2][1] * mExtents.z) - box.mExtents.y; - if(f > _1in0.mCenter.y) return FALSE; - if(-f < _1in0.mCenter.y) return FALSE; - - f = fabsf(mtx.m[0][2] * mExtents.x) + fabsf(mtx.m[1][2] * mExtents.y) + fabsf(mtx.m[2][2] * mExtents.z) - box.mExtents.z; - if(f > _1in0.mCenter.z) return FALSE; - if(-f < _1in0.mCenter.z) return FALSE; - - return TRUE; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceOBB.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceOBB.h deleted file mode 100644 index d6cf43e0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceOBB.h +++ /dev/null @@ -1,177 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains OBB-related code. (oriented bounding box) - * \file IceOBB.h - * \author Pierre Terdiman - * \date January, 13, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEOBB_H__ -#define __ICEOBB_H__ - - // Forward declarations - class LSS; - - class ICEMATHS_API OBB - { - public: - //! Constructor - inline_ OBB() {} - //! Constructor - inline_ OBB(const Point& center, const Point& extents, const Matrix3x3& rot) : mCenter(center), mExtents(extents), mRot(rot) {} - //! Destructor - inline_ ~OBB() {} - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an empty OBB. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void SetEmpty() - { - mCenter.Zero(); - mExtents.Set(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); - mRot.Identity(); - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Tests if a point is contained within the OBB. - * \param p [in] the world point to test - * \return true if inside the OBB - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool ContainsPoint(const Point& p) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Builds an OBB from an AABB and a world transform. - * \param aabb [in] the aabb - * \param mat [in] the world transform - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void Create(const AABB& aabb, const Matrix4x4& mat); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Recomputes the OBB after an arbitrary transform by a 4x4 matrix. - * \param mtx [in] the transform matrix - * \param obb [out] the transformed OBB - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void Rotate(const Matrix4x4& mtx, OBB& obb) const - { - // The extents remain constant - obb.mExtents = mExtents; - // The center gets x-formed - obb.mCenter = mCenter * mtx; - // Combine rotations - obb.mRot = mRot * Matrix3x3(mtx); - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the OBB is valid. - * \return true if the box is valid - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL IsValid() const - { - // Consistency condition for (Center, Extents) boxes: Extents >= 0.0f - if(mExtents.x < 0.0f) return FALSE; - if(mExtents.y < 0.0f) return FALSE; - if(mExtents.z < 0.0f) return FALSE; - return TRUE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes the obb planes. - * \param planes [out] 6 box planes - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool ComputePlanes(Plane* planes) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes the obb points. - * \param pts [out] 8 box points - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool ComputePoints(Point* pts) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes vertex normals. - * \param pts [out] 8 box points - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool ComputeVertexNormals(Point* pts) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Returns edges. - * \return 24 indices (12 edges) indexing the list returned by ComputePoints() - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - const udword* GetEdges() const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Returns local edge normals. - * \return edge normals in local space - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - const Point* GetLocalEdgeNormals() const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Returns world edge normal - * \param edge_index [in] 0 <= edge index < 12 - * \param world_normal [out] edge normal in world space - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void ComputeWorldEdgeNormal(udword edge_index, Point& world_normal) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes an LSS surrounding the OBB. - * \param lss [out] the LSS - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - void ComputeLSS(LSS& lss) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the OBB is inside another OBB. - * \param box [in] the other OBB - * \return TRUE if we're inside the other box - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - BOOL IsInside(const OBB& box) const; - - inline_ const Point& GetCenter() const { return mCenter; } - inline_ const Point& GetExtents() const { return mExtents; } - inline_ const Matrix3x3& GetRot() const { return mRot; } - - inline_ void GetRotatedExtents(Matrix3x3& extents) const - { - extents = mRot; - extents.Scale(mExtents); - } - - Point mCenter; //!< B for Box - Point mExtents; //!< B for Bounding - Matrix3x3 mRot; //!< O for Oriented - - // Orientation is stored in row-major format, - // i.e. rows = eigen vectors of the covariance matrix - }; - -#endif // __ICEOBB_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePairs.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePairs.h deleted file mode 100644 index 2c09b929..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePairs.h +++ /dev/null @@ -1,45 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a simple pair class. - * \file IcePairs.h - * \author Pierre Terdiman - * \date January, 13, 2003 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEPAIRS_H__ -#define __ICEPAIRS_H__ - - //! A generic couple structure - struct ICECORE_API Pair - { - inline_ Pair() {} - inline_ Pair(udword i0, udword i1) : id0(i0), id1(i1) {} - - udword id0; //!< First index of the pair - udword id1; //!< Second index of the pair - }; - - class ICECORE_API Pairs : private Container - { - public: - // Constructor / Destructor - Pairs() {} - ~Pairs() {} - - inline_ udword GetNbPairs() const { return GetNbEntries()>>1; } - inline_ const Pair* GetPairs() const { return (const Pair*)GetEntries(); } - inline_ const Pair* GetPair(udword i) const { return (const Pair*)&GetEntries()[i+i]; } - - inline_ BOOL HasPairs() const { return IsNotEmpty(); } - - inline_ void ResetPairs() { Reset(); } - inline_ void DeleteLastPair() { DeleteLastEntry(); DeleteLastEntry(); } - - inline_ void AddPair(const Pair& p) { Add(p.id0).Add(p.id1); } - inline_ void AddPair(udword id0, udword id1) { Add(id0).Add(id1); } - }; - -#endif // __ICEPAIRS_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePlane.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePlane.cpp deleted file mode 100644 index 394b31bf..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePlane.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for planes. - * \file IcePlane.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Plane class. - * \class Plane - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the plane equation from 3 points. - * \param p0 [in] first point - * \param p1 [in] second point - * \param p2 [in] third point - * \return Self-reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Plane& Plane::Set(const Point& p0, const Point& p1, const Point& p2) -{ - Point Edge0 = p1 - p0; - Point Edge1 = p2 - p0; - - n = Edge0 ^ Edge1; - n.Normalize(); - - d = -(p0 | n); - - return *this; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePlane.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePlane.h deleted file mode 100644 index 4d470814..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePlane.h +++ /dev/null @@ -1,113 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for planes. - * \file IcePlane.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEPLANE_H__ -#define __ICEPLANE_H__ - - #define PLANE_EPSILON (1.0e-7f) - - class ICEMATHS_API Plane - { - public: - //! Constructor - inline_ Plane() { } - //! Constructor from a normal and a distance - inline_ Plane(float nx, float ny, float nz, float d) { Set(nx, ny, nz, d); } - //! Constructor from a point on the plane and a normal - inline_ Plane(const Point& p, const Point& n) { Set(p, n); } - //! Constructor from three points - inline_ Plane(const Point& p0, const Point& p1, const Point& p2) { Set(p0, p1, p2); } - //! Constructor from a normal and a distance - inline_ Plane(const Point& _n, float _d) { n = _n; d = _d; } - //! Copy constructor - inline_ Plane(const Plane& plane) : n(plane.n), d(plane.d) { } - //! Destructor - inline_ ~Plane() { } - - inline_ Plane& Zero() { n.Zero(); d = 0.0f; return *this; } - inline_ Plane& Set(float nx, float ny, float nz, float _d) { n.Set(nx, ny, nz); d = _d; return *this; } - inline_ Plane& Set(const Point& p, const Point& _n) { n = _n; d = - p | _n; return *this; } - Plane& Set(const Point& p0, const Point& p1, const Point& p2); - - inline_ float Distance(const Point& p) const { return (p | n) + d; } - inline_ bool Belongs(const Point& p) const { return fabsf(Distance(p)) < PLANE_EPSILON; } - - inline_ void Normalize() - { - float Denom = 1.0f / n.Magnitude(); - n.x *= Denom; - n.y *= Denom; - n.z *= Denom; - d *= Denom; - } - public: - // Members - Point n; //!< The normal to the plane - float d; //!< The distance from the origin - - // Cast operators - inline_ operator Point() const { return n; } - inline_ operator HPoint() const { return HPoint(n, d); } - - // Arithmetic operators - inline_ Plane operator*(const Matrix4x4& m) const - { - // Old code from Irion. Kept for reference. - Plane Ret(*this); - return Ret *= m; - } - - inline_ Plane& operator*=(const Matrix4x4& m) - { - // Old code from Irion. Kept for reference. - Point n2 = HPoint(n, 0.0f) * m; - d = -((Point) (HPoint( -d*n, 1.0f ) * m) | n2); - n = n2; - return *this; - } - }; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Transforms a plane by a 4x4 matrix. Same as Plane * Matrix4x4 operator, but faster. - * \param transformed [out] transformed plane - * \param plane [in] source plane - * \param transform [in] transform matrix - * \warning the plane normal must be unit-length - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void TransformPlane(Plane& transformed, const Plane& plane, const Matrix4x4& transform) - { - // Rotate the normal using the rotation part of the 4x4 matrix - transformed.n = plane.n * Matrix3x3(transform); - - // Compute new d - transformed.d = plane.d - (Point(transform.GetTrans())|transformed.n); - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Transforms a plane by a 4x4 matrix. Same as Plane * Matrix4x4 operator, but faster. - * \param plane [in/out] source plane (transformed on return) - * \param transform [in] transform matrix - * \warning the plane normal must be unit-length - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void TransformPlane(Plane& plane, const Matrix4x4& transform) - { - // Rotate the normal using the rotation part of the 4x4 matrix - plane.n *= Matrix3x3(transform); - - // Compute new d - plane.d -= Point(transform.GetTrans())|plane.n; - } - -#endif // __ICEPLANE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePoint.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePoint.cpp deleted file mode 100644 index e715055b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePoint.cpp +++ /dev/null @@ -1,193 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for 3D vectors. - * \file IcePoint.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * 3D point. - * - * The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3". - * So the choice was between "Point" and "Vector3", the first one looked better (IMHO). - * - * Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3; - * This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out: - * - * \code - * Point P0,P1 = some 3D points; - * Point Delta = P1 - P0; - * \endcode - * - * This compiles fine, although you should have written: - * - * \code - * Point P0,P1 = some 3D points; - * Vector3 Delta = P1 - P0; - * \endcode - * - * Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake - * from the author or something you don't get. - * - * One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors. - * But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work. - * - * Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store - * your model's vertices and in most cases, you really want to use Points to save ram. - * - * \class Point - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Creates a positive unit random vector. - * \return Self-reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Point& Point::PositiveUnitRandomVector() -{ - x = UnitRandomFloat(); - y = UnitRandomFloat(); - z = UnitRandomFloat(); - Normalize(); - return *this; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Creates a unit random vector. - * \return Self-reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Point& Point::UnitRandomVector() -{ - x = UnitRandomFloat() - 0.5f; - y = UnitRandomFloat() - 0.5f; - z = UnitRandomFloat() - 0.5f; - Normalize(); - return *this; -} - -// Cast operator -// WARNING: not inlined -Point::operator HPoint() const { return HPoint(x, y, z, 0.0f); } - -Point& Point::Refract(const Point& eye, const Point& n, float refractindex, Point& refracted) -{ - // Point EyePt = eye position - // Point p = current vertex - // Point n = vertex normal - // Point rv = refracted vector - // Eye vector - doesn't need to be normalized - Point Env; - Env.x = eye.x - x; - Env.y = eye.y - y; - Env.z = eye.z - z; - - float NDotE = n|Env; - float NDotN = n|n; - NDotE /= refractindex; - - // Refracted vector - refracted = n*NDotE - Env*NDotN; - - return *this; -} - -Point& Point::ProjectToPlane(const Plane& p) -{ - *this-= (p.d + (*this|p.n))*p.n; - return *this; -} - -void Point::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const -{ - projected = HPoint(x, y, z, 1.0f) * mat; - projected.w = 1.0f / projected.w; - - projected.x*=projected.w; - projected.y*=projected.w; - projected.z*=projected.w; - - projected.x *= halfrenderwidth; projected.x += halfrenderwidth; - projected.y *= -halfrenderheight; projected.y += halfrenderheight; -} - -void Point::SetNotUsed() -{ - // We use a particular integer pattern : 0xffffffff everywhere. This is a NAN. - IR(x) = 0xffffffff; - IR(y) = 0xffffffff; - IR(z) = 0xffffffff; -} - -BOOL Point::IsNotUsed() const -{ - if(IR(x)!=0xffffffff) return FALSE; - if(IR(y)!=0xffffffff) return FALSE; - if(IR(z)!=0xffffffff) return FALSE; - return TRUE; -} - -Point& Point::Mult(const Matrix3x3& mat, const Point& a) -{ - x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; - y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; - z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; - return *this; -} - -Point& Point::Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2) -{ - x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2]; - y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2]; - z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2]; - return *this; -} - -Point& Point::Mac(const Matrix3x3& mat, const Point& a) -{ - x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2]; - y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2]; - z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2]; - return *this; -} - -Point& Point::TransMult(const Matrix3x3& mat, const Point& a) -{ - x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0]; - y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1]; - z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2]; - return *this; -} - -Point& Point::Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos) -{ - x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x; - y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y; - z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z; - return *this; -} - -Point& Point::InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos) -{ - float sx = r.x - linpos.x; - float sy = r.y - linpos.y; - float sz = r.z - linpos.z; - x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0]; - y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1]; - z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2]; - return *this; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePoint.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePoint.h deleted file mode 100644 index a97fbe6f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePoint.h +++ /dev/null @@ -1,528 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for 3D vectors. - * \file IcePoint.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEPOINT_H__ -#define __ICEPOINT_H__ - - // Forward declarations - class HPoint; - class Plane; - class Matrix3x3; - class Matrix4x4; - - #define CROSS2D(a, b) (a.x*b.y - b.x*a.y) - - const float EPSILON2 = 1.0e-20f; - - class ICEMATHS_API Point - { - public: - - //! Empty constructor - inline_ Point() {} - //! Constructor from a single float -// inline_ Point(float val) : x(val), y(val), z(val) {} -// Removed since it introduced the nasty "Point T = *Matrix4x4.GetTrans();" bug....... - //! Constructor from floats - inline_ Point(float xx, float yy, float zz) : x(xx), y(yy), z(zz) {} - //! Constructor from array - inline_ Point(const float f[3]) : x(f[X]), y(f[Y]), z(f[Z]) {} - //! Copy constructor - inline_ Point(const Point& p) : x(p.x), y(p.y), z(p.z) {} - //! Destructor - inline_ ~Point() {} - - //! Clears the vector - inline_ Point& Zero() { x = y = z = 0.0f; return *this; } - - //! + infinity - inline_ Point& SetPlusInfinity() { x = y = z = MAX_FLOAT; return *this; } - //! - infinity - inline_ Point& SetMinusInfinity() { x = y = z = MIN_FLOAT; return *this; } - - //! Sets positive unit random vector - Point& PositiveUnitRandomVector(); - //! Sets unit random vector - Point& UnitRandomVector(); - - //! Assignment from values - inline_ Point& Set(float xx, float yy, float zz) { x = xx; y = yy; z = zz; return *this; } - //! Assignment from array - inline_ Point& Set(const float f[3]) { x = f[X]; y = f[Y]; z = f[Z]; return *this; } - //! Assignment from another point - inline_ Point& Set(const Point& src) { x = src.x; y = src.y; z = src.z; return *this; } - - //! Adds a vector - inline_ Point& Add(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; } - //! Adds a vector - inline_ Point& Add(float xx, float yy, float zz) { x += xx; y += yy; z += zz; return *this; } - //! Adds a vector - inline_ Point& Add(const float f[3]) { x += f[X]; y += f[Y]; z += f[Z]; return *this; } - //! Adds vectors - inline_ Point& Add(const Point& p, const Point& q) { x = p.x+q.x; y = p.y+q.y; z = p.z+q.z; return *this; } - - //! Subtracts a vector - inline_ Point& Sub(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } - //! Subtracts a vector - inline_ Point& Sub(float xx, float yy, float zz) { x -= xx; y -= yy; z -= zz; return *this; } - //! Subtracts a vector - inline_ Point& Sub(const float f[3]) { x -= f[X]; y -= f[Y]; z -= f[Z]; return *this; } - //! Subtracts vectors - inline_ Point& Sub(const Point& p, const Point& q) { x = p.x-q.x; y = p.y-q.y; z = p.z-q.z; return *this; } - - //! this = -this - inline_ Point& Neg() { x = -x; y = -y; z = -z; return *this; } - //! this = -a - inline_ Point& Neg(const Point& a) { x = -a.x; y = -a.y; z = -a.z; return *this; } - - //! Multiplies by a scalar - inline_ Point& Mult(float s) { x *= s; y *= s; z *= s; return *this; } - - //! this = a * scalar - inline_ Point& Mult(const Point& a, float scalar) - { - x = a.x * scalar; - y = a.y * scalar; - z = a.z * scalar; - return *this; - } - - //! this = a + b * scalar - inline_ Point& Mac(const Point& a, const Point& b, float scalar) - { - x = a.x + b.x * scalar; - y = a.y + b.y * scalar; - z = a.z + b.z * scalar; - return *this; - } - - //! this = this + a * scalar - inline_ Point& Mac(const Point& a, float scalar) - { - x += a.x * scalar; - y += a.y * scalar; - z += a.z * scalar; - return *this; - } - - //! this = a - b * scalar - inline_ Point& Msc(const Point& a, const Point& b, float scalar) - { - x = a.x - b.x * scalar; - y = a.y - b.y * scalar; - z = a.z - b.z * scalar; - return *this; - } - - //! this = this - a * scalar - inline_ Point& Msc(const Point& a, float scalar) - { - x -= a.x * scalar; - y -= a.y * scalar; - z -= a.z * scalar; - return *this; - } - - //! this = a + b * scalarb + c * scalarc - inline_ Point& Mac2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc) - { - x = a.x + b.x * scalarb + c.x * scalarc; - y = a.y + b.y * scalarb + c.y * scalarc; - z = a.z + b.z * scalarb + c.z * scalarc; - return *this; - } - - //! this = a - b * scalarb - c * scalarc - inline_ Point& Msc2(const Point& a, const Point& b, float scalarb, const Point& c, float scalarc) - { - x = a.x - b.x * scalarb - c.x * scalarc; - y = a.y - b.y * scalarb - c.y * scalarc; - z = a.z - b.z * scalarb - c.z * scalarc; - return *this; - } - - //! this = mat * a - inline_ Point& Mult(const Matrix3x3& mat, const Point& a); - - //! this = mat1 * a1 + mat2 * a2 - inline_ Point& Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2); - - //! this = this + mat * a - inline_ Point& Mac(const Matrix3x3& mat, const Point& a); - - //! this = transpose(mat) * a - inline_ Point& TransMult(const Matrix3x3& mat, const Point& a); - - //! Linear interpolate between two vectors: this = a + t * (b - a) - inline_ Point& Lerp(const Point& a, const Point& b, float t) - { - x = a.x + t * (b.x - a.x); - y = a.y + t * (b.y - a.y); - z = a.z + t * (b.z - a.z); - return *this; - } - - //! Hermite interpolate between p1 and p2. p0 and p3 are used for finding gradient at p1 and p2. - //! this = p0 * (2t^2 - t^3 - t)/2 - //! + p1 * (3t^3 - 5t^2 + 2)/2 - //! + p2 * (4t^2 - 3t^3 + t)/2 - //! + p3 * (t^3 - t^2)/2 - inline_ Point& Herp(const Point& p0, const Point& p1, const Point& p2, const Point& p3, float t) - { - float t2 = t * t; - float t3 = t2 * t; - float kp0 = (2.0f * t2 - t3 - t) * 0.5f; - float kp1 = (3.0f * t3 - 5.0f * t2 + 2.0f) * 0.5f; - float kp2 = (4.0f * t2 - 3.0f * t3 + t) * 0.5f; - float kp3 = (t3 - t2) * 0.5f; - x = p0.x * kp0 + p1.x * kp1 + p2.x * kp2 + p3.x * kp3; - y = p0.y * kp0 + p1.y * kp1 + p2.y * kp2 + p3.y * kp3; - z = p0.z * kp0 + p1.z * kp1 + p2.z * kp2 + p3.z * kp3; - return *this; - } - - //! this = rotpos * r + linpos - inline_ Point& Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos); - - //! this = trans(rotpos) * (r - linpos) - inline_ Point& InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos); - - //! Returns MIN(x, y, z); - inline_ float Min() const { return MIN(x, MIN(y, z)); } - //! Returns MAX(x, y, z); - inline_ float Max() const { return MAX(x, MAX(y, z)); } - //! Sets each element to be componentwise minimum - inline_ Point& Min(const Point& p) { x = MIN(x, p.x); y = MIN(y, p.y); z = MIN(z, p.z); return *this; } - //! Sets each element to be componentwise maximum - inline_ Point& Max(const Point& p) { x = MAX(x, p.x); y = MAX(y, p.y); z = MAX(z, p.z); return *this; } - - //! Clamps each element - inline_ Point& Clamp(float min, float max) - { - if(xmax) x=max; - if(ymax) y=max; - if(zmax) z=max; - return *this; - } - - //! Computes square magnitude - inline_ float SquareMagnitude() const { return x*x + y*y + z*z; } - //! Computes magnitude - inline_ float Magnitude() const { return sqrtf(x*x + y*y + z*z); } - //! Computes volume - inline_ float Volume() const { return x * y * z; } - - //! Checks the point is near zero - inline_ bool ApproxZero() const { return SquareMagnitude() < EPSILON2; } - - //! Tests for exact zero vector - inline_ BOOL IsZero() const - { - if(IR(x) || IR(y) || IR(z)) return FALSE; - return TRUE; - } - - //! Checks point validity - inline_ BOOL IsValid() const - { - if(!IsValidFloat(x)) return FALSE; - if(!IsValidFloat(y)) return FALSE; - if(!IsValidFloat(z)) return FALSE; - return TRUE; - } - - //! Slighty moves the point - void Tweak(udword coord_mask, udword tweak_mask) - { - if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); } - if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); } - if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); } - } - - #define TWEAKMASK 0x3fffff - #define TWEAKNOTMASK ~TWEAKMASK - //! Slighty moves the point out - inline_ void TweakBigger() - { - udword Dummy = (IR(x)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); - Dummy = (IR(y)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); - Dummy = (IR(z)&TWEAKNOTMASK); if(!IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); - } - - //! Slighty moves the point in - inline_ void TweakSmaller() - { - udword Dummy = (IR(x)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(x)) Dummy+=TWEAKMASK+1; x = FR(Dummy); - Dummy = (IR(y)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(y)) Dummy+=TWEAKMASK+1; y = FR(Dummy); - Dummy = (IR(z)&TWEAKNOTMASK); if(IS_NEGATIVE_FLOAT(z)) Dummy+=TWEAKMASK+1; z = FR(Dummy); - } - - //! Normalizes the vector - inline_ Point& Normalize() - { - float M = x*x + y*y + z*z; - if(M) - { - M = 1.0f / sqrtf(M); - x *= M; - y *= M; - z *= M; - } - return *this; - } - - //! Sets vector length - inline_ Point& SetLength(float length) - { - float NewLength = length / Magnitude(); - x *= NewLength; - y *= NewLength; - z *= NewLength; - return *this; - } - - //! Clamps vector length - inline_ Point& ClampLength(float limit_length) - { - if(limit_length>=0.0f) // Magnitude must be positive - { - float CurrentSquareLength = SquareMagnitude(); - - if(CurrentSquareLength > limit_length * limit_length) - { - float Coeff = limit_length / sqrtf(CurrentSquareLength); - x *= Coeff; - y *= Coeff; - z *= Coeff; - } - } - return *this; - } - - //! Computes distance to another point - inline_ float Distance(const Point& b) const - { - return sqrtf((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); - } - - //! Computes square distance to another point - inline_ float SquareDistance(const Point& b) const - { - return ((x - b.x)*(x - b.x) + (y - b.y)*(y - b.y) + (z - b.z)*(z - b.z)); - } - - //! Dot product dp = this|a - inline_ float Dot(const Point& p) const { return p.x * x + p.y * y + p.z * z; } - - //! Cross product this = a x b - inline_ Point& Cross(const Point& a, const Point& b) - { - x = a.y * b.z - a.z * b.y; - y = a.z * b.x - a.x * b.z; - z = a.x * b.y - a.y * b.x; - return *this; - } - - //! Vector code ( bitmask = sign(z) | sign(y) | sign(x) ) - inline_ udword VectorCode() const - { - return (IR(x)>>31) | ((IR(y)&SIGN_BITMASK)>>30) | ((IR(z)&SIGN_BITMASK)>>29); - } - - //! Returns largest axis - inline_ PointComponent LargestAxis() const - { - const float* Vals = &x; - PointComponent m = X; - if(Vals[Y] > Vals[m]) m = Y; - if(Vals[Z] > Vals[m]) m = Z; - return m; - } - - //! Returns closest axis - inline_ PointComponent ClosestAxis() const - { - const float* Vals = &x; - PointComponent m = X; - if(AIR(Vals[Y]) > AIR(Vals[m])) m = Y; - if(AIR(Vals[Z]) > AIR(Vals[m])) m = Z; - return m; - } - - //! Returns smallest axis - inline_ PointComponent SmallestAxis() const - { - const float* Vals = &x; - PointComponent m = X; - if(Vals[Y] < Vals[m]) m = Y; - if(Vals[Z] < Vals[m]) m = Z; - return m; - } - - //! Refracts the point - Point& Refract(const Point& eye, const Point& n, float refractindex, Point& refracted); - - //! Projects the point onto a plane - Point& ProjectToPlane(const Plane& p); - - //! Projects the point onto the screen - void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const; - - //! Unfolds the point onto a plane according to edge(a,b) - Point& Unfold(Plane& p, Point& a, Point& b); - - //! Hash function from Ville Miettinen - inline_ udword GetHashValue() const - { - const udword* h = (const udword*)(this); - udword f = (h[0]+h[1]*11-(h[2]*17)) & 0x7fffffff; // avoid problems with +-0 - return (f>>22)^(f>>12)^(f); - } - - //! Stuff magic values in the point, marking it as explicitely not used. - void SetNotUsed(); - //! Checks the point is marked as not used - BOOL IsNotUsed() const; - - // Arithmetic operators - - //! Unary operator for Point Negate = - Point - inline_ Point operator-() const { return Point(-x, -y, -z); } - - //! Operator for Point Plus = Point + Point. - inline_ Point operator+(const Point& p) const { return Point(x + p.x, y + p.y, z + p.z); } - //! Operator for Point Minus = Point - Point. - inline_ Point operator-(const Point& p) const { return Point(x - p.x, y - p.y, z - p.z); } - - //! Operator for Point Mul = Point * Point. - inline_ Point operator*(const Point& p) const { return Point(x * p.x, y * p.y, z * p.z); } - //! Operator for Point Scale = Point * float. - inline_ Point operator*(float s) const { return Point(x * s, y * s, z * s ); } - //! Operator for Point Scale = float * Point. - inline_ friend Point operator*(float s, const Point& p) { return Point(s * p.x, s * p.y, s * p.z); } - - //! Operator for Point Div = Point / Point. - inline_ Point operator/(const Point& p) const { return Point(x / p.x, y / p.y, z / p.z); } - //! Operator for Point Scale = Point / float. - inline_ Point operator/(float s) const { s = 1.0f / s; return Point(x * s, y * s, z * s); } - //! Operator for Point Scale = float / Point. - inline_ friend Point operator/(float s, const Point& p) { return Point(s / p.x, s / p.y, s / p.z); } - - //! Operator for float DotProd = Point | Point. - inline_ float operator|(const Point& p) const { return x*p.x + y*p.y + z*p.z; } - //! Operator for Point VecProd = Point ^ Point. - inline_ Point operator^(const Point& p) const - { - return Point( - y * p.z - z * p.y, - z * p.x - x * p.z, - x * p.y - y * p.x ); - } - - //! Operator for Point += Point. - inline_ Point& operator+=(const Point& p) { x += p.x; y += p.y; z += p.z; return *this; } - //! Operator for Point += float. - inline_ Point& operator+=(float s) { x += s; y += s; z += s; return *this; } - - //! Operator for Point -= Point. - inline_ Point& operator-=(const Point& p) { x -= p.x; y -= p.y; z -= p.z; return *this; } - //! Operator for Point -= float. - inline_ Point& operator-=(float s) { x -= s; y -= s; z -= s; return *this; } - - //! Operator for Point *= Point. - inline_ Point& operator*=(const Point& p) { x *= p.x; y *= p.y; z *= p.z; return *this; } - //! Operator for Point *= float. - inline_ Point& operator*=(float s) { x *= s; y *= s; z *= s; return *this; } - - //! Operator for Point /= Point. - inline_ Point& operator/=(const Point& p) { x /= p.x; y /= p.y; z /= p.z; return *this; } - //! Operator for Point /= float. - inline_ Point& operator/=(float s) { s = 1.0f/s; x *= s; y *= s; z *= s; return *this; } - - // Logical operators - - //! Operator for "if(Point==Point)" - inline_ bool operator==(const Point& p) const { return ( (IR(x)==IR(p.x))&&(IR(y)==IR(p.y))&&(IR(z)==IR(p.z))); } - //! Operator for "if(Point!=Point)" - inline_ bool operator!=(const Point& p) const { return ( (IR(x)!=IR(p.x))||(IR(y)!=IR(p.y))||(IR(z)!=IR(p.z))); } - - // Arithmetic operators - - //! Operator for Point Mul = Point * Matrix3x3. - inline_ Point operator*(const Matrix3x3& mat) const - { - class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining - const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; - - return Point( - x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0], - x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1], - x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] ); - } - - //! Operator for Point Mul = Point * Matrix4x4. - inline_ Point operator*(const Matrix4x4& mat) const - { - class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining - const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; - - return Point( - x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0], - x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1], - x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]); - } - - //! Operator for Point *= Matrix3x3. - inline_ Point& operator*=(const Matrix3x3& mat) - { - class ShadowMatrix3x3{ public: float m[3][3]; }; // To allow inlining - const ShadowMatrix3x3* Mat = (const ShadowMatrix3x3*)&mat; - - float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0]; - float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1]; - float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2]; - - x = xp; y = yp; z = zp; - - return *this; - } - - //! Operator for Point *= Matrix4x4. - inline_ Point& operator*=(const Matrix4x4& mat) - { - class ShadowMatrix4x4{ public: float m[4][4]; }; // To allow inlining - const ShadowMatrix4x4* Mat = (const ShadowMatrix4x4*)&mat; - - float xp = x * Mat->m[0][0] + y * Mat->m[1][0] + z * Mat->m[2][0] + Mat->m[3][0]; - float yp = x * Mat->m[0][1] + y * Mat->m[1][1] + z * Mat->m[2][1] + Mat->m[3][1]; - float zp = x * Mat->m[0][2] + y * Mat->m[1][2] + z * Mat->m[2][2] + Mat->m[3][2]; - - x = xp; y = yp; z = zp; - - return *this; - } - - // Cast operators - - //! Cast a Point to a HPoint. w is set to zero. - operator HPoint() const; - - inline_ operator const float*() const { return &x; } - inline_ operator float*() { return &x; } - - public: - float x, y, z; - }; - - FUNCTION ICEMATHS_API void Normalize1(Point& a); - FUNCTION ICEMATHS_API void Normalize2(Point& a); - -#endif //__ICEPOINT_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePreprocessor.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePreprocessor.h deleted file mode 100644 index dbeca382..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IcePreprocessor.h +++ /dev/null @@ -1,132 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains preprocessor stuff. This should be the first included header. - * \file IcePreprocessor.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICEPREPROCESSOR_H__ -#define __ICEPREPROCESSOR_H__ - - // Check platform - #if defined( _WIN32 ) || defined( WIN32 ) - // #pragma message("Compiling on Windows...") - #define PLATFORM_WINDOWS - #else - // don't issue pragmas on unknown platforms - // #pragma message("Compiling on unknown platform...") - #endif - - // Check compiler - #if defined(_MSC_VER) - // #pragma message("Compiling with VC++...") - #define COMPILER_VISUAL_CPP - #else - // don't issue pragmas on unknown platforms - // #pragma message("Compiling with unknown compiler...") - #endif - - // Check compiler options. If this file is included in user-apps, this - // shouldn't be needed, so that they can use what they like best. - #ifndef ICE_DONT_CHECK_COMPILER_OPTIONS - #ifdef COMPILER_VISUAL_CPP - #if defined(_CHAR_UNSIGNED) - #endif - - #if defined(_CPPRTTI) - #error Please disable RTTI... - #endif - - #if defined(_CPPUNWIND) - #error Please disable exceptions... - #endif - - #if defined(_MT) - // Multithreading - #endif - #endif - #endif - - // Check debug mode - #ifdef DEBUG // May be defined instead of _DEBUG. Let's fix it. - #ifndef _DEBUG - #define _DEBUG - #endif - #endif - - #ifdef _DEBUG - // Here you may define items for debug builds - #endif - - #ifndef THIS_FILE - #define THIS_FILE __FILE__ - #endif - - #ifndef ICE_NO_DLL - #ifdef ICECORE_EXPORTS - #define ICECORE_API __declspec(dllexport) - #else - #define ICECORE_API __declspec(dllimport) - #endif - #else - #define ICECORE_API - #endif - - // Don't override new/delete -// #define DEFAULT_NEWDELETE - #define DONT_TRACK_MEMORY_LEAKS - - #define FUNCTION extern "C" - - // Cosmetic stuff [mainly useful with multiple inheritance] - #define override(base_class) virtual - - // Our own inline keyword, so that: - // - we can switch to __forceinline to check it's really better or not - // - we can remove __forceinline if the compiler doesn't support it -// #define inline_ __forceinline -// #define inline_ inline - - // Contributed by Bruce Mitchener - #if defined(COMPILER_VISUAL_CPP) - #define inline_ __forceinline -// #define inline_ inline - #elif defined(__GNUC__) && __GNUC__ < 3 - #define inline_ inline - #elif defined(__GNUC__) - #define inline_ inline __attribute__ ((always_inline)) - #else - #define inline_ inline - #endif - - // Down the hatch -#ifdef _MSC_VER - #pragma inline_depth( 255 ) -#endif - - #ifdef COMPILER_VISUAL_CPP - #pragma intrinsic(memcmp) - #pragma intrinsic(memcpy) - #pragma intrinsic(memset) - #pragma intrinsic(strcat) - #pragma intrinsic(strcmp) - #pragma intrinsic(strcpy) - #pragma intrinsic(strlen) - #pragma intrinsic(abs) - #pragma intrinsic(labs) - #endif - - // ANSI compliance - #ifdef _DEBUG - // Remove painful warning in debug - inline_ bool __False__(){ return false; } - #define for if(__False__()){} else for - #else - #define for if(0){} else for - #endif - -#endif // __ICEPREPROCESSOR_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRandom.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRandom.cpp deleted file mode 100644 index cc63a042..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRandom.cpp +++ /dev/null @@ -1,35 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for random generators. - * \file IceRandom.cpp - * \author Pierre Terdiman - * \date August, 9, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceCore; - -void IceCore:: SRand(udword seed) -{ - srand(seed); -} - -udword IceCore::Rand() -{ - return rand(); -} - - -static BasicRandom gRandomGenerator(42); - -udword IceCore::GetRandomIndex(udword max_index) -{ - // We don't use rand() since it's limited to RAND_MAX - udword Index = gRandomGenerator.Randomize(); - return Index % max_index; -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRandom.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRandom.h deleted file mode 100644 index 3170b33d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRandom.h +++ /dev/null @@ -1,42 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for random generators. - * \file IceRandom.h - * \author Pierre Terdiman - * \date August, 9, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICERANDOM_H__ -#define __ICERANDOM_H__ - - FUNCTION ICECORE_API void SRand(udword seed); - FUNCTION ICECORE_API udword Rand(); - - //! Returns a unit random floating-point value - inline_ float UnitRandomFloat() { return float(Rand()) * ONE_OVER_RAND_MAX; } - - //! Returns a random index so that 0<= index < max_index - ICECORE_API udword GetRandomIndex(udword max_index); - - class ICECORE_API BasicRandom - { - public: - - //! Constructor - inline_ BasicRandom(udword seed=0) : mRnd(seed) {} - //! Destructor - inline_ ~BasicRandom() {} - - inline_ void SetSeed(udword seed) { mRnd = seed; } - inline_ udword GetCurrentValue() const { return mRnd; } - inline_ udword Randomize() { mRnd = mRnd * 2147001325 + 715136305; return mRnd; } - - private: - udword mRnd; - }; - -#endif // __ICERANDOM_H__ - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRay.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRay.cpp deleted file mode 100644 index 6cf0330b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRay.cpp +++ /dev/null @@ -1,84 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for rays. - * \file IceRay.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Ray class. - * A ray is a half-line P(t) = mOrig + mDir * t, with 0 <= t <= +infinity - * \class Ray - * \author Pierre Terdiman - * \version 1.0 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/* - O = Origin = impact point - i = normalized vector along the x axis - j = normalized vector along the y axis = actually the normal vector in O - D = Direction vector, norm |D| = 1 - N = Projection of D on y axis, norm |N| = normal reaction - T = Projection of D on x axis, norm |T| = tangential reaction - R = Reflexion vector - - ^y - | - | - | - _ _ _| _ _ _ - * * *| - \ | / - \ |N / | - R\ | /D - \ | / | - \ | / - _________\|/______*_______>x - O T - - Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized. - - j|D = |j|*|D|*cos(theta) => |N| = j|D - - Then we simply have: - - D = N + T - - To compute tangential reaction : - - T = D - N - - To compute reflexion vector : - - R = N - T = N - (D-N) = 2*N - D -*/ - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -float Ray::SquareDistance(const Point& point, float* t) const -{ - Point Diff = point - mOrig; - float fT = Diff | mDir; - - if(fT<=0.0f) - { - fT = 0.0f; - } - else - { - fT /= mDir.SquareMagnitude(); - Diff -= fT*mDir; - } - - if(t) *t = fT; - - return Diff.SquareMagnitude(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRay.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRay.h deleted file mode 100644 index 02682876..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRay.h +++ /dev/null @@ -1,98 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for rays. - * \file IceRay.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICERAY_H__ -#define __ICERAY_H__ - - class ICEMATHS_API Ray - { - public: - //! Constructor - inline_ Ray() {} - //! Constructor - inline_ Ray(const Point& orig, const Point& dir) : mOrig(orig), mDir(dir) {} - //! Copy constructor - inline_ Ray(const Ray& ray) : mOrig(ray.mOrig), mDir(ray.mDir) {} - //! Destructor - inline_ ~Ray() {} - - float SquareDistance(const Point& point, float* t=null) const; - inline_ float Distance(const Point& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); } - - Point mOrig; //!< Ray origin - Point mDir; //!< Normalized direction - }; - - inline_ void ComputeReflexionVector(Point& reflected, const Point& incoming_dir, const Point& outward_normal) - { - reflected = incoming_dir - outward_normal * 2.0f * (incoming_dir|outward_normal); - } - - inline_ void ComputeReflexionVector(Point& reflected, const Point& source, const Point& impact, const Point& normal) - { - Point V = impact - source; - reflected = V - normal * 2.0f * (V|normal); - } - - inline_ void DecomposeVector(Point& normal_compo, Point& tangent_compo, const Point& outward_dir, const Point& outward_normal) - { - normal_compo = outward_normal * (outward_dir|outward_normal); - tangent_compo = outward_dir - normal_compo; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Transforms a direction vector from world space to local space - * \param local_dir [out] direction vector in local space - * \param world_dir [in] direction vector in world space - * \param world [in] world transform - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void ComputeLocalDirection(Point& local_dir, const Point& world_dir, const Matrix4x4& world) - { - // Get world direction back in local space -// Matrix3x3 InvWorld = world; -// local_dir = InvWorld * world_dir; - local_dir = Matrix3x3(world) * world_dir; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Transforms a position vector from world space to local space - * \param local_pt [out] position vector in local space - * \param world_pt [in] position vector in world space - * \param world [in] world transform - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void ComputeLocalPoint(Point& local_pt, const Point& world_pt, const Matrix4x4& world) - { - // Get world vertex back in local space - Matrix4x4 InvWorld = world; - InvWorld.Invert(); - local_pt = world_pt * InvWorld; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Transforms a ray from world space to local space - * \param local_ray [out] ray in local space - * \param world_ray [in] ray in world space - * \param world [in] world transform - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void ComputeLocalRay(Ray& local_ray, const Ray& world_ray, const Matrix4x4& world) - { - // Get world ray back in local space - ComputeLocalDirection(local_ray.mDir, world_ray.mDir, world); - ComputeLocalPoint(local_ray.mOrig, world_ray.mOrig, world); - } - -#endif // __ICERAY_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRevisitedRadix.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRevisitedRadix.cpp deleted file mode 100644 index 99a586f1..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceRevisitedRadix.cpp +++ /dev/null @@ -1,520 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains source code from the article "Radix Sort Revisited". - * \file IceRevisitedRadix.cpp - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Revisited Radix Sort. - * This is my new radix routine: - * - it uses indices and doesn't recopy the values anymore, hence wasting less ram - * - it creates all the histograms in one run instead of four - * - it sorts words faster than dwords and bytes faster than words - * - it correctly sorts negative floating-point values by patching the offsets - * - it automatically takes advantage of temporal coherence - * - multiple keys support is a side effect of temporal coherence - * - it may be worth recoding in asm... (mainly to use FCOMI, FCMOV, etc) [it's probably memory-bound anyway] - * - * History: - * - 08.15.98: very first version - * - 04.04.00: recoded for the radix article - * - 12.xx.00: code lifting - * - 09.18.01: faster CHECK_PASS_VALIDITY thanks to Mark D. Shattuck (who provided other tips, not included here) - * - 10.11.01: added local ram support - * - 01.20.02: bugfix! In very particular cases the last pass was skipped in the float code-path, leading to incorrect sorting...... - * - 01.02.02: - "mIndices" renamed => "mRanks". That's a rank sorter after all. - * - ranks are not "reset" anymore, but implicit on first calls - * - 07.05.02: - offsets rewritten with one less indirection. - * - 11.03.02: - "bool" replaced with RadixHint enum - * - * \class RadixSort - * \author Pierre Terdiman - * \version 1.4 - * \date August, 15, 1998 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/* -To do: - - add an offset parameter between two input values (avoid some data recopy sometimes) - - unroll ? asm ? - - 11 bits trick & 3 passes as Michael did - - prefetch stuff the day I have a P3 - - make a version with 16-bits indices ? -*/ - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceCore; - -#define INVALIDATE_RANKS mCurrentSize|=0x80000000 -#define VALIDATE_RANKS mCurrentSize&=0x7fffffff -#define CURRENT_SIZE (mCurrentSize&0x7fffffff) -#define INVALID_RANKS (mCurrentSize&0x80000000) - -#define CHECK_RESIZE(n) \ - if(n!=mPreviousSize) \ - { \ - if(n>mCurrentSize) Resize(n); \ - else ResetRanks(); \ - mPreviousSize = n; \ - } - -#define CREATE_HISTOGRAMS(type, buffer) \ - /* Clear counters/histograms */ \ - ZeroMemory(mHistogram, 256*4*sizeof(udword)); \ - \ - /* Prepare to count */ \ - ubyte* p = (ubyte*)input; \ - ubyte* pe = &p[nb*4]; \ - udword* h0= &mHistogram[0]; /* Histogram for first pass (LSB) */ \ - udword* h1= &mHistogram[256]; /* Histogram for second pass */ \ - udword* h2= &mHistogram[512]; /* Histogram for third pass */ \ - udword* h3= &mHistogram[768]; /* Histogram for last pass (MSB) */ \ - \ - bool AlreadySorted = true; /* Optimism... */ \ - \ - if(INVALID_RANKS) \ - { \ - /* Prepare for temporal coherence */ \ - type* Running = (type*)buffer; \ - type PrevVal = *Running; \ - \ - while(p!=pe) \ - { \ - /* Read input buffer in previous sorted order */ \ - type Val = *Running++; \ - /* Check whether already sorted or not */ \ - if(ValCurSize) Resize(nb); - mCurrentSize = nb; - INVALIDATE_RANKS; - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Main sort routine. - * This one is for integer values. After the call, mRanks contains a list of indices in sorted order, i.e. in the order you may process your data. - * \param input [in] a list of integer values to sort - * \param nb [in] number of values to sort, must be < 2^31 - * \param hint [in] RADIX_SIGNED to handle negative values, RADIX_UNSIGNED if you know your input buffer only contains positive values - * \return Self-Reference - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -RadixSort& RadixSort::Sort(const udword* input, udword nb, RadixHint hint) -{ - // Checkings - if(!input || !nb || nb&0x80000000) return *this; - - // Stats - mTotalCalls++; - - // Resize lists if needed - CheckResize(nb); - -#ifdef RADIX_LOCAL_RAM - // Allocate histograms & offsets on the stack - udword mHistogram[256*4]; -// udword mOffset[256]; - udword* mLink[256]; -#endif - - // Create histograms (counters). Counters for all passes are created in one run. - // Pros: read input buffer once instead of four times - // Cons: mHistogram is 4Kb instead of 1Kb - // We must take care of signed/unsigned values for temporal coherence.... I just - // have 2 code paths even if just a single opcode changes. Self-modifying code, someone? - if(hint==RADIX_UNSIGNED) { CREATE_HISTOGRAMS(udword, input); } - else { CREATE_HISTOGRAMS(sdword, input); } - - // Compute #negative values involved if needed - udword NbNegativeValues = 0; - if(hint==RADIX_SIGNED) - { - // An efficient way to compute the number of negatives values we'll have to deal with is simply to sum the 128 - // last values of the last histogram. Last histogram because that's the one for the Most Significant Byte, - // responsible for the sign. 128 last values because the 128 first ones are related to positive numbers. - udword* h3= &mHistogram[768]; - for(udword i=128;i<256;i++) NbNegativeValues += h3[i]; // 768 for last histogram, 128 for negative part - } - - // Radix sort, j is the pass number (0=LSB, 3=MSB) - for(udword j=0;j<4;j++) - { - CHECK_PASS_VALIDITY(j); - - // Sometimes the fourth (negative) pass is skipped because all numbers are negative and the MSB is 0xFF (for example). This is - // not a problem, numbers are correctly sorted anyway. - if(PerformPass) - { - // Should we care about negative values? - if(j!=3 || hint==RADIX_UNSIGNED) - { - // Here we deal with positive values only - - // Create offsets -// mOffset[0] = 0; -// for(udword i=1;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; - mLink[0] = mRanks2; - for(udword i=1;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; - } - else - { - // This is a special case to correctly handle negative integers. They're sorted in the right order but at the wrong place. - - // Create biased offsets, in order for negative numbers to be sorted as well -// mOffset[0] = NbNegativeValues; // First positive number takes place after the negative ones - mLink[0] = &mRanks2[NbNegativeValues]; // First positive number takes place after the negative ones -// for(udword i=1;i<128;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers - for(udword i=1;i<128;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; // 1 to 128 for positive numbers - - // Fixing the wrong place for negative values -// mOffset[128] = 0; - mLink[128] = mRanks2; -// for(i=129;i<256;i++) mOffset[i] = mOffset[i-1] + CurCount[i-1]; - for(udword i=129;i<256;i++) mLink[i] = mLink[i-1] + CurCount[i-1]; - } - - // Perform Radix Sort - ubyte* InputBytes = (ubyte*)input; - InputBytes += j; - if(INVALID_RANKS) - { -// for(udword i=0;i>24; // Radix byte, same as above. AND is useless here (udword). - // ### cmp to be killed. Not good. Later. -// if(Radix<128) mRanks2[mOffset[Radix]++] = i; // Number is positive, same as above -// else mRanks2[--mOffset[Radix]] = i; // Number is negative, flip the sorting order - if(Radix<128) *mLink[Radix]++ = i; // Number is positive, same as above - else *(--mLink[Radix]) = i; // Number is negative, flip the sorting order - } - VALIDATE_RANKS; - } - else - { - for(udword i=0;i>24; // Radix byte, same as above. AND is useless here (udword). - // ### cmp to be killed. Not good. Later. -// if(Radix<128) mRanks2[mOffset[Radix]++] = mRanks[i]; // Number is positive, same as above -// else mRanks2[--mOffset[Radix]] = mRanks[i]; // Number is negative, flip the sorting order - if(Radix<128) *mLink[Radix]++ = mRanks[i]; // Number is positive, same as above - else *(--mLink[Radix]) = mRanks[i]; // Number is negative, flip the sorting order - } - } - // Swap pointers for next pass. Valid indices - the most recent ones - are in mRanks after the swap. - udword* Tmp = mRanks; mRanks = mRanks2; mRanks2 = Tmp; - } - else - { - // The pass is useless, yet we still have to reverse the order of current list if all values are negative. - if(UniqueVal>=128) - { - if(INVALID_RANKS) - { - // ###Possible? - for(udword i=0;i=SqrLen) - { - fT = 1.0f; - Diff -= Dir; - } - else - { - fT /= SqrLen; - Diff -= fT*Dir; - } - } - - if(t) *t = fT; - - return Diff.SquareMagnitude(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceSegment.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceSegment.h deleted file mode 100644 index 8d663226..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceSegment.h +++ /dev/null @@ -1,55 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for segments. - * \file IceSegment.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICESEGMENT_H__ -#define __ICESEGMENT_H__ - - class ICEMATHS_API Segment - { - public: - //! Constructor - inline_ Segment() {} - //! Constructor - inline_ Segment(const Point& p0, const Point& p1) : mP0(p0), mP1(p1) {} - //! Copy constructor - inline_ Segment(const Segment& seg) : mP0(seg.mP0), mP1(seg.mP1) {} - //! Destructor - inline_ ~Segment() {} - - inline_ const Point& GetOrigin() const { return mP0; } - inline_ Point ComputeDirection() const { return mP1 - mP0; } - inline_ void ComputeDirection(Point& dir) const { dir = mP1 - mP0; } - inline_ float ComputeLength() const { return mP1.Distance(mP0); } - inline_ float ComputeSquareLength() const { return mP1.SquareDistance(mP0); } - - inline_ void SetOriginDirection(const Point& origin, const Point& direction) - { - mP0 = mP1 = origin; - mP1 += direction; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Computes a point on the segment - * \param pt [out] point on segment - * \param t [in] point's parameter [t=0 => pt = mP0, t=1 => pt = mP1] - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void ComputePoint(Point& pt, float t) const { pt = mP0 + t * (mP1 - mP0); } - - float SquareDistance(const Point& point, float* t=null) const; - inline_ float Distance(const Point& point, float* t=null) const { return sqrtf(SquareDistance(point, t)); } - - Point mP0; //!< Start of segment - Point mP1; //!< End of segment - }; - -#endif // __ICESEGMENT_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriList.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriList.h deleted file mode 100644 index 73f5257f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriList.h +++ /dev/null @@ -1,61 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a triangle container. - * \file IceTrilist.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICETRILIST_H__ -#define __ICETRILIST_H__ - - class ICEMATHS_API TriList : public Container - { - public: - // Constructor / Destructor - TriList() {} - ~TriList() {} - - inline_ udword GetNbTriangles() const { return GetNbEntries()/9; } - inline_ Triangle* GetTriangles() const { return (Triangle*)GetEntries(); } - - void AddTri(const Triangle& tri) - { - Add(tri.mVerts[0].x).Add(tri.mVerts[0].y).Add(tri.mVerts[0].z); - Add(tri.mVerts[1].x).Add(tri.mVerts[1].y).Add(tri.mVerts[1].z); - Add(tri.mVerts[2].x).Add(tri.mVerts[2].y).Add(tri.mVerts[2].z); - } - - void AddTri(const Point& p0, const Point& p1, const Point& p2) - { - Add(p0.x).Add(p0.y).Add(p0.z); - Add(p1.x).Add(p1.y).Add(p1.z); - Add(p2.x).Add(p2.y).Add(p2.z); - } - }; - - class ICEMATHS_API TriangleList : public Container - { - public: - // Constructor / Destructor - TriangleList() {} - ~TriangleList() {} - - inline_ udword GetNbTriangles() const { return GetNbEntries()/3; } - inline_ IndexedTriangle* GetTriangles() const { return (IndexedTriangle*)GetEntries();} - - void AddTriangle(const IndexedTriangle& tri) - { - Add((udword)tri.mVRef[0]).Add((udword)tri.mVRef[1]).Add((udword)tri.mVRef[2]); - } - - void AddTriangle(udword vref0, udword vref1, udword vref2) - { - Add(vref0).Add(vref1).Add(vref2); - } - }; - -#endif //__ICETRILIST_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriangle.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriangle.cpp deleted file mode 100644 index 4268ff4a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriangle.cpp +++ /dev/null @@ -1,286 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a handy triangle class. - * \file IceTriangle.cpp - * \author Pierre Terdiman - * \date January, 17, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace IceMaths; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a triangle class. - * - * \class Tri - * \author Pierre Terdiman - * \version 1.0 - * \date 08.15.98 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -static sdword VPlaneSideEps(const Point& v, const Plane& plane, float epsilon) -{ - // Compute distance from current vertex to the plane - float Dist = plane.Distance(v); - // Compute side: - // 1 = the vertex is on the positive side of the plane - // -1 = the vertex is on the negative side of the plane - // 0 = the vertex is on the plane (within epsilon) - return Dist > epsilon ? 1 : Dist < -epsilon ? -1 : 0; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Flips the winding order. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void Triangle::Flip() -{ - Point Tmp = mVerts[1]; - mVerts[1] = mVerts[2]; - mVerts[2] = Tmp; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle area. - * \return the area - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Triangle::Area() const -{ - const Point& p0 = mVerts[0]; - const Point& p1 = mVerts[1]; - const Point& p2 = mVerts[2]; - return ((p0 - p1)^(p0 - p2)).Magnitude() * 0.5f; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle perimeter. - * \return the perimeter - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Triangle::Perimeter() const -{ - const Point& p0 = mVerts[0]; - const Point& p1 = mVerts[1]; - const Point& p2 = mVerts[2]; - return p0.Distance(p1) - + p0.Distance(p2) - + p1.Distance(p2); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle compacity. - * \return the compacity - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Triangle::Compacity() const -{ - float P = Perimeter(); - if(P==0.0f) return 0.0f; - return (4.0f*PI*Area()/(P*P)); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle normal. - * \param normal [out] the computed normal - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void Triangle::Normal(Point& normal) const -{ - const Point& p0 = mVerts[0]; - const Point& p1 = mVerts[1]; - const Point& p2 = mVerts[2]; - normal = ((p0 - p1)^(p0 - p2)).Normalize(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle denormalized normal. - * \param normal [out] the computed normal - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void Triangle::DenormalizedNormal(Point& normal) const -{ - const Point& p0 = mVerts[0]; - const Point& p1 = mVerts[1]; - const Point& p2 = mVerts[2]; - normal = ((p0 - p1)^(p0 - p2)); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle center. - * \param center [out] the computed center - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void Triangle::Center(Point& center) const -{ - const Point& p0 = mVerts[0]; - const Point& p1 = mVerts[1]; - const Point& p2 = mVerts[2]; - center = (p0 + p1 + p2)*INV3; -} - -PartVal Triangle::TestAgainstPlane(const Plane& plane, float epsilon) const -{ - bool Pos = false, Neg = false; - - // Loop through all vertices - for(udword i=0;i<3;i++) - { - // Compute side: - sdword Side = VPlaneSideEps(mVerts[i], plane, epsilon); - - if (Side < 0) Neg = true; - else if (Side > 0) Pos = true; - } - - if (!Pos && !Neg) return TRI_ON_PLANE; - else if (Pos && Neg) return TRI_INTERSECT; - else if (Pos && !Neg) return TRI_PLUS_SPACE; - else if (!Pos && Neg) return TRI_MINUS_SPACE; - - // What?! - return TRI_FORCEDWORD; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle moment. - * \param m [out] the moment - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* -void Triangle::ComputeMoment(Moment& m) -{ - // Compute the area of the triangle - m.mArea = Area(); - - // Compute the centroid - Center(m.mCentroid); - - // Second-order components. Handle zero-area faces. - Point& p = mVerts[0]; - Point& q = mVerts[1]; - Point& r = mVerts[2]; - if(m.mArea==0.0f) - { - // This triangle has zero area. The second order components would be eliminated with the usual formula, so, for the - // sake of robustness we use an alternative form. These are the centroid and second-order components of the triangle's vertices. - m.mCovariance.m[0][0] = (p.x*p.x + q.x*q.x + r.x*r.x); - m.mCovariance.m[0][1] = (p.x*p.y + q.x*q.y + r.x*r.y); - m.mCovariance.m[0][2] = (p.x*p.z + q.x*q.z + r.x*r.z); - m.mCovariance.m[1][1] = (p.y*p.y + q.y*q.y + r.y*r.y); - m.mCovariance.m[1][2] = (p.y*p.z + q.y*q.z + r.y*r.z); - m.mCovariance.m[2][2] = (p.z*p.z + q.z*q.z + r.z*r.z); - m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; - m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; - m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; - } - else - { - const float OneOverTwelve = 1.0f / 12.0f; - m.mCovariance.m[0][0] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.x + p.x*p.x + q.x*q.x + r.x*r.x) * OneOverTwelve; - m.mCovariance.m[0][1] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.y + p.x*p.y + q.x*q.y + r.x*r.y) * OneOverTwelve; - m.mCovariance.m[1][1] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.y + p.y*p.y + q.y*q.y + r.y*r.y) * OneOverTwelve; - m.mCovariance.m[0][2] = m.mArea * (9.0f * m.mCentroid.x*m.mCentroid.z + p.x*p.z + q.x*q.z + r.x*r.z) * OneOverTwelve; - m.mCovariance.m[1][2] = m.mArea * (9.0f * m.mCentroid.y*m.mCentroid.z + p.y*p.z + q.y*q.z + r.y*r.z) * OneOverTwelve; - m.mCovariance.m[2][2] = m.mArea * (9.0f * m.mCentroid.z*m.mCentroid.z + p.z*p.z + q.z*q.z + r.z*r.z) * OneOverTwelve; - m.mCovariance.m[2][1] = m.mCovariance.m[1][2]; - m.mCovariance.m[1][0] = m.mCovariance.m[0][1]; - m.mCovariance.m[2][0] = m.mCovariance.m[0][2]; - } -} -*/ - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle's smallest edge length. - * \return the smallest edge length - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Triangle::MinEdgeLength() const -{ - float Min = MAX_FLOAT; - float Length01 = mVerts[0].Distance(mVerts[1]); - float Length02 = mVerts[0].Distance(mVerts[2]); - float Length12 = mVerts[1].Distance(mVerts[2]); - if(Length01 < Min) Min = Length01; - if(Length02 < Min) Min = Length02; - if(Length12 < Min) Min = Length12; - return Min; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the triangle's largest edge length. - * \return the largest edge length - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float Triangle::MaxEdgeLength() const -{ - float Max = MIN_FLOAT; - float Length01 = mVerts[0].Distance(mVerts[1]); - float Length02 = mVerts[0].Distance(mVerts[2]); - float Length12 = mVerts[1].Distance(mVerts[2]); - if(Length01 > Max) Max = Length01; - if(Length02 > Max) Max = Length02; - if(Length12 > Max) Max = Length12; - return Max; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes a point on the triangle according to the stabbing information. - * \param u,v [in] point's barycentric coordinates - * \param pt [out] point on triangle - * \param nearvtx [out] index of nearest vertex - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void Triangle::ComputePoint(float u, float v, Point& pt, udword* nearvtx) const -{ - // Compute point coordinates - pt = (1.0f - u - v)*mVerts[0] + u*mVerts[1] + v*mVerts[2]; - - // Compute nearest vertex if needed - if(nearvtx) - { - // Compute distance vector - Point d(mVerts[0].SquareDistance(pt), // Distance^2 from vertex 0 to point on the face - mVerts[1].SquareDistance(pt), // Distance^2 from vertex 1 to point on the face - mVerts[2].SquareDistance(pt)); // Distance^2 from vertex 2 to point on the face - - // Get smallest distance - *nearvtx = d.SmallestAxis(); - } -} - -void Triangle::Inflate(float fat_coeff, bool constant_border) -{ - // Compute triangle center - Point TriangleCenter; - Center(TriangleCenter); - - // Don't normalize? - // Normalize => add a constant border, regardless of triangle size - // Don't => add more to big triangles - for(udword i=0;i<3;i++) - { - Point v = mVerts[i] - TriangleCenter; - - if(constant_border) v.Normalize(); - - mVerts[i] += v * fat_coeff; - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriangle.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriangle.h deleted file mode 100644 index a984db83..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTriangle.h +++ /dev/null @@ -1,68 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a handy triangle class. - * \file IceTriangle.h - * \author Pierre Terdiman - * \date January, 17, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICETRIANGLE_H__ -#define __ICETRIANGLE_H__ - - // Forward declarations - class Moment; - - // Partitioning values - enum PartVal - { - TRI_MINUS_SPACE = 0, //!< Triangle is in the negative space - TRI_PLUS_SPACE = 1, //!< Triangle is in the positive space - TRI_INTERSECT = 2, //!< Triangle intersects plane - TRI_ON_PLANE = 3, //!< Triangle and plane are coplanar - - TRI_FORCEDWORD = 0x7fffffff - }; - - // A triangle class. - class ICEMATHS_API Triangle - { - public: - //! Constructor - inline_ Triangle() {} - //! Constructor - inline_ Triangle(const Point& p0, const Point& p1, const Point& p2) { mVerts[0]=p0; mVerts[1]=p1; mVerts[2]=p2; } - //! Copy constructor - inline_ Triangle(const Triangle& triangle) - { - mVerts[0] = triangle.mVerts[0]; - mVerts[1] = triangle.mVerts[1]; - mVerts[2] = triangle.mVerts[2]; - } - //! Destructor - inline_ ~Triangle() {} - //! Vertices - Point mVerts[3]; - - // Methods - void Flip(); - float Area() const; - float Perimeter() const; - float Compacity() const; - void Normal(Point& normal) const; - void DenormalizedNormal(Point& normal) const; - void Center(Point& center) const; - inline_ Plane PlaneEquation() const { return Plane(mVerts[0], mVerts[1], mVerts[2]); } - - PartVal TestAgainstPlane(const Plane& plane, float epsilon) const; -// float Distance(Point& cp, Point& cq, Tri& tri); - void ComputeMoment(Moment& m); - float MinEdgeLength() const; - float MaxEdgeLength() const; - void ComputePoint(float u, float v, Point& pt, udword* nearvtx=null) const; - void Inflate(float fat_coeff, bool constant_border); - }; - -#endif // __ICETRIANGLE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTypes.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTypes.h deleted file mode 100644 index c30890c6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/IceTypes.h +++ /dev/null @@ -1,161 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains custom types. - * \file IceTypes.h - * \author Pierre Terdiman - * \date April, 4, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __ICETYPES_H__ -#define __ICETYPES_H__ - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Things to help us compile on non-windows platforms - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - - #define USE_HANDLE_MANAGER - - // Constants - #define PI 3.1415926535897932384626433832795028841971693993751f //!< PI - #define HALFPI 1.57079632679489661923f //!< 0.5 * PI - #define TWOPI 6.28318530717958647692f //!< 2.0 * PI - #define INVPI 0.31830988618379067154f //!< 1.0 / PI - - #define RADTODEG 57.2957795130823208768f //!< 180.0 / PI, convert radians to degrees - #define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians - - #define EXP 2.71828182845904523536f //!< e - #define INVLOG2 3.32192809488736234787f //!< 1.0 / log10(2) - #define LN2 0.693147180559945f //!< ln(2) - #define INVLN2 1.44269504089f //!< 1.0f / ln(2) - - #define INV3 0.33333333333333333333f //!< 1/3 - #define INV6 0.16666666666666666666f //!< 1/6 - #define INV7 0.14285714285714285714f //!< 1/7 - #define INV9 0.11111111111111111111f //!< 1/9 - #define INV255 0.00392156862745098039f //!< 1/255 - - #define SQRT2 1.41421356237f //!< sqrt(2) - #define INVSQRT2 0.707106781188f //!< 1 / sqrt(2) - - #define SQRT3 1.73205080757f //!< sqrt(3) - #define INVSQRT3 0.577350269189f //!< 1 / sqrt(3) - - #define null 0 //!< our own NULL pointer - - // Custom types used in ICE - typedef signed char sbyte; //!< sizeof(sbyte) must be 1 - typedef unsigned char ubyte; //!< sizeof(ubyte) must be 1 - typedef signed short sword; //!< sizeof(sword) must be 2 - typedef unsigned short uword; //!< sizeof(uword) must be 2 - typedef signed int sdword; //!< sizeof(sdword) must be 4 - typedef unsigned int udword; //!< sizeof(udword) must be 4 - typedef signed __int64 sqword; //!< sizeof(sqword) must be 8 - typedef unsigned __int64 uqword; //!< sizeof(uqword) must be 8 - typedef float float32; //!< sizeof(float32) must be 4 - typedef double float64; //!< sizeof(float64) must be 4 - - ICE_COMPILE_TIME_ASSERT(sizeof(ubyte)==1); - ICE_COMPILE_TIME_ASSERT(sizeof(sbyte)==1); - ICE_COMPILE_TIME_ASSERT(sizeof(sword)==2); - ICE_COMPILE_TIME_ASSERT(sizeof(uword)==2); - ICE_COMPILE_TIME_ASSERT(sizeof(udword)==4); - ICE_COMPILE_TIME_ASSERT(sizeof(sdword)==4); - ICE_COMPILE_TIME_ASSERT(sizeof(uqword)==8); - ICE_COMPILE_TIME_ASSERT(sizeof(sqword)==8); - - //! TO BE DOCUMENTED - #define DECLARE_ICE_HANDLE(name) struct name##__ { int unused; }; typedef struct name##__ *name - - typedef udword DynID; //!< Dynamic identifier -#ifdef USE_HANDLE_MANAGER - typedef udword KID; //!< Kernel ID -// DECLARE_ICE_HANDLE(KID); -#else - typedef uword KID; //!< Kernel ID -#endif - typedef udword RTYPE; //!< Relationship-type (!) between owners and references - #define INVALID_ID 0xffffffff //!< Invalid dword ID (counterpart of null pointers) -#ifdef USE_HANDLE_MANAGER - #define INVALID_KID 0xffffffff //!< Invalid Kernel ID -#else - #define INVALID_KID 0xffff //!< Invalid Kernel ID -#endif - #define INVALID_NUMBER 0xDEADBEEF //!< Standard junk value - - // Define BOOL if needed - #ifndef BOOL - typedef int BOOL; //!< Another boolean type. - #endif - - //! Union of a float and a sdword - typedef union { - float f; //!< The float - sdword d; //!< The integer - }scell; - - //! Union of a float and a udword - typedef union { - float f; //!< The float - udword d; //!< The integer - }ucell; - - // Type ranges - #define MAX_SBYTE 0x7f //!< max possible sbyte value - #define MIN_SBYTE 0x80 //!< min possible sbyte value - #define MAX_UBYTE 0xff //!< max possible ubyte value - #define MIN_UBYTE 0x00 //!< min possible ubyte value - #define MAX_SWORD 0x7fff //!< max possible sword value - #define MIN_SWORD 0x8000 //!< min possible sword value - #define MAX_UWORD 0xffff //!< max possible uword value - #define MIN_UWORD 0x0000 //!< min possible uword value - #define MAX_SDWORD 0x7fffffff //!< max possible sdword value - #define MIN_SDWORD 0x80000000 //!< min possible sdword value - #define MAX_UDWORD 0xffffffff //!< max possible udword value - #define MIN_UDWORD 0x00000000 //!< min possible udword value - #define MAX_FLOAT FLT_MAX //!< max possible float value - #define MIN_FLOAT (-FLT_MAX) //!< min possible loat value - #define IEEE_1_0 0x3f800000 //!< integer representation of 1.0 - #define IEEE_255_0 0x437f0000 //!< integer representation of 255.0 - #define IEEE_MAX_FLOAT 0x7f7fffff //!< integer representation of MAX_FLOAT - #define IEEE_MIN_FLOAT 0xff7fffff //!< integer representation of MIN_FLOAT - #define IEEE_UNDERFLOW_LIMIT 0x1a000000 - - #define ONE_OVER_RAND_MAX (1.0f / float(RAND_MAX)) //!< Inverse of the max possible value returned by rand() - - typedef int (__stdcall* PROC)(); //!< A standard procedure call. - typedef bool (*ENUMERATION)(udword value, udword param, udword context); //!< ICE standard enumeration call - typedef void** VTABLE; //!< A V-Table. - - #undef MIN - #undef MAX - #define MIN(a, b) ((a) < (b) ? (a) : (b)) //!< Returns the min value between a and b - #define MAX(a, b) ((a) > (b) ? (a) : (b)) //!< Returns the max value between a and b - #define MAXMAX(a,b,c) ((a) > (b) ? MAX (a,c) : MAX (b,c)) //!< Returns the max value between a, b and c - - template inline_ const T& TMin (const T& a, const T& b) { return b < a ? b : a; } - template inline_ const T& TMax (const T& a, const T& b) { return a < b ? b : a; } - template inline_ void TSetMin (T& a, const T& b) { if(a>b) a = b; } - template inline_ void TSetMax (T& a, const T& b) { if(a> 1) & 0x55555555) | ((n << 1) & 0xaaaaaaaa); - n = ((n >> 2) & 0x33333333) | ((n << 2) & 0xcccccccc); - n = ((n >> 4) & 0x0f0f0f0f) | ((n << 4) & 0xf0f0f0f0); - n = ((n >> 8) & 0x00ff00ff) | ((n << 8) & 0xff00ff00); - n = ((n >> 16) & 0x0000ffff) | ((n << 16) & 0xffff0000); - // Etc for larger intergers (64 bits in Java) - // NOTE: the >> operation must be unsigned! (>>> in java) - } - - //! Count the number of '1' bits in a 32 bit word (from Steve Baker's Cute Code Collection) - inline_ udword CountBits(udword n) - { - // This relies of the fact that the count of n bits can NOT overflow - // an n bit interger. EG: 1 bit count takes a 1 bit interger, 2 bit counts - // 2 bit interger, 3 bit count requires only a 2 bit interger. - // So we add all bit pairs, then each nible, then each byte etc... - n = (n & 0x55555555) + ((n & 0xaaaaaaaa) >> 1); - n = (n & 0x33333333) + ((n & 0xcccccccc) >> 2); - n = (n & 0x0f0f0f0f) + ((n & 0xf0f0f0f0) >> 4); - n = (n & 0x00ff00ff) + ((n & 0xff00ff00) >> 8); - n = (n & 0x0000ffff) + ((n & 0xffff0000) >> 16); - // Etc for larger intergers (64 bits in Java) - // NOTE: the >> operation must be unsigned! (>>> in java) - return n; - } - - //! Even faster? - inline_ udword CountBits2(udword bits) - { - bits = bits - ((bits >> 1) & 0x55555555); - bits = ((bits >> 2) & 0x33333333) + (bits & 0x33333333); - bits = ((bits >> 4) + bits) & 0x0F0F0F0F; - return (bits * 0x01010101) >> 24; - } - - //! Spread out bits. EG 00001111 -> 0101010101 - //! 00001010 -> 0100010000 - //! This is used to interleve to intergers to produce a `Morten Key' - //! used in Space Filling Curves (See DrDobbs Journal, July 1999) - //! Order is important. - inline_ void SpreadBits(udword& n) - { - n = ( n & 0x0000ffff) | (( n & 0xffff0000) << 16); - n = ( n & 0x000000ff) | (( n & 0x0000ff00) << 8); - n = ( n & 0x000f000f) | (( n & 0x00f000f0) << 4); - n = ( n & 0x03030303) | (( n & 0x0c0c0c0c) << 2); - n = ( n & 0x11111111) | (( n & 0x22222222) << 1); - } - - // Next Largest Power of 2 - // Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm - // that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with - // the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next - // largest power of 2. For a 32-bit value: - inline_ udword nlpo2(udword x) - { - x |= (x >> 1); - x |= (x >> 2); - x |= (x >> 4); - x |= (x >> 8); - x |= (x >> 16); - return x+1; - } - - //! Test to see if a number is an exact power of two (from Steve Baker's Cute Code Collection) - inline_ bool IsPowerOfTwo(udword n) { return ((n&(n-1))==0); } - - //! Zero the least significant '1' bit in a word. (from Steve Baker's Cute Code Collection) - inline_ void ZeroLeastSetBit(udword& n) { n&=(n-1); } - - //! Set the least significant N bits in a word. (from Steve Baker's Cute Code Collection) - inline_ void SetLeastNBits(udword& x, udword n) { x|=~(~0<> 31; return (x^y)-y; } - - //!< Alternative min function - inline_ sdword min_(sdword a, sdword b) { sdword delta = b-a; return a + (delta&(delta>>31)); } - - // Determine if one of the bytes in a 4 byte word is zero - inline_ BOOL HasNullByte(udword x) { return ((x + 0xfefefeff) & (~x) & 0x80808080); } - - // To find the smallest 1 bit in a word EG: ~~~~~~10---0 => 0----010---0 - inline_ udword LowestOneBit(udword w) { return ((w) & (~(w)+1)); } -// inline_ udword LowestOneBit_(udword w) { return ((w) & (-(w))); } - - // Most Significant 1 Bit - // Given a binary integer value x, the most significant 1 bit (highest numbered element of a bit set) - // can be computed using a SWAR algorithm that recursively "folds" the upper bits into the lower bits. - // This process yields a bit vector with the same most significant 1 as x, but all 1's below it. - // Bitwise AND of the original value with the complement of the "folded" value shifted down by one - // yields the most significant bit. For a 32-bit value: - inline_ udword msb32(udword x) - { - x |= (x >> 1); - x |= (x >> 2); - x |= (x >> 4); - x |= (x >> 8); - x |= (x >> 16); - return (x & ~(x >> 1)); - } - - /* - "Just call it repeatedly with various input values and always with the same variable as "memory". - The sharpness determines the degree of filtering, where 0 completely filters out the input, and 1 - does no filtering at all. - - I seem to recall from college that this is called an IIR (Infinite Impulse Response) filter. As opposed - to the more typical FIR (Finite Impulse Response). - - Also, I'd say that you can make more intelligent and interesting filters than this, for example filters - that remove wrong responses from the mouse because it's being moved too fast. You'd want such a filter - to be applied before this one, of course." - - (JCAB on Flipcode) - */ - inline_ float FeedbackFilter(float val, float& memory, float sharpness) - { - ASSERT(sharpness>=0.0f && sharpness<=1.0f && "Invalid sharpness value in feedback filter"); - if(sharpness<0.0f) sharpness = 0.0f; - else if(sharpness>1.0f) sharpness = 1.0f; - return memory = val * sharpness + memory * (1.0f - sharpness); - } - - //! If you can guarantee that your input domain (i.e. value of x) is slightly - //! limited (abs(x) must be < ((1<<31u)-32767)), then you can use the - //! following code to clamp the resulting value into [-32768,+32767] range: - inline_ int ClampToInt16(int x) - { -// ASSERT(abs(x) < (int)((1<<31u)-32767)); - - int delta = 32767 - x; - x += (delta>>31) & delta; - delta = x + 32768; - x -= (delta>>31) & delta; - return x; - } - - // Generic functions - template inline_ void TSwap(Type& a, Type& b) { const Type c = a; a = b; b = c; } - template inline_ Type TClamp(const Type& x, const Type& lo, const Type& hi) { return ((xhi) ? hi : x); } - - template inline_ void TSort(Type& a, Type& b) - { - if(a>b) TSwap(a, b); - } - - template inline_ void TSort(Type& a, Type& b, Type& c) - { - if(a>b) TSwap(a, b); - if(b>c) TSwap(b, c); - if(a>b) TSwap(a, b); - if(b>c) TSwap(b, c); - } - - // Prevent nasty user-manipulations (strategy borrowed from Charles Bloom) -// #define PREVENT_COPY(curclass) void operator = (const curclass& object) { ASSERT(!"Bad use of operator ="); } - // ... actually this is better ! - #define PREVENT_COPY(cur_class) private: cur_class(const cur_class& object); cur_class& operator=(const cur_class& object); - - //! TO BE DOCUMENTED - #define OFFSET_OF(Class, Member) (size_t)&(((Class*)0)->Member) - //! TO BE DOCUMENTED - #define ARRAYSIZE(p) (sizeof(p)/sizeof((p)[0])) - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Returns the alignment of the input address. - * \fn Alignment() - * \param address [in] address to check - * \return the best alignment (e.g. 1 for odd addresses, etc) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - FUNCTION ICECORE_API udword Alignment(udword address); - - #define IS_ALIGNED_2(x) ((x&1)==0) - #define IS_ALIGNED_4(x) ((x&3)==0) - #define IS_ALIGNED_8(x) ((x&7)==0) - - inline_ void _prefetch(void const* ptr) { (void)*(char const volatile *)ptr; } - - // Compute implicit coords from an index: - // The idea is to get back 2D coords from a 1D index. - // For example: - // - // 0 1 2 ... nbu-1 - // nbu nbu+1 i ... - // - // We have i, we're looking for the equivalent (u=2, v=1) location. - // i = u + v*nbu - // <=> i/nbu = u/nbu + v - // Since 0 <= u < nbu, u/nbu = 0 (integer) - // Hence: v = i/nbu - // Then we simply put it back in the original equation to compute u = i - v*nbu - inline_ void Compute2DCoords(udword& u, udword& v, udword i, udword nbu) - { - v = i / nbu; - u = i - (v * nbu); - } - - // In 3D: i = u + v*nbu + w*nbu*nbv - // <=> i/(nbu*nbv) = u/(nbu*nbv) + v/nbv + w - // u/(nbu*nbv) is null since u/nbu was null already. - // v/nbv is null as well for the same reason. - // Hence w = i/(nbu*nbv) - // Then we're left with a 2D problem: i' = i - w*nbu*nbv = u + v*nbu - inline_ void Compute3DCoords(udword& u, udword& v, udword& w, udword i, udword nbu, udword nbu_nbv) - { - w = i / (nbu_nbv); - Compute2DCoords(u, v, i - (w * nbu_nbv), nbu); - } - -#endif // __ICEUTILS_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/Makefile.am deleted file mode 100644 index aca7a6ff..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Ice/Makefile.am +++ /dev/null @@ -1,18 +0,0 @@ -AM_CPPFLAGS = -I $(top_srcdir)/OPCODE -I $(top_srcdir)/include - -noinst_LTLIBRARIES = libIce.la -libIce_la_SOURCES = \ - IceAABB.cpp IceAABB.h IceAxes.h \ - IceBoundingSphere.h IceContainer.cpp IceContainer.h \ - IceFPU.h IceHPoint.cpp IceHPoint.h \ - IceIndexedTriangle.cpp IceIndexedTriangle.h IceLSS.h \ - IceMatrix3x3.cpp IceMatrix3x3.h IceMatrix4x4.cpp \ - IceMatrix4x4.h IceMemoryMacros.h IceOBB.cpp \ - IceOBB.h IcePairs.h IcePlane.cpp \ - IcePlane.h IcePoint.cpp IcePoint.h \ - IcePreprocessor.h IceRandom.cpp IceRandom.h \ - IceRay.cpp IceRay.h IceRevisitedRadix.cpp \ - IceRevisitedRadix.h IceSegment.cpp IceSegment.h \ - IceTriangle.cpp IceTriangle.h IceTriList.h \ - IceTypes.h IceUtils.cpp IceUtils.h - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Makefile.am deleted file mode 100644 index 2550241f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Makefile.am +++ /dev/null @@ -1,42 +0,0 @@ -SUBDIRS = Ice - -noinst_LTLIBRARIES = libOPCODE.la -AM_CPPFLAGS= -fno-strict-aliasing -I$(top_srcdir)/include - -libOPCODE_la_SOURCES = OPC_AABBCollider.cpp OPC_AABBCollider.h \ - OPC_AABBTree.cpp OPC_AABBTree.h \ - OPC_BaseModel.cpp OPC_BaseModel.h \ - OPC_BoxPruning.cpp OPC_BoxPruning.h \ - OPC_Collider.cpp OPC_Collider.h \ - OPC_Common.cpp OPC_Common.h \ - OPC_HybridModel.cpp OPC_HybridModel.h \ - OPC_LSSCollider.cpp OPC_LSSCollider.h \ - OPC_MeshInterface.cpp OPC_MeshInterface.h \ - OPC_Model.cpp OPC_Model.h \ - OPC_OBBCollider.cpp OPC_OBBCollider.h \ - OPC_ThreadLocalData.cpp OPC_ThreadLocalData.h \ - Opcode.cpp Opcode.h \ - OPC_OptimizedTree.cpp OPC_OptimizedTree.h \ - OPC_Picking.cpp OPC_Picking.h \ - OPC_PlanesCollider.cpp OPC_PlanesCollider.h \ - OPC_RayCollider.cpp OPC_RayCollider.h \ - OPC_SphereCollider.cpp OPC_SphereCollider.h \ - OPC_SweepAndPrune.cpp OPC_SweepAndPrune.h \ - OPC_TreeBuilders.cpp OPC_TreeBuilders.h \ - OPC_TreeCollider.cpp OPC_TreeCollider.h \ - OPC_VolumeCollider.cpp OPC_VolumeCollider.h \ - OPC_Settings.h \ - OPC_SphereAABBOverlap.h \ - OPC_BoxBoxOverlap.h \ - OPC_SphereTriOverlap.h \ - OPC_PlanesAABBOverlap.h \ - OPC_TriBoxOverlap.h \ - OPC_IceHook.h \ - OPC_PlanesTriOverlap.h \ - OPC_TriTriOverlap.h \ - OPC_LSSAABBOverlap.h \ - OPC_RayAABBOverlap.h \ - Stdafx.h \ - OPC_LSSTriOverlap.h \ - OPC_RayTriOverlap.h - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBCollider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBCollider.cpp deleted file mode 100644 index b1e5d23a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBCollider.cpp +++ /dev/null @@ -1,696 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for an AABB collider. - * \file OPC_AABBCollider.cpp - * \author Pierre Terdiman - * \date January, 1st, 2002 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains an AABB-vs-tree collider. - * - * \class AABBCollider - * \author Pierre Terdiman - * \version 1.3 - * \date January, 1st, 2002 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -#include "OPC_BoxBoxOverlap.h" -#include "OPC_TriBoxOverlap.h" - -#define SET_CONTACT(prim_index, flag) \ - /* Set contact status */ \ - mFlags |= flag; \ - mTouchedPrimitives->Add(udword(prim_index)); - -//! AABB-triangle test -#define AABB_PRIM(prim_index, flag) \ - /* Request vertices from the app */ \ - VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ - mLeafVerts[0] = *VP.Vertex[0]; \ - mLeafVerts[1] = *VP.Vertex[1]; \ - mLeafVerts[2] = *VP.Vertex[2]; \ - /* Perform triangle-box overlap test */ \ - if(TriBoxOverlap()) \ - { \ - SET_CONTACT(prim_index, flag) \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBCollider::AABBCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBCollider::~AABBCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a box cache - * \param box [in] collision AABB in world space - * \param model [in] Opcode model to collide with - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const Model& model) -{ - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, box)) return true; - - if(!model.HasLeafNodes()) - { - if(model.IsQuantized()) - { - const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a collision query : - * - reset stats & contact status - * - check temporal coherence - * - * \param cache [in/out] a box cache - * \param box [in] AABB in world space - * \return TRUE if we can return immediately - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL AABBCollider::InitQuery(AABBCache& cache, const CollisionAABB& box) -{ - // 1) Call the base method - VolumeCollider::InitQuery(); - - // 2) Keep track of the query box - mBox = box; - - // 3) Setup destination pointer - mTouchedPrimitives = &cache.TouchedPrimitives; - - // 4) Special case: 1-triangle meshes [Opcode 1.3] - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - if(!SkipPrimitiveTests()) - { - // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. - mTouchedPrimitives->Reset(); - - // Perform overlap test between the unique triangle and the box (and set contact status if needed) - AABB_PRIM(udword(0), OPC_CONTACT) - - // Return immediately regardless of status - return TRUE; - } - } - - // 5) Check temporal coherence : - if(TemporalCoherenceEnabled()) - { - // Here we use temporal coherence - // => check results from previous frame before performing the collision query - if(FirstContactEnabled()) - { - // We're only interested in the first contact found => test the unique previously touched face - if(mTouchedPrimitives->GetNbEntries()) - { - // Get index of previously touched face = the first entry in the array - udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); - - // Then reset the array: - // - if the overlap test below is successful, the index we'll get added back anyway - // - if it isn't, then the array should be reset anyway for the normal query - mTouchedPrimitives->Reset(); - - // Perform overlap test between the cached triangle and the box (and set contact status if needed) - AABB_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT) - - // Return immediately if possible - if(GetContactStatus()) return TRUE; - } - // else no face has been touched during previous query - // => we'll have to perform a normal query - } - else - { - // We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious): - if(IsCacheValid(cache) && mBox.IsInside(cache.FatBox)) - { - // - if N is included in P, return previous list - // => we simply leave the list (mTouchedFaces) unchanged - - // Set contact status if needed - if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT; - - // In any case we don't need to do a query - return TRUE; - } - else - { - // - else do the query using a fat N - - // Reset cache since we'll about to perform a real query - mTouchedPrimitives->Reset(); - - // Make a fat box so that coherence will work for subsequent frames - mBox.mExtents *= cache.FatCoeff; - - // Update cache with query data (signature for cached faces) - cache.FatBox = mBox; - } - } - } - else - { - // Here we don't use temporal coherence => do a normal query - mTouchedPrimitives->Reset(); - } - - // 5) Precompute min & max bounds if needed - mMin = box.mCenter - box.mExtents; - mMax = box.mCenter + box.mExtents; - - return FALSE; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for vanilla AABB trees. - * \param cache [in/out] a box cache - * \param box [in] collision AABB in world space - * \param tree [in] AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree) -{ - // This is typically called for a scene tree, full of -AABBs-, not full of triangles. - // So we don't really have "primitives" to deal with. Hence it doesn't work with - // "FirstContact" + "TemporalCoherence". - ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); - - // Checkings - if(!tree) return false; - - // Init collision query - if(InitQuery(cache, box)) return true; - - // Perform collision query - _Collide(tree); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the AABB completely contains the box. In which case we can end the query sooner. - * \param bc [in] box center - * \param be [in] box extents - * \return true if the AABB contains the whole box - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL AABBCollider::AABBContainsBox(const Point& bc, const Point& be) -{ - if(mMin.x > bc.x - be.x) return FALSE; - if(mMin.y > bc.y - be.y) return FALSE; - if(mMin.z > bc.z - be.z) return FALSE; - - if(mMax.x < bc.x + be.x) return FALSE; - if(mMax.y < bc.y + be.y) return FALSE; - if(mMax.z < bc.z + be.z) return FALSE; - - return TRUE; -} - -#define TEST_BOX_IN_AABB(center, extents) \ - if(AABBContainsBox(center, extents)) \ - { \ - /* Set contact status */ \ - mFlags |= OPC_CONTACT; \ - _Dump(node); \ - return; \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_Collide(const AABBCollisionNode* node) -{ - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - AABB_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) -{ - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_Collide(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(Extents, Center)) return; - - TEST_BOX_IN_AABB(Center, Extents) - - if(node->IsLeaf()) - { - AABB_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(Extents, Center)) return; - - TEST_BOX_IN_AABB(Center, Extents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_Collide(const AABBNoLeafNode* node) -{ - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { AABB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) -{ - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_AABB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_Collide(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(Extents, Center)) return; - - TEST_BOX_IN_AABB(Center, Extents) - - if(node->HasPosLeaf()) { AABB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { AABB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform AABB-AABB overlap test - if(!AABBAABBOverlap(Extents, Center)) return; - - TEST_BOX_IN_AABB(Center, Extents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for vanilla AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBCollider::_Collide(const AABBTreeNode* node) -{ - // Perform AABB-AABB overlap test - Point Center, Extents; - node->GetAABB()->GetCenter(Center); - node->GetAABB()->GetExtents(Extents); - if(!AABBAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf() || AABBContainsBox(Center, Extents)) - { - mFlags |= OPC_CONTACT; - mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); - } - else - { - _Collide(node->GetPos()); - _Collide(node->GetNeg()); - } -} - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridAABBCollider::HybridAABBCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridAABBCollider::~HybridAABBCollider() -{ -} - -bool HybridAABBCollider::Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model) -{ - // We don't want primitive tests here! - mFlags |= OPC_NO_PRIMITIVE_TESTS; - - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, box)) return true; - - // Special case for 1-leaf trees - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles - udword Nb = mIMesh->GetNbTriangles(); - - // Loop through all triangles - for(udword i=0;imCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - - // We only have a list of boxes so far - if(GetContactStatus()) - { - // Reset contact status, since it currently only reflects collisions with leaf boxes - Collider::InitQuery(); - - // Change dest container so that we can use built-in overlap tests and get collided primitives - cache.TouchedPrimitives.Reset(); - mTouchedPrimitives = &cache.TouchedPrimitives; - - // Read touched leaf boxes - udword Nb = mTouchedBoxes.GetNbEntries(); - const udword* Touched = mTouchedBoxes.GetEntries(); - - const LeafTriangles* LT = model.GetLeafTriangles(); - const udword* Indices = model.GetIndices(); - - // Loop through touched leaves - while(Nb--) - { - const LeafTriangles& CurrentLeaf = LT[*Touched++]; - - // Each leaf box has a set of triangles - udword NbTris = CurrentLeaf.GetNbTriangles(); - if(Indices) - { - const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = *T++; - AABB_PRIM(TriangleIndex, OPC_CONTACT) - } - } - else - { - udword BaseIndex = CurrentLeaf.GetTriangleIndex(); - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = BaseIndex++; - AABB_PRIM(TriangleIndex, OPC_CONTACT) - } - } - } - } - - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBCollider.h deleted file mode 100644 index 315d2d33..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBCollider.h +++ /dev/null @@ -1,97 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for an AABB collider. - * \file OPC_AABBCollider.h - * \author Pierre Terdiman - * \date January, 1st, 2002 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_AABBCOLLIDER_H__ -#define __OPC_AABBCOLLIDER_H__ - - struct OPCODE_API AABBCache : VolumeCache - { - AABBCache() : FatCoeff(1.1f) - { - FatBox.mCenter.Zero(); - FatBox.mExtents.Zero(); - } - - // Cached faces signature - CollisionAABB FatBox; //!< Box used when performing the query resulting in cached faces - // User settings - float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere - }; - - class OPCODE_API AABBCollider : public VolumeCollider - { - public: - // Constructor / Destructor - AABBCollider(); - virtual ~AABBCollider(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a box cache - * \param box [in] collision AABB in world space - * \param model [in] Opcode model to collide with - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(AABBCache& cache, const CollisionAABB& box, const Model& model); - // - bool Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree); - protected: - CollisionAABB mBox; //!< Query box in (center, extents) form - Point mMin; //!< Query box min point - Point mMax; //!< Query box max point - // Leaf description - Point mLeafVerts[3]; //!< Triangle vertices - // Internal methods - void _Collide(const AABBCollisionNode* node); - void _Collide(const AABBNoLeafNode* node); - void _Collide(const AABBQuantizedNode* node); - void _Collide(const AABBQuantizedNoLeafNode* node); - void _Collide(const AABBTreeNode* node); - void _CollideNoPrimitiveTest(const AABBCollisionNode* node); - void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); - // Overlap tests - inline_ BOOL AABBContainsBox(const Point& bc, const Point& be); - inline_ BOOL AABBAABBOverlap(const Point& b, const Point& Pb); - inline_ BOOL TriBoxOverlap(); - // Init methods - BOOL InitQuery(AABBCache& cache, const CollisionAABB& box); - }; - - class OPCODE_API HybridAABBCollider : public AABBCollider - { - public: - // Constructor / Destructor - HybridAABBCollider(); - virtual ~HybridAABBCollider(); - - bool Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model); - protected: - Container mTouchedBoxes; - }; - -#endif // __OPC_AABBCOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBTree.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBTree.cpp deleted file mode 100644 index 3c9594df..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBTree.cpp +++ /dev/null @@ -1,573 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a versatile AABB tree. - * \file OPC_AABBTree.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a generic AABB tree node. - * - * \class AABBTreeNode - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a generic AABB tree. - * This is a vanilla AABB tree, without any particular optimization. It contains anonymous references to - * user-provided primitives, which can theoretically be anything - triangles, boxes, etc. Each primitive - * is surrounded by an AABB, regardless of the primitive's nature. When the primitive is a triangle, the - * resulting tree can be converted into an optimized tree. If the primitive is a box, the resulting tree - * can be used for culling - VFC or occlusion -, assuming you cull on a mesh-by-mesh basis (modern way). - * - * \class AABBTree - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBTreeNode::AABBTreeNode() : - mPos (null), -#ifndef OPC_NO_NEG_VANILLA_TREE - mNeg (null), -#endif - mNodePrimitives (null), - mNbPrimitives (0) -{ -#ifdef OPC_USE_TREE_COHERENCE - mBitmask = 0; -#endif -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBTreeNode::~AABBTreeNode() -{ - // Opcode 1.3: - const AABBTreeNode* Pos = GetPos(); -#ifndef OPC_NO_NEG_VANILLA_TREE - const AABBTreeNode* Neg = GetNeg(); - if(!(mPos&1)) DELETESINGLE(Pos); - if(!(mNeg&1)) DELETESINGLE(Neg); -#else - if(!(mPos&1)) DELETEARRAY(Pos); -#endif - mNodePrimitives = null; // This was just a shortcut to the global list => no release - mNbPrimitives = 0; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Splits the node along a given axis. - * The list of indices is reorganized according to the split values. - * \param axis [in] splitting axis index - * \param builder [in] the tree builder - * \return the number of primitives assigned to the first child - * \warning this method reorganizes the internal list of primitives - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword AABBTreeNode::Split(udword axis, AABBTreeBuilder* builder) -{ - // Get node split value - float SplitValue = builder->GetSplittingValue(mNodePrimitives, mNbPrimitives, mBV, axis); - - udword NbPos = 0; - // Loop through all node-related primitives. Their indices range from mNodePrimitives[0] to mNodePrimitives[mNbPrimitives-1]. - // Those indices map the global list in the tree builder. - for(udword i=0;iGetSplittingValue(Index, axis); - - // Reorganize the list of indices in this order: positive - negative. - if(PrimitiveValue > SplitValue) - { - // Swap entries - udword Tmp = mNodePrimitives[i]; - mNodePrimitives[i] = mNodePrimitives[NbPos]; - mNodePrimitives[NbPos] = Tmp; - // Count primitives assigned to positive space - NbPos++; - } - } - return NbPos; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Subdivides the node. - * - * N - * / \ - * / \ - * N/2 N/2 - * / \ / \ - * N/4 N/4 N/4 N/4 - * (etc) - * - * A well-balanced tree should have a O(log n) depth. - * A degenerate tree would have a O(n) depth. - * Note a perfectly-balanced tree is not well-suited to collision detection anyway. - * - * \param builder [in] the tree builder - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeNode::Subdivide(AABBTreeBuilder* builder) -{ - // Checkings - if(!builder) return false; - - // Stop subdividing if we reach a leaf node. This is always performed here, - // else we could end in trouble if user overrides this. - if(mNbPrimitives==1) return true; - - // Let the user validate the subdivision - if(!builder->ValidateSubdivision(mNodePrimitives, mNbPrimitives, mBV)) return true; - - bool ValidSplit = true; // Optimism... - udword NbPos; - if(builder->mSettings.mRules & SPLIT_LARGEST_AXIS) - { - // Find the largest axis to split along - Point Extents; mBV.GetExtents(Extents); // Box extents - udword Axis = Extents.LargestAxis(); // Index of largest axis - - // Split along the axis - NbPos = Split(Axis, builder); - - // Check split validity - if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; - } - else if(builder->mSettings.mRules & SPLIT_SPLATTER_POINTS) - { - // Compute the means - Point Means(0.0f, 0.0f, 0.0f); - for(udword i=0;iGetSplittingValue(Index, 0); - Means.y+=builder->GetSplittingValue(Index, 1); - Means.z+=builder->GetSplittingValue(Index, 2); - } - Means/=float(mNbPrimitives); - - // Compute variances - Point Vars(0.0f, 0.0f, 0.0f); - for(udword i=0;iGetSplittingValue(Index, 0); - float Cy = builder->GetSplittingValue(Index, 1); - float Cz = builder->GetSplittingValue(Index, 2); - Vars.x += (Cx - Means.x)*(Cx - Means.x); - Vars.y += (Cy - Means.y)*(Cy - Means.y); - Vars.z += (Cz - Means.z)*(Cz - Means.z); - } - Vars/=float(mNbPrimitives-1); - - // Choose axis with greatest variance - udword Axis = Vars.LargestAxis(); - - // Split along the axis - NbPos = Split(Axis, builder); - - // Check split validity - if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; - } - else if(builder->mSettings.mRules & SPLIT_BALANCED) - { - // Test 3 axis, take the best - float Results[3]; - NbPos = Split(0, builder); Results[0] = float(NbPos)/float(mNbPrimitives); - NbPos = Split(1, builder); Results[1] = float(NbPos)/float(mNbPrimitives); - NbPos = Split(2, builder); Results[2] = float(NbPos)/float(mNbPrimitives); - Results[0]-=0.5f; Results[0]*=Results[0]; - Results[1]-=0.5f; Results[1]*=Results[1]; - Results[2]-=0.5f; Results[2]*=Results[2]; - udword Min=0; - if(Results[1]mSettings.mRules & SPLIT_BEST_AXIS) - { - // Test largest, then middle, then smallest axis... - - // Sort axis - Point Extents; mBV.GetExtents(Extents); // Box extents - udword SortedAxis[] = { 0, 1, 2 }; - float* Keys = (float*)&Extents.x; - for(udword j=0;j<3;j++) - { - for(udword i=0;i<2;i++) - { - if(Keys[SortedAxis[i]]mSettings.mRules & SPLIT_FIFTY) - { - // Don't even bother splitting (mainly a performance test) - NbPos = mNbPrimitives>>1; - } - else return false; // Unknown splitting rules - - // Check the subdivision has been successful - if(!ValidSplit) - { - // Here, all boxes lie in the same sub-space. Two strategies: - // - if the tree *must* be complete, make an arbitrary 50-50 split - // - else stop subdividing -// if(builder->mSettings.mRules&SPLIT_COMPLETE) - if(builder->mSettings.mLimit==1) - { - builder->IncreaseNbInvalidSplits(); - NbPos = mNbPrimitives>>1; - } - else return true; - } - - // Now create children and assign their pointers. - if(builder->mNodeBase) - { - // We use a pre-allocated linear pool for complete trees [Opcode 1.3] - AABBTreeNode* Pool = (AABBTreeNode*)builder->mNodeBase; - udword Count = builder->GetCount() - 1; // Count begins to 1... - // Set last bit to tell it shouldn't be freed ### pretty ugly, find a better way. Maybe one bit in mNbPrimitives - ASSERT(!(udword(&Pool[Count+0])&1)); - ASSERT(!(udword(&Pool[Count+1])&1)); - mPos = size_t(&Pool[Count+0])|1; -#ifndef OPC_NO_NEG_VANILLA_TREE - mNeg = size_t(&Pool[Count+1])|1; -#endif - } - else - { - // Non-complete trees and/or Opcode 1.2 allocate nodes on-the-fly -#ifndef OPC_NO_NEG_VANILLA_TREE - mPos = (size_t)new AABBTreeNode; CHECKALLOC(mPos); - mNeg = (size_t)new AABBTreeNode; CHECKALLOC(mNeg); -#else - AABBTreeNode* PosNeg = new AABBTreeNode[2]; - CHECKALLOC(PosNeg); - mPos = (size_t)PosNeg; -#endif - } - - // Update stats - builder->IncreaseCount(2); - - // Assign children - AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); - AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); - Pos->mNodePrimitives = &mNodePrimitives[0]; - Pos->mNbPrimitives = NbPos; - Neg->mNodePrimitives = &mNodePrimitives[NbPos]; - Neg->mNbPrimitives = mNbPrimitives - NbPos; - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive hierarchy building in a top-down fashion. - * \param builder [in] the tree builder - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeNode::_BuildHierarchy(AABBTreeBuilder* builder) -{ - // 1) Compute the global box for current node. The box is stored in mBV. - builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); - - // 2) Subdivide current node - Subdivide(builder); - - // 3) Recurse - AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); - AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); - if(Pos) Pos->_BuildHierarchy(builder); - if(Neg) Neg->_BuildHierarchy(builder); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the tree (top-down). - * \param builder [in] the tree builder - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeNode::_Refit(AABBTreeBuilder* builder) -{ - // 1) Recompute the new global box for current node - builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); - - // 2) Recurse - AABBTreeNode* Pos = (AABBTreeNode*)GetPos(); - AABBTreeNode* Neg = (AABBTreeNode*)GetNeg(); - if(Pos) Pos->_Refit(builder); - if(Neg) Neg->_Refit(builder); -} - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBTree::AABBTree() : mIndices(null), mPool(null), mTotalNbNodes(0) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBTree::~AABBTree() -{ - Release(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Releases the tree. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTree::Release() -{ - DELETEARRAY(mPool); - DELETEARRAY(mIndices); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds a generic AABB tree from a tree builder. - * \param builder [in] the tree builder - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTree::Build(AABBTreeBuilder* builder) -{ - // Checkings - if(!builder || !builder->mNbPrimitives) return false; - - // Release previous tree - Release(); - - // Init stats - builder->SetCount(1); - builder->SetNbInvalidSplits(0); - - // Initialize indices. This list will be modified during build. - mIndices = new dTriIndex[builder->mNbPrimitives]; - CHECKALLOC(mIndices); - // Identity permutation - for(udword i=0;imNbPrimitives;i++) mIndices[i] = i; - - // Setup initial node. Here we have a complete permutation of the app's primitives. - mNodePrimitives = mIndices; - mNbPrimitives = builder->mNbPrimitives; - - // Use a linear array for complete trees (since we can predict the final number of nodes) [Opcode 1.3] -// if(builder->mRules&SPLIT_COMPLETE) - if(builder->mSettings.mLimit==1) - { - // Allocate a pool of nodes - mPool = new AABBTreeNode[builder->mNbPrimitives*2 - 1]; - - builder->mNodeBase = mPool; // ### ugly ! - } - - // Build the hierarchy - _BuildHierarchy(builder); - - // Get back total number of nodes - mTotalNbNodes = builder->GetCount(); - - // For complete trees, check the correct number of nodes has been created [Opcode 1.3] - if(mPool) ASSERT(mTotalNbNodes==builder->mNbPrimitives*2 - 1); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the depth of the tree. - * A well-balanced tree should have a log(n) depth. A degenerate tree O(n) depth. - * \return depth of the tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword AABBTree::ComputeDepth() const -{ - return Walk(null, null); // Use the walking code without callback -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Walks the tree, calling the user back for each node. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword AABBTree::Walk(WalkingCallback callback, void* user_data) const -{ - // Call it without callback to compute max depth - udword MaxDepth = 0; - udword CurrentDepth = 0; - - struct Local - { - static void _Walk(const AABBTreeNode* current_node, udword& max_depth, udword& current_depth, WalkingCallback callback, void* user_data) - { - // Checkings - if(!current_node) return; - // Entering a new node => increase depth - current_depth++; - // Keep track of max depth - if(current_depth>max_depth) max_depth = current_depth; - - // Callback - if(callback && !(callback)(current_node, current_depth, user_data)) return; - - // Recurse - if(current_node->GetPos()) { _Walk(current_node->GetPos(), max_depth, current_depth, callback, user_data); current_depth--; } - if(current_node->GetNeg()) { _Walk(current_node->GetNeg(), max_depth, current_depth, callback, user_data); current_depth--; } - } - }; - Local::_Walk(this, MaxDepth, CurrentDepth, callback, user_data); - return MaxDepth; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the tree in a top-down way. - * \param builder [in] the tree builder - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTree::Refit(AABBTreeBuilder* builder) -{ - if(!builder) return false; - _Refit(builder); - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the tree in a bottom-up way. - * \param builder [in] the tree builder - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTree::Refit2(AABBTreeBuilder* builder) -{ - // Checkings - if(!builder) return false; - - ASSERT(mPool); - - // Bottom-up update - Point Min,Max; - Point Min_,Max_; - udword Index = mTotalNbNodes; - while(Index--) - { - AABBTreeNode& Current = mPool[Index]; - - if(Current.IsLeaf()) - { - builder->ComputeGlobalBox(Current.GetPrimitives(), Current.GetNbPrimitives(), *(AABB*)Current.GetAABB()); - } - else - { - Current.GetPos()->GetAABB()->GetMin(Min); - Current.GetPos()->GetAABB()->GetMax(Max); - - Current.GetNeg()->GetAABB()->GetMin(Min_); - Current.GetNeg()->GetAABB()->GetMax(Max_); - - Min.Min(Min_); - Max.Max(Max_); - - ((AABB*)Current.GetAABB())->SetMinMax(Min, Max); - } - } - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the number of bytes used by the tree. - * \return number of bytes used - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword AABBTree::GetUsedBytes() const -{ - udword TotalSize = mTotalNbNodes*GetNodeSize(); - if(mIndices) TotalSize+=mNbPrimitives*sizeof(udword); - return TotalSize; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the tree is a complete tree or not. - * A complete tree is made of 2*N-1 nodes, where N is the number of primitives in the tree. - * \return true for complete trees - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTree::IsComplete() const -{ - return (GetNbNodes()==GetNbPrimitives()*2-1); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBTree.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBTree.h deleted file mode 100644 index 681be9d5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_AABBTree.h +++ /dev/null @@ -1,137 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a versatile AABB tree. - * \file OPC_AABBTree.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_AABBTREE_H__ -#define __OPC_AABBTREE_H__ - -#ifdef OPC_NO_NEG_VANILLA_TREE - //! TO BE DOCUMENTED - #define IMPLEMENT_TREE(base_class, volume) \ - public: \ - /* Constructor / Destructor */ \ - base_class(); \ - ~base_class(); \ - /* Data access */ \ - inline_ const volume* Get##volume() const { return &mBV; } \ - /* Clear the last bit */ \ - inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ - inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \ - \ - /* We don't need to test both nodes since we can't have one without the other */ \ - inline_ bool IsLeaf() const { return !GetPos(); } \ - \ - /* Stats */ \ - inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ - protected: \ - /* Tree-independent data */ \ - /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ - /* Whatever happens we need the two children and the enclosing volume.*/ \ - volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ - size_t mPos; /* "Positive" & "Negative" children */ -#else - //! TO BE DOCUMENTED - #define IMPLEMENT_TREE(base_class, volume) \ - public: \ - /* Constructor / Destructor */ \ - base_class(); \ - ~base_class(); \ - /* Data access */ \ - inline_ const volume* Get##volume() const { return &mBV; } \ - /* Clear the last bit */ \ - inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ - inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \ - \ -/* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \ - /* We don't need to test both nodes since we can't have one without the other */ \ - inline_ bool IsLeaf() const { return !GetPos(); } \ - \ - /* Stats */ \ - inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ - protected: \ - /* Tree-independent data */ \ - /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ - /* Whatever happens we need the two children and the enclosing volume.*/ \ - volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ - size_t mPos; /* "Positive" child */ \ - size_t mNeg; /* "Negative" child */ -#endif - - typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data); - - class OPCODE_API AABBTreeNode - { - IMPLEMENT_TREE(AABBTreeNode, AABB) - public: - // Data access - inline_ const dTriIndex* GetPrimitives() const { return mNodePrimitives; } - inline_ udword GetNbPrimitives() const { return mNbPrimitives; } - - protected: - // Tree-dependent data - dTriIndex* mNodePrimitives; //!< Node-related primitives (shortcut to a position in mIndices below) - udword mNbPrimitives; //!< Number of primitives for this node - // Internal methods - udword Split(udword axis, AABBTreeBuilder* builder); - bool Subdivide(AABBTreeBuilder* builder); - void _BuildHierarchy(AABBTreeBuilder* builder); - void _Refit(AABBTreeBuilder* builder); - }; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * User-callback, called for each node by the walking code. - * \param current [in] current node - * \param depth [in] current node's depth - * \param user_data [in] user-defined data - * \return true to recurse through children, else false to bypass them - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data); - - class OPCODE_API AABBTree : public AABBTreeNode - { - public: - // Constructor / Destructor - AABBTree(); - ~AABBTree(); - // Build - bool Build(AABBTreeBuilder* builder); - void Release(); - - // Data access - inline_ const dTriIndex* GetIndices() const { return mIndices; } //!< Catch the indices - inline_ udword GetNbNodes() const { return mTotalNbNodes; } //!< Catch the number of nodes - - // Infos - bool IsComplete() const; - // Stats - udword ComputeDepth() const; - udword GetUsedBytes() const; - udword Walk(WalkingCallback callback, void* user_data) const; - - bool Refit(AABBTreeBuilder* builder); - bool Refit2(AABBTreeBuilder* builder); - private: - dTriIndex* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation). - AABBTreeNode* mPool; //!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3] - // Stats - udword mTotalNbNodes; //!< Number of nodes in the tree. - }; - -#endif // __OPC_AABBTREE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BaseModel.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BaseModel.cpp deleted file mode 100644 index 9520d9ef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BaseModel.cpp +++ /dev/null @@ -1,138 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains base model interface. - * \file OPC_BaseModel.cpp - * \author Pierre Terdiman - * \date May, 18, 2003 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * The base class for collision models. - * - * \class BaseModel - * \author Pierre Terdiman - * \version 1.3 - * \date May, 18, 2003 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -OPCODECREATE::OPCODECREATE() -{ - mIMesh = null; - mSettings.mRules = SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER; - mSettings.mLimit = 1; // Mandatory for complete trees - mNoLeaf = true; - mQuantized = true; -#ifdef __MESHMERIZER_H__ - mCollisionHull = false; -#endif // __MESHMERIZER_H__ - mKeepOriginal = false; - mCanRemap = false; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BaseModel::BaseModel() : mIMesh(null), mModelCode(0), mSource(null), mTree(null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BaseModel::~BaseModel() -{ - ReleaseBase(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Releases everything. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void BaseModel::ReleaseBase() -{ - DELETESINGLE(mSource); - DELETESINGLE(mTree); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Creates an optimized tree according to user-settings, and setups mModelCode. - * \param no_leaf [in] true for "no leaf" tree - * \param quantized [in] true for quantized tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool BaseModel::CreateTree(bool no_leaf, bool quantized) -{ - DELETESINGLE(mTree); - - // Setup model code - if(no_leaf) mModelCode |= OPC_NO_LEAF; - else mModelCode &= ~OPC_NO_LEAF; - - if(quantized) mModelCode |= OPC_QUANTIZED; - else mModelCode &= ~OPC_QUANTIZED; - - // Create the correct class - if(mModelCode & OPC_NO_LEAF) - { - if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedNoLeafTree; - else mTree = new AABBNoLeafTree; - } - else - { - if(mModelCode & OPC_QUANTIZED) mTree = new AABBQuantizedTree; - else mTree = new AABBCollisionTree; - } - CHECKALLOC(mTree); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the collision model. This can be used to handle dynamic meshes. Usage is: - * 1. modify your mesh vertices (keep the topology constant!) - * 2. refit the tree (call this method) - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool BaseModel::Refit() -{ - // Refit the optimized tree - return mTree->Refit(mIMesh); - -// Old code kept for reference : refit the source tree then rebuild ! -// if(!mSource) return false; -// // Ouch... -// mSource->Refit(&mTB); -// // Ouch... -// return mTree->Build(mSource); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BaseModel.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BaseModel.h deleted file mode 100644 index c6072dbd..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BaseModel.h +++ /dev/null @@ -1,175 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains base model interface. - * \file OPC_BaseModel.h - * \author Pierre Terdiman - * \date May, 18, 2003 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_BASEMODEL_H__ -#define __OPC_BASEMODEL_H__ - - //! Model creation structure - struct OPCODE_API OPCODECREATE - { - //! Constructor - OPCODECREATE(); - - MeshInterface* mIMesh; //!< Mesh interface (access to triangles & vertices) (*) - BuildSettings mSettings; //!< Builder's settings - bool mNoLeaf; //!< true => discard leaf nodes (else use a normal tree) - bool mQuantized; //!< true => quantize the tree (else use a normal tree) -#ifdef __MESHMERIZER_H__ - bool mCollisionHull; //!< true => use convex hull + GJK -#endif // __MESHMERIZER_H__ - bool mKeepOriginal; //!< true => keep a copy of the original tree (debug purpose) - bool mCanRemap; //!< true => allows OPCODE to reorganize client arrays - - // (*) This pointer is saved internally and used by OPCODE until collision structures are released, - // so beware of the object's lifetime. - }; - - enum ModelFlag - { - OPC_QUANTIZED = (1<<0), //!< Compressed/uncompressed tree - OPC_NO_LEAF = (1<<1), //!< Leaf/NoLeaf tree - OPC_SINGLE_NODE = (1<<2) //!< Special case for 1-node models - }; - - class OPCODE_API BaseModel - { - public: - // Constructor/Destructor - BaseModel(); - virtual ~BaseModel(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Builds a collision model. - * \param create [in] model creation structure - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual bool Build(const OPCODECREATE& create) = 0; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of bytes used by the tree. - * \return amount of bytes used - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual udword GetUsedBytes() const = 0; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Refits the collision model. This can be used to handle dynamic meshes. Usage is: - * 1. modify your mesh vertices (keep the topology constant!) - * 2. refit the tree (call this method) - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual bool Refit(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the source tree. - * \return generic tree - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const AABBTree* GetSourceTree() const { return mSource; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the tree. - * \return the collision tree - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const AABBOptimizedTree* GetTree() const { return mTree; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the tree. - * \return the collision tree - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ AABBOptimizedTree* GetTree() { return mTree; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of nodes in the tree. - * Should be 2*N-1 for normal trees and N-1 for optimized ones. - * \return number of nodes - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbNodes() const { return mTree->GetNbNodes(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks whether the tree has leaf nodes or not. - * \return true if the tree has leaf nodes (normal tree), else false (optimized tree) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL HasLeafNodes() const { return !(mModelCode & OPC_NO_LEAF); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks whether the tree is quantized or not. - * \return true if the tree is quantized - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL IsQuantized() const { return mModelCode & OPC_QUANTIZED; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks whether the model has a single node or not. This special case must be handled separately. - * \return true if the model has only 1 node - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL HasSingleNode() const { return mModelCode & OPC_SINGLE_NODE; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the model's code. - * \return model's code - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetModelCode() const { return mModelCode; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the mesh interface. - * \return mesh interface - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const MeshInterface* GetMeshInterface() const { return mIMesh; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Sets the mesh interface. - * \param imesh [in] mesh interface - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetMeshInterface(const MeshInterface* imesh) { mIMesh = imesh; } - - protected: - const MeshInterface* mIMesh; //!< User-defined mesh interface - udword mModelCode; //!< Model code = combination of ModelFlag(s) - AABBTree* mSource; //!< Original source tree - AABBOptimizedTree* mTree; //!< Optimized tree owned by the model - // Internal methods - void ReleaseBase(); - bool CreateTree(bool no_leaf, bool quantized); - }; - -#endif //__OPC_BASEMODEL_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxBoxOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxBoxOverlap.h deleted file mode 100644 index 757a17dd..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxBoxOverlap.h +++ /dev/null @@ -1,122 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * OBB-OBB overlap test using the separating axis theorem. - * - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID) - * - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion) - * - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory) - * - Class III axes can be disabled... (SOLID & Intel fashion) - * - ...or enabled to perform some profiling - * - CPU comparisons used when appropriate - * - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID) - * - * \param ea [in] extents from box A - * \param ca [in] center from box A - * \param eb [in] extents from box B - * \param cb [in] center from box B - * \return true if boxes overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb) -{ - // Stats - mNbBVBVTests++; - - float t,t2; - - // Class I : A's basis vectors - float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x; - t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0]; - if(GREATER(Tx, t)) return FALSE; - - float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y; - t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1]; - if(GREATER(Ty, t)) return FALSE; - - float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z; - t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2]; - if(GREATER(Tz, t)) return FALSE; - - // Class II : B's basis vectors - t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2]; t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x; - if(GREATER(t, t2)) return FALSE; - - t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2]; t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y; - if(GREATER(t, t2)) return FALSE; - - t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2]; t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z; - if(GREATER(t, t2)) return FALSE; - - // Class III : 9 cross products - // Cool trick: always perform the full test for first level, regardless of settings. - // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! - if(mFullBoxBoxTest || mNbBVBVTests==1) - { - t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2]; t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 - t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2]; t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 - t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2]; t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 - t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0]; t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 - t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0]; t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 - t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0]; t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 - t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1]; t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 - t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1]; t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 - t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1]; t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 - } - return TRUE; -} - -//! A dedicated version when one box is constant -inline_ BOOL OBBCollider::BoxBoxOverlap(const Point& extents, const Point& center) -{ - // Stats - mNbVolumeBVTests++; - - float t,t2; - - // Class I : A's basis vectors - float Tx = mTBoxToModel.x - center.x; t = extents.x + mBBx1; if(GREATER(Tx, t)) return FALSE; - float Ty = mTBoxToModel.y - center.y; t = extents.y + mBBy1; if(GREATER(Ty, t)) return FALSE; - float Tz = mTBoxToModel.z - center.z; t = extents.z + mBBz1; if(GREATER(Tz, t)) return FALSE; - - // Class II : B's basis vectors - t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2]; - t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x; - if(GREATER(t, t2)) return FALSE; - - t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2]; - t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y; - if(GREATER(t, t2)) return FALSE; - - t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2]; - t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z; - if(GREATER(t, t2)) return FALSE; - - // Class III : 9 cross products - // Cool trick: always perform the full test for first level, regardless of settings. - // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! - if(mFullBoxBoxTest || mNbVolumeBVTests==1) - { - t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2]; t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 - t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2]; t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 - t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2]; t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 - t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0]; t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 - t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0]; t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 - t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0]; t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 - t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1]; t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 - t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1]; t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 - t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1]; t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 - } - return TRUE; -} - -//! A special version for 2 axis-aligned boxes -inline_ BOOL AABBCollider::AABBAABBOverlap(const Point& extents, const Point& center) -{ - // Stats - mNbVolumeBVTests++; - - float tx = mBox.mCenter.x - center.x; float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE; - float ty = mBox.mCenter.y - center.y; float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE; - float tz = mBox.mCenter.z - center.z; float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE; - - return TRUE; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxPruning.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxPruning.cpp deleted file mode 100644 index efb80d32..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxPruning.cpp +++ /dev/null @@ -1,355 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for box pruning. - * \file IceBoxPruning.cpp - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/* -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - You could use a complex sweep-and-prune as implemented in I-Collide. - You could use a complex hashing scheme as implemented in V-Clip or recently in ODE it seems. - You could use a "Recursive Dimensional Clustering" algorithm as implemented in GPG2. - - Or you could use this. - Faster ? I don't know. Probably not. It would be a shame. But who knows ? - Easier ? Definitely. Enjoy the sheer simplicity. -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -*/ - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - - inline_ void FindRunningIndex(udword& index, float* array, udword* sorted, int last, float max) - { - int First=index; - while(First<=last) - { - index = (First+last)>>1; - - if(max>array[sorted[index]]) First = index+1; - else last = index-1; - } - } -// ### could be log(n) ! -// and maybe use cmp integers - -extern ThreadLocalDataProviderProc g_pfnThreadLocalDataProvider; - -inline_ PRUNING_SORTER* GetCompletePruningSorter() -{ - ThreadLocalData *pThreadLocalData = g_pfnThreadLocalDataProvider(); - return pThreadLocalData->gCompletePruningSorter; -} -inline_ PRUNING_SORTER* GetBipartitePruningSorter0() -{ - ThreadLocalData *pThreadLocalData = g_pfnThreadLocalDataProvider(); - return pThreadLocalData->gBipartitePruningSorter0; -} -inline_ PRUNING_SORTER* GetBipartitePruningSorter1() -{ - ThreadLocalData *pThreadLocalData = g_pfnThreadLocalDataProvider(); - return pThreadLocalData->gBipartitePruningSorter1; -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. - * \param nb0 [in] number of boxes in the first set - * \param array0 [in] array of boxes for the first set - * \param nb1 [in] number of boxes in the second set - * \param array1 [in] array of boxes for the second set - * \param pairs [out] array of overlapping pairs - * \param axes [in] projection order (0,2,1 is often best) - * \return true if success. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes) -{ - // Checkings - if(!nb0 || !array0 || !nb1 || !array1) return false; - - // Catch axes - udword Axis0 = axes.mAxis0; - udword Axis1 = axes.mAxis1; - udword Axis2 = axes.mAxis2; - - // Allocate some temporary data - float* MinPosList0 = new float[nb0]; - float* MinPosList1 = new float[nb1]; - - // 1) Build main lists using the primary axis - for(udword i=0;iGetMin(Axis0); - for(udword i=0;iGetMin(Axis0); - - // 2) Sort the lists - PRUNING_SORTER* RS0 = GetBipartitePruningSorter0(); - PRUNING_SORTER* RS1 = GetBipartitePruningSorter1(); - const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks(); - const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks(); - - // 3) Prune the lists - udword Index0, Index1; - - const udword* const LastSorted0 = &Sorted0[nb0]; - const udword* const LastSorted1 = &Sorted1[nb1]; - const udword* RunningAddress0 = Sorted0; - const udword* RunningAddress1 = Sorted1; - - while(RunningAddress1GetMax(Axis0)) - { - if(array0[Index0]->Intersect(*array1[Index1], Axis1)) - { - if(array0[Index0]->Intersect(*array1[Index1], Axis2)) - { - pairs.AddPair(Index0, Index1); - } - } - } - } - - //// - - while(RunningAddress0GetMax(Axis0)) - { - if(array0[Index1]->Intersect(*array1[Index0], Axis1)) - { - if(array0[Index1]->Intersect(*array1[Index0], Axis2)) - { - pairs.AddPair(Index1, Index0); - } - } - - } - } - - DELETEARRAY(MinPosList1); - DELETEARRAY(MinPosList0); - - return true; -} - -#define ORIGINAL_VERSION -//#define JOAKIM - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. - * \param nb [in] number of boxes - * \param array [in] array of boxes - * \param pairs [out] array of overlapping pairs - * \param axes [in] projection order (0,2,1 is often best) - * \return true if success. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes) -{ - // Checkings - if(!nb || !array) return false; - - // Catch axes - udword Axis0 = axes.mAxis0; - udword Axis1 = axes.mAxis1; - udword Axis2 = axes.mAxis2; - -#ifdef ORIGINAL_VERSION - // Allocate some temporary data -// float* PosList = new float[nb]; - float* PosList = new float[nb+1]; - - // 1) Build main list using the primary axis - for(udword i=0;iGetMin(Axis0); -PosList[nb++] = MAX_FLOAT; - - // 2) Sort the list - PRUNING_SORTER* RS = GetCompletePruningSorter(); - const udword* Sorted = RS->Sort(PosList, nb).GetRanks(); - - // 3) Prune the list - const udword* const LastSorted = &Sorted[nb]; - const udword* RunningAddress = Sorted; - udword Index0, Index1; - while(RunningAddressGetMax(Axis0)) - while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0)) - { -// if(Index0!=Index1) -// { - if(array[Index0]->Intersect(*array[Index1], Axis1)) - { - if(array[Index0]->Intersect(*array[Index1], Axis2)) - { - pairs.AddPair(Index0, Index1); - } - } -// } - } - } - } - - DELETEARRAY(PosList); -#endif - -#ifdef JOAKIM - // Allocate some temporary data -// float* PosList = new float[nb]; - float* MinList = new float[nb+1]; - - // 1) Build main list using the primary axis - for(udword i=0;iGetMin(Axis0); - MinList[nb] = MAX_FLOAT; - - // 2) Sort the list - PRUNING_SORTER* RS = GetCompletePruningSorter(); - udword* Sorted = RS->Sort(MinList, nb+1).GetRanks(); - - // 3) Prune the list -// const udword* const LastSorted = &Sorted[nb]; -// const udword* const LastSorted = &Sorted[nb-1]; - const udword* RunningAddress = Sorted; - udword Index0, Index1; - -// while(RunningAddressGetMax(Axis0)) - -// float CurrentMin = array[Index0]->GetMin(Axis0); - float CurrentMax = array[Index0]->GetMax(Axis0); - - while(MinList[Index1 = *RunningAddress2] <= CurrentMax) -// while(PosList[Index1 = *RunningAddress] <= CurrentMax) - { -// if(Index0!=Index1) -// { - if(array[Index0]->Intersect(*array[Index1], Axis1)) - { - if(array[Index0]->Intersect(*array[Index1], Axis2)) - { - pairs.AddPair(Index0, Index1); - } - } -// } - - RunningAddress2++; -// RunningAddress++; - } - } - } - - DELETEARRAY(MinList); -#endif - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Brute-force versions are kept: -// - to check the optimized versions return the correct list of intersections -// - to check the speed of the optimized code against the brute-force one -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Brute-force bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set. - * \param nb0 [in] number of boxes in the first set - * \param array0 [in] array of boxes for the first set - * \param nb1 [in] number of boxes in the second set - * \param array1 [in] array of boxes for the second set - * \param pairs [out] array of overlapping pairs - * \return true if success. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs) -{ - // Checkings - if(!nb0 || !array0 || !nb1 || !array1) return false; - - // Brute-force nb0*nb1 overlap tests - for(udword i=0;iIntersect(*array1[j])) pairs.AddPair(i, j); - } - } - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set. - * \param nb [in] number of boxes - * \param array [in] array of boxes - * \param pairs [out] array of overlapping pairs - * \return true if success. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs) -{ - // Checkings - if(!nb || !array) return false; - - // Brute-force n(n-1)/2 overlap tests - for(udword i=0;iIntersect(*array[j])) pairs.AddPair(i, j); - } - } - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxPruning.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxPruning.h deleted file mode 100644 index 2f77cd2d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_BoxPruning.h +++ /dev/null @@ -1,31 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for box pruning. - * \file IceBoxPruning.h - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_BOXPRUNING_H__ -#define __OPC_BOXPRUNING_H__ - - // Optimized versions - FUNCTION OPCODE_API bool CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes); - FUNCTION OPCODE_API bool BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes); - - // Brute-force versions - FUNCTION OPCODE_API bool BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs); - FUNCTION OPCODE_API bool BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs); - -#endif //__OPC_BOXPRUNING_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Collider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Collider.cpp deleted file mode 100644 index f41fc362..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Collider.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains base collider class. - * \file OPC_Collider.cpp - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains the abstract class for colliders. - * - * \class Collider - * \author Pierre Terdiman - * \version 1.3 - * \date June, 2, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Collider::Collider() : - mFlags (0), - mCurrentModel (null), - mIMesh (null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Collider::~Collider() -{ -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Collider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Collider.h deleted file mode 100644 index d718e029..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Collider.h +++ /dev/null @@ -1,176 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains base collider class. - * \file OPC_Collider.h - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_COLLIDER_H__ -#define __OPC_COLLIDER_H__ - - enum CollisionFlag - { - OPC_FIRST_CONTACT = (1<<0), //!< Report all contacts (false) or only first one (true) - OPC_TEMPORAL_COHERENCE = (1<<1), //!< Use temporal coherence or not - OPC_CONTACT = (1<<2), //!< Final contact status after a collision query - OPC_TEMPORAL_HIT = (1<<3), //!< There has been an early exit due to temporal coherence - OPC_NO_PRIMITIVE_TESTS = (1<<4), //!< Keep or discard primitive-bv tests in leaf nodes (volume-mesh queries) - - OPC_CONTACT_FOUND = OPC_FIRST_CONTACT | OPC_CONTACT, - OPC_TEMPORAL_CONTACT = OPC_TEMPORAL_HIT | OPC_CONTACT, - - OPC_FORCE_DWORD = 0x7fffffff - }; - - class OPCODE_API Collider - { - public: - // Constructor / Destructor - Collider(); - virtual ~Collider(); - - // Collision report - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the last collision status after a collision query. - * \return true if a collision occured - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL GetContactStatus() const { return mFlags & OPC_CONTACT; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the "first contact" mode. - * \return true if "first contact" mode is on - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL FirstContactEnabled() const { return mFlags & OPC_FIRST_CONTACT; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the temporal coherence mode. - * \return true if temporal coherence is on - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL TemporalCoherenceEnabled() const { return mFlags & OPC_TEMPORAL_COHERENCE; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks a first contact has already been found. - * \return true if a first contact has been found and we can stop a query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL ContactFound() const { return (mFlags&OPC_CONTACT_FOUND)==OPC_CONTACT_FOUND; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks there's been an early exit due to temporal coherence; - * \return true if a temporal hit has occured - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL TemporalHit() const { return mFlags & OPC_TEMPORAL_HIT; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks primitive tests are enabled; - * \return true if primitive tests must be skipped - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL SkipPrimitiveTests() const { return mFlags & OPC_NO_PRIMITIVE_TESTS; } - - // Settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Reports all contacts (false) or first contact only (true) - * \param flag [in] true for first contact, false for all contacts - * \see SetTemporalCoherence(bool flag) - * \see ValidateSettings() - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetFirstContact(bool flag) - { - if(flag) mFlags |= OPC_FIRST_CONTACT; - else mFlags &= ~OPC_FIRST_CONTACT; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Enable/disable temporal coherence. - * \param flag [in] true to enable temporal coherence, false to discard it - * \see SetFirstContact(bool flag) - * \see ValidateSettings() - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetTemporalCoherence(bool flag) - { - if(flag) mFlags |= OPC_TEMPORAL_COHERENCE; - else mFlags &= ~OPC_TEMPORAL_COHERENCE; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Enable/disable primitive tests. - * \param flag [in] true to enable primitive tests, false to discard them - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetPrimitiveTests(bool flag) - { - if(!flag) mFlags |= OPC_NO_PRIMITIVE_TESTS; - else mFlags &= ~OPC_NO_PRIMITIVE_TESTS; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. - * \return null if everything is ok, else a string describing the problem - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual const char* ValidateSettings() = 0; - - protected: - udword mFlags; //!< Bit flags - const BaseModel* mCurrentModel; //!< Current model for collision query (owner of touched faces) - // User mesh interface - const MeshInterface* mIMesh; //!< User-defined mesh interface - - // Internal methods - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups current collision model - * \param model [in] current collision model - * \return TRUE if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL Setup(const BaseModel* model) - { - // Keep track of current model - mCurrentModel = model; - if(!mCurrentModel) return FALSE; - - mIMesh = model->GetMeshInterface(); - return mIMesh!=null; - } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Initializes a query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual inline_ void InitQuery() { mFlags &= ~OPC_TEMPORAL_CONTACT; } - }; - -#endif // __OPC_COLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Common.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Common.cpp deleted file mode 100644 index 5b9a9c80..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Common.cpp +++ /dev/null @@ -1,48 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains common classes & defs used in OPCODE. - * \file OPC_Common.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * An AABB dedicated to collision detection. - * We don't use the generic AABB class included in ICE, since it can be a Min/Max or a Center/Extents one (depends - * on compilation flags). Since the Center/Extents model is more efficient in collision detection, it was worth - * using an extra special class. - * - * \class CollisionAABB - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A quantized AABB. - * Center/Extent model, using 16-bits integers. - * - * \class QuantizedAABB - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Common.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Common.h deleted file mode 100644 index f1349903..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Common.h +++ /dev/null @@ -1,101 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains common classes & defs used in OPCODE. - * \file OPC_Common.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_COMMON_H__ -#define __OPC_COMMON_H__ - -// [GOTTFRIED]: Just a small change for readability. -#ifdef OPC_CPU_COMPARE - #define GREATER(x, y) AIR(x) > IR(y) -#else - #define GREATER(x, y) fabsf(x) > (y) -#endif - - class OPCODE_API CollisionAABB - { - public: - //! Constructor - inline_ CollisionAABB() {} - //! Constructor - inline_ CollisionAABB(const AABB& b) { b.GetCenter(mCenter); b.GetExtents(mExtents); } - //! Destructor - inline_ ~CollisionAABB() {} - - //! Get min point of the box - inline_ void GetMin(Point& min) const { min = mCenter - mExtents; } - //! Get max point of the box - inline_ void GetMax(Point& max) const { max = mCenter + mExtents; } - - //! Get component of the box's min point along a given axis - inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; } - //! Get component of the box's max point along a given axis - inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Setups an AABB from min & max vectors. - * \param min [in] the min point - * \param max [in] the max point - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks a box is inside another box. - * \param box [in] the other box - * \return true if current box is inside input box - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ BOOL IsInside(const CollisionAABB& box) const - { - if(box.GetMin(0)>GetMin(0)) return FALSE; - if(box.GetMin(1)>GetMin(1)) return FALSE; - if(box.GetMin(2)>GetMin(2)) return FALSE; - if(box.GetMax(0)IsValid()) return false; - - // Look for degenerate faces. - //udword NbDegenerate = create.mIMesh->CheckTopology(); - //if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); - // We continue nonetheless.... - - Release(); // Make sure previous tree has been discarded - - // 1-1) Setup mesh interface automatically - SetMeshInterface(create.mIMesh); - - bool Status = false; - AABBTree* LeafTree = null; - Internal Data; - - // 2) Build a generic AABB Tree. - mSource = new AABBTree; - CHECKALLOC(mSource); - - // 2-1) Setup a builder. Our primitives here are triangles from input mesh, - // so we use an AABBTreeOfTrianglesBuilder..... - { - AABBTreeOfTrianglesBuilder TB; - TB.mIMesh = create.mIMesh; - TB.mNbPrimitives = create.mIMesh->GetNbTriangles(); - TB.mSettings = create.mSettings; - TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ... - if(!mSource->Build(&TB)) goto FreeAndExit; - } - - // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time) - struct Local - { - // A callback to count leaf nodes - static bool CountLeaves(const AABBTreeNode* current, udword depth, void* user_data) - { - if(current->IsLeaf()) - { - Internal* Data = (Internal*)user_data; - Data->mNbLeaves++; - } - return true; - } - - // A callback to setup leaf nodes in our internal structures - static bool SetupLeafData(const AABBTreeNode* current, udword depth, void* user_data) - { - if(current->IsLeaf()) - { - Internal* Data = (Internal*)user_data; - - // Get current leaf's box - Data->mLeaves[Data->mNbLeaves] = *current->GetAABB(); - - // Setup leaf data - udword Index = udword((size_t(current->GetPrimitives()) - size_t(Data->mBase)) / sizeof(udword)); - Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index); - - Data->mNbLeaves++; - } - return true; - } - }; - - // Walk the tree & count number of leaves - Data.mNbLeaves = 0; - mSource->Walk(Local::CountLeaves, &Data); - mNbLeaves = Data.mNbLeaves; // Keep track of it - - // Special case for 1-leaf meshes - if(mNbLeaves==1) - { - mModelCode |= OPC_SINGLE_NODE; - Status = true; - goto FreeAndExit; - } - - // Allocate our structures - Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves); - mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles); - - // Walk the tree again & setup leaf data - Data.mTriangles = mTriangles; - Data.mBase = mSource->GetIndices(); - Data.mNbLeaves = 0; // Reset for incoming walk - mSource->Walk(Local::SetupLeafData, &Data); - - // Handle source indices - { - bool MustKeepIndices = true; - if(create.mCanRemap) - { - // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays... - // Remap can fail when we use callbacks => keep track of indices in that case (it still - // works, only using more memory) - if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices())) - { - MustKeepIndices = false; - } - } - - if(MustKeepIndices) - { - // Keep track of source indices (from vanilla tree) - mNbPrimitives = mSource->GetNbPrimitives(); - mIndices = new udword[mNbPrimitives]; - CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword)); - } - } - - // Now, create our optimized tree using previous leaf nodes - LeafTree = new AABBTree; - CHECKALLOC(LeafTree); - { - AABBTreeOfAABBsBuilder TB; // Now using boxes ! - TB.mSettings = create.mSettings; - TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it - TB.mNbPrimitives = Data.mNbLeaves; - TB.mAABBArray = Data.mLeaves; - if(!LeafTree->Build(&TB)) goto FreeAndExit; - } - - // 3) Create an optimized tree according to user-settings - if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit; - - // 3-2) Create optimized tree - if(!mTree->Build(LeafTree)) goto FreeAndExit; - - // Finally ok... - Status = true; - -FreeAndExit: // Allow me this one... - DELETESINGLE(LeafTree); - - // 3-3) Delete generic tree if needed - if(!create.mKeepOriginal) DELETESINGLE(mSource); - - return Status; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Gets the number of bytes used by the tree. - * \return amount of bytes used - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword HybridModel::GetUsedBytes() const -{ - udword UsedBytes = 0; - if(mTree) UsedBytes += mTree->GetUsedBytes(); - if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices - if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles - return UsedBytes; -} - -inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp) -{ - // Compute triangle's AABB = a leaf box -#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much - min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); - max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); - - min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); - max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); - - min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); - max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); -#else - min = *vp.Vertex[0]; - max = *vp.Vertex[0]; - min.Min(*vp.Vertex[1]); - max.Max(*vp.Vertex[1]); - min.Min(*vp.Vertex[2]); - max.Max(*vp.Vertex[2]); -#endif -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the collision model. This can be used to handle dynamic meshes. Usage is: - * 1. modify your mesh vertices (keep the topology constant!) - * 2. refit the tree (call this method) - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool HybridModel::Refit() -{ - if(!mIMesh) return false; - if(!mTree) return false; - - if(IsQuantized()) return false; - if(HasLeafNodes()) return false; - - const LeafTriangles* LT = GetLeafTriangles(); - const udword* Indices = GetIndices(); - - // Bottom-up update - VertexPointers VP; - ConversionArea VC; - Point Min,Max; - Point Min_,Max_; - udword Index = mTree->GetNbNodes(); - AABBNoLeafNode* Nodes = (AABBNoLeafNode*)((AABBNoLeafTree*)mTree)->GetNodes(); - while(Index--) - { - AABBNoLeafNode& Current = Nodes[Index]; - - if(Current.HasPosLeaf()) - { - const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()]; - - Min.SetPlusInfinity(); - Max.SetMinusInfinity(); - - Point TmpMin, TmpMax; - - // Each leaf box has a set of triangles - udword NbTris = CurrentLeaf.GetNbTriangles(); - if(Indices) - { - const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; - - // Loop through triangles and test each of them - while(NbTris--) - { - mIMesh->GetTriangle(VP, *T++, VC); - ComputeMinMax(TmpMin, TmpMax, VP); - Min.Min(TmpMin); - Max.Max(TmpMax); - } - } - else - { - udword BaseIndex = CurrentLeaf.GetTriangleIndex(); - - // Loop through triangles and test each of them - while(NbTris--) - { - mIMesh->GetTriangle(VP, BaseIndex++, VC); - ComputeMinMax(TmpMin, TmpMax, VP); - Min.Min(TmpMin); - Max.Max(TmpMax); - } - } - } - else - { - const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; - CurrentBox.GetMin(Min); - CurrentBox.GetMax(Max); - } - - if(Current.HasNegLeaf()) - { - const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()]; - - Min_.SetPlusInfinity(); - Max_.SetMinusInfinity(); - - Point TmpMin, TmpMax; - - // Each leaf box has a set of triangles - udword NbTris = CurrentLeaf.GetNbTriangles(); - if(Indices) - { - const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; - - // Loop through triangles and test each of them - while(NbTris--) - { - mIMesh->GetTriangle(VP, *T++, VC); - ComputeMinMax(TmpMin, TmpMax, VP); - Min_.Min(TmpMin); - Max_.Max(TmpMax); - } - } - else - { - udword BaseIndex = CurrentLeaf.GetTriangleIndex(); - - // Loop through triangles and test each of them - while(NbTris--) - { - mIMesh->GetTriangle(VP, BaseIndex++, VC); - ComputeMinMax(TmpMin, TmpMax, VP); - Min_.Min(TmpMin); - Max_.Max(TmpMax); - } - } - } - else - { - const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; - CurrentBox.GetMin(Min_); - CurrentBox.GetMax(Max_); - } -#ifdef OPC_USE_FCOMI - Min.x = FCMin2(Min.x, Min_.x); - Max.x = FCMax2(Max.x, Max_.x); - Min.y = FCMin2(Min.y, Min_.y); - Max.y = FCMax2(Max.y, Max_.y); - Min.z = FCMin2(Min.z, Min_.z); - Max.z = FCMax2(Max.z, Max_.z); -#else - Min.Min(Min_); - Max.Max(Max_); -#endif - Current.mAABB.SetMinMax(Min, Max); - } - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_HybridModel.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_HybridModel.h deleted file mode 100644 index c7eb59d4..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_HybridModel.h +++ /dev/null @@ -1,106 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for hybrid models. - * \file OPC_HybridModel.h - * \author Pierre Terdiman - * \date May, 18, 2003 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_HYBRIDMODEL_H__ -#define __OPC_HYBRIDMODEL_H__ - - //! Leaf descriptor - struct LeafTriangles - { - udword Data; //!< Packed data - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets number of triangles in the leaf. - * \return number of triangles N, with 0 < N <= 16 - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbTriangles() const { return (Data & 15)+1; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets triangle index for this leaf. Indexed model's array of indices retrieved with HybridModel::GetIndices() - * \return triangle index - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetTriangleIndex() const { return Data>>4; } - inline_ void SetData(udword nb, udword index) { ASSERT(nb>0 && nb<=16); nb--; Data = (index<<4)|(nb&15); } - }; - - class OPCODE_API HybridModel : public BaseModel - { - public: - // Constructor/Destructor - HybridModel(); - virtual ~HybridModel(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Builds a collision model. - * \param create [in] model creation structure - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(BaseModel) bool Build(const OPCODECREATE& create); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of bytes used by the tree. - * \return amount of bytes used - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(BaseModel) udword GetUsedBytes() const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Refits the collision model. This can be used to handle dynamic meshes. Usage is: - * 1. modify your mesh vertices (keep the topology constant!) - * 2. refit the tree (call this method) - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(BaseModel) bool Refit(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets array of triangles. - * \return array of triangles - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const LeafTriangles* GetLeafTriangles() const { return mTriangles; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets array of indices. - * \return array of indices - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const udword* GetIndices() const { return mIndices; } - - private: - udword mNbLeaves; //!< Number of leaf nodes in the model - LeafTriangles* mTriangles; //!< Array of mNbLeaves leaf descriptors - udword mNbPrimitives; //!< Number of primitives in the model - udword* mIndices; //!< Array of primitive indices - - // Internal methods - void Release(); - }; - -#endif // __OPC_HYBRIDMODEL_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_IceHook.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_IceHook.h deleted file mode 100644 index 62343b8f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_IceHook.h +++ /dev/null @@ -1,70 +0,0 @@ - -// Should be included by Opcode.h if needed - - #define ICE_DONT_CHECK_COMPILER_OPTIONS - - // From Windows... - typedef int BOOL; - #ifndef FALSE - #define FALSE 0 - #endif - - #ifndef TRUE - #define TRUE 1 - #endif - - #include - #include - #include - #include - #include - #include - - #ifndef ASSERT - #define ASSERT(exp) {} - #endif - #define ICE_COMPILE_TIME_ASSERT(exp) extern char ICE_Dummy[ (exp) ? 1 : -1 ] - - #define Log {} - #define SetIceError(a,b) false - #define EC_OUTOFMEMORY "Out of memory" - - #include "Ice/IcePreprocessor.h" - - #undef ICECORE_API - #define ICECORE_API OPCODE_API - - #include "Ice/IceTypes.h" - #include "Ice/IceFPU.h" - #include "Ice/IceMemoryMacros.h" - - namespace IceCore - { - #include "Ice/IceUtils.h" - #include "Ice/IceContainer.h" - #include "Ice/IcePairs.h" - #include "Ice/IceRevisitedRadix.h" - #include "Ice/IceRandom.h" - } - using namespace IceCore; - - #define ICEMATHS_API OPCODE_API - namespace IceMaths - { - #include "Ice/IceAxes.h" - #include "Ice/IcePoint.h" - #include "Ice/IceHPoint.h" - #include "Ice/IceMatrix3x3.h" - #include "Ice/IceMatrix4x4.h" - #include "Ice/IcePlane.h" - #include "Ice/IceRay.h" - #include "Ice/IceIndexedTriangle.h" - #include "Ice/IceTriangle.h" - #include "Ice/IceTriList.h" - #include "Ice/IceAABB.h" - #include "Ice/IceOBB.h" - #include "Ice/IceBoundingSphere.h" - #include "Ice/IceSegment.h" - #include "Ice/IceLSS.h" - } - using namespace IceMaths; diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSAABBOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSAABBOverlap.h deleted file mode 100644 index 5cc50b58..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSAABBOverlap.h +++ /dev/null @@ -1,523 +0,0 @@ - -// Following code from Magic-Software (http://www.magic-software.com/) -// A bit modified for Opcode - -inline_ float OPC_PointAABBSqrDist(const Point& point, const Point& center, const Point& extents) -{ - // Compute coordinates of point in box coordinate system - Point Closest = point - center; - - float SqrDistance = 0.0f; - - if(Closest.x < -extents.x) - { - float Delta = Closest.x + extents.x; - SqrDistance += Delta*Delta; - } - else if(Closest.x > extents.x) - { - float Delta = Closest.x - extents.x; - SqrDistance += Delta*Delta; - } - - if(Closest.y < -extents.y) - { - float Delta = Closest.y + extents.y; - SqrDistance += Delta*Delta; - } - else if(Closest.y > extents.y) - { - float Delta = Closest.y - extents.y; - SqrDistance += Delta*Delta; - } - - if(Closest.z < -extents.z) - { - float Delta = Closest.z + extents.z; - SqrDistance += Delta*Delta; - } - else if(Closest.z > extents.z) - { - float Delta = Closest.z - extents.z; - SqrDistance += Delta*Delta; - } - return SqrDistance; -} - -static void Face(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, const Point& rkPmE, float* pfLParam, float& rfSqrDistance) -{ - Point kPpE; - float fLSqr, fInv, fTmp, fParam, fT, fDelta; - - kPpE[i1] = rkPnt[i1] + extents[i1]; - kPpE[i2] = rkPnt[i2] + extents[i2]; - if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0]) - { - if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0]) - { - // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0) - if(pfLParam) - { - rkPnt[i0] = extents[i0]; - fInv = 1.0f/rkDir[i0]; - rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv; - rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv; - *pfLParam = -rkPmE[i0]*fInv; - } - } - else - { - // v[i1] >= -e[i1], v[i2] < -e[i2] - fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2]; - fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]); - if(fTmp <= 2.0f*fLSqr*extents[i1]) - { - fT = fTmp/fLSqr; - fLSqr += rkDir[i1]*rkDir[i1]; - fTmp = kPpE[i1] - fT; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = fT - extents[i1]; - rkPnt[i2] = -extents[i2]; - } - } - else - { - fLSqr += rkDir[i1]*rkDir[i1]; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = extents[i1]; - rkPnt[i2] = -extents[i2]; - } - } - } - } - else - { - if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] ) - { - // v[i1] < -e[i1], v[i2] >= -e[i2] - fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]; - fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]); - if(fTmp <= 2.0f*fLSqr*extents[i2]) - { - fT = fTmp/fLSqr; - fLSqr += rkDir[i2]*rkDir[i2]; - fTmp = kPpE[i2] - fT; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = -extents[i1]; - rkPnt[i2] = fT - extents[i2]; - } - } - else - { - fLSqr += rkDir[i2]*rkDir[i2]; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = -extents[i1]; - rkPnt[i2] = extents[i2]; - } - } - } - else - { - // v[i1] < -e[i1], v[i2] < -e[i2] - fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2]; - fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]); - if(fTmp >= 0.0f) - { - // v[i1]-edge is closest - if ( fTmp <= 2.0f*fLSqr*extents[i1] ) - { - fT = fTmp/fLSqr; - fLSqr += rkDir[i1]*rkDir[i1]; - fTmp = kPpE[i1] - fT; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = fT - extents[i1]; - rkPnt[i2] = -extents[i2]; - } - } - else - { - fLSqr += rkDir[i1]*rkDir[i1]; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = extents[i1]; - rkPnt[i2] = -extents[i2]; - } - } - return; - } - - fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]; - fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]); - if(fTmp >= 0.0f) - { - // v[i2]-edge is closest - if(fTmp <= 2.0f*fLSqr*extents[i2]) - { - fT = fTmp/fLSqr; - fLSqr += rkDir[i2]*rkDir[i2]; - fTmp = kPpE[i2] - fT; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = -extents[i1]; - rkPnt[i2] = fT - extents[i2]; - } - } - else - { - fLSqr += rkDir[i2]*rkDir[i2]; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = -extents[i1]; - rkPnt[i2] = extents[i2]; - } - } - return; - } - - // (v[i1],v[i2])-corner is closest - fLSqr += rkDir[i2]*rkDir[i2]; - fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2]; - fParam = -fDelta/fLSqr; - rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam; - - if(pfLParam) - { - *pfLParam = fParam; - rkPnt[i0] = extents[i0]; - rkPnt[i1] = -extents[i1]; - rkPnt[i2] = -extents[i2]; - } - } - } -} - -static void CaseNoZeros(Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance) -{ - Point kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z); - - float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz; - - fProdDxPy = rkDir.x*kPmE.y; - fProdDyPx = rkDir.y*kPmE.x; - if(fProdDyPx >= fProdDxPy) - { - fProdDzPx = rkDir.z*kPmE.x; - fProdDxPz = rkDir.x*kPmE.z; - if(fProdDzPx >= fProdDxPz) - { - // line intersects x = e0 - Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); - } - else - { - // line intersects z = e2 - Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); - } - } - else - { - fProdDzPy = rkDir.z*kPmE.y; - fProdDyPz = rkDir.y*kPmE.z; - if(fProdDzPy >= fProdDyPz) - { - // line intersects y = e1 - Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); - } - else - { - // line intersects z = e2 - Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance); - } - } -} - -static void Case0(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance) -{ - float fPmE0 = rkPnt[i0] - extents[i0]; - float fPmE1 = rkPnt[i1] - extents[i1]; - float fProd0 = rkDir[i1]*fPmE0; - float fProd1 = rkDir[i0]*fPmE1; - float fDelta, fInvLSqr, fInv; - - if(fProd0 >= fProd1) - { - // line intersects P[i0] = e[i0] - rkPnt[i0] = extents[i0]; - - float fPpE1 = rkPnt[i1] + extents[i1]; - fDelta = fProd0 - rkDir[i0]*fPpE1; - if(fDelta >= 0.0f) - { - fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]); - rfSqrDistance += fDelta*fDelta*fInvLSqr; - if(pfLParam) - { - rkPnt[i1] = -extents[i1]; - *pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr; - } - } - else - { - if(pfLParam) - { - fInv = 1.0f/rkDir[i0]; - rkPnt[i1] -= fProd0*fInv; - *pfLParam = -fPmE0*fInv; - } - } - } - else - { - // line intersects P[i1] = e[i1] - rkPnt[i1] = extents[i1]; - - float fPpE0 = rkPnt[i0] + extents[i0]; - fDelta = fProd1 - rkDir[i1]*fPpE0; - if(fDelta >= 0.0f) - { - fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]); - rfSqrDistance += fDelta*fDelta*fInvLSqr; - if(pfLParam) - { - rkPnt[i0] = -extents[i0]; - *pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr; - } - } - else - { - if(pfLParam) - { - fInv = 1.0f/rkDir[i1]; - rkPnt[i0] -= fProd1*fInv; - *pfLParam = -fPmE1*fInv; - } - } - } - - if(rkPnt[i2] < -extents[i2]) - { - fDelta = rkPnt[i2] + extents[i2]; - rfSqrDistance += fDelta*fDelta; - rkPnt[i2] = -extents[i2]; - } - else if ( rkPnt[i2] > extents[i2] ) - { - fDelta = rkPnt[i2] - extents[i2]; - rfSqrDistance += fDelta*fDelta; - rkPnt[i2] = extents[i2]; - } -} - -static void Case00(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance) -{ - float fDelta; - - if(pfLParam) - *pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0]; - - rkPnt[i0] = extents[i0]; - - if(rkPnt[i1] < -extents[i1]) - { - fDelta = rkPnt[i1] + extents[i1]; - rfSqrDistance += fDelta*fDelta; - rkPnt[i1] = -extents[i1]; - } - else if(rkPnt[i1] > extents[i1]) - { - fDelta = rkPnt[i1] - extents[i1]; - rfSqrDistance += fDelta*fDelta; - rkPnt[i1] = extents[i1]; - } - - if(rkPnt[i2] < -extents[i2]) - { - fDelta = rkPnt[i2] + extents[i2]; - rfSqrDistance += fDelta*fDelta; - rkPnt[i1] = -extents[i2]; - } - else if(rkPnt[i2] > extents[i2]) - { - fDelta = rkPnt[i2] - extents[i2]; - rfSqrDistance += fDelta*fDelta; - rkPnt[i2] = extents[i2]; - } -} - -static void Case000(Point& rkPnt, const Point& extents, float& rfSqrDistance) -{ - float fDelta; - - if(rkPnt.x < -extents.x) - { - fDelta = rkPnt.x + extents.x; - rfSqrDistance += fDelta*fDelta; - rkPnt.x = -extents.x; - } - else if(rkPnt.x > extents.x) - { - fDelta = rkPnt.x - extents.x; - rfSqrDistance += fDelta*fDelta; - rkPnt.x = extents.x; - } - - if(rkPnt.y < -extents.y) - { - fDelta = rkPnt.y + extents.y; - rfSqrDistance += fDelta*fDelta; - rkPnt.y = -extents.y; - } - else if(rkPnt.y > extents.y) - { - fDelta = rkPnt.y - extents.y; - rfSqrDistance += fDelta*fDelta; - rkPnt.y = extents.y; - } - - if(rkPnt.z < -extents.z) - { - fDelta = rkPnt.z + extents.z; - rfSqrDistance += fDelta*fDelta; - rkPnt.z = -extents.z; - } - else if(rkPnt.z > extents.z) - { - fDelta = rkPnt.z - extents.z; - rfSqrDistance += fDelta*fDelta; - rkPnt.z = extents.z; - } -} - -static float SqrDistance(const Ray& rkLine, const Point& center, const Point& extents, float* pfLParam) -{ - // compute coordinates of line in box coordinate system - Point kDiff = rkLine.mOrig - center; - Point kPnt = kDiff; - Point kDir = rkLine.mDir; - - // Apply reflections so that direction vector has nonnegative components. - bool bReflect[3]; - for(int i=0;i<3;i++) - { - if(kDir[i]<0.0f) - { - kPnt[i] = -kPnt[i]; - kDir[i] = -kDir[i]; - bReflect[i] = true; - } - else - { - bReflect[i] = false; - } - } - - float fSqrDistance = 0.0f; - - if(kDir.x>0.0f) - { - if(kDir.y>0.0f) - { - if(kDir.z>0.0f) CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,+) - else Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,0) - } - else - { - if(kDir.z>0.0f) Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,+) - else Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,0) - } - } - else - { - if(kDir.y>0.0f) - { - if(kDir.z>0.0f) Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,+) - else Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,0) - } - else - { - if(kDir.z>0.0f) Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,0,+) - else - { - Case000(kPnt, extents, fSqrDistance); // (0,0,0) - if(pfLParam) *pfLParam = 0.0f; - } - } - } - return fSqrDistance; -} - -inline_ float OPC_SegmentOBBSqrDist(const Segment& segment, const Point& c0, const Point& e0) -{ - float fLP; - float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP); - if(fLP>=0.0f) - { - if(fLP<=1.0f) return fSqrDistance; - else return OPC_PointAABBSqrDist(segment.mP1, c0, e0); - } - else return OPC_PointAABBSqrDist(segment.mP0, c0, e0); -} - -inline_ BOOL LSSCollider::LSSAABBOverlap(const Point& center, const Point& extents) -{ - // Stats - mNbVolumeBVTests++; - - float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents); - if(s2Add(udword(prim_index)); - -//! LSS-triangle overlap test -#define LSS_PRIM(prim_index, flag) \ - /* Request vertices from the app */ \ - VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ - \ - /* Perform LSS-tri overlap test */ \ - if(LSSTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ - { \ - SET_CONTACT(prim_index, flag) \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -LSSCollider::LSSCollider() -{ -// mCenter.Zero(); -// mRadius2 = 0.0f; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -LSSCollider::~LSSCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] an lss cache - * \param lss [in] collision lss in local space - * \param model [in] Opcode model to collide with - * \param worldl [in] lss world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl, const Matrix4x4* worldm) -{ - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, lss, worldl, worldm)) return true; - - if(!model.HasLeafNodes()) - { - if(model.IsQuantized()) - { - const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a collision query : - * - reset stats & contact status - * - setup matrices - * - check temporal coherence - * - * \param cache [in/out] an lss cache - * \param lss [in] lss in local space - * \param worldl [in] lss world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return TRUE if we can return immediately - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL LSSCollider::InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl, const Matrix4x4* worldm) -{ - // 1) Call the base method - VolumeCollider::InitQuery(); - - // 2) Compute LSS in model space: - // - Precompute R^2 - mRadius2 = lss.mRadius * lss.mRadius; - // - Compute segment - mSeg.mP0 = lss.mP0; - mSeg.mP1 = lss.mP1; - // -> to world space - if(worldl) - { - mSeg.mP0 *= *worldl; - mSeg.mP1 *= *worldl; - } - // -> to model space - if(worldm) - { - // Invert model matrix - Matrix4x4 InvWorldM; - InvertPRMatrix(InvWorldM, *worldm); - - mSeg.mP0 *= InvWorldM; - mSeg.mP1 *= InvWorldM; - } - - // 3) Setup destination pointer - mTouchedPrimitives = &cache.TouchedPrimitives; - - // 4) Special case: 1-triangle meshes [Opcode 1.3] - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - if(!SkipPrimitiveTests()) - { - // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. - mTouchedPrimitives->Reset(); - - // Perform overlap test between the unique triangle and the LSS (and set contact status if needed) - LSS_PRIM(udword(0), OPC_CONTACT) - - // Return immediately regardless of status - return TRUE; - } - } - - // 5) Check temporal coherence : - if(TemporalCoherenceEnabled()) - { - // Here we use temporal coherence - // => check results from previous frame before performing the collision query - if(FirstContactEnabled()) - { - // We're only interested in the first contact found => test the unique previously touched face - if(mTouchedPrimitives->GetNbEntries()) - { - // Get index of previously touched face = the first entry in the array - udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); - - // Then reset the array: - // - if the overlap test below is successful, the index we'll get added back anyway - // - if it isn't, then the array should be reset anyway for the normal query - mTouchedPrimitives->Reset(); - - // Perform overlap test between the cached triangle and the LSS (and set contact status if needed) - LSS_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT) - - // Return immediately if possible - if(GetContactStatus()) return TRUE; - } - // else no face has been touched during previous query - // => we'll have to perform a normal query - } - else - { - // We're interested in all contacts =>test the new real LSS N(ew) against the previous fat LSS P(revious): - - // ### rewrite this - - LSS Test(mSeg, lss.mRadius); // in model space - LSS Previous(cache.Previous, sqrtf(cache.Previous.mRadius)); - -// if(cache.Previous.Contains(Test)) - if(IsCacheValid(cache) && Previous.Contains(Test)) - { - // - if N is included in P, return previous list - // => we simply leave the list (mTouchedFaces) unchanged - - // Set contact status if needed - if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT; - - // In any case we don't need to do a query - return TRUE; - } - else - { - // - else do the query using a fat N - - // Reset cache since we'll about to perform a real query - mTouchedPrimitives->Reset(); - - // Make a fat sphere so that coherence will work for subsequent frames - mRadius2 *= cache.FatCoeff; -// mRadius2 = (lss.mRadius * cache.FatCoeff)*(lss.mRadius * cache.FatCoeff); - - - // Update cache with query data (signature for cached faces) - cache.Previous.mP0 = mSeg.mP0; - cache.Previous.mP1 = mSeg.mP1; - cache.Previous.mRadius = mRadius2; - } - } - } - else - { - // Here we don't use temporal coherence => do a normal query - mTouchedPrimitives->Reset(); - } - - return FALSE; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for vanilla AABB trees. - * \param cache [in/out] an lss cache - * \param lss [in] collision lss in world space - * \param tree [in] AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool LSSCollider::Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree) -{ - // This is typically called for a scene tree, full of -AABBs-, not full of triangles. - // So we don't really have "primitives" to deal with. Hence it doesn't work with - // "FirstContact" + "TemporalCoherence". - ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); - - // Checkings - if(!tree) return false; - - // Init collision query - if(InitQuery(cache, lss)) return true; - - // Perform collision query - _Collide(tree); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the LSS completely contains the box. In which case we can end the query sooner. - * \param bc [in] box center - * \param be [in] box extents - * \return true if the LSS contains the whole box - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL LSSCollider::LSSContainsBox(const Point& bc, const Point& be) -{ - // Not implemented - return FALSE; -} - -#define TEST_BOX_IN_LSS(center, extents) \ - if(LSSContainsBox(center, extents)) \ - { \ - /* Set contact status */ \ - mFlags |= OPC_CONTACT; \ - _Dump(node); \ - return; \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_Collide(const AABBCollisionNode* node) -{ - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - LSS_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) -{ - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_Collide(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_LSS(Center, Extents) - - if(node->IsLeaf()) - { - LSS_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_LSS(Center, Extents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_Collide(const AABBNoLeafNode* node) -{ - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { LSS_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) -{ - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_LSS(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_Collide(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_LSS(Center, Extents) - - if(node->HasPosLeaf()) { LSS_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { LSS_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform LSS-AABB overlap test - if(!LSSAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_LSS(Center, Extents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for vanilla AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void LSSCollider::_Collide(const AABBTreeNode* node) -{ - // Perform LSS-AABB overlap test - Point Center, Extents; - node->GetAABB()->GetCenter(Center); - node->GetAABB()->GetExtents(Extents); - if(!LSSAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf() || LSSContainsBox(Center, Extents)) - { - mFlags |= OPC_CONTACT; - mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); - } - else - { - _Collide(node->GetPos()); - _Collide(node->GetNeg()); - } -} - - - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridLSSCollider::HybridLSSCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridLSSCollider::~HybridLSSCollider() -{ -} - -bool HybridLSSCollider::Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl, const Matrix4x4* worldm) -{ - // We don't want primitive tests here! - mFlags |= OPC_NO_PRIMITIVE_TESTS; - - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, lss, worldl, worldm)) return true; - - // Special case for 1-leaf trees - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles - udword Nb = mIMesh->GetNbTriangles(); - - // Loop through all triangles - for(udword i=0;imCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - - // We only have a list of boxes so far - if(GetContactStatus()) - { - // Reset contact status, since it currently only reflects collisions with leaf boxes - Collider::InitQuery(); - - // Change dest container so that we can use built-in overlap tests and get collided primitives - cache.TouchedPrimitives.Reset(); - mTouchedPrimitives = &cache.TouchedPrimitives; - - // Read touched leaf boxes - udword Nb = mTouchedBoxes.GetNbEntries(); - const udword* Touched = mTouchedBoxes.GetEntries(); - - const LeafTriangles* LT = model.GetLeafTriangles(); - const udword* Indices = model.GetIndices(); - - // Loop through touched leaves - while(Nb--) - { - const LeafTriangles& CurrentLeaf = LT[*Touched++]; - - // Each leaf box has a set of triangles - udword NbTris = CurrentLeaf.GetNbTriangles(); - if(Indices) - { - const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = *T++; - LSS_PRIM(TriangleIndex, OPC_CONTACT) - } - } - else - { - udword BaseIndex = CurrentLeaf.GetTriangleIndex(); - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = BaseIndex++; - LSS_PRIM(TriangleIndex, OPC_CONTACT) - } - } - } - } - - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSCollider.h deleted file mode 100644 index b4d0893e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSCollider.h +++ /dev/null @@ -1,99 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for an LSS collider. - * \file OPC_LSSCollider.h - * \author Pierre Terdiman - * \date December, 28, 2002 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_LSSCOLLIDER_H__ -#define __OPC_LSSCOLLIDER_H__ - - struct OPCODE_API LSSCache : VolumeCache - { - LSSCache() - { - Previous.mP0 = Point(0.0f, 0.0f, 0.0f); - Previous.mP1 = Point(0.0f, 0.0f, 0.0f); - Previous.mRadius = 0.0f; - FatCoeff = 1.1f; - } - - // Cached faces signature - LSS Previous; //!< LSS used when performing the query resulting in cached faces - // User settings - float FatCoeff; //!< mRadius2 multiplier used to create a fat LSS - }; - - class OPCODE_API LSSCollider : public VolumeCollider - { - public: - // Constructor / Destructor - LSSCollider(); - virtual ~LSSCollider(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] an lss cache - * \param lss [in] collision lss in local space - * \param model [in] Opcode model to collide with - * \param worldl [in] lss world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(LSSCache& cache, const LSS& lss, const Model& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); - // - bool Collide(LSSCache& cache, const LSS& lss, const AABBTree* tree); - protected: - // LSS in model space - Segment mSeg; //!< Segment - float mRadius2; //!< LSS radius squared - // Internal methods - void _Collide(const AABBCollisionNode* node); - void _Collide(const AABBNoLeafNode* node); - void _Collide(const AABBQuantizedNode* node); - void _Collide(const AABBQuantizedNoLeafNode* node); - void _Collide(const AABBTreeNode* node); - void _CollideNoPrimitiveTest(const AABBCollisionNode* node); - void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); - // Overlap tests - inline_ BOOL LSSContainsBox(const Point& bc, const Point& be); - inline_ BOOL LSSAABBOverlap(const Point& center, const Point& extents); - inline_ BOOL LSSTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); - // Init methods - BOOL InitQuery(LSSCache& cache, const LSS& lss, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); - }; - - class OPCODE_API HybridLSSCollider : public LSSCollider - { - public: - // Constructor / Destructor - HybridLSSCollider(); - virtual ~HybridLSSCollider(); - - bool Collide(LSSCache& cache, const LSS& lss, const HybridModel& model, const Matrix4x4* worldl=null, const Matrix4x4* worldm=null); - protected: - Container mTouchedBoxes; - }; - -#endif // __OPC_LSSCOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSTriOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSTriOverlap.h deleted file mode 100644 index f1d17e4a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_LSSTriOverlap.h +++ /dev/null @@ -1,679 +0,0 @@ -// Following code from Magic-Software (http://www.magic-software.com/) -// A bit modified for Opcode - -static const float gs_fTolerance = 1e-05f; - -static float OPC_PointTriangleSqrDist(const Point& point, const Point& p0, const Point& p1, const Point& p2) -{ - // Hook - Point TriEdge0 = p1 - p0; - Point TriEdge1 = p2 - p0; - - Point kDiff = p0 - point; - float fA00 = TriEdge0.SquareMagnitude(); - float fA01 = TriEdge0 | TriEdge1; - float fA11 = TriEdge1.SquareMagnitude(); - float fB0 = kDiff | TriEdge0; - float fB1 = kDiff | TriEdge1; - float fC = kDiff.SquareMagnitude(); - float fDet = fabsf(fA00*fA11 - fA01*fA01); - float fS = fA01*fB1-fA11*fB0; - float fT = fA01*fB0-fA00*fB1; - float fSqrDist; - - if(fS + fT <= fDet) - { - if(fS < 0.0f) - { - if(fT < 0.0f) // region 4 - { - if(fB0 < 0.0f) - { - if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; - else fSqrDist = fB0*(-fB0/fA00)+fC; - } - else - { - if(fB1 >= 0.0f) fSqrDist = fC; - else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; - else fSqrDist = fB1*(-fB1/fA11)+fC; - } - } - else // region 3 - { - if(fB1 >= 0.0f) fSqrDist = fC; - else if(-fB1 >= fA11) fSqrDist = fA11+2.0f*fB1+fC; - else fSqrDist = fB1*(-fB1/fA11)+fC; - } - } - else if(fT < 0.0f) // region 5 - { - if(fB0 >= 0.0f) fSqrDist = fC; - else if(-fB0 >= fA00) fSqrDist = fA00+2.0f*fB0+fC; - else fSqrDist = fB0*(-fB0/fA00)+fC; - } - else // region 0 - { - // minimum at interior point - if(fDet==0.0f) - { - fSqrDist = MAX_FLOAT; - } - else - { - float fInvDet = 1.0f/fDet; - fS *= fInvDet; - fT *= fInvDet; - fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; - } - } - } - else - { - float fTmp0, fTmp1, fNumer, fDenom; - - if(fS < 0.0f) // region 2 - { - fTmp0 = fA01 + fB0; - fTmp1 = fA11 + fB1; - if(fTmp1 > fTmp0) - { - fNumer = fTmp1 - fTmp0; - fDenom = fA00-2.0f*fA01+fA11; - if(fNumer >= fDenom) - { - fSqrDist = fA00+2.0f*fB0+fC; - } - else - { - fS = fNumer/fDenom; - fT = 1.0f - fS; - fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; - } - } - else - { - if(fTmp1 <= 0.0f) fSqrDist = fA11+2.0f*fB1+fC; - else if(fB1 >= 0.0f) fSqrDist = fC; - else fSqrDist = fB1*(-fB1/fA11)+fC; - } - } - else if(fT < 0.0f) // region 6 - { - fTmp0 = fA01 + fB1; - fTmp1 = fA00 + fB0; - if(fTmp1 > fTmp0) - { - fNumer = fTmp1 - fTmp0; - fDenom = fA00-2.0f*fA01+fA11; - if(fNumer >= fDenom) - { - fSqrDist = fA11+2.0f*fB1+fC; - } - else - { - fT = fNumer/fDenom; - fS = 1.0f - fT; - fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; - } - } - else - { - if(fTmp1 <= 0.0f) fSqrDist = fA00+2.0f*fB0+fC; - else if(fB0 >= 0.0f) fSqrDist = fC; - else fSqrDist = fB0*(-fB0/fA00)+fC; - } - } - else // region 1 - { - fNumer = fA11 + fB1 - fA01 - fB0; - if(fNumer <= 0.0f) - { - fSqrDist = fA11+2.0f*fB1+fC; - } - else - { - fDenom = fA00-2.0f*fA01+fA11; - if(fNumer >= fDenom) - { - fSqrDist = fA00+2.0f*fB0+fC; - } - else - { - fS = fNumer/fDenom; - fT = 1.0f - fS; - fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; - } - } - } - } - return fabsf(fSqrDist); -} - -static float OPC_SegmentSegmentSqrDist(const Segment& rkSeg0, const Segment& rkSeg1) -{ - // Hook - Point rkSeg0Direction = rkSeg0.ComputeDirection(); - Point rkSeg1Direction = rkSeg1.ComputeDirection(); - - Point kDiff = rkSeg0.mP0 - rkSeg1.mP0; - float fA00 = rkSeg0Direction.SquareMagnitude(); - float fA01 = -rkSeg0Direction.Dot(rkSeg1Direction); - float fA11 = rkSeg1Direction.SquareMagnitude(); - float fB0 = kDiff.Dot(rkSeg0Direction); - float fC = kDiff.SquareMagnitude(); - float fDet = fabsf(fA00*fA11-fA01*fA01); - - float fB1, fS, fT, fSqrDist, fTmp; - - if(fDet>=gs_fTolerance) - { - // line segments are not parallel - fB1 = -kDiff.Dot(rkSeg1Direction); - fS = fA01*fB1-fA11*fB0; - fT = fA01*fB0-fA00*fB1; - - if(fS >= 0.0f) - { - if(fS <= fDet) - { - if(fT >= 0.0f) - { - if(fT <= fDet) // region 0 (interior) - { - // minimum at two interior points of 3D lines - float fInvDet = 1.0f/fDet; - fS *= fInvDet; - fT *= fInvDet; - fSqrDist = fS*(fA00*fS+fA01*fT+2.0f*fB0) + fT*(fA01*fS+fA11*fT+2.0f*fB1)+fC; - } - else // region 3 (side) - { - fTmp = fA01+fB0; - if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; - else if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); - else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; - } - } - else // region 7 (side) - { - if(fB0>=0.0f) fSqrDist = fC; - else if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; - else fSqrDist = fB0*(-fB0/fA00)+fC; - } - } - else - { - if ( fT >= 0.0 ) - { - if ( fT <= fDet ) // region 1 (side) - { - fTmp = fA01+fB1; - if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; - else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); - else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; - } - else // region 2 (corner) - { - fTmp = fA01+fB0; - if ( -fTmp <= fA00 ) - { - if(fTmp>=0.0f) fSqrDist = fA11+2.0f*fB1+fC; - else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; - } - else - { - fTmp = fA01+fB1; - if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; - else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); - else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; - } - } - } - else // region 8 (corner) - { - if ( -fB0 < fA00 ) - { - if(fB0>=0.0f) fSqrDist = fC; - else fSqrDist = fB0*(-fB0/fA00)+fC; - } - else - { - fTmp = fA01+fB1; - if(fTmp>=0.0f) fSqrDist = fA00+2.0f*fB0+fC; - else if(-fTmp>=fA11) fSqrDist = fA00+fA11+fC+2.0f*(fB0+fTmp); - else fSqrDist = fTmp*(-fTmp/fA11)+fA00+2.0f*fB0+fC; - } - } - } - } - else - { - if ( fT >= 0.0f ) - { - if ( fT <= fDet ) // region 5 (side) - { - if(fB1>=0.0f) fSqrDist = fC; - else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; - else fSqrDist = fB1*(-fB1/fA11)+fC; - } - else // region 4 (corner) - { - fTmp = fA01+fB0; - if ( fTmp < 0.0f ) - { - if(-fTmp>=fA00) fSqrDist = fA00+fA11+fC+2.0f*(fB1+fTmp); - else fSqrDist = fTmp*(-fTmp/fA00)+fA11+2.0f*fB1+fC; - } - else - { - if(fB1>=0.0f) fSqrDist = fC; - else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; - else fSqrDist = fB1*(-fB1/fA11)+fC; - } - } - } - else // region 6 (corner) - { - if ( fB0 < 0.0f ) - { - if(-fB0>=fA00) fSqrDist = fA00+2.0f*fB0+fC; - else fSqrDist = fB0*(-fB0/fA00)+fC; - } - else - { - if(fB1>=0.0f) fSqrDist = fC; - else if(-fB1>=fA11) fSqrDist = fA11+2.0f*fB1+fC; - else fSqrDist = fB1*(-fB1/fA11)+fC; - } - } - } - } - else - { - // line segments are parallel - if ( fA01 > 0.0f ) - { - // direction vectors form an obtuse angle - if ( fB0 >= 0.0f ) - { - fSqrDist = fC; - } - else if ( -fB0 <= fA00 ) - { - fSqrDist = fB0*(-fB0/fA00)+fC; - } - else - { - fB1 = -kDiff.Dot(rkSeg1Direction); - fTmp = fA00+fB0; - if ( -fTmp >= fA01 ) - { - fSqrDist = fA00+fA11+fC+2.0f*(fA01+fB0+fB1); - } - else - { - fT = -fTmp/fA01; - fSqrDist = fA00+2.0f*fB0+fC+fT*(fA11*fT+2.0f*(fA01+fB1)); - } - } - } - else - { - // direction vectors form an acute angle - if ( -fB0 >= fA00 ) - { - fSqrDist = fA00+2.0f*fB0+fC; - } - else if ( fB0 <= 0.0f ) - { - fSqrDist = fB0*(-fB0/fA00)+fC; - } - else - { - fB1 = -kDiff.Dot(rkSeg1Direction); - if ( fB0 >= -fA01 ) - { - fSqrDist = fA11+2.0f*fB1+fC; - } - else - { - fT = -fB0/fA01; - fSqrDist = fC+fT*(2.0f*fB1+fA11*fT); - } - } - } - } - return fabsf(fSqrDist); -} - -inline_ float OPC_SegmentRaySqrDist(const Segment& rkSeg0, const Ray& rkSeg1) -{ - return OPC_SegmentSegmentSqrDist(rkSeg0, Segment(rkSeg1.mOrig, rkSeg1.mOrig + rkSeg1.mDir)); -} - -static float OPC_SegmentTriangleSqrDist(const Segment& segment, const Point& p0, const Point& p1, const Point& p2) -{ - // Hook - const Point TriEdge0 = p1 - p0; - const Point TriEdge1 = p2 - p0; - - const Point& rkSegOrigin = segment.GetOrigin(); - Point rkSegDirection = segment.ComputeDirection(); - - Point kDiff = p0 - rkSegOrigin; - float fA00 = rkSegDirection.SquareMagnitude(); - float fA01 = -rkSegDirection.Dot(TriEdge0); - float fA02 = -rkSegDirection.Dot(TriEdge1); - float fA11 = TriEdge0.SquareMagnitude(); - float fA12 = TriEdge0.Dot(TriEdge1); - float fA22 = TriEdge1.Dot(TriEdge1); - float fB0 = -kDiff.Dot(rkSegDirection); - float fB1 = kDiff.Dot(TriEdge0); - float fB2 = kDiff.Dot(TriEdge1); - float fCof00 = fA11*fA22-fA12*fA12; - float fCof01 = fA02*fA12-fA01*fA22; - float fCof02 = fA01*fA12-fA02*fA11; - float fDet = fA00*fCof00+fA01*fCof01+fA02*fCof02; - - Ray kTriSeg; - Point kPt; - float fSqrDist, fSqrDist0; - - if(fabsf(fDet)>=gs_fTolerance) - { - float fCof11 = fA00*fA22-fA02*fA02; - float fCof12 = fA02*fA01-fA00*fA12; - float fCof22 = fA00*fA11-fA01*fA01; - float fInvDet = 1.0f/fDet; - float fRhs0 = -fB0*fInvDet; - float fRhs1 = -fB1*fInvDet; - float fRhs2 = -fB2*fInvDet; - - float fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2; - float fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2; - float fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2; - - if ( fR < 0.0f ) - { - if ( fS+fT <= 1.0f ) - { - if ( fS < 0.0f ) - { - if ( fT < 0.0f ) // region 4m - { - // min on face s=0 or t=0 or r=0 - kTriSeg.mOrig = p0; - kTriSeg.mDir = TriEdge1; - fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); - kTriSeg.mOrig = p0; - kTriSeg.mDir = TriEdge0; - fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); - if(fSqrDist0 1 - { - if ( fS+fT <= 1.0f ) - { - if ( fS < 0.0f ) - { - if ( fT < 0.0f ) // region 4p - { - // min on face s=0 or t=0 or r=1 - kTriSeg.mOrig = p0; - kTriSeg.mDir = TriEdge1; - fSqrDist = OPC_SegmentRaySqrDist(segment, kTriSeg); - kTriSeg.mOrig = p0; - kTriSeg.mDir = TriEdge0; - fSqrDist0 = OPC_SegmentRaySqrDist(segment, kTriSeg); - if(fSqrDist0GetTriangle(triangle_index); - * // Setup pointers to vertices for the collision system - * triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]); - * triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]); - * triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]); - * } - * - * // Setup callbacks - * MeshInterface0->SetCallback(ColCallback, udword(Mesh0)); - * MeshInterface1->SetCallback(ColCallback, udword(Mesh1)); - * \endcode - * - * Of course, you should make this callback as fast as possible. And you're also not supposed - * to modify the geometry *after* the collision trees have been built. The alternative was to - * store the geometry & topology in the collision system as well (as in RAPID) but we have found - * this approach to waste a lot of ram in many cases. - * - * - * POINTERS: - * - * If you're internally using the following canonical structures: - * - a vertex made of three 32-bits floating point values - * - a triangle made of three 32-bits integer vertex references - * ...then you may want to use pointers instead of callbacks. This is the same, except OPCODE will directly - * use provided pointers to access the topology and geometry, without using a callback. It might be faster, - * but probably not as safe. Pointers have been introduced in OPCODE 1.2. - * - * Ex: - * - * \code - * // Setup pointers - * MeshInterface0->SetPointers(Mesh0->GetFaces(), Mesh0->GetVerts()); - * MeshInterface1->SetPointers(Mesh1->GetFaces(), Mesh1->GetVerts()); - * \endcode - * - * - * STRIDES: - * - * If your vertices are D3D-like entities interleaving a position, a normal and/or texture coordinates - * (i.e. if your vertices are FVFs), you might want to use a vertex stride to skip extra data OPCODE - * doesn't need. Using a stride shouldn't be notably slower than not using it, but it might increase - * cache misses. Please also note that you *shouldn't* read from AGP or video-memory buffers ! - * - * - * In any case, compilation flags are here to select callbacks/pointers/strides at compile time, so - * choose what's best for your application. All of this has been wrapped into this MeshInterface. - * - * \class MeshInterface - * \author Pierre Terdiman - * \version 1.3 - * \date November, 27, 2002 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -MeshInterface::MeshInterface() : - mNbTris (0), - mNbVerts (0), -#ifdef OPC_USE_CALLBACKS - mUserData (null), - mObjCallback (null) -#else - #ifdef OPC_USE_STRIDE - mTriStride (sizeof(IndexedTriangle)), - mVertexStride (sizeof(Point)), - mFetchTriangle (&MeshInterface::FetchTriangleFromSingles), - #endif - mTris (null), - mVerts (null) -#endif -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -MeshInterface::~MeshInterface() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the mesh interface is valid, i.e. things have been setup correctly. - * \return true if valid - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool MeshInterface::IsValid() const -{ - if(!mNbTris || !mNbVerts) return false; -#ifdef OPC_USE_CALLBACKS - if(!mObjCallback) return false; -#else - if(!mTris || !mVerts) return false; -#endif - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the mesh itself is valid. - * Currently we only look for degenerate faces. - * \return number of degenerate faces - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword MeshInterface::CheckTopology() const -{ - // Check topology. If the model contains degenerate faces, collision report can be wrong in some cases. - // e.g. it happens with the standard MAX teapot. So clean your meshes first... If you don't have a mesh cleaner - // you can try this: www.codercorner.com/Consolidation.zip - - udword NbDegenerate = 0; - - VertexPointers VP; - ConversionArea VC; - - // Using callbacks, we don't have access to vertex indices. Nevertheless we still can check for - // redundant vertex pointers, which cover all possibilities (callbacks/pointers/strides). - for(udword i=0;imVRef[0] * mVertexStride); - vp.Vertex[1] = (const Point*)(((ubyte*)mVerts) + T->mVRef[1] * mVertexStride); - vp.Vertex[2] = (const Point*)(((ubyte*)mVerts) + T->mVRef[2] * mVertexStride); -} - -void MeshInterface::FetchTriangleFromDoubles(VertexPointers& vp, udword index, ConversionArea vc) const -{ - const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + index * mTriStride); - - for (int i = 0; i < 3; i++){ - const double* v = (const double*)(((ubyte*)mVerts) + T->mVRef[i] * mVertexStride); - - vc[i].x = (float)v[0]; - vc[i].y = (float)v[1]; - vc[i].z = (float)v[2]; - vp.Vertex[i] = &vc[i]; - } -} -#endif -#endif - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Remaps client's mesh according to a permutation. - * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) - * \param permutation [in] list of triangle indices - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool MeshInterface::RemapClient(udword nb_indices, const dTriIndex* permutation) const -{ - // Checkings - if(!nb_indices || !permutation) return false; - if(nb_indices!=mNbTris) return false; - -#ifdef OPC_USE_CALLBACKS - // We can't really do that using callbacks - return false; -#else - IndexedTriangle* Tmp = new IndexedTriangle[mNbTris]; - CHECKALLOC(Tmp); - - #ifdef OPC_USE_STRIDE - udword Stride = mTriStride; - #else - udword Stride = sizeof(IndexedTriangle); - #endif - - for(udword i=0;i= 0.0f; - } - }; - - typedef Point ConversionArea[3]; - -#ifdef OPC_USE_CALLBACKS - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * User-callback, called by OPCODE to request vertices from the app. - * \param triangle_index [in] face index for which the system is requesting the vertices - * \param triangle [out] triangle's vertices (must be provided by the user) - * \param user_data [in] user-defined data from SetCallback() - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - typedef void (*RequestCallback) (udword triangle_index, VertexPointers& triangle, void* user_data); -#endif - - class OPCODE_API MeshInterface - { - public: - // Constructor / Destructor - MeshInterface(); - ~MeshInterface(); - // Common settings - inline_ udword GetNbTriangles() const { return mNbTris; } - inline_ udword GetNbVertices() const { return mNbVerts; } - inline_ void SetNbTriangles(udword nb) { mNbTris = nb; } - inline_ void SetNbVertices(udword nb) { mNbVerts = nb; } - -#ifdef OPC_USE_CALLBACKS - // Callback settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Callback control: setups object callback. Must provide triangle-vertices for a given triangle index. - * \param callback [in] user-defined callback - * \param user_data [in] user-defined data - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool SetCallback(RequestCallback callback, void* user_data); - inline_ void* GetUserData() const { return mUserData; } - inline_ RequestCallback GetCallback() const { return mObjCallback; } -#else - // Pointers settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Pointers control: setups object pointers. Must provide access to faces and vertices for a given object. - * \param tris [in] pointer to triangles - * \param verts [in] pointer to vertices - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool SetPointers(const IndexedTriangle* tris, const Point* verts); - inline_ const IndexedTriangle* GetTris() const { return mTris; } - inline_ const Point* GetVerts() const { return mVerts; } - - #ifdef OPC_USE_STRIDE - // Strides settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Strides control - * \param tri_stride [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices. - * \param vertex_stride [in] size of a vertex in bytes. The first sizeof(Point) bytes are used to get vertex position. - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(Point)); - inline_ udword GetTriStride() const { return mTriStride; } - inline_ udword GetVertexStride() const { return mVertexStride; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Single/Double control - * \param value [in] Indicates if mesh data is provided as array of \c single values. If \c false, data is expected to contain \c double elements. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetSingle(bool value) { mFetchTriangle = (value ? &MeshInterface::FetchTriangleFromSingles : &MeshInterface::FetchTriangleFromDoubles); } - - #endif -#endif - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Fetches a triangle given a triangle index. - * \param vp [out] required triangle's vertex pointers - * \param index [in] triangle index - * \param vc [in,out] storage required for data conversion (pass local variable with same scope as \a vp, as \a vp may point to this memory on return) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void GetTriangle(VertexPointers& vp, udword index, ConversionArea vc) const - { -#ifdef OPC_USE_CALLBACKS - (mObjCallback)(index, vp, mUserData); -#else - #ifdef OPC_USE_STRIDE - // Since there was conditional statement "if (Single)" which was unpredictable for compiler - // and required both branches to be always generated what made inlining a questionable - // benefit, I consider it better to introduce a forced call - // but get rig of branching and dead code injection. - ((*this).*mFetchTriangle)(vp, index, vc); - #else - const IndexedTriangle* T = &mTris[index]; - vp.Vertex[0] = &mVerts[T->mVRef[0]]; - vp.Vertex[1] = &mVerts[T->mVRef[1]]; - vp.Vertex[2] = &mVerts[T->mVRef[2]]; - #endif -#endif - } - - private: -#ifndef OPC_USE_CALLBACKS - #ifdef OPC_USE_STRIDE - void FetchTriangleFromSingles(VertexPointers& vp, udword index, ConversionArea vc) const; - void FetchTriangleFromDoubles(VertexPointers& vp, udword index, ConversionArea vc) const; - #endif -#endif - - public: - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Remaps client's mesh according to a permutation. - * \param nb_indices [in] number of indices in the permutation (will be checked against number of triangles) - * \param permutation [in] list of triangle indices - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool RemapClient(udword nb_indices, const dTriIndex* permutation) const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the mesh interface is valid, i.e. things have been setup correctly. - * \return true if valid - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool IsValid() const; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Checks the mesh itself is valid. - * Currently we only look for degenerate faces. - * \return number of degenerate faces - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - udword CheckTopology() const; - private: - - udword mNbTris; //!< Number of triangles in the input model - udword mNbVerts; //!< Number of vertices in the input model -#ifdef OPC_USE_CALLBACKS - // User callback - void* mUserData; //!< User-defined data sent to callback - RequestCallback mObjCallback; //!< Object callback -#else - // User pointers - #ifdef OPC_USE_STRIDE - udword mTriStride; //!< Possible triangle stride in bytes [Opcode 1.3] - udword mVertexStride; //!< Possible vertex stride in bytes [Opcode 1.3] - typedef void (MeshInterface:: *TriangleFetchProc)(VertexPointers& vp, udword index, ConversionArea vc) const; - TriangleFetchProc mFetchTriangle; - #endif - const IndexedTriangle* mTris; //!< Array of indexed triangles - const Point* mVerts; //!< Array of vertices -#endif - }; - -#endif //__OPC_MESHINTERFACE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Model.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Model.cpp deleted file mode 100644 index 418dd7e9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Model.cpp +++ /dev/null @@ -1,222 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for OPCODE models. - * \file OPC_Model.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * The main collision wrapper, for all trees. Supported trees are: - * - Normal trees (2*N-1 nodes, full size) - * - No-leaf trees (N-1 nodes, full size) - * - Quantized trees (2*N-1 nodes, half size) - * - Quantized no-leaf trees (N-1 nodes, half size) - * - * Usage: - * - * 1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp). - * Keep it around in your app, since a pointer to this interface is saved internally and - * used until you release the collision structures. - * - * 2) Build a Model using a creation structure: - * - * \code - * Model Sample; - * - * OPCODECREATE OPCC; - * OPCC.IMesh = ...; - * OPCC.Rules = ...; - * OPCC.NoLeaf = ...; - * OPCC.Quantized = ...; - * OPCC.KeepOriginal = ...; - * bool Status = Sample.Build(OPCC); - * \endcode - * - * 3) Create a tree collider and set it up: - * - * \code - * AABBTreeCollider TC; - * TC.SetFirstContact(...); - * TC.SetFullBoxBoxTest(...); - * TC.SetFullPrimBoxTest(...); - * TC.SetTemporalCoherence(...); - * \endcode - * - * 4) Perform a collision query - * - * \code - * // Setup cache - * static BVTCache ColCache; - * ColCache.Model0 = &Model0; - * ColCache.Model1 = &Model1; - * - * // Collision query - * bool IsOk = TC.Collide(ColCache, World0, World1); - * - * // Get collision status => if true, objects overlap - * BOOL Status = TC.GetContactStatus(); - * - * // Number of colliding pairs and list of pairs - * udword NbPairs = TC.GetNbPairs(); - * const Pair* p = TC.GetPairs() - * \endcode - * - * 5) Stats - * - * \code - * Model0.GetUsedBytes() = number of bytes used for this collision tree - * TC.GetNbBVBVTests() = number of BV-BV overlap tests performed during last query - * TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query - * TC.GetNbBVPrimTests() = number of Triangle-BV overlap tests performed during last query - * \endcode - * - * \class Model - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Model::Model() -{ -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - mHull = null; -#endif // __MESHMERIZER_H__ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -Model::~Model() -{ - Release(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Releases the model. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void Model::Release() -{ - ReleaseBase(); -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - DELETESINGLE(mHull); -#endif // __MESHMERIZER_H__ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds a collision model. - * \param create [in] model creation structure - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool Model::Build(const OPCODECREATE& create) -{ - // 1) Checkings - if(!create.mIMesh || !create.mIMesh->IsValid()) return false; - - // For this model, we only support complete trees - if(create.mSettings.mLimit!=1) return SetIceError("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null); - - // Look for degenerate faces. - //udword NbDegenerate = create.mIMesh->CheckTopology(); - //if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate); - // We continue nonetheless.... - - Release(); // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam] - - // 1-1) Setup mesh interface automatically [Opcode 1.3] - SetMeshInterface(create.mIMesh); - - // Special case for 1-triangle meshes [Opcode 1.3] - udword NbTris = create.mIMesh->GetNbTriangles(); - if(NbTris==1) - { - // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway. - // It's a waste to use a "model" for this but at least it will work. - mModelCode |= OPC_SINGLE_NODE; - return true; - } - - // 2) Build a generic AABB Tree. - mSource = new AABBTree; - CHECKALLOC(mSource); - - // 2-1) Setup a builder. Our primitives here are triangles from input mesh, - // so we use an AABBTreeOfTrianglesBuilder..... - { - AABBTreeOfTrianglesBuilder TB; - TB.mIMesh = create.mIMesh; - TB.mSettings = create.mSettings; - TB.mNbPrimitives = NbTris; - if(!mSource->Build(&TB)) return false; - } - - // 3) Create an optimized tree according to user-settings - if(!CreateTree(create.mNoLeaf, create.mQuantized)) return false; - - // 3-2) Create optimized tree - if(!mTree->Build(mSource)) return false; - - // 3-3) Delete generic tree if needed - if(!create.mKeepOriginal) DELETESINGLE(mSource); - -#ifdef __MESHMERIZER_H__ - // 4) Convex hull - if(create.mCollisionHull) - { - // Create hull - mHull = new CollisionHull; - CHECKALLOC(mHull); - - CONVEXHULLCREATE CHC; - // ### doesn't work with strides - CHC.NbVerts = create.mIMesh->GetNbVertices(); - CHC.Vertices = create.mIMesh->GetVerts(); - CHC.UnifyNormals = true; - CHC.ReduceVertices = true; - CHC.WordFaces = false; - mHull->Compute(CHC); - } -#endif // __MESHMERIZER_H__ - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Gets the number of bytes used by the tree. - * \return amount of bytes used - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -udword Model::GetUsedBytes() const -{ - if(!mTree) return 0; - return mTree->GetUsedBytes(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Model.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Model.h deleted file mode 100644 index 98dee560..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Model.h +++ /dev/null @@ -1,65 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for OPCODE models. - * \file OPC_Model.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_MODEL_H__ -#define __OPC_MODEL_H__ - - class OPCODE_API Model : public BaseModel - { - public: - // Constructor/Destructor - Model(); - virtual ~Model(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Builds a collision model. - * \param create [in] model creation structure - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(BaseModel) bool Build(const OPCODECREATE& create); - -#ifdef __MESHMERIZER_H__ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the collision hull. - * \return the collision hull if it exists - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const CollisionHull* GetHull() const { return mHull; } -#endif // __MESHMERIZER_H__ - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of bytes used by the tree. - * \return amount of bytes used - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(BaseModel) udword GetUsedBytes() const; - - private: -#ifdef __MESHMERIZER_H__ - CollisionHull* mHull; //!< Possible convex hull -#endif // __MESHMERIZER_H__ - // Internal methods - void Release(); - }; - -#endif //__OPC_MODEL_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OBBCollider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OBBCollider.cpp deleted file mode 100644 index 4c554f9b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OBBCollider.cpp +++ /dev/null @@ -1,767 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for an OBB collider. - * \file OPC_OBBCollider.cpp - * \author Pierre Terdiman - * \date January, 1st, 2002 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains an OBB-vs-tree collider. - * - * \class OBBCollider - * \author Pierre Terdiman - * \version 1.3 - * \date January, 1st, 2002 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -#include "OPC_BoxBoxOverlap.h" -#include "OPC_TriBoxOverlap.h" - -#define SET_CONTACT(prim_index, flag) \ - /* Set contact status */ \ - mFlags |= flag; \ - mTouchedPrimitives->Add(udword(prim_index)); - -//! OBB-triangle test -#define OBB_PRIM(prim_index, flag) \ - /* Request vertices from the app */ \ - VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ - /* Transform them in a common space */ \ - TransformPoint(mLeafVerts[0], *VP.Vertex[0], mRModelToBox, mTModelToBox); \ - TransformPoint(mLeafVerts[1], *VP.Vertex[1], mRModelToBox, mTModelToBox); \ - TransformPoint(mLeafVerts[2], *VP.Vertex[2], mRModelToBox, mTModelToBox); \ - /* Perform triangle-box overlap test */ \ - if(TriBoxOverlap()) \ - { \ - SET_CONTACT(prim_index, flag) \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -OBBCollider::OBBCollider() : mFullBoxBoxTest(true) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -OBBCollider::~OBBCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Validates current settings. You should call this method after all the settings and callbacks have been defined. - * \return null if everything is ok, else a string describing the problem - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -const char* OBBCollider::ValidateSettings() -{ - if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; - - return VolumeCollider::ValidateSettings(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a box cache - * \param box [in] collision OBB in local space - * \param model [in] Opcode model to collide with - * \param worldb [in] OBB's world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool OBBCollider::Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb, const Matrix4x4* worldm) -{ - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, box, worldb, worldm)) return true; - - if(!model.HasLeafNodes()) - { - if(model.IsQuantized()) - { - const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a collision query : - * - reset stats & contact status - * - setup matrices - * - check temporal coherence - * - * \param cache [in/out] a box cache - * \param box [in] obb in local space - * \param worldb [in] obb's world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return TRUE if we can return immediately - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL OBBCollider::InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb, const Matrix4x4* worldm) -{ - // 1) Call the base method - VolumeCollider::InitQuery(); - - // 2) Compute obb in world space - mBoxExtents = box.mExtents; - - Matrix4x4 WorldB; - - if(worldb) - { - WorldB = Matrix4x4( box.mRot * Matrix3x3(*worldb) ); - WorldB.SetTrans(box.mCenter * *worldb); - } - else - { - WorldB = box.mRot; - WorldB.SetTrans(box.mCenter); - } - - // Setup matrices - Matrix4x4 InvWorldB; - InvertPRMatrix(InvWorldB, WorldB); - - if(worldm) - { - Matrix4x4 InvWorldM; - InvertPRMatrix(InvWorldM, *worldm); - - Matrix4x4 WorldBtoM = WorldB * InvWorldM; - Matrix4x4 WorldMtoB = *worldm * InvWorldB; - - mRModelToBox = WorldMtoB; WorldMtoB.GetTrans(mTModelToBox); - mRBoxToModel = WorldBtoM; WorldBtoM.GetTrans(mTBoxToModel); - } - else - { - mRModelToBox = InvWorldB; InvWorldB.GetTrans(mTModelToBox); - mRBoxToModel = WorldB; WorldB.GetTrans(mTBoxToModel); - } - - // 3) Setup destination pointer - mTouchedPrimitives = &cache.TouchedPrimitives; - - // 4) Special case: 1-triangle meshes [Opcode 1.3] - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - if(!SkipPrimitiveTests()) - { - // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. - mTouchedPrimitives->Reset(); - - // Perform overlap test between the unique triangle and the box (and set contact status if needed) - OBB_PRIM(udword(0), OPC_CONTACT) - - // Return immediately regardless of status - return TRUE; - } - } - - // 5) Check temporal coherence: - if(TemporalCoherenceEnabled()) - { - // Here we use temporal coherence - // => check results from previous frame before performing the collision query - if(FirstContactEnabled()) - { - // We're only interested in the first contact found => test the unique previously touched face - if(mTouchedPrimitives->GetNbEntries()) - { - // Get index of previously touched face = the first entry in the array - udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); - - // Then reset the array: - // - if the overlap test below is successful, the index we'll get added back anyway - // - if it isn't, then the array should be reset anyway for the normal query - mTouchedPrimitives->Reset(); - - // Perform overlap test between the cached triangle and the box (and set contact status if needed) - OBB_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT) - - // Return immediately if possible - if(GetContactStatus()) return TRUE; - } - // else no face has been touched during previous query - // => we'll have to perform a normal query - } - else - { - // ### rewrite this - OBB TestBox(mTBoxToModel, mBoxExtents, mRBoxToModel); - - // We're interested in all contacts =>test the new real box N(ew) against the previous fat box P(revious): - if(IsCacheValid(cache) && TestBox.IsInside(cache.FatBox)) - { - // - if N is included in P, return previous list - // => we simply leave the list (mTouchedFaces) unchanged - - // Set contact status if needed - if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT; - - // In any case we don't need to do a query - return TRUE; - } - else - { - // - else do the query using a fat N - - // Reset cache since we'll about to perform a real query - mTouchedPrimitives->Reset(); - - // Make a fat box so that coherence will work for subsequent frames - TestBox.mExtents *= cache.FatCoeff; - mBoxExtents *= cache.FatCoeff; - - // Update cache with query data (signature for cached faces) - cache.FatBox = TestBox; - } - } - } - else - { - // Here we don't use temporal coherence => do a normal query - mTouchedPrimitives->Reset(); - } - - // Now we can precompute box-box data - - // Precompute absolute box-to-model rotation matrix - for(udword i=0;i<3;i++) - { - for(udword j=0;j<3;j++) - { - // Epsilon value prevents floating-point inaccuracies (strategy borrowed from RAPID) - mAR.m[i][j] = 1e-6f + fabsf(mRBoxToModel.m[i][j]); - } - } - - // Precompute bounds for box-in-box test - mB0 = mBoxExtents - mTModelToBox; - mB1 = - mBoxExtents - mTModelToBox; - - // Precompute box-box data - Courtesy of Erwin de Vries - mBBx1 = mBoxExtents.x*mAR.m[0][0] + mBoxExtents.y*mAR.m[1][0] + mBoxExtents.z*mAR.m[2][0]; - mBBy1 = mBoxExtents.x*mAR.m[0][1] + mBoxExtents.y*mAR.m[1][1] + mBoxExtents.z*mAR.m[2][1]; - mBBz1 = mBoxExtents.x*mAR.m[0][2] + mBoxExtents.y*mAR.m[1][2] + mBoxExtents.z*mAR.m[2][2]; - - mBB_1 = mBoxExtents.y*mAR.m[2][0] + mBoxExtents.z*mAR.m[1][0]; - mBB_2 = mBoxExtents.x*mAR.m[2][0] + mBoxExtents.z*mAR.m[0][0]; - mBB_3 = mBoxExtents.x*mAR.m[1][0] + mBoxExtents.y*mAR.m[0][0]; - mBB_4 = mBoxExtents.y*mAR.m[2][1] + mBoxExtents.z*mAR.m[1][1]; - mBB_5 = mBoxExtents.x*mAR.m[2][1] + mBoxExtents.z*mAR.m[0][1]; - mBB_6 = mBoxExtents.x*mAR.m[1][1] + mBoxExtents.y*mAR.m[0][1]; - mBB_7 = mBoxExtents.y*mAR.m[2][2] + mBoxExtents.z*mAR.m[1][2]; - mBB_8 = mBoxExtents.x*mAR.m[2][2] + mBoxExtents.z*mAR.m[0][2]; - mBB_9 = mBoxExtents.x*mAR.m[1][2] + mBoxExtents.y*mAR.m[0][2]; - - return FALSE; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the OBB completely contains the box. In which case we can end the query sooner. - * \param bc [in] box center - * \param be [in] box extents - * \return true if the OBB contains the whole box - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL OBBCollider::OBBContainsBox(const Point& bc, const Point& be) -{ - // I assume if all 8 box vertices are inside the OBB, so does the whole box. - // Sounds ok but maybe there's a better way? -/* -#define TEST_PT(a,b,c) \ - p.x=a; p.y=b; p.z=c; p+=bc; \ - f = p.x * mRModelToBox.m[0][0] + p.y * mRModelToBox.m[1][0] + p.z * mRModelToBox.m[2][0]; if(f>mB0.x || fmB0.y || fmB0.z || f NCx-NEx) return FALSE; - - float NCy = bc.x * mRModelToBox.m[0][1] + bc.y * mRModelToBox.m[1][1] + bc.z * mRModelToBox.m[2][1]; - float NEy = fabsf(mRModelToBox.m[0][1] * be.x) + fabsf(mRModelToBox.m[1][1] * be.y) + fabsf(mRModelToBox.m[2][1] * be.z); - - if(mB0.y < NCy+NEy) return FALSE; - if(mB1.y > NCy-NEy) return FALSE; - - float NCz = bc.x * mRModelToBox.m[0][2] + bc.y * mRModelToBox.m[1][2] + bc.z * mRModelToBox.m[2][2]; - float NEz = fabsf(mRModelToBox.m[0][2] * be.x) + fabsf(mRModelToBox.m[1][2] * be.y) + fabsf(mRModelToBox.m[2][2] * be.z); - - if(mB0.z < NCz+NEz) return FALSE; - if(mB1.z > NCz-NEz) return FALSE; - - return TRUE; -} - -#define TEST_BOX_IN_OBB(center, extents) \ - if(OBBContainsBox(center, extents)) \ - { \ - /* Set contact status */ \ - mFlags |= OPC_CONTACT; \ - _Dump(node); \ - return; \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_Collide(const AABBCollisionNode* node) -{ - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - OBB_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) -{ - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_Collide(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(Extents, Center)) return; - - TEST_BOX_IN_OBB(Center, Extents) - - if(node->IsLeaf()) - { - OBB_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(Extents, Center)) return; - - TEST_BOX_IN_OBB(Center, Extents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_Collide(const AABBNoLeafNode* node) -{ - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { OBB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) -{ - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(node->mAABB.mExtents, node->mAABB.mCenter)) return; - - TEST_BOX_IN_OBB(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_Collide(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(Extents, Center)) return; - - TEST_BOX_IN_OBB(Center, Extents) - - if(node->HasPosLeaf()) { OBB_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { OBB_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void OBBCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform OBB-AABB overlap test - if(!BoxBoxOverlap(Extents, Center)) return; - - TEST_BOX_IN_OBB(Center, Extents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - - - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridOBBCollider::HybridOBBCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridOBBCollider::~HybridOBBCollider() -{ -} - -bool HybridOBBCollider::Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb, const Matrix4x4* worldm) -{ - // We don't want primitive tests here! - mFlags |= OPC_NO_PRIMITIVE_TESTS; - - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, box, worldb, worldm)) return true; - - // Special case for 1-leaf trees - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles - udword Nb = mIMesh->GetNbTriangles(); - - // Loop through all triangles - for(udword i=0;imCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - - // We only have a list of boxes so far - if(GetContactStatus()) - { - // Reset contact status, since it currently only reflects collisions with leaf boxes - Collider::InitQuery(); - - // Change dest container so that we can use built-in overlap tests and get collided primitives - cache.TouchedPrimitives.Reset(); - mTouchedPrimitives = &cache.TouchedPrimitives; - - // Read touched leaf boxes - udword Nb = mTouchedBoxes.GetNbEntries(); - const udword* Touched = mTouchedBoxes.GetEntries(); - - const LeafTriangles* LT = model.GetLeafTriangles(); - const udword* Indices = model.GetIndices(); - - // Loop through touched leaves - while(Nb--) - { - const LeafTriangles& CurrentLeaf = LT[*Touched++]; - - // Each leaf box has a set of triangles - udword NbTris = CurrentLeaf.GetNbTriangles(); - if(Indices) - { - const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = *T++; - OBB_PRIM(TriangleIndex, OPC_CONTACT) - } - } - else - { - udword BaseIndex = CurrentLeaf.GetTriangleIndex(); - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = BaseIndex++; - OBB_PRIM(TriangleIndex, OPC_CONTACT) - } - } - } - } - - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OBBCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OBBCollider.h deleted file mode 100644 index a0501180..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OBBCollider.h +++ /dev/null @@ -1,142 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for an OBB collider. - * \file OPC_OBBCollider.h - * \author Pierre Terdiman - * \date January, 1st, 2002 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_OBBCOLLIDER_H__ -#define __OPC_OBBCOLLIDER_H__ - - struct OPCODE_API OBBCache : VolumeCache - { - OBBCache() : FatCoeff(1.1f) - { - FatBox.mCenter.Zero(); - FatBox.mExtents.Zero(); - FatBox.mRot.Identity(); - } - - // Cached faces signature - OBB FatBox; //!< Box used when performing the query resulting in cached faces - // User settings - float FatCoeff; //!< extents multiplier used to create a fat box - }; - - class OPCODE_API OBBCollider : public VolumeCollider - { - public: - // Constructor / Destructor - OBBCollider(); - virtual ~OBBCollider(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a box cache - * \param box [in] collision OBB in local space - * \param model [in] Opcode model to collide with - * \param worldb [in] OBB's world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(OBBCache& cache, const OBB& box, const Model& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); - - // Settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: select between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) - * \param flag [in] true for full tests, false for coarse tests - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } - - // Settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. - * \return null if everything is ok, else a string describing the problem - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(Collider) const char* ValidateSettings(); - - protected: - // Precomputed data - Matrix3x3 mAR; //!< Absolute rotation matrix - Matrix3x3 mRModelToBox; //!< Rotation from model space to obb space - Matrix3x3 mRBoxToModel; //!< Rotation from obb space to model space - Point mTModelToBox; //!< Translation from model space to obb space - Point mTBoxToModel; //!< Translation from obb space to model space - - Point mBoxExtents; - Point mB0; //!< - mTModelToBox + mBoxExtents - Point mB1; //!< - mTModelToBox - mBoxExtents - - float mBBx1; - float mBBy1; - float mBBz1; - - float mBB_1; - float mBB_2; - float mBB_3; - float mBB_4; - float mBB_5; - float mBB_6; - float mBB_7; - float mBB_8; - float mBB_9; - - // Leaf description - Point mLeafVerts[3]; //!< Triangle vertices - // Settings - bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) - // Internal methods - void _Collide(const AABBCollisionNode* node); - void _Collide(const AABBNoLeafNode* node); - void _Collide(const AABBQuantizedNode* node); - void _Collide(const AABBQuantizedNoLeafNode* node); - void _CollideNoPrimitiveTest(const AABBCollisionNode* node); - void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); - // Overlap tests - inline_ BOOL OBBContainsBox(const Point& bc, const Point& be); - inline_ BOOL BoxBoxOverlap(const Point& extents, const Point& center); - inline_ BOOL TriBoxOverlap(); - // Init methods - BOOL InitQuery(OBBCache& cache, const OBB& box, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); - }; - - class OPCODE_API HybridOBBCollider : public OBBCollider - { - public: - // Constructor / Destructor - HybridOBBCollider(); - virtual ~HybridOBBCollider(); - - bool Collide(OBBCache& cache, const OBB& box, const HybridModel& model, const Matrix4x4* worldb=null, const Matrix4x4* worldm=null); - protected: - Container mTouchedBoxes; - }; - -#endif // __OPC_OBBCOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OptimizedTree.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OptimizedTree.cpp deleted file mode 100644 index 88532de5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OptimizedTree.cpp +++ /dev/null @@ -1,783 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for optimized trees. Implements 4 trees: - * - normal - * - no leaf - * - quantized - * - no leaf / quantized - * - * \file OPC_OptimizedTree.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A standard AABB tree. - * - * \class AABBCollisionTree - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A no-leaf AABB tree. - * - * \class AABBNoLeafTree - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A quantized AABB tree. - * - * \class AABBQuantizedTree - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A quantized no-leaf AABB tree. - * - * \class AABBQuantizedNoLeafTree - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -//! Compilation flag: -//! - true to fix quantized boxes (i.e. make sure they enclose the original ones) -//! - false to see the effects of quantization errors (faster, but wrong results in some cases) -static const bool gFixQuantized = true; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds an implicit tree from a standard one. An implicit tree is a complete tree (2*N-1 nodes) whose negative - * box pointers and primitive pointers have been made implicit, hence packing 3 pointers in one. - * - * Layout for implicit trees: - * Node: - * - box - * - data (32-bits value) - * - * if data's LSB = 1 => remaining bits are a primitive pointer - * else remaining bits are a P-node pointer, and N = P + 1 - * - * \relates AABBCollisionNode - * \fn _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) - * \param linear [in] base address of destination nodes - * \param box_id [in] index of destination node - * \param current_id [in] current running index - * \param current_node [in] current node from input tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -static void _BuildCollisionTree(AABBCollisionNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) -{ - // Current node from input tree is "current_node". Must be flattened into "linear[boxid]". - - // Store the AABB - current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); - current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); - // Store remaining info - if(current_node->IsLeaf()) - { - // The input tree must be complete => i.e. one primitive/leaf - ASSERT(current_node->GetNbPrimitives()==1); - // Get the primitive index from the input tree - udword PrimitiveIndex = current_node->GetPrimitives()[0]; - // Setup box data as the primitive index, marked as leaf - linear[box_id].mData = (PrimitiveIndex<<1)|1; - } - else - { - // To make the negative one implicit, we must store P and N in successive order - udword PosID = current_id++; // Get a new id for positive child - udword NegID = current_id++; // Get a new id for negative child - // Setup box data as the forthcoming new P pointer - linear[box_id].mData = (size_t)&linear[PosID]; - // Make sure it's not marked as leaf - ASSERT(!(linear[box_id].mData&1)); - // Recurse with new IDs - _BuildCollisionTree(linear, PosID, current_id, current_node->GetPos()); - _BuildCollisionTree(linear, NegID, current_id, current_node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds a "no-leaf" tree from a standard one. This is a tree whose leaf nodes have been removed. - * - * Layout for no-leaf trees: - * - * Node: - * - box - * - P pointer => a node (LSB=0) or a primitive (LSB=1) - * - N pointer => a node (LSB=0) or a primitive (LSB=1) - * - * \relates AABBNoLeafNode - * \fn _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) - * \param linear [in] base address of destination nodes - * \param box_id [in] index of destination node - * \param current_id [in] current running index - * \param current_node [in] current node from input tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -static void _BuildNoLeafTree(AABBNoLeafNode* linear, const udword box_id, udword& current_id, const AABBTreeNode* current_node) -{ - const AABBTreeNode* P = current_node->GetPos(); - const AABBTreeNode* N = current_node->GetNeg(); - // Leaf nodes here?! - ASSERT(P); - ASSERT(N); - // Internal node => keep the box - current_node->GetAABB()->GetCenter(linear[box_id].mAABB.mCenter); - current_node->GetAABB()->GetExtents(linear[box_id].mAABB.mExtents); - - if(P->IsLeaf()) - { - // The input tree must be complete => i.e. one primitive/leaf - ASSERT(P->GetNbPrimitives()==1); - // Get the primitive index from the input tree - udword PrimitiveIndex = P->GetPrimitives()[0]; - // Setup prev box data as the primitive index, marked as leaf - linear[box_id].mPosData = (PrimitiveIndex<<1)|1; - } - else - { - // Get a new id for positive child - udword PosID = current_id++; - // Setup box data - linear[box_id].mPosData = (size_t)&linear[PosID]; - // Make sure it's not marked as leaf - ASSERT(!(linear[box_id].mPosData&1)); - // Recurse - _BuildNoLeafTree(linear, PosID, current_id, P); - } - - if(N->IsLeaf()) - { - // The input tree must be complete => i.e. one primitive/leaf - ASSERT(N->GetNbPrimitives()==1); - // Get the primitive index from the input tree - udword PrimitiveIndex = N->GetPrimitives()[0]; - // Setup prev box data as the primitive index, marked as leaf - linear[box_id].mNegData = (PrimitiveIndex<<1)|1; - } - else - { - // Get a new id for negative child - udword NegID = current_id++; - // Setup box data - linear[box_id].mNegData = (size_t)&linear[NegID]; - // Make sure it's not marked as leaf - ASSERT(!(linear[box_id].mNegData&1)); - // Recurse - _BuildNoLeafTree(linear, NegID, current_id, N); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBCollisionTree::AABBCollisionTree() : mNodes(null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBCollisionTree::~AABBCollisionTree() -{ - DELETEARRAY(mNodes); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds the collision tree from a generic AABB tree. - * \param tree [in] generic AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBCollisionTree::Build(AABBTree* tree) -{ - // Checkings - if(!tree) return false; - // Check the input tree is complete - udword NbTriangles = tree->GetNbPrimitives(); - udword NbNodes = tree->GetNbNodes(); - if(NbNodes!=NbTriangles*2-1) return false; - - // Get nodes - if(mNbNodes!=NbNodes) // Same number of nodes => keep moving - { - mNbNodes = NbNodes; - DELETEARRAY(mNodes); - mNodes = new AABBCollisionNode[mNbNodes]; - CHECKALLOC(mNodes); - } - - // Build the tree - udword CurID = 1; - _BuildCollisionTree(mNodes, 0, CurID, tree); - ASSERT(CurID==mNbNodes); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the collision tree after vertices have been modified. - * \param mesh_interface [in] mesh interface for current model - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBCollisionTree::Refit(const MeshInterface* mesh_interface) -{ - ASSERT(!"Not implemented since AABBCollisionTrees have twice as more nodes to refit as AABBNoLeafTrees!"); - return false; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Walks the tree and call the user back for each node. - * \param callback [in] walking callback - * \param user_data [in] callback's user data - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBCollisionTree::Walk(GenericWalkingCallback callback, void* user_data) const -{ - if(!callback) return false; - - struct Local - { - static void _Walk(const AABBCollisionNode* current_node, GenericWalkingCallback callback, void* user_data) - { - if(!current_node || !(callback)(current_node, user_data)) return; - - if(!current_node->IsLeaf()) - { - _Walk(current_node->GetPos(), callback, user_data); - _Walk(current_node->GetNeg(), callback, user_data); - } - } - }; - Local::_Walk(mNodes, callback, user_data); - return true; -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBNoLeafTree::AABBNoLeafTree() : mNodes(null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBNoLeafTree::~AABBNoLeafTree() -{ - DELETEARRAY(mNodes); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds the collision tree from a generic AABB tree. - * \param tree [in] generic AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBNoLeafTree::Build(AABBTree* tree) -{ - // Checkings - if(!tree) return false; - // Check the input tree is complete - udword NbTriangles = tree->GetNbPrimitives(); - udword NbNodes = tree->GetNbNodes(); - if(NbNodes!=NbTriangles*2-1) return false; - - // Get nodes - if(mNbNodes!=NbTriangles-1) // Same number of nodes => keep moving - { - mNbNodes = NbTriangles-1; - DELETEARRAY(mNodes); - mNodes = new AABBNoLeafNode[mNbNodes]; - CHECKALLOC(mNodes); - } - - // Build the tree - udword CurID = 1; - _BuildNoLeafTree(mNodes, 0, CurID, tree); - ASSERT(CurID==mNbNodes); - - return true; -} - -inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp) -{ - // Compute triangle's AABB = a leaf box -#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much - min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); - max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x); - - min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); - max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y); - - min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); - max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z); -#else - min = *vp.Vertex[0]; - max = *vp.Vertex[0]; - min.Min(*vp.Vertex[1]); - max.Max(*vp.Vertex[1]); - min.Min(*vp.Vertex[2]); - max.Max(*vp.Vertex[2]); -#endif -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Refits the collision tree after vertices have been modified. - * \param mesh_interface [in] mesh interface for current model - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBNoLeafTree::Refit(const MeshInterface* mesh_interface) -{ - // Checkings - if(!mesh_interface) return false; - - // Bottom-up update - VertexPointers VP; - ConversionArea VC; - Point Min,Max; - Point Min_,Max_; - udword Index = mNbNodes; - while(Index--) - { - AABBNoLeafNode& Current = mNodes[Index]; - - if(Current.HasPosLeaf()) - { - mesh_interface->GetTriangle(VP, Current.GetPosPrimitive(), VC); - ComputeMinMax(Min, Max, VP); - } - else - { - const CollisionAABB& CurrentBox = Current.GetPos()->mAABB; - CurrentBox.GetMin(Min); - CurrentBox.GetMax(Max); - } - - if(Current.HasNegLeaf()) - { - mesh_interface->GetTriangle(VP, Current.GetNegPrimitive(), VC); - ComputeMinMax(Min_, Max_, VP); - } - else - { - const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB; - CurrentBox.GetMin(Min_); - CurrentBox.GetMax(Max_); - } -#ifdef OPC_USE_FCOMI - Min.x = FCMin2(Min.x, Min_.x); - Max.x = FCMax2(Max.x, Max_.x); - Min.y = FCMin2(Min.y, Min_.y); - Max.y = FCMax2(Max.y, Max_.y); - Min.z = FCMin2(Min.z, Min_.z); - Max.z = FCMax2(Max.z, Max_.z); -#else - Min.Min(Min_); - Max.Max(Max_); -#endif - Current.mAABB.SetMinMax(Min, Max); - } - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Walks the tree and call the user back for each node. - * \param callback [in] walking callback - * \param user_data [in] callback's user data - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBNoLeafTree::Walk(GenericWalkingCallback callback, void* user_data) const -{ - if(!callback) return false; - - struct Local - { - static void _Walk(const AABBNoLeafNode* current_node, GenericWalkingCallback callback, void* user_data) - { - if(!current_node || !(callback)(current_node, user_data)) return; - - if(!current_node->HasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); - if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); - } - }; - Local::_Walk(mNodes, callback, user_data); - return true; -} - -// Quantization notes: -// - We could use the highest bits of mData to store some more quantized bits. Dequantization code -// would be slightly more complex, but number of overlap tests would be reduced (and anyhow those -// bits are currently wasted). Of course it's not possible if we move to 16 bits mData. -// - Something like "16 bits floats" could be tested, to bypass the int-to-float conversion. -// - A dedicated BV-BV test could be used, dequantizing while testing for overlap. (i.e. it's some -// lazy-dequantization which may save some work in case of early exits). At the very least some -// muls could be saved by precomputing several more matrices. But maybe not worth the pain. -// - Do we need to dequantize anyway? Not doing the extents-related muls only implies the box has -// been scaled, for example. -// - The deeper we move into the hierarchy, the smaller the extents should be. May not need a fixed -// number of quantization bits. Even better, could probably be best delta-encoded. - - -// Find max values. Some people asked why I wasn't simply using the first node. Well, I can't. -// I'm not looking for (min, max) values like in a standard AABB, I'm looking for the extremal -// centers/extents in order to quantize them. The first node would only give a single center and -// a single extents. While extents would be the biggest, the center wouldn't. -#define FIND_MAX_VALUES \ - /* Get max values */ \ - Point CMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ - Point EMax(MIN_FLOAT, MIN_FLOAT, MIN_FLOAT); \ - for(udword i=0;iCMax.x) CMax.x = fabsf(Nodes[i].mAABB.mCenter.x); \ - if(fabsf(Nodes[i].mAABB.mCenter.y)>CMax.y) CMax.y = fabsf(Nodes[i].mAABB.mCenter.y); \ - if(fabsf(Nodes[i].mAABB.mCenter.z)>CMax.z) CMax.z = fabsf(Nodes[i].mAABB.mCenter.z); \ - if(fabsf(Nodes[i].mAABB.mExtents.x)>EMax.x) EMax.x = fabsf(Nodes[i].mAABB.mExtents.x); \ - if(fabsf(Nodes[i].mAABB.mExtents.y)>EMax.y) EMax.y = fabsf(Nodes[i].mAABB.mExtents.y); \ - if(fabsf(Nodes[i].mAABB.mExtents.z)>EMax.z) EMax.z = fabsf(Nodes[i].mAABB.mExtents.z); \ - } - -#define INIT_QUANTIZATION \ - udword nbc=15; /* Keep one bit for sign */ \ - udword nbe=15; /* Keep one bit for fix */ \ - if(!gFixQuantized) nbe++; \ - \ - /* Compute quantization coeffs */ \ - Point CQuantCoeff, EQuantCoeff; \ - CQuantCoeff.x = CMax.x!=0.0f ? float((1<Min[j]) mNodes[i].mAABB.mExtents[j]++; \ - else FixMe=false; \ - /* Prevent wrapping */ \ - if(!mNodes[i].mAABB.mExtents[j]) \ - { \ - mNodes[i].mAABB.mExtents[j]=0xffff; \ - FixMe=false; \ - } \ - }while(FixMe); \ - } \ - } - -#define REMAP_DATA(member) \ - /* Fix data */ \ - Data = Nodes[i].member; \ - if(!(Data&1)) \ - { \ - /* Compute box number */ \ - size_t Nb = (Data - size_t(Nodes))/Nodes[i].GetNodeSize(); \ - Data = (size_t) &mNodes[Nb]; \ - } \ - /* ...remapped */ \ - mNodes[i].member = Data; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBQuantizedTree::AABBQuantizedTree() : mNodes(null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBQuantizedTree::~AABBQuantizedTree() -{ - DELETEARRAY(mNodes); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds the collision tree from a generic AABB tree. - * \param tree [in] generic AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBQuantizedTree::Build(AABBTree* tree) -{ - // Checkings - if(!tree) return false; - // Check the input tree is complete - udword NbTriangles = tree->GetNbPrimitives(); - udword NbNodes = tree->GetNbNodes(); - if(NbNodes!=NbTriangles*2-1) return false; - - // Get nodes - mNbNodes = NbNodes; - DELETEARRAY(mNodes); - AABBCollisionNode* Nodes = new AABBCollisionNode[mNbNodes]; - CHECKALLOC(Nodes); - - // Build the tree - udword CurID = 1; - _BuildCollisionTree(Nodes, 0, CurID, tree); - - // Quantize - { - mNodes = new AABBQuantizedNode[mNbNodes]; - CHECKALLOC(mNodes); - - // Get max values - FIND_MAX_VALUES - - // Quantization - INIT_QUANTIZATION - - // Quantize - size_t Data; - for(udword i=0;iIsLeaf()) - { - _Walk(current_node->GetPos(), callback, user_data); - _Walk(current_node->GetNeg(), callback, user_data); - } - } - }; - Local::_Walk(mNodes, callback, user_data); - return true; -} - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBQuantizedNoLeafTree::AABBQuantizedNoLeafTree() : mNodes(null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -AABBQuantizedNoLeafTree::~AABBQuantizedNoLeafTree() -{ - DELETEARRAY(mNodes); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Builds the collision tree from a generic AABB tree. - * \param tree [in] generic AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBQuantizedNoLeafTree::Build(AABBTree* tree) -{ - // Checkings - if(!tree) return false; - // Check the input tree is complete - udword NbTriangles = tree->GetNbPrimitives(); - udword NbNodes = tree->GetNbNodes(); - if(NbNodes!=NbTriangles*2-1) return false; - - // Get nodes - mNbNodes = NbTriangles-1; - DELETEARRAY(mNodes); - AABBNoLeafNode* Nodes = new AABBNoLeafNode[mNbNodes]; - CHECKALLOC(Nodes); - - // Build the tree - udword CurID = 1; - _BuildNoLeafTree(Nodes, 0, CurID, tree); - ASSERT(CurID==mNbNodes); - - // Quantize - { - mNodes = new AABBQuantizedNoLeafNode[mNbNodes]; - CHECKALLOC(mNodes); - - // Get max values - FIND_MAX_VALUES - - // Quantization - INIT_QUANTIZATION - - // Quantize - size_t Data; - for(udword i=0;iHasPosLeaf()) _Walk(current_node->GetPos(), callback, user_data); - if(!current_node->HasNegLeaf()) _Walk(current_node->GetNeg(), callback, user_data); - } - }; - Local::_Walk(mNodes, callback, user_data); - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OptimizedTree.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OptimizedTree.h deleted file mode 100644 index 36aea071..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_OptimizedTree.h +++ /dev/null @@ -1,206 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for optimized trees. - * \file OPC_OptimizedTree.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_OPTIMIZEDTREE_H__ -#define __OPC_OPTIMIZEDTREE_H__ - - //! Common interface for a node of an implicit tree - #define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \ - public: \ - /* Constructor / Destructor */ \ - inline_ base_class() : mData(0) {} \ - inline_ ~base_class() {} \ - /* Leaf test */ \ - inline_ BOOL IsLeaf() const { return (mData&1)!=0; } \ - /* Data access */ \ - inline_ const base_class* GetPos() const { return (base_class*)mData; } \ - inline_ const base_class* GetNeg() const { return ((base_class*)mData)+1; } \ - inline_ size_t GetPrimitive() const { return (mData>>1); } \ - /* Stats */ \ - inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ - \ - volume mAABB; \ - size_t mData; - - //! Common interface for a node of a no-leaf tree - #define IMPLEMENT_NOLEAF_NODE(base_class, volume) \ - public: \ - /* Constructor / Destructor */ \ - inline_ base_class() : mPosData(0), mNegData(0) {} \ - inline_ ~base_class() {} \ - /* Leaf tests */ \ - inline_ BOOL HasPosLeaf() const { return (mPosData&1)!=0; } \ - inline_ BOOL HasNegLeaf() const { return (mNegData&1)!=0; } \ - /* Data access */ \ - inline_ const base_class* GetPos() const { return (base_class*)mPosData; } \ - inline_ const base_class* GetNeg() const { return (base_class*)mNegData; } \ - inline_ size_t GetPosPrimitive() const { return (mPosData>>1); } \ - inline_ size_t GetNegPrimitive() const { return (mNegData>>1); } \ - /* Stats */ \ - inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ - \ - volume mAABB; \ - size_t mPosData; \ - size_t mNegData; - - class OPCODE_API AABBCollisionNode - { - IMPLEMENT_IMPLICIT_NODE(AABBCollisionNode, CollisionAABB) - - inline_ float GetVolume() const { return mAABB.mExtents.x * mAABB.mExtents.y * mAABB.mExtents.z; } - inline_ float GetSize() const { return mAABB.mExtents.SquareMagnitude(); } - inline_ udword GetRadius() const - { - udword* Bits = (udword*)&mAABB.mExtents.x; - udword Max = Bits[0]; - if(Bits[1]>Max) Max = Bits[1]; - if(Bits[2]>Max) Max = Bits[2]; - return Max; - } - - // NB: using the square-magnitude or the true volume of the box, seems to yield better results - // (assuming UNC-like informed traversal methods). I borrowed this idea from PQP. The usual "size" - // otherwise, is the largest box extent. In SOLID that extent is computed on-the-fly each time it's - // needed (the best approach IMHO). In RAPID the rotation matrix is permuted so that Extent[0] is - // always the greatest, which saves looking for it at runtime. On the other hand, it yields matrices - // whose determinant is not 1, i.e. you can't encode them anymore as unit quaternions. Not a very - // good strategy. - }; - - class OPCODE_API AABBQuantizedNode - { - IMPLEMENT_IMPLICIT_NODE(AABBQuantizedNode, QuantizedAABB) - - inline_ uword GetSize() const - { - const uword* Bits = mAABB.mExtents; - uword Max = Bits[0]; - if(Bits[1]>Max) Max = Bits[1]; - if(Bits[2]>Max) Max = Bits[2]; - return Max; - } - // NB: for quantized nodes I don't feel like computing a square-magnitude with integers all - // over the place.......! - }; - - class OPCODE_API AABBNoLeafNode - { - IMPLEMENT_NOLEAF_NODE(AABBNoLeafNode, CollisionAABB) - }; - - class OPCODE_API AABBQuantizedNoLeafNode - { - IMPLEMENT_NOLEAF_NODE(AABBQuantizedNoLeafNode, QuantizedAABB) - }; - - //! Common interface for a collision tree - #define IMPLEMENT_COLLISION_TREE(base_class, node) \ - public: \ - /* Constructor / Destructor */ \ - base_class(); \ - virtual ~base_class(); \ - /* Builds from a standard tree */ \ - override(AABBOptimizedTree) bool Build(AABBTree* tree); \ - /* Refits the tree */ \ - override(AABBOptimizedTree) bool Refit(const MeshInterface* mesh_interface); \ - /* Walks the tree */ \ - override(AABBOptimizedTree) bool Walk(GenericWalkingCallback callback, void* user_data) const; \ - /* Data access */ \ - inline_ const node* GetNodes() const { return mNodes; } \ - /* Stats */ \ - override(AABBOptimizedTree) udword GetUsedBytes() const { return mNbNodes*sizeof(node); } \ - private: \ - node* mNodes; - - typedef bool (*GenericWalkingCallback) (const void* current, void* user_data); - - class OPCODE_API AABBOptimizedTree - { - public: - // Constructor / Destructor - AABBOptimizedTree() : - mNbNodes (0) - {} - virtual ~AABBOptimizedTree() {} - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Builds the collision tree from a generic AABB tree. - * \param tree [in] generic AABB tree - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual bool Build(AABBTree* tree) = 0; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Refits the collision tree after vertices have been modified. - * \param mesh_interface [in] mesh interface for current model - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual bool Refit(const MeshInterface* mesh_interface) = 0; - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Walks the tree and call the user back for each node. - * \param callback [in] walking callback - * \param user_data [in] callback's user data - * \return true if success - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - virtual bool Walk(GenericWalkingCallback callback, void* user_data) const = 0; - - // Data access - virtual udword GetUsedBytes() const = 0; - inline_ udword GetNbNodes() const { return mNbNodes; } - - protected: - udword mNbNodes; - }; - - class OPCODE_API AABBCollisionTree : public AABBOptimizedTree - { - IMPLEMENT_COLLISION_TREE(AABBCollisionTree, AABBCollisionNode) - }; - - class OPCODE_API AABBNoLeafTree : public AABBOptimizedTree - { - IMPLEMENT_COLLISION_TREE(AABBNoLeafTree, AABBNoLeafNode) - }; - - class OPCODE_API AABBQuantizedTree : public AABBOptimizedTree - { - IMPLEMENT_COLLISION_TREE(AABBQuantizedTree, AABBQuantizedNode) - - public: - Point mCenterCoeff; - Point mExtentsCoeff; - }; - - class OPCODE_API AABBQuantizedNoLeafTree : public AABBOptimizedTree - { - IMPLEMENT_COLLISION_TREE(AABBQuantizedNoLeafTree, AABBQuantizedNoLeafNode) - - public: - Point mCenterCoeff; - Point mExtentsCoeff; - }; - -#endif // __OPC_OPTIMIZEDTREE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Picking.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Picking.cpp deleted file mode 100644 index 0f4c6c32..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Picking.cpp +++ /dev/null @@ -1,183 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code to perform "picking". - * \file OPC_Picking.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -#ifdef OPC_RAYHIT_CALLBACK - -/* - Possible RayCollider usages: - - boolean query (shadow feeler) - - closest hit - - all hits - - number of intersection (boolean) - -*/ - -bool Opcode::SetupAllHits(RayCollider& collider, CollisionFaces& contacts) -{ - struct Local - { - static void AllContacts(const CollisionFace& hit, void* user_data) - { - CollisionFaces* CF = (CollisionFaces*)user_data; - CF->AddFace(hit); - } - }; - - collider.SetFirstContact(false); - collider.SetHitCallback(Local::AllContacts); - collider.SetUserData(&contacts); - return true; -} - -bool Opcode::SetupClosestHit(RayCollider& collider, CollisionFace& closest_contact) -{ - struct Local - { - static void ClosestContact(const CollisionFace& hit, void* user_data) - { - CollisionFace* CF = (CollisionFace*)user_data; - if(hit.mDistancemDistance) *CF = hit; - } - }; - - collider.SetFirstContact(false); - collider.SetHitCallback(Local::ClosestContact); - collider.SetUserData(&closest_contact); - closest_contact.mDistance = MAX_FLOAT; - return true; -} - -bool Opcode::SetupShadowFeeler(RayCollider& collider) -{ - collider.SetFirstContact(true); - collider.SetHitCallback(null); - return true; -} - -bool Opcode::SetupInOutTest(RayCollider& collider) -{ - collider.SetFirstContact(false); - collider.SetHitCallback(null); - // Results with collider.GetNbIntersections() - return true; -} - -bool Opcode::Picking( -CollisionFace& picked_face, -const Ray& world_ray, const Model& model, const Matrix4x4* world, -float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data) -{ - struct Local - { - struct CullData - { - CollisionFace* Closest; - float MinLimit; - CullModeCallback Callback; - void* UserData; - Point ViewPoint; - const MeshInterface* IMesh; - }; - - // Called for each stabbed face - static void RenderCullingCallback(const CollisionFace& hit, void* user_data) - { - CullData* Data = (CullData*)user_data; - - // Discard face if we already have a closer hit - if(hit.mDistance>=Data->Closest->mDistance) return; - - // Discard face if hit point is smaller than min limit. This mainly happens when the face is in front - // of the near clip plane (or straddles it). If we keep the face nonetheless, the user can select an - // object that he may not even be able to see, which is very annoying. - if(hit.mDistance<=Data->MinLimit) return; - - // This is the index of currently stabbed triangle. - udword StabbedFaceIndex = hit.mFaceID; - - // We may keep it or not, depending on backface culling - bool KeepIt = true; - - // Catch *render* cull mode for this face - CullMode CM = (Data->Callback)(StabbedFaceIndex, Data->UserData); - - if(CM!=CULLMODE_NONE) // Don't even compute culling for double-sided triangles - { - // Compute backface culling for current face - - VertexPointers VP; - ConversionArea VC; - Data->IMesh->GetTriangle(VP, StabbedFaceIndex, VC); - if(VP.BackfaceCulling(Data->ViewPoint)) - { - if(CM==CULLMODE_CW) KeepIt = false; - } - else - { - if(CM==CULLMODE_CCW) KeepIt = false; - } - } - - if(KeepIt) *Data->Closest = hit; - } - }; - - RayCollider RC; - RC.SetMaxDist(max_dist); - RC.SetTemporalCoherence(false); - RC.SetCulling(false); // We need all faces since some of them can be double-sided - RC.SetFirstContact(false); - RC.SetHitCallback(Local::RenderCullingCallback); - - picked_face.mFaceID = INVALID_ID; - picked_face.mDistance = MAX_FLOAT; - picked_face.mU = 0.0f; - picked_face.mV = 0.0f; - - Local::CullData Data; - Data.Closest = &picked_face; - Data.MinLimit = min_dist; - Data.Callback = callback; - Data.UserData = user_data; - Data.ViewPoint = view_point; - Data.IMesh = model.GetMeshInterface(); - - if(world) - { - // Get matrices - Matrix4x4 InvWorld; - InvertPRMatrix(InvWorld, *world); - - // Compute camera position in mesh space - Data.ViewPoint *= InvWorld; - } - - RC.SetUserData(&Data); - if(RC.Collide(world_ray, model, world)) - { - return picked_face.mFaceID!=INVALID_ID; - } - return false; -} - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Picking.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Picking.h deleted file mode 100644 index d22fa38a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Picking.h +++ /dev/null @@ -1,45 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code to perform "picking". - * \file OPC_Picking.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_PICKING_H__ -#define __OPC_PICKING_H__ - -#ifdef OPC_RAYHIT_CALLBACK - - enum CullMode - { - CULLMODE_NONE = 0, - CULLMODE_CW = 1, - CULLMODE_CCW = 2 - }; - - typedef CullMode (*CullModeCallback)(udword triangle_index, void* user_data); - - OPCODE_API bool SetupAllHits (RayCollider& collider, CollisionFaces& contacts); - OPCODE_API bool SetupClosestHit (RayCollider& collider, CollisionFace& closest_contact); - OPCODE_API bool SetupShadowFeeler (RayCollider& collider); - OPCODE_API bool SetupInOutTest (RayCollider& collider); - - OPCODE_API bool Picking( - CollisionFace& picked_face, - const Ray& world_ray, const Model& model, const Matrix4x4* world, - float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data); -#endif - -#endif //__OPC_PICKING_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_PlanesAABBOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_PlanesAABBOverlap.h deleted file mode 100644 index 5d7576e5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_PlanesAABBOverlap.h +++ /dev/null @@ -1,50 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Planes-AABB overlap test. - * - original code by Ville Miettinen, from Umbra/dPVS (released on the GD-Algorithms mailing list) - * - almost used "as-is", I even left the comments (hence the frustum-related notes) - * - * \param center [in] box center - * \param extents [in] box extents - * \param out_clip_mask [out] bitmask for active planes - * \param in_clip_mask [in] bitmask for active planes - * \return TRUE if boxes overlap planes - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL PlanesCollider::PlanesAABBOverlap(const Point& center, const Point& extents, udword& out_clip_mask, udword in_clip_mask) -{ - // Stats - mNbVolumeBVTests++; - - const Plane* p = mPlanes; - - // Evaluate through all active frustum planes. We determine the relation - // between the AABB and a plane by using the concept of "near" and "far" - // vertices originally described by Zhang (and later by Möller). Our - // variant here uses 3 fabs ops, 6 muls, 7 adds and two floating point - // comparisons per plane. The routine early-exits if the AABB is found - // to be outside any of the planes. The loop also constructs a new output - // clip mask. Most FPUs have a native single-cycle fabsf() operation. - - udword Mask = 1; // current mask index (1,2,4,8,..) - udword TmpOutClipMask = 0; // initialize output clip mask into empty. - - while(Mask<=in_clip_mask) // keep looping while we have active planes left... - { - if(in_clip_mask & Mask) // if clip plane is active, process it.. - { - float NP = extents.x*fabsf(p->n.x) + extents.y*fabsf(p->n.y) + extents.z*fabsf(p->n.z); // ### fabsf could be precomputed - float MP = center.x*p->n.x + center.y*p->n.y + center.z*p->n.z + p->d; - - if(NP < MP) // near vertex behind the clip plane... - return FALSE; // .. so there is no intersection.. - if((-NP) < MP) // near and far vertices on different sides of plane.. - TmpOutClipMask |= Mask; // .. so update the clip mask... - } - Mask+=Mask; // mk = (1<Add(udword(prim_index)); - -//! Planes-triangle test -#define PLANES_PRIM(prim_index, flag) \ - /* Request vertices from the app */ \ - mIMesh->GetTriangle(mVP, prim_index, mVC); \ - /* Perform triangle-box overlap test */ \ - if(PlanesTriOverlap(clip_mask)) \ - { \ - SET_CONTACT(prim_index, flag) \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -PlanesCollider::PlanesCollider() : - mNbPlanes (0), - mPlanes (null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -PlanesCollider::~PlanesCollider() -{ - DELETEARRAY(mPlanes); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Validates current settings. You should call this method after all the settings and callbacks have been defined. - * \return null if everything is ok, else a string describing the problem - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -const char* PlanesCollider::ValidateSettings() -{ - if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; - - return VolumeCollider::ValidateSettings(); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a planes cache - * \param planes [in] list of planes in world space - * \param nb_planes [in] number of planes - * \param model [in] Opcode model to collide with - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool PlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const Model& model, const Matrix4x4* worldm) -{ - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, planes, nb_planes, worldm)) return true; - - udword PlaneMask = (1<mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - else _Collide(Tree->GetNodes(), PlaneMask); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - else _Collide(Tree->GetNodes(), PlaneMask); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - else _Collide(Tree->GetNodes(), PlaneMask); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - else _Collide(Tree->GetNodes(), PlaneMask); - } - } - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a collision query : - * - reset stats & contact status - * - compute planes in model space - * - check temporal coherence - * - * \param cache [in/out] a planes cache - * \param planes [in] list of planes - * \param nb_planes [in] number of planes - * \param worldm [in] model's world matrix, or null - * \return TRUE if we can return immediately - * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL PlanesCollider::InitQuery(PlanesCache& cache, const Plane* planes, udword nb_planes, const Matrix4x4* worldm) -{ - // 1) Call the base method - VolumeCollider::InitQuery(); - - // 2) Compute planes in model space - if(nb_planes>mNbPlanes) - { - DELETEARRAY(mPlanes); - mPlanes = new Plane[nb_planes]; - } - mNbPlanes = nb_planes; - - if(worldm) - { - Matrix4x4 InvWorldM; - InvertPRMatrix(InvWorldM, *worldm); - -// for(udword i=0;iHasSingleNode()) - { - if(!SkipPrimitiveTests()) - { - // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. - mTouchedPrimitives->Reset(); - - // Perform overlap test between the unique triangle and the planes (and set contact status if needed) - udword clip_mask = (1< check results from previous frame before performing the collision query - if(FirstContactEnabled()) - { - // We're only interested in the first contact found => test the unique previously touched face - if(mTouchedPrimitives->GetNbEntries()) - { - // Get index of previously touched face = the first entry in the array - udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); - - // Then reset the array: - // - if the overlap test below is successful, the index we'll get added back anyway - // - if it isn't, then the array should be reset anyway for the normal query - mTouchedPrimitives->Reset(); - - // Perform overlap test between the cached triangle and the planes (and set contact status if needed) - udword clip_mask = (1< we'll have to perform a normal query - } - else mTouchedPrimitives->Reset(); - } - else - { - // Here we don't use temporal coherence => do a normal query - mTouchedPrimitives->Reset(); - } - - return FALSE; -} - -#define TEST_CLIP_MASK \ - /* If the box is completely included, so are its children. We don't need to do extra tests, we */ \ - /* can immediately output a list of visible children. Those ones won't need to be clipped. */ \ - if(!OutClipMask) \ - { \ - /* Set contact status */ \ - mFlags |= OPC_CONTACT; \ - _Dump(node); \ - return; \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_Collide(const AABBCollisionNode* node, udword clip_mask) -{ - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->IsLeaf()) - { - PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - _Collide(node->GetNeg(), OutClipMask); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node, udword clip_mask) -{ - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_Collide(const AABBQuantizedNode* node, udword clip_mask) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->IsLeaf()) - { - PLANES_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - _Collide(node->GetNeg(), OutClipMask); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node, udword clip_mask) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_Collide(const AABBNoLeafNode* node, udword clip_mask) -{ - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg(), OutClipMask); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node, udword clip_mask) -{ - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_Collide(const AABBQuantizedNoLeafNode* node, udword clip_mask) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->HasPosLeaf()) { PLANES_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { PLANES_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg(), OutClipMask); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void PlanesCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node, udword clip_mask) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Test the box against the planes. If the box is completely culled, so are its children, hence we exit. - udword OutClipMask; - if(!PlanesAABBOverlap(Center, Extents, OutClipMask, clip_mask)) return; - - TEST_CLIP_MASK - - // Else the box straddles one or several planes, so we need to recurse down the tree. - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos(), OutClipMask); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg(), OutClipMask); -} - - - - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridPlanesCollider::HybridPlanesCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridPlanesCollider::~HybridPlanesCollider() -{ -} - -bool HybridPlanesCollider::Collide(PlanesCache& cache, const Plane* planes, udword nb_planes, const HybridModel& model, const Matrix4x4* worldm) -{ - // We don't want primitive tests here! - mFlags |= OPC_NO_PRIMITIVE_TESTS; - - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, planes, nb_planes, worldm)) return true; - - // Special case for 1-leaf trees - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles - udword Nb = mIMesh->GetNbTriangles(); - - // Loop through all triangles - udword clip_mask = (1<mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes(), PlaneMask); - } - } - - // We only have a list of boxes so far - if(GetContactStatus()) - { - // Reset contact status, since it currently only reflects collisions with leaf boxes - Collider::InitQuery(); - - // Change dest container so that we can use built-in overlap tests and get collided primitives - cache.TouchedPrimitives.Reset(); - mTouchedPrimitives = &cache.TouchedPrimitives; - - // Read touched leaf boxes - udword Nb = mTouchedBoxes.GetNbEntries(); - const udword* Touched = mTouchedBoxes.GetEntries(); - - const LeafTriangles* LT = model.GetLeafTriangles(); - const udword* Indices = model.GetIndices(); - - // Loop through touched leaves - udword clip_mask = (1<Distance(*mVP.Vertex[0]); - float d1 = p->Distance(*mVP.Vertex[1]); - float d2 = p->Distance(*mVP.Vertex[2]); - if(d0>0.0f && d1>0.0f && d2>0.0f) return FALSE; -// if(!(IR(d0)&SIGN_BITMASK) && !(IR(d1)&SIGN_BITMASK) && !(IR(d2)&SIGN_BITMASK)) return FALSE; - } - Mask+=Mask; - p++; - } -/* - for(udword i=0;i<6;i++) - { - float d0 = p[i].Distance(mLeafVerts[0]); - float d1 = p[i].Distance(mLeafVerts[1]); - float d2 = p[i].Distance(mLeafVerts[2]); - if(d0>0.0f && d1>0.0f && d2>0.0f) return false; - } -*/ - return TRUE; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayAABBOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayAABBOverlap.h deleted file mode 100644 index a8162bf0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayAABBOverlap.h +++ /dev/null @@ -1,63 +0,0 @@ -// Opcode 1.1: ray-AABB overlap tests based on Woo's code -// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem -// -// The point of intersection is not computed anymore. The distance to impact is not needed anymore -// since we now have two different queries for segments or rays. - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class. - * \param center [in] AABB center - * \param extents [in] AABB extents - * \return true on overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL RayCollider::SegmentAABBOverlap(const Point& center, const Point& extents) -{ - // Stats - mNbRayBVTests++; - - float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE; - float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE; - float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE; - - float f; - f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; - f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; - f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; - - return TRUE; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class. - * \param center [in] AABB center - * \param extents [in] AABB extents - * \return true on overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents) -{ - // Stats - mNbRayBVTests++; - -// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE; -// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE; -// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE; - - float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE; - float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE; - float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE; - -// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE; -// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE; -// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE; - - float f; - f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; - f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; - f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; - - return TRUE; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayCollider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayCollider.cpp deleted file mode 100644 index ad4b3284..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayCollider.cpp +++ /dev/null @@ -1,764 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a ray collider. - * \file OPC_RayCollider.cpp - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a ray-vs-tree collider. - * This class performs a stabbing query on an AABB tree, i.e. does a ray-mesh collision. - * - * HIGHER DISTANCE BOUND: - * - * If P0 and P1 are two 3D points, let's define: - * - d = distance between P0 and P1 - * - Origin = P0 - * - Direction = (P1 - P0) / d = normalized direction vector - * - A parameter t such as a point P on the line (P0,P1) is P = Origin + t * Direction - * - t = 0 --> P = P0 - * - t = d --> P = P1 - * - * Then we can define a general "ray" as: - * - * struct Ray - * { - * Point Origin; - * Point Direction; - * }; - * - * But it actually maps three different things: - * - a segment, when 0 <= t <= d - * - a half-line, when 0 <= t < +infinity, or -infinity < t <= d - * - a line, when -infinity < t < +infinity - * - * In Opcode, we support segment queries, which yield half-line queries by setting d = +infinity. - * We don't support line-queries. If you need them, shift the origin along the ray by an appropriate margin. - * - * In short, the lower bound is always 0, and you can setup the higher bound "d" with RayCollider::SetMaxDist(). - * - * Query |segment |half-line |line - * --------|-------------------|---------------|---------------- - * Usages |-shadow feelers |-raytracing |- - * |-sweep tests |-in/out tests | - * - * FIRST CONTACT: - * - * - You can setup "first contact" mode or "all contacts" mode with RayCollider::SetFirstContact(). - * - In "first contact" mode we return as soon as the ray hits one face. If can be useful e.g. for shadow feelers, where - * you want to know whether the path to the light is free or not (a boolean answer is enough). - * - In "all contacts" mode we return all faces hit by the ray. - * - * TEMPORAL COHERENCE: - * - * - You can enable or disable temporal coherence with RayCollider::SetTemporalCoherence(). - * - It currently only works in "first contact" mode. - * - If temporal coherence is enabled, the previously hit triangle is cached during the first query. Then, next queries - * start by colliding the ray against the cached triangle. If they still collide, we return immediately. - * - * CLOSEST HIT: - * - * - You can enable or disable "closest hit" with RayCollider::SetClosestHit(). - * - It currently only works in "all contacts" mode. - * - If closest hit is enabled, faces are sorted by distance on-the-fly and the closest one only is reported. - * - * BACKFACE CULLING: - * - * - You can enable or disable backface culling with RayCollider::SetCulling(). - * - If culling is enabled, ray will not hit back faces (only front faces). - * - * - * - * \class RayCollider - * \author Pierre Terdiman - * \version 1.3 - * \date June, 2, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * This class describes a face hit by a ray or segment. - * This is a particular class dedicated to stabbing queries. - * - * \class CollisionFace - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * This class is a dedicated collection of CollisionFace. - * - * \class CollisionFaces - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -#include "OPC_RayAABBOverlap.h" -#include "OPC_RayTriOverlap.h" - -#define SET_CONTACT(prim_index, flag) \ - mNbIntersections++; \ - /* Set contact status */ \ - mFlags |= flag; \ - /* In any case the contact has been found and recorded in mStabbedFace */ \ - mStabbedFace.mFaceID = prim_index; - -#ifdef OPC_RAYHIT_CALLBACK - - #define HANDLE_CONTACT(prim_index, flag) \ - SET_CONTACT(prim_index, flag) \ - \ - if(mHitCallback) (mHitCallback)(mStabbedFace, mUserData); - - #define UPDATE_CACHE \ - if(cache && GetContactStatus()) \ - { \ - *cache = mStabbedFace.mFaceID; \ - } -#else - - #define HANDLE_CONTACT(prim_index, flag) \ - SET_CONTACT(prim_index, flag) \ - \ - /* Now we can also record it in mStabbedFaces if available */ \ - if(mStabbedFaces) \ - { \ - /* If we want all faces or if that's the first one we hit */ \ - if(!mClosestHit || !mStabbedFaces->GetNbFaces()) \ - { \ - mStabbedFaces->AddFace(mStabbedFace); \ - } \ - else \ - { \ - /* We only keep closest hit */ \ - CollisionFace* Current = const_cast(mStabbedFaces->GetFaces()); \ - if(Current && mStabbedFace.mDistancemDistance) \ - { \ - *Current = mStabbedFace; \ - } \ - } \ - } - - #define UPDATE_CACHE \ - if(cache && GetContactStatus() && mStabbedFaces) \ - { \ - const CollisionFace* Current = mStabbedFaces->GetFaces(); \ - if(Current) *cache = Current->mFaceID; \ - else *cache = INVALID_ID; \ - } -#endif - -#define SEGMENT_PRIM(prim_index, flag) \ - /* Request vertices from the app */ \ - VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ - \ - /* Perform ray-tri overlap test and return */ \ - if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ - { \ - /* Intersection point is valid if dist < segment's length */ \ - /* We know dist>0 so we can use integers */ \ - if(IR(mStabbedFace.mDistance)GetTriangle(VP, prim_index, VC); \ - \ - /* Perform ray-tri overlap test and return */ \ - if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ - { \ - HANDLE_CONTACT(prim_index, flag) \ - } - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -RayCollider::RayCollider() : -#ifdef OPC_RAYHIT_CALLBACK - mHitCallback (null), - mUserData (0), -#else - mStabbedFaces (null), - mClosestHit (false), -#endif - mNbRayBVTests (0), - mNbRayPrimTests (0), - mNbIntersections (0), - mMaxDist (MAX_FLOAT), - mCulling (true) - -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -RayCollider::~RayCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Validates current settings. You should call this method after all the settings and callbacks have been defined. - * \return null if everything is ok, else a string describing the problem - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -const char* RayCollider::ValidateSettings() -{ - if(mMaxDist<0.0f) return "Higher distance bound must be positive!"; - if(TemporalCoherenceEnabled() && !FirstContactEnabled()) return "Temporal coherence only works with ""First contact"" mode!"; -#ifndef OPC_RAYHIT_CALLBACK - if(mClosestHit && FirstContactEnabled()) return "Closest hit doesn't work with ""First contact"" mode!"; - if(TemporalCoherenceEnabled() && mClosestHit) return "Temporal coherence can't guarantee to report closest hit!"; -#endif - if(SkipPrimitiveTests()) return "SkipPrimitiveTests not possible for RayCollider ! (not implemented)"; - return null; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Generic stabbing query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - in the user-provided destination array - * - * \param world_ray [in] stabbing ray in world space - * \param model [in] Opcode model to collide with - * \param world [in] model's world matrix, or null - * \param cache [in] a possibly cached face index, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool RayCollider::Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world, udword* cache) -{ - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(world_ray, world, cache)) return true; - - if(!model.HasLeafNodes()) - { - if(model.IsQuantized()) - { - const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform stabbing query - if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); - else _RayStab(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform stabbing query - if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); - else _RayStab(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform stabbing query - if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); - else _RayStab(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform stabbing query - if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(Tree->GetNodes()); - else _RayStab(Tree->GetNodes()); - } - } - - // Update cache if needed - UPDATE_CACHE - return true; -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a stabbing query : - * - reset stats & contact status - * - compute ray in local space - * - check temporal coherence - * - * \param world_ray [in] stabbing ray in world space - * \param world [in] object's world matrix, or null - * \param face_id [in] index of previously stabbed triangle - * \return TRUE if we can return immediately - * \warning SCALE NOT SUPPORTED. The matrix must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL RayCollider::InitQuery(const Ray& world_ray, const Matrix4x4* world, udword* face_id) -{ - // Reset stats & contact status - Collider::InitQuery(); - mNbRayBVTests = 0; - mNbRayPrimTests = 0; - mNbIntersections = 0; -#ifndef OPC_RAYHIT_CALLBACK - if(mStabbedFaces) mStabbedFaces->Reset(); -#endif - - // Compute ray in local space - // The (Origin/Dir) form is needed for the ray-triangle test anyway (even for segment tests) - if(world) - { - Matrix3x3 InvWorld = *world; - mDir = InvWorld * world_ray.mDir; - - Matrix4x4 World; - InvertPRMatrix(World, *world); - mOrigin = world_ray.mOrig * World; - } - else - { - mDir = world_ray.mDir; - mOrigin = world_ray.mOrig; - } - - // 4) Special case: 1-triangle meshes [Opcode 1.3] - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. - if(!SkipPrimitiveTests()) - { - // Perform overlap test between the unique triangle and the ray (and set contact status if needed) - SEGMENT_PRIM(udword(0), OPC_CONTACT) - - // Return immediately regardless of status - return TRUE; - } - } - - // Check temporal coherence : - - // Test previously colliding primitives first - if(TemporalCoherenceEnabled() && FirstContactEnabled() && face_id && *face_id!=INVALID_ID) - { -#ifdef OLD_CODE -#ifndef OPC_RAYHIT_CALLBACK - if(!mClosestHit) -#endif - { - // Request vertices from the app - VertexPointers VP; - ConversionArea VC; - mIMesh->GetTriangle(VP, *face_id, VC); - // Perform ray-cached tri overlap test - if(RayTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) - { - // Intersection point is valid if: - // - distance is positive (else it can just be a face behind the orig point) - // - distance is smaller than a given max distance (useful for shadow feelers) -// if(mStabbedFace.mDistance>0.0f && mStabbedFace.mDistanceAddFace(mStabbedFace); -#endif - return TRUE; - } - } - } -#else - // New code - // We handle both Segment/ray queries with the same segment code, and a possible infinite limit - SEGMENT_PRIM(*face_id, OPC_TEMPORAL_CONTACT) - - // Return immediately if possible - if(GetContactStatus()) return TRUE; -#endif - } - - // Precompute data (moved after temporal coherence since only needed for ray-AABB) - if(IR(mMaxDist)!=IEEE_MAX_FLOAT) - { - // For Segment-AABB overlap - mData = 0.5f * mDir * mMaxDist; - mData2 = mOrigin + mData; - - // Precompute mFDir; - mFDir.x = fabsf(mData.x); - mFDir.y = fabsf(mData.y); - mFDir.z = fabsf(mData.z); - } - else - { - // For Ray-AABB overlap -// udword x = SIR(mDir.x)-1; -// udword y = SIR(mDir.y)-1; -// udword z = SIR(mDir.z)-1; -// mData.x = FR(x); -// mData.y = FR(y); -// mData.z = FR(z); - - // Precompute mFDir; - mFDir.x = fabsf(mDir.x); - mFDir.y = fabsf(mDir.y); - mFDir.z = fabsf(mDir.z); - } - - return FALSE; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Stabbing query for vanilla AABB trees. - * \param world_ray [in] stabbing ray in world space - * \param tree [in] AABB tree - * \param box_indices [out] indices of stabbed boxes - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool RayCollider::Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices) -{ - // ### bad design here - - // This is typically called for a scene tree, full of -AABBs-, not full of triangles. - // So we don't really have "primitives" to deal with. Hence it doesn't work with - // "FirstContact" + "TemporalCoherence". - ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); - - // Checkings - if(!tree) return false; - - // Init collision query - // Basically this is only called to initialize precomputed data - if(InitQuery(world_ray)) return true; - - // Perform stabbing query - if(IR(mMaxDist)!=IEEE_MAX_FLOAT) _SegmentStab(tree, box_indices); - else _RayStab(tree, box_indices); - - return true; -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_SegmentStab(const AABBCollisionNode* node) -{ - // Perform Segment-AABB overlap test - if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - if(node->IsLeaf()) - { - SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _SegmentStab(node->GetPos()); - - if(ContactFound()) return; - - _SegmentStab(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_SegmentStab(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Segment-AABB overlap test - if(!SegmentAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf()) - { - SEGMENT_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _SegmentStab(node->GetPos()); - - if(ContactFound()) return; - - _SegmentStab(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_SegmentStab(const AABBNoLeafNode* node) -{ - // Perform Segment-AABB overlap test - if(!SegmentAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - if(node->HasPosLeaf()) - { - SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) - } - else _SegmentStab(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) - { - SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) - } - else _SegmentStab(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_SegmentStab(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Segment-AABB overlap test - if(!SegmentAABBOverlap(Center, Extents)) return; - - if(node->HasPosLeaf()) - { - SEGMENT_PRIM(node->GetPosPrimitive(), OPC_CONTACT) - } - else _SegmentStab(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) - { - SEGMENT_PRIM(node->GetNegPrimitive(), OPC_CONTACT) - } - else _SegmentStab(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for vanilla AABB trees. - * \param node [in] current collision node - * \param box_indices [out] indices of stabbed boxes - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_SegmentStab(const AABBTreeNode* node, Container& box_indices) -{ - // Test the box against the segment - Point Center, Extents; - node->GetAABB()->GetCenter(Center); - node->GetAABB()->GetExtents(Extents); - if(!SegmentAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf()) - { - box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); - } - else - { - _SegmentStab(node->GetPos(), box_indices); - _SegmentStab(node->GetNeg(), box_indices); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_RayStab(const AABBCollisionNode* node) -{ - // Perform Ray-AABB overlap test - if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - if(node->IsLeaf()) - { - RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _RayStab(node->GetPos()); - - if(ContactFound()) return; - - _RayStab(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_RayStab(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Ray-AABB overlap test - if(!RayAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf()) - { - RAY_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _RayStab(node->GetPos()); - - if(ContactFound()) return; - - _RayStab(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_RayStab(const AABBNoLeafNode* node) -{ - // Perform Ray-AABB overlap test - if(!RayAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - if(node->HasPosLeaf()) - { - RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) - } - else _RayStab(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) - { - RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) - } - else _RayStab(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_RayStab(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Ray-AABB overlap test - if(!RayAABBOverlap(Center, Extents)) return; - - if(node->HasPosLeaf()) - { - RAY_PRIM(node->GetPosPrimitive(), OPC_CONTACT) - } - else _RayStab(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) - { - RAY_PRIM(node->GetNegPrimitive(), OPC_CONTACT) - } - else _RayStab(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive stabbing query for vanilla AABB trees. - * \param node [in] current collision node - * \param box_indices [out] indices of stabbed boxes - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void RayCollider::_RayStab(const AABBTreeNode* node, Container& box_indices) -{ - // Test the box against the ray - Point Center, Extents; - node->GetAABB()->GetCenter(Center); - node->GetAABB()->GetExtents(Extents); - if(!RayAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf()) - { - mFlags |= OPC_CONTACT; - box_indices.Add(node->GetPrimitives(), node->GetNbPrimitives()); - } - else - { - _RayStab(node->GetPos(), box_indices); - _RayStab(node->GetNeg(), box_indices); - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayCollider.h deleted file mode 100644 index 4a8ab7e6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayCollider.h +++ /dev/null @@ -1,224 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a ray collider. - * \file OPC_RayCollider.h - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_RAYCOLLIDER_H__ -#define __OPC_RAYCOLLIDER_H__ - - class OPCODE_API CollisionFace - { - public: - //! Constructor - inline_ CollisionFace() {} - //! Destructor - inline_ ~CollisionFace() {} - - udword mFaceID; //!< Index of touched face - float mDistance; //!< Distance from collider to hitpoint - float mU, mV; //!< Impact barycentric coordinates - }; - - class OPCODE_API CollisionFaces : public Container - { - public: - //! Constructor - CollisionFaces() {} - //! Destructor - ~CollisionFaces() {} - - inline_ udword GetNbFaces() const { return GetNbEntries()>>2; } - inline_ const CollisionFace* GetFaces() const { return (const CollisionFace*)GetEntries(); } - - inline_ void Reset() { Container::Reset(); } - - inline_ void AddFace(const CollisionFace& face) { Add(face.mFaceID).Add(face.mDistance).Add(face.mU).Add(face.mV); } - }; - -#ifdef OPC_RAYHIT_CALLBACK - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * User-callback, called by OPCODE to record a hit. - * \param hit [in] current hit - * \param user_data [in] user-defined data from SetCallback() - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - typedef void (*HitCallback) (const CollisionFace& hit, void* user_data); -#endif - - class OPCODE_API RayCollider : public Collider - { - public: - // Constructor / Destructor - RayCollider(); - virtual ~RayCollider(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic stabbing query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - in the user-provided destination array - * - * \param world_ray [in] stabbing ray in world space - * \param model [in] Opcode model to collide with - * \param world [in] model's world matrix, or null - * \param cache [in] a possibly cached face index, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(const Ray& world_ray, const Model& model, const Matrix4x4* world=null, udword* cache=null); - // - bool Collide(const Ray& world_ray, const AABBTree* tree, Container& box_indices); - // Settings - -#ifndef OPC_RAYHIT_CALLBACK - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: enable or disable "closest hit" mode. - * \param flag [in] true to report closest hit only - * \see SetCulling(bool flag) - * \see SetMaxDist(float max_dist) - * \see SetDestination(StabbedFaces* sf) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetClosestHit(bool flag) { mClosestHit = flag; } -#endif - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: enable or disable backface culling. - * \param flag [in] true to enable backface culling - * \see SetClosestHit(bool flag) - * \see SetMaxDist(float max_dist) - * \see SetDestination(StabbedFaces* sf) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetCulling(bool flag) { mCulling = flag; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: sets the higher distance bound. - * \param max_dist [in] higher distance bound. Default = maximal value, for ray queries (else segment) - * \see SetClosestHit(bool flag) - * \see SetCulling(bool flag) - * \see SetDestination(StabbedFaces* sf) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetMaxDist(float max_dist=MAX_FLOAT) { mMaxDist = max_dist; } - -#ifdef OPC_RAYHIT_CALLBACK - inline_ void SetHitCallback(HitCallback cb) { mHitCallback = cb; } - inline_ void SetUserData(void* user_data) { mUserData = user_data; } -#else - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: sets the destination array for stabbed faces. - * \param cf [in] destination array, filled during queries - * \see SetClosestHit(bool flag) - * \see SetCulling(bool flag) - * \see SetMaxDist(float max_dist) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetDestination(CollisionFaces* cf) { mStabbedFaces = cf; } -#endif - // Stats - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of Ray-BV overlap tests after a collision query. - * \see GetNbRayPrimTests() - * \see GetNbIntersections() - * \return the number of Ray-BV tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbRayBVTests() const { return mNbRayBVTests; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of Ray-Triangle overlap tests after a collision query. - * \see GetNbRayBVTests() - * \see GetNbIntersections() - * \return the number of Ray-Triangle tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbRayPrimTests() const { return mNbRayPrimTests; } - - // In-out test - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of intersection found after a collision query. Can be used for in/out tests. - * \see GetNbRayBVTests() - * \see GetNbRayPrimTests() - * \return the number of valid intersections during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbIntersections() const { return mNbIntersections; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. - * \return null if everything is ok, else a string describing the problem - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(Collider) const char* ValidateSettings(); - - protected: - // Ray in local space - Point mOrigin; //!< Ray origin - Point mDir; //!< Ray direction (normalized) - Point mFDir; //!< fabsf(mDir) - Point mData, mData2; - // Stabbed faces - CollisionFace mStabbedFace; //!< Current stabbed face -#ifdef OPC_RAYHIT_CALLBACK - HitCallback mHitCallback; //!< Callback used to record a hit - void* mUserData; //!< User-defined data -#else - CollisionFaces* mStabbedFaces; //!< List of stabbed faces - bool mClosestHit; //!< Report closest hit only -#endif - // Stats - udword mNbRayBVTests; //!< Number of Ray-BV tests - udword mNbRayPrimTests; //!< Number of Ray-Primitive tests - // In-out test - udword mNbIntersections; //!< Number of valid intersections - // Dequantization coeffs - Point mCenterCoeff; - Point mExtentsCoeff; - // Settings - float mMaxDist; //!< Valid segment on the ray - - bool mCulling; //!< Stab culled faces or not - // Internal methods - void _SegmentStab(const AABBCollisionNode* node); - void _SegmentStab(const AABBNoLeafNode* node); - void _SegmentStab(const AABBQuantizedNode* node); - void _SegmentStab(const AABBQuantizedNoLeafNode* node); - void _SegmentStab(const AABBTreeNode* node, Container& box_indices); - void _RayStab(const AABBCollisionNode* node); - void _RayStab(const AABBNoLeafNode* node); - void _RayStab(const AABBQuantizedNode* node); - void _RayStab(const AABBQuantizedNoLeafNode* node); - void _RayStab(const AABBTreeNode* node, Container& box_indices); - // Overlap tests - inline_ BOOL RayAABBOverlap(const Point& center, const Point& extents); - inline_ BOOL SegmentAABBOverlap(const Point& center, const Point& extents); - inline_ BOOL RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); - // Init methods - BOOL InitQuery(const Ray& world_ray, const Matrix4x4* world=null, udword* face_id=null); - }; - -#endif // __OPC_RAYCOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayTriOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayTriOverlap.h deleted file mode 100644 index 7fe37c98..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_RayTriOverlap.h +++ /dev/null @@ -1,89 +0,0 @@ -#define LOCAL_EPSILON 0.000001f - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes a ray-triangle intersection test. - * Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection". - * It's been optimized a bit with integer code, and modified to return a non-intersection if distance from - * ray origin to triangle is negative. - * - * \param vert0 [in] triangle vertex - * \param vert1 [in] triangle vertex - * \param vert2 [in] triangle vertex - * \return true on overlap. mStabbedFace is filled with relevant info. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL RayCollider::RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) -{ - // Stats - mNbRayPrimTests++; - - // Find vectors for two edges sharing vert0 - Point edge1 = vert1 - vert0; - Point edge2 = vert2 - vert0; - - // Begin calculating determinant - also used to calculate U parameter - Point pvec = mDir^edge2; - - // If determinant is near zero, ray lies in plane of triangle - float det = edge1|pvec; - - if(mCulling) - { - if(det 0. So we can use integer cmp. - - // Calculate distance from vert0 to ray origin - Point tvec = mOrigin - vert0; - - // Calculate U parameter and test bounds - mStabbedFace.mU = tvec|pvec; -// if(IR(u)&0x80000000 || u>det) return FALSE; - if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det)) return FALSE; - - // Prepare to test V parameter - Point qvec = tvec^edge1; - - // Calculate V parameter and test bounds - mStabbedFace.mV = mDir|qvec; - if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det) return FALSE; - - // Calculate t, scale parameters, ray intersects triangle - mStabbedFace.mDistance = edge2|qvec; - // Det > 0 so we can early exit here - // Intersection point is valid if distance is positive (else it can just be a face behind the orig point) - if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; - // Else go on - float OneOverDet = 1.0f / det; - mStabbedFace.mDistance *= OneOverDet; - mStabbedFace.mU *= OneOverDet; - mStabbedFace.mV *= OneOverDet; - } - else - { - // the non-culling branch - if(det>-LOCAL_EPSILON && det1.0f) return FALSE; - if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0) return FALSE; - - // prepare to test V parameter - Point qvec = tvec^edge1; - - // Calculate V parameter and test bounds - mStabbedFace.mV = (mDir|qvec) * OneOverDet; - if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f) return FALSE; - - // Calculate t, ray intersects triangle - mStabbedFace.mDistance = (edge2|qvec) * OneOverDet; - // Intersection point is valid if distance is positive (else it can just be a face behind the orig point) - if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance)) return FALSE; - } - return TRUE; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Settings.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Settings.h deleted file mode 100644 index 1841a2bc..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_Settings.h +++ /dev/null @@ -1,49 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains compilation flags. - * \file OPC_Settings.h - * \author Pierre Terdiman - * \date May, 12, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_SETTINGS_H__ -#define __OPC_SETTINGS_H__ - - //! Use CPU comparisons (comment that line to use standard FPU compares) - #define OPC_CPU_COMPARE - - //! Use FCOMI / FCMOV on Pentium-Pro based processors (comment that line to use plain C++) - #define OPC_USE_FCOMI - - //! Use epsilon value in tri-tri overlap test - #define OPC_TRITRI_EPSILON_TEST - - //! Use tree-coherence or not [not implemented yet] -// #define OPC_USE_TREE_COHERENCE - - //! Use callbacks or direct pointers. Using callbacks might be a bit slower (but probably not much) -// #define OPC_USE_CALLBACKS - - //! Support triangle and vertex strides or not. Using strides might be a bit slower (but probably not much) - #define OPC_USE_STRIDE - - //! Discard negative pointer in vanilla trees - #define OPC_NO_NEG_VANILLA_TREE - - //! Use a callback in the ray collider - //#define OPC_RAYHIT_CALLBACK - - // NB: no compilation flag to enable/disable stats since they're actually needed in the box/box overlap test - -#endif //__OPC_SETTINGS_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereAABBOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereAABBOverlap.h deleted file mode 100644 index 2278bc01..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereAABBOverlap.h +++ /dev/null @@ -1,128 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Sphere-AABB overlap test, based on Jim Arvo's code. - * \param center [in] box center - * \param extents [in] box extents - * \return TRUE on overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL SphereCollider::SphereAABBOverlap(const Point& center, const Point& extents) -{ - // Stats - mNbVolumeBVTests++; - - float d = 0.0f; - - //find the square of the distance - //from the sphere to the box -#ifdef OLDIES - for(udword i=0;i<3;i++) - { - float tmp = mCenter[i] - center[i]; - float s = tmp + extents[i]; - - if(s<0.0f) d += s*s; - else - { - s = tmp - extents[i]; - if(s>0.0f) d += s*s; - } - } -#endif - -//#ifdef NEW_TEST - -// float tmp = mCenter.x - center.x; -// float s = tmp + extents.x; - - float tmp,s; - - tmp = mCenter.x - center.x; - s = tmp + extents.x; - - if(s<0.0f) - { - d += s*s; - if(d>mRadius2) return FALSE; - } - else - { - s = tmp - extents.x; - if(s>0.0f) - { - d += s*s; - if(d>mRadius2) return FALSE; - } - } - - tmp = mCenter.y - center.y; - s = tmp + extents.y; - - if(s<0.0f) - { - d += s*s; - if(d>mRadius2) return FALSE; - } - else - { - s = tmp - extents.y; - if(s>0.0f) - { - d += s*s; - if(d>mRadius2) return FALSE; - } - } - - tmp = mCenter.z - center.z; - s = tmp + extents.z; - - if(s<0.0f) - { - d += s*s; - if(d>mRadius2) return FALSE; - } - else - { - s = tmp - extents.z; - if(s>0.0f) - { - d += s*s; - if(d>mRadius2) return FALSE; - } - } -//#endif - -#ifdef OLDIES -// Point Min = center - extents; -// Point Max = center + extents; - - float d = 0.0f; - - //find the square of the distance - //from the sphere to the box - for(udword i=0;i<3;i++) - { -float Min = center[i] - extents[i]; - -// if(mCenter[i]Max[i]) - if(mCenter[i]>Max) - { - float s = mCenter[i] - Max; - d += s*s; - } - } - } -#endif - return d <= mRadius2; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereCollider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereCollider.cpp deleted file mode 100644 index f18fe0ca..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereCollider.cpp +++ /dev/null @@ -1,739 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a sphere collider. - * \file OPC_SphereCollider.cpp - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains a sphere-vs-tree collider. - * This class performs a collision test between a sphere and an AABB tree. You can use this to do a standard player vs world collision, - * in a Nettle/Telemachos way. It doesn't suffer from all reported bugs in those two classic codes - the "new" one by Paul Nettle is a - * debuggued version I think. Collision response can be driven by reported collision data - it works extremely well for me. In sake of - * efficiency, all meshes (that is, all AABB trees) should of course also be kept in an extra hierarchical structure (octree, whatever). - * - * \class SphereCollider - * \author Pierre Terdiman - * \version 1.3 - * \date June, 2, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -#include "OPC_SphereAABBOverlap.h" -#include "OPC_SphereTriOverlap.h" - -#define SET_CONTACT(prim_index, flag) \ - /* Set contact status */ \ - mFlags |= flag; \ - mTouchedPrimitives->Add(udword(prim_index)); - -//! Sphere-triangle overlap test -#define SPHERE_PRIM(prim_index, flag) \ - /* Request vertices from the app */ \ - VertexPointers VP; ConversionArea VC; mIMesh->GetTriangle(VP, prim_index, VC); \ - \ - /* Perform sphere-tri overlap test */ \ - if(SphereTriOverlap(*VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) \ - { \ - SET_CONTACT(prim_index, flag) \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SphereCollider::SphereCollider() -{ - mCenter.Zero(); - mRadius2 = 0.0f; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SphereCollider::~SphereCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a sphere cache - * \param sphere [in] collision sphere in local space - * \param model [in] Opcode model to collide with - * \param worlds [in] sphere's world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds, const Matrix4x4* worldm) -{ - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, sphere, worlds, worldm)) return true; - - // Special case for 1-leaf trees - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles - udword Nb = mIMesh->GetNbTriangles(); - // Loop through all triangles - for(udword i=0;imCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - if(SkipPrimitiveTests()) _CollideNoPrimitiveTest(Tree->GetNodes()); - else _Collide(Tree->GetNodes()); - } - } - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a collision query : - * - reset stats & contact status - * - setup matrices - * - check temporal coherence - * - * \param cache [in/out] a sphere cache - * \param sphere [in] sphere in local space - * \param worlds [in] sphere's world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return TRUE if we can return immediately - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -BOOL SphereCollider::InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds, const Matrix4x4* worldm) -{ - // 1) Call the base method - VolumeCollider::InitQuery(); - - // 2) Compute sphere in model space: - // - Precompute R^2 - mRadius2 = sphere.mRadius * sphere.mRadius; - // - Compute center position - mCenter = sphere.mCenter; - // -> to world space - if(worlds) mCenter *= *worlds; - // -> to model space - if(worldm) - { - // Invert model matrix - Matrix4x4 InvWorldM; - InvertPRMatrix(InvWorldM, *worldm); - - mCenter *= InvWorldM; - } - - // 3) Setup destination pointer - mTouchedPrimitives = &cache.TouchedPrimitives; - - // 4) Special case: 1-triangle meshes [Opcode 1.3] - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - if(!SkipPrimitiveTests()) - { - // We simply perform the BV-Prim overlap test each time. We assume single triangle has index 0. - mTouchedPrimitives->Reset(); - - // Perform overlap test between the unique triangle and the sphere (and set contact status if needed) - SPHERE_PRIM(udword(0), OPC_CONTACT) - - // Return immediately regardless of status - return TRUE; - } - } - - // 5) Check temporal coherence : - if(TemporalCoherenceEnabled()) - { - // Here we use temporal coherence - // => check results from previous frame before performing the collision query - if(FirstContactEnabled()) - { - // We're only interested in the first contact found => test the unique previously touched face - if(mTouchedPrimitives->GetNbEntries()) - { - // Get index of previously touched face = the first entry in the array - udword PreviouslyTouchedFace = mTouchedPrimitives->GetEntry(0); - - // Then reset the array: - // - if the overlap test below is successful, the index we'll get added back anyway - // - if it isn't, then the array should be reset anyway for the normal query - mTouchedPrimitives->Reset(); - - // Perform overlap test between the cached triangle and the sphere (and set contact status if needed) - SPHERE_PRIM(PreviouslyTouchedFace, OPC_TEMPORAL_CONTACT) - - // Return immediately if possible - if(GetContactStatus()) return TRUE; - } - // else no face has been touched during previous query - // => we'll have to perform a normal query - } - else - { - // We're interested in all contacts =>test the new real sphere N(ew) against the previous fat sphere P(revious): - float r = sqrtf(cache.FatRadius2) - sphere.mRadius; - if(IsCacheValid(cache) && cache.Center.SquareDistance(mCenter) < r*r) - { - // - if N is included in P, return previous list - // => we simply leave the list (mTouchedFaces) unchanged - - // Set contact status if needed - if(mTouchedPrimitives->GetNbEntries()) mFlags |= OPC_TEMPORAL_CONTACT; - - // In any case we don't need to do a query - return TRUE; - } - else - { - // - else do the query using a fat N - - // Reset cache since we'll about to perform a real query - mTouchedPrimitives->Reset(); - - // Make a fat sphere so that coherence will work for subsequent frames - mRadius2 *= cache.FatCoeff; -// mRadius2 = (sphere.mRadius * cache.FatCoeff)*(sphere.mRadius * cache.FatCoeff); - - // Update cache with query data (signature for cached faces) - cache.Center = mCenter; - cache.FatRadius2 = mRadius2; - } - } - } - else - { - // Here we don't use temporal coherence => do a normal query - mTouchedPrimitives->Reset(); - } - - return FALSE; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for vanilla AABB trees. - * \param cache [in/out] a sphere cache - * \param sphere [in] collision sphere in world space - * \param tree [in] AABB tree - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool SphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree) -{ - // This is typically called for a scene tree, full of -AABBs-, not full of triangles. - // So we don't really have "primitives" to deal with. Hence it doesn't work with - // "FirstContact" + "TemporalCoherence". - ASSERT( !(FirstContactEnabled() && TemporalCoherenceEnabled()) ); - - // Checkings - if(!tree) return false; - - // Init collision query - if(InitQuery(cache, sphere)) return true; - - // Perform collision query - _Collide(tree); - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Checks the sphere completely contains the box. In which case we can end the query sooner. - * \param bc [in] box center - * \param be [in] box extents - * \return true if the sphere contains the whole box - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL SphereCollider::SphereContainsBox(const Point& bc, const Point& be) -{ - // I assume if all 8 box vertices are inside the sphere, so does the whole box. - // Sounds ok but maybe there's a better way? - Point p; - p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z+be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x+be.x; p.y=bc.y+be.y; p.z=bc.z-be.z; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x+be.x; p.y=bc.y-be.y; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - p.x=bc.x-be.x; if(mCenter.SquareDistance(p)>=mRadius2) return FALSE; - - return TRUE; -} - -#define TEST_BOX_IN_SPHERE(center, extents) \ - if(SphereContainsBox(center, extents)) \ - { \ - /* Set contact status */ \ - mFlags |= OPC_CONTACT; \ - _Dump(node); \ - return; \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_Collide(const AABBCollisionNode* node) -{ - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node) -{ - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_Collide(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_SPHERE(Center, Extents) - - if(node->IsLeaf()) - { - SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _Collide(node->GetPos()); - - if(ContactFound()) return; - - _Collide(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_SPHERE(Center, Extents) - - if(node->IsLeaf()) - { - SET_CONTACT(node->GetPrimitive(), OPC_CONTACT) - } - else - { - _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - _CollideNoPrimitiveTest(node->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_Collide(const AABBNoLeafNode* node) -{ - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node) -{ - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents)) return; - - TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_Collide(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_SPHERE(Center, Extents) - - if(node->HasPosLeaf()) { SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) } - else _Collide(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) } - else _Collide(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees, without primitive tests. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node) -{ - // Dequantize box - const QuantizedAABB& Box = node->mAABB; - const Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z); - const Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z); - - // Perform Sphere-AABB overlap test - if(!SphereAABBOverlap(Center, Extents)) return; - - TEST_BOX_IN_SPHERE(Center, Extents) - - if(node->HasPosLeaf()) { SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetPos()); - - if(ContactFound()) return; - - if(node->HasNegLeaf()) { SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) } - else _CollideNoPrimitiveTest(node->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for vanilla AABB trees. - * \param node [in] current collision node - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void SphereCollider::_Collide(const AABBTreeNode* node) -{ - // Perform Sphere-AABB overlap test - Point Center, Extents; - node->GetAABB()->GetCenter(Center); - node->GetAABB()->GetExtents(Extents); - if(!SphereAABBOverlap(Center, Extents)) return; - - if(node->IsLeaf() || SphereContainsBox(Center, Extents)) - { - mFlags |= OPC_CONTACT; - mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives()); - } - else - { - _Collide(node->GetPos()); - _Collide(node->GetNeg()); - } -} - - - - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridSphereCollider::HybridSphereCollider() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -HybridSphereCollider::~HybridSphereCollider() -{ -} - -bool HybridSphereCollider::Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds, const Matrix4x4* worldm) -{ - // We don't want primitive tests here! - mFlags |= OPC_NO_PRIMITIVE_TESTS; - - // Checkings - if(!Setup(&model)) return false; - - // Init collision query - if(InitQuery(cache, sphere, worlds, worldm)) return true; - - // Special case for 1-leaf trees - if(mCurrentModel && mCurrentModel->HasSingleNode()) - { - // Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles - udword Nb = mIMesh->GetNbTriangles(); - - // Loop through all triangles - for(udword i=0;imCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - else - { - if(model.IsQuantized()) - { - const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree(); - - // Setup dequantization coeffs - mCenterCoeff = Tree->mCenterCoeff; - mExtentsCoeff = Tree->mExtentsCoeff; - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - else - { - const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree(); - - // Perform collision query - we don't want primitive tests here! - _CollideNoPrimitiveTest(Tree->GetNodes()); - } - } - - // We only have a list of boxes so far - if(GetContactStatus()) - { - // Reset contact status, since it currently only reflects collisions with leaf boxes - Collider::InitQuery(); - - // Change dest container so that we can use built-in overlap tests and get collided primitives - cache.TouchedPrimitives.Reset(); - mTouchedPrimitives = &cache.TouchedPrimitives; - - // Read touched leaf boxes - udword Nb = mTouchedBoxes.GetNbEntries(); - const udword* Touched = mTouchedBoxes.GetEntries(); - - const LeafTriangles* LT = model.GetLeafTriangles(); - const udword* Indices = model.GetIndices(); - - // Loop through touched leaves - while(Nb--) - { - const LeafTriangles& CurrentLeaf = LT[*Touched++]; - - // Each leaf box has a set of triangles - udword NbTris = CurrentLeaf.GetNbTriangles(); - if(Indices) - { - const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()]; - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = *T++; - SPHERE_PRIM(TriangleIndex, OPC_CONTACT) - } - } - else - { - udword BaseIndex = CurrentLeaf.GetTriangleIndex(); - - // Loop through triangles and test each of them - while(NbTris--) - { - udword TriangleIndex = BaseIndex++; - SPHERE_PRIM(TriangleIndex, OPC_CONTACT) - } - } - } - } - - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereCollider.h deleted file mode 100644 index ac6495ef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereCollider.h +++ /dev/null @@ -1,96 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a sphere collider. - * \file OPC_SphereCollider.h - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_SPHERECOLLIDER_H__ -#define __OPC_SPHERECOLLIDER_H__ - - struct OPCODE_API SphereCache : VolumeCache - { - SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f) {} - ~SphereCache() {} - - // Cached faces signature - Point Center; //!< Sphere used when performing the query resulting in cached faces - float FatRadius2; //!< Sphere used when performing the query resulting in cached faces - // User settings - float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere - }; - - class OPCODE_API SphereCollider : public VolumeCollider - { - public: - // Constructor / Destructor - SphereCollider(); - virtual ~SphereCollider(); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic collision query for generic OPCODE models. After the call, access the results: - * - with GetContactStatus() - * - with GetNbTouchedPrimitives() - * - with GetTouchedPrimitives() - * - * \param cache [in/out] a sphere cache - * \param sphere [in] collision sphere in local space - * \param model [in] Opcode model to collide with - * \param worlds [in] sphere's world matrix, or null - * \param worldm [in] model's world matrix, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); - - // - bool Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree); - protected: - // Sphere in model space - Point mCenter; //!< Sphere center - float mRadius2; //!< Sphere radius squared - // Internal methods - void _Collide(const AABBCollisionNode* node); - void _Collide(const AABBNoLeafNode* node); - void _Collide(const AABBQuantizedNode* node); - void _Collide(const AABBQuantizedNoLeafNode* node); - void _Collide(const AABBTreeNode* node); - void _CollideNoPrimitiveTest(const AABBCollisionNode* node); - void _CollideNoPrimitiveTest(const AABBNoLeafNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNode* node); - void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node); - // Overlap tests - inline_ BOOL SphereContainsBox(const Point& bc, const Point& be); - inline_ BOOL SphereAABBOverlap(const Point& center, const Point& extents); - BOOL SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2); - // Init methods - BOOL InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); - }; - - class OPCODE_API HybridSphereCollider : public SphereCollider - { - public: - // Constructor / Destructor - HybridSphereCollider(); - virtual ~HybridSphereCollider(); - - bool Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null); - protected: - Container mTouchedBoxes; - }; - -#endif // __OPC_SPHERECOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereTriOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereTriOverlap.h deleted file mode 100644 index 77e59f37..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SphereTriOverlap.h +++ /dev/null @@ -1,187 +0,0 @@ - -// This is collision detection. If you do another distance test for collision *response*, -// if might be useful to simply *skip* the test below completely, and report a collision. -// - if sphere-triangle overlap, result is ok -// - if they don't, we'll discard them during collision response with a similar test anyway -// Overall this approach should run faster. - -// Original code by David Eberly in Magic. -BOOL SphereCollider::SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2) -{ - // Stats - mNbVolumePrimTests++; - - // Early exit if one of the vertices is inside the sphere - Point kDiff = vert2 - mCenter; - float fC = kDiff.SquareMagnitude(); - if(fC <= mRadius2) return TRUE; - - kDiff = vert1 - mCenter; - fC = kDiff.SquareMagnitude(); - if(fC <= mRadius2) return TRUE; - - kDiff = vert0 - mCenter; - fC = kDiff.SquareMagnitude(); - if(fC <= mRadius2) return TRUE; - - // Else do the full distance test - Point TriEdge0 = vert1 - vert0; - Point TriEdge1 = vert2 - vert0; - -//Point kDiff = vert0 - mCenter; - float fA00 = TriEdge0.SquareMagnitude(); - float fA01 = TriEdge0 | TriEdge1; - float fA11 = TriEdge1.SquareMagnitude(); - float fB0 = kDiff | TriEdge0; - float fB1 = kDiff | TriEdge1; -//float fC = kDiff.SquareMagnitude(); - float fDet = fabsf(fA00*fA11 - fA01*fA01); - float u = fA01*fB1-fA11*fB0; - float v = fA01*fB0-fA00*fB1; - float SqrDist; - - if(u + v <= fDet) - { - if(u < 0.0f) - { - if(v < 0.0f) // region 4 - { - if(fB0 < 0.0f) - { -// v = 0.0f; - if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } - else { u = -fB0/fA00; SqrDist = fB0*u+fC; } - } - else - { -// u = 0.0f; - if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } - else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } - else { v = -fB1/fA11; SqrDist = fB1*v+fC; } - } - } - else // region 3 - { -// u = 0.0f; - if(fB1>=0.0f) { /*v = 0.0f;*/ SqrDist = fC; } - else if(-fB1>=fA11) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } - else { v = -fB1/fA11; SqrDist = fB1*v+fC; } - } - } - else if(v < 0.0f) // region 5 - { -// v = 0.0f; - if(fB0>=0.0f) { /*u = 0.0f;*/ SqrDist = fC; } - else if(-fB0>=fA00) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } - else { u = -fB0/fA00; SqrDist = fB0*u+fC; } - } - else // region 0 - { - // minimum at interior point - if(fDet==0.0f) - { -// u = 0.0f; -// v = 0.0f; - SqrDist = MAX_FLOAT; - } - else - { - float fInvDet = 1.0f/fDet; - u *= fInvDet; - v *= fInvDet; - SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; - } - } - } - else - { - float fTmp0, fTmp1, fNumer, fDenom; - - if(u < 0.0f) // region 2 - { - fTmp0 = fA01 + fB0; - fTmp1 = fA11 + fB1; - if(fTmp1 > fTmp0) - { - fNumer = fTmp1 - fTmp0; - fDenom = fA00-2.0f*fA01+fA11; - if(fNumer >= fDenom) - { -// u = 1.0f; -// v = 0.0f; - SqrDist = fA00+2.0f*fB0+fC; - } - else - { - u = fNumer/fDenom; - v = 1.0f - u; - SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; - } - } - else - { -// u = 0.0f; - if(fTmp1 <= 0.0f) { /*v = 1.0f;*/ SqrDist = fA11+2.0f*fB1+fC; } - else if(fB1 >= 0.0f) { /*v = 0.0f;*/ SqrDist = fC; } - else { v = -fB1/fA11; SqrDist = fB1*v+fC; } - } - } - else if(v < 0.0f) // region 6 - { - fTmp0 = fA01 + fB1; - fTmp1 = fA00 + fB0; - if(fTmp1 > fTmp0) - { - fNumer = fTmp1 - fTmp0; - fDenom = fA00-2.0f*fA01+fA11; - if(fNumer >= fDenom) - { -// v = 1.0f; -// u = 0.0f; - SqrDist = fA11+2.0f*fB1+fC; - } - else - { - v = fNumer/fDenom; - u = 1.0f - v; - SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; - } - } - else - { -// v = 0.0f; - if(fTmp1 <= 0.0f) { /*u = 1.0f;*/ SqrDist = fA00+2.0f*fB0+fC; } - else if(fB0 >= 0.0f) { /*u = 0.0f;*/ SqrDist = fC; } - else { u = -fB0/fA00; SqrDist = fB0*u+fC; } - } - } - else // region 1 - { - fNumer = fA11 + fB1 - fA01 - fB0; - if(fNumer <= 0.0f) - { -// u = 0.0f; -// v = 1.0f; - SqrDist = fA11+2.0f*fB1+fC; - } - else - { - fDenom = fA00-2.0f*fA01+fA11; - if(fNumer >= fDenom) - { -// u = 1.0f; -// v = 0.0f; - SqrDist = fA00+2.0f*fB0+fC; - } - else - { - u = fNumer/fDenom; - v = 1.0f - u; - SqrDist = u*(fA00*u+fA01*v+2.0f*fB0) + v*(fA01*u+fA11*v+2.0f*fB1)+fC; - } - } - } - } - - return fabsf(SqrDist) < mRadius2; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SweepAndPrune.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SweepAndPrune.cpp deleted file mode 100644 index 7f1a8f31..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SweepAndPrune.cpp +++ /dev/null @@ -1,664 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide) - * \file OPC_SweepAndPrune.cpp - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -inline_ void Sort(udword& id0, udword& id1) -{ - if(id0>id1) Swap(id0, id1); -} - - class Opcode::SAP_Element - { - public: - inline_ SAP_Element() {} - inline_ SAP_Element(udword id, SAP_Element* next) : mID(id), mNext(next) {} - inline_ ~SAP_Element() {} - - udword mID; - SAP_Element* mNext; - }; - - class Opcode::SAP_Box - { - public: - SAP_EndPoint* Min[3]; - SAP_EndPoint* Max[3]; - }; - - class Opcode::SAP_EndPoint - { - public: - float Value; // Min or Max value - SAP_EndPoint* Previous; // Previous EndPoint whose Value is smaller than ours (or null) - SAP_EndPoint* Next; // Next EndPoint whose Value is greater than ours (or null) - udword Data; // Parent box ID *2 | MinMax flag - - inline_ void SetData(udword box_id, BOOL is_max) { Data = (box_id<<1)|is_max; } - inline_ BOOL IsMax() const { return Data & 1; } - inline_ udword GetBoxID() const { return Data>>1; } - - inline_ void InsertAfter(SAP_EndPoint* element) - { - if(this!=element && this!=element->Next) - { - // Remove - if(Previous) Previous->Next = Next; - if(Next) Next->Previous = Previous; - - // Insert - Next = element->Next; - if(Next) Next->Previous = this; - - element->Next = this; - Previous = element; - } - } - - inline_ void InsertBefore(SAP_EndPoint* element) - { - if(this!=element && this!=element->Previous) - { - // Remove - if(Previous) Previous->Next = Next; - if(Next) Next->Previous = Previous; - - // Insert - Previous = element->Previous; - element->Previous = this; - - Next = element; - if(Previous) Previous->Next = this; - } - } - }; - - - - - - - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SAP_PairData::SAP_PairData() : - mNbElements (0), - mNbUsedElements (0), - mElementPool (null), - mFirstFree (null), - mNbObjects (0), - mArray (null) -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SAP_PairData::~SAP_PairData() -{ - Release(); -} - -void SAP_PairData::Release() -{ - mNbElements = 0; - mNbUsedElements = 0; - mNbObjects = 0; - DELETEARRAY(mElementPool); - DELETEARRAY(mArray); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes. - * \param nb_objects [in] - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool SAP_PairData::Init(udword nb_objects) -{ - // Make sure everything has been released - Release(); - if(!nb_objects) return false; - - mArray = new SAP_Element*[nb_objects]; - CHECKALLOC(mArray); - ZeroMemory(mArray, nb_objects*sizeof(SAP_Element*)); - mNbObjects = nb_objects; - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Remaps a pointer when pool gets resized. - * \param element [in/out] remapped element - * \param delta [in] offset in bytes - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ void Remap(SAP_Element*& element, size_t delta) -{ - if(element) element = (SAP_Element*)(size_t(element) + delta); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Gets a free element in the pool. - * \param id [in] element id - * \param next [in] next element - * \param remap [out] possible remapping offset - * \return the new element - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SAP_Element* SAP_PairData::GetFreeElem(udword id, SAP_Element* next, udword* remap) -{ - if(remap) *remap = 0; - - SAP_Element* FreeElem; - if(mFirstFree) - { - // Recycle - FreeElem = mFirstFree; - mFirstFree = mFirstFree->mNext; // First free = next free (or null) - } - else - { - if(mNbUsedElements==mNbElements) - { - // Resize - mNbElements = mNbElements ? (mNbElements<<1) : 2; - - SAP_Element* NewElems = new SAP_Element[mNbElements]; - - if(mNbUsedElements) CopyMemory(NewElems, mElementPool, mNbUsedElements*sizeof(SAP_Element)); - - // Remap everything - { - size_t Delta = size_t(NewElems) - size_t(mElementPool); - - for(udword i=0;imID = id; - FreeElem->mNext = next; - - return FreeElem; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Frees an element of the pool. - * \param elem [in] element to free/recycle - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ void SAP_PairData::FreeElem(SAP_Element* elem) -{ - elem->mNext = mFirstFree; // Next free - mFirstFree = elem; -} - -// Add a pair to the set. -void SAP_PairData::AddPair(udword id1, udword id2) -{ - // Order the ids - Sort(id1, id2); - - ASSERT(id1=mNbObjects) return; - - // Select the right list from "mArray". - SAP_Element* Current = mArray[id1]; - - if(!Current) - { - // Empty slot => create new element - mArray[id1] = GetFreeElem(id2, null); - } - else if(Current->mID>id2) - { - // The list is not empty but all elements are greater than id2 => insert id2 in the front. - mArray[id1] = GetFreeElem(id2, mArray[id1]); - } - else - { - // Else find the correct location in the sorted list (ascending order) and insert id2 there. - while(Current->mNext) - { - if(Current->mNext->mID > id2) break; - - Current = Current->mNext; - } - - if(Current->mID==id2) return; // The pair already exists - -// Current->mNext = GetFreeElem(id2, Current->mNext); - udword Delta; - SAP_Element* E = GetFreeElem(id2, Current->mNext, &Delta); - if(Delta) Remap(Current, Delta); - Current->mNext = E; - } -} - -// Delete a pair from the set. -void SAP_PairData::RemovePair(udword id1, udword id2) -{ - // Order the ids. - Sort(id1, id2); - - // Exit if the pair doesn't exist in the set - if(id1>=mNbObjects) return; - - // Otherwise, select the correct list. - SAP_Element* Current = mArray[id1]; - - // If this list is empty, the pair doesn't exist. - if(!Current) return; - - // Otherwise, if id2 is the first element, delete it. - if(Current->mID==id2) - { - mArray[id1] = Current->mNext; - FreeElem(Current); - } - else - { - // If id2 is not the first element, start traversing the sorted list. - while(Current->mNext) - { - // If we have moved too far away without hitting id2, then the pair doesn't exist - if(Current->mNext->mID > id2) return; - - // Otherwise, delete id2. - if(Current->mNext->mID == id2) - { - SAP_Element* Temp = Current->mNext; - Current->mNext = Temp->mNext; - FreeElem(Temp); - return; - } - Current = Current->mNext; - } - } -} - -void SAP_PairData::DumpPairs(Pairs& pairs) const -{ - // ### Ugly and slow - for(udword i=0;imIDmID); - Current = Current->mNext; - } - } -} - -void SAP_PairData::DumpPairs(PairCallback callback, void* user_data) const -{ - if(!callback) return; - - // ### Ugly and slow - for(udword i=0;imIDmID, user_data)) return; - Current = Current->mNext; - } - } -} - - - - - - - - - - - - - - - - - - - - - - - - - - - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Constructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SweepAndPrune::SweepAndPrune() -{ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Destructor. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -SweepAndPrune::~SweepAndPrune() -{ -} - -void SweepAndPrune::GetPairs(Pairs& pairs) const -{ - mPairs.DumpPairs(pairs); -} - -void SweepAndPrune::GetPairs(PairCallback callback, void* user_data) const -{ - mPairs.DumpPairs(callback, user_data); -} - -bool SweepAndPrune::Init(udword nb_objects, const AABB** boxes) -{ - // 1) Create sorted lists - mNbObjects = nb_objects; - - mBoxes = new SAP_Box[nb_objects]; -// for(udword i=0;iGetMin(Axis); - Data[i*2+1] = boxes[i]->GetMax(Axis); - } - RadixSort RS; - const udword* Sorted = RS.Sort(Data, nb_objects*2).GetRanks(); - - SAP_EndPoint* PreviousEndPoint = null; - - for(udword i=0;i>1; - - ASSERT(BoxIndexValue = SortedCoord; -// CurrentEndPoint->IsMax = SortedIndex&1; // ### could be implicit ? -// CurrentEndPoint->ID = BoxIndex; // ### could be implicit ? - CurrentEndPoint->SetData(BoxIndex, SortedIndex&1); // ### could be implicit ? - CurrentEndPoint->Previous = PreviousEndPoint; - CurrentEndPoint->Next = null; - if(PreviousEndPoint) PreviousEndPoint->Next = CurrentEndPoint; - - if(CurrentEndPoint->IsMax()) mBoxes[BoxIndex].Max[Axis] = CurrentEndPoint; - else mBoxes[BoxIndex].Min[Axis] = CurrentEndPoint; - - PreviousEndPoint = CurrentEndPoint; - } - } - - DELETEARRAY(Data); - - CheckListsIntegrity(); - - // 2) Quickly find starting pairs - - mPairs.Init(nb_objects); - - { - Pairs P; - CompleteBoxPruning(nb_objects, boxes, P, Axes(AXES_XZY)); - for(udword i=0;iid0; - udword id1 = PP->id1; - - if(id0!=id1 && boxes[id0]->Intersect(*boxes[id1])) - { - mPairs.AddPair(id0, id1); - } - else ASSERT(0); - } - } - - return true; -} - -bool SweepAndPrune::CheckListsIntegrity() -{ - for(udword Axis=0;Axis<3;Axis++) - { - // Find list head - SAP_EndPoint* Current = mList[Axis]; - while(Current->Previous) Current = Current->Previous; - - udword Nb = 0; - - SAP_EndPoint* Previous = null; - while(Current) - { - Nb++; - - if(Previous) - { - ASSERT(Previous->Value <= Current->Value); - if(Previous->Value > Current->Value) return false; - } - - ASSERT(Current->Previous==Previous); - if(Current->Previous!=Previous) return false; - - Previous = Current; - Current = Current->Next; - } - - ASSERT(Nb==mNbObjects*2); - } - return true; -} - -inline_ BOOL Intersect(const AABB& a, const SAP_Box& b) -{ - if(b.Max[0]->Value < a.GetMin(0) || a.GetMax(0) < b.Min[0]->Value - || b.Max[1]->Value < a.GetMin(1) || a.GetMax(1) < b.Min[1]->Value - || b.Max[2]->Value < a.GetMin(2) || a.GetMax(2) < b.Min[2]->Value) return FALSE; - - return TRUE; -} - - - -bool SweepAndPrune::UpdateObject(udword i, const AABB& box) -{ - for(udword Axis=0;Axis<3;Axis++) - { -// udword Base = (udword)&mList[Axis][0]; - - // Update min - { - SAP_EndPoint* const CurrentMin = mBoxes[i].Min[Axis]; - ASSERT(!CurrentMin->IsMax()); - - const float Limit = box.GetMin(Axis); - if(Limit == CurrentMin->Value) - { - } - else if(Limit < CurrentMin->Value) - { - CurrentMin->Value = Limit; - - // Min is moving left: - SAP_EndPoint* NewPos = CurrentMin; - ASSERT(NewPos); - - SAP_EndPoint* tmp; - while((tmp = NewPos->Previous) && tmp->Value > Limit) - { - NewPos = tmp; - - if(NewPos->IsMax()) - { - // Our min passed a max => start overlap - //udword SortedIndex = (udword(CurrentMin) - Base)/sizeof(NS_EndPoint); - const udword id0 = CurrentMin->GetBoxID(); - const udword id1 = NewPos->GetBoxID(); - - if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1); - } - } - - CurrentMin->InsertBefore(NewPos); - } - else// if(Limit > CurrentMin->Value) - { - CurrentMin->Value = Limit; - - // Min is moving right: - SAP_EndPoint* NewPos = CurrentMin; - ASSERT(NewPos); - - SAP_EndPoint* tmp; - while((tmp = NewPos->Next) && tmp->Value < Limit) - { - NewPos = tmp; - - if(NewPos->IsMax()) - { - // Our min passed a max => stop overlap - const udword id0 = CurrentMin->GetBoxID(); - const udword id1 = NewPos->GetBoxID(); - - if(id0!=id1) mPairs.RemovePair(id0, id1); - } - } - - CurrentMin->InsertAfter(NewPos); - } - } - - // Update max - { - SAP_EndPoint* const CurrentMax = mBoxes[i].Max[Axis]; - ASSERT(CurrentMax->IsMax()); - - const float Limit = box.GetMax(Axis); - if(Limit == CurrentMax->Value) - { - } - else if(Limit > CurrentMax->Value) - { - CurrentMax->Value = Limit; - - // Max is moving right: - SAP_EndPoint* NewPos = CurrentMax; - ASSERT(NewPos); - - SAP_EndPoint* tmp; - while((tmp = NewPos->Next) && tmp->Value < Limit) - { - NewPos = tmp; - - if(!NewPos->IsMax()) - { - // Our max passed a min => start overlap - const udword id0 = CurrentMax->GetBoxID(); - const udword id1 = NewPos->GetBoxID(); - - if(id0!=id1 && Intersect(box, mBoxes[id1])) mPairs.AddPair(id0, id1); - } - } - - CurrentMax->InsertAfter(NewPos); - } - else// if(Limit < CurrentMax->Value) - { - CurrentMax->Value = Limit; - - // Max is moving left: - SAP_EndPoint* NewPos = CurrentMax; - ASSERT(NewPos); - - SAP_EndPoint* tmp; - while((tmp = NewPos->Previous) && tmp->Value > Limit) - { - NewPos = tmp; - - if(!NewPos->IsMax()) - { - // Our max passed a min => stop overlap - const udword id0 = CurrentMax->GetBoxID(); - const udword id1 = NewPos->GetBoxID(); - - if(id0!=id1) mPairs.RemovePair(id0, id1); - } - } - - CurrentMax->InsertBefore(NewPos); - } - } - } - - return true; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SweepAndPrune.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SweepAndPrune.h deleted file mode 100644 index 2cbbb7e6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_SweepAndPrune.h +++ /dev/null @@ -1,86 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains an implementation of the sweep-and-prune algorithm (moved from Z-Collide) - * \file OPC_SweepAndPrune.h - * \author Pierre Terdiman - * \date January, 29, 2000 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_SWEEPANDPRUNE_H__ -#define __OPC_SWEEPANDPRUNE_H__ - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * User-callback, called by OPCODE for each colliding pairs. - * \param id0 [in] id of colliding object - * \param id1 [in] id of colliding object - * \param user_data [in] user-defined data - * \return TRUE to continue enumeration - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - typedef BOOL (*PairCallback) (udword id0, udword id1, void* user_data); - - class SAP_Element; - class SAP_EndPoint; - class SAP_Box; - - class OPCODE_API SAP_PairData - { - public: - SAP_PairData(); - ~SAP_PairData(); - - bool Init(udword nb_objects); - - void AddPair(udword id1, udword id2); - void RemovePair(udword id1, udword id2); - - void DumpPairs(Pairs& pairs) const; - void DumpPairs(PairCallback callback, void* user_data) const; - private: - udword mNbElements; //!< Total number of elements in the pool - udword mNbUsedElements; //!< Number of used elements - SAP_Element* mElementPool; //!< Array of mNbElements elements - SAP_Element* mFirstFree; //!< First free element in the pool - - udword mNbObjects; //!< Max number of objects we can handle - SAP_Element** mArray; //!< Pointers to pool - // Internal methods - SAP_Element* GetFreeElem(udword id, SAP_Element* next, udword* remap=null); - inline_ void FreeElem(SAP_Element* elem); - void Release(); - }; - - class OPCODE_API SweepAndPrune - { - public: - SweepAndPrune(); - ~SweepAndPrune(); - - bool Init(udword nb_objects, const AABB** boxes); - bool UpdateObject(udword i, const AABB& box); - - void GetPairs(Pairs& pairs) const; - void GetPairs(PairCallback callback, void* user_data) const; - private: - SAP_PairData mPairs; - - udword mNbObjects; - SAP_Box* mBoxes; - SAP_EndPoint* mList[3]; - // Internal methods - bool CheckListsIntegrity(); - }; - -#endif //__OPC_SWEEPANDPRUNE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_ThreadLocalData.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_ThreadLocalData.cpp deleted file mode 100644 index 3a8d04e6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_ThreadLocalData.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* -* OPCODE - Optimized Collision Detection -* Copyright (C) 2001 Pierre Terdiman -* Homepage: http://www.codercorner.com/Opcode.htm -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** -* Contains methods of thread local data structure. -* \file OPC_ThreadLocalData.cpp -* \author Oleh Derevenko -* \date April, 16, 2008 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - - -void ThreadLocalData::Init() -{ - gCompletePruningSorter = new PRUNING_SORTER; - gBipartitePruningSorter0 = new PRUNING_SORTER; - gBipartitePruningSorter1 = new PRUNING_SORTER; -} - -void ThreadLocalData::Finit() -{ - DELETESINGLE(gBipartitePruningSorter1); - DELETESINGLE(gBipartitePruningSorter0); - DELETESINGLE(gCompletePruningSorter); -} - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_ThreadLocalData.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_ThreadLocalData.h deleted file mode 100644 index 3b45851e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_ThreadLocalData.h +++ /dev/null @@ -1,54 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* -* OPCODE - Optimized Collision Detection -* Copyright (C) 2001 Pierre Terdiman -* Homepage: http://www.codercorner.com/Opcode.htm -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** -* Contains declaration of thread local data structure. -* \file OPC_ThreadLocalData.h -* \author Oleh Derevenko -* \date April, 16, 2008 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_THREADLOCALDATA_H__ -#define __OPC_THREADLOCALDATA_H__ - - -// InsertionSort has better coherence, RadixSort is better for one-shot queries. -typedef RadixSort PRUNING_SORTER; -//typedef InsertionSort PRUNING_SORTER - -struct ThreadLocalData -{ -public: - ThreadLocalData() { Init(); } - ~ThreadLocalData() { Finit(); } - -protected: - ThreadLocalData(bool): gCompletePruningSorter(0), - gBipartitePruningSorter0(0), gBipartitePruningSorter1(0) - { - } - - void Init(); - void Finit(); - -public: - // Static for coherence - PRUNING_SORTER* gCompletePruningSorter; - PRUNING_SORTER* gBipartitePruningSorter0; - PRUNING_SORTER* gBipartitePruningSorter1; -}; - -typedef ThreadLocalData *(* ThreadLocalDataProviderProc)(); - - -#endif // __OPC_THREADLOCALDATA_H__ - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TreeBuilders.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TreeBuilders.cpp deleted file mode 100644 index a8260bb5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TreeBuilders.cpp +++ /dev/null @@ -1,258 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for tree builders. - * \file OPC_TreeBuilders.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A builder for AABB-trees of vertices. - * - * \class AABBTreeOfVerticesBuilder - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A builder for AABB-trees of AABBs. - * - * \class AABBTreeOfAABBsBuilder - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * A builder for AABB-trees of triangles. - * - * \class AABBTreeOfTrianglesBuilder - * \author Pierre Terdiman - * \version 1.3 - * \date March, 20, 2001 -*/ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the AABB of a set of primitives. - * \param primitives [in] list of indices of primitives - * \param nb_prims [in] number of indices - * \param global_box [out] global AABB enclosing the set of input primitives - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeOfAABBsBuilder::ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const -{ - // Checkings - if(!primitives || !nb_prims) return false; - - // Initialize global box - global_box = mAABBArray[primitives[0]]; - - // Loop through boxes - for(udword i=1;iGetTriangle(VP, *primitives++, VC); - // Update global box - Min.Min(*VP.Vertex[0]).Min(*VP.Vertex[1]).Min(*VP.Vertex[2]); - Max.Max(*VP.Vertex[0]).Max(*VP.Vertex[1]).Max(*VP.Vertex[2]); - } - global_box.SetMinMax(Min, Max); - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the splitting value along a given axis for a given primitive. - * \param index [in] index of the primitive to split - * \param axis [in] axis index (0,1,2) - * \return splitting value - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float AABBTreeOfTrianglesBuilder::GetSplittingValue(udword index, udword axis) const -{ -/* // Compute center of triangle - Point Center; - mTriList[index].Center(mVerts, Center); - // Return value - return Center[axis];*/ - - // Compute correct component from center of triangle -// return (mVerts[mTriList[index].mVRef[0]][axis] -// +mVerts[mTriList[index].mVRef[1]][axis] -// +mVerts[mTriList[index].mVRef[2]][axis])*INV3; - - VertexPointers VP; - ConversionArea VC; - mIMesh->GetTriangle(VP, index, VC); - - // Compute correct component from center of triangle - return ((*VP.Vertex[0])[axis] - +(*VP.Vertex[1])[axis] - +(*VP.Vertex[2])[axis])*INV3; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the splitting value along a given axis for a given node. - * \param primitives [in] list of indices of primitives - * \param nb_prims [in] number of indices - * \param global_box [in] global AABB enclosing the set of input primitives - * \param axis [in] axis index (0,1,2) - * \return splitting value - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -float AABBTreeOfTrianglesBuilder::GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const -{ - if(mSettings.mRules&SPLIT_GEOM_CENTER) - { - // Loop through triangles - float SplitValue = 0.0f; - VertexPointers VP; - ConversionArea VC; - for(udword i=0;iGetTriangle(VP, primitives[i], VC); - // Update split value - SplitValue += (*VP.Vertex[0])[axis]; - SplitValue += (*VP.Vertex[1])[axis]; - SplitValue += (*VP.Vertex[2])[axis]; - } - return SplitValue / float(nb_prims*3); - } - else return AABBTreeBuilder::GetSplittingValue(primitives, nb_prims, global_box, axis); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Computes the AABB of a set of primitives. - * \param primitives [in] list of indices of primitives - * \param nb_prims [in] number of indices - * \param global_box [out] global AABB enclosing the set of input primitives - * \return true if success - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeOfVerticesBuilder::ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const -{ - // Checkings - if(!primitives || !nb_prims) return false; - - // Initialize global box - global_box.SetEmpty(); - - // Loop through vertices - for(udword i=0;iHasLeafNodes()!=cache.Model1->HasLeafNodes()) return false; - if(cache.Model0->IsQuantized()!=cache.Model1->IsQuantized()) return false; - - /* - - Rules: - - perform hull test - - when hulls collide, disable hull test - - if meshes overlap, reset countdown - - if countdown reaches 0, enable hull test - - */ - -#ifdef __MESHMERIZER_H__ - // Handle hulls - if(cache.HullTest) - { - if(cache.Model0->GetHull() && cache.Model1->GetHull()) - { - struct Local - { - static Point* SVCallback(const Point& sv, udword& previndex, udword user_data) - { - CollisionHull* Hull = (CollisionHull*)user_data; - previndex = Hull->ComputeSupportingVertex(sv, previndex); - return (Point*)&Hull->GetVerts()[previndex]; - } - }; - - bool Collide; - - if(0) - { - static GJKEngine GJK; -- not thread safe, store in ThreadLocalData - static bool GJKInitDone=false; -- not thread safe, to be removed - if(!GJKInitDone) - { - GJK.Enable(GJK_BACKUP_PROCEDURE); - GJK.Enable(GJK_DEGENERATE); - GJK.Enable(GJK_HILLCLIMBING); - GJKInitDone = true; - } - GJK.SetCallbackObj0(Local::SVCallback); - GJK.SetCallbackObj1(Local::SVCallback); - GJK.SetUserData0(udword(cache.Model0->GetHull())); - GJK.SetUserData1(udword(cache.Model1->GetHull())); - Collide = GJK.Collide(*world0, *world1, &cache.SepVector); - } - else - { - static SVEngine SVE; -- not thread safe, store in ThreadLocalData - SVE.SetCallbackObj0(Local::SVCallback); - SVE.SetCallbackObj1(Local::SVCallback); - SVE.SetUserData0(udword(cache.Model0->GetHull())); - SVE.SetUserData1(udword(cache.Model1->GetHull())); - Collide = SVE.Collide(*world0, *world1, &cache.SepVector); - } - - if(!Collide) - { - // Reset stats & contact status - mFlags &= ~OPC_CONTACT; - mNbBVBVTests = 0; - mNbPrimPrimTests = 0; - mNbBVPrimTests = 0; - mPairs.Reset(); - return true; - } - } - } - - // Here, hulls collide - cache.HullTest = false; -#endif // __MESHMERIZER_H__ - - // Checkings - if(!Setup(cache.Model0->GetMeshInterface(), cache.Model1->GetMeshInterface())) return false; - - // Simple double-dispatch - bool Status; - if(!cache.Model0->HasLeafNodes()) - { - if(cache.Model0->IsQuantized()) - { - const AABBQuantizedNoLeafTree* T0 = (const AABBQuantizedNoLeafTree*)cache.Model0->GetTree(); - const AABBQuantizedNoLeafTree* T1 = (const AABBQuantizedNoLeafTree*)cache.Model1->GetTree(); - Status = Collide(T0, T1, world0, world1, &cache); - } - else - { - const AABBNoLeafTree* T0 = (const AABBNoLeafTree*)cache.Model0->GetTree(); - const AABBNoLeafTree* T1 = (const AABBNoLeafTree*)cache.Model1->GetTree(); - Status = Collide(T0, T1, world0, world1, &cache); - } - } - else - { - if(cache.Model0->IsQuantized()) - { - const AABBQuantizedTree* T0 = (const AABBQuantizedTree*)cache.Model0->GetTree(); - const AABBQuantizedTree* T1 = (const AABBQuantizedTree*)cache.Model1->GetTree(); - Status = Collide(T0, T1, world0, world1, &cache); - } - else - { - const AABBCollisionTree* T0 = (const AABBCollisionTree*)cache.Model0->GetTree(); - const AABBCollisionTree* T1 = (const AABBCollisionTree*)cache.Model1->GetTree(); - Status = Collide(T0, T1, world0, world1, &cache); - } - } - -#ifdef __MESHMERIZER_H__ - if(Status) - { - // Reset counter as long as overlap occurs - if(GetContactStatus()) cache.ResetCountDown(); - - // Enable hull test again when counter reaches zero - cache.CountDown--; - if(!cache.CountDown) - { - cache.ResetCountDown(); - cache.HullTest = true; - } - } -#endif - return Status; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Initializes a collision query : - * - reset stats & contact status - * - setup matrices - * - * \param world0 [in] world matrix for first object - * \param world1 [in] world matrix for second object - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::InitQuery(const Matrix4x4* world0, const Matrix4x4* world1) -{ - // Reset stats & contact status - Collider::InitQuery(); - mNbBVBVTests = 0; - mNbPrimPrimTests = 0; - mNbBVPrimTests = 0; - mPairs.Reset(); - - // Setup matrices - Matrix4x4 InvWorld0, InvWorld1; - if(world0) InvertPRMatrix(InvWorld0, *world0); - else InvWorld0.Identity(); - - if(world1) InvertPRMatrix(InvWorld1, *world1); - else InvWorld1.Identity(); - - Matrix4x4 World0to1 = world0 ? (*world0 * InvWorld1) : InvWorld1; - Matrix4x4 World1to0 = world1 ? (*world1 * InvWorld0) : InvWorld0; - - mR0to1 = World0to1; World0to1.GetTrans(mT0to1); - mR1to0 = World1to0; World1to0.GetTrans(mT1to0); - - // Precompute absolute 1-to-0 rotation matrix - for(udword i=0;i<3;i++) - { - for(udword j=0;j<3;j++) - { - // Epsilon value prevents floating-point inaccuracies (strategy borrowed from RAPID) - mAR.m[i][j] = 1e-6f + fabsf(mR1to0.m[i][j]); - } - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Takes advantage of temporal coherence. - * \param cache [in] cache for a pair of previously colliding primitives - * \return true if we can return immediately - * \warning only works for "First Contact" mode - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeCollider::CheckTemporalCoherence(Pair* cache) -{ - // Checkings - if(!cache) return false; - - // Test previously colliding primitives first - if(TemporalCoherenceEnabled() && FirstContactEnabled()) - { - PrimTest(cache->id0, cache->id1); - if(GetContactStatus()) return true; - } - return false; -} - -#define UPDATE_CACHE \ - if(cache && GetContactStatus()) \ - { \ - cache->id0 = mPairs.GetEntry(0); \ - cache->id1 = mPairs.GetEntry(1); \ - } - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for normal AABB trees. - * \param tree0 [in] AABB tree from first object - * \param tree1 [in] AABB tree from second object - * \param world0 [in] world matrix for first object - * \param world1 [in] world matrix for second object - * \param cache [in/out] cache for a pair of previously colliding primitives - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeCollider::Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) -{ - // Init collision query - InitQuery(world0, world1); - - // Check previous state - if(CheckTemporalCoherence(cache)) return true; - - // Perform collision query - _Collide(tree0->GetNodes(), tree1->GetNodes()); - - UPDATE_CACHE - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for no-leaf AABB trees. - * \param tree0 [in] AABB tree from first object - * \param tree1 [in] AABB tree from second object - * \param world0 [in] world matrix for first object - * \param world1 [in] world matrix for second object - * \param cache [in/out] cache for a pair of previously colliding primitives - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeCollider::Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) -{ - // Init collision query - InitQuery(world0, world1); - - // Check previous state - if(CheckTemporalCoherence(cache)) return true; - - // Perform collision query - _Collide(tree0->GetNodes(), tree1->GetNodes()); - - UPDATE_CACHE - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for quantized AABB trees. - * \param tree0 [in] AABB tree from first object - * \param tree1 [in] AABB tree from second object - * \param world0 [in] world matrix for first object - * \param world1 [in] world matrix for second object - * \param cache [in/out] cache for a pair of previously colliding primitives - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeCollider::Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) -{ - // Init collision query - InitQuery(world0, world1); - - // Check previous state - if(CheckTemporalCoherence(cache)) return true; - - // Setup dequantization coeffs - mCenterCoeff0 = tree0->mCenterCoeff; - mExtentsCoeff0 = tree0->mExtentsCoeff; - mCenterCoeff1 = tree1->mCenterCoeff; - mExtentsCoeff1 = tree1->mExtentsCoeff; - - // Dequantize box A - const AABBQuantizedNode* N0 = tree0->GetNodes(); - const Point a(float(N0->mAABB.mExtents[0]) * mExtentsCoeff0.x, float(N0->mAABB.mExtents[1]) * mExtentsCoeff0.y, float(N0->mAABB.mExtents[2]) * mExtentsCoeff0.z); - const Point Pa(float(N0->mAABB.mCenter[0]) * mCenterCoeff0.x, float(N0->mAABB.mCenter[1]) * mCenterCoeff0.y, float(N0->mAABB.mCenter[2]) * mCenterCoeff0.z); - // Dequantize box B - const AABBQuantizedNode* N1 = tree1->GetNodes(); - const Point b(float(N1->mAABB.mExtents[0]) * mExtentsCoeff1.x, float(N1->mAABB.mExtents[1]) * mExtentsCoeff1.y, float(N1->mAABB.mExtents[2]) * mExtentsCoeff1.z); - const Point Pb(float(N1->mAABB.mCenter[0]) * mCenterCoeff1.x, float(N1->mAABB.mCenter[1]) * mCenterCoeff1.y, float(N1->mAABB.mCenter[2]) * mCenterCoeff1.z); - - // Perform collision query - _Collide(N0, N1, a, Pa, b, Pb); - - UPDATE_CACHE - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Collision query for quantized no-leaf AABB trees. - * \param tree0 [in] AABB tree from first object - * \param tree1 [in] AABB tree from second object - * \param world0 [in] world matrix for first object - * \param world1 [in] world matrix for second object - * \param cache [in/out] cache for a pair of previously colliding primitives - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -bool AABBTreeCollider::Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0, const Matrix4x4* world1, Pair* cache) -{ - // Init collision query - InitQuery(world0, world1); - - // Check previous state - if(CheckTemporalCoherence(cache)) return true; - - // Setup dequantization coeffs - mCenterCoeff0 = tree0->mCenterCoeff; - mExtentsCoeff0 = tree0->mExtentsCoeff; - mCenterCoeff1 = tree1->mCenterCoeff; - mExtentsCoeff1 = tree1->mExtentsCoeff; - - // Perform collision query - _Collide(tree0->GetNodes(), tree1->GetNodes()); - - UPDATE_CACHE - - return true; -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Standard trees -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -// The normal AABB tree can use 2 different descent rules (with different performances) -//#define ORIGINAL_CODE //!< UNC-like descent rules -#define ALTERNATIVE_CODE //!< Alternative descent rules - -#ifdef ORIGINAL_CODE -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param b0 [in] collision node from first tree - * \param b1 [in] collision node from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) -{ - // Perform BV-BV overlap test - if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) return; - - if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } - - if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) - { - _Collide(b0->GetNeg(), b1); - if(ContactFound()) return; - _Collide(b0->GetPos(), b1); - } - else - { - _Collide(b0, b1->GetNeg()); - if(ContactFound()) return; - _Collide(b0, b1->GetPos()); - } -} -#endif - -#ifdef ALTERNATIVE_CODE -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for normal AABB trees. - * \param b0 [in] collision node from first tree - * \param b1 [in] collision node from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1) -{ - // Perform BV-BV overlap test - if(!BoxBoxOverlap(b0->mAABB.mExtents, b0->mAABB.mCenter, b1->mAABB.mExtents, b1->mAABB.mCenter)) - { - return; - } - - if(b0->IsLeaf()) - { - if(b1->IsLeaf()) - { - PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); - } - else - { - _Collide(b0, b1->GetNeg()); - if(ContactFound()) return; - _Collide(b0, b1->GetPos()); - } - } - else if(b1->IsLeaf()) - { - _Collide(b0->GetNeg(), b1); - if(ContactFound()) return; - _Collide(b0->GetPos(), b1); - } - else - { - _Collide(b0->GetNeg(), b1->GetNeg()); - if(ContactFound()) return; - _Collide(b0->GetNeg(), b1->GetPos()); - if(ContactFound()) return; - _Collide(b0->GetPos(), b1->GetNeg()); - if(ContactFound()) return; - _Collide(b0->GetPos(), b1->GetPos()); - } -} -#endif - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// No-leaf trees -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Leaf-leaf test for two primitive indices. - * \param id0 [in] index from first leaf-triangle - * \param id1 [in] index from second leaf-triangle - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::PrimTest(udword id0, udword id1) -{ - // Request vertices from the app - VertexPointers VP0; - VertexPointers VP1; - ConversionArea VC0; - ConversionArea VC1; - mIMesh0->GetTriangle(VP0, id0, VC0); - mIMesh1->GetTriangle(VP1, id1, VC1); - - // Transform from space 1 to space 0 - Point u0,u1,u2; - TransformPoint(u0, *VP1.Vertex[0], mR1to0, mT1to0); - TransformPoint(u1, *VP1.Vertex[1], mR1to0, mT1to0); - TransformPoint(u2, *VP1.Vertex[2], mR1to0, mT1to0); - - // Perform triangle-triangle overlap test - if(TriTriOverlap(*VP0.Vertex[0], *VP0.Vertex[1], *VP0.Vertex[2], u0, u1, u2)) - { - // Keep track of colliding pairs - mPairs.Add(id0).Add(id1); - // Set contact status - mFlags |= OPC_CONTACT; - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Leaf-leaf test for a previously fetched triangle from tree A (in B's space) and a new leaf from B. - * \param id1 [in] leaf-triangle index from tree B - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ void AABBTreeCollider::PrimTestTriIndex(udword id1) -{ - // Request vertices from the app - VertexPointers VP; - ConversionArea VC; - mIMesh1->GetTriangle(VP, id1, VC); - - // Perform triangle-triangle overlap test - if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) - { - // Keep track of colliding pairs - mPairs.Add(mLeafIndex).Add(id1); - // Set contact status - mFlags |= OPC_CONTACT; - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Leaf-leaf test for a previously fetched triangle from tree B (in A's space) and a new leaf from A. - * \param id0 [in] leaf-triangle index from tree A - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ void AABBTreeCollider::PrimTestIndexTri(udword id0) -{ - // Request vertices from the app - VertexPointers VP; - ConversionArea VC; - mIMesh0->GetTriangle(VP, id0, VC); - - // Perform triangle-triangle overlap test - if(TriTriOverlap(mLeafVerts[0], mLeafVerts[1], mLeafVerts[2], *VP.Vertex[0], *VP.Vertex[1], *VP.Vertex[2])) - { - // Keep track of colliding pairs - mPairs.Add(id0).Add(mLeafIndex); - // Set contact status - mFlags |= OPC_CONTACT; - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision of a leaf node from A and a branch from B. - * \param b [in] collision node from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_CollideTriBox(const AABBNoLeafNode* b) -{ - // Perform triangle-box overlap test - if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; - - // Keep same triangle, deal with first child - if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); - else _CollideTriBox(b->GetPos()); - - if(ContactFound()) return; - - // Keep same triangle, deal with second child - if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); - else _CollideTriBox(b->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision of a leaf node from B and a branch from A. - * \param b [in] collision node from first tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_CollideBoxTri(const AABBNoLeafNode* b) -{ - // Perform triangle-box overlap test - if(!TriBoxOverlap(b->mAABB.mCenter, b->mAABB.mExtents)) return; - - // Keep same triangle, deal with first child - if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); - else _CollideBoxTri(b->GetPos()); - - if(ContactFound()) return; - - // Keep same triangle, deal with second child - if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); - else _CollideBoxTri(b->GetNeg()); -} - -//! Request triangle vertices from the app and transform them -#define FETCH_LEAF(prim_index, imesh, rot, trans) \ - mLeafIndex = prim_index; \ - /* Request vertices from the app */ \ - VertexPointers VP; ConversionArea VC; imesh->GetTriangle(VP, prim_index, VC); \ - /* Transform them in a common space */ \ - TransformPoint(mLeafVerts[0], *VP.Vertex[0], rot, trans); \ - TransformPoint(mLeafVerts[1], *VP.Vertex[1], rot, trans); \ - TransformPoint(mLeafVerts[2], *VP.Vertex[2], rot, trans); - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for no-leaf AABB trees. - * \param a [in] collision node from first tree - * \param b [in] collision node from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b) -{ - // Perform BV-BV overlap test - if(!BoxBoxOverlap(a->mAABB.mExtents, a->mAABB.mCenter, b->mAABB.mExtents, b->mAABB.mCenter)) return; - - // Catch leaf status - BOOL BHasPosLeaf = b->HasPosLeaf(); - BOOL BHasNegLeaf = b->HasNegLeaf(); - - if(a->HasPosLeaf()) - { - FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) - - if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); - else _CollideTriBox(b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); - else _CollideTriBox(b->GetNeg()); - } - else - { - if(BHasPosLeaf) - { - FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetPos()); - } - else _Collide(a->GetPos(), b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) - { - FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetPos()); - } - else _Collide(a->GetPos(), b->GetNeg()); - } - - if(ContactFound()) return; - - if(a->HasNegLeaf()) - { - FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) - - if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); - else _CollideTriBox(b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); - else _CollideTriBox(b->GetNeg()); - } - else - { - if(BHasPosLeaf) - { - // ### That leaf has possibly already been fetched - FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetNeg()); - } - else _Collide(a->GetNeg(), b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) - { - // ### That leaf has possibly already been fetched - FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetNeg()); - } - else _Collide(a->GetNeg(), b->GetNeg()); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Quantized trees -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized AABB trees. - * \param b0 [in] collision node from first tree - * \param b1 [in] collision node from second tree - * \param a [in] extent from box A - * \param Pa [in] center from box A - * \param b [in] extent from box B - * \param Pb [in] center from box B - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb) -{ - // Perform BV-BV overlap test - if(!BoxBoxOverlap(a, Pa, b, Pb)) return; - - if(b0->IsLeaf() && b1->IsLeaf()) { PrimTest(b0->GetPrimitive(), b1->GetPrimitive()); return; } - - if(b1->IsLeaf() || (!b0->IsLeaf() && (b0->GetSize() > b1->GetSize()))) - { - // Dequantize box - const QuantizedAABB* Box = &b0->GetNeg()->mAABB; - const Point negPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); - const Point nega(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); - _Collide(b0->GetNeg(), b1, nega, negPa, b, Pb); - - if(ContactFound()) return; - - // Dequantize box - Box = &b0->GetPos()->mAABB; - const Point posPa(float(Box->mCenter[0]) * mCenterCoeff0.x, float(Box->mCenter[1]) * mCenterCoeff0.y, float(Box->mCenter[2]) * mCenterCoeff0.z); - const Point posa(float(Box->mExtents[0]) * mExtentsCoeff0.x, float(Box->mExtents[1]) * mExtentsCoeff0.y, float(Box->mExtents[2]) * mExtentsCoeff0.z); - _Collide(b0->GetPos(), b1, posa, posPa, b, Pb); - } - else - { - // Dequantize box - const QuantizedAABB* Box = &b1->GetNeg()->mAABB; - const Point negPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); - const Point negb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); - _Collide(b0, b1->GetNeg(), a, Pa, negb, negPb); - - if(ContactFound()) return; - - // Dequantize box - Box = &b1->GetPos()->mAABB; - const Point posPb(float(Box->mCenter[0]) * mCenterCoeff1.x, float(Box->mCenter[1]) * mCenterCoeff1.y, float(Box->mCenter[2]) * mCenterCoeff1.z); - const Point posb(float(Box->mExtents[0]) * mExtentsCoeff1.x, float(Box->mExtents[1]) * mExtentsCoeff1.y, float(Box->mExtents[2]) * mExtentsCoeff1.z); - _Collide(b0, b1->GetPos(), a, Pa, posb, posPb); - } -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Quantized no-leaf trees -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision of a leaf node from A and a quantized branch from B. - * \param leaf [in] leaf triangle from first tree - * \param b [in] collision node from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_CollideTriBox(const AABBQuantizedNoLeafNode* b) -{ - // Dequantize box - const QuantizedAABB* bb = &b->mAABB; - const Point Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); - const Point eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); - - // Perform triangle-box overlap test - if(!TriBoxOverlap(Pb, eb)) return; - - if(b->HasPosLeaf()) PrimTestTriIndex(b->GetPosPrimitive()); - else _CollideTriBox(b->GetPos()); - - if(ContactFound()) return; - - if(b->HasNegLeaf()) PrimTestTriIndex(b->GetNegPrimitive()); - else _CollideTriBox(b->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision of a leaf node from B and a quantized branch from A. - * \param b [in] collision node from first tree - * \param leaf [in] leaf triangle from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_CollideBoxTri(const AABBQuantizedNoLeafNode* b) -{ - // Dequantize box - const QuantizedAABB* bb = &b->mAABB; - const Point Pa(float(bb->mCenter[0]) * mCenterCoeff0.x, float(bb->mCenter[1]) * mCenterCoeff0.y, float(bb->mCenter[2]) * mCenterCoeff0.z); - const Point ea(float(bb->mExtents[0]) * mExtentsCoeff0.x, float(bb->mExtents[1]) * mExtentsCoeff0.y, float(bb->mExtents[2]) * mExtentsCoeff0.z); - - // Perform triangle-box overlap test - if(!TriBoxOverlap(Pa, ea)) return; - - if(b->HasPosLeaf()) PrimTestIndexTri(b->GetPosPrimitive()); - else _CollideBoxTri(b->GetPos()); - - if(ContactFound()) return; - - if(b->HasNegLeaf()) PrimTestIndexTri(b->GetNegPrimitive()); - else _CollideBoxTri(b->GetNeg()); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Recursive collision query for quantized no-leaf AABB trees. - * \param a [in] collision node from first tree - * \param b [in] collision node from second tree - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -void AABBTreeCollider::_Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b) -{ - // Dequantize box A - const QuantizedAABB* ab = &a->mAABB; - const Point Pa(float(ab->mCenter[0]) * mCenterCoeff0.x, float(ab->mCenter[1]) * mCenterCoeff0.y, float(ab->mCenter[2]) * mCenterCoeff0.z); - const Point ea(float(ab->mExtents[0]) * mExtentsCoeff0.x, float(ab->mExtents[1]) * mExtentsCoeff0.y, float(ab->mExtents[2]) * mExtentsCoeff0.z); - // Dequantize box B - const QuantizedAABB* bb = &b->mAABB; - const Point Pb(float(bb->mCenter[0]) * mCenterCoeff1.x, float(bb->mCenter[1]) * mCenterCoeff1.y, float(bb->mCenter[2]) * mCenterCoeff1.z); - const Point eb(float(bb->mExtents[0]) * mExtentsCoeff1.x, float(bb->mExtents[1]) * mExtentsCoeff1.y, float(bb->mExtents[2]) * mExtentsCoeff1.z); - - // Perform BV-BV overlap test - if(!BoxBoxOverlap(ea, Pa, eb, Pb)) return; - - // Catch leaf status - BOOL BHasPosLeaf = b->HasPosLeaf(); - BOOL BHasNegLeaf = b->HasNegLeaf(); - - if(a->HasPosLeaf()) - { - FETCH_LEAF(a->GetPosPrimitive(), mIMesh0, mR0to1, mT0to1) - - if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); - else _CollideTriBox(b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); - else _CollideTriBox(b->GetNeg()); - } - else - { - if(BHasPosLeaf) - { - FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetPos()); - } - else _Collide(a->GetPos(), b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) - { - FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetPos()); - } - else _Collide(a->GetPos(), b->GetNeg()); - } - - if(ContactFound()) return; - - if(a->HasNegLeaf()) - { - FETCH_LEAF(a->GetNegPrimitive(), mIMesh0, mR0to1, mT0to1) - - if(BHasPosLeaf) PrimTestTriIndex(b->GetPosPrimitive()); - else _CollideTriBox(b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) PrimTestTriIndex(b->GetNegPrimitive()); - else _CollideTriBox(b->GetNeg()); - } - else - { - if(BHasPosLeaf) - { - // ### That leaf has possibly already been fetched - FETCH_LEAF(b->GetPosPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetNeg()); - } - else _Collide(a->GetNeg(), b->GetPos()); - - if(ContactFound()) return; - - if(BHasNegLeaf) - { - // ### That leaf has possibly already been fetched - FETCH_LEAF(b->GetNegPrimitive(), mIMesh1, mR1to0, mT1to0) - - _CollideBoxTri(a->GetNeg()); - } - else _Collide(a->GetNeg(), b->GetNeg()); - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TreeCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TreeCollider.h deleted file mode 100644 index 1e943a4b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TreeCollider.h +++ /dev/null @@ -1,246 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains code for a tree collider. - * \file OPC_TreeCollider.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_TREECOLLIDER_H__ -#define __OPC_TREECOLLIDER_H__ - - //! This structure holds cached information used by the algorithm. - //! Two model pointers and two colliding primitives are cached. Model pointers are assigned - //! to their respective meshes, and the pair of colliding primitives is used for temporal - //! coherence. That is, in case temporal coherence is enabled, those two primitives are - //! tested for overlap before everything else. If they still collide, we're done before - //! even entering the recursive collision code. - struct OPCODE_API BVTCache : Pair - { - //! Constructor - inline_ BVTCache() - { - ResetCache(); - ResetCountDown(); - } - - void ResetCache() - { - Model0 = null; - Model1 = null; - id0 = 0; - id1 = 1; -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - HullTest = true; - SepVector.pid = 0; - SepVector.qid = 0; - SepVector.SV = Point(1.0f, 0.0f, 0.0f); -#endif // __MESHMERIZER_H__ - } - -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - inline_ void ResetCountDown() - { - CountDown = 50; - } -#else - void ResetCountDown(){}; -#endif // __MESHMERIZER_H__ - - const Model* Model0; //!< Model for first object - const Model* Model1; //!< Model for second object - -#ifdef __MESHMERIZER_H__ // Collision hulls only supported within ICE ! - SVCache SepVector; - udword CountDown; - bool HullTest; -#endif // __MESHMERIZER_H__ - }; - - class OPCODE_API AABBTreeCollider : public Collider - { - public: - // Constructor / Destructor - AABBTreeCollider(); - virtual ~AABBTreeCollider(); - // Generic collision query - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Generic collision query for generic OPCODE models. After the call, access the results with: - * - GetContactStatus() - * - GetNbPairs() - * - GetPairs() - * - * \param cache [in] collision cache for model pointers and a colliding pair of primitives - * \param world0 [in] world matrix for first object, or null - * \param world1 [in] world matrix for second object, or null - * \return true if success - * \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - bool Collide(BVTCache& cache, const Matrix4x4* world0=null, const Matrix4x4* world1=null); - - // Collision queries - bool Collide(const AABBCollisionTree* tree0, const AABBCollisionTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - bool Collide(const AABBNoLeafTree* tree0, const AABBNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - bool Collide(const AABBQuantizedTree* tree0, const AABBQuantizedTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - bool Collide(const AABBQuantizedNoLeafTree* tree0, const AABBQuantizedNoLeafTree* tree1, const Matrix4x4* world0=null, const Matrix4x4* world1=null, Pair* cache=null); - // Settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: selects between full box-box tests or "SAT-lite" tests (where Class III axes are discarded) - * \param flag [in] true for full tests, false for coarse tests - * \see SetFullPrimBoxTest(bool flag) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetFullBoxBoxTest(bool flag) { mFullBoxBoxTest = flag; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Settings: selects between full triangle-box tests or "SAT-lite" tests (where Class III axes are discarded) - * \param flag [in] true for full tests, false for coarse tests - * \see SetFullBoxBoxTest(bool flag) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ void SetFullPrimBoxTest(bool flag) { mFullPrimBoxTest = flag; } - - // Stats - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of BV-BV overlap tests after a collision query. - * \see GetNbPrimPrimTests() - * \see GetNbBVPrimTests() - * \return the number of BV-BV tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbBVBVTests() const { return mNbBVBVTests; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of Triangle-Triangle overlap tests after a collision query. - * \see GetNbBVBVTests() - * \see GetNbBVPrimTests() - * \return the number of Triangle-Triangle tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbPrimPrimTests() const { return mNbPrimPrimTests; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of BV-Triangle overlap tests after a collision query. - * \see GetNbBVBVTests() - * \see GetNbPrimPrimTests() - * \return the number of BV-Triangle tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbBVPrimTests() const { return mNbBVPrimTests; } - - // Data access - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of contacts after a collision query. - * \see GetContactStatus() - * \see GetPairs() - * \return the number of contacts / colliding pairs. - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbPairs() const { return mPairs.GetNbEntries()>>1; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the pairs of colliding triangles after a collision query. - * \see GetContactStatus() - * \see GetNbPairs() - * \return the list of colliding pairs (triangle indices) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const Pair* GetPairs() const { return (const Pair*)mPairs.GetEntries(); } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Validates current settings. You should call this method after all the settings and callbacks have been defined for a collider. - * \return null if everything is ok, else a string describing the problem - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(Collider) const char* ValidateSettings(); - - protected: - // Colliding pairs - Container mPairs; //!< Pairs of colliding primitives - // User mesh interfaces - const MeshInterface* mIMesh0; //!< User-defined mesh interface for object0 - const MeshInterface* mIMesh1; //!< User-defined mesh interface for object1 - // Stats - udword mNbBVBVTests; //!< Number of BV-BV tests - udword mNbPrimPrimTests; //!< Number of Primitive-Primitive tests - udword mNbBVPrimTests; //!< Number of BV-Primitive tests - // Precomputed data - Matrix3x3 mAR; //!< Absolute rotation matrix - Matrix3x3 mR0to1; //!< Rotation from object0 to object1 - Matrix3x3 mR1to0; //!< Rotation from object1 to object0 - Point mT0to1; //!< Translation from object0 to object1 - Point mT1to0; //!< Translation from object1 to object0 - // Dequantization coeffs - Point mCenterCoeff0; - Point mExtentsCoeff0; - Point mCenterCoeff1; - Point mExtentsCoeff1; - // Leaf description - Point mLeafVerts[3]; //!< Triangle vertices - udword mLeafIndex; //!< Triangle index - // Settings - bool mFullBoxBoxTest; //!< Perform full BV-BV tests (true) or SAT-lite tests (false) - bool mFullPrimBoxTest; //!< Perform full Primitive-BV tests (true) or SAT-lite tests (false) - // Internal methods - - // Standard AABB trees - void _Collide(const AABBCollisionNode* b0, const AABBCollisionNode* b1); - // Quantized AABB trees - void _Collide(const AABBQuantizedNode* b0, const AABBQuantizedNode* b1, const Point& a, const Point& Pa, const Point& b, const Point& Pb); - // No-leaf AABB trees - void _CollideTriBox(const AABBNoLeafNode* b); - void _CollideBoxTri(const AABBNoLeafNode* b); - void _Collide(const AABBNoLeafNode* a, const AABBNoLeafNode* b); - // Quantized no-leaf AABB trees - void _CollideTriBox(const AABBQuantizedNoLeafNode* b); - void _CollideBoxTri(const AABBQuantizedNoLeafNode* b); - void _Collide(const AABBQuantizedNoLeafNode* a, const AABBQuantizedNoLeafNode* b); - // Overlap tests - void PrimTest(udword id0, udword id1); - inline_ void PrimTestTriIndex(udword id1); - inline_ void PrimTestIndexTri(udword id0); - - inline_ BOOL BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb); - inline_ BOOL TriBoxOverlap(const Point& center, const Point& extents); - inline_ BOOL TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2); - // Init methods - void InitQuery(const Matrix4x4* world0=null, const Matrix4x4* world1=null); - bool CheckTemporalCoherence(Pair* cache); - - inline_ BOOL Setup(const MeshInterface* mi0, const MeshInterface* mi1) - { - mIMesh0 = mi0; - mIMesh1 = mi1; - - if(!mIMesh0 || !mIMesh1) return FALSE; - - return TRUE; - } - }; - -#endif // __OPC_TREECOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TriBoxOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TriBoxOverlap.h deleted file mode 100644 index b3a9bdee..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TriBoxOverlap.h +++ /dev/null @@ -1,339 +0,0 @@ - -//! This macro quickly finds the min & max values among 3 variables -#define FINDMINMAX(x0, x1, x2, min, max) \ - min = max = x0; \ - if(x1max) max=x1; \ - if(x2max) max=x2; - -//! TO BE DOCUMENTED -inline_ BOOL planeBoxOverlap(const Point& normal, const float d, const Point& maxbox) -{ - Point vmin, vmax; - for(udword q=0;q<=2;q++) - { - if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; } - else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; } - } - if((normal|vmin)+d>0.0f) return FALSE; - if((normal|vmax)+d>=0.0f) return TRUE; - - return FALSE; -} - -//! TO BE DOCUMENTED -#define AXISTEST_X01(a, b, fa, fb) \ - min = a*v0.y - b*v0.z; \ - max = a*v2.y - b*v2.z; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.y + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_X2(a, b, fa, fb) \ - min = a*v0.y - b*v0.z; \ - max = a*v1.y - b*v1.z; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.y + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Y02(a, b, fa, fb) \ - min = b*v0.z - a*v0.x; \ - max = b*v2.z - a*v2.x; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Y1(a, b, fa, fb) \ - min = b*v0.z - a*v0.x; \ - max = b*v1.z - a*v1.x; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Z12(a, b, fa, fb) \ - min = a*v1.x - b*v1.y; \ - max = a*v2.x - b*v2.y; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.y; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Z0(a, b, fa, fb) \ - min = a*v0.x - b*v0.y; \ - max = a*v1.x - b*v1.y; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.y; \ - if(min>rad || max<-rad) return FALSE; - -// compute triangle edges -// - edges lazy evaluated to take advantage of early exits -// - fabs precomputed (half less work, possible since extents are always >0) -// - customized macros to take advantage of the null component -// - axis vector discarded, possibly saves useless movs -#define IMPLEMENT_CLASS3_TESTS \ - float rad; \ - float min, max; \ - \ - const float fey0 = fabsf(e0.y); \ - const float fez0 = fabsf(e0.z); \ - AXISTEST_X01(e0.z, e0.y, fez0, fey0); \ - const float fex0 = fabsf(e0.x); \ - AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \ - AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \ - \ - const float fey1 = fabsf(e1.y); \ - const float fez1 = fabsf(e1.z); \ - AXISTEST_X01(e1.z, e1.y, fez1, fey1); \ - const float fex1 = fabsf(e1.x); \ - AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \ - AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \ - \ - const Point e2 = mLeafVerts[0] - mLeafVerts[2]; \ - const float fey2 = fabsf(e2.y); \ - const float fez2 = fabsf(e2.z); \ - AXISTEST_X2(e2.z, e2.y, fez2, fey2); \ - const float fex2 = fabsf(e2.x); \ - AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \ - AXISTEST_Z12(e2.y, e2.x, fey2, fex2); - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Triangle-Box overlap test using the separating axis theorem. - * This is the code from Tomas Möller, a bit optimized: - * - with some more lazy evaluation (faster path on PC) - * - with a tiny bit of assembly - * - with "SAT-lite" applied if needed - * - and perhaps with some more minor modifs... - * - * \param center [in] box center - * \param extents [in] box extents - * \return true if triangle & box overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL AABBTreeCollider::TriBoxOverlap(const Point& center, const Point& extents) -{ - // Stats - mNbBVPrimTests++; - - // use separating axis theorem to test overlap between triangle and box - // need to test for overlap in these directions: - // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle - // we do not even need to test these) - // 2) normal of the triangle - // 3) crossproduct(edge from tri, {x,y,z}-directin) - // this gives 3x3=9 more tests - - // move everything so that the boxcenter is in (0,0,0) - Point v0, v1, v2; - v0.x = mLeafVerts[0].x - center.x; - v1.x = mLeafVerts[1].x - center.x; - v2.x = mLeafVerts[2].x - center.x; - - // First, test overlap in the {x,y,z}-directions -#ifdef OPC_USE_FCOMI - // 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; - - // 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; - - // 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; -#else - float min,max; - // Find min, max of the triangle in x-direction, and test for overlap in X - FINDMINMAX(v0.x, v1.x, v2.x, min, max); - if(min>extents.x || max<-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; - - FINDMINMAX(v0.y, v1.y, v2.y, min, max); - if(min>extents.y || max<-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; - - FINDMINMAX(v0.z, v1.z, v2.z, min, max); - if(min>extents.z || max<-extents.z) return FALSE; -#endif - // 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 - const Point e0 = v1 - v0; - const Point e1 = v2 - v1; - const Point normal = e0 ^ e1; - const float d = -normal|v0; - if(!planeBoxOverlap(normal, d, extents)) return FALSE; - - // 3) "Class III" tests - if(mFullPrimBoxTest) - { - IMPLEMENT_CLASS3_TESTS - } - return TRUE; -} - -//! A dedicated version where the box is constant -inline_ BOOL OBBCollider::TriBoxOverlap() -{ - // Stats - mNbVolumePrimTests++; - - // Hook - const Point& extents = mBoxExtents; - const Point& v0 = mLeafVerts[0]; - const Point& v1 = mLeafVerts[1]; - const Point& v2 = mLeafVerts[2]; - - // use separating axis theorem to test overlap between triangle and box - // need to test for overlap in these directions: - // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle - // we do not even need to test these) - // 2) normal of the triangle - // 3) crossproduct(edge from tri, {x,y,z}-directin) - // this gives 3x3=9 more tests - - // Box center is already in (0,0,0) - - // First, test overlap in the {x,y,z}-directions -#ifdef OPC_USE_FCOMI - // find min, max of the triangle in x-direction, and test for overlap in X - if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE; - if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE; - - if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE; - if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE; - - if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE; - if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE; -#else - float min,max; - // Find min, max of the triangle in x-direction, and test for overlap in X - FINDMINMAX(v0.x, v1.x, v2.x, min, max); - if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE; - - FINDMINMAX(v0.y, v1.y, v2.y, min, max); - if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE; - - FINDMINMAX(v0.z, v1.z, v2.z, min, max); - if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE; -#endif - // 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 - const Point e0 = v1 - v0; - const Point e1 = v2 - v1; - const Point normal = e0 ^ e1; - const float d = -normal|v0; - if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE; - - // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) - { - IMPLEMENT_CLASS3_TESTS - } - return TRUE; -} - -//! ...and another one, jeez -inline_ BOOL AABBCollider::TriBoxOverlap() -{ - // Stats - mNbVolumePrimTests++; - - // Hook - const Point& center = mBox.mCenter; - const Point& extents = mBox.mExtents; - - // use separating axis theorem to test overlap between triangle and box - // need to test for overlap in these directions: - // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle - // we do not even need to test these) - // 2) normal of the triangle - // 3) crossproduct(edge from tri, {x,y,z}-directin) - // this gives 3x3=9 more tests - - // move everything so that the boxcenter is in (0,0,0) - Point v0, v1, v2; - v0.x = mLeafVerts[0].x - center.x; - v1.x = mLeafVerts[1].x - center.x; - v2.x = mLeafVerts[2].x - center.x; - - // First, test overlap in the {x,y,z}-directions -#ifdef OPC_USE_FCOMI - // 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; - - // 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; - - // 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; -#else - float min,max; - // Find min, max of the triangle in x-direction, and test for overlap in X - FINDMINMAX(v0.x, v1.x, v2.x, min, max); - if(min>extents.x || max<-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; - - FINDMINMAX(v0.y, v1.y, v2.y, min, max); - if(min>extents.y || max<-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; - - FINDMINMAX(v0.z, v1.z, v2.z, min, max); - if(min>extents.z || max<-extents.z) return FALSE; -#endif - // 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 - const Point e0 = v1 - v0; - const Point e1 = v2 - v1; - const Point normal = e0 ^ e1; - const float d = -normal|v0; - if(!planeBoxOverlap(normal, d, extents)) return FALSE; - - // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) - { - IMPLEMENT_CLASS3_TESTS - } - return TRUE; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TriTriOverlap.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TriTriOverlap.h deleted file mode 100644 index 1e71c6a5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_TriTriOverlap.h +++ /dev/null @@ -1,279 +0,0 @@ - -//! if OPC_TRITRI_EPSILON_TEST is true then we do a check (if |dv|b) \ - { \ - const float c=a; \ - a=b; \ - b=c; \ - } - -//! Edge to edge test based on Franlin Antonio's gem: "Faster Line Segment Intersection", in Graphics Gems III, pp. 199-202 -#define EDGE_EDGE_TEST(V0, U0, U1) \ - Bx = U0[i0] - U1[i0]; \ - By = U0[i1] - U1[i1]; \ - Cx = V0[i0] - U0[i0]; \ - Cy = V0[i1] - U0[i1]; \ - f = Ay*Bx - Ax*By; \ - d = By*Cx - Bx*Cy; \ - if((f>0.0f && d>=0.0f && d<=f) || (f<0.0f && d<=0.0f && d>=f)) \ - { \ - const float e=Ax*Cy - Ay*Cx; \ - if(f>0.0f) \ - { \ - if(e>=0.0f && e<=f) return TRUE; \ - } \ - else \ - { \ - if(e<=0.0f && e>=f) return TRUE; \ - } \ - } - -//! TO BE DOCUMENTED -#define EDGE_AGAINST_TRI_EDGES(V0, V1, U0, U1, U2) \ -{ \ - float Bx,By,Cx,Cy,d,f; \ - const float Ax = V1[i0] - V0[i0]; \ - const float Ay = V1[i1] - V0[i1]; \ - /* test edge U0,U1 against V0,V1 */ \ - EDGE_EDGE_TEST(V0, U0, U1); \ - /* test edge U1,U2 against V0,V1 */ \ - EDGE_EDGE_TEST(V0, U1, U2); \ - /* test edge U2,U1 against V0,V1 */ \ - EDGE_EDGE_TEST(V0, U2, U0); \ -} - -//! TO BE DOCUMENTED -#define POINT_IN_TRI(V0, U0, U1, U2) \ -{ \ - /* is T1 completly inside T2? */ \ - /* check if V0 is inside tri(U0,U1,U2) */ \ - float a = U1[i1] - U0[i1]; \ - float b = -(U1[i0] - U0[i0]); \ - float c = -a*U0[i0] - b*U0[i1]; \ - float d0 = a*V0[i0] + b*V0[i1] + c; \ - \ - a = U2[i1] - U1[i1]; \ - b = -(U2[i0] - U1[i0]); \ - c = -a*U1[i0] - b*U1[i1]; \ - const float d1 = a*V0[i0] + b*V0[i1] + c; \ - \ - a = U0[i1] - U2[i1]; \ - b = -(U0[i0] - U2[i0]); \ - c = -a*U2[i0] - b*U2[i1]; \ - const float d2 = a*V0[i0] + b*V0[i1] + c; \ - if(d0*d1>0.0f) \ - { \ - if(d0*d2>0.0f) return TRUE; \ - } \ -} - -//! TO BE DOCUMENTED -BOOL CoplanarTriTri(const Point& n, const Point& v0, const Point& v1, const Point& v2, const Point& u0, const Point& u1, const Point& u2) -{ - float A[3]; - short i0,i1; - /* first project onto an axis-aligned plane, that maximizes the area */ - /* of the triangles, compute indices: i0,i1. */ - A[0] = fabsf(n[0]); - A[1] = fabsf(n[1]); - A[2] = fabsf(n[2]); - if(A[0]>A[1]) - { - if(A[0]>A[2]) - { - i0=1; /* A[0] is greatest */ - i1=2; - } - else - { - i0=0; /* A[2] is greatest */ - i1=1; - } - } - else /* A[0]<=A[1] */ - { - if(A[2]>A[1]) - { - i0=0; /* A[2] is greatest */ - i1=1; - } - else - { - i0=0; /* A[1] is greatest */ - i1=2; - } - } - - /* test all edges of triangle 1 against the edges of triangle 2 */ - EDGE_AGAINST_TRI_EDGES(v0, v1, u0, u1, u2); - EDGE_AGAINST_TRI_EDGES(v1, v2, u0, u1, u2); - EDGE_AGAINST_TRI_EDGES(v2, v0, u0, u1, u2); - - /* finally, test if tri1 is totally contained in tri2 or vice versa */ - POINT_IN_TRI(v0, u0, u1, u2); - POINT_IN_TRI(u0, v0, v1, v2); - - return FALSE; -} - -//! TO BE DOCUMENTED -#define NEWCOMPUTE_INTERVALS(VV0, VV1, VV2, D0, D1, D2, D0D1, D0D2, A, B, C, X0, X1) \ -{ \ - if(D0D1>0.0f) \ - { \ - /* here we know that D0D2<=0.0 */ \ - /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \ - A=VV2; B=(VV0 - VV2)*D2; C=(VV1 - VV2)*D2; X0=D2 - D0; X1=D2 - D1; \ - } \ - else if(D0D2>0.0f) \ - { \ - /* here we know that d0d1<=0.0 */ \ - A=VV1; B=(VV0 - VV1)*D1; C=(VV2 - VV1)*D1; X0=D1 - D0; X1=D1 - D2; \ - } \ - else if(D1*D2>0.0f || D0!=0.0f) \ - { \ - /* here we know that d0d1<=0.0 or that D0!=0.0 */ \ - A=VV0; B=(VV1 - VV0)*D0; C=(VV2 - VV0)*D0; X0=D0 - D1; X1=D0 - D2; \ - } \ - else if(D1!=0.0f) \ - { \ - A=VV1; B=(VV0 - VV1)*D1; C=(VV2 - VV1)*D1; X0=D1 - D0; X1=D1 - D2; \ - } \ - else if(D2!=0.0f) \ - { \ - A=VV2; B=(VV0 - VV2)*D2; C=(VV1 - VV2)*D2; X0=D2 - D0; X1=D2 - D1; \ - } \ - else \ - { \ - /* triangles are coplanar */ \ - return CoplanarTriTri(N1, V0, V1, V2, U0, U1, U2); \ - } \ -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Triangle/triangle intersection test routine, - * by Tomas Moller, 1997. - * See article "A Fast Triangle-Triangle Intersection Test", - * Journal of Graphics Tools, 2(2), 1997 - * - * Updated June 1999: removed the divisions -- a little faster now! - * Updated October 1999: added {} to CROSS and SUB macros - * - * int NoDivTriTriIsect(float V0[3],float V1[3],float V2[3], - * float U0[3],float U1[3],float U2[3]) - * - * \param V0 [in] triangle 0, vertex 0 - * \param V1 [in] triangle 0, vertex 1 - * \param V2 [in] triangle 0, vertex 2 - * \param U0 [in] triangle 1, vertex 0 - * \param U1 [in] triangle 1, vertex 1 - * \param U2 [in] triangle 1, vertex 2 - * \return true if triangles overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL AABBTreeCollider::TriTriOverlap(const Point& V0, const Point& V1, const Point& V2, const Point& U0, const Point& U1, const Point& U2) -{ - // Stats - mNbPrimPrimTests++; - - // Compute plane equation of triangle(V0,V1,V2) - Point E1 = V1 - V0; - Point E2 = V2 - V0; - const Point N1 = E1 ^ E2; - const float d1 =-N1 | V0; - // Plane equation 1: N1.X+d1=0 - - // Put U0,U1,U2 into plane equation 1 to compute signed distances to the plane - float du0 = (N1|U0) + d1; - float du1 = (N1|U1) + d1; - float du2 = (N1|U2) + d1; - - // Coplanarity robustness check -#ifdef OPC_TRITRI_EPSILON_TEST - if(fabsf(du0)0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? - return FALSE; // no intersection occurs - - // Compute plane of triangle (U0,U1,U2) - E1 = U1 - U0; - E2 = U2 - U0; - const Point N2 = E1 ^ E2; - const float d2=-N2 | U0; - // plane equation 2: N2.X+d2=0 - - // put V0,V1,V2 into plane equation 2 - float dv0 = (N2|V0) + d2; - float dv1 = (N2|V1) + d2; - float dv2 = (N2|V2) + d2; - -#ifdef OPC_TRITRI_EPSILON_TEST - if(fabsf(dv0)0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? - return FALSE; // no intersection occurs - - // Compute direction of intersection line - const Point D = N1^N2; - - // Compute and index to the largest component of D - float max=fabsf(D[0]); - short index=0; - float bb=fabsf(D[1]); - float cc=fabsf(D[2]); - if(bb>max) max=bb,index=1; - if(cc>max) max=cc,index=2; - - // This is the simplified projection onto L - const float vp0 = V0[index]; - const float vp1 = V1[index]; - const float vp2 = V2[index]; - - const float up0 = U0[index]; - const float up1 = U1[index]; - const float up2 = U2[index]; - - // Compute interval for triangle 1 - float a,b,c,x0,x1; - NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1); - - // Compute interval for triangle 2 - float d,e,f,y0,y1; - NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1); - - const float xx=x0*x1; - const float yy=y0*y1; - const float xxyy=xx*yy; - - float isect1[2], isect2[2]; - - float tmp=a*xxyy; - isect1[0]=tmp+b*x1*yy; - isect1[1]=tmp+c*x0*yy; - - tmp=d*xxyy; - isect2[0]=tmp+e*xx*y1; - isect2[1]=tmp+f*xx*y0; - - SORT(isect1[0],isect1[1]); - SORT(isect2[0],isect2[1]); - - if(isect1[1]HasPosLeaf()) mTouchedPrimitives->Add(udword(node->GetPosPrimitive())); \ - else _Dump(node->GetPos()); \ - \ - if(ContactFound()) return; \ - \ - if(node->HasNegLeaf()) mTouchedPrimitives->Add(udword(node->GetNegPrimitive())); \ - else _Dump(node->GetNeg()); \ -} - -#define IMPLEMENT_LEAFDUMP(type) \ -void VolumeCollider::_Dump(const type* node) \ -{ \ - if(node->IsLeaf()) \ - { \ - mTouchedPrimitives->Add(udword(node->GetPrimitive())); \ - } \ - else \ - { \ - _Dump(node->GetPos()); \ - \ - if(ContactFound()) return; \ - \ - _Dump(node->GetNeg()); \ - } \ -} - -IMPLEMENT_NOLEAFDUMP(AABBNoLeafNode) -IMPLEMENT_NOLEAFDUMP(AABBQuantizedNoLeafNode) - -IMPLEMENT_LEAFDUMP(AABBCollisionNode) -IMPLEMENT_LEAFDUMP(AABBQuantizedNode) diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_VolumeCollider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_VolumeCollider.h deleted file mode 100644 index c0b812e7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/OPC_VolumeCollider.h +++ /dev/null @@ -1,138 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Contains base volume collider class. - * \file OPC_VolumeCollider.h - * \author Pierre Terdiman - * \date June, 2, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPC_VOLUMECOLLIDER_H__ -#define __OPC_VOLUMECOLLIDER_H__ - - struct OPCODE_API VolumeCache - { - VolumeCache() : Model(null) {} - ~VolumeCache() {} - - Container TouchedPrimitives; //!< Indices of touched primitives - const BaseModel* Model; //!< Owner - }; - - class OPCODE_API VolumeCollider : public Collider - { - public: - // Constructor / Destructor - VolumeCollider(); - virtual ~VolumeCollider() = 0; - - // Collision report - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the number of touched primitives after a collision query. - * \see GetContactStatus() - * \see GetTouchedPrimitives() - * \return the number of touched primitives - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetNbEntries() : 0; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Gets the list of touched primitives after a collision query. - * \see GetContactStatus() - * \see GetNbTouchedPrimitives() - * \return the list of touched primitives (primitive indices) - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ const udword* GetTouchedPrimitives() const { return mTouchedPrimitives ? mTouchedPrimitives->GetEntries() : null; } - - // Stats - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of Volume-BV overlap tests after a collision query. - * \see GetNbVolumePrimTests() - * \return the number of Volume-BV tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbVolumeBVTests() const { return mNbVolumeBVTests; } - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Stats: gets the number of Volume-Triangle overlap tests after a collision query. - * \see GetNbVolumeBVTests() - * \return the number of Volume-Triangle tests performed during last query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - inline_ udword GetNbVolumePrimTests() const { return mNbVolumePrimTests; } - - // Settings - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Validates current settings. You should call this method after all the settings / callbacks have been defined for a collider. - * \return null if everything is ok, else a string describing the problem - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(Collider) const char* ValidateSettings(); - - protected: - // Touched primitives - Container* mTouchedPrimitives; //!< List of touched primitives - - // Dequantization coeffs - Point mCenterCoeff; - Point mExtentsCoeff; - // Stats - udword mNbVolumeBVTests; //!< Number of Volume-BV tests - udword mNbVolumePrimTests; //!< Number of Volume-Primitive tests - // Internal methods - void _Dump(const AABBCollisionNode* node); - void _Dump(const AABBNoLeafNode* node); - void _Dump(const AABBQuantizedNode* node); - void _Dump(const AABBQuantizedNoLeafNode* node); - - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /** - * Initializes a query - */ - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - override(Collider) inline_ void InitQuery() - { - // Reset stats & contact status - mNbVolumeBVTests = 0; - mNbVolumePrimTests = 0; - Collider::InitQuery(); - } - - inline_ BOOL IsCacheValid(VolumeCache& cache) - { - // We're going to do a volume-vs-model query. - if(cache.Model!=mCurrentModel) - { - // Cached list was for another model so we can't keep it - // Keep track of new owner and reset cache - cache.Model = mCurrentModel; - return FALSE; - } - else - { - // Same models, no problem - return TRUE; - } - } - }; - -#endif // __OPC_VOLUMECOLLIDER_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.cpp deleted file mode 100644 index e9e52fc2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.cpp +++ /dev/null @@ -1,100 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Main file for Opcode.dll. - * \file Opcode.cpp - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/* - Finding a good name is difficult! - Here's the draft for this lib.... Spooky, uh? - - VOID? Very Optimized Interference Detection - ZOID? Zappy's Optimized Interference Detection - CID? Custom/Clever Interference Detection - AID / ACID! Accurate Interference Detection - QUID? Quick Interference Detection - RIDE? Realtime Interference DEtection - WIDE? Wicked Interference DEtection (....) - GUID! - KID ! k-dop interference detection :) - OPCODE! OPtimized COllision DEtection -*/ - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Precompiled Header -#include "Stdafx.h" - -using namespace Opcode; - -struct ThreadLocalDataAsSingleton: - public ThreadLocalData -{ -public: - ThreadLocalDataAsSingleton(): ThreadLocalData(false) {} - - void Init() { ThreadLocalData::Init(); } - void Finit() { ThreadLocalData::Finit(); } -}; - - -static ThreadLocalDataAsSingleton g_ThreadLocalDataSingleton; -/*extern */ThreadLocalDataProviderProc g_pfnThreadLocalDataProvider = NULL; - -static ThreadLocalData *ProvideThreadLocalDataAsSingleton() -{ - return &g_ThreadLocalDataSingleton; -} - - - -bool Opcode::InitOpcode(ThreadLocalDataProviderProc pfnThreadLocalDataProvider) -{ - //Log("// Initializing OPCODE\n\n"); -// LogAPIInfo(); - - if (pfnThreadLocalDataProvider) - { - g_pfnThreadLocalDataProvider = pfnThreadLocalDataProvider; - } - else - { - g_ThreadLocalDataSingleton.Init(); - g_pfnThreadLocalDataProvider = &ProvideThreadLocalDataAsSingleton; - } - - return true; -} - -bool Opcode::CloseOpcode() -{ - //Log("// Closing OPCODE\n\n"); - - g_pfnThreadLocalDataProvider = NULL; - g_ThreadLocalDataSingleton.Finit(); // Finit can be safely called without init - - return true; -} - - -#ifdef ICE_MAIN - -void ModuleAttach(HINSTANCE hinstance) -{ -} - -void ModuleDetach() -{ -} - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.dsp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.dsp deleted file mode 100644 index 560cf56c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.dsp +++ /dev/null @@ -1,470 +0,0 @@ -# Microsoft Developer Studio Project File - Name="OPCODE" - Package Owner=<4> -# Microsoft Developer Studio Generated Build File, Format Version 6.00 -# ** DO NOT EDIT ** - -# TARGTYPE "Win32 (x86) Static Library" 0x0104 - -CFG=OPCODE - Win32 Debug -!MESSAGE This is not a valid makefile. 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-SOURCE=.\OPC_VolumeCollider.cpp -# End Source File -# Begin Source File - -SOURCE=.\OPC_VolumeCollider.h -# End Source File -# Begin Source File - -SOURCE=.\Opcode.cpp -# End Source File -# Begin Source File - -SOURCE=.\Opcode.h -# End Source File -# Begin Source File - -SOURCE=.\StdAfx.cpp -# End Source File -# Begin Source File - -SOURCE=.\StdAfx.h -# End Source File -# End Target -# End Project diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.dsw b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.dsw deleted file mode 100644 index 27f5c28d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.dsw +++ /dev/null @@ -1,29 +0,0 @@ -Microsoft Developer Studio Workspace File, Format Version 6.00 -# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE! - -############################################################################### - -Project: "OPCODE"=.\Opcode.dsp - Package Owner=<4> - -Package=<5> -{{{ -}}} - -Package=<4> -{{{ -}}} - -############################################################################### - -Global: - -Package=<5> -{{{ -}}} - -Package=<3> -{{{ -}}} - -############################################################################### - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.h deleted file mode 100644 index 1df435f9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Opcode.h +++ /dev/null @@ -1,116 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Main file for Opcode.dll. - * \file Opcode.h - * \author Pierre Terdiman - * \date March, 20, 2001 - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Include Guard -#ifndef __OPCODE_H__ -#define __OPCODE_H__ - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Things to help us compile on non-windows platforms - -#if defined(__APPLE__) || defined(__MACOSX__) -#if __APPLE_CC__ < 1495 -#define sqrtf sqrt -#define sinf sin -#define cosf cos -#define acosf acos -#define asinf asin -#endif -#endif - -#ifndef _MSC_VER -#ifndef __int64 -#define __int64 long long int -#endif -#ifndef __stdcall /* this is defined in MinGW and CygWin, so avoid the warning */ -#define __stdcall /* */ -#endif -#endif - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Compilation messages -#ifdef _MSC_VER - #if defined(OPCODE_EXPORTS) - // #pragma message("Compiling OPCODE") - #elif !defined(OPCODE_EXPORTS) - // #pragma message("Using OPCODE") - /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - // Automatic linking - #ifndef BAN_OPCODE_AUTOLINK - #ifdef _DEBUG - //#pragma comment(lib, "Opcode_D.lib") - #else - //#pragma comment(lib, "Opcode.lib") - #endif - #endif - #endif -#endif - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Preprocessor -#ifndef ICE_NO_DLL - #ifdef OPCODE_EXPORTS - #define OPCODE_API// __declspec(dllexport) - #else - #define OPCODE_API// __declspec(dllimport) - #endif -#else - #define OPCODE_API -#endif - - #include "OPC_Settings.h" - #include "OPC_IceHook.h" - - namespace Opcode - { - // Bulk-of-the-work - #include "OPC_Common.h" - #include "OPC_MeshInterface.h" - // Builders - #include "OPC_TreeBuilders.h" - // Trees - #include "OPC_AABBTree.h" - #include "OPC_OptimizedTree.h" - // Models - #include "OPC_BaseModel.h" - #include "OPC_Model.h" - #include "OPC_HybridModel.h" - // Colliders - #include "OPC_Collider.h" - #include "OPC_VolumeCollider.h" - #include "OPC_TreeCollider.h" - #include "OPC_RayCollider.h" - #include "OPC_SphereCollider.h" - #include "OPC_OBBCollider.h" - #include "OPC_AABBCollider.h" - #include "OPC_LSSCollider.h" - #include "OPC_PlanesCollider.h" - // Usages - #include "OPC_Picking.h" - // Sweep-and-prune - #include "OPC_BoxPruning.h" - #include "OPC_SweepAndPrune.h" - - #include "OPC_ThreadLocalData.h" - - - FUNCTION OPCODE_API bool InitOpcode(ThreadLocalDataProviderProc pfnThreadLocalDataProvider=NULL); - FUNCTION OPCODE_API bool CloseOpcode(); - } - -#endif // __OPCODE_H__ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/README-ODE.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/README-ODE.txt deleted file mode 100644 index c5d58009..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/README-ODE.txt +++ /dev/null @@ -1,13 +0,0 @@ - -This is a copy of the OPCODE collision detection library by Pierre Terdiman. -See http://www.codercorner.com/Opcode.htm for more information, and read -the ReadMe.txt in this directory. - -If you want to use the TriList (triangle mesh) geometry class in ODE, the -OPCODE library must be compiled. If you are using the autotools support to -compile ODE, you just have to specify --with-trimesh=opcode when calling ./configure. - -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. - -Russ Smith, April 12 2005. diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/ReadMe.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/ReadMe.txt deleted file mode 100644 index 8a39eff4..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/ReadMe.txt +++ /dev/null @@ -1,171 +0,0 @@ - - OPCODE distribution 1.3 (june 2003) - ----------------------- - - New in Opcode 1.3: - - fixed the divide by 0 bug that was happening when all centers where located on a coordinate axis (thanks to Jorrit T) - - linearized "complete" vanilla AABB trees - - ANSI-compliant "for" loops (for the ones porting it to Linux...) - - callbacks & pointers moved to mesh interface - - support for triangle & vertex strides - - optimized the sphere-triangle overlap code a bit - - dynamic trees (refit) - - more builders - - ValidateSubdivision in builders - - LSS collider - - primitive-bv tests can now be skipped in most volume queries - - temporal coherence now also works for airborne objects - - temporal coherence completed for boxes / all contacts, LSS, etc - - ray-collider now uses a callback - - some common "usages" have been introduced (only picking for now) - - SPLIT_COMPLETE removed (now implicitely using mLimit = 1) - - hybrid collision models - - sweep-and-prune code added, moved from my old Z-Collide lib - - it now works with meshes made of only 1 triangle (except in mesh-mesh case!) - - Disclaimer: - - - I forced myself to actually *do* the release today no matter what. Else it would never have been done. That's - why the code may not be very polished. I also removed a *lot* of things (more usages, distance queries, etc...) - that weren't ready for prime-time (or that were linked to too many of my supporting libs) - - - Some comments may also be obsolete here and there. The old User Manual for Opcode 1.2 may not fit version 1.3 - either, since there's a new "mesh interface" to support strides, etc. - - - Everything in the "Ice" directory has been hacked out of my engine and edited until everything compiled. Don't - expect anything out there to be cute or something. In particular, some CPP files are not even included when not - needed, so you can expect some linker errors if you try messing around with them... - - Otherwise, it should be just like previous version, only better. In particular, hybrid models can be very - memory-friendly (sometimes using like 10 times less ram than the best trees from version 1.2). The possible - speed hit is often invisible (if it even exists), especially using temporal coherence in "all contacts" mode. - (Admittedly, this depends on your particular usage pattern / what you do on collided triangles). - - The sweep-and-prune code is similar to the "vanilla" version found in V-Collide (but that one's better IMHO...) - The simple "radix" version is often just as good, see for yourself. - - OPCODE distribution 1.2 (august 2002) - ----------------------- - - New in Opcode 1.2: - - new VolumeCollider base class - - simplified callback setup - - you can now use callbacks or pointers (setup at compile time) - - destination array not needed anymore in the RayCollider (faster in-out tests) - - renamed classes: AABBRayCollider => RayCollider, AABBSphereCollider => SphereCollider - - the sphere query now only returns a list of faces (extra info discarded). On the other hand it's a lot faster. - - OBB, AABB and planes queries. Original OBB and AABB queries contributed by Erwin de Vries. - - cosmetic changes in OPC_BoxBoxOverlap.h contributed by Gottfried Chen - - some inlining problems fixed - - faster ray-mesh tests using the separating axis theorem - - new split value in AABB tree construction (contributed by Igor Kravtchenko). Provides faster queries most of the time. - - improved temporal coherence for sphere & AABB queries (works in "All contacts" mode) - - Notes: - - - Everything in the "Ice code" directory (in VC++) is basically copy-pasted from my engine, with a lot - of code removed until there was no link error anymore. Don't expect those files to be cute or anything, - they've never been meant to be released and they're often updated/modified/messy. - - Some experimental features have been removed as well. Else I would never have released the 1.2... - - Not as polished/optimal as I would like it to be, but that's life. I promised myself to release it - before october 2002 (one YEAR later ?!).... That's the only reason why it's there. - - Some people reported ColDet was faster. Uh, come on. They were using Opcode in - "All contacts" mode whereas ColDet was doing "first contact"... - - OPCODE distribution 1.1 (october 2001) - ----------------------- - - New in Opcode 1.1: - - stabbing queries - - sphere queries - - abtract base class for colliders - - settings validation methods - - compilation flags now grouped in OPC_Settings.h - - smaller files, new VC++ virtual dirs (cleaner) - - Notes: - - - "override(baseclass)" is a personal cosmetic thing. It's the same as "virtual", but provides more info. - - I code in 1600*1200, so some lines may look a bit long.. - - This version is not as polished as the previous one due to lack of time. The stabbing & sphere queries - can still be optimized: for example by trying other atomic overlap tests. I'm using my first ray-AABB - code, but the newer one seems better. Tim Schröder's one is good as well. See: www.codercorner.com/RayAABB.cpp - - The trees can easily be compressed even more, I save this for later (lack of time, lack of time!) - - I removed various tests before releasing this one: - - a separation line, a.k.a. "front" in QuickCD, because gains were unclear - - distance queries in a PQP style, because it was way too slow - - support for deformable models, too slow as well - - You can easily use Opcode to do your player-vs-world collision detection, in a Nettle/Telemachos way. - If someone out there wants to donate some art / level for the cause, I'd be glad to release a demo. (current - demo uses copyrighted art I'm not allowed to spread) - - Sorry for the lack of real docs and/or solid examples. I just don't have enough time. - - OPCODE distribution 1.0 (march 2001) - ----------------------- - - - First release - - =============================================================================== - - WHAT ? - - OPCODE means OPtimized COllision DEtection. - So this is a collision detection package similar to RAPID. Here's a - quick list of features: - - - C++ interface, developed for Windows systems using VC++ 6.0 - - Works on arbitrary meshes (convex or non-convex), even polygon soups - - Current implementation uses AABB-trees - - Introduces Primitive-BV overlap tests during recursive collision queries (whereas - standard libraries only rely on Primitive-Primitive and BV-BV tests) - - Introduces no-leaf trees, i.e. collision trees whose leaf nodes have been removed - - Supports collision queries on quantized trees (decompressed on-the-fly) - - Supports "first contact" or "all contacts" modes (ŕ la RAPID) - - Uses temporal coherence for "first contact" mode (~10 to 20 times faster, useful - in rigid body simulation during bisection) - - Memory footprint is 7.2 times smaller than RAPID's one, which is ideal for console - games with limited ram (actually, if you use the unmodified RAPID code using double - precision, it's more like 13 times smaller...) - - And yet it often runs faster than RAPID (according to RDTSC, sometimes more than 5 - times faster when objects are deeply overlapping) - - Performance is usually close to RAPID's one in close-proximity situations - - Stabbing, planes & volume queries (sphere, AABB, OBB, LSS) - - Sweep-and-prune - - Now works with deformable meshes - - Hybrid trees - - - What it can be used for: - - standard mesh-mesh collision detection (similar to RAPID, SOLID, QuickCD, PQP, ColDet...) - - N-body collisions (similar to V-Collide) - - camera-vs-world collisions (similar to Telemachos/Paul Nettle/Stan Melax articles) - - shadow feelers to speed up lightmap computations - - in-out tests to speed up voxelization processes - - picking - - rigid body simulation - - view frustum culling - - etc - - WHY ? - - - Because RAPID uses too many bytes. - - Because the idea was nice... - - WHEN ? - - It's been coded in march 2001 following a thread on the GD-Algorithms list. - - GDAlgorithms-list mailing list - GDAlgorithms-list@lists.sourceforge.net - http://lists.sourceforge.net/lists/listinfo/gdalgorithms-list - - WHO ? - - Pierre Terdiman - June, 1, 2003 - - p.terdiman@wanadoo.fr - p.terdiman@codercorner.com - - http://www.codercorner.com - http://www.codercorner.com/Opcode.htm diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/StdAfx.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/StdAfx.cpp deleted file mode 100644 index 9c381f6c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/StdAfx.cpp +++ /dev/null @@ -1,10 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -//#define ICE_MAIN -#include "Stdafx.h" diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Stdafx.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Stdafx.h deleted file mode 100644 index 0223a6ca..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/Stdafx.h +++ /dev/null @@ -1,24 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/* - * OPCODE - Optimized Collision Detection - * Copyright (C) 2001 Pierre Terdiman - * Homepage: http://www.codercorner.com/Opcode.htm - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -#if !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) -#define AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_ - -#if _MSC_VER > 1000 -#pragma once -#endif // _MSC_VER > 1000 - -// Insert your headers here -#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers - -#include "Opcode.h" - -//{{AFX_INSERT_LOCATION}} -// Microsoft Visual C++ will insert additional declarations immediately before the previous line. - -#endif // !defined(AFX_STDAFX_H__EFB95044_1D31_11D5_8B0F_0050BAC83302__INCLUDED_) diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/TemporalCoherence.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/TemporalCoherence.txt deleted file mode 100644 index fb859318..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/OPCODE/TemporalCoherence.txt +++ /dev/null @@ -1,32 +0,0 @@ - -> Hi John, -> -> I know I'll forget to tell you this if I don't write it right now.... -> -> >(2) How is the receiving geometry for the shadow decided? -> -> I wrote about an LSS-test but actually performing a new VFC test (from the -> light's view) is the same. In both cases, here's a trick to take advantage -> of temporal coherence : test the world against a slightly larger than -> necessary LSS or frustum. Keep the list of touched surfaces. Then next -> frame, if the new volume is still contained within the previous one used -for -> the query, you can reuse the same list immediately. Actually it's a bit -> similar to what you did in your sphere-tree, I think. Anyway, now the -O(log -> N) VFC is O(1) for some frames. It's not worth it for the "real" VFC, but -> when you have N virtual frustum to test to drop N shadows, that's another -> story. -> -> Two downsides: -> - You need more ram to keep track of one list of meshes / shadow, but -> usually it's not a lot. -> - By using a larger volume for the query you possibly touch more -> faces/surfaces, which will be rendered in the shadow pass. Usually it's -not -> a problem either since rendering is simply faster than geometric queries -> those days. But of course, "your mileage may vary". -> -> Happy new year ! -> -> Pierre diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/README.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/README.txt deleted file mode 100644 index c9275f9f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/README.txt +++ /dev/null @@ -1,41 +0,0 @@ -The Open Dynamics Engine (ODE), Copyright (C) 2001-2007 Russell L. Smith. -------------------------------------------------------------------------- - -ODE is a free, industrial quality library for simulating articulated -rigid body dynamics - for example ground vehicles, legged creatures, -and moving objects in VR environments. It is fast, flexible, robust -and platform independent, with advanced joints, contact with friction, -and built-in collision detection. - -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. - - * Installation instructions are in the INSTALL file - - * The ODE web pages are at http://ode.org/ - - * An online manual is at http://opende.sf.net/wiki/index.php/Manual - - * API documentation is in the file ode/docs/index.html, or you - can view it on the web at http://opende.sf.net/docs/index.html - -All contributions are copyright by their owners, but the owners -automatically transfer unrestricted rights in those changes to the ODE -project, which is released under the dual licenses as indicated. The -owners can also use the contributions in other projects under other -licenses if they want (including sell them), but they can't prevent -anyone from releasing the contributions under the dual ODE licenses as -part of an ODE release. - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/autogen.sh b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/autogen.sh deleted file mode 100644 index 0dda232f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/autogen.sh +++ /dev/null @@ -1,52 +0,0 @@ -#!/bin/sh - -# The version nr detection is not working. -# It fails if there is a '-' char in the version nr e.g. -# We should not use it until fixed. - Bram - -## The reason this uses sed instead of "grep --only-matches" -## is because MinGW's grep is an old version and does not contain that flag. -#automake_version=`automake --version | grep --regexp='[+0-9].[+0-9].[+0-9]' | sed -n 's/[* ()A-Za-z]//g;p'` -#automake_mayor=${automake_version%.*.*} -#automake_minor=${automake_version%.*} -#automake_minor=${automake_minor##*.} -#automake_revision=${automake_version##*.} -#echo "AutoMake Version: $automake_mayor.$automake_minor.$automake_revision" -# -#if [ $automake_mayor -eq 1 ]; then -# if [ $automake_minor -lt 8 ]; then -# echo "Automake must be 1.8.2 or higher, please upgrade" -# exit -# else -# if [ $automake_minor -eq 8 ] && [ $automake_revision -lt 2 ]; then -# echo "Automake must be 1.8.2 or higher, please upgrade" -# exit -# fi -# fi -#fi - -echo "Please make sure that you use automake 1.10 or later" -echo "Warnings about underquoted definitions are harmless" - -echo "Running aclocal" -aclocal -I . || exit 1 -# on Mac libtoolize is called glibtoolize -LIBTOOLIZE=libtoolize -if [ `uname -s` = Darwin ]; then - LIBTOOLIZE=glibtoolize -fi -echo "Running $LIBTOOLIZE" -$LIBTOOLIZE --copy --force --automake || exit 1 -echo "Running autoheader" -autoheader || exit 1 -echo "Running automake" -automake --foreign --add-missing --copy || exit 1 -echo "Running autoconf" -autoconf || exit 1 - -echo "Running bootstrap in ou directory" -(cd ou && ./bootstrap) - -#./configure $* - -echo "Now you are ready to run ./configure" diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/README.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/README.txt deleted file mode 100644 index 816da53d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/README.txt +++ /dev/null @@ -1,40 +0,0 @@ -Premake-based Windows Build System -Contributed by Jason Perkins (jason379@users.sourceforge.net) -------------------------------------------------------------------- - - -ABOUT THESE FILES - - This folder contains an automatic project generation tool called - Premake, available from http://premake.sourceforge.net/. The scripts - used to build them have the ".lua" file extension. To regenerate the - stock project files for inclusion in a new release, type: - - premake --makeall - - -CREATING CUSTOM PROJECT FILES - - To create a set of custom project files, first type `premake --help` - to see the options that you have available. Then generate the new - project files using the form: - - premake [options] --target [toolset] - - For instance: - - premake --no-trimesh --target vs2005 - - To build the demo applications and Drawstuff library, use the form: - - premake --with-demos --target [toolset] - - If you ever decide that you want to remove your custom project, you - can just type: - - premake --with-demos --clean - - Feel free to direct any questions or comments to myself or the ODE - mailing list. - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/config-default.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/config-default.h deleted file mode 100644 index d369fade..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/config-default.h +++ /dev/null @@ -1,125 +0,0 @@ -/* This file was autogenerated by Premake */ -#ifndef _ODE_CONFIG_H_ -#define _ODE_CONFIG_H_ - - -/****************************************************************** - * CONFIGURATON SETTINGS - you can change these, and then rebuild - * ODE to modify the behavior of the library. - * - * dTRIMESH_ENABLED - enable/disable trimesh support - * dTRIMESH_OPCODE - use the OPCODE trimesh engine - * dTRIMESH_GIMPACT - use the GIMPACT trimesh engine - * Only one trimesh engine should be enabled. - * - * dTRIMESH_16BIT_INDICES (todo: opcode only) - * Setup the trimesh engine to use 16 bit - * triangle indices. The default is to use - * 32 bit indices. Use the dTriIndex type to - * detect the correct index size. - * - * dUSE_MALLOC_FOR_ALLOCA (experimental)- - * Use malloc() instead of alloca(). Slower, - * but allows for larger systems and more - * graceful out-of-memory handling. - * - * dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER (experimental)- - * Use an alternative trimesh-trimesh collider - * which should yield better results. - * - * dOU_ENABLED (experimental) - * dATOMICS_ENABLED (experimental) - * dTLS_ENABLED (experimental) - * Use generic features of OU library, atomic - * API and TLS API respectively. Using TLS for - * global variables allows calling ODE from - * multiple threads. - * - ******************************************************************/ - -#define dTRIMESH_ENABLED 1 -#define dTRIMESH_OPCODE 1 -#define dTRIMESH_16BIT_INDICES 0 - -#define dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER 0 - -/* #define dUSE_MALLOC_FOR_ALLOCA */ - -/* #define dOU_ENABLED 1 */ -/* #define dATOMICS_ENABLED 1 */ -/* #define dTLS_ENABLED 1 */ - - -/****************************************************************** - * SYSTEM SETTINGS - you shouldn't need to change these. If you - * run into an issue with these settings, please report it to - * the ODE bug tracker at: - * http://sf.net/tracker/?group_id=24884&atid=382799 - ******************************************************************/ - -/* Try to identify the platform */ -#if defined(_XENON) - #define ODE_PLATFORM_XBOX360 -#elif defined(SN_TARGET_PSP_HW) - #define ODE_PLATFORM_PSP -#elif defined(SN_TARGET_PS3) - #define ODE_PLATFORM_PS3 -#elif defined(_MSC_VER) || defined(__CYGWIN32__) || defined(__MINGW32__) - #define ODE_PLATFORM_WINDOWS -#elif defined(__linux__) - #define ODE_PLATFORM_LINUX -#elif defined(__APPLE__) && defined(__MACH__) - #define ODE_PLATFORM_OSX -#else - #error "Need some help identifying the platform!" -#endif - -/* Additional platform defines used in the code */ -#if defined(ODE_PLATFORM_WINDOWS) && !defined(WIN32) - #define WIN32 -#endif - -#if defined(__CYGWIN32__) || defined(__MINGW32__) - #define CYGWIN -#endif - -#if defined(ODE_PLATFORM_OSX) - #define macintosh -#endif - -#if !defined(ODE_PLATFORM_OSX) && !defined(ODE_PLATFORM_PS3) - #include -#endif - -#if !defined(ODE_PLATFORM_WINDOWS) - #include -#endif - -#ifdef dSINGLE - #define dEpsilon FLT_EPSILON -#else - #define dEpsilon DBL_EPSILON -#endif - -/* An integer type that can be safely cast to a pointer. This definition - * should be safe even on 64-bit systems */ -typedef size_t intP; - -/* 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. */ -#define EFFICIENT_ALIGNMENT 16 - -/* Basic OU functionality is required if either atomic API or TLS support - * is enabled. */ -#if dATOMICS_ENABLED || dTLS_ENABLED -#undef dOU_ENABLED -#define dOU_ENABLED 1 -#endif - - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/demos.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/demos.lua deleted file mode 100644 index 94961db3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/demos.lua +++ /dev/null @@ -1,100 +0,0 @@ --- Here are the lists of demos to build. Add/remove new --- demos here and everything else should just work - - local demos = - { - "boxstack", - "buggy", - "chain1", - "chain2", - "collision", - "crash", - "cylvssphere", - "feedback", - "friction", - "gyroscopic", - "heightfield", - "hinge", - "I", - "jointPR", - "jointPU", - "joints", - "motion", - "motor", - "ode", - "piston", - "plane2d", - "slider", - "space", - "space_stress", - "step" - } - - if (not options["no-trimesh"]) then - table.insert(demos, "basket") - table.insert(demos, "cyl") - table.insert(demos, "moving_trimesh") - table.insert(demos, "trimesh") - end - - - -- Output is placed in a directory named for the target toolset. - packagepath = options["target"] - - --- Factory function for demo packages - - function makedemo(index, name) - package = newpackage() - package.name = "demo_" .. name - package.kind = "exe" - package.language = "c++" - package.path = packagepath - package.objdir = "obj/"..name - - package.includepaths = - { - "../../include", - "../../ode/src" - } - package.defines = { "_CRT_SECURE_NO_DEPRECATE" } - - if (options.target == "vs6" or options.target == "vs2002" or options.target == "vs2003") then - package.config.DebugLib.buildflags = { "static-runtime" } - package.config.ReleaseLib.buildflags = { "static-runtime" } - end - - package.links = { "ode", "drawstuff" } - if (windows) then - table.insert(package.links, { "user32", "winmm", "gdi32", "opengl32", "glu32" }) - else - table.insert(package.links, { "GL", "GLU" }) - end - - if (name == "chain1") then - package.files = { "../../ode/demo/demo_" .. name .. ".c" } - else - package.files = { "../../ode/demo/demo_" .. name .. ".cpp" } - end - - if (windows) then - table.insert(package.defines, "WIN32") - table.insert(package.files, "../../drawstuff/src/resources.rc") - end - - if (not options["enable-static-only"]) then - table.insert(package.config["DebugSingleDLL"].defines, "dSINGLE") - table.insert(package.config["ReleaseSingleDLL"].defines, "dSINGLE") - table.insert(package.config["DebugDoubleDLL"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleDLL"].defines, "dDOUBLE") - end - if (not options["enable-shared-only"]) then - table.insert(package.config["DebugSingleLib"].defines, "dSINGLE") - table.insert(package.config["ReleaseSingleLib"].defines, "dSINGLE") - table.insert(package.config["DebugDoubleLib"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleLib"].defines, "dDOUBLE") - end - - end - - table.foreach(demos, makedemo) diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/drawstuff.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/drawstuff.lua deleted file mode 100644 index 79303907..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/drawstuff.lua +++ /dev/null @@ -1,145 +0,0 @@ -package.name = "drawstuff" -package.language = "c++" -package.objdir = "obj/drawstuff" -package.links = {} - - --- Append a "d" to the debug version of the libraries - - for k,v in ipairs(project.configs) do - if (string.find(v, "Debug") ~= nil) then - package.config[v].target = "drawstuffd" - end - end - - - -- Output is placed in a directory named for the target toolset. - package.path = options["target"] - - --- Package Build Settings - - local dll_defines = - { - "DS_DLL", - "USRDLL" - } - - local lib_defines = - { - "DS_LIB" - } - - if (not options["enable-shared-only"]) then - - package.config["DebugSingleLib"].kind = "lib" - package.config["ReleaseSingleLib"].kind = "lib" - table.insert(package.config["DebugSingleLib"].defines, lib_defines) - table.insert(package.config["ReleaseSingleLib"].defines, lib_defines) - table.insert(package.config["DebugSingleLib"].defines, "dSINGLE") - table.insert(package.config["ReleaseSingleLib"].defines, "dSINGLE") - - package.config["DebugDoubleLib"].kind = "lib" - package.config["ReleaseDoubleLib"].kind = "lib" - table.insert(package.config["DebugDoubleLib"].defines, lib_defines) - table.insert(package.config["ReleaseDoubleLib"].defines, lib_defines) - table.insert(package.config["DebugDoubleLib"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleLib"].defines, "dDOUBLE") - - end - - if (not options["enable-static-only"]) then - - package.config["DebugSingleDLL"].kind = "dll" - package.config["ReleaseSingleDLL"].kind = "dll" - table.insert(package.config["DebugSingleDLL"].defines, dll_defines) - table.insert(package.config["ReleaseSingleDLL"].defines, dll_defines) - table.insert(package.config["DebugSingleDLL"].defines, "dSINGLE") - table.insert(package.config["ReleaseSingleDLL"].defines, "dSINGLE") - - package.config["DebugDoubleDLL"].kind = "dll" - package.config["ReleaseDoubleDLL"].kind = "dll" - table.insert(package.config["DebugDoubleDLL"].defines, dll_defines) - table.insert(package.config["ReleaseDoubleDLL"].defines, dll_defines) - table.insert(package.config["DebugDoubleDLL"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleDLL"].defines, "dDOUBLE") - - end - - package.includepaths = - { - "../../include", - "../../ode/src" - } - - -- disable VS2005 CRT security warnings - if (options["target"] == "vs2005") then - table.insert(package.defines, "_CRT_SECURE_NO_DEPRECATE") - end - - --- Build Flags - - package.config["DebugSingleLib"].buildflags = { } - package.config["DebugSingleDLL"].buildflags = { } - - package.config["ReleaseSingleDLL"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - package.config["ReleaseSingleLib"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - - package.config["DebugDoubleLib"].buildflags = { } - package.config["DebugDoubleDLL"].buildflags = { } - - package.config["ReleaseDoubleDLL"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - package.config["ReleaseDoubleLib"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - - if (options.target == "vs6" or options.target == "vs2002" or options.target == "vs2003") then - for k,v in ipairs(project.configs) do - if (string.find(v, "Lib") ~= nil) then - table.insert(package.config[v].buildflags, "static-runtime") - end - end - end - - --- Libraries - - local windows_libs = - { - "user32", - "opengl32", - "glu32", - "winmm", - "gdi32" - } - - local x11_libs = - { - "X11", - "GL", - "GLU" - } - - if (windows) then - table.insert(package.links, windows_libs) - else - table.insert(package.links, x11_libs) - end - - --- Files - - package.files = - { - matchfiles("../../include/drawstuff/*.h"), - "../../drawstuff/src/internal.h", - "../../drawstuff/src/drawstuff.cpp" - } - - if (windows) then - table.insert(package.defines, "WIN32") - table.insert(package.files, "../../drawstuff/src/resource.h") - table.insert(package.files, "../../drawstuff/src/resources.rc") - table.insert(package.files, "../../drawstuff/src/windows.cpp") - else - table.insert(package.files, "../../drawstuff/src/x11.cpp") - end diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/Makefile b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/Makefile deleted file mode 100644 index 9d52e105..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/Makefile +++ /dev/null @@ -1,180 +0,0 @@ -# Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` -# Options: -# CONFIG=[DebugSingleDLL|ReleaseSingleDLL|DebugSingleLib|ReleaseSingleLib|DebugDoubleDLL|ReleaseDoubleDLL|DebugDoubleLib|ReleaseDoubleLib] - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -export CONFIG - -.PHONY: all clean demo_boxstack demo_buggy demo_chain1 demo_chain2 demo_collision demo_crash demo_cylvssphere demo_feedback demo_friction demo_gyroscopic demo_heightfield demo_hinge demo_I demo_jointPR demo_jointPU demo_joints demo_motion demo_motor demo_ode demo_piston demo_plane2d demo_slider demo_space demo_space_stress demo_step demo_basket demo_cyl demo_moving_trimesh demo_trimesh drawstuff tests ode - -all: demo_boxstack demo_buggy demo_chain1 demo_chain2 demo_collision demo_crash demo_cylvssphere demo_feedback demo_friction demo_gyroscopic demo_heightfield demo_hinge demo_I demo_jointPR demo_jointPU demo_joints demo_motion demo_motor demo_ode demo_piston demo_plane2d demo_slider demo_space demo_space_stress demo_step demo_basket demo_cyl demo_moving_trimesh demo_trimesh drawstuff tests ode - -Makefile: ../premake.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../demos.lua ../drawstuff.lua ../tests.lua ../ode.lua - @echo ==== Regenerating Makefiles ==== - @premake --file $^ --usetargetpath --with-demos --with-tests --clean --target gnu - -demo_boxstack: ode drawstuff - @echo ==== Building demo_boxstack ==== - @$(MAKE) --no-print-directory -C . -f demo_boxstack.make - -demo_buggy: ode drawstuff - @echo ==== Building demo_buggy ==== - @$(MAKE) --no-print-directory -C . -f demo_buggy.make - -demo_chain1: ode drawstuff - @echo ==== Building demo_chain1 ==== - @$(MAKE) --no-print-directory -C . -f demo_chain1.make - -demo_chain2: ode drawstuff - @echo ==== Building demo_chain2 ==== - @$(MAKE) --no-print-directory -C . -f demo_chain2.make - -demo_collision: ode drawstuff - @echo ==== Building demo_collision ==== - @$(MAKE) --no-print-directory -C . -f demo_collision.make - -demo_crash: ode drawstuff - @echo ==== Building demo_crash ==== - @$(MAKE) --no-print-directory -C . -f demo_crash.make - -demo_cylvssphere: ode drawstuff - @echo ==== Building demo_cylvssphere ==== - @$(MAKE) --no-print-directory -C . -f demo_cylvssphere.make - -demo_feedback: ode drawstuff - @echo ==== Building demo_feedback ==== - @$(MAKE) --no-print-directory -C . -f demo_feedback.make - -demo_friction: ode drawstuff - @echo ==== Building demo_friction ==== - @$(MAKE) --no-print-directory -C . -f demo_friction.make - -demo_gyroscopic: ode drawstuff - @echo ==== Building demo_gyroscopic ==== - @$(MAKE) --no-print-directory -C . -f demo_gyroscopic.make - -demo_heightfield: ode drawstuff - @echo ==== Building demo_heightfield ==== - @$(MAKE) --no-print-directory -C . -f demo_heightfield.make - -demo_hinge: ode drawstuff - @echo ==== Building demo_hinge ==== - @$(MAKE) --no-print-directory -C . -f demo_hinge.make - -demo_I: ode drawstuff - @echo ==== Building demo_I ==== - @$(MAKE) --no-print-directory -C . -f demo_I.make - -demo_jointPR: ode drawstuff - @echo ==== Building demo_jointPR ==== - @$(MAKE) --no-print-directory -C . -f demo_jointPR.make - -demo_jointPU: ode drawstuff - @echo ==== Building demo_jointPU ==== - @$(MAKE) --no-print-directory -C . -f demo_jointPU.make - -demo_joints: ode drawstuff - @echo ==== Building demo_joints ==== - @$(MAKE) --no-print-directory -C . -f demo_joints.make - -demo_motion: ode drawstuff - @echo ==== Building demo_motion ==== - @$(MAKE) --no-print-directory -C . -f demo_motion.make - -demo_motor: ode drawstuff - @echo ==== Building demo_motor ==== - @$(MAKE) --no-print-directory -C . -f demo_motor.make - -demo_ode: ode drawstuff - @echo ==== Building demo_ode ==== - @$(MAKE) --no-print-directory -C . -f demo_ode.make - -demo_piston: ode drawstuff - @echo ==== Building demo_piston ==== - @$(MAKE) --no-print-directory -C . -f demo_piston.make - -demo_plane2d: ode drawstuff - @echo ==== Building demo_plane2d ==== - @$(MAKE) --no-print-directory -C . -f demo_plane2d.make - -demo_slider: ode drawstuff - @echo ==== Building demo_slider ==== - @$(MAKE) --no-print-directory -C . -f demo_slider.make - -demo_space: ode drawstuff - @echo ==== Building demo_space ==== - @$(MAKE) --no-print-directory -C . -f demo_space.make - -demo_space_stress: ode drawstuff - @echo ==== Building demo_space_stress ==== - @$(MAKE) --no-print-directory -C . -f demo_space_stress.make - -demo_step: ode drawstuff - @echo ==== Building demo_step ==== - @$(MAKE) --no-print-directory -C . -f demo_step.make - -demo_basket: ode drawstuff - @echo ==== Building demo_basket ==== - @$(MAKE) --no-print-directory -C . -f demo_basket.make - -demo_cyl: ode drawstuff - @echo ==== Building demo_cyl ==== - @$(MAKE) --no-print-directory -C . -f demo_cyl.make - -demo_moving_trimesh: ode drawstuff - @echo ==== Building demo_moving_trimesh ==== - @$(MAKE) --no-print-directory -C . -f demo_moving_trimesh.make - -demo_trimesh: ode drawstuff - @echo ==== Building demo_trimesh ==== - @$(MAKE) --no-print-directory -C . -f demo_trimesh.make - -drawstuff: - @echo ==== Building drawstuff ==== - @$(MAKE) --no-print-directory -C . -f drawstuff.make - -tests: ode - @echo ==== Building tests ==== - @$(MAKE) --no-print-directory -C . -f tests.make - -ode: - @echo ==== Building ode ==== - @$(MAKE) --no-print-directory -C . -f ode.make - -clean: - @$(MAKE) --no-print-directory -C . -f demo_boxstack.make clean - @$(MAKE) --no-print-directory -C . -f demo_buggy.make clean - @$(MAKE) --no-print-directory -C . -f demo_chain1.make clean - @$(MAKE) --no-print-directory -C . -f demo_chain2.make clean - @$(MAKE) --no-print-directory -C . -f demo_collision.make clean - @$(MAKE) --no-print-directory -C . -f demo_crash.make clean - @$(MAKE) --no-print-directory -C . -f demo_cylvssphere.make clean - @$(MAKE) --no-print-directory -C . -f demo_feedback.make clean - @$(MAKE) --no-print-directory -C . -f demo_friction.make clean - @$(MAKE) --no-print-directory -C . -f demo_gyroscopic.make clean - @$(MAKE) --no-print-directory -C . -f demo_heightfield.make clean - @$(MAKE) --no-print-directory -C . -f demo_hinge.make clean - @$(MAKE) --no-print-directory -C . -f demo_I.make clean - @$(MAKE) --no-print-directory -C . -f demo_jointPR.make clean - @$(MAKE) --no-print-directory -C . -f demo_jointPU.make clean - @$(MAKE) --no-print-directory -C . -f demo_joints.make clean - @$(MAKE) --no-print-directory -C . -f demo_motion.make clean - @$(MAKE) --no-print-directory -C . -f demo_motor.make clean - @$(MAKE) --no-print-directory -C . -f demo_ode.make clean - @$(MAKE) --no-print-directory -C . -f demo_piston.make clean - @$(MAKE) --no-print-directory -C . -f demo_plane2d.make clean - @$(MAKE) --no-print-directory -C . -f demo_slider.make clean - @$(MAKE) --no-print-directory -C . -f demo_space.make clean - @$(MAKE) --no-print-directory -C . -f demo_space_stress.make clean - @$(MAKE) --no-print-directory -C . -f demo_step.make clean - @$(MAKE) --no-print-directory -C . -f demo_basket.make clean - @$(MAKE) --no-print-directory -C . -f demo_cyl.make clean - @$(MAKE) --no-print-directory -C . -f demo_moving_trimesh.make clean - @$(MAKE) --no-print-directory -C . -f demo_trimesh.make clean - @$(MAKE) --no-print-directory -C . -f drawstuff.make clean - @$(MAKE) --no-print-directory -C . -f tests.make clean - @$(MAKE) --no-print-directory -C . -f ode.make clean diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_I.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_I.make deleted file mode 100644 index 814c9145..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_I.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/I/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/I/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/I/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/I/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/I/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/I/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/I/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/I/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_I.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_I.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_I - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_I -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_I.o: ../../ode/demo/demo_I.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_basket.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_basket.make deleted file mode 100644 index c358e95a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_basket.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/basket/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/basket/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/basket/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/basket/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/basket/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/basket/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/basket/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/basket/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_basket.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_basket.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_basket - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_basket -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_basket.o: ../../ode/demo/demo_basket.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_boxstack.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_boxstack.make deleted file mode 100644 index 24a76b16..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_boxstack.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Shared Library Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/boxstack/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/boxstack/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/boxstack/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/boxstack/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/boxstack/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/boxstack/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/boxstack/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/boxstack/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_boxstack.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_boxstack.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_boxstack - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_boxstack -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_boxstack.o: ../../ode/demo/demo_boxstack.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_buggy.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_buggy.make deleted file mode 100644 index d73bb95d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_buggy.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/buggy/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/buggy/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/buggy/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/buggy/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/buggy/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/buggy/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/buggy/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/buggy/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_buggy.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_buggy.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_buggy - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_buggy -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_buggy.o: ../../ode/demo/demo_buggy.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_chain1.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_chain1.make deleted file mode 100644 index 9af6c916..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_chain1.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/chain1/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/chain1/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/chain1/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/chain1/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/chain1/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/chain1/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/chain1/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/chain1/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain1.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_chain1.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_chain1 - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_chain1 -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_chain1.o: ../../ode/demo/demo_chain1.c - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CC) $(CFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_chain2.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_chain2.make deleted file mode 100644 index c4a442e1..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_chain2.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/chain2/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/chain2/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/chain2/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/chain2/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/chain2/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/chain2/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/chain2/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/chain2/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_chain2.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_chain2.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_chain2 - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_chain2 -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_chain2.o: ../../ode/demo/demo_chain2.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_collision.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_collision.make deleted file mode 100644 index fbb65ece..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_collision.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/collision/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/collision/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/collision/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/collision/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/collision/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/collision/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/collision/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/collision/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_collision.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_collision.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_collision - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_collision -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_collision.o: ../../ode/demo/demo_collision.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_crash.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_crash.make deleted file mode 100644 index e9df4826..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_crash.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/crash/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/crash/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/crash/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/crash/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/crash/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/crash/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/crash/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/crash/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_crash.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_crash.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_crash - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_crash -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_crash.o: ../../ode/demo/demo_crash.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_cyl.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_cyl.make deleted file mode 100644 index c9b17409..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_cyl.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/cyl/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/cyl/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/cyl/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/cyl/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/cyl/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/cyl/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/cyl/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/cyl/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cyl.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_cyl.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_cyl - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_cyl -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_cyl.o: ../../ode/demo/demo_cyl.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_cylvssphere.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_cylvssphere.make deleted file mode 100644 index 674e1b6e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_cylvssphere.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/cylvssphere/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/cylvssphere/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/cylvssphere/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/cylvssphere/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/cylvssphere/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/cylvssphere/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/cylvssphere/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/cylvssphere/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_cylvssphere.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_cylvssphere.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_cylvssphere - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_cylvssphere -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_cylvssphere.o: ../../ode/demo/demo_cylvssphere.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_feedback.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_feedback.make deleted file mode 100644 index 85986b1d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_feedback.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/feedback/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/feedback/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/feedback/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/feedback/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/feedback/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/feedback/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/feedback/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/feedback/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_feedback.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_feedback.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_feedback - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_feedback -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_feedback.o: ../../ode/demo/demo_feedback.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_friction.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_friction.make deleted file mode 100644 index 41116d2e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_friction.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/friction/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/friction/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/friction/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/friction/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/friction/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/friction/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/friction/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/friction/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_friction.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_friction.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_friction - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_friction -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_friction.o: ../../ode/demo/demo_friction.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_gyroscopic.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_gyroscopic.make deleted file mode 100644 index 5cf8255d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_gyroscopic.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/gyroscopic/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/gyroscopic/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/gyroscopic/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/gyroscopic/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/gyroscopic/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/gyroscopic/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/gyroscopic/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/gyroscopic/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_gyroscopic.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_gyroscopic.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_gyroscopic - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_gyroscopic -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_gyroscopic.o: ../../ode/demo/demo_gyroscopic.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_heightfield.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_heightfield.make deleted file mode 100644 index eb7776a0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_heightfield.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/heightfield/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/heightfield/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/heightfield/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/heightfield/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/heightfield/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/heightfield/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/heightfield/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/heightfield/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_heightfield.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_heightfield.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_heightfield - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_heightfield -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_heightfield.o: ../../ode/demo/demo_heightfield.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_hinge.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_hinge.make deleted file mode 100644 index 5af2ff6a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_hinge.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/hinge/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/hinge/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/hinge/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/hinge/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/hinge/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/hinge/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/hinge/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/hinge/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_hinge.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_hinge.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_hinge - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_hinge -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_hinge.o: ../../ode/demo/demo_hinge.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_jointPR.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_jointPR.make deleted file mode 100644 index c13490de..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_jointPR.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/jointPR/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/jointPR/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/jointPR/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/jointPR/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/jointPR/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/jointPR/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/jointPR/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/jointPR/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPR.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_jointPR.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_jointPR - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_jointPR -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_jointPR.o: ../../ode/demo/demo_jointPR.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_jointPU.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_jointPU.make deleted file mode 100644 index 4f6b74b3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_jointPU.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/jointPU/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/jointPU/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/jointPU/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/jointPU/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/jointPU/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/jointPU/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/jointPU/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/jointPU/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_jointPU.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_jointPU.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_jointPU - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_jointPU -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_jointPU.o: ../../ode/demo/demo_jointPU.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_joints.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_joints.make deleted file mode 100644 index daa82576..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_joints.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/joints/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/joints/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/joints/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/joints/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/joints/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/joints/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/joints/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/joints/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_joints.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_joints.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_joints - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_joints -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_joints.o: ../../ode/demo/demo_joints.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_motion.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_motion.make deleted file mode 100644 index e31aa164..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_motion.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/motion/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/motion/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/motion/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/motion/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/motion/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/motion/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/motion/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/motion/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motion.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_motion.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_motion - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_motion -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_motion.o: ../../ode/demo/demo_motion.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_motor.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_motor.make deleted file mode 100644 index 3f1c2747..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_motor.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/motor/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/motor/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/motor/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/motor/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/motor/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/motor/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/motor/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/motor/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_motor.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_motor.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_motor - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_motor -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_motor.o: ../../ode/demo/demo_motor.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_moving_trimesh.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_moving_trimesh.make deleted file mode 100644 index 2e6f11a5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_moving_trimesh.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/moving_trimesh/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/moving_trimesh/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/moving_trimesh/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/moving_trimesh/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/moving_trimesh/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/moving_trimesh/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/moving_trimesh/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/moving_trimesh/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_moving_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_moving_trimesh.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_moving_trimesh - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_moving_trimesh -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_moving_trimesh.o: ../../ode/demo/demo_moving_trimesh.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_ode.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_ode.make deleted file mode 100644 index e0e22984..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_ode.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/ode/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/ode/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/ode/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/ode/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/ode/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/ode/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/ode/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/ode/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_ode.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_ode.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_ode - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_ode -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_ode.o: ../../ode/demo/demo_ode.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_piston.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_piston.make deleted file mode 100644 index f424b985..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_piston.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/piston/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/piston/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/piston/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/piston/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/piston/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/piston/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/piston/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/piston/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_piston.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_piston.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_piston - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_piston -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_piston.o: ../../ode/demo/demo_piston.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_plane2d.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_plane2d.make deleted file mode 100644 index bc1a673f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_plane2d.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/plane2d/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/plane2d/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/plane2d/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/plane2d/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/plane2d/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/plane2d/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/plane2d/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/plane2d/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_plane2d.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_plane2d.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_plane2d - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_plane2d -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_plane2d.o: ../../ode/demo/demo_plane2d.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_slider.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_slider.make deleted file mode 100644 index f49efca1..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_slider.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/slider/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/slider/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/slider/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/slider/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/slider/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/slider/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/slider/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/slider/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_slider.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_slider.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_slider - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_slider -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_slider.o: ../../ode/demo/demo_slider.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_space.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_space.make deleted file mode 100644 index 0641efde..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_space.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/space/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/space/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/space/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/space/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/space/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/space/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/space/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/space/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_space.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_space - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_space -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_space.o: ../../ode/demo/demo_space.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_space_stress.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_space_stress.make deleted file mode 100644 index c0ab2ea4..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_space_stress.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/space_stress/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/space_stress/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/space_stress/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/space_stress/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/space_stress/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/space_stress/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/space_stress/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/space_stress/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_space_stress.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_space_stress.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_space_stress - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_space_stress -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_space_stress.o: ../../ode/demo/demo_space_stress.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_step.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_step.make deleted file mode 100644 index c7cd6d9e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_step.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/step/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/step/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/step/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/step/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/step/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/step/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/step/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/step/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_step.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_step.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_step - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_step -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_step.o: ../../ode/demo/demo_step.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_trimesh.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_trimesh.make deleted file mode 100644 index fcee33cb..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/demo_trimesh.make +++ /dev/null @@ -1,188 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/trimesh/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll ../../lib/DebugSingleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/trimesh/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll ../../lib/ReleaseSingleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/trimesh/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a ../../lib/DebugSingleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/trimesh/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a ../../lib/ReleaseSingleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/trimesh/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll ../../lib/DebugDoubleDLL/drawstuffd.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/trimesh/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll ../../lib/ReleaseDoubleDLL/drawstuff.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/trimesh/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled -ldrawstuffd -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a ../../lib/DebugDoubleLib/libdrawstuffd.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/trimesh/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double -ldrawstuff -luser32 -lwinmm -lgdi32 -lopengl32 -lglu32 - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a ../../lib/ReleaseDoubleLib/libdrawstuff.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "WIN32" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := demo_trimesh.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/demo_trimesh.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking demo_trimesh - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning demo_trimesh -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/demo_trimesh.o: ../../ode/demo/demo_trimesh.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/drawstuff.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/drawstuff.make deleted file mode 100644 index a8da2037..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/drawstuff.make +++ /dev/null @@ -1,194 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/drawstuff/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/DebugSingleDLL/libdrawstuffd.a" -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := drawstuffd.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/drawstuff/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/ReleaseSingleDLL/libdrawstuff.a" -s -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := drawstuff.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/drawstuff/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_LIB" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_LIB" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := libdrawstuffd.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/drawstuff/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_LIB" -D "dSINGLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -s -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_LIB" -D "dSINGLE" -I "../../include" -I "../../ode/src" - TARGET := libdrawstuff.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/drawstuff/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/DebugDoubleDLL/libdrawstuffd.a" -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := drawstuffd.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/drawstuff/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/ReleaseDoubleDLL/libdrawstuff.a" -s -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_DLL" -D "USRDLL" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := drawstuff.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/drawstuff/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_LIB" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_LIB" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := libdrawstuffd.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/drawstuff/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "DS_LIB" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -s -luser32 -lopengl32 -lglu32 -lwinmm -lgdi32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "DS_LIB" -D "dDOUBLE" -I "../../include" -I "../../ode/src" - TARGET := libdrawstuff.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/drawstuff.o \ - $(OBJDIR)/windows.o \ - -RESOURCES := \ - $(OBJDIR)/resources.res \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking drawstuff - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning drawstuff -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/drawstuff.o: ../../drawstuff/src/drawstuff.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/windows.o: ../../drawstuff/src/windows.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/resources.res: ../../drawstuff/src/resources.rc - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @windres $< -O coff -o "$@" $(RESFLAGS) - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/ode.make b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/ode.make deleted file mode 100644 index 9b72c91c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/gnu/ode.make +++ /dev/null @@ -1,890 +0,0 @@ -# C++ Console Executable Makefile autogenerated by premake -# Don't edit this file! Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/ode/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "_DEBUG" -D "ODE_DLL" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/DebugSingleDLL/libode_singled.a" -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "_DEBUG" -D "ODE_DLL" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := ode_singled.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/ode/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "ODE_DLL" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/ReleaseSingleDLL/libode_single.a" -s -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "ODE_DLL" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := ode_single.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/ode/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "_DEBUG" -D "ODE_LIB" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "_DEBUG" -D "ODE_LIB" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := libode_singled.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/ode/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "ODE_LIB" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -s -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "ODE_LIB" -D "dSINGLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := libode_single.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/ode/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "_DEBUG" -D "ODE_DLL" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/DebugDoubleDLL/libode_doubled.a" -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "_DEBUG" -D "ODE_DLL" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := ode_doubled.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/ode/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "ODE_DLL" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -shared -Wl,--out-implib="../../lib/ReleaseDoubleDLL/libode_double.a" -s -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "ODE_DLL" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := ode_double.dll - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/ode/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "_DEBUG" -D "ODE_LIB" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "_DEBUG" -D "ODE_LIB" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := libode_doubled.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/ode/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "WIN32" -D "ODE_LIB" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -O3 -fomit-frame-pointer - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -s -luser32 - LDDEPS := - RESFLAGS := -D "WIN32" -D "ODE_LIB" -D "dDOUBLE" -I "../../ode/src" -I "../../ode/src/joints" -I "../../include" -I "../../OPCODE" -I "../../GIMPACT/include" -I "../../ou/include" - TARGET := libode_double.a - BLDCMD = ar -rcs $(OUTDIR)/$(TARGET) $(OBJECTS) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/amotor.o \ - $(OBJDIR)/ball.o \ - $(OBJDIR)/contact.o \ - $(OBJDIR)/fixed.o \ - $(OBJDIR)/hinge.o \ - $(OBJDIR)/hinge2.o \ - $(OBJDIR)/joint.o \ - $(OBJDIR)/lmotor.o \ - $(OBJDIR)/null.o \ - $(OBJDIR)/piston.o \ - $(OBJDIR)/plane2d.o \ - $(OBJDIR)/pr.o \ - $(OBJDIR)/pu.o \ - $(OBJDIR)/slider.o \ - $(OBJDIR)/universal.o \ - $(OBJDIR)/fastdot.o \ - $(OBJDIR)/fastldlt.o \ - $(OBJDIR)/fastlsolve.o \ - $(OBJDIR)/fastltsolve.o \ - $(OBJDIR)/array.o \ - $(OBJDIR)/box.o \ - $(OBJDIR)/capsule.o \ - $(OBJDIR)/collision_cylinder_box.o \ - $(OBJDIR)/collision_cylinder_plane.o \ - $(OBJDIR)/collision_cylinder_sphere.o \ - $(OBJDIR)/collision_cylinder_trimesh.o \ - $(OBJDIR)/collision_kernel.o \ - $(OBJDIR)/collision_quadtreespace.o \ - $(OBJDIR)/collision_sapspace.o \ - $(OBJDIR)/collision_space.o \ - $(OBJDIR)/collision_transform.o \ - $(OBJDIR)/collision_trimesh_box.o \ - $(OBJDIR)/collision_trimesh_ccylinder.o \ - $(OBJDIR)/collision_trimesh_disabled.o \ - $(OBJDIR)/collision_trimesh_distance.o \ - $(OBJDIR)/collision_trimesh_gimpact.o \ - $(OBJDIR)/collision_trimesh_opcode.o \ - $(OBJDIR)/collision_trimesh_plane.o \ - $(OBJDIR)/collision_trimesh_ray.o \ - $(OBJDIR)/collision_trimesh_sphere.o \ - $(OBJDIR)/collision_trimesh_trimesh.o \ - $(OBJDIR)/collision_trimesh_trimesh_new.o \ - $(OBJDIR)/collision_util.o \ - $(OBJDIR)/convex.o \ - $(OBJDIR)/cylinder.o \ - $(OBJDIR)/error.o \ - $(OBJDIR)/export-dif.o \ - $(OBJDIR)/heightfield.o \ - $(OBJDIR)/lcp.o \ - $(OBJDIR)/mass.o \ - $(OBJDIR)/mat.o \ - $(OBJDIR)/matrix.o \ - $(OBJDIR)/memory.o \ - $(OBJDIR)/misc.o \ - $(OBJDIR)/obstack.o \ - $(OBJDIR)/ode.o \ - $(OBJDIR)/odeinit.o \ - $(OBJDIR)/odemath.o \ - $(OBJDIR)/odeou.o \ - $(OBJDIR)/odetls.o \ - $(OBJDIR)/plane.o \ - $(OBJDIR)/quickstep.o \ - $(OBJDIR)/ray.o \ - $(OBJDIR)/rotation.o \ - $(OBJDIR)/sphere.o \ - $(OBJDIR)/step.o \ - $(OBJDIR)/stepfast.o \ - $(OBJDIR)/testing.o \ - $(OBJDIR)/timer.o \ - $(OBJDIR)/util.o \ - $(OBJDIR)/gimpact.o \ - $(OBJDIR)/gim_boxpruning.o \ - $(OBJDIR)/gim_contact.o \ - $(OBJDIR)/gim_math.o \ - $(OBJDIR)/gim_memory.o \ - $(OBJDIR)/gim_trimesh.o \ - $(OBJDIR)/gim_trimesh_capsule_collision.o \ - $(OBJDIR)/gim_trimesh_ray_collision.o \ - $(OBJDIR)/gim_trimesh_sphere_collision.o \ - $(OBJDIR)/gim_trimesh_trimesh_collision.o \ - $(OBJDIR)/gim_tri_tri_overlap.o \ - $(OBJDIR)/Opcode.o \ - $(OBJDIR)/OPC_AABBCollider.o \ - $(OBJDIR)/OPC_AABBTree.o \ - $(OBJDIR)/OPC_BaseModel.o \ - $(OBJDIR)/OPC_BoxPruning.o \ - $(OBJDIR)/OPC_Collider.o \ - $(OBJDIR)/OPC_Common.o \ - $(OBJDIR)/OPC_HybridModel.o \ - $(OBJDIR)/OPC_LSSCollider.o \ - $(OBJDIR)/OPC_MeshInterface.o \ - $(OBJDIR)/OPC_Model.o \ - $(OBJDIR)/OPC_OBBCollider.o \ - $(OBJDIR)/OPC_OptimizedTree.o \ - $(OBJDIR)/OPC_Picking.o \ - $(OBJDIR)/OPC_PlanesCollider.o \ - $(OBJDIR)/OPC_RayCollider.o \ - $(OBJDIR)/OPC_SphereCollider.o \ - $(OBJDIR)/OPC_SweepAndPrune.o \ - $(OBJDIR)/OPC_ThreadLocalData.o \ - $(OBJDIR)/OPC_TreeBuilders.o \ - $(OBJDIR)/OPC_TreeCollider.o \ - $(OBJDIR)/OPC_VolumeCollider.o \ - $(OBJDIR)/StdAfx.o \ - $(OBJDIR)/IceAABB.o \ - $(OBJDIR)/IceContainer.o \ - $(OBJDIR)/IceHPoint.o \ - $(OBJDIR)/IceIndexedTriangle.o \ - $(OBJDIR)/IceMatrix3x3.o \ - $(OBJDIR)/IceMatrix4x4.o \ - $(OBJDIR)/IceOBB.o \ - $(OBJDIR)/IcePlane.o \ - $(OBJDIR)/IcePoint.o \ - $(OBJDIR)/IceRandom.o \ - $(OBJDIR)/IceRay.o \ - $(OBJDIR)/IceRevisitedRadix.o \ - $(OBJDIR)/IceSegment.o \ - $(OBJDIR)/IceTriangle.o \ - $(OBJDIR)/IceUtils.o \ - -RESOURCES := \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking ode - 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Instead edit `premake.lua` then rerun `make` - -ifndef CONFIG - CONFIG=DebugSingleDLL -endif - -# if multiple archs are defined turn off automated dependency generation -DEPFLAGS := $(if $(word 2, $(TARGET_ARCH)), , -MMD) - -ifeq ($(CONFIG),DebugSingleDLL) - BINDIR := ../../lib/DebugSingleDLL - LIBDIR := ../../lib/DebugSingleDLL - OBJDIR := obj/tests/DebugSingleDLL - OUTDIR := ../../lib/DebugSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled - LDDEPS := ../../lib/DebugSingleDLL/ode_singled.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleDLL) - BINDIR := ../../lib/ReleaseSingleDLL - LIBDIR := ../../lib/ReleaseSingleDLL - OBJDIR := obj/tests/ReleaseSingleDLL - OUTDIR := ../../lib/ReleaseSingleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single - LDDEPS := ../../lib/ReleaseSingleDLL/ode_single.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugSingleLib) - BINDIR := ../../lib/DebugSingleLib - LIBDIR := ../../lib/DebugSingleLib - OBJDIR := obj/tests/DebugSingleLib - OUTDIR := ../../lib/DebugSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_singled - LDDEPS := ../../lib/DebugSingleLib/libode_singled.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseSingleLib) - BINDIR := ../../lib/ReleaseSingleLib - LIBDIR := ../../lib/ReleaseSingleLib - OBJDIR := obj/tests/ReleaseSingleLib - OUTDIR := ../../lib/ReleaseSingleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_single - LDDEPS := ../../lib/ReleaseSingleLib/libode_single.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleDLL) - BINDIR := ../../lib/DebugDoubleDLL - LIBDIR := ../../lib/DebugDoubleDLL - OBJDIR := obj/tests/DebugDoubleDLL - OUTDIR := ../../lib/DebugDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled - LDDEPS := ../../lib/DebugDoubleDLL/ode_doubled.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleDLL) - BINDIR := ../../lib/ReleaseDoubleDLL - LIBDIR := ../../lib/ReleaseDoubleDLL - OBJDIR := obj/tests/ReleaseDoubleDLL - OUTDIR := ../../lib/ReleaseDoubleDLL - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double - LDDEPS := ../../lib/ReleaseDoubleDLL/ode_double.dll - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),DebugDoubleLib) - BINDIR := ../../lib/DebugDoubleLib - LIBDIR := ../../lib/DebugDoubleLib - OBJDIR := obj/tests/DebugDoubleLib - OUTDIR := ../../lib/DebugDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_doubled - LDDEPS := ../../lib/DebugDoubleLib/libode_doubled.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -ifeq ($(CONFIG),ReleaseDoubleLib) - BINDIR := ../../lib/ReleaseDoubleLib - LIBDIR := ../../lib/ReleaseDoubleLib - OBJDIR := obj/tests/ReleaseDoubleLib - OUTDIR := ../../lib/ReleaseDoubleLib - CPPFLAGS := $(DEPFLAGS) -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - CFLAGS += $(CPPFLAGS) $(TARGET_ARCH) -g - CXXFLAGS += $(CFLAGS) - LDFLAGS += -L$(BINDIR) -L$(LIBDIR) -lode_double - LDDEPS := ../../lib/ReleaseDoubleLib/libode_double.a - RESFLAGS := -D "_CRT_SECURE_NO_DEPRECATE" -D "dDOUBLE" -I "../../include" -I "../../tests/UnitTest++/src" - TARGET := tests.exe - BLDCMD = $(CXX) -o $(OUTDIR)/$(TARGET) $(OBJECTS) $(LDFLAGS) $(RESOURCES) $(TARGET_ARCH) -endif - -OBJECTS := \ - $(OBJDIR)/joint.o \ - $(OBJDIR)/main.o \ - $(OBJDIR)/odemath.o \ - $(OBJDIR)/fixed.o \ - $(OBJDIR)/hinge.o \ - $(OBJDIR)/piston.o \ - $(OBJDIR)/pu.o \ - $(OBJDIR)/slider.o \ - $(OBJDIR)/AssertException.o \ - $(OBJDIR)/Checks.o \ - $(OBJDIR)/DeferredTestReporter.o \ - $(OBJDIR)/DeferredTestResult.o \ - $(OBJDIR)/MemoryOutStream.o \ - $(OBJDIR)/ReportAssert.o \ - $(OBJDIR)/Test.o \ - $(OBJDIR)/TestDetails.o \ - $(OBJDIR)/TestList.o \ - $(OBJDIR)/TestReporter.o \ - $(OBJDIR)/TestReporterStdout.o \ - $(OBJDIR)/TestResults.o \ - $(OBJDIR)/TestRunner.o \ - $(OBJDIR)/TimeConstraint.o \ - $(OBJDIR)/XmlTestReporter.o \ - $(OBJDIR)/TimeHelpers.o \ - -RESOURCES := \ - -MKDIR_TYPE := msdos -CMD := $(subst \,\\,$(ComSpec)$(COMSPEC)) -ifeq (,$(CMD)) - MKDIR_TYPE := posix -endif -ifeq (/bin,$(findstring /bin,$(SHELL))) - MKDIR_TYPE := posix -endif -ifeq ($(MKDIR_TYPE),posix) - CMD_MKBINDIR := mkdir -p $(BINDIR) - CMD_MKLIBDIR := mkdir -p $(LIBDIR) - CMD_MKOUTDIR := mkdir -p $(OUTDIR) - CMD_MKOBJDIR := mkdir -p $(OBJDIR) -else - CMD_MKBINDIR := $(CMD) /c if not exist $(subst /,\\,$(BINDIR)) mkdir $(subst /,\\,$(BINDIR)) - CMD_MKLIBDIR := $(CMD) /c if not exist $(subst /,\\,$(LIBDIR)) mkdir $(subst /,\\,$(LIBDIR)) - CMD_MKOUTDIR := $(CMD) /c if not exist $(subst /,\\,$(OUTDIR)) mkdir $(subst /,\\,$(OUTDIR)) - CMD_MKOBJDIR := $(CMD) /c if not exist $(subst /,\\,$(OBJDIR)) mkdir $(subst /,\\,$(OBJDIR)) -endif - -.PHONY: clean - -$(OUTDIR)/$(TARGET): $(OBJECTS) $(LDDEPS) $(RESOURCES) - @echo Linking tests - -@$(CMD_MKBINDIR) - -@$(CMD_MKLIBDIR) - -@$(CMD_MKOUTDIR) - @$(BLDCMD) - -clean: - @echo Cleaning tests -ifeq ($(MKDIR_TYPE),posix) - -@rm -f $(OUTDIR)/$(TARGET) - -@rm -rf $(OBJDIR) -else - -@if exist $(subst /,\,$(OUTDIR)/$(TARGET)) del /q $(subst /,\,$(OUTDIR)/$(TARGET)) - -@if exist $(subst /,\,$(OBJDIR)) del /q $(subst /,\,$(OBJDIR)) - -@if exist $(subst /,\,$(OBJDIR)) rmdir /s /q $(subst /,\,$(OBJDIR)) -endif - -$(OBJDIR)/joint.o: ../../tests/joint.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/main.o: ../../tests/main.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/odemath.o: ../../tests/odemath.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/fixed.o: ../../tests/joints/fixed.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/hinge.o: ../../tests/joints/hinge.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/piston.o: ../../tests/joints/piston.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/pu.o: ../../tests/joints/pu.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/slider.o: ../../tests/joints/slider.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/AssertException.o: ../../tests/UnitTest++/src/AssertException.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/Checks.o: ../../tests/UnitTest++/src/Checks.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/DeferredTestReporter.o: ../../tests/UnitTest++/src/DeferredTestReporter.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/DeferredTestResult.o: ../../tests/UnitTest++/src/DeferredTestResult.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/MemoryOutStream.o: ../../tests/UnitTest++/src/MemoryOutStream.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/ReportAssert.o: ../../tests/UnitTest++/src/ReportAssert.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/Test.o: ../../tests/UnitTest++/src/Test.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TestDetails.o: ../../tests/UnitTest++/src/TestDetails.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TestList.o: ../../tests/UnitTest++/src/TestList.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TestReporter.o: ../../tests/UnitTest++/src/TestReporter.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TestReporterStdout.o: ../../tests/UnitTest++/src/TestReporterStdout.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TestResults.o: ../../tests/UnitTest++/src/TestResults.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TestRunner.o: ../../tests/UnitTest++/src/TestRunner.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TimeConstraint.o: ../../tests/UnitTest++/src/TimeConstraint.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/XmlTestReporter.o: ../../tests/UnitTest++/src/XmlTestReporter.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - -$(OBJDIR)/TimeHelpers.o: ../../tests/UnitTest++/src/Win32/TimeHelpers.cpp - -@$(CMD_MKOBJDIR) - @echo $(notdir $<) - @$(CXX) $(CXXFLAGS) -o "$@" -c "$<" - --include $(OBJECTS:%.o=%.d) - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/ode.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/ode.lua deleted file mode 100644 index c8144834..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/ode.lua +++ /dev/null @@ -1,233 +0,0 @@ -package.name = "ode" -package.language = "c++" -package.objdir = "obj/ode" - --- Differentiate between Single and Double precision - - for k,v in ipairs(project.configs) do - if (string.find(v, "Single") ~= nil) then - package.config[v].target="ode_single" - end - if (string.find(v, "Double") ~= nil) then - package.config[v].target="ode_double" - end - end - --- Append a "d" to the debug version of the libraries - - for k,v in ipairs(project.configs) do - if (string.find(v, "Debug") ~= nil) then - package.config[v].target=package.config[v].target.."d" - end - end - - --- Define _DEBUG/NDEBUG depending on build kind - - for k,v in ipairs(project.configs) do - if (string.find(v, "Debug") ~= nil) then - table.insert(package.config[v].defines, "_DEBUG") - else --- Allow asserts to be included in release build by default --- table.insert(package.config[v].defines, "NDEBUG") - end - end - - --- Output is placed in a directory named for the target toolset. - package.path = options["target"] - - --- Write a custom to src/ode, based on the specified flags - - io.input("config-default.h") - local text = io.read("*a") - - if (options["no-trimesh"]) then - - text = string.gsub(text, "#define dTRIMESH_ENABLED 1", "/* #define dTRIMESH_ENABLED 1 */") - text = string.gsub(text, "#define dTRIMESH_OPCODE 1", "/* #define dTRIMESH_OPCODE 1 */") - - elseif (options["with-gimpact"]) then - - text = string.gsub(text, "#define dTRIMESH_OPCODE 1", "#define dTRIMESH_GIMPACT 1") - - end - - if (options["no-alloca"]) then - text = string.gsub(text, "/%* #define dUSE_MALLOC_FOR_ALLOCA %*/", "#define dUSE_MALLOC_FOR_ALLOCA") - end - - if (options["enable-ou"]) then - text = string.gsub(text, "/%* #define dOU_ENABLED 1 %*/", "#define dOU_ENABLED 1") - text = string.gsub(text, "/%* #define dATOMICS_ENABLED 1 %*/", "#define dATOMICS_ENABLED 1") - text = string.gsub(text, "/%* #define dTLS_ENABLED 1 %*/", "#define dTLS_ENABLED 1") - end - - io.output("../ode/src/config.h") - io.write(text) - io.close() - - --- Package Build Settings - - if (not options["enable-shared-only"]) then - - package.config["DebugSingleLib"].kind = "lib" - package.config["ReleaseSingleLib"].kind = "lib" - table.insert(package.config["DebugSingleLib"].defines, "ODE_LIB") - table.insert(package.config["ReleaseSingleLib"].defines, "ODE_LIB") - table.insert(package.config["DebugSingleLib"].defines, "dSINGLE") - table.insert(package.config["ReleaseSingleLib"].defines, "dSINGLE") - - package.config["DebugDoubleLib"].kind = "lib" - package.config["ReleaseDoubleLib"].kind = "lib" - table.insert(package.config["DebugDoubleLib"].defines, "ODE_LIB") - table.insert(package.config["ReleaseDoubleLib"].defines, "ODE_LIB") - table.insert(package.config["DebugDoubleLib"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleLib"].defines, "dDOUBLE") - - end - - if (not options["enable-static-only"]) then - - package.config["DebugSingleDLL"].kind = "dll" - package.config["ReleaseSingleDLL"].kind = "dll" - table.insert(package.config["DebugSingleDLL"].defines, "ODE_DLL") - table.insert(package.config["ReleaseSingleDLL"].defines, "ODE_DLL") - table.insert(package.config["DebugSingleDLL"].defines, "dSINGLE") - table.insert(package.config["ReleaseSingleDLL"].defines, "dSINGLE") - - package.config["DebugDoubleDLL"].kind = "dll" - package.config["ReleaseDoubleDLL"].kind = "dll" - table.insert(package.config["DebugDoubleDLL"].defines, "ODE_DLL") - table.insert(package.config["ReleaseDoubleDLL"].defines, "ODE_DLL") - table.insert(package.config["DebugDoubleDLL"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleDLL"].defines, "dDOUBLE") - - end - - - package.includepaths = - { - "../../ode/src", - "../../ode/src/joints", - "../../include", - "../../OPCODE", - "../../GIMPACT/include", - "../../ou/include" - } - - if (windows) then - table.insert(package.defines, "WIN32") - end - - -- disable VS2005 CRT security warnings - if (options["target"] == "vs2005") then - table.insert(package.defines, "_CRT_SECURE_NO_DEPRECATE") - end - - --- Build Flags - - package.config["DebugSingleLib"].buildflags = { } - package.config["DebugSingleDLL"].buildflags = { } - - package.config["ReleaseSingleDLL"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - package.config["ReleaseSingleLib"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - - package.config["DebugDoubleLib"].buildflags = { } - package.config["DebugDoubleDLL"].buildflags = { } - - package.config["ReleaseDoubleDLL"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - package.config["ReleaseDoubleLib"].buildflags = { "optimize-speed", "no-symbols", "no-frame-pointer" } - - if (options.target == "vs6" or options.target == "vs2002" or options.target == "vs2003") then - for k,v in ipairs(project.configs) do - if (string.find(v, "Lib") ~= nil) then - table.insert(package.config[v].buildflags, "static-runtime") - end - end - end - - --- Libraries - - if (windows) then - table.insert(package.links, "user32") - end - - --- Files - - core_files = - { - matchfiles("../../include/ode/*.h"), - matchfiles ("../../ode/src/joints/*.h", "../../ode/src/joints/*.cpp"), - matchfiles ("../../ode/src/*.h", "../../ode/src/*.c", "../../ode/src/*.cpp") - } - - excluded_files = - { - "../../ode/src/collision_std.cpp", - "../../ode/src/scrapbook.cpp_deprecated", - "../../ode/src/stack.cpp_deprecated", - "../../ode/src/stack.h_deprecated", - } - - trimesh_files = - { - "../../ode/src/collision_trimesh_colliders.h", - "../../ode/src/collision_trimesh_internal.h", - "../../ode/src/collision_trimesh_opcode.cpp", - "../../ode/src/collision_trimesh_gimpact.cpp", - "../../ode/src/collision_trimesh_box.cpp", - "../../ode/src/collision_trimesh_ccylinder.cpp", - "../../ode/src/collision_cylinder_trimesh.cpp", - "../../ode/src/collision_trimesh_distance.cpp", - "../../ode/src/collision_trimesh_ray.cpp", - "../../ode/src/collision_trimesh_sphere.cpp", - "../../ode/src/collision_trimesh_trimesh.cpp", - "../../ode/src/collision_trimesh_plane.cpp" - } - - opcode_files = - { - matchrecursive("../../OPCODE/*.h", "../../OPCODE/*.cpp") - } - - gimpact_files = - { - matchrecursive("../../GIMPACT/*.h", "../../GIMPACT/*.cpp") - } - - ou_files = - { - matchrecursive("../../ou/*.h", "../../ou/*.cpp") - } - - dif_files = - { - "../../ode/src/export-dif.cpp" - } - - package.files = { core_files } - package.excludes = { excluded_files } - - if (options["no-dif"]) then - table.insert(package.excludes, dif_files) - end - - if (options["no-trimesh"]) then - table.insert(package.excludes, trimesh_files) - else - table.insert(package.files, gimpact_files) - table.insert(package.files, opcode_files) - end - - if (options["enable-ou"]) then - table.insert(package.files, ou_files) --- Insert namespace redefinition in project options instead of config.h --- because OU library does not include that file itself. - table.insert(package.defines, "_OU_NAMESPACE=odeou") - end diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/premake.exe b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/premake.exe deleted file mode 100644 index 2de81fb8..00000000 Binary files a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/premake.exe and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/premake.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/premake.lua deleted file mode 100644 index 65313fce..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/premake.lua +++ /dev/null @@ -1,115 +0,0 @@ -project.name = "ode" - - --- We no longer support VC++ 6.0; too many incompatibilities - - if (options["target"] == "vs6") then - error("Visual Studio 6 is no longer supported; please upgrade to Visual Studio 2005 C++ Express.") - end - - --- Define the build configurations. You can also use the flags --- `--enable-shared-only` and `--enable-static-only` if you want to --- call these packages from within your own Premake-enabled project. - - if (options["enable-shared-only"]) then - project.configs = { "DebugSingleDLL", "ReleaseSingleDLL", "DebugDoubleDLL", "ReleaseDoubleDLL" } - elseif (options["enable-static-only"]) then - project.configs = { "DebugSingleLib", "ReleaseSingleLib", "DebugDoubleLib", "ReleaseDoubleLib" } - else - project.configs = { "DebugSingleDLL", "ReleaseSingleDLL", "DebugSingleLib", "ReleaseSingleLib", "DebugDoubleDLL", "ReleaseDoubleDLL", "DebugDoubleLib", "ReleaseDoubleLib" } - end - - --- Project options - - addoption("with-demos", "Builds the demo applications and DrawStuff library") - addoption("with-tests", "Builds the unit test application") - addoption("with-gimpact", "Use GIMPACT for trimesh collisions (experimental)") - addoption("enable-static-only", "Only create static library (.lib) project configurations") - addoption("enable-shared-only", "Only create dynamic library (.dll) project configurations") - addoption("no-dif", "Exclude DIF (Dynamics Interchange Format) exports") - addoption("no-trimesh", "Exclude trimesh collision geometry") - addoption("no-alloca", "Use heap memory instead of the stack (experimental)") - addoption("enable-ou", "Use TLS for global variables (experimental)") - - -- Output is placed in a directory named for the target toolset. - project.path = options["target"] - - --- Set the output directories - - if (not options["enable-static-only"]) then - - project.config["DebugSingleDLL"].bindir = "../lib/DebugSingleDLL" - project.config["DebugSingleDLL"].libdir = "../lib/DebugSingleDLL" - project.config["ReleaseSingleDLL"].bindir = "../lib/ReleaseSingleDLL" - project.config["ReleaseSingleDLL"].libdir = "../lib/ReleaseSingleDLL" - - project.config["DebugDoubleDLL"].bindir = "../lib/DebugDoubleDLL" - project.config["DebugDoubleDLL"].libdir = "../lib/DebugDoubleDLL" - project.config["ReleaseDoubleDLL"].bindir = "../lib/ReleaseDoubleDLL" - project.config["ReleaseDoubleDLL"].libdir = "../lib/ReleaseDoubleDLL" - - end - - if (not options["enable-shared-only"]) then - - project.config["DebugSingleLib"].bindir = "../lib/DebugSingleLib" - project.config["DebugSingleLib"].libdir = "../lib/DebugSingleLib" - project.config["ReleaseSingleLib"].bindir = "../lib/ReleaseSingleLib" - project.config["ReleaseSingleLib"].libdir = "../lib/ReleaseSingleLib" - - project.config["DebugDoubleLib"].bindir = "../lib/DebugDoubleLib" - project.config["DebugDoubleLib"].libdir = "../lib/DebugDoubleLib" - project.config["ReleaseDoubleLib"].bindir = "../lib/ReleaseDoubleLib" - project.config["ReleaseDoubleLib"].libdir = "../lib/ReleaseDoubleLib" - - end - - --- Build packages - - if (options["with-demos"]) then - dopackage("demos.lua") - dopackage("drawstuff.lua") - end - - if (options["with-tests"]) then - dopackage("tests.lua") - end - - dopackage("ode.lua") - - --- Remove all intermediate files - - function doclean(cmd, arg) - docommand(cmd, arg) - if (options["target"] == "") then - os.remove("../ode/src/config.h") - end - os.rmdir("custom") - os.rmdir("../lib/DebugSingleDLL") - os.rmdir("../lib/DebugSingleLib") - os.rmdir("../lib/ReleaseSingleDLL") - os.rmdir("../lib/ReleaseSingleLib") - os.rmdir("../lib/DebugDoubleDLL") - os.rmdir("../lib/DebugDoubleLib") - os.rmdir("../lib/ReleaseDoubleDLL") - os.rmdir("../lib/ReleaseDoubleLib") - os.rmdir("gnu/obj") - os.rmdir("vs2002/obj") - os.rmdir("vs2003/obj") - os.rmdir("vs2005/obj") - end - - --- Generate all toolsets in one go - - function domakeall(cmd, arg) - os.execute("premake --usetargetpath --with-demos --with-tests --clean --target vs2002") - os.execute("premake --usetargetpath --with-demos --with-tests --clean --target vs2003") - os.execute("premake --usetargetpath --with-demos --with-tests --clean --target vs2005") - os.execute("premake --usetargetpath --with-demos --with-tests --clean --target gnu") - end diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/tests.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/tests.lua deleted file mode 100644 index a6d6620d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/tests.lua +++ /dev/null @@ -1,50 +0,0 @@ --- Premake build scripts for ODE unit tests - -package.name = "tests" -package.kind = "exe" -package.language = "c++" -package.path = "custom" -package.objdir = "obj/tests" - -package.includepaths = -{ - "../../include", - "../../tests/UnitTest++/src" -} - -package.defines = -{ - "_CRT_SECURE_NO_DEPRECATE" -} - -package.files = -{ - matchfiles("../../tests/*.cpp"), - matchfiles("../../tests/joints/*.cpp"), - matchfiles("../../tests/UnitTest++/src/*") -} - -if (windows) then - table.insert(package.files, matchfiles("../../tests/UnitTest++/src/Win32/*")) -else - table.insert(package.files, matchfiles("../../tests/UnitTest++/src/Posix/*")) -end - -package.links = -{ - "ode" -} - - - -- Output is placed in a directory named for the target toolset. - package.path = options["target"] - - -if (not options["enable-static-only"]) then - table.insert(package.config["DebugDoubleDLL"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleDLL"].defines, "dDOUBLE") -end -if (not options["enable-shared-only"]) then - table.insert(package.config["DebugDoubleLib"].defines, "dDOUBLE") - table.insert(package.config["ReleaseDoubleLib"].defines, "dDOUBLE") -end diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_I.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_I.vcproj deleted file mode 100644 index 2bf9e97b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_I.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_basket.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_basket.vcproj deleted file mode 100644 index b2b12e9d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_basket.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_boxstack.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_boxstack.vcproj deleted file mode 100644 index 6e120790..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_boxstack.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_buggy.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_buggy.vcproj deleted file mode 100644 index 3b53349a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_buggy.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_chain1.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_chain1.vcproj deleted file mode 100644 index 0157e057..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_chain1.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_chain2.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_chain2.vcproj deleted file mode 100644 index d2d44462..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_chain2.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_collision.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_collision.vcproj deleted file mode 100644 index efd09e59..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_collision.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_crash.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_crash.vcproj deleted file mode 100644 index dfcbd9e8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_crash.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_cyl.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_cyl.vcproj deleted file mode 100644 index b9abbc48..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_cyl.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_cylvssphere.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_cylvssphere.vcproj deleted file mode 100644 index 7a79f28d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_cylvssphere.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_feedback.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_feedback.vcproj deleted file mode 100644 index 7a207208..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_feedback.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_friction.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_friction.vcproj deleted file mode 100644 index 0318e98f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_friction.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_gyroscopic.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_gyroscopic.vcproj deleted file mode 100644 index 8aaaa2be..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_gyroscopic.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_heightfield.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_heightfield.vcproj deleted file mode 100644 index 7bc072ac..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_heightfield.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_hinge.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_hinge.vcproj deleted file mode 100644 index ce43f7ff..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_hinge.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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/dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_joints.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_joints.vcproj deleted file mode 100644 index 0b2e7e8c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_joints.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_motion.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_motion.vcproj deleted file mode 100644 index de9773a0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_motion.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_motor.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_motor.vcproj deleted file mode 100644 index fdab2a0a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_motor.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_moving_trimesh.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_moving_trimesh.vcproj deleted file mode 100644 index a0f7904a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_moving_trimesh.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_ode.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_ode.vcproj deleted file mode 100644 index 815b7271..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_ode.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_piston.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_piston.vcproj deleted file mode 100644 index ceafdba2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_piston.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_plane2d.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_plane2d.vcproj deleted file mode 100644 index aaf77da2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_plane2d.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_slider.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_slider.vcproj deleted file mode 100644 index ab1bf925..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_slider.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_space.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_space.vcproj 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a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_step.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_step.vcproj deleted file mode 100644 index edeba765..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_step.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_trimesh.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_trimesh.vcproj deleted file mode 100644 index 68eb0a11..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2002/demo_trimesh.vcproj +++ /dev/null @@ -1,440 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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Visual Studio Solution File, Format Version 7.00 -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_boxstack", "./demo_boxstack.vcproj", "{2DB34AB1-7A39-8141-BF10-07984CEE74BA}" -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_buggy", "./demo_buggy.vcproj", "{47A34CC7-28E1-8F42-AF01-D6138CFBCD5B}" -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_chain1", "./demo_chain1.vcproj", "{F59EF814-63BB-E845-B1A0-17D598B38ED3}" -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_chain2", "./demo_chain2.vcproj", "{8E06EB8E-AD99-CE46-8475-9E5864319102}" -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_collision", "./demo_collision.vcproj", "{16484D95-8958-1247-86A7-394B18EC8369}" -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_crash", "./demo_crash.vcproj", "{505E0714-AC7F-C54D-939D-7269AA689E98}" -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_cylvssphere", 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_piston.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_piston.vcproj deleted file mode 100644 index 511726db..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_piston.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_plane2d.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_plane2d.vcproj deleted file mode 100644 index f32dfc07..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_plane2d.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_slider.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_slider.vcproj deleted file mode 100644 index 74650820..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_slider.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_space.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_space.vcproj deleted file mode 100644 index 8737a236..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_space.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_space_stress.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_space_stress.vcproj deleted file mode 100644 index 9b50f7b2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_space_stress.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_step.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_step.vcproj deleted file mode 100644 index f6ad6cc8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_step.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_trimesh.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_trimesh.vcproj deleted file mode 100644 index 59c636ae..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/demo_trimesh.vcproj +++ /dev/null @@ -1,490 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/drawstuff.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/drawstuff.vcproj deleted file mode 100644 index 12a1aee1..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/drawstuff.vcproj +++ /dev/null @@ -1,475 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/ode.sln b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/ode.sln deleted file mode 100644 index 432c8e8a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2003/ode.sln +++ /dev/null @@ -1,718 +0,0 @@ -Microsoft Visual Studio Solution File, Format Version 8.00 -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_boxstack", "./demo_boxstack.vcproj", "{64D5259B-0551-6E4E-BB75-AD75C467BD85}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_buggy", "./demo_buggy.vcproj", "{F385CAFF-EC01-C840-8592-E89D79E57E52}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_chain1", "./demo_chain1.vcproj", "{3D1E6283-C680-5D4D-AAE0-07394DA4E9D7}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_chain2", "./demo_chain2.vcproj", "{08CA9BAC-B1D2-884B-92DD-4D220281C8AF}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_collision", "./demo_collision.vcproj", "{044A873E-6015-BA41-8EF5-348E8E604C86}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_crash", "./demo_crash.vcproj", "{664130B1-F266-A240-B83C-613CCA8D49C5}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_cylvssphere", "./demo_cylvssphere.vcproj", "{C4D581E8-56F7-5640-A1EA-F7191DD09E8B}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_feedback", "./demo_feedback.vcproj", "{85A77D0D-3B2A-E849-A197-EACCEE10C291}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_friction", "./demo_friction.vcproj", "{CD2D2B11-ACB7-ED48-B355-D34ACB8911F3}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_gyroscopic", "./demo_gyroscopic.vcproj", "{A62CA51A-4986-DC4F-9975-0D2990EB14D3}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_heightfield", "./demo_heightfield.vcproj", "{5BBEAE00-0CC4-EC4A-889C-46F955D30C5E}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_hinge", "./demo_hinge.vcproj", "{28830149-3C33-EE42-B9AE-5013122FEB61}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_I", "./demo_I.vcproj", "{3E8219A7-04B9-0D49-BB25-FDF33DE109BB}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_jointPR", "./demo_jointPR.vcproj", "{85DB95B3-4565-3F41-8CCA-ADB9887CB219}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_jointPU", "./demo_jointPU.vcproj", "{2380EDFA-3100-8045-920D-E4535842321F}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_joints", "./demo_joints.vcproj", "{2A8AD437-3CC8-164B-88DB-17122B0F7921}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_motion", "./demo_motion.vcproj", "{E51D6C47-79E2-D14C-AC1A-B3D15512DF07}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_motor", "./demo_motor.vcproj", "{89E854B4-B5B1-BD47-B6C1-573D3AB82592}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_ode", "./demo_ode.vcproj", "{8761CFE9-B277-AA45-8715-080174646895}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_piston", "./demo_piston.vcproj", "{03BAE6E3-9217-B841-B3F1-D68EDB482979}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_plane2d", "./demo_plane2d.vcproj", "{EE36DC5B-FE8E-AD42-9559-C8FF3F90E7B9}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_slider", "./demo_slider.vcproj", "{D5513E4E-F1AC-A643-8C9D-0089FC2B9E25}" - ProjectSection(ProjectDependencies) = postProject - {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} = {BFE4661E-51AA-214D-978C-0C4F0EEF80CB} - {23589C43-6F1E-5349-9C68-E9C22F05CA2C} = {23589C43-6F1E-5349-9C68-E9C22F05CA2C} - EndProjectSection 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a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_hinge.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_hinge.vcproj deleted file mode 100644 index 278eb3ea..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_hinge.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_jointPR.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_jointPR.vcproj deleted file mode 100644 index 99d76c3f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_jointPR.vcproj +++ /dev/null @@ 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18a083c2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_motion.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_motor.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_motor.vcproj deleted file mode 100644 index 63b25eef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_motor.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_ode.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_ode.vcproj deleted file mode 100644 index ac7456cf..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_ode.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_piston.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_piston.vcproj deleted file mode 100644 index fb49f8ee..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_piston.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_plane2d.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_plane2d.vcproj deleted file mode 100644 index 1a4f31cd..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_plane2d.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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--- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_space.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_space_stress.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_space_stress.vcproj deleted file mode 100644 index 330b401b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_space_stress.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_trimesh.vcproj deleted file mode 100644 index c2e6e4ef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/demo_trimesh.vcproj +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/drawstuff.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/drawstuff.vcproj deleted file mode 100644 index a5573eb6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/drawstuff.vcproj +++ /dev/null @@ -1,708 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.ncb b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.ncb deleted file mode 100644 index eea87655..00000000 Binary files a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.ncb and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.sln b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.sln deleted file mode 100644 index 5643e26f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.sln +++ /dev/null @@ -1,718 +0,0 @@ -Microsoft Visual Studio Solution File, Format Version 9.00 -# Visual Studio 2005 -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_boxstack", "./demo_boxstack.vcproj", "{C8B6DF01-7876-E548-86F3-7440856EEFEF}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_buggy", "./demo_buggy.vcproj", "{0E5A874D-C517-5343-95D2-69B7964A40E5}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_chain1", "./demo_chain1.vcproj", "{8F876CE1-C154-C44B-A85A-9B19A4A07475}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_chain2", "./demo_chain2.vcproj", "{8CFF89AF-3F4B-D141-8B00-1EE55D6547B0}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_collision", "./demo_collision.vcproj", "{CA457554-514D-5D4D-9259-DC1CFA1805B5}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_crash", "./demo_crash.vcproj", "{86E4EBA3-CCBC-F74E-90F0-38057DAE735E}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_cylvssphere", "./demo_cylvssphere.vcproj", "{ED91DCB5-DB90-EF4A-ABB1-A0A1D0C9AB6F}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_feedback", "./demo_feedback.vcproj", "{42BB6F81-2F74-AE4E-A4B3-30C1FDE63F6E}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_friction", "./demo_friction.vcproj", "{279723D4-67DA-3B45-A054-F0D126D6FC39}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_gyroscopic", "./demo_gyroscopic.vcproj", "{7B86BE18-D824-664D-AEA5-0C4D47B6206C}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_heightfield", "./demo_heightfield.vcproj", "{CE3A16CE-396A-3741-A9C8-2BF878690B3A}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_hinge", "./demo_hinge.vcproj", "{65ABA149-BBEA-274C-A68E-A5A3B476495D}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_I", "./demo_I.vcproj", "{5E3306DE-DB9B-2B41-A895-97F66A0EAB85}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_jointPR", "./demo_jointPR.vcproj", "{88307575-5AC5-AF43-A7B5-23D08639C02E}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_jointPU", "./demo_jointPU.vcproj", "{4E7EB515-D15F-6443-93E5-280B674D432E}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_joints", "./demo_joints.vcproj", "{AA589F6D-4C08-9342-842C-E3164FA9F27D}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_motion", "./demo_motion.vcproj", "{75A9F66B-B158-EB49-A1D6-433728C9FC43}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_motor", "./demo_motor.vcproj", "{EF7AFF4A-892B-BD4A-87BB-D7454FF5D2E5}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_ode", "./demo_ode.vcproj", "{FFB9AD83-ED38-294D-90C8-44183B976AC8}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_piston", "./demo_piston.vcproj", "{6C5D304F-98A6-4349-AB72-8B669F4897D2}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_plane2d", "./demo_plane2d.vcproj", "{7CB8070D-3536-9D4F-944E-19CC01C8C13D}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_slider", "./demo_slider.vcproj", "{D2358BFE-F998-384B-B3B9-03CD15CBF3F8}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_space", "./demo_space.vcproj", "{F7BA223A-1C3E-9342-8AC3-40F9A0629A1D}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_space_stress", "./demo_space_stress.vcproj", "{0CB21701-6992-D24A-A44C-EB438E58827B}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_step", "./demo_step.vcproj", "{13575379-F571-2A43-B9C0-DE0A0152BC1D}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_basket", "./demo_basket.vcproj", "{5025D8CF-C5D3-864B-8B6D-559B72D9BFF0}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_cyl", "./demo_cyl.vcproj", "{A8030A41-D78F-E044-AAC6-F65A11497EA3}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_moving_trimesh", "./demo_moving_trimesh.vcproj", "{24202ADA-BA9E-7C4D-A0F7-7FF710A344AB}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "demo_trimesh", "./demo_trimesh.vcproj", "{142899BE-A88C-C144-AC0F-001D3CE32C59}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - {08AB5001-42B7-5947-97D0-E81C9CDE1531} = {08AB5001-42B7-5947-97D0-E81C9CDE1531} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "drawstuff", "./drawstuff.vcproj", "{08AB5001-42B7-5947-97D0-E81C9CDE1531}" - ProjectSection(ProjectDependencies) = postProject - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "tests", "./tests.vcproj", "{AA0D6241-FCBE-C34E-877F-5A08B5938C0A}" - ProjectSection(ProjectDependencies) = postProject - {869EFE9E-9FE1-C042-B30C-D16221DFDD46} = {869EFE9E-9FE1-C042-B30C-D16221DFDD46} - EndProjectSection -EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ode", "./ode.vcproj", "{869EFE9E-9FE1-C042-B30C-D16221DFDD46}" - ProjectSection(ProjectDependencies) = postProject - EndProjectSection -EndProject -Global - 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a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.suo and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.vcproj deleted file mode 100644 index a8ad58a0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/ode.vcproj +++ /dev/null @@ -1,1671 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/build/vs2005/tests.vcproj +++ /dev/null @@ -1,866 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/configure.in b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/configure.in deleted file mode 100644 index 6199857d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/configure.in +++ /dev/null @@ -1,450 +0,0 @@ -dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram -AC_INIT([ODE],[0.10.1],[ode@ode.org]) -# AC_CONFIG_SRCDIR([ode/src/ode.cpp]) -ODE_RELEASE=0.10.1 -AC_SUBST(ODE_RELEASE) - -# Those are instructions from the Libtool manual: -# 1. Start with version information of `0:0:0' for each libtool library. -# -# 2. Update the version information only immediately before a public -# release of your software. More frequent updates are unnecessary, -# and only guarantee that the current interface number gets larger -# faster. -# -# 3. If the library source code has changed at all since the last -# update, then increment REVISION (`C:R:A' becomes `C:r+1:A'). -# -# 4. If any interfaces have been added, removed, or changed since the -# last update, increment CURRENT, and set REVISION to 0. -# -# 5. If any interfaces have been added since the last public release, -# then increment AGE. -# -# 6. If any interfaces have been removed since the last public release, -# then set AGE to 0. -CURRENT=1 -REVISION=0 -AGE=0 - -AC_ARG_ENABLE(version-info, - AS_HELP_STRING([--disable-version-info], - [don't encode version information in the generated library]), - version_info=$enableval, - version_info=yes) -if test x$version_info = xyes -then - ODE_VERSION_INFO="-version-info $CURRENT:$REVISION:$AGE" -else - ODE_VERSION_INFO="-avoid-version" -fi -AC_SUBST(ODE_VERSION_INFO) - - - -AC_CANONICAL_HOST - -AM_INIT_AUTOMAKE(1.10 foreign) -AC_CONFIG_HEADERS([ode/src/config.h]) - -dnl This is needed because we have subdirectories -AC_PROG_MAKE_SET -AC_PROG_CXX -AC_PROG_CC -AM_PROG_CC_C_O -AC_PROG_CPP -AC_PROG_AWK -AC_PROG_INSTALL -AC_PROG_LN_S -AC_PROG_MKDIR_P -AC_DISABLE_SHARED -AC_LIBTOOL_WIN32_DLL -AC_PROG_LIBTOOL -AC_CHECK_TOOLS([WINDRES], [windres]) - -AC_C_BIGENDIAN -AC_C_INLINE -AC_C_VOLATILE -AC_HEADER_STDBOOL -AC_TYPE_SIZE_T - -dnl Check if we want to build demos -AC_MSG_CHECKING(if demos should be built) -AC_ARG_ENABLE(demos, - AS_HELP_STRING([--enable-demos], [build demos]), - enable_demos=$enableval,enable_demos=yes) -AC_MSG_RESULT($enable_demos) - - - -dnl this may NOT be the machine on which the code is going to run in, -dnl so allow users to compile programs for their target machine. -pentium=no -cpu64=no -case "$host_cpu" in - i586 | i686 | i786 ) - pentium=yes - AC_DEFINE(PENTIUM,1,[compiling for a pentium on a gcc-based platform?]) - ;; - x86_64* ) - pentium=yes - cpu64=yes - AC_DEFINE(X86_64_SYSTEM,1,[compiling for a X86_64 system on a gcc-based platform?]) - ;; -esac - -AM_CONDITIONAL(X86_64_SYSTEM, test x$cpu64 = xyes) - - - - - - -dnl check for required headers -AC_CHECK_HEADERS( alloca.h stdio.h stdint.h stdlib.h math.h string.h stdarg.h malloc.h float.h time.h sys/time.h ) - - -opcode=no -gimpact=no -AC_ARG_WITH(trimesh, AS_HELP_STRING([--with-trimesh=[opcode|gimpact|none]], - [use the specified system for trimesh support.]), - trimesh=$withval,trimesh=opcode -) -if test "$trimesh" = opcode -then - opcode=yes -fi -if test "$trimesh" = gimpact -then - gimpact=yes -fi - -AM_CONDITIONAL(OPCODE, test $opcode = yes) -AM_CONDITIONAL(GIMPACT, test $gimpact = yes) -AM_CONDITIONAL(TRIMESH, test $opcode = yes -o $gimpact = yes) - - -AC_MSG_CHECKING(if double precision is requested) -AC_ARG_ENABLE(double-precision, - AS_HELP_STRING([--enable-double-precision], - [Configure ODE to work with double precision, if not specified, single precision is used] - ), - precision=$enableval,precision=no) -AC_MSG_RESULT([$precision]) -if test "$precision" = yes; -then - ODE_PRECISION=-DdDOUBLE -else - ODE_PRECISION=-DdSINGLE -fi - -CPPFLAGS+=" $ODE_PRECISION" -AC_SUBST(ODE_PRECISION) - - -AC_ARG_WITH([drawstuff],AS_HELP_STRING([--with-drawstuff=X11|Win32|OSX|none],[force a particular drawstuff implementation or disable it.]), - [drawstuff=$withval],[drawstuff=]) - -dnl Set some Platform Specific Variables -EXTRA_LIBTOOL_LDFLAGS= -case "$host_os" in - cygwin* | mingw*) - if test x"$drawstuff" = x - then - drawstuff="Win32" # if in a Windows enviroment - fi - EXTRA_LIBTOOL_LDFLAGS="-no-undefined" - ;; - *apple* | *darwin*) # For Mac OS X - if test x"$drawstuff" = x - then - drawstuff="OSX" - fi - dnl We need to use C++ compilation and linking for ode on Mac - dnl Might as well do it for all code. - CC="$CXX" - LINK="$CXXLINK" - ;; - *) - if test x"$drawstuff" = x - then - drawstuff="X11" # if anything else default to X11 - fi - ;; -esac -AC_SUBST(EXTRA_LIBTOOL_LDFLAGS) -AM_CONDITIONAL(ENABLE_DRAWSTUFF, test x$drawstuff != xnone) - - -dnl Set Conditionals -AM_CONDITIONAL(WIN32, test x$drawstuff = xWin32) -AM_CONDITIONAL(X11, test x$drawstuff = xX11) -AM_CONDITIONAL(OSX, test x$drawstuff = xOSX) -dnl Set Drawstuff variables -AC_MSG_CHECKING(which drawstuff lib to build) -AC_MSG_RESULT($drawstuff) - -if test "x$drawstuff" = "xX11" -then - AC_PATH_XTRA -fi - -dnl Check for OpenGL -if test "x$drawstuff" = "xOSX"; then - AC_DEFINE([HAVE_APPLE_OPENGL_FRAMEWORK], [1], - [Use the Apple OpenGL framework.]) - GL_LIBS="-framework OpenGL -framework Carbon -framework AGL" -else - AC_CHECK_HEADERS(GL/gl.h GL/glu.h GL/glext.h,, - [enable_demos=no], - [[#if HAVE_GL_GL_H - #include - #endif - #if HAVE_GL_GLU_H - #include - #endif - ]]) - have_gl=no - have_glu=no - TEMP_LDFLAGS="$LDFLAGS" - AC_CHECK_LIB(GL, main,[GL_LIBS="$GL_LIBS -lGL"],have_gl=yes) - AC_CHECK_LIB(GLU, main,[GL_LIBS="$GL_LIBS -lGLU"],have_glu=yes) - AC_CHECK_LIB(opengl32, main,[GL_LIBS="$GL_LIBS -lopengl32"],have_gl=yes) - AC_CHECK_LIB(glu32, main,[GL_LIBS="$GL_LIBS -lglu32"],have_glu=yes) - LDFLAGS="$TEMP_LDFLAGS" - if test $have_gl = no -o $have_glu = no; then - enable_demos=no - fi -fi -AC_SUBST(GL_LIBS) - - -dnl stdc++ is required when linking C programs against ode -AC_CHECK_LIB(stdc++,main,[LIBSTDCXX="-lstdc++"],[LIBSTDCXX=]) -AC_SUBST(LIBSTDCXX) -AC_CHECK_LIB(pthread,main,[LIBS="$LIBS -lpthread"]) - - -dnl test if we will build demos -AM_CONDITIONAL(ENABLE_DEMOS, test x$enable_demos = xyes) - - -dnl Check if the user wants the new timesh collider -new_trimesh=no -AC_ARG_ENABLE([new-trimesh], AS_HELP_STRING([--enable-new-trimesh],[enable use of the new trimesh collider]), - [new_trimesh=$enableval] - ) -if test x$new_trimesh = xyes -a $trimesh = opcode; then - AC_DEFINE(dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER, 1, - [Use an alternative trimesh-trimesh collider which should yield better results]) -else - new_trimesh=no -fi - - -dnl Check if the user wants to profile ODE using gprof -AC_MSG_CHECKING(for gprof) -AC_ARG_ENABLE([gprof], - AS_HELP_STRING([--enable-gprof],[enable profiling with gprof]), - gprof=$enableval, - gprof=no) -if test "$gprof" != no -then - CFLAGS="-pg $CFLAGS" - CXXFLAGS="-pg $CXXFLAGS" - AC_MSG_RESULT(enabled) - AC_CHECK_LIB(gmon, main,[LIBS="$LIBS -lgmon"]) -else - AC_MSG_RESULT(no) -fi - -dnl Check for autoscan sugested functions -AC_CHECK_LIB(m, [main]) -AC_CHECK_LIB(sunmath, [main]) -AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf]) -AC_FUNC_ALLOCA -AC_FUNC_MALLOC -AC_FUNC_OBSTACK -AC_FUNC_REALLOC -AC_FUNC_SELECT_ARGTYPES -AC_FUNC_VPRINTF - -AC_MSG_CHECKING(if alloca should be emulated by malloc) -AC_ARG_ENABLE([malloc], - AS_HELP_STRING([--enable-malloc], - [use malloc to emulate alloca (more portable but slower)] - ), - usemalloc=$enableval, usemalloc=no) -if test "$usemalloc" != no -then - AC_DEFINE([dUSE_MALLOC_FOR_ALLOCA],[1],[use malloc() instead of alloca()]) - AC_MSG_RESULT($usemalloc) -else - AC_MSG_RESULT(no) -fi - -AC_ARG_ENABLE([ou], - AS_HELP_STRING([--enable-ou], - [EXPERIMENTAL: use TLS for global variables to allow for running ODE in multiple threads simultaneously] - ), - use_ou=$enableval,use_ou=no) -if test x$use_ou = xyes -then - OU_NAMESPACE=odeou - AC_CONFIG_COMMANDS_POST([export OU_NAMESPACE=odeou]) - AC_DEFINE([_OU_NAMESPACE],[odeou],[libou namespace for ODE]) - AC_DEFINE([dOU_ENABLED],[1],[Generic OU features are enabled]) - AC_DEFINE([dATOMICS_ENABLED],[1],[Atomic API of OU is enabled]) - AC_DEFINE([dTLS_ENABLED],[1],[Thread Local Storage API of OU is enabled]) - - case "$host_os" in - cygwin* | mingw*) - targetos=_OU_TARGET_OS_WINDOWS - ;; - *qnx*) - targetos=_OU_TARGET_OS_QNX - ;; - *apple* | *darwin*) - targetos=_OU_TARGET_OS_MAC - ;; - *sunos*) - targetos=_OU_TARGET_OS_SUNOS - ;; - *aix*) - targetos=_OU_TARGET_OS_AIX - ;; - *) - targetos=_OU_TARGET_OS_GENUNIX - ;; - esac - - if test $targetos = _OU_TARGET_OS_MAC - then - MAC_OS_X_VERSION=1000 - AC_CHECK_FUNC([OSAtomicAdd32Barrier], [MAC_OS_X_VERSION=1040]) - AC_CHECK_FUNC([OSAtomicAnd32OrigBarrier], [MAC_OS_X_VERSION=1050]) - AC_DEFINE_UNQUOTED(MAC_OS_X_VERSION, $MAC_OS_X_VERSION, [Mac OS X version setting for OU Library]) - fi - - if test $targetos = _OU_TARGET_OS_SUNOS - then - AC_CHECK_FUNC(atomic_inc_32_nv, [], - [targetos=_OU_TARGET_OS_GENUNIX]) - fi - - AC_DEFINE_UNQUOTED(_OU_TARGET_OS, $targetos, [Target OS setting for OU Library]) -fi -AC_CONFIG_SUBDIRS([ou]) -AM_CONDITIONAL(ENABLE_OU, test x$use_ou = xyes) - - -AC_ARG_ENABLE([asserts], - AS_HELP_STRING([--disable-asserts], - [disables debug error checking]), - asserts=$enableval,asserts=yes) -if test x$asserts = xno -then - CPPFLAGS="$CPPFLAGS -DdNODEBUG" - if test x$use_ou = xyes - then - CPPFLAGS="$CPPFLAGS -DNDEBUG" - fi -fi - - -dnl include found system headers into config.h -AH_TOP([ -#ifndef ODE_CONFIG_H -#define ODE_CONFIG_H -]) -AH_BOTTOM([ - -#ifdef HAVE_ALLOCA_H -#include -#endif -#ifdef HAVE_MALLOC_H -#include -#endif -#ifdef HAVE_STDINT_H -#include -#endif - -/* an integer type that we can safely cast a pointer to and - * from without loss of bits. - */ -typedef uintptr_t intP; - - -// Use the error-checking memory allocation system. Because 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 - -#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 - -#ifdef dSINGLE - #define dEpsilon FLT_EPSILON -#else - #define dEpsilon DBL_EPSILON -#endif - - -#endif /* #define ODE_CONFIG_H */ -]) - -dnl Finally write our Makefiles -AC_CONFIG_FILES([ - Makefile - include/Makefile - include/ode/Makefile - include/drawstuff/Makefile - ode/Makefile - ode/src/Makefile - ode/src/joints/Makefile - drawstuff/Makefile - drawstuff/src/Makefile - drawstuff/dstest/Makefile - ode/demo/Makefile - OPCODE/Makefile - OPCODE/Ice/Makefile - GIMPACT/Makefile - GIMPACT/include/Makefile - GIMPACT/include/GIMPACT/Makefile - GIMPACT/src/Makefile - tests/Makefile - tests/UnitTest++/Makefile - tests/UnitTest++/src/Makefile - tests/UnitTest++/src/Posix/Makefile - tests/UnitTest++/src/Win32/Makefile - ode-config - ode.pc - ]) -AC_OUTPUT - -chmod +x ode-config - -BUILDDIR=`pwd` - -dnl Print some useful information -echo "Configuration:" -echo " Build system type: $build" -echo " Host system type: $host" -echo " Use double precision: $precision" -echo " Use drawstuff: $drawstuff" -echo " Demos enabled: $enable_demos" -echo " Use OPCODE: $opcode" -echo " Use GIMPACT: $gimpact" -echo " Is target a Pentium: $pentium" -echo " Is target x86-64: $cpu64" -echo " Use new opcode trimesh collider: $new_trimesh" -echo " TLS for global data: $use_ou" -echo " Enable debug error check: $asserts" -echo " Headers will be installed in $includedir/ode" -echo " Libraries will be installed in $libdir" -echo " Building in directory $BUILDDIR" - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/README.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/README.txt deleted file mode 100644 index e996816f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/README.txt +++ /dev/null @@ -1,110 +0,0 @@ -Breakable Joints - -================================================================================ - -Description: -This is a small addition to ODE that makes joints breakable. Breakable means -that if a force on a joint is to high it wil break. I have included a modified -version of test_buggy.cpp (test_breakable.cpp) so you can see it for your self. -Just drive your buggy into an obstacle and enjoy! - -================================================================================ - -Installation instructions: -- copy joint.h, joint.cpp, ode.cpp and step.cpp to the ode/src/ directory -- copy common.h and object.h to the include/ directory -- copy test_breakable.cpp to the ode/test/ directory -- add test_breakable.cpp to the ODE_TEST_SRC_CPP object in the makefile. -- make ode-lib -- make ode-test -You can also use the diffs. The above files will quickly go out of sync with the -rest of ODE but the diffs wil remain valid longer. - -================================================================================ - -Functions: -dJointSetBreakable (dJointID joint, int b) - If b is 1 the joint is made breakable. If b is 0 the joint is made - unbreakable. - -void dJointSetBreakCallback (dJointID joint, dJointBreakCallback *callbackFunc) - Sets the callback function for this joint. If a funtion is set it will be - called if the joint is broken but before it is actually detached or deleted. - -void dJointSetBreakMode (dJointID joint, int mode) - Use this functions to set some flags. These flags can be ORred ( | ) - together; ie. dJointSetBreakMode (someJoint, -dJOINT_BREAK_AT_B1_FORCE|dJOINT_DELETE_ON_BREAK) - dJOINT_DELETE_ON_BREAK - If the joint breaks it wil be deleted. - dJOINT_BREAK_AT_B1_FORCE - If the force on body 1 is to high the joint will - break - dJOINT_BREAK_AT_B1_TORQUE - If the torque on body 1 is to high the joint will - break - dJOINT_BREAK_AT_B2_FORCE - If the force on body 2 is to high the joint will - break - dJOINT_BREAK_AT_B2_TORQUE - If the torque on body 2 is to high the joint will - break - -void dJointSetBreakForce (dJointID joint, int body, dReal x, dReal y, dReal z) - With this function you can set the maximum force for a body connected to this - joint. A value of 0 for body means body 1, 1 means body 2. The force is - relative to the bodies rotation. - -void dJointSetBreakTorque (dJointID joint, int body, dReal x, dReal y, dReal z) - With this function you can set the maximum torque for a body connected to this - joint. A value of 0 for body means body 1, 1 means body 2. The torque is - relative to the bodies rotation. - -int dJointIsBreakable (dJointID joint) - Returns 1 if this joint is breakable, 0 otherwise. - -int dJointGetBreakMode (dJointID joint) - Returns the breakmode flag. - -void dJointGetBreakForce (dJointID joint, int body, dReal *force) - Returns the force at what this joint will break. A value of 0 for body means - body 1, 1 means body 2. force must have enough space for 3 dReal values. - -void dJointGetBreakTorque (dJointID joint, int body, dReal *torque) - Returns the torque at what this joint will break. A value of 0 for body - means body 1, 1 means body 2. force must have enough space for 3 dReal - values. - -================================================================================ - -The callback function is defined like this (in common.h): -void dJointBreakCallback (dJointID); - -================================================================================ - -Problems, known bugs & other issues: -- If the timestep is very small then joints get a lot weaker. They can even fall - apart! -- I have tested all this with the latest checkout from CVS (at the time of - writing ofcourse). I haven't tested it with earlier versions of ODE. -- I have modified the code that fills the jointfeedback struct. I haven't tested - if it still works. -- I'm not sure if the forces are really relative to the connected bodies. -- There are some memory leaks in the test_breakable.cpp example. - -================================================================================ - -Bugfixes and changes: -09/08/2003 -- I fixed a bug when there where 0 joints in the simulation - -06/12/2003 -- dJointGetBreakMode() added, by vadim_mcagon@hotmail.com - -11/03/2004 -- Updated files to work with latest CVS checkout. -- Added support for dWorldStepFast1() -- Added separate test_breakable.cpp example. -- Updated the code that breaks and destroys a joint. - -================================================================================ - -Send me an e-mail if you have any suggestions, ideas, bugs, bug-fixes, anything! -e-mail: roelvandijk@home.nl - -Roel van Dijk - 11/03/2004 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/common.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/common.h deleted file mode 100644 index 0d5f314e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/common.h +++ /dev/null @@ -1,337 +0,0 @@ -/************************************************************************* - * * - * 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 -#include - -#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 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)sqrt(x)) /* square root */ -#define dRecipSqrt(x) ((float)(1.0f/sqrt(x))) /* reciprocal square root */ -#define dSin(x) ((float)sin(x)) /* sine */ -#define dCos(x) ((float)cos(x)) /* cosine */ -#define dFabs(x) ((float)fabs(x)) /* absolute value */ -#define dAtan2(y,x) ((float)atan2((y),(x))) /* arc tangent with 2 args */ - -#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)) - -#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(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1)))))) - - -/* 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 -}; - -/******************** breakable joint contribution ***********************/ -/* joint break callback function */ -typedef void dJointBreakCallback (dJointID joint); - -/* joint break modes */ -enum { - // if this flag is set, the joint wil break - dJOINT_BROKEN = 0x0001, - // if this flag is set, the joint wil be deleted when it breaks - dJOINT_DELETE_ON_BREAK = 0x0002, - // if this flag is set, the joint can break at a certain force on body 1 - dJOINT_BREAK_AT_B1_FORCE = 0x0004, - // if this flag is set, the joint can break at a certain torque on body 1 - dJOINT_BREAK_AT_B1_TORQUE = 0x0008, - // if this flag is set, the joint can break at a certain force on body 2 - dJOINT_BREAK_AT_B2_FORCE = 0x0010, - // if this flag is set, the joint can break at a certain torque on body 2 - dJOINT_BREAK_AT_B2_TORQUE = 0x0020 -}; -/*************************************************************************/ - -/* 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/common.h.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/common.h.diff deleted file mode 100644 index 24415a14..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/common.h.diff +++ /dev/null @@ -1,21 +0,0 @@ -208,227d207 -< /******************** breakable joint contribution ***********************/ -< /* joint break callback function */ -< typedef void dJointBreakCallback (dJointID joint); -< -< /* joint break modes */ -< enum { -< // if this flag is set, the joint wil break -< dJOINT_BROKEN = 0x0001, -< // if this flag is set, the joint wil be deleted when it breaks -< dJOINT_DELETE_ON_BREAK = 0x0002, -< // if this flag is set, the joint can break at a certain force on body 1 -< dJOINT_BREAK_AT_B1_FORCE = 0x0004, -< // if this flag is set, the joint can break at a certain torque on body 1 -< dJOINT_BREAK_AT_B1_TORQUE = 0x0008, -< // if this flag is set, the joint can break at a certain force on body 2 -< dJOINT_BREAK_AT_B2_FORCE = 0x0010, -< // if this flag is set, the joint can break at a certain torque on body 2 -< dJOINT_BREAK_AT_B2_TORQUE = 0x0020 -< }; -< /*************************************************************************/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/joint.cpp.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/joint.cpp.diff deleted file mode 100644 index 80397f0e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/joint.cpp.diff +++ /dev/null @@ -1,148 +0,0 @@ -2659,2804d2658 -< -< /******************** breakable joint contribution ***********************/ -< extern "C" void dJointSetBreakable (dxJoint *joint, int b) { -< dAASSERT(joint); -< if (b) { -< // we want this joint to be breakable but we must first check if it -< // was already breakable -< if (!joint->breakInfo) { -< // allocate a dxJointBreakInfo struct -< joint->breakInfo = new dxJointBreakInfo; -< joint->breakInfo->flags = 0; -< for (int i = 0; i < 3; i++) { -< joint->breakInfo->b1MaxF[0] = 0; -< joint->breakInfo->b1MaxT[0] = 0; -< joint->breakInfo->b2MaxF[0] = 0; -< joint->breakInfo->b2MaxT[0] = 0; -< } -< joint->breakInfo->callback = 0; -< } -< else { -< // the joint was already breakable -< return; -< } -< } -< else { -< // we want this joint to be unbreakable mut we must first check if -< // it is alreay unbreakable -< if (joint->breakInfo) { -< // deallocate the dxJointBreakInfo struct -< delete joint->breakInfo; -< joint->breakInfo = 0; -< } -< else { -< // the joint was already unbreakable -< return; -< } -< } -< } -< -< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointSetBreakCallback called on unbreakable joint"); -< } -< # endif -< joint->breakInfo->callback = callbackFunc; -< } -< -< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointSetBreakMode called on unbreakable joint"); -< } -< # endif -< joint->breakInfo->flags = mode; -< } -< -< extern "C" int dJointGetBreakMode (dxJoint *joint) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointGetBreakMode called on unbreakable joint"); -< } -< # endif -< return joint->breakInfo->flags; -< } -< -< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointSetBreakForce called on unbreakable joint"); -< } -< # endif -< if (body) { -< joint->breakInfo->b2MaxF[0] = x; -< joint->breakInfo->b2MaxF[1] = y; -< joint->breakInfo->b2MaxF[2] = z; -< } -< else { -< joint->breakInfo->b1MaxF[0] = x; -< joint->breakInfo->b1MaxF[1] = y; -< joint->breakInfo->b1MaxF[2] = z; -< } -< } -< -< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointSetBreakTorque called on unbreakable joint"); -< } -< # endif -< if (body) { -< joint->breakInfo->b2MaxT[0] = x; -< joint->breakInfo->b2MaxT[1] = y; -< joint->breakInfo->b2MaxT[2] = z; -< } -< else { -< joint->breakInfo->b1MaxT[0] = x; -< joint->breakInfo->b1MaxT[1] = y; -< joint->breakInfo->b1MaxT[2] = z; -< } -< } -< -< extern "C" int dJointIsBreakable (dxJoint *joint) { -< dAASSERT(joint); -< return joint->breakInfo != 0; -< } -< -< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointGetBreakForce called on unbreakable joint"); -< } -< # endif -< if (body) -< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i]; -< else -< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i]; -< } -< -< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) { -< dAASSERT(joint); -< # ifndef dNODEBUG -< // only works for a breakable joint -< if (!joint->breakInfo) { -< dDebug (0, "dJointGetBreakTorque called on unbreakable joint"); -< } -< # endif -< if (body) -< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i]; -< else -< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i]; -< } -< /*************************************************************************/ -< -\ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/joint.h.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/joint.h.diff deleted file mode 100644 index eed3c244..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/joint.h.diff +++ /dev/null @@ -1,18 +0,0 @@ -61,70d60 -< /******************** breakable joint contribution ***********************/ -< struct dxJointBreakInfo : public dBase { -< int flags; -< dReal b1MaxF[3]; // maximum force on body 1 -< dReal b1MaxT[3]; // maximum torque on body 1 -< dReal b2MaxF[3]; // maximum force on body 2 -< dReal b2MaxT[3]; // maximum torque on body 2 -< dJointBreakCallback *callback; // function that is called when this joint breaks -< }; -< /*************************************************************************/ -135,140d124 -< -< /******************** breakable joint contribution ***********************/ -< // optional break info structure. if this is not NULL the the joint is -< // breakable. -< dxJointBreakInfo *breakInfo; -< /*************************************************************************/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/objects.h.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/objects.h.diff deleted file mode 100644 index fd2129e7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/objects.h.diff +++ /dev/null @@ -1,13 +0,0 @@ -168,179d167 -< /******************** breakable joint contribution ***********************/ -< void dJointSetBreakable (dJointID, int b); -< void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc); -< void dJointSetBreakMode (dJointID, int mode); -< int dJointGetBreakMode (dJointID); -< void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z); -< void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z); -< int dJointIsBreakable (dJointID); -< void dJointGetBreakForce (dJointID, int body, dReal *force); -< void dJointGetBreakTorque (dJointID, int body, dReal *torque); -< /*************************************************************************/ -< diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/ode.cpp.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/ode.cpp.diff deleted file mode 100644 index 761b7be2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/ode.cpp.diff +++ /dev/null @@ -1,28 +0,0 @@ -212,230d211 -< /******************** breakable joint contribution ***********************/ -< dxJoint* nextJ; -< if (!world->firstjoint) -< nextJ = 0; -< else -< nextJ = (dxJoint*)world->firstjoint->next; -< for (j=world->firstjoint; j; j=nextJ) { -< nextJ = (dxJoint*)j->next; -< // check if joint is breakable and broken -< if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { -< // detach (break) the joint -< dJointAttach (j, 0, 0); -< // call the callback function if it is set -< if (j->breakInfo->callback) j->breakInfo->callback (j); -< // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set -< if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); -< } -< } -< /*************************************************************************/ -931,933d911 -< /******************** breakable joint contribution ***********************/ -< j->breakInfo = 0; -< /*************************************************************************/ -1011,1013d988 -< /******************** breakable joint contribution ***********************/ -< if (j->breakInfo) delete j->breakInfo; -< /*************************************************************************/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/step.cpp.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/step.cpp.diff deleted file mode 100644 index dfc8c2f8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/step.cpp.diff +++ /dev/null @@ -1,130 +0,0 @@ -966,1066c966,989 -< /******************** breakable joint contribution ***********************/ -< // this saves us a few dereferences -< dxJointBreakInfo *jBI = joint[i]->breakInfo; -< // we need joint feedback if the joint is breakable or if the user -< // requested feedback. -< if (jBI||fb) { -< // we need feedback on the amount of force that this joint is -< // applying to the bodies. we use a slightly slower computation -< // that splits out the force components and puts them in the -< // feedback structure. -< dJointFeedback temp_fb; // temporary storage for joint feedback -< dReal data1[8],data2[8]; -< Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); -< dReal *cf1 = cforce + 8*b1->tag; -< cf1[0] += (temp_fb.f1[0] = data1[0]); -< cf1[1] += (temp_fb.f1[1] = data1[1]); -< cf1[2] += (temp_fb.f1[2] = data1[2]); -< cf1[4] += (temp_fb.t1[0] = data1[4]); -< cf1[5] += (temp_fb.t1[1] = data1[5]); -< cf1[6] += (temp_fb.t1[2] = data1[6]); -< if (b2) { -< Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); -< dReal *cf2 = cforce + 8*b2->tag; -< cf2[0] += (temp_fb.f2[0] = data2[0]); -< cf2[1] += (temp_fb.f2[1] = data2[1]); -< cf2[2] += (temp_fb.f2[2] = data2[2]); -< cf2[4] += (temp_fb.t2[0] = data2[4]); -< cf2[5] += (temp_fb.t2[1] = data2[5]); -< cf2[6] += (temp_fb.t2[2] = data2[6]); -< } -< // if the user requested so we must copy the feedback information to -< // the feedback struct that the user suplied. -< if (fb) { -< // copy temp_fb to fb -< fb->f1[0] = temp_fb.f1[0]; -< fb->f1[1] = temp_fb.f1[1]; -< fb->f1[2] = temp_fb.f1[2]; -< fb->t1[0] = temp_fb.t1[0]; -< fb->t1[1] = temp_fb.t1[1]; -< fb->t1[2] = temp_fb.t1[2]; -< if (b2) { -< fb->f2[0] = temp_fb.f2[0]; -< fb->f2[1] = temp_fb.f2[1]; -< fb->f2[2] = temp_fb.f2[2]; -< fb->t2[0] = temp_fb.t2[0]; -< fb->t2[1] = temp_fb.t2[1]; -< fb->t2[2] = temp_fb.t2[2]; -< } -< } -< // if the joint is breakable we need to check the breaking conditions -< if (jBI) { -< dReal relCF1[3]; -< dReal relCT1[3]; -< // multiply the force and torque vectors by the rotation matrix of body 1 -< dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]); -< dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]); -< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { -< // check if the force is to high -< for (int i = 0; i < 3; i++) { -< if (relCF1[i] > jBI->b1MaxF[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { -< // check if the torque is to high -< for (int i = 0; i < 3; i++) { -< if (relCT1[i] > jBI->b1MaxT[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (b2) { -< dReal relCF2[3]; -< dReal relCT2[3]; -< // multiply the force and torque vectors by the rotation matrix of body 2 -< dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]); -< dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]); -< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { -< // check if the force is to high -< for (int i = 0; i < 3; i++) { -< if (relCF2[i] > jBI->b2MaxF[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { -< // check if the torque is to high -< for (int i = 0; i < 3; i++) { -< if (relCT2[i] > jBI->b2MaxT[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< } -< doneCheckingBreaks: -< ; ---- -> if (fb) { -> // the user has requested feedback on the amount of force that this -> // joint is applying to the bodies. we use a slightly slower -> // computation that splits out the force components and puts them -> // in the feedback structure. -> dReal data1[8],data2[8]; -> Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); -> dReal *cf1 = cforce + 8*b1->tag; -> cf1[0] += (fb->f1[0] = data1[0]); -> cf1[1] += (fb->f1[1] = data1[1]); -> cf1[2] += (fb->f1[2] = data1[2]); -> cf1[4] += (fb->t1[0] = data1[4]); -> cf1[5] += (fb->t1[1] = data1[5]); -> cf1[6] += (fb->t1[2] = data1[6]); -> if (b2){ -> Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); -> dReal *cf2 = cforce + 8*b2->tag; -> cf2[0] += (fb->f2[0] = data2[0]); -> cf2[1] += (fb->f2[1] = data2[1]); -> cf2[2] += (fb->f2[2] = data2[2]); -> cf2[4] += (fb->t2[0] = data2[4]); -> cf2[5] += (fb->t2[1] = data2[5]); -> cf2[6] += (fb->t2[2] = data2[6]); -> } -1068,1069d990 -< } -< /*************************************************************************/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/stepfast.cpp.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/stepfast.cpp.diff deleted file mode 100644 index ed64cbae..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/stepfast.cpp.diff +++ /dev/null @@ -1,143 +0,0 @@ -587,598c587,593 -< /******************** breakable joint contribution ***********************/ -< // this saves us a few dereferences -< dxJointBreakInfo *jBI = joint->breakInfo; -< // we need joint feedback if the joint is breakable or if the user -< // requested feedback. -< if (jBI||fb) { -< // we need feedback on the amount of force that this joint is -< // applying to the bodies. we use a slightly slower computation -< // that splits out the force components and puts them in the -< // feedback structure. -< dJointFeedback temp_fb; // temporary storage for joint feedback -< dReal data1[8],data2[8]; ---- -> if (fb) -> { -> // the user has requested feedback on the amount of force that this -> // joint is applying to the bodies. we use a slightly slower -> // computation that splits out the force components and puts them -> // in the feedback structure. -> dReal data1[8], data2[8]; -603,608c598,603 -< cf1[0] = (temp_fb.f1[0] = data1[0]); -< cf1[1] = (temp_fb.f1[1] = data1[1]); -< cf1[2] = (temp_fb.f1[2] = data1[2]); -< cf1[4] = (temp_fb.t1[0] = data1[4]); -< cf1[5] = (temp_fb.t1[1] = data1[5]); -< cf1[6] = (temp_fb.t1[2] = data1[6]); ---- -> cf1[0] = (fb->f1[0] = data1[0]); -> cf1[1] = (fb->f1[1] = data1[1]); -> cf1[2] = (fb->f1[2] = data1[2]); -> cf1[4] = (fb->t1[0] = data1[4]); -> cf1[5] = (fb->t1[1] = data1[5]); -> cf1[6] = (fb->t1[2] = data1[6]); -614,691c609,614 -< cf2[0] = (temp_fb.f2[0] = data2[0]); -< cf2[1] = (temp_fb.f2[1] = data2[1]); -< cf2[2] = (temp_fb.f2[2] = data2[2]); -< cf2[4] = (temp_fb.t2[0] = data2[4]); -< cf2[5] = (temp_fb.t2[1] = data2[5]); -< cf2[6] = (temp_fb.t2[2] = data2[6]); -< } -< // if the user requested so we must copy the feedback information to -< // the feedback struct that the user suplied. -< if (fb) { -< // copy temp_fb to fb -< fb->f1[0] = temp_fb.f1[0]; -< fb->f1[1] = temp_fb.f1[1]; -< fb->f1[2] = temp_fb.f1[2]; -< fb->t1[0] = temp_fb.t1[0]; -< fb->t1[1] = temp_fb.t1[1]; -< fb->t1[2] = temp_fb.t1[2]; -< if (body[1]) { -< fb->f2[0] = temp_fb.f2[0]; -< fb->f2[1] = temp_fb.f2[1]; -< fb->f2[2] = temp_fb.f2[2]; -< fb->t2[0] = temp_fb.t2[0]; -< fb->t2[1] = temp_fb.t2[1]; -< fb->t2[2] = temp_fb.t2[2]; -< } -< } -< // if the joint is breakable we need to check the breaking conditions -< if (jBI) { -< dReal relCF1[3]; -< dReal relCT1[3]; -< // multiply the force and torque vectors by the rotation matrix of body 1 -< dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]); -< dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]); -< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { -< // check if the force is to high -< for (int i = 0; i < 3; i++) { -< if (relCF1[i] > jBI->b1MaxF[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { -< // check if the torque is to high -< for (int i = 0; i < 3; i++) { -< if (relCT1[i] > jBI->b1MaxT[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (body[1]) { -< dReal relCF2[3]; -< dReal relCT2[3]; -< // multiply the force and torque vectors by the rotation matrix of body 2 -< dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]); -< dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]); -< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { -< // check if the force is to high -< for (int i = 0; i < 3; i++) { -< if (relCF2[i] > jBI->b2MaxF[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { -< // check if the torque is to high -< for (int i = 0; i < 3; i++) { -< if (relCT2[i] > jBI->b2MaxT[i]) { -< jBI->flags |= dJOINT_BROKEN; -< goto doneCheckingBreaks; -< } -< } -< } -< } -< doneCheckingBreaks: -< ; ---- -> cf2[0] = (fb->f2[0] = data2[0]); -> cf2[1] = (fb->f2[1] = data2[1]); -> cf2[2] = (fb->f2[2] = data2[2]); -> cf2[4] = (fb->t2[0] = data2[4]); -> cf2[5] = (fb->t2[1] = data2[5]); -> cf2[6] = (fb->t2[2] = data2[6]); -694d616 -< /*************************************************************************/ -1178,1196d1099 -< /******************** breakable joint contribution ***********************/ -< dxJoint* nextJ; -< if (!world->firstjoint) -< nextJ = 0; -< else -< nextJ = (dxJoint*)world->firstjoint->next; -< for (j=world->firstjoint; j; j=nextJ) { -< nextJ = (dxJoint*)j->next; -< // check if joint is breakable and broken -< if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { -< // detach (break) the joint -< dJointAttach (j, 0, 0); -< // call the callback function if it is set -< if (j->breakInfo->callback) j->breakInfo->callback (j); -< // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set -< if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); -< } -< } -< /*************************************************************************/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/test_buggy.cpp.diff b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/test_buggy.cpp.diff deleted file mode 100644 index 65770da8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/diff/test_buggy.cpp.diff +++ /dev/null @@ -1,16 +0,0 @@ -266,270d265 -< -< // breakable joints contribution -< dJointSetBreakable (joint[i], 1); -< dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_FORCE); -< dJointSetBreakForce (joint[i], 0.5); -298c293 -< ground_box = dCreateBox (space,2,1.5,5); ---- -> ground_box = dCreateBox (space,2,1.5,1); -300,301c295,296 -< dRFromAxisAndAngle (R,0,1,0,-0.85); -< dGeomSetPosition (ground_box,5,0,-1); ---- -> dRFromAxisAndAngle (R,0,1,0,-0.15); -> dGeomSetPosition (ground_box,2,0,-0.34); diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/joint.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/joint.cpp deleted file mode 100644 index 2c724f84..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/joint.cpp +++ /dev/null @@ -1,2803 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -design note: the general principle for giving a joint the option of connecting -to the static environment (i.e. the absolute frame) is to check the second -body (joint->node[1].body), and if it is zero then behave as if its body -transform is the identity. - -*/ - -#include -#include -#include -#include "joint.h" - -//**************************************************************************** -// externs - -extern "C" void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); -extern "C" void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); - -//**************************************************************************** -// utility - -// set three "ball-and-socket" rows in the constraint equation, and the -// corresponding right hand side. - -static inline void setBall (dxJoint *joint, dxJoint::Info2 *info, - dVector3 anchor1, dVector3 anchor2) -{ - // anchor points in global coordinates with respect to body PORs. - dVector3 a1,a2; - - int s = info->rowskip; - - // set jacobian - info->J1l[0] = 1; - info->J1l[s+1] = 1; - info->J1l[2*s+2] = 1; - dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1); - dCROSSMAT (info->J1a,a1,s,-,+); - if (joint->node[1].body) { - info->J2l[0] = -1; - info->J2l[s+1] = -1; - info->J2l[2*s+2] = -1; - dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2); - dCROSSMAT (info->J2a,a2,s,+,-); - } - - // set right hand side - dReal k = info->fps * info->erp; - if (joint->node[1].body) { - for (int j=0; j<3; j++) { - info->c[j] = k * (a2[j] + joint->node[1].body->pos[j] - - a1[j] - joint->node[0].body->pos[j]); - } - } - else { - for (int j=0; j<3; j++) { - info->c[j] = k * (anchor2[j] - a1[j] - - joint->node[0].body->pos[j]); - } - } -} - - -// this is like setBall(), except that `axis' is a unit length vector -// (in global coordinates) that should be used for the first jacobian -// position row (the other two row vectors will be derived from this). -// `erp1' is the erp value to use along the axis. - -static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info, - dVector3 anchor1, dVector3 anchor2, - dVector3 axis, dReal erp1) -{ - // anchor points in global coordinates with respect to body PORs. - dVector3 a1,a2; - - int i,s = info->rowskip; - - // get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0], - // [0 1 0] and [0 0 1], which makes everything much easier. - dVector3 q1,q2; - dPlaneSpace (axis,q1,q2); - - // set jacobian - for (i=0; i<3; i++) info->J1l[i] = axis[i]; - for (i=0; i<3; i++) info->J1l[s+i] = q1[i]; - for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i]; - dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1); - dCROSS (info->J1a,=,a1,axis); - dCROSS (info->J1a+s,=,a1,q1); - dCROSS (info->J1a+2*s,=,a1,q2); - if (joint->node[1].body) { - for (i=0; i<3; i++) info->J2l[i] = -axis[i]; - for (i=0; i<3; i++) info->J2l[s+i] = -q1[i]; - for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i]; - dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2); - dCROSS (info->J2a,= -,a2,axis); - dCROSS (info->J2a+s,= -,a2,q1); - dCROSS (info->J2a+2*s,= -,a2,q2); - } - - // set right hand side - measure error along (axis,q1,q2) - dReal k1 = info->fps * erp1; - dReal k = info->fps * info->erp; - - for (i=0; i<3; i++) a1[i] += joint->node[0].body->pos[i]; - if (joint->node[1].body) { - for (i=0; i<3; i++) a2[i] += joint->node[1].body->pos[i]; - info->c[0] = k1 * (dDOT(axis,a2) - dDOT(axis,a1)); - info->c[1] = k * (dDOT(q1,a2) - dDOT(q1,a1)); - info->c[2] = k * (dDOT(q2,a2) - dDOT(q2,a1)); - } - else { - info->c[0] = k1 * (dDOT(axis,anchor2) - dDOT(axis,a1)); - info->c[1] = k * (dDOT(q1,anchor2) - dDOT(q1,a1)); - info->c[2] = k * (dDOT(q2,anchor2) - dDOT(q2,a1)); - } -} - - -// set three orientation rows in the constraint equation, and the -// corresponding right hand side. - -static void setFixedOrientation(dxJoint *joint, dxJoint::Info2 *info, dQuaternion qrel, int start_row) -{ - int s = info->rowskip; - int start_index = start_row * s; - - // 3 rows to make body rotations equal - info->J1a[start_index] = 1; - info->J1a[start_index + s + 1] = 1; - info->J1a[start_index + s*2+2] = 1; - if (joint->node[1].body) { - info->J2a[start_index] = -1; - info->J2a[start_index + s+1] = -1; - info->J2a[start_index + s*2+2] = -1; - } - - // compute the right hand side. the first three elements will result in - // relative angular velocity of the two bodies - this is set to bring them - // back into alignment. the correcting angular velocity is - // |angular_velocity| = angle/time = erp*theta / stepsize - // = (erp*fps) * theta - // angular_velocity = |angular_velocity| * u - // = (erp*fps) * theta * u - // where rotation along unit length axis u by theta brings body 2's frame - // to qrel with respect to body 1's frame. using a small angle approximation - // for sin(), this gives - // angular_velocity = (erp*fps) * 2 * v - // where the quaternion of the relative rotation between the two bodies is - // q = [cos(theta/2) sin(theta/2)*u] = [s v] - - // get qerr = relative rotation (rotation error) between two bodies - dQuaternion qerr,e; - if (joint->node[1].body) { - dQuaternion qq; - dQMultiply1 (qq,joint->node[0].body->q,joint->node[1].body->q); - dQMultiply2 (qerr,qq,qrel); - } - else { - dQMultiply3 (qerr,joint->node[0].body->q,qrel); - } - if (qerr[0] < 0) { - qerr[1] = -qerr[1]; // adjust sign of qerr to make theta small - qerr[2] = -qerr[2]; - qerr[3] = -qerr[3]; - } - dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding! - dReal k = info->fps * info->erp; - info->c[start_row] = 2*k * e[0]; - info->c[start_row+1] = 2*k * e[1]; - info->c[start_row+2] = 2*k * e[2]; -} - - -// compute anchor points relative to bodies - -static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z, - dVector3 anchor1, dVector3 anchor2) -{ - if (j->node[0].body) { - dReal q[4]; - q[0] = x - j->node[0].body->pos[0]; - q[1] = y - j->node[0].body->pos[1]; - q[2] = z - j->node[0].body->pos[2]; - q[3] = 0; - dMULTIPLY1_331 (anchor1,j->node[0].body->R,q); - if (j->node[1].body) { - q[0] = x - j->node[1].body->pos[0]; - q[1] = y - j->node[1].body->pos[1]; - q[2] = z - j->node[1].body->pos[2]; - q[3] = 0; - dMULTIPLY1_331 (anchor2,j->node[1].body->R,q); - } - else { - anchor2[0] = x; - anchor2[1] = y; - anchor2[2] = z; - } - } - anchor1[3] = 0; - anchor2[3] = 0; -} - - -// compute axes relative to bodies. either axis1 or axis2 can be 0. - -static void setAxes (dxJoint *j, dReal x, dReal y, dReal z, - dVector3 axis1, dVector3 axis2) -{ - if (j->node[0].body) { - dReal q[4]; - q[0] = x; - q[1] = y; - q[2] = z; - q[3] = 0; - dNormalize3 (q); - if (axis1) { - dMULTIPLY1_331 (axis1,j->node[0].body->R,q); - axis1[3] = 0; - } - if (axis2) { - if (j->node[1].body) { - dMULTIPLY1_331 (axis2,j->node[1].body->R,q); - } - else { - axis2[0] = x; - axis2[1] = y; - axis2[2] = z; - } - axis2[3] = 0; - } - } -} - - -static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1) -{ - if (j->node[0].body) { - dMULTIPLY0_331 (result,j->node[0].body->R,anchor1); - result[0] += j->node[0].body->pos[0]; - result[1] += j->node[0].body->pos[1]; - result[2] += j->node[0].body->pos[2]; - } -} - - -static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2) -{ - if (j->node[1].body) { - dMULTIPLY0_331 (result,j->node[1].body->R,anchor2); - result[0] += j->node[1].body->pos[0]; - result[1] += j->node[1].body->pos[1]; - result[2] += j->node[1].body->pos[2]; - } - else { - result[0] = anchor2[0]; - result[1] = anchor2[1]; - result[2] = anchor2[2]; - } -} - - -static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1) -{ - if (j->node[0].body) { - dMULTIPLY0_331 (result,j->node[0].body->R,axis1); - } -} - - -static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2) -{ - if (j->node[1].body) { - dMULTIPLY0_331 (result,j->node[1].body->R,axis2); - } - else { - result[0] = axis2[0]; - result[1] = axis2[1]; - result[2] = axis2[2]; - } -} - - -static dReal getHingeAngleFromRelativeQuat (dQuaternion qrel, dVector3 axis) -{ - // the angle between the two bodies is extracted from the quaternion that - // represents the relative rotation between them. recall that a quaternion - // q is: - // [s,v] = [ cos(theta/2) , sin(theta/2) * u ] - // where s is a scalar and v is a 3-vector. u is a unit length axis and - // theta is a rotation along that axis. we can get theta/2 by: - // theta/2 = atan2 ( sin(theta/2) , cos(theta/2) ) - // but we can't get sin(theta/2) directly, only its absolute value, i.e.: - // |v| = |sin(theta/2)| * |u| - // = |sin(theta/2)| - // using this value will have a strange effect. recall that there are two - // quaternion representations of a given rotation, q and -q. typically as - // a body rotates along the axis it will go through a complete cycle using - // one representation and then the next cycle will use the other - // representation. this corresponds to u pointing in the direction of the - // hinge axis and then in the opposite direction. the result is that theta - // will appear to go "backwards" every other cycle. here is a fix: if u - // points "away" from the direction of the hinge (motor) axis (i.e. more - // than 90 degrees) then use -q instead of q. this represents the same - // rotation, but results in the cos(theta/2) value being sign inverted. - - // extract the angle from the quaternion. cost2 = cos(theta/2), - // sint2 = |sin(theta/2)| - dReal cost2 = qrel[0]; - dReal sint2 = dSqrt (qrel[1]*qrel[1]+qrel[2]*qrel[2]+qrel[3]*qrel[3]); - dReal theta = (dDOT(qrel+1,axis) >= 0) ? // @@@ padding assumptions - (2 * dAtan2(sint2,cost2)) : // if u points in direction of axis - (2 * dAtan2(sint2,-cost2)); // if u points in opposite direction - - // the angle we get will be between 0..2*pi, but we want to return angles - // between -pi..pi - if (theta > M_PI) theta -= 2*M_PI; - - // the angle we've just extracted has the wrong sign - theta = -theta; - - return theta; -} - - -// given two bodies (body1,body2), the hinge axis that they are connected by -// w.r.t. body1 (axis), and the initial relative orientation between them -// (q_initial), return the relative rotation angle. the initial relative -// orientation corresponds to an angle of zero. if body2 is 0 then measure the -// angle between body1 and the static frame. -// -// this will not return the correct angle if the bodies rotate along any axis -// other than the given hinge axis. - -static dReal getHingeAngle (dxBody *body1, dxBody *body2, dVector3 axis, - dQuaternion q_initial) -{ - // get qrel = relative rotation between the two bodies - dQuaternion qrel; - if (body2) { - dQuaternion qq; - dQMultiply1 (qq,body1->q,body2->q); - dQMultiply2 (qrel,qq,q_initial); - } - else { - // pretend body2->q is the identity - dQMultiply3 (qrel,body1->q,q_initial); - } - - return getHingeAngleFromRelativeQuat (qrel,axis); -} - -//**************************************************************************** -// dxJointLimitMotor - -void dxJointLimitMotor::init (dxWorld *world) -{ - vel = 0; - fmax = 0; - lostop = -dInfinity; - histop = dInfinity; - fudge_factor = 1; - normal_cfm = world->global_cfm; - stop_erp = world->global_erp; - stop_cfm = world->global_cfm; - bounce = 0; - limit = 0; - limit_err = 0; -} - - -void dxJointLimitMotor::set (int num, dReal value) -{ - switch (num) { - case dParamLoStop: - if (value <= histop) lostop = value; - break; - case dParamHiStop: - if (value >= lostop) histop = value; - break; - case dParamVel: - vel = value; - break; - case dParamFMax: - if (value >= 0) fmax = value; - break; - case dParamFudgeFactor: - if (value >= 0 && value <= 1) fudge_factor = value; - break; - case dParamBounce: - bounce = value; - break; - case dParamCFM: - normal_cfm = value; - break; - case dParamStopERP: - stop_erp = value; - break; - case dParamStopCFM: - stop_cfm = value; - break; - } -} - - -dReal dxJointLimitMotor::get (int num) -{ - switch (num) { - case dParamLoStop: return lostop; - case dParamHiStop: return histop; - case dParamVel: return vel; - case dParamFMax: return fmax; - case dParamFudgeFactor: return fudge_factor; - case dParamBounce: return bounce; - case dParamCFM: return normal_cfm; - case dParamStopERP: return stop_erp; - case dParamStopCFM: return stop_cfm; - default: return 0; - } -} - - -int dxJointLimitMotor::testRotationalLimit (dReal angle) -{ - if (angle <= lostop) { - limit = 1; - limit_err = angle - lostop; - return 1; - } - else if (angle >= histop) { - limit = 2; - limit_err = angle - histop; - return 1; - } - else { - limit = 0; - return 0; - } -} - - -int dxJointLimitMotor::addLimot (dxJoint *joint, - dxJoint::Info2 *info, int row, - dVector3 ax1, int rotational) -{ - int srow = row * info->rowskip; - - // if the joint is powered, or has joint limits, add in the extra row - int powered = fmax > 0; - if (powered || limit) { - dReal *J1 = rotational ? info->J1a : info->J1l; - dReal *J2 = rotational ? info->J2a : info->J2l; - - J1[srow+0] = ax1[0]; - J1[srow+1] = ax1[1]; - J1[srow+2] = ax1[2]; - if (joint->node[1].body) { - J2[srow+0] = -ax1[0]; - J2[srow+1] = -ax1[1]; - J2[srow+2] = -ax1[2]; - } - - // linear limot torque decoupling step: - // - // if this is a linear limot (e.g. from a slider), we have to be careful - // that the linear constraint forces (+/- ax1) applied to the two bodies - // do not create a torque couple. in other words, the points that the - // constraint force is applied at must lie along the same ax1 axis. - // a torque couple will result in powered or limited slider-jointed free - // bodies from gaining angular momentum. - // the solution used here is to apply the constraint forces at the point - // halfway between the body centers. there is no penalty (other than an - // extra tiny bit of computation) in doing this adjustment. note that we - // only need to do this if the constraint connects two bodies. - - dVector3 ltd; // Linear Torque Decoupling vector (a torque) - if (!rotational && joint->node[1].body) { - dVector3 c; - c[0]=REAL(0.5)*(joint->node[1].body->pos[0]-joint->node[0].body->pos[0]); - c[1]=REAL(0.5)*(joint->node[1].body->pos[1]-joint->node[0].body->pos[1]); - c[2]=REAL(0.5)*(joint->node[1].body->pos[2]-joint->node[0].body->pos[2]); - dCROSS (ltd,=,c,ax1); - info->J1a[srow+0] = ltd[0]; - info->J1a[srow+1] = ltd[1]; - info->J1a[srow+2] = ltd[2]; - info->J2a[srow+0] = ltd[0]; - info->J2a[srow+1] = ltd[1]; - info->J2a[srow+2] = ltd[2]; - } - - // if we're limited low and high simultaneously, the joint motor is - // ineffective - if (limit && (lostop == histop)) powered = 0; - - if (powered) { - info->cfm[row] = normal_cfm; - if (! limit) { - info->c[row] = vel; - info->lo[row] = -fmax; - info->hi[row] = fmax; - } - else { - // the joint is at a limit, AND is being powered. if the joint is - // being powered into the limit then we apply the maximum motor force - // in that direction, because the motor is working against the - // immovable limit. if the joint is being powered away from the limit - // then we have problems because actually we need *two* lcp - // constraints to handle this case. so we fake it and apply some - // fraction of the maximum force. the fraction to use can be set as - // a fudge factor. - - dReal fm = fmax; - if (vel > 0) fm = -fm; - - // if we're powering away from the limit, apply the fudge factor - if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) fm *= fudge_factor; - - if (rotational) { - dBodyAddTorque (joint->node[0].body,-fm*ax1[0],-fm*ax1[1], - -fm*ax1[2]); - if (joint->node[1].body) - dBodyAddTorque (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]); - } - else { - dBodyAddForce (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],-fm*ax1[2]); - if (joint->node[1].body) { - dBodyAddForce (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]); - - // linear limot torque decoupling step: refer to above discussion - dBodyAddTorque (joint->node[0].body,-fm*ltd[0],-fm*ltd[1], - -fm*ltd[2]); - dBodyAddTorque (joint->node[1].body,-fm*ltd[0],-fm*ltd[1], - -fm*ltd[2]); - } - } - } - } - - if (limit) { - dReal k = info->fps * stop_erp; - info->c[row] = -k * limit_err; - info->cfm[row] = stop_cfm; - - if (lostop == histop) { - // limited low and high simultaneously - info->lo[row] = -dInfinity; - info->hi[row] = dInfinity; - } - else { - if (limit == 1) { - // low limit - info->lo[row] = 0; - info->hi[row] = dInfinity; - } - else { - // high limit - info->lo[row] = -dInfinity; - info->hi[row] = 0; - } - - // deal with bounce - if (bounce > 0) { - // calculate joint velocity - dReal vel; - if (rotational) { - vel = dDOT(joint->node[0].body->avel,ax1); - if (joint->node[1].body) - vel -= dDOT(joint->node[1].body->avel,ax1); - } - else { - vel = dDOT(joint->node[0].body->lvel,ax1); - if (joint->node[1].body) - vel -= dDOT(joint->node[1].body->lvel,ax1); - } - - // only apply bounce if the velocity is incoming, and if the - // resulting c[] exceeds what we already have. - if (limit == 1) { - // low limit - if (vel < 0) { - dReal newc = -bounce * vel; - if (newc > info->c[row]) info->c[row] = newc; - } - } - else { - // high limit - all those computations are reversed - if (vel > 0) { - dReal newc = -bounce * vel; - if (newc < info->c[row]) info->c[row] = newc; - } - } - } - } - } - return 1; - } - else return 0; -} - -//**************************************************************************** -// ball and socket - -static void ballInit (dxJointBall *j) -{ - dSetZero (j->anchor1,4); - dSetZero (j->anchor2,4); -} - - -static void ballGetInfo1 (dxJointBall *j, dxJoint::Info1 *info) -{ - info->m = 3; - info->nub = 3; -} - - -static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info) -{ - setBall (joint,info,joint->anchor1,joint->anchor2); -} - - -extern "C" void dJointSetBallAnchor (dxJointBall *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball"); - setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); -} - - -extern "C" void dJointGetBallAnchor (dxJointBall *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball"); - if (joint->flags & dJOINT_REVERSE) - getAnchor2 (joint,result,joint->anchor2); - else - getAnchor (joint,result,joint->anchor1); -} - - -extern "C" void dJointGetBallAnchor2 (dxJointBall *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball"); - if (joint->flags & dJOINT_REVERSE) - getAnchor (joint,result,joint->anchor1); - else - getAnchor2 (joint,result,joint->anchor2); -} - - -dxJoint::Vtable __dball_vtable = { - sizeof(dxJointBall), - (dxJoint::init_fn*) ballInit, - (dxJoint::getInfo1_fn*) ballGetInfo1, - (dxJoint::getInfo2_fn*) ballGetInfo2, - dJointTypeBall}; - -//**************************************************************************** -// hinge - -static void hingeInit (dxJointHinge *j) -{ - dSetZero (j->anchor1,4); - dSetZero (j->anchor2,4); - dSetZero (j->axis1,4); - j->axis1[0] = 1; - dSetZero (j->axis2,4); - j->axis2[0] = 1; - dSetZero (j->qrel,4); - j->limot.init (j->world); -} - - -static void hingeGetInfo1 (dxJointHinge *j, dxJoint::Info1 *info) -{ - info->nub = 5; - - // see if joint is powered - if (j->limot.fmax > 0) - info->m = 6; // powered hinge needs an extra constraint row - else info->m = 5; - - // see if we're at a joint limit. - if ((j->limot.lostop >= -M_PI || j->limot.histop <= M_PI) && - j->limot.lostop <= j->limot.histop) { - dReal angle = getHingeAngle (j->node[0].body,j->node[1].body,j->axis1, - j->qrel); - if (j->limot.testRotationalLimit (angle)) info->m = 6; - } -} - - -static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info) -{ - // set the three ball-and-socket rows - setBall (joint,info,joint->anchor1,joint->anchor2); - - // set the two hinge rows. the hinge axis should be the only unconstrained - // rotational axis, the angular velocity of the two bodies perpendicular to - // the hinge axis should be equal. thus the constraint equations are - // p*w1 - p*w2 = 0 - // q*w1 - q*w2 = 0 - // where p and q are unit vectors normal to the hinge axis, and w1 and w2 - // are the angular velocity vectors of the two bodies. - - dVector3 ax1; // length 1 joint axis in global coordinates, from 1st body - dVector3 p,q; // plane space vectors for ax1 - dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); - dPlaneSpace (ax1,p,q); - - int s3=3*info->rowskip; - int s4=4*info->rowskip; - - info->J1a[s3+0] = p[0]; - info->J1a[s3+1] = p[1]; - info->J1a[s3+2] = p[2]; - info->J1a[s4+0] = q[0]; - info->J1a[s4+1] = q[1]; - info->J1a[s4+2] = q[2]; - - if (joint->node[1].body) { - info->J2a[s3+0] = -p[0]; - info->J2a[s3+1] = -p[1]; - info->J2a[s3+2] = -p[2]; - info->J2a[s4+0] = -q[0]; - info->J2a[s4+1] = -q[1]; - info->J2a[s4+2] = -q[2]; - } - - // compute the right hand side of the constraint equation. set relative - // body velocities along p and q to bring the hinge back into alignment. - // if ax1,ax2 are the unit length hinge axes as computed from body1 and - // body2, we need to rotate both bodies along the axis u = (ax1 x ax2). - // if `theta' is the angle between ax1 and ax2, we need an angular velocity - // along u to cover angle erp*theta in one step : - // |angular_velocity| = angle/time = erp*theta / stepsize - // = (erp*fps) * theta - // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| - // = (erp*fps) * theta * (ax1 x ax2) / sin(theta) - // ...as ax1 and ax2 are unit length. if theta is smallish, - // theta ~= sin(theta), so - // angular_velocity = (erp*fps) * (ax1 x ax2) - // ax1 x ax2 is in the plane space of ax1, so we project the angular - // velocity to p and q to find the right hand side. - - dVector3 ax2,b; - if (joint->node[1].body) { - dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); - } - else { - ax2[0] = joint->axis2[0]; - ax2[1] = joint->axis2[1]; - ax2[2] = joint->axis2[2]; - } - dCROSS (b,=,ax1,ax2); - dReal k = info->fps * info->erp; - info->c[3] = k * dDOT(b,p); - info->c[4] = k * dDOT(b,q); - - // if the hinge is powered, or has joint limits, add in the stuff - joint->limot.addLimot (joint,info,5,ax1,1); -} - - -// compute initial relative rotation body1 -> body2, or env -> body1 - -static void hingeComputeInitialRelativeRotation (dxJointHinge *joint) -{ - if (joint->node[0].body) { - if (joint->node[1].body) { - dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); - } - else { - // set joint->qrel to the transpose of the first body q - joint->qrel[0] = joint->node[0].body->q[0]; - for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; - } - } -} - - -extern "C" void dJointSetHingeAnchor (dxJointHinge *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); - hingeComputeInitialRelativeRotation (joint); -} - - -extern "C" void dJointSetHingeAxis (dxJointHinge *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - setAxes (joint,x,y,z,joint->axis1,joint->axis2); - hingeComputeInitialRelativeRotation (joint); -} - - -extern "C" void dJointGetHingeAnchor (dxJointHinge *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - if (joint->flags & dJOINT_REVERSE) - getAnchor2 (joint,result,joint->anchor2); - else - getAnchor (joint,result,joint->anchor1); -} - - -extern "C" void dJointGetHingeAnchor2 (dxJointHinge *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - if (joint->flags & dJOINT_REVERSE) - getAnchor (joint,result,joint->anchor1); - else - getAnchor2 (joint,result,joint->anchor2); -} - - -extern "C" void dJointGetHingeAxis (dxJointHinge *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - getAxis (joint,result,joint->axis1); -} - - -extern "C" void dJointSetHingeParam (dxJointHinge *joint, - int parameter, dReal value) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - joint->limot.set (parameter,value); -} - - -extern "C" dReal dJointGetHingeParam (dxJointHinge *joint, int parameter) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - return joint->limot.get (parameter); -} - - -extern "C" dReal dJointGetHingeAngle (dxJointHinge *joint) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); - if (joint->node[0].body) { - dReal ang = getHingeAngle (joint->node[0].body,joint->node[1].body,joint->axis1, - joint->qrel); - if (joint->flags & dJOINT_REVERSE) - return -ang; - else - return ang; - } - else return 0; -} - - -extern "C" dReal dJointGetHingeAngleRate (dxJointHinge *joint) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge"); - if (joint->node[0].body) { - dVector3 axis; - dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1); - dReal rate = dDOT(axis,joint->node[0].body->avel); - if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); - if (joint->flags & dJOINT_REVERSE) rate = - rate; - return rate; - } - else return 0; -} - - -extern "C" void dJointAddHingeTorque (dxJointHinge *joint, dReal torque) -{ - dVector3 axis; - dAASSERT(joint); - dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge"); - - if (joint->flags & dJOINT_REVERSE) - torque = -torque; - - getAxis (joint,axis,joint->axis1); - axis[0] *= torque; - axis[1] *= torque; - axis[2] *= torque; - - if (joint->node[0].body != 0) - dBodyAddTorque (joint->node[0].body, axis[0], axis[1], axis[2]); - if (joint->node[1].body != 0) - dBodyAddTorque(joint->node[1].body, -axis[0], -axis[1], -axis[2]); -} - - -dxJoint::Vtable __dhinge_vtable = { - sizeof(dxJointHinge), - (dxJoint::init_fn*) hingeInit, - (dxJoint::getInfo1_fn*) hingeGetInfo1, - (dxJoint::getInfo2_fn*) hingeGetInfo2, - dJointTypeHinge}; - -//**************************************************************************** -// slider - -static void sliderInit (dxJointSlider *j) -{ - dSetZero (j->axis1,4); - j->axis1[0] = 1; - dSetZero (j->qrel,4); - dSetZero (j->offset,4); - j->limot.init (j->world); -} - - -extern "C" dReal dJointGetSliderPosition (dxJointSlider *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - - // get axis1 in global coordinates - dVector3 ax1,q; - dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); - - if (joint->node[1].body) { - // get body2 + offset point in global coordinates - dMULTIPLY0_331 (q,joint->node[1].body->R,joint->offset); - for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - q[i] - - joint->node[1].body->pos[i]; - } - else { - for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - - joint->offset[i]; - - } - return dDOT(ax1,q); -} - - -extern "C" dReal dJointGetSliderPositionRate (dxJointSlider *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - - // get axis1 in global coordinates - dVector3 ax1; - dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); - - if (joint->node[1].body) { - return dDOT(ax1,joint->node[0].body->lvel) - - dDOT(ax1,joint->node[1].body->lvel); - } - else { - return dDOT(ax1,joint->node[0].body->lvel); - } -} - - -static void sliderGetInfo1 (dxJointSlider *j, dxJoint::Info1 *info) -{ - info->nub = 5; - - // see if joint is powered - if (j->limot.fmax > 0) - info->m = 6; // powered slider needs an extra constraint row - else info->m = 5; - - // see if we're at a joint limit. - j->limot.limit = 0; - if ((j->limot.lostop > -dInfinity || j->limot.histop < dInfinity) && - j->limot.lostop <= j->limot.histop) { - // measure joint position - dReal pos = dJointGetSliderPosition (j); - if (pos <= j->limot.lostop) { - j->limot.limit = 1; - j->limot.limit_err = pos - j->limot.lostop; - info->m = 6; - } - else if (pos >= j->limot.histop) { - j->limot.limit = 2; - j->limot.limit_err = pos - j->limot.histop; - info->m = 6; - } - } -} - - -static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info) -{ - int i,s = info->rowskip; - int s2=2*s,s3=3*s,s4=4*s; - - // pull out pos and R for both bodies. also get the `connection' - // vector pos2-pos1. - - dReal *pos1,*pos2,*R1,*R2; - dVector3 c; - pos1 = joint->node[0].body->pos; - R1 = joint->node[0].body->R; - if (joint->node[1].body) { - pos2 = joint->node[1].body->pos; - R2 = joint->node[1].body->R; - for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i]; - } - else { - pos2 = 0; - R2 = 0; - } - - // 3 rows to make body rotations equal - setFixedOrientation(joint, info, joint->qrel, 0); - - // remaining two rows. we want: vel2 = vel1 + w1 x c ... but this would - // result in three equations, so we project along the planespace vectors - // so that sliding along the slider axis is disregarded. for symmetry we - // also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2. - - dVector3 ax1; // joint axis in global coordinates (unit length) - dVector3 p,q; // plane space of ax1 - dMULTIPLY0_331 (ax1,R1,joint->axis1); - dPlaneSpace (ax1,p,q); - if (joint->node[1].body) { - dVector3 tmp; - dCROSS (tmp, = REAL(0.5) * ,c,p); - for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i]; - for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i]; - dCROSS (tmp, = REAL(0.5) * ,c,q); - for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i]; - for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i]; - for (i=0; i<3; i++) info->J2l[s3+i] = -p[i]; - for (i=0; i<3; i++) info->J2l[s4+i] = -q[i]; - } - for (i=0; i<3; i++) info->J1l[s3+i] = p[i]; - for (i=0; i<3; i++) info->J1l[s4+i] = q[i]; - - // compute last two elements of right hand side. we want to align the offset - // point (in body 2's frame) with the center of body 1. - dReal k = info->fps * info->erp; - if (joint->node[1].body) { - dVector3 ofs; // offset point in global coordinates - dMULTIPLY0_331 (ofs,R2,joint->offset); - for (i=0; i<3; i++) c[i] += ofs[i]; - info->c[3] = k * dDOT(p,c); - info->c[4] = k * dDOT(q,c); - } - else { - dVector3 ofs; // offset point in global coordinates - for (i=0; i<3; i++) ofs[i] = joint->offset[i] - pos1[i]; - info->c[3] = k * dDOT(p,ofs); - info->c[4] = k * dDOT(q,ofs); - } - - // if the slider is powered, or has joint limits, add in the extra row - joint->limot.addLimot (joint,info,5,ax1,0); -} - - -extern "C" void dJointSetSliderAxis (dxJointSlider *joint, - dReal x, dReal y, dReal z) -{ - int i; - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - setAxes (joint,x,y,z,joint->axis1,0); - - // compute initial relative rotation body1 -> body2, or env -> body1 - // also compute center of body1 w.r.t body 2 - if (joint->node[1].body) { - dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); - dVector3 c; - for (i=0; i<3; i++) - c[i] = joint->node[0].body->pos[i] - joint->node[1].body->pos[i]; - dMULTIPLY1_331 (joint->offset,joint->node[1].body->R,c); - } - else { - // set joint->qrel to the transpose of the first body's q - joint->qrel[0] = joint->node[0].body->q[0]; - for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; - for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->pos[i]; - } -} - - -extern "C" void dJointGetSliderAxis (dxJointSlider *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - getAxis (joint,result,joint->axis1); -} - - -extern "C" void dJointSetSliderParam (dxJointSlider *joint, - int parameter, dReal value) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - joint->limot.set (parameter,value); -} - - -extern "C" dReal dJointGetSliderParam (dxJointSlider *joint, int parameter) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - return joint->limot.get (parameter); -} - - -extern "C" void dJointAddSliderForce (dxJointSlider *joint, dReal force) -{ - dVector3 axis; - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); - - if (joint->flags & dJOINT_REVERSE) - force -= force; - - getAxis (joint,axis,joint->axis1); - axis[0] *= force; - axis[1] *= force; - axis[2] *= force; - - if (joint->node[0].body != 0) - dBodyAddForce (joint->node[0].body,axis[0],axis[1],axis[2]); - if (joint->node[1].body != 0) - dBodyAddForce(joint->node[1].body, -axis[0], -axis[1], -axis[2]); -} - - -dxJoint::Vtable __dslider_vtable = { - sizeof(dxJointSlider), - (dxJoint::init_fn*) sliderInit, - (dxJoint::getInfo1_fn*) sliderGetInfo1, - (dxJoint::getInfo2_fn*) sliderGetInfo2, - dJointTypeSlider}; - -//**************************************************************************** -// contact - -static void contactInit (dxJointContact *j) -{ - // default frictionless contact. hmmm, this info gets overwritten straight - // away anyway, so why bother? -#if 0 /* so don't bother ;) */ - j->contact.surface.mode = 0; - j->contact.surface.mu = 0; - dSetZero (j->contact.geom.pos,4); - dSetZero (j->contact.geom.normal,4); - j->contact.geom.depth = 0; -#endif -} - - -static void contactGetInfo1 (dxJointContact *j, dxJoint::Info1 *info) -{ - // make sure mu's >= 0, then calculate number of constraint rows and number - // of unbounded rows. - int m = 1, nub=0; - if (j->contact.surface.mu < 0) j->contact.surface.mu = 0; - if (j->contact.surface.mode & dContactMu2) { - if (j->contact.surface.mu > 0) m++; - if (j->contact.surface.mu2 < 0) j->contact.surface.mu2 = 0; - if (j->contact.surface.mu2 > 0) m++; - if (j->contact.surface.mu == dInfinity) nub ++; - if (j->contact.surface.mu2 == dInfinity) nub ++; - } - else { - if (j->contact.surface.mu > 0) m += 2; - if (j->contact.surface.mu == dInfinity) nub += 2; - } - - j->the_m = m; - info->m = m; - info->nub = nub; -} - - -static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info) -{ - int i,s = info->rowskip; - int s2 = 2*s; - - // get normal, with sign adjusted for body1/body2 polarity - dVector3 normal; - if (j->flags & dJOINT_REVERSE) { - normal[0] = - j->contact.geom.normal[0]; - normal[1] = - j->contact.geom.normal[1]; - normal[2] = - j->contact.geom.normal[2]; - } - else { - normal[0] = j->contact.geom.normal[0]; - normal[1] = j->contact.geom.normal[1]; - normal[2] = j->contact.geom.normal[2]; - } - normal[3] = 0; // @@@ hmmm - - // c1,c2 = contact points with respect to body PORs - dVector3 c1,c2; - for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->pos[i]; - - // set jacobian for normal - info->J1l[0] = normal[0]; - info->J1l[1] = normal[1]; - info->J1l[2] = normal[2]; - dCROSS (info->J1a,=,c1,normal); - if (j->node[1].body) { - for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] - - j->node[1].body->pos[i]; - info->J2l[0] = -normal[0]; - info->J2l[1] = -normal[1]; - info->J2l[2] = -normal[2]; - dCROSS (info->J2a,= -,c2,normal); - } - - // set right hand side and cfm value for normal - dReal erp = info->erp; - if (j->contact.surface.mode & dContactSoftERP) - erp = j->contact.surface.soft_erp; - dReal k = info->fps * erp; - info->c[0] = k*j->contact.geom.depth; - if (j->contact.surface.mode & dContactSoftCFM) - info->cfm[0] = j->contact.surface.soft_cfm; - - // deal with bounce - if (j->contact.surface.mode & dContactBounce) { - // calculate outgoing velocity (-ve for incoming contact) - dReal outgoing = dDOT(info->J1l,j->node[0].body->lvel) + - dDOT(info->J1a,j->node[0].body->avel); - if (j->node[1].body) { - outgoing += dDOT(info->J2l,j->node[1].body->lvel) + - dDOT(info->J2a,j->node[1].body->avel); - } - // only apply bounce if the outgoing velocity is greater than the - // threshold, and if the resulting c[0] exceeds what we already have. - if (j->contact.surface.bounce_vel >= 0 && - (-outgoing) > j->contact.surface.bounce_vel) { - dReal newc = - j->contact.surface.bounce * outgoing; - if (newc > info->c[0]) info->c[0] = newc; - } - } - - // set LCP limits for normal - info->lo[0] = 0; - info->hi[0] = dInfinity; - - // now do jacobian for tangential forces - dVector3 t1,t2; // two vectors tangential to normal - - // first friction direction - if (j->the_m >= 2) { - if (j->contact.surface.mode & dContactFDir1) { // use fdir1 ? - t1[0] = j->contact.fdir1[0]; - t1[1] = j->contact.fdir1[1]; - t1[2] = j->contact.fdir1[2]; - dCROSS (t2,=,normal,t1); - } - else { - dPlaneSpace (normal,t1,t2); - } - info->J1l[s+0] = t1[0]; - info->J1l[s+1] = t1[1]; - info->J1l[s+2] = t1[2]; - dCROSS (info->J1a+s,=,c1,t1); - if (j->node[1].body) { - info->J2l[s+0] = -t1[0]; - info->J2l[s+1] = -t1[1]; - info->J2l[s+2] = -t1[2]; - dCROSS (info->J2a+s,= -,c2,t1); - } - // set right hand side - if (j->contact.surface.mode & dContactMotion1) { - info->c[1] = j->contact.surface.motion1; - } - // set LCP bounds and friction index. this depends on the approximation - // mode - info->lo[1] = -j->contact.surface.mu; - info->hi[1] = j->contact.surface.mu; - if (j->contact.surface.mode & dContactApprox1_1) info->findex[1] = 0; - - // set slip (constraint force mixing) - if (j->contact.surface.mode & dContactSlip1) - info->cfm[1] = j->contact.surface.slip1; - } - - // second friction direction - if (j->the_m >= 3) { - info->J1l[s2+0] = t2[0]; - info->J1l[s2+1] = t2[1]; - info->J1l[s2+2] = t2[2]; - dCROSS (info->J1a+s2,=,c1,t2); - if (j->node[1].body) { - info->J2l[s2+0] = -t2[0]; - info->J2l[s2+1] = -t2[1]; - info->J2l[s2+2] = -t2[2]; - dCROSS (info->J2a+s2,= -,c2,t2); - } - // set right hand side - if (j->contact.surface.mode & dContactMotion2) { - info->c[2] = j->contact.surface.motion2; - } - // set LCP bounds and friction index. this depends on the approximation - // mode - if (j->contact.surface.mode & dContactMu2) { - info->lo[2] = -j->contact.surface.mu2; - info->hi[2] = j->contact.surface.mu2; - } - else { - info->lo[2] = -j->contact.surface.mu; - info->hi[2] = j->contact.surface.mu; - } - if (j->contact.surface.mode & dContactApprox1_2) info->findex[2] = 0; - - // set slip (constraint force mixing) - if (j->contact.surface.mode & dContactSlip2) - info->cfm[2] = j->contact.surface.slip2; - } -} - - -dxJoint::Vtable __dcontact_vtable = { - sizeof(dxJointContact), - (dxJoint::init_fn*) contactInit, - (dxJoint::getInfo1_fn*) contactGetInfo1, - (dxJoint::getInfo2_fn*) contactGetInfo2, - dJointTypeContact}; - -//**************************************************************************** -// hinge 2. note that this joint must be attached to two bodies for it to work - -static dReal measureHinge2Angle (dxJointHinge2 *joint) -{ - dVector3 a1,a2; - dMULTIPLY0_331 (a1,joint->node[1].body->R,joint->axis2); - dMULTIPLY1_331 (a2,joint->node[0].body->R,a1); - dReal x = dDOT(joint->v1,a2); - dReal y = dDOT(joint->v2,a2); - return -dAtan2 (y,x); -} - - -static void hinge2Init (dxJointHinge2 *j) -{ - dSetZero (j->anchor1,4); - dSetZero (j->anchor2,4); - dSetZero (j->axis1,4); - j->axis1[0] = 1; - dSetZero (j->axis2,4); - j->axis2[1] = 1; - j->c0 = 0; - j->s0 = 0; - - dSetZero (j->v1,4); - j->v1[0] = 1; - dSetZero (j->v2,4); - j->v2[1] = 1; - - j->limot1.init (j->world); - j->limot2.init (j->world); - - j->susp_erp = j->world->global_erp; - j->susp_cfm = j->world->global_cfm; - - j->flags |= dJOINT_TWOBODIES; -} - - -static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info) -{ - info->m = 4; - info->nub = 4; - - // see if we're powered or at a joint limit for axis 1 - int atlimit=0; - if ((j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) && - j->limot1.lostop <= j->limot1.histop) { - dReal angle = measureHinge2Angle (j); - if (j->limot1.testRotationalLimit (angle)) atlimit = 1; - } - if (atlimit || j->limot1.fmax > 0) info->m++; - - // see if we're powering axis 2 (we currently never limit this axis) - j->limot2.limit = 0; - if (j->limot2.fmax > 0) info->m++; -} - - -// macro that computes ax1,ax2 = axis 1 and 2 in global coordinates (they are -// relative to body 1 and 2 initially) and then computes the constrained -// rotational axis as the cross product of ax1 and ax2. -// the sin and cos of the angle between axis 1 and 2 is computed, this comes -// from dot and cross product rules. - -#define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \ - dVector3 ax1,ax2; \ - dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); \ - dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); \ - dCROSS (axis,=,ax1,ax2); \ - sin_angle = dSqrt (axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); \ - cos_angle = dDOT (ax1,ax2); - - -static void hinge2GetInfo2 (dxJointHinge2 *joint, dxJoint::Info2 *info) -{ - // get information we need to set the hinge row - dReal s,c; - dVector3 q; - HINGE2_GET_AXIS_INFO (q,s,c); - dNormalize3 (q); // @@@ quicker: divide q by s ? - - // set the three ball-and-socket rows (aligned to the suspension axis ax1) - setBall2 (joint,info,joint->anchor1,joint->anchor2,ax1,joint->susp_erp); - - // set the hinge row - int s3=3*info->rowskip; - info->J1a[s3+0] = q[0]; - info->J1a[s3+1] = q[1]; - info->J1a[s3+2] = q[2]; - if (joint->node[1].body) { - info->J2a[s3+0] = -q[0]; - info->J2a[s3+1] = -q[1]; - info->J2a[s3+2] = -q[2]; - } - - // compute the right hand side for the constrained rotational DOF. - // axis 1 and axis 2 are separated by an angle `theta'. the desired - // separation angle is theta0. sin(theta0) and cos(theta0) are recorded - // in the joint structure. the correcting angular velocity is: - // |angular_velocity| = angle/time = erp*(theta0-theta) / stepsize - // = (erp*fps) * (theta0-theta) - // (theta0-theta) can be computed using the following small-angle-difference - // approximation: - // theta0-theta ~= tan(theta0-theta) - // = sin(theta0-theta)/cos(theta0-theta) - // = (c*s0 - s*c0) / (c*c0 + s*s0) - // = c*s0 - s*c0 assuming c*c0 + s*s0 ~= 1 - // where c = cos(theta), s = sin(theta) - // c0 = cos(theta0), s0 = sin(theta0) - - dReal k = info->fps * info->erp; - info->c[3] = k * (joint->c0 * s - joint->s0 * c); - - // if the axis1 hinge is powered, or has joint limits, add in more stuff - int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1); - - // if the axis2 hinge is powered, add in more stuff - joint->limot2.addLimot (joint,info,row,ax2,1); - - // set parameter for the suspension - info->cfm[0] = joint->susp_cfm; -} - - -// compute vectors v1 and v2 (embedded in body1), used to measure angle -// between body 1 and body 2 - -static void makeHinge2V1andV2 (dxJointHinge2 *joint) -{ - if (joint->node[0].body) { - // get axis 1 and 2 in global coords - dVector3 ax1,ax2,v; - dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); - dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); - - // don't do anything if the axis1 or axis2 vectors are zero or the same - if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0) || - (ax2[0]==0 && ax2[1]==0 && ax2[2]==0) || - (ax1[0]==ax2[0] && ax1[1]==ax2[1] && ax1[2]==ax2[2])) return; - - // modify axis 2 so it's perpendicular to axis 1 - dReal k = dDOT(ax1,ax2); - for (int i=0; i<3; i++) ax2[i] -= k*ax1[i]; - dNormalize3 (ax2); - - // make v1 = modified axis2, v2 = axis1 x (modified axis2) - dCROSS (v,=,ax1,ax2); - dMULTIPLY1_331 (joint->v1,joint->node[0].body->R,ax2); - dMULTIPLY1_331 (joint->v2,joint->node[0].body->R,v); - } -} - - -extern "C" void dJointSetHinge2Anchor (dxJointHinge2 *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); - makeHinge2V1andV2 (joint); -} - - -extern "C" void dJointSetHinge2Axis1 (dxJointHinge2 *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[0].body) { - dReal q[4]; - q[0] = x; - q[1] = y; - q[2] = z; - q[3] = 0; - dNormalize3 (q); - dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q); - joint->axis1[3] = 0; - - // compute the sin and cos of the angle between axis 1 and axis 2 - dVector3 ax; - HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0); - } - makeHinge2V1andV2 (joint); -} - - -extern "C" void dJointSetHinge2Axis2 (dxJointHinge2 *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[1].body) { - dReal q[4]; - q[0] = x; - q[1] = y; - q[2] = z; - q[3] = 0; - dNormalize3 (q); - dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q); - joint->axis1[3] = 0; - - // compute the sin and cos of the angle between axis 1 and axis 2 - dVector3 ax; - HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0); - } - makeHinge2V1andV2 (joint); -} - - -extern "C" void dJointSetHinge2Param (dxJointHinge2 *joint, - int parameter, dReal value) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if ((parameter & 0xff00) == 0x100) { - joint->limot2.set (parameter & 0xff,value); - } - else { - if (parameter == dParamSuspensionERP) joint->susp_erp = value; - else if (parameter == dParamSuspensionCFM) joint->susp_cfm = value; - else joint->limot1.set (parameter,value); - } -} - - -extern "C" void dJointGetHinge2Anchor (dxJointHinge2 *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->flags & dJOINT_REVERSE) - getAnchor2 (joint,result,joint->anchor2); - else - getAnchor (joint,result,joint->anchor1); -} - - -extern "C" void dJointGetHinge2Anchor2 (dxJointHinge2 *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->flags & dJOINT_REVERSE) - getAnchor (joint,result,joint->anchor1); - else - getAnchor2 (joint,result,joint->anchor2); -} - - -extern "C" void dJointGetHinge2Axis1 (dxJointHinge2 *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[0].body) { - dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis1); - } -} - - -extern "C" void dJointGetHinge2Axis2 (dxJointHinge2 *joint, dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[1].body) { - dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis2); - } -} - - -extern "C" dReal dJointGetHinge2Param (dxJointHinge2 *joint, int parameter) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if ((parameter & 0xff00) == 0x100) { - return joint->limot2.get (parameter & 0xff); - } - else { - if (parameter == dParamSuspensionERP) return joint->susp_erp; - else if (parameter == dParamSuspensionCFM) return joint->susp_cfm; - else return joint->limot1.get (parameter); - } -} - - -extern "C" dReal dJointGetHinge2Angle1 (dxJointHinge2 *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[0].body) return measureHinge2Angle (joint); - else return 0; -} - - -extern "C" dReal dJointGetHinge2Angle1Rate (dxJointHinge2 *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[0].body) { - dVector3 axis; - dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1); - dReal rate = dDOT(axis,joint->node[0].body->avel); - if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); - return rate; - } - else return 0; -} - - -extern "C" dReal dJointGetHinge2Angle2Rate (dxJointHinge2 *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - if (joint->node[0].body && joint->node[1].body) { - dVector3 axis; - dMULTIPLY0_331 (axis,joint->node[1].body->R,joint->axis2); - dReal rate = dDOT(axis,joint->node[0].body->avel); - if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); - return rate; - } - else return 0; -} - - -extern "C" void dJointAddHinge2Torques (dxJointHinge2 *joint, dReal torque1, dReal torque2) -{ - dVector3 axis1, axis2; - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); - - if (joint->node[0].body && joint->node[1].body) { - dMULTIPLY0_331 (axis1,joint->node[0].body->R,joint->axis1); - dMULTIPLY0_331 (axis2,joint->node[1].body->R,joint->axis2); - axis1[0] = axis1[0] * torque1 + axis2[0] * torque2; - axis1[1] = axis1[1] * torque1 + axis2[1] * torque2; - axis1[2] = axis1[2] * torque1 + axis2[2] * torque2; - dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]); - dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]); - } -} - - -dxJoint::Vtable __dhinge2_vtable = { - sizeof(dxJointHinge2), - (dxJoint::init_fn*) hinge2Init, - (dxJoint::getInfo1_fn*) hinge2GetInfo1, - (dxJoint::getInfo2_fn*) hinge2GetInfo2, - dJointTypeHinge2}; - -//**************************************************************************** -// universal - -// I just realized that the universal joint is equivalent to a hinge 2 joint with -// perfectly stiff suspension. By comparing the hinge 2 implementation to -// the universal implementation, you may be able to improve this -// implementation (or, less likely, the hinge2 implementation). - -static void universalInit (dxJointUniversal *j) -{ - dSetZero (j->anchor1,4); - dSetZero (j->anchor2,4); - dSetZero (j->axis1,4); - j->axis1[0] = 1; - dSetZero (j->axis2,4); - j->axis2[1] = 1; - dSetZero(j->qrel1,4); - dSetZero(j->qrel2,4); - j->limot1.init (j->world); - j->limot2.init (j->world); -} - - -static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2) -{ - // This says "ax1 = joint->node[0].body->R * joint->axis1" - dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); - - if (joint->node[1].body) { - dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); - } - else { - ax2[0] = joint->axis2[0]; - ax2[1] = joint->axis2[1]; - ax2[2] = joint->axis2[2]; - } -} - - -static dReal getUniversalAngle1(dxJointUniversal *joint) -{ - if (joint->node[0].body) { - // length 1 joint axis in global coordinates, from each body - dVector3 ax1, ax2; - dMatrix3 R; - dQuaternion qcross, qq, qrel; - - getUniversalAxes (joint,ax1,ax2); - - // It should be possible to get both angles without explicitly - // constructing the rotation matrix of the cross. Basically, - // orientation of the cross about axis1 comes from body 2, - // about axis 2 comes from body 1, and the perpendicular - // axis can come from the two bodies somehow. (We don't really - // want to assume it's 90 degrees, because in general the - // constraints won't be perfectly satisfied, or even very well - // satisfied.) - // - // However, we'd need a version of getHingeAngleFromRElativeQuat() - // that CAN handle when its relative quat is rotated along a direction - // other than the given axis. What I have here works, - // although it's probably much slower than need be. - - dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); - dRtoQ (R,qcross); - - // This code is essential the same as getHingeAngle(), see the comments - // there for details. - - // get qrel = relative rotation between node[0] and the cross - dQMultiply1 (qq,joint->node[0].body->q,qcross); - dQMultiply2 (qrel,qq,joint->qrel1); - - return getHingeAngleFromRelativeQuat(qrel, joint->axis1); - } - return 0; -} - - -static dReal getUniversalAngle2(dxJointUniversal *joint) -{ - if (joint->node[0].body) { - // length 1 joint axis in global coordinates, from each body - dVector3 ax1, ax2; - dMatrix3 R; - dQuaternion qcross, qq, qrel; - - getUniversalAxes (joint,ax1,ax2); - - // It should be possible to get both angles without explicitly - // constructing the rotation matrix of the cross. Basically, - // orientation of the cross about axis1 comes from body 2, - // about axis 2 comes from body 1, and the perpendicular - // axis can come from the two bodies somehow. (We don't really - // want to assume it's 90 degrees, because in general the - // constraints won't be perfectly satisfied, or even very well - // satisfied.) - // - // However, we'd need a version of getHingeAngleFromRElativeQuat() - // that CAN handle when its relative quat is rotated along a direction - // other than the given axis. What I have here works, - // although it's probably much slower than need be. - - dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); - dRtoQ(R, qcross); - - if (joint->node[1].body) { - dQMultiply1 (qq, joint->node[1].body->q, qcross); - dQMultiply2 (qrel,qq,joint->qrel2); - } - else { - // pretend joint->node[1].body->q is the identity - dQMultiply2 (qrel,qcross, joint->qrel2); - } - - return - getHingeAngleFromRelativeQuat(qrel, joint->axis2); - } - return 0; -} - - -static void universalGetInfo1 (dxJointUniversal *j, dxJoint::Info1 *info) -{ - info->nub = 4; - info->m = 4; - - // see if we're powered or at a joint limit. - bool constraint1 = j->limot1.fmax > 0; - bool constraint2 = j->limot2.fmax > 0; - - bool limiting1 = (j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) && - j->limot1.lostop <= j->limot1.histop; - bool limiting2 = (j->limot2.lostop >= -M_PI || j->limot2.histop <= M_PI) && - j->limot2.lostop <= j->limot2.histop; - - // We need to call testRotationLimit() even if we're motored, since it - // records the result. - if (limiting1 || limiting2) { - dReal angle1, angle2; - angle1 = getUniversalAngle1(j); - angle2 = getUniversalAngle2(j); - if (limiting1 && j->limot1.testRotationalLimit (angle1)) constraint1 = true; - if (limiting2 && j->limot2.testRotationalLimit (angle2)) constraint2 = true; - } - if (constraint1) - info->m++; - if (constraint2) - info->m++; -} - - -static void universalGetInfo2 (dxJointUniversal *joint, dxJoint::Info2 *info) -{ - // set the three ball-and-socket rows - setBall (joint,info,joint->anchor1,joint->anchor2); - - // set the universal joint row. the angular velocity about an axis - // perpendicular to both joint axes should be equal. thus the constraint - // equation is - // p*w1 - p*w2 = 0 - // where p is a vector normal to both joint axes, and w1 and w2 - // are the angular velocity vectors of the two bodies. - - // length 1 joint axis in global coordinates, from each body - dVector3 ax1, ax2; - dVector3 ax2_temp; - // length 1 vector perpendicular to ax1 and ax2. Neither body can rotate - // about this. - dVector3 p; - dReal k; - - getUniversalAxes(joint, ax1, ax2); - k = dDOT(ax1, ax2); - ax2_temp[0] = ax2[0] - k*ax1[0]; - ax2_temp[1] = ax2[1] - k*ax1[1]; - ax2_temp[2] = ax2[2] - k*ax1[2]; - dCROSS(p, =, ax1, ax2_temp); - dNormalize3(p); - - int s3=3*info->rowskip; - - info->J1a[s3+0] = p[0]; - info->J1a[s3+1] = p[1]; - info->J1a[s3+2] = p[2]; - - if (joint->node[1].body) { - info->J2a[s3+0] = -p[0]; - info->J2a[s3+1] = -p[1]; - info->J2a[s3+2] = -p[2]; - } - - // compute the right hand side of the constraint equation. set relative - // body velocities along p to bring the axes back to perpendicular. - // If ax1, ax2 are unit length joint axes as computed from body1 and - // body2, we need to rotate both bodies along the axis p. If theta - // is the angle between ax1 and ax2, we need an angular velocity - // along p to cover the angle erp * (theta - Pi/2) in one step: - // - // |angular_velocity| = angle/time = erp*(theta - Pi/2) / stepsize - // = (erp*fps) * (theta - Pi/2) - // - // if theta is close to Pi/2, - // theta - Pi/2 ~= cos(theta), so - // |angular_velocity| ~= (erp*fps) * (ax1 dot ax2) - - info->c[3] = info->fps * info->erp * - dDOT(ax1, ax2); - - // if the first angle is powered, or has joint limits, add in the stuff - int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1); - - // if the second angle is powered, or has joint limits, add in more stuff - joint->limot2.addLimot (joint,info,row,ax2,1); -} - - -static void universalComputeInitialRelativeRotations (dxJointUniversal *joint) -{ - if (joint->node[0].body) { - dVector3 ax1, ax2; - dMatrix3 R; - dQuaternion qcross; - - getUniversalAxes(joint, ax1, ax2); - - // Axis 1. - dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); - dRtoQ(R, qcross); - dQMultiply1 (joint->qrel1, joint->node[0].body->q, qcross); - - // Axis 2. - dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); - dRtoQ(R, qcross); - if (joint->node[1].body) { - dQMultiply1 (joint->qrel2, joint->node[1].body->q, qcross); - } - else { - // set joint->qrel to qcross - for (int i=0; i<4; i++) joint->qrel2[i] = qcross[i]; - } - } -} - - -extern "C" void dJointSetUniversalAnchor (dxJointUniversal *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); - universalComputeInitialRelativeRotations(joint); -} - - -extern "C" void dJointSetUniversalAxis1 (dxJointUniversal *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - setAxes (joint,x,y,z,NULL,joint->axis2); - else - setAxes (joint,x,y,z,joint->axis1,NULL); - universalComputeInitialRelativeRotations(joint); -} - - -extern "C" void dJointSetUniversalAxis2 (dxJointUniversal *joint, - dReal x, dReal y, dReal z) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - setAxes (joint,x,y,z,joint->axis1,NULL); - else - setAxes (joint,x,y,z,NULL,joint->axis2); - universalComputeInitialRelativeRotations(joint); -} - - -extern "C" void dJointGetUniversalAnchor (dxJointUniversal *joint, - dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - getAnchor2 (joint,result,joint->anchor2); - else - getAnchor (joint,result,joint->anchor1); -} - - -extern "C" void dJointGetUniversalAnchor2 (dxJointUniversal *joint, - dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - getAnchor (joint,result,joint->anchor1); - else - getAnchor2 (joint,result,joint->anchor2); -} - - -extern "C" void dJointGetUniversalAxis1 (dxJointUniversal *joint, - dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - getAxis2 (joint,result,joint->axis2); - else - getAxis (joint,result,joint->axis1); -} - - -extern "C" void dJointGetUniversalAxis2 (dxJointUniversal *joint, - dVector3 result) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(result,"bad result argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - getAxis (joint,result,joint->axis1); - else - getAxis2 (joint,result,joint->axis2); -} - - -extern "C" void dJointSetUniversalParam (dxJointUniversal *joint, - int parameter, dReal value) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if ((parameter & 0xff00) == 0x100) { - joint->limot2.set (parameter & 0xff,value); - } - else { - joint->limot1.set (parameter,value); - } -} - - -extern "C" dReal dJointGetUniversalParam (dxJointUniversal *joint, int parameter) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if ((parameter & 0xff00) == 0x100) { - return joint->limot2.get (parameter & 0xff); - } - else { - return joint->limot1.get (parameter); - } -} - - -extern "C" dReal dJointGetUniversalAngle1 (dxJointUniversal *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - return getUniversalAngle2 (joint); - else - return getUniversalAngle1 (joint); -} - - -extern "C" dReal dJointGetUniversalAngle2 (dxJointUniversal *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - if (joint->flags & dJOINT_REVERSE) - return getUniversalAngle1 (joint); - else - return getUniversalAngle2 (joint); -} - - -extern "C" dReal dJointGetUniversalAngle1Rate (dxJointUniversal *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - - if (joint->node[0].body) { - dVector3 axis; - - if (joint->flags & dJOINT_REVERSE) - getAxis2 (joint,axis,joint->axis2); - else - getAxis (joint,axis,joint->axis1); - - dReal rate = dDOT(axis, joint->node[0].body->avel); - if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel); - return rate; - } - return 0; -} - - -extern "C" dReal dJointGetUniversalAngle2Rate (dxJointUniversal *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - - if (joint->node[0].body) { - dVector3 axis; - - if (joint->flags & dJOINT_REVERSE) - getAxis (joint,axis,joint->axis1); - else - getAxis2 (joint,axis,joint->axis2); - - dReal rate = dDOT(axis, joint->node[0].body->avel); - if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel); - return rate; - } - return 0; -} - - -extern "C" void dJointAddUniversalTorques (dxJointUniversal *joint, dReal torque1, dReal torque2) -{ - dVector3 axis1, axis2; - dAASSERT(joint); - dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); - - if (joint->flags & dJOINT_REVERSE) { - dReal temp = torque1; - torque1 = - torque2; - torque2 = - temp; - } - - getAxis (joint,axis1,joint->axis1); - getAxis2 (joint,axis2,joint->axis2); - axis1[0] = axis1[0] * torque1 + axis2[0] * torque2; - axis1[1] = axis1[1] * torque1 + axis2[1] * torque2; - axis1[2] = axis1[2] * torque1 + axis2[2] * torque2; - - if (joint->node[0].body != 0) - dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]); - if (joint->node[1].body != 0) - dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]); -} - - - - - -dxJoint::Vtable __duniversal_vtable = { - sizeof(dxJointUniversal), - (dxJoint::init_fn*) universalInit, - (dxJoint::getInfo1_fn*) universalGetInfo1, - (dxJoint::getInfo2_fn*) universalGetInfo2, - dJointTypeUniversal}; - -//**************************************************************************** -// angular motor - -static void amotorInit (dxJointAMotor *j) -{ - int i; - j->num = 0; - j->mode = dAMotorUser; - for (i=0; i<3; i++) { - j->rel[i] = 0; - dSetZero (j->axis[i],4); - j->limot[i].init (j->world); - j->angle[i] = 0; - } - dSetZero (j->reference1,4); - dSetZero (j->reference2,4); - - j->flags |= dJOINT_TWOBODIES; -} - - -// compute the 3 axes in global coordinates - -static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3]) -{ - if (joint->mode == dAMotorEuler) { - // special handling for euler mode - dMULTIPLY0_331 (ax[0],joint->node[0].body->R,joint->axis[0]); - dMULTIPLY0_331 (ax[2],joint->node[1].body->R,joint->axis[2]); - dCROSS (ax[1],=,ax[2],ax[0]); - dNormalize3 (ax[1]); - } - else { - for (int i=0; i < joint->num; i++) { - if (joint->rel[i] == 1) { - // relative to b1 - dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]); - } - if (joint->rel[i] == 2) { - // relative to b2 - dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]); - } - else { - // global - just copy it - ax[i][0] = joint->axis[i][0]; - ax[i][1] = joint->axis[i][1]; - ax[i][2] = joint->axis[i][2]; - } - } - } -} - - -static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3]) -{ - // assumptions: - // global axes already calculated --> ax - // axis[0] is relative to body 1 --> global ax[0] - // axis[2] is relative to body 2 --> global ax[2] - // ax[1] = ax[2] x ax[0] - // original ax[0] and ax[2] are perpendicular - // reference1 is perpendicular to ax[0] (in body 1 frame) - // reference2 is perpendicular to ax[2] (in body 2 frame) - // all ax[] and reference vectors are unit length - - // calculate references in global frame - dVector3 ref1,ref2; - dMULTIPLY0_331 (ref1,joint->node[0].body->R,joint->reference1); - dMULTIPLY0_331 (ref2,joint->node[1].body->R,joint->reference2); - - // get q perpendicular to both ax[0] and ref1, get first euler angle - dVector3 q; - dCROSS (q,=,ax[0],ref1); - joint->angle[0] = -dAtan2 (dDOT(ax[2],q),dDOT(ax[2],ref1)); - - // get q perpendicular to both ax[0] and ax[1], get second euler angle - dCROSS (q,=,ax[0],ax[1]); - joint->angle[1] = -dAtan2 (dDOT(ax[2],ax[0]),dDOT(ax[2],q)); - - // get q perpendicular to both ax[1] and ax[2], get third euler angle - dCROSS (q,=,ax[1],ax[2]); - joint->angle[2] = -dAtan2 (dDOT(ref2,ax[1]), dDOT(ref2,q)); -} - - -// set the reference vectors as follows: -// * reference1 = current axis[2] relative to body 1 -// * reference2 = current axis[0] relative to body 2 -// this assumes that: -// * axis[0] is relative to body 1 -// * axis[2] is relative to body 2 - -static void amotorSetEulerReferenceVectors (dxJointAMotor *j) -{ - if (j->node[0].body && j->node[1].body) { - dVector3 r; // axis[2] and axis[0] in global coordinates - dMULTIPLY0_331 (r,j->node[1].body->R,j->axis[2]); - dMULTIPLY1_331 (j->reference1,j->node[0].body->R,r); - dMULTIPLY0_331 (r,j->node[0].body->R,j->axis[0]); - dMULTIPLY1_331 (j->reference2,j->node[1].body->R,r); - } -} - - -static void amotorGetInfo1 (dxJointAMotor *j, dxJoint::Info1 *info) -{ - info->m = 0; - info->nub = 0; - - // compute the axes and angles, if in euler mode - if (j->mode == dAMotorEuler) { - dVector3 ax[3]; - amotorComputeGlobalAxes (j,ax); - amotorComputeEulerAngles (j,ax); - } - - // see if we're powered or at a joint limit for each axis - for (int i=0; i < j->num; i++) { - if (j->limot[i].testRotationalLimit (j->angle[i]) || - j->limot[i].fmax > 0) { - info->m++; - } - } -} - - -static void amotorGetInfo2 (dxJointAMotor *joint, dxJoint::Info2 *info) -{ - int i; - - // compute the axes (if not global) - dVector3 ax[3]; - amotorComputeGlobalAxes (joint,ax); - - // in euler angle mode we do not actually constrain the angular velocity - // along the axes axis[0] and axis[2] (although we do use axis[1]) : - // - // to get constrain w2-w1 along ...not - // ------ --------------------- ------ - // d(angle[0])/dt = 0 ax[1] x ax[2] ax[0] - // d(angle[1])/dt = 0 ax[1] - // d(angle[2])/dt = 0 ax[0] x ax[1] ax[2] - // - // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0. - // to prove the result for angle[0], write the expression for angle[0] from - // GetInfo1 then take the derivative. to prove this for angle[2] it is - // easier to take the euler rate expression for d(angle[2])/dt with respect - // to the components of w and set that to 0. - - dVector3 *axptr[3]; - axptr[0] = &ax[0]; - axptr[1] = &ax[1]; - axptr[2] = &ax[2]; - - dVector3 ax0_cross_ax1; - dVector3 ax1_cross_ax2; - if (joint->mode == dAMotorEuler) { - dCROSS (ax0_cross_ax1,=,ax[0],ax[1]); - axptr[2] = &ax0_cross_ax1; - dCROSS (ax1_cross_ax2,=,ax[1],ax[2]); - axptr[0] = &ax1_cross_ax2; - } - - int row=0; - for (i=0; i < joint->num; i++) { - row += joint->limot[i].addLimot (joint,info,row,*(axptr[i]),1); - } -} - - -extern "C" void dJointSetAMotorNumAxes (dxJointAMotor *joint, int num) -{ - dAASSERT(joint && num >= 0 && num <= 3); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - if (joint->mode == dAMotorEuler) { - joint->num = 3; - } - else { - if (num < 0) num = 0; - if (num > 3) num = 3; - joint->num = num; - } -} - - -extern "C" void dJointSetAMotorAxis (dxJointAMotor *joint, int anum, int rel, - dReal x, dReal y, dReal z) -{ - dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - if (anum < 0) anum = 0; - if (anum > 2) anum = 2; - joint->rel[anum] = rel; - - // x,y,z is always in global coordinates regardless of rel, so we may have - // to convert it to be relative to a body - dVector3 r; - r[0] = x; - r[1] = y; - r[2] = z; - r[3] = 0; - if (rel > 0) { - if (rel==1) { - dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->R,r); - } - else { - dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->R,r); - } - } - else { - joint->axis[anum][0] = r[0]; - joint->axis[anum][1] = r[1]; - joint->axis[anum][2] = r[2]; - } - dNormalize3 (joint->axis[anum]); - if (joint->mode == dAMotorEuler) amotorSetEulerReferenceVectors (joint); -} - - -extern "C" void dJointSetAMotorAngle (dxJointAMotor *joint, int anum, - dReal angle) -{ - dAASSERT(joint && anum >= 0 && anum < 3); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - if (joint->mode == dAMotorUser) { - if (anum < 0) anum = 0; - if (anum > 3) anum = 3; - joint->angle[anum] = angle; - } -} - - -extern "C" void dJointSetAMotorParam (dxJointAMotor *joint, int parameter, - dReal value) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - int anum = parameter >> 8; - if (anum < 0) anum = 0; - if (anum > 2) anum = 2; - parameter &= 0xff; - joint->limot[anum].set (parameter, value); -} - - -extern "C" void dJointSetAMotorMode (dxJointAMotor *joint, int mode) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - joint->mode = mode; - if (joint->mode == dAMotorEuler) { - joint->num = 3; - amotorSetEulerReferenceVectors (joint); - } -} - - -extern "C" int dJointGetAMotorNumAxes (dxJointAMotor *joint) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - return joint->num; -} - - -extern "C" void dJointGetAMotorAxis (dxJointAMotor *joint, int anum, - dVector3 result) -{ - dAASSERT(joint && anum >= 0 && anum < 3); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - if (anum < 0) anum = 0; - if (anum > 2) anum = 2; - if (joint->rel[anum] > 0) { - if (joint->rel[anum]==1) { - dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis[anum]); - } - else { - dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis[anum]); - } - } - else { - result[0] = joint->axis[anum][0]; - result[1] = joint->axis[anum][1]; - result[2] = joint->axis[anum][2]; - } -} - - -extern "C" int dJointGetAMotorAxisRel (dxJointAMotor *joint, int anum) -{ - dAASSERT(joint && anum >= 0 && anum < 3); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - if (anum < 0) anum = 0; - if (anum > 2) anum = 2; - return joint->rel[anum]; -} - - -extern "C" dReal dJointGetAMotorAngle (dxJointAMotor *joint, int anum) -{ - dAASSERT(joint && anum >= 0 && anum < 3); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - if (anum < 0) anum = 0; - if (anum > 3) anum = 3; - return joint->angle[anum]; -} - - -extern "C" dReal dJointGetAMotorAngleRate (dxJointAMotor *joint, int anum) -{ - // @@@ - dDebug (0,"not yet implemented"); - return 0; -} - - -extern "C" dReal dJointGetAMotorParam (dxJointAMotor *joint, int parameter) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - int anum = parameter >> 8; - if (anum < 0) anum = 0; - if (anum > 2) anum = 2; - parameter &= 0xff; - return joint->limot[anum].get (parameter); -} - - -extern "C" int dJointGetAMotorMode (dxJointAMotor *joint) -{ - dAASSERT(joint); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - return joint->mode; -} - - -extern "C" void dJointAddAMotorTorques (dxJointAMotor *joint, dReal torque1, dReal torque2, dReal torque3) -{ - dVector3 axes[3]; - dAASSERT(joint); - dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); - - if (joint->num == 0) - return; - dUASSERT((joint->flags & dJOINT_REVERSE) == 0, "dJointAddAMotorTorques not yet implemented for reverse AMotor joints"); - - amotorComputeGlobalAxes (joint,axes); - axes[0][0] *= torque1; - axes[0][1] *= torque1; - axes[0][2] *= torque1; - if (joint->num >= 2) { - axes[0][0] += axes[1][0] * torque2; - axes[0][1] += axes[1][0] * torque2; - axes[0][2] += axes[1][0] * torque2; - if (joint->num >= 3) { - axes[0][0] += axes[2][0] * torque3; - axes[0][1] += axes[2][0] * torque3; - axes[0][2] += axes[2][0] * torque3; - } - } - - if (joint->node[0].body != 0) - dBodyAddTorque (joint->node[0].body,axes[0][0],axes[0][1],axes[0][2]); - if (joint->node[1].body != 0) - dBodyAddTorque(joint->node[1].body, -axes[0][0], -axes[0][1], -axes[0][2]); -} - - -dxJoint::Vtable __damotor_vtable = { - sizeof(dxJointAMotor), - (dxJoint::init_fn*) amotorInit, - (dxJoint::getInfo1_fn*) amotorGetInfo1, - (dxJoint::getInfo2_fn*) amotorGetInfo2, - dJointTypeAMotor}; - -//**************************************************************************** -// fixed joint - -static void fixedInit (dxJointFixed *j) -{ - dSetZero (j->offset,4); - dSetZero (j->qrel,4); -} - - -static void fixedGetInfo1 (dxJointFixed *j, dxJoint::Info1 *info) -{ - info->m = 6; - info->nub = 6; -} - - -static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info) -{ - int s = info->rowskip; - - // Three rows for orientation - setFixedOrientation(joint, info, joint->qrel, 3); - - // Three rows for position. - // set jacobian - info->J1l[0] = 1; - info->J1l[s+1] = 1; - info->J1l[2*s+2] = 1; - - dVector3 ofs; - dMULTIPLY0_331 (ofs,joint->node[0].body->R,joint->offset); - if (joint->node[1].body) { - dCROSSMAT (info->J1a,ofs,s,+,-); - info->J2l[0] = -1; - info->J2l[s+1] = -1; - info->J2l[2*s+2] = -1; - } - - // set right hand side for the first three rows (linear) - dReal k = info->fps * info->erp; - if (joint->node[1].body) { - for (int j=0; j<3; j++) - info->c[j] = k * (joint->node[1].body->pos[j] - - joint->node[0].body->pos[j] + ofs[j]); - } - else { - for (int j=0; j<3; j++) - info->c[j] = k * (joint->offset[j] - joint->node[0].body->pos[j]); - } -} - - -extern "C" void dJointSetFixed (dxJointFixed *joint) -{ - dUASSERT(joint,"bad joint argument"); - dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not fixed"); - int i; - - // This code is taken from sJointSetSliderAxis(), we should really put the - // common code in its own function. - // compute the offset between the bodies - if (joint->node[0].body) { - if (joint->node[1].body) { - dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); - dReal ofs[4]; - for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i]; - for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i]; - dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs); - } - else { - // set joint->qrel to the transpose of the first body's q - joint->qrel[0] = joint->node[0].body->q[0]; - for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; - for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->pos[i]; - } - } -} - - -dxJoint::Vtable __dfixed_vtable = { - sizeof(dxJointFixed), - (dxJoint::init_fn*) fixedInit, - (dxJoint::getInfo1_fn*) fixedGetInfo1, - (dxJoint::getInfo2_fn*) fixedGetInfo2, - dJointTypeFixed}; - -//**************************************************************************** -// null joint - -static void nullGetInfo1 (dxJointNull *j, dxJoint::Info1 *info) -{ - info->m = 0; - info->nub = 0; -} - - -static void nullGetInfo2 (dxJointNull *joint, dxJoint::Info2 *info) -{ - dDebug (0,"this should never get called"); -} - - -dxJoint::Vtable __dnull_vtable = { - sizeof(dxJointNull), - (dxJoint::init_fn*) 0, - (dxJoint::getInfo1_fn*) nullGetInfo1, - (dxJoint::getInfo2_fn*) nullGetInfo2, - dJointTypeNull}; - -/******************** breakable joint contribution ***********************/ -extern "C" void dJointSetBreakable (dxJoint *joint, int b) { - dAASSERT(joint); - if (b) { - // we want this joint to be breakable but we must first check if it - // was already breakable - if (!joint->breakInfo) { - // allocate a dxJointBreakInfo struct - joint->breakInfo = new dxJointBreakInfo; - joint->breakInfo->flags = 0; - for (int i = 0; i < 3; i++) { - joint->breakInfo->b1MaxF[0] = 0; - joint->breakInfo->b1MaxT[0] = 0; - joint->breakInfo->b2MaxF[0] = 0; - joint->breakInfo->b2MaxT[0] = 0; - } - joint->breakInfo->callback = 0; - } - else { - // the joint was already breakable - return; - } - } - else { - // we want this joint to be unbreakable mut we must first check if - // it is alreay unbreakable - if (joint->breakInfo) { - // deallocate the dxJointBreakInfo struct - delete joint->breakInfo; - joint->breakInfo = 0; - } - else { - // the joint was already unbreakable - return; - } - } -} - -extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointSetBreakCallback called on unbreakable joint"); - } -# endif - joint->breakInfo->callback = callbackFunc; -} - -extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointSetBreakMode called on unbreakable joint"); - } -# endif - joint->breakInfo->flags = mode; -} - -extern "C" int dJointGetBreakMode (dxJoint *joint) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointGetBreakMode called on unbreakable joint"); - } -# endif - return joint->breakInfo->flags; -} - -extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointSetBreakForce called on unbreakable joint"); - } -# endif - if (body) { - joint->breakInfo->b2MaxF[0] = x; - joint->breakInfo->b2MaxF[1] = y; - joint->breakInfo->b2MaxF[2] = z; - } - else { - joint->breakInfo->b1MaxF[0] = x; - joint->breakInfo->b1MaxF[1] = y; - joint->breakInfo->b1MaxF[2] = z; - } -} - -extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointSetBreakTorque called on unbreakable joint"); - } -# endif - if (body) { - joint->breakInfo->b2MaxT[0] = x; - joint->breakInfo->b2MaxT[1] = y; - joint->breakInfo->b2MaxT[2] = z; - } - else { - joint->breakInfo->b1MaxT[0] = x; - joint->breakInfo->b1MaxT[1] = y; - joint->breakInfo->b1MaxT[2] = z; - } -} - -extern "C" int dJointIsBreakable (dxJoint *joint) { - dAASSERT(joint); - return joint->breakInfo != 0; -} - -extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointGetBreakForce called on unbreakable joint"); - } -# endif - if (body) - for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i]; - else - for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i]; -} - -extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) { - dAASSERT(joint); -# ifndef dNODEBUG - // only works for a breakable joint - if (!joint->breakInfo) { - dDebug (0, "dJointGetBreakTorque called on unbreakable joint"); - } -# endif - if (body) - for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i]; - else - for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i]; -} -/*************************************************************************/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/joint.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/joint.h deleted file mode 100644 index 05731194..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/joint.h +++ /dev/null @@ -1,282 +0,0 @@ -/************************************************************************* - * * - * 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 -#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 -}; - -/******************** breakable joint contribution ***********************/ -struct dxJointBreakInfo : public dBase { - int flags; - dReal b1MaxF[3]; // maximum force on body 1 - dReal b1MaxT[3]; // maximum torque on body 1 - dReal b2MaxF[3]; // maximum force on body 2 - dReal b2MaxT[3]; // maximum torque on body 2 - dJointBreakCallback *callback; // function that is called when this joint breaks -}; -/*************************************************************************/ - -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 - - /******************** breakable joint contribution ***********************/ - // optional break info structure. if this is not NULL the the joint is - // breakable. - dxJointBreakInfo *breakInfo; - /*************************************************************************/ -}; - - -// 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/objects.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/objects.h deleted file mode 100644 index de08391e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/objects.h +++ /dev/null @@ -1,252 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* world */ - -dWorldID dWorldCreate(); -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); - -/* StepFast1 functions */ - -void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations); -void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth); - -int dWorldGetAutoEnableDepthSF1(dWorldID); - -void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold); - -/* These functions are not yet implemented by ODE. */ -/* -dReal dBodyGetAutoDisableThresholdSF1(dBodyID); - -void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps); - -int dBodyGetAutoDisableStepsSF1(dBodyID); - -void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable); - -int dBodyGetAutoDisableSF1(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); - -/******************** breakable joint contribution ***********************/ -void dJointSetBreakable (dJointID, int b); -void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc); -void dJointSetBreakMode (dJointID, int mode); -int dJointGetBreakMode (dJointID); -void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z); -void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z); -int dJointIsBreakable (dJointID); -void dJointGetBreakForce (dJointID, int body, dReal *force); -void dJointGetBreakTorque (dJointID, int body, dReal *torque); -/*************************************************************************/ - -void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); -void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); -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 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); - -int dAreConnected (dBodyID, dBodyID); -int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/ode.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/ode.cpp deleted file mode 100644 index 7137960d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/ode.cpp +++ /dev/null @@ -1,1404 +0,0 @@ -/************************************************************************* - * * - * 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 _MSC_VER -#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" -#endif - -// this source file is mostly concerned with the data structures, not the -// numerics. - -#include "objects.h" -#include -#include "joint.h" -#include -#include -#include "step.h" -#include -#include - -// misc defines -#define ALLOCA dALLOCA16 - -//**************************************************************************** -// utility - -static inline void initObject (dObject *obj, dxWorld *w) -{ - obj->world = w; - obj->next = 0; - obj->tome = 0; - obj->userdata = 0; - obj->tag = 0; -} - - -// add an object `obj' to the list who's head pointer is pointed to by `first'. - -static inline void addObjectToList (dObject *obj, dObject **first) -{ - obj->next = *first; - obj->tome = first; - if (*first) (*first)->tome = &obj->next; - (*first) = obj; -} - - -// remove the object from the linked list - -static inline void removeObjectFromList (dObject *obj) -{ - if (obj->next) obj->next->tome = obj->tome; - *(obj->tome) = obj->next; - // safeguard - obj->next = 0; - obj->tome = 0; -} - - -// remove the joint from neighbour lists of all connected bodies - -static void removeJointReferencesFromAttachedBodies (dxJoint *j) -{ - for (int i=0; i<2; i++) { - dxBody *body = j->node[i].body; - if (body) { - dxJointNode *n = body->firstjoint; - dxJointNode *last = 0; - while (n) { - if (n->joint == j) { - if (last) last->next = n->next; - else body->firstjoint = n->next; - break; - } - last = n; - n = n->next; - } - } - } - j->node[0].body = 0; - j->node[0].next = 0; - j->node[1].body = 0; - j->node[1].next = 0; -} - -//**************************************************************************** -// island processing - -// this groups all joints and bodies in a world into islands. all objects -// in an island are reachable by going through connected bodies and joints. -// each island can be simulated separately. -// note that joints that are not attached to anything will not be included -// in any island, an so they do not affect the simulation. -// -// this function starts new island from unvisited bodies. however, it will -// never start a new islands from a disabled body. thus islands of disabled -// bodies will not be included in the simulation. disabled bodies are -// re-enabled if they are found to be part of an active island. - -static void processIslands (dxWorld *world, dReal stepsize) -{ - dxBody *b,*bb,**body; - dxJoint *j,**joint; - - // nothing to do if no bodies - if (world->nb <= 0) return; - - // make arrays for body and joint lists (for a single island) to go into - body = (dxBody**) ALLOCA (world->nb * sizeof(dxBody*)); - joint = (dxJoint**) ALLOCA (world->nj * sizeof(dxJoint*)); - int bcount = 0; // number of bodies in `body' - int jcount = 0; // number of joints in `joint' - - // set all body/joint tags to 0 - for (b=world->firstbody; b; b=(dxBody*)b->next) b->tag = 0; - for (j=world->firstjoint; j; j=(dxJoint*)j->next) j->tag = 0; - - // allocate a stack of unvisited bodies in the island. the maximum size of - // the stack can be the lesser of the number of bodies or joints, because - // new bodies are only ever added to the stack by going through untagged - // joints. all the bodies in the stack must be tagged! - int stackalloc = (world->nj < world->nb) ? world->nj : world->nb; - dxBody **stack = (dxBody**) ALLOCA (stackalloc * sizeof(dxBody*)); - - for (bb=world->firstbody; bb; bb=(dxBody*)bb->next) { - // get bb = the next enabled, untagged body, and tag it - if (bb->tag || (bb->flags & dxBodyDisabled)) continue; - bb->tag = 1; - - // tag all bodies and joints starting from bb. - int stacksize = 0; - b = bb; - body[0] = bb; - bcount = 1; - jcount = 0; - goto quickstart; - while (stacksize > 0) { - b = stack[--stacksize]; // pop body off stack - body[bcount++] = b; // put body on body list - quickstart: - - // traverse and tag all body's joints, add untagged connected bodies - // to stack - for (dxJointNode *n=b->firstjoint; n; n=n->next) { - if (!n->joint->tag) { - n->joint->tag = 1; - joint[jcount++] = n->joint; - if (n->body && !n->body->tag) { - n->body->tag = 1; - stack[stacksize++] = n->body; - } - } - } - dIASSERT(stacksize <= world->nb); - dIASSERT(stacksize <= world->nj); - } - - // now do something with body and joint lists - dInternalStepIsland (world,body,bcount,joint,jcount,stepsize); - - // what we've just done may have altered the body/joint tag values. - // we must make sure that these tags are nonzero. - // also make sure all bodies are in the enabled state. - int i; - for (i=0; itag = 1; - body[i]->flags &= ~dxBodyDisabled; - } - for (i=0; itag = 1; - } - - // if debugging, check that all objects (except for disabled bodies, - // unconnected joints, and joints that are connected to disabled bodies) - // were tagged. -# ifndef dNODEBUG - for (b=world->firstbody; b; b=(dxBody*)b->next) { - if (b->flags & dxBodyDisabled) { - if (b->tag) dDebug (0,"disabled body tagged"); - } - else { - if (!b->tag) dDebug (0,"enabled body not tagged"); - } - } - for (j=world->firstjoint; j; j=(dxJoint*)j->next) { - if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled)==0) || - (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled)==0)) { - if (!j->tag) dDebug (0,"attached enabled joint not tagged"); - } - else { - if (j->tag) dDebug (0,"unattached or disabled joint tagged"); - } - } -# endif - /******************** breakable joint contribution ***********************/ - dxJoint* nextJ; - if (!world->firstjoint) - nextJ = 0; - else - nextJ = (dxJoint*)world->firstjoint->next; - for (j=world->firstjoint; j; j=nextJ) { - nextJ = (dxJoint*)j->next; - // check if joint is breakable and broken - if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { - // detach (break) the joint - dJointAttach (j, 0, 0); - // call the callback function if it is set - if (j->breakInfo->callback) j->breakInfo->callback (j); - // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set - if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); - } - } - /*************************************************************************/ -} - -//**************************************************************************** -// debugging - -// see if an object list loops on itself (if so, it's bad). - -static int listHasLoops (dObject *first) -{ - if (first==0 || first->next==0) return 0; - dObject *a=first,*b=first->next; - int skip=0; - while (b) { - if (a==b) return 1; - b = b->next; - if (skip) a = a->next; - skip ^= 1; - } - return 0; -} - - -// check the validity of the world data structures - -static void checkWorld (dxWorld *w) -{ - dxBody *b; - dxJoint *j; - - // check there are no loops - if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops"); - if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops"); - - // check lists are well formed (check `tome' pointers) - for (b=w->firstbody; b; b=(dxBody*)b->next) { - if (b->next && b->next->tome != &b->next) - dDebug (0,"bad tome pointer in body list"); - } - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - if (j->next && j->next->tome != &j->next) - dDebug (0,"bad tome pointer in joint list"); - } - - // check counts - int n = 0; - for (b=w->firstbody; b; b=(dxBody*)b->next) n++; - if (w->nb != n) dDebug (0,"body count incorrect"); - n = 0; - for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++; - if (w->nj != n) dDebug (0,"joint count incorrect"); - - // set all tag values to a known value - static int count = 0; - count++; - for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count; - for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count; - - // check all body/joint world pointers are ok - for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w) - dDebug (0,"bad world pointer in body list"); - for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w) - dDebug (0,"bad world pointer in joint list"); - - /* - // check for half-connected joints - actually now these are valid - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - if (j->node[0].body || j->node[1].body) { - if (!(j->node[0].body && j->node[1].body)) - dDebug (0,"half connected joint found"); - } - } - */ - - // check that every joint node appears in the joint lists of both bodies it - // attaches - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - for (int i=0; i<2; i++) { - if (j->node[i].body) { - int ok = 0; - for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) { - if (n->joint == j) ok = 1; - } - if (ok==0) dDebug (0,"joint not in joint list of attached body"); - } - } - } - - // check all body joint lists (correct body ptrs) - for (b=w->firstbody; b; b=(dxBody*)b->next) { - for (dxJointNode *n=b->firstjoint; n; n=n->next) { - if (&n->joint->node[0] == n) { - if (n->joint->node[1].body != b) - dDebug (0,"bad body pointer in joint node of body list (1)"); - } - else { - if (n->joint->node[0].body != b) - dDebug (0,"bad body pointer in joint node of body list (2)"); - } - if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body"); - } - } - - // check all body pointers in joints, check they are distinct - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - if (j->node[0].body && (j->node[0].body == j->node[1].body)) - dDebug (0,"non-distinct body pointers in joint"); - if ((j->node[0].body && j->node[0].body->tag != count) || - (j->node[1].body && j->node[1].body->tag != count)) - dDebug (0,"bad body pointer in joint"); - } -} - - -void dWorldCheck (dxWorld *w) -{ - checkWorld (w); -} - -//**************************************************************************** -// body - -dxBody *dBodyCreate (dxWorld *w) -{ - dAASSERT (w); - dxBody *b = new dxBody; - initObject (b,w); - b->firstjoint = 0; - b->flags = 0; - b->geom = 0; - dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0); - dSetZero (b->invI,4*3); - b->invI[0] = 1; - b->invI[5] = 1; - b->invI[10] = 1; - b->invMass = 1; - dSetZero (b->pos,4); - dSetZero (b->q,4); - b->q[0] = 1; - dRSetIdentity (b->R); - dSetZero (b->lvel,4); - dSetZero (b->avel,4); - dSetZero (b->facc,4); - dSetZero (b->tacc,4); - dSetZero (b->finite_rot_axis,4); - addObjectToList (b,(dObject **) &w->firstbody); - w->nb++; - return b; -} - - -void dBodyDestroy (dxBody *b) -{ - dAASSERT (b); - - // all geoms that link to this body must be notified that the body is about - // to disappear. note that the call to dGeomSetBody(geom,0) will result in - // dGeomGetBodyNext() returning 0 for the body, so we must get the next body - // before setting the body to 0. - dxGeom *next_geom = 0; - for (dxGeom *geom = b->geom; geom; geom = next_geom) { - next_geom = dGeomGetBodyNext (geom); - dGeomSetBody (geom,0); - } - - // detach all neighbouring joints, then delete this body. - dxJointNode *n = b->firstjoint; - while (n) { - // sneaky trick to speed up removal of joint references (black magic) - n->joint->node[(n == n->joint->node)].body = 0; - - dxJointNode *next = n->next; - n->next = 0; - removeJointReferencesFromAttachedBodies (n->joint); - n = next; - } - removeObjectFromList (b); - b->world->nb--; - delete b; -} - - -void dBodySetData (dBodyID b, void *data) -{ - dAASSERT (b); - b->userdata = data; -} - - -void *dBodyGetData (dBodyID b) -{ - dAASSERT (b); - return b->userdata; -} - - -void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->pos[0] = x; - b->pos[1] = y; - b->pos[2] = z; - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - - -void dBodySetRotation (dBodyID b, const dMatrix3 R) -{ - dAASSERT (b && R); - dQuaternion q; - dRtoQ (R,q); - dNormalize4 (q); - b->q[0] = q[0]; - b->q[1] = q[1]; - b->q[2] = q[2]; - b->q[3] = q[3]; - dQtoR (b->q,b->R); - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - - -void dBodySetQuaternion (dBodyID b, const dQuaternion q) -{ - dAASSERT (b && q); - b->q[0] = q[0]; - b->q[1] = q[1]; - b->q[2] = q[2]; - b->q[3] = q[3]; - dNormalize4 (b->q); - dQtoR (b->q,b->R); - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - - -void dBodySetLinearVel (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->lvel[0] = x; - b->lvel[1] = y; - b->lvel[2] = z; -} - - -void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->avel[0] = x; - b->avel[1] = y; - b->avel[2] = z; -} - - -const dReal * dBodyGetPosition (dBodyID b) -{ - dAASSERT (b); - return b->pos; -} - - -const dReal * dBodyGetRotation (dBodyID b) -{ - dAASSERT (b); - return b->R; -} - - -const dReal * dBodyGetQuaternion (dBodyID b) -{ - dAASSERT (b); - return b->q; -} - - -const dReal * dBodyGetLinearVel (dBodyID b) -{ - dAASSERT (b); - return b->lvel; -} - - -const dReal * dBodyGetAngularVel (dBodyID b) -{ - dAASSERT (b); - return b->avel; -} - - -void dBodySetMass (dBodyID b, const dMass *mass) -{ - dAASSERT (b && mass); - memcpy (&b->mass,mass,sizeof(dMass)); - if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) { - dDEBUGMSG ("inertia must be positive definite"); - dRSetIdentity (b->invI); - } - b->invMass = dRecip(b->mass.mass); -} - - -void dBodyGetMass (dBodyID b, dMass *mass) -{ - dAASSERT (b && mass); - memcpy (mass,&b->mass,sizeof(dMass)); -} - - -void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - b->facc[0] += fx; - b->facc[1] += fy; - b->facc[2] += fz; -} - - -void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - b->tacc[0] += fx; - b->tacc[1] += fy; - b->tacc[2] += fz; -} - - -void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - dVector3 t1,t2; - t1[0] = fx; - t1[1] = fy; - t1[2] = fz; - t1[3] = 0; - dMULTIPLY0_331 (t2,b->R,t1); - b->facc[0] += t2[0]; - b->facc[1] += t2[1]; - b->facc[2] += t2[2]; -} - - -void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - dVector3 t1,t2; - t1[0] = fx; - t1[1] = fy; - t1[2] = fz; - t1[3] = 0; - dMULTIPLY0_331 (t2,b->R,t1); - b->tacc[0] += t2[0]; - b->tacc[1] += t2[1]; - b->tacc[2] += t2[2]; -} - - -void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - b->facc[0] += fx; - b->facc[1] += fy; - b->facc[2] += fz; - dVector3 f,q; - f[0] = fx; - f[1] = fy; - f[2] = fz; - q[0] = px - b->pos[0]; - q[1] = py - b->pos[1]; - q[2] = pz - b->pos[2]; - dCROSS (b->tacc,+=,q,f); -} - - -void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - dVector3 prel,f,p; - f[0] = fx; - f[1] = fy; - f[2] = fz; - f[3] = 0; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (p,b->R,prel); - b->facc[0] += f[0]; - b->facc[1] += f[1]; - b->facc[2] += f[2]; - dCROSS (b->tacc,+=,p,f); -} - - -void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - dVector3 frel,f; - frel[0] = fx; - frel[1] = fy; - frel[2] = fz; - frel[3] = 0; - dMULTIPLY0_331 (f,b->R,frel); - b->facc[0] += f[0]; - b->facc[1] += f[1]; - b->facc[2] += f[2]; - dVector3 q; - q[0] = px - b->pos[0]; - q[1] = py - b->pos[1]; - q[2] = pz - b->pos[2]; - dCROSS (b->tacc,+=,q,f); -} - - -void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - dVector3 frel,prel,f,p; - frel[0] = fx; - frel[1] = fy; - frel[2] = fz; - frel[3] = 0; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (f,b->R,frel); - dMULTIPLY0_331 (p,b->R,prel); - b->facc[0] += f[0]; - b->facc[1] += f[1]; - b->facc[2] += f[2]; - dCROSS (b->tacc,+=,p,f); -} - - -const dReal * dBodyGetForce (dBodyID b) -{ - dAASSERT (b); - return b->facc; -} - - -const dReal * dBodyGetTorque (dBodyID b) -{ - dAASSERT (b); - return b->tacc; -} - - -void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->facc[0] = x; - b->facc[1] = y; - b->facc[2] = z; -} - - -void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->tacc[0] = x; - b->tacc[1] = y; - b->tacc[2] = z; -} - - -void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 prel,p; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (p,b->R,prel); - result[0] = p[0] + b->pos[0]; - result[1] = p[1] + b->pos[1]; - result[2] = p[2] + b->pos[2]; -} - - -void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 prel,p; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (p,b->R,prel); - result[0] = b->lvel[0]; - result[1] = b->lvel[1]; - result[2] = b->lvel[2]; - dCROSS (result,+=,b->avel,p); -} - - -void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 p; - p[0] = px - b->pos[0]; - p[1] = py - b->pos[1]; - p[2] = pz - b->pos[2]; - p[3] = 0; - result[0] = b->lvel[0]; - result[1] = b->lvel[1]; - result[2] = b->lvel[2]; - dCROSS (result,+=,b->avel,p); -} - - -void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 prel; - prel[0] = px - b->pos[0]; - prel[1] = py - b->pos[1]; - prel[2] = pz - b->pos[2]; - prel[3] = 0; - dMULTIPLY1_331 (result,b->R,prel); -} - - -void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 p; - p[0] = px; - p[1] = py; - p[2] = pz; - p[3] = 0; - dMULTIPLY0_331 (result,b->R,p); -} - - -void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 p; - p[0] = px; - p[1] = py; - p[2] = pz; - p[3] = 0; - dMULTIPLY1_331 (result,b->R,p); -} - - -void dBodySetFiniteRotationMode (dBodyID b, int mode) -{ - dAASSERT (b); - b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis); - if (mode) { - b->flags |= dxBodyFlagFiniteRotation; - if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 || - b->finite_rot_axis[2] != 0) { - b->flags |= dxBodyFlagFiniteRotationAxis; - } - } -} - - -void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->finite_rot_axis[0] = x; - b->finite_rot_axis[1] = y; - b->finite_rot_axis[2] = z; - if (x != 0 || y != 0 || z != 0) { - dNormalize3 (b->finite_rot_axis); - b->flags |= dxBodyFlagFiniteRotationAxis; - } - else { - b->flags &= ~dxBodyFlagFiniteRotationAxis; - } -} - - -int dBodyGetFiniteRotationMode (dBodyID b) -{ - dAASSERT (b); - return ((b->flags & dxBodyFlagFiniteRotation) != 0); -} - - -void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result) -{ - dAASSERT (b); - result[0] = b->finite_rot_axis[0]; - result[1] = b->finite_rot_axis[1]; - result[2] = b->finite_rot_axis[2]; -} - - -int dBodyGetNumJoints (dBodyID b) -{ - dAASSERT (b); - int count=0; - for (dxJointNode *n=b->firstjoint; n; n=n->next, count++); - return count; -} - - -dJointID dBodyGetJoint (dBodyID b, int index) -{ - dAASSERT (b); - int i=0; - for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) { - if (i == index) return n->joint; - } - return 0; -} - - -void dBodyEnable (dBodyID b) -{ - dAASSERT (b); - b->flags &= ~dxBodyDisabled; -} - - -void dBodyDisable (dBodyID b) -{ - dAASSERT (b); - b->flags |= dxBodyDisabled; -} - - -int dBodyIsEnabled (dBodyID b) -{ - dAASSERT (b); - return ((b->flags & dxBodyDisabled) == 0); -} - - -void dBodySetGravityMode (dBodyID b, int mode) -{ - dAASSERT (b); - if (mode) b->flags &= ~dxBodyNoGravity; - else b->flags |= dxBodyNoGravity; -} - - -int dBodyGetGravityMode (dBodyID b) -{ - dAASSERT (b); - return ((b->flags & dxBodyNoGravity) == 0); -} - -//**************************************************************************** -// joints - -static void dJointInit (dxWorld *w, dxJoint *j) -{ - dIASSERT (w && j); - initObject (j,w); - j->vtable = 0; - j->flags = 0; - j->node[0].joint = j; - j->node[0].body = 0; - j->node[0].next = 0; - j->node[1].joint = j; - j->node[1].body = 0; - j->node[1].next = 0; - addObjectToList (j,(dObject **) &w->firstjoint); - w->nj++; -} - - -static dxJoint *createJoint (dWorldID w, dJointGroupID group, - dxJoint::Vtable *vtable) -{ - dIASSERT (w && vtable); - dxJoint *j; - if (group) { - j = (dxJoint*) group->stack.alloc (vtable->size); - group->num++; - } - else j = (dxJoint*) dAlloc (vtable->size); - dJointInit (w,j); - j->vtable = vtable; - if (group) j->flags |= dJOINT_INGROUP; - if (vtable->init) vtable->init (j); - j->feedback = 0; - /******************** breakable joint contribution ***********************/ - j->breakInfo = 0; - /*************************************************************************/ - return j; -} - - -dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dball_vtable); -} - - -dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dhinge_vtable); -} - - -dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dslider_vtable); -} - - -dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group, - const dContact *c) -{ - dAASSERT (w && c); - dxJointContact *j = (dxJointContact *) - createJoint (w,group,&__dcontact_vtable); - j->contact = *c; - return j; -} - - -dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dhinge2_vtable); -} - - -dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__duniversal_vtable); -} - - -dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dfixed_vtable); -} - - -dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dnull_vtable); -} - - -dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__damotor_vtable); -} - - -void dJointDestroy (dxJoint *j) -{ - dAASSERT (j); - if (j->flags & dJOINT_INGROUP) return; - removeJointReferencesFromAttachedBodies (j); - removeObjectFromList (j); - /******************** breakable joint contribution ***********************/ - if (j->breakInfo) delete j->breakInfo; - /*************************************************************************/ - j->world->nj--; - dFree (j,j->vtable->size); -} - - -dJointGroupID dJointGroupCreate (int max_size) -{ - // not any more ... dUASSERT (max_size > 0,"max size must be > 0"); - dxJointGroup *group = new dxJointGroup; - group->num = 0; - return group; -} - - -void dJointGroupDestroy (dJointGroupID group) -{ - dAASSERT (group); - dJointGroupEmpty (group); - delete group; -} - - -void dJointGroupEmpty (dJointGroupID group) -{ - // the joints in this group are detached starting from the most recently - // added (at the top of the stack). this helps ensure that the various - // linked lists are not traversed too much, as the joints will hopefully - // be at the start of those lists. - // if any group joints have their world pointer set to 0, their world was - // previously destroyed. no special handling is required for these joints. - - dAASSERT (group); - int i; - dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*)); - dxJoint *j = (dxJoint*) group->stack.rewind(); - for (i=0; i < group->num; i++) { - jlist[i] = j; - j = (dxJoint*) (group->stack.next (j->vtable->size)); - } - for (i=group->num-1; i >= 0; i--) { - if (jlist[i]->world) { - removeJointReferencesFromAttachedBodies (jlist[i]); - removeObjectFromList (jlist[i]); - jlist[i]->world->nj--; - } - } - group->num = 0; - group->stack.freeAll(); -} - - -void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2) -{ - // check arguments - dUASSERT (joint,"bad joint argument"); - dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2"); - dxWorld *world = joint->world; - dUASSERT ( (!body1 || body1->world == world) && - (!body2 || body2->world == world), - "joint and bodies must be in same world"); - - // check if the joint can not be attached to just one body - dUASSERT (!((joint->flags & dJOINT_TWOBODIES) && - ((body1 != 0) ^ (body2 != 0))), - "joint can not be attached to just one body"); - - // remove any existing body attachments - if (joint->node[0].body || joint->node[1].body) { - removeJointReferencesFromAttachedBodies (joint); - } - - // if a body is zero, make sure that it is body2, so 0 --> node[1].body - if (body1==0) { - body1 = body2; - body2 = 0; - joint->flags |= dJOINT_REVERSE; - } - else { - joint->flags &= (~dJOINT_REVERSE); - } - - // attach to new bodies - joint->node[0].body = body1; - joint->node[1].body = body2; - if (body1) { - joint->node[1].next = body1->firstjoint; - body1->firstjoint = &joint->node[1]; - } - else joint->node[1].next = 0; - if (body2) { - joint->node[0].next = body2->firstjoint; - body2->firstjoint = &joint->node[0]; - } - else { - joint->node[0].next = 0; - } -} - - -void dJointSetData (dxJoint *joint, void *data) -{ - dAASSERT (joint); - joint->userdata = data; -} - - -void *dJointGetData (dxJoint *joint) -{ - dAASSERT (joint); - return joint->userdata; -} - - -int dJointGetType (dxJoint *joint) -{ - dAASSERT (joint); - return joint->vtable->typenum; -} - - -dBodyID dJointGetBody (dxJoint *joint, int index) -{ - dAASSERT (joint); - if (index >= 0 && index < 2) return joint->node[index].body; - else return 0; -} - - -void dJointSetFeedback (dxJoint *joint, dJointFeedback *f) -{ - dAASSERT (joint); - joint->feedback = f; -} - - -dJointFeedback *dJointGetFeedback (dxJoint *joint) -{ - dAASSERT (joint); - return joint->feedback; -} - - -int dAreConnected (dBodyID b1, dBodyID b2) -{ - dAASSERT (b1 && b2); - // look through b1's neighbour list for b2 - for (dxJointNode *n=b1->firstjoint; n; n=n->next) { - if (n->body == b2) return 1; - } - return 0; -} - - -int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type) -{ - dAASSERT (b1 && b2); - // look through b1's neighbour list for b2 - for (dxJointNode *n=b1->firstjoint; n; n=n->next) { - if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1; - } - return 0; -} - -//**************************************************************************** -// world - -dxWorld * dWorldCreate() -{ - dxWorld *w = new dxWorld; - w->firstbody = 0; - w->firstjoint = 0; - w->nb = 0; - w->nj = 0; - dSetZero (w->gravity,4); - w->global_erp = REAL(0.2); -#if defined(dSINGLE) - w->global_cfm = 1e-5f; -#elif defined(dDOUBLE) - w->global_cfm = 1e-10; -#else - #error dSINGLE or dDOUBLE must be defined -#endif - return w; -} - - -void dWorldDestroy (dxWorld *w) -{ - // delete all bodies and joints - dAASSERT (w); - dxBody *nextb, *b = w->firstbody; - while (b) { - nextb = (dxBody*) b->next; - delete b; - b = nextb; - } - dxJoint *nextj, *j = w->firstjoint; - while (j) { - nextj = (dxJoint*)j->next; - if (j->flags & dJOINT_INGROUP) { - // the joint is part of a group, so "deactivate" it instead - j->world = 0; - j->node[0].body = 0; - j->node[0].next = 0; - j->node[1].body = 0; - j->node[1].next = 0; - dMessage (0,"warning: destroying world containing grouped joints"); - } - else { - dFree (j,j->vtable->size); - } - j = nextj; - } - delete w; -} - - -void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z) -{ - dAASSERT (w); - w->gravity[0] = x; - w->gravity[1] = y; - w->gravity[2] = z; -} - - -void dWorldGetGravity (dWorldID w, dVector3 g) -{ - dAASSERT (w); - g[0] = w->gravity[0]; - g[1] = w->gravity[1]; - g[2] = w->gravity[2]; -} - - -void dWorldSetERP (dWorldID w, dReal erp) -{ - dAASSERT (w); - w->global_erp = erp; -} - - -dReal dWorldGetERP (dWorldID w) -{ - dAASSERT (w); - return w->global_erp; -} - - -void dWorldSetCFM (dWorldID w, dReal cfm) -{ - dAASSERT (w); - w->global_cfm = cfm; -} - - -dReal dWorldGetCFM (dWorldID w) -{ - dAASSERT (w); - return w->global_cfm; -} - - -void dWorldStep (dWorldID w, dReal stepsize) -{ - dUASSERT (w,"bad world argument"); - dUASSERT (stepsize > 0,"stepsize must be > 0"); - processIslands (w,stepsize); -} - - -void dWorldImpulseToForce (dWorldID w, dReal stepsize, - dReal ix, dReal iy, dReal iz, - dVector3 force) -{ - dAASSERT (w); - stepsize = dRecip(stepsize); - force[0] = stepsize * ix; - force[1] = stepsize * iy; - force[2] = stepsize * iz; - // @@@ force[3] = 0; -} - -//**************************************************************************** -// testing - -#define NUM 100 - -#define DO(x) - - -extern "C" void dTestDataStructures() -{ - int i; - DO(printf ("testDynamicsStuff()\n")); - - dBodyID body [NUM]; - int nb = 0; - dJointID joint [NUM]; - int nj = 0; - - for (i=0; i 0.5) { - DO(printf ("creating body\n")); - body[nb] = dBodyCreate (w); - DO(printf ("\t--> %p\n",body[nb])); - nb++; - checkWorld (w); - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - if (nj < NUM && nb > 2 && dRandReal() > 0.5) { - dBodyID b1 = body [dRand() % nb]; - dBodyID b2 = body [dRand() % nb]; - if (b1 != b2) { - DO(printf ("creating joint, attaching to %p,%p\n",b1,b2)); - joint[nj] = dJointCreateBall (w,0); - DO(printf ("\t-->%p\n",joint[nj])); - checkWorld (w); - dJointAttach (joint[nj],b1,b2); - nj++; - checkWorld (w); - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - } - if (nj > 0 && nb > 2 && dRandReal() > 0.5) { - dBodyID b1 = body [dRand() % nb]; - dBodyID b2 = body [dRand() % nb]; - if (b1 != b2) { - int k = dRand() % nj; - DO(printf ("reattaching joint %p\n",joint[k])); - dJointAttach (joint[k],b1,b2); - checkWorld (w); - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - } - if (nb > 0 && dRandReal() > 0.5) { - int k = dRand() % nb; - DO(printf ("destroying body %p\n",body[k])); - dBodyDestroy (body[k]); - checkWorld (w); - for (; k < (NUM-1); k++) body[k] = body[k+1]; - nb--; - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - if (nj > 0 && dRandReal() > 0.5) { - int k = dRand() % nj; - DO(printf ("destroying joint %p\n",joint[k])); - dJointDestroy (joint[k]); - checkWorld (w); - for (; k < (NUM-1); k++) joint[k] = joint[k+1]; - nj--; - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - } - - /* - printf ("creating world\n"); - dWorldID w = dWorldCreate(); - checkWorld (w); - printf ("creating body\n"); - dBodyID b1 = dBodyCreate (w); - checkWorld (w); - printf ("creating body\n"); - dBodyID b2 = dBodyCreate (w); - checkWorld (w); - printf ("creating joint\n"); - dJointID j = dJointCreateBall (w); - checkWorld (w); - printf ("attaching joint\n"); - dJointAttach (j,b1,b2); - checkWorld (w); - printf ("destroying joint\n"); - dJointDestroy (j); - checkWorld (w); - printf ("destroying body\n"); - dBodyDestroy (b1); - checkWorld (w); - printf ("destroying body\n"); - dBodyDestroy (b2); - checkWorld (w); - printf ("destroying world\n"); - dWorldDestroy (w); - */ -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/step.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/step.cpp deleted file mode 100644 index 6d9fbba5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/step.cpp +++ /dev/null @@ -1,1170 +0,0 @@ -/************************************************************************* - * * - * 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 "objects.h" -#include "joint.h" -#include -#include -#include -#include -#include -#include -#include "lcp.h" - -//**************************************************************************** -// misc defines - -#define FAST_FACTOR -//#define TIMING - -#define ALLOCA dALLOCA16 - -//**************************************************************************** -// debugging - comparison of various vectors and matrices produced by the -// slow and fast versions of the stepper. - -//#define COMPARE_METHODS - -#ifdef COMPARE_METHODS -#include "testing.h" -dMatrixComparison comparator; -#endif - -//**************************************************************************** -// special matrix multipliers - -// this assumes the 4th and 8th rows of B and C are zero. - -static void Multiply2_p8r (dReal *A, dReal *B, dReal *C, - int p, int r, int Askip) -{ - int i,j; - dReal sum,*bb,*cc; - dIASSERT (p>0 && r>0 && A && B && C); - bb = B; - for (i=p; i; i--) { - cc = C; - for (j=r; j; j--) { - sum = bb[0]*cc[0]; - sum += bb[1]*cc[1]; - sum += bb[2]*cc[2]; - sum += bb[4]*cc[4]; - sum += bb[5]*cc[5]; - sum += bb[6]*cc[6]; - *(A++) = sum; - cc += 8; - } - A += Askip - r; - bb += 8; - } -} - - -// this assumes the 4th and 8th rows of B and C are zero. - -static void MultiplyAdd2_p8r (dReal *A, dReal *B, dReal *C, - int p, int r, int Askip) -{ - int i,j; - dReal sum,*bb,*cc; - dIASSERT (p>0 && r>0 && A && B && C); - bb = B; - for (i=p; i; i--) { - cc = C; - for (j=r; j; j--) { - sum = bb[0]*cc[0]; - sum += bb[1]*cc[1]; - sum += bb[2]*cc[2]; - sum += bb[4]*cc[4]; - sum += bb[5]*cc[5]; - sum += bb[6]*cc[6]; - *(A++) += sum; - cc += 8; - } - A += Askip - r; - bb += 8; - } -} - - -// this assumes the 4th and 8th rows of B are zero. - -static void Multiply0_p81 (dReal *A, dReal *B, dReal *C, int p) -{ - int i; - dIASSERT (p>0 && A && B && C); - dReal sum; - for (i=p; i; i--) { - sum = B[0]*C[0]; - sum += B[1]*C[1]; - sum += B[2]*C[2]; - sum += B[4]*C[4]; - sum += B[5]*C[5]; - sum += B[6]*C[6]; - *(A++) = sum; - B += 8; - } -} - - -// this assumes the 4th and 8th rows of B are zero. - -static void MultiplyAdd0_p81 (dReal *A, dReal *B, dReal *C, int p) -{ - int i; - dIASSERT (p>0 && A && B && C); - dReal sum; - for (i=p; i; i--) { - sum = B[0]*C[0]; - sum += B[1]*C[1]; - sum += B[2]*C[2]; - sum += B[4]*C[4]; - sum += B[5]*C[5]; - sum += B[6]*C[6]; - *(A++) += sum; - B += 8; - } -} - - -// this assumes the 4th and 8th rows of B are zero. - -static void MultiplyAdd1_8q1 (dReal *A, dReal *B, dReal *C, int q) -{ - int k; - dReal sum; - dIASSERT (q>0 && A && B && C); - sum = 0; - for (k=0; k0 && A && B && C); - sum = 0; - for (k=0; kpos[j] += h * b->lvel[j]; - - if (b->flags & dxBodyFlagFiniteRotation) { - dVector3 irv; // infitesimal rotation vector - dQuaternion q; // quaternion for finite rotation - - if (b->flags & dxBodyFlagFiniteRotationAxis) { - // split the angular velocity vector into a component along the finite - // rotation axis, and a component orthogonal to it. - dVector3 frv,irv; // finite rotation vector - dReal k = dDOT (b->finite_rot_axis,b->avel); - frv[0] = b->finite_rot_axis[0] * k; - frv[1] = b->finite_rot_axis[1] * k; - frv[2] = b->finite_rot_axis[2] * k; - irv[0] = b->avel[0] - frv[0]; - irv[1] = b->avel[1] - frv[1]; - irv[2] = b->avel[2] - frv[2]; - - // make a rotation quaternion q that corresponds to frv * h. - // compare this with the full-finite-rotation case below. - h *= REAL(0.5); - dReal theta = k * h; - q[0] = dCos(theta); - dReal s = sinc(theta) * h; - q[1] = frv[0] * s; - q[2] = frv[1] * s; - q[3] = frv[2] * s; - } - else { - // make a rotation quaternion q that corresponds to w * h - dReal wlen = dSqrt (b->avel[0]*b->avel[0] + b->avel[1]*b->avel[1] + - b->avel[2]*b->avel[2]); - h *= REAL(0.5); - dReal theta = wlen * h; - q[0] = dCos(theta); - dReal s = sinc(theta) * h; - q[1] = b->avel[0] * s; - q[2] = b->avel[1] * s; - q[3] = b->avel[2] * s; - } - - // do the finite rotation - dQuaternion q2; - dQMultiply0 (q2,q,b->q); - for (j=0; j<4; j++) b->q[j] = q2[j]; - - // do the infitesimal rotation if required - if (b->flags & dxBodyFlagFiniteRotationAxis) { - dReal dq[4]; - dWtoDQ (irv,b->q,dq); - for (j=0; j<4; j++) b->q[j] += h * dq[j]; - } - } - else { - // the normal way - do an infitesimal rotation - dReal dq[4]; - dWtoDQ (b->avel,b->q,dq); - for (j=0; j<4; j++) b->q[j] += h * dq[j]; - } - - // normalize the quaternion and convert it to a rotation matrix - dNormalize4 (b->q); - dQtoR (b->q,b->R); - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - -//**************************************************************************** -// the slow, but sure way -// note that this does not do any joint feedback! - -// given lists of bodies and joints that form an island, perform a first -// order timestep. -// -// `body' is the body array, `nb' is the size of the array. -// `_joint' is the body array, `nj' is the size of the array. - -void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb, - dxJoint * const *_joint, int nj, dReal stepsize) -{ - int i,j,k; - int n6 = 6*nb; - -# ifdef TIMING - dTimerStart("preprocessing"); -# endif - - // number all bodies in the body list - set their tag values - for (i=0; itag = i; - - // make a local copy of the joint array, because we might want to modify it. - // (the "dxJoint *const*" declaration says we're allowed to modify the joints - // but not the joint array, because the caller might need it unchanged). - dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*)); - memcpy (joint,_joint,nj * sizeof(dxJoint*)); - - // for all bodies, compute the inertia tensor and its inverse in the global - // frame, and compute the rotational force and add it to the torque - // accumulator. - // @@@ check computation of rotational force. - dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); - dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); - - //dSetZero (I,3*nb*4); - //dSetZero (invI,3*nb*4); - for (i=0; imass.I,body[i]->R); - dMULTIPLY0_333 (I+i*12,body[i]->R,tmp); - // compute inverse inertia tensor in global frame - dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R); - dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp); - // compute rotational force - dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); - dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); - } - - // add the gravity force to all bodies - for (i=0; iflags & dxBodyNoGravity)==0) { - body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; - body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; - body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; - } - } - - // get m = total constraint dimension, nub = number of unbounded variables. - // create constraint offset array and number-of-rows array for all joints. - // the constraints are re-ordered as follows: the purely unbounded - // constraints, the mixed unbounded + LCP constraints, and last the purely - // LCP constraints. - // - // joints with m=0 are inactive and are removed from the joints array - // entirely, so that the code that follows does not consider them. - int m = 0; - dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1)); - int *ofs = (int*) ALLOCA (nj*sizeof(int)); - for (i=0, j=0; jvtable->getInfo1 (joint[j],info+i); - dIASSERT (info[i].m >= 0 && info[i].m <= 6 && - info[i].nub >= 0 && info[i].nub <= info[i].m); - if (info[i].m > 0) { - joint[i] = joint[j]; - i++; - } - } - nj = i; - - // the purely unbounded constraints - for (i=0; i 0 && info[i].nub < info[i].m) { - ofs[i] = m; - m += info[i].m; - } - // the purely LCP constraints - for (i=0; iinvMass; - MM[nskip+1] = body[i]->invMass; - MM[2*nskip+2] = body[i]->invMass; - MM += 3*nskip+3; - for (j=0; j<3; j++) for (k=0; k<3; k++) { - MM[j*nskip+k] = invI[i*12+j*4+k]; - } - } - - // assemble some body vectors: fe = external forces, v = velocities - dReal *fe = (dReal*) ALLOCA (n6 * sizeof(dReal)); - dReal *v = (dReal*) ALLOCA (n6 * sizeof(dReal)); - //dSetZero (fe,n6); - //dSetZero (v,n6); - for (i=0; ifacc[j]; - for (j=0; j<3; j++) fe[i*6+3+j] = body[i]->tacc[j]; - for (j=0; j<3; j++) v[i*6+j] = body[i]->lvel[j]; - for (j=0; j<3; j++) v[i*6+3+j] = body[i]->avel[j]; - } - - // this will be set to the velocity update - dReal *vnew = (dReal*) ALLOCA (n6 * sizeof(dReal)); - dSetZero (vnew,n6); - - // if there are constraints, compute cforce - if (m > 0) { - // create a constraint equation right hand side vector `c', a constraint - // force mixing vector `cfm', and LCP low and high bound vectors, and an - // 'findex' vector. - dReal *c = (dReal*) ALLOCA (m*sizeof(dReal)); - dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal)); - dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal)); - dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal)); - int *findex = (int*) alloca (m*sizeof(int)); - dSetZero (c,m); - dSetValue (cfm,m,world->global_cfm); - dSetValue (lo,m,-dInfinity); - dSetValue (hi,m, dInfinity); - for (i=0; iglobal_erp; - for (i=0; inode[0].body->tag; - Jinfo.J1a = Jinfo.J1l + 3; - if (joint[i]->node[1].body) { - Jinfo.J2l = J + nskip*ofs[i] + 6*joint[i]->node[1].body->tag; - Jinfo.J2a = Jinfo.J2l + 3; - } - else { - Jinfo.J2l = 0; - Jinfo.J2a = 0; - } - Jinfo.c = c + ofs[i]; - Jinfo.cfm = cfm + ofs[i]; - Jinfo.lo = lo + ofs[i]; - Jinfo.hi = hi + ofs[i]; - Jinfo.findex = findex + ofs[i]; - joint[i]->vtable->getInfo2 (joint[i],&Jinfo); - // adjust returned findex values for global index numbering - for (j=0; j= 0) findex[ofs[i] + j] += ofs[i]; - } - } - - // compute A = J*invM*J' -# ifdef TIMING - dTimerNow ("compute A"); -# endif - dReal *JinvM = (dReal*) ALLOCA (m*nskip*sizeof(dReal)); - //dSetZero (JinvM,m*nskip); - dMultiply0 (JinvM,J,invM,m,n6,n6); - int mskip = dPAD(m); - dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); - //dSetZero (A,m*mskip); - dMultiply2 (A,JinvM,J,m,n6,m); - - // add cfm to the diagonal of A - for (i=0; ilvel[j] = vnew[i*6+j]; - for (j=0; j<3; j++) body[i]->avel[j] = vnew[i*6+3+j]; - } - - // update the position and orientation from the new linear/angular velocity - // (over the given timestep) -# ifdef TIMING - dTimerNow ("update position"); -# endif - for (i=0; ifacc[0] = 0; - body[i]->facc[1] = 0; - body[i]->facc[2] = 0; - body[i]->facc[3] = 0; - body[i]->tacc[0] = 0; - body[i]->tacc[1] = 0; - body[i]->tacc[2] = 0; - body[i]->tacc[3] = 0; - } - -# ifdef TIMING - dTimerEnd(); - if (m > 0) dTimerReport (stdout,1); -# endif -} - -//**************************************************************************** -// an optimized version of dInternalStepIsland1() - -void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb, - dxJoint * const *_joint, int nj, dReal stepsize) -{ - int i,j,k; -# ifdef TIMING - dTimerStart("preprocessing"); -# endif - - dReal stepsize1 = dRecip(stepsize); - - // number all bodies in the body list - set their tag values - for (i=0; itag = i; - - // make a local copy of the joint array, because we might want to modify it. - // (the "dxJoint *const*" declaration says we're allowed to modify the joints - // but not the joint array, because the caller might need it unchanged). - dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*)); - memcpy (joint,_joint,nj * sizeof(dxJoint*)); - - // for all bodies, compute the inertia tensor and its inverse in the global - // frame, and compute the rotational force and add it to the torque - // accumulator. I and invI are vertically stacked 3x4 matrices, one per body. - // @@@ check computation of rotational force. - dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); - dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); - - //dSetZero (I,3*nb*4); - //dSetZero (invI,3*nb*4); - for (i=0; imass.I,body[i]->R); - dMULTIPLY0_333 (I+i*12,body[i]->R,tmp); - // compute inverse inertia tensor in global frame - dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R); - dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp); - // compute rotational force - dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); - dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); - } - - // add the gravity force to all bodies - for (i=0; iflags & dxBodyNoGravity)==0) { - body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; - body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; - body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; - } - } - - // get m = total constraint dimension, nub = number of unbounded variables. - // create constraint offset array and number-of-rows array for all joints. - // the constraints are re-ordered as follows: the purely unbounded - // constraints, the mixed unbounded + LCP constraints, and last the purely - // LCP constraints. this assists the LCP solver to put all unbounded - // variables at the start for a quick factorization. - // - // joints with m=0 are inactive and are removed from the joints array - // entirely, so that the code that follows does not consider them. - // also number all active joints in the joint list (set their tag values). - // inactive joints receive a tag value of -1. - - int m = 0; - dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1)); - int *ofs = (int*) ALLOCA (nj*sizeof(int)); - for (i=0, j=0; jvtable->getInfo1 (joint[j],info+i); - dIASSERT (info[i].m >= 0 && info[i].m <= 6 && - info[i].nub >= 0 && info[i].nub <= info[i].m); - if (info[i].m > 0) { - joint[i] = joint[j]; - joint[i]->tag = i; - i++; - } - else { - joint[j]->tag = -1; - } - } - nj = i; - - // the purely unbounded constraints - for (i=0; i 0 && info[i].nub < info[i].m) { - ofs[i] = m; - m += info[i].m; - } - // the purely LCP constraints - for (i=0; i 0) { - // create a constraint equation right hand side vector `c', a constraint - // force mixing vector `cfm', and LCP low and high bound vectors, and an - // 'findex' vector. - dReal *c = (dReal*) ALLOCA (m*sizeof(dReal)); - dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal)); - dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal)); - dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal)); - int *findex = (int*) alloca (m*sizeof(int)); - dSetZero (c,m); - dSetValue (cfm,m,world->global_cfm); - dSetValue (lo,m,-dInfinity); - dSetValue (hi,m, dInfinity); - for (i=0; iglobal_erp; - for (i=0; ivtable->getInfo2 (joint[i],&Jinfo); - // adjust returned findex values for global index numbering - for (j=0; j= 0) findex[ofs[i] + j] += ofs[i]; - } - } - - // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same - // format as J so we just go through the constraints in J multiplying by - // the appropriate scalars and matrices. -# ifdef TIMING - dTimerNow ("compute A"); -# endif - dReal *JinvM = (dReal*) ALLOCA (2*m*8*sizeof(dReal)); - dSetZero (JinvM,2*m*8); - for (i=0; inode[0].body->tag; - dReal body_invMass = body[b]->invMass; - dReal *body_invI = invI + b*12; - dReal *Jsrc = J + 2*8*ofs[i]; - dReal *Jdst = JinvM + 2*8*ofs[i]; - for (j=info[i].m-1; j>=0; j--) { - for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; - dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); - Jsrc += 8; - Jdst += 8; - } - if (joint[i]->node[1].body) { - b = joint[i]->node[1].body->tag; - body_invMass = body[b]->invMass; - body_invI = invI + b*12; - for (j=info[i].m-1; j>=0; j--) { - for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; - dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); - Jsrc += 8; - Jdst += 8; - } - } - } - - // now compute A = JinvM * J'. A's rows and columns are grouped by joint, - // i.e. in the same way as the rows of J. block (i,j) of A is only nonzero - // if joints i and j have at least one body in common. this fact suggests - // the algorithm used to fill A: - // - // for b = all bodies - // n = number of joints attached to body b - // for i = 1..n - // for j = i+1..n - // ii = actual joint number for i - // jj = actual joint number for j - // // (ii,jj) will be set to all pairs of joints around body b - // compute blockwise: A(ii,jj) += JinvM(ii) * J(jj)' - // - // this algorithm catches all pairs of joints that have at least one body - // in common. it does not compute the diagonal blocks of A however - - // another similar algorithm does that. - - int mskip = dPAD(m); - dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); - dSetZero (A,m*mskip); - for (i=0; ifirstjoint; n1; n1=n1->next) { - for (dxJointNode *n2=n1->next; n2; n2=n2->next) { - // get joint numbers and ensure ofs[j1] >= ofs[j2] - int j1 = n1->joint->tag; - int j2 = n2->joint->tag; - if (ofs[j1] < ofs[j2]) { - int tmp = j1; - j1 = j2; - j2 = tmp; - } - - // if either joint was tagged as -1 then it is an inactive (m=0) - // joint that should not be considered - if (j1==-1 || j2==-1) continue; - - // determine if body i is the 1st or 2nd body of joints j1 and j2 - int jb1 = (joint[j1]->node[1].body == body[i]); - int jb2 = (joint[j2]->node[1].body == body[i]); - // jb1/jb2 must be 0 for joints with only one body - dIASSERT(joint[j1]->node[1].body || jb1==0); - dIASSERT(joint[j2]->node[1].body || jb2==0); - - // set block of A - MultiplyAdd2_p8r (A + ofs[j1]*mskip + ofs[j2], - JinvM + 2*8*ofs[j1] + jb1*8*info[j1].m, - J + 2*8*ofs[j2] + jb2*8*info[j2].m, - info[j1].m,info[j2].m, mskip); - } - } - } - // compute diagonal blocks of A - for (i=0; inode[1].body) { - MultiplyAdd2_p8r (A + ofs[i]*(mskip+1), - JinvM + 2*8*ofs[i] + 8*info[i].m, - J + 2*8*ofs[i] + 8*info[i].m, - info[i].m,info[i].m, mskip); - } - } - - // add cfm to the diagonal of A - for (i=0; iinvMass; - dReal *body_invI = invI + i*12; - for (j=0; j<3; j++) tmp1[i*8+j] = body[i]->facc[j] * body_invMass + - body[i]->lvel[j] * stepsize1; - dMULTIPLY0_331 (tmp1 + i*8 + 4,body_invI,body[i]->tacc); - for (j=0; j<3; j++) tmp1[i*8+4+j] += body[i]->avel[j] * stepsize1; - } - // put J*tmp1 into rhs - dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal)); - //dSetZero (rhs,m); - for (i=0; inode[0].body->tag, info[i].m); - if (joint[i]->node[1].body) { - MultiplyAdd0_p81 (rhs+ofs[i],JJ + 8*info[i].m, - tmp1 + 8*joint[i]->node[1].body->tag, info[i].m); - } - } - // complete rhs - for (i=0; inode[0].body; - dxBody* b2 = joint[i]->node[1].body; - dJointFeedback *fb = joint[i]->feedback; - -/******************** breakable joint contribution ***********************/ - // this saves us a few dereferences - dxJointBreakInfo *jBI = joint[i]->breakInfo; - // we need joint feedback if the joint is breakable or if the user - // requested feedback. - if (jBI||fb) { - // we need feedback on the amount of force that this joint is - // applying to the bodies. we use a slightly slower computation - // that splits out the force components and puts them in the - // feedback structure. - dJointFeedback temp_fb; // temporary storage for joint feedback - dReal data1[8],data2[8]; - Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); - dReal *cf1 = cforce + 8*b1->tag; - cf1[0] += (temp_fb.f1[0] = data1[0]); - cf1[1] += (temp_fb.f1[1] = data1[1]); - cf1[2] += (temp_fb.f1[2] = data1[2]); - cf1[4] += (temp_fb.t1[0] = data1[4]); - cf1[5] += (temp_fb.t1[1] = data1[5]); - cf1[6] += (temp_fb.t1[2] = data1[6]); - if (b2) { - Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); - dReal *cf2 = cforce + 8*b2->tag; - cf2[0] += (temp_fb.f2[0] = data2[0]); - cf2[1] += (temp_fb.f2[1] = data2[1]); - cf2[2] += (temp_fb.f2[2] = data2[2]); - cf2[4] += (temp_fb.t2[0] = data2[4]); - cf2[5] += (temp_fb.t2[1] = data2[5]); - cf2[6] += (temp_fb.t2[2] = data2[6]); - } - // if the user requested so we must copy the feedback information to - // the feedback struct that the user suplied. - if (fb) { - // copy temp_fb to fb - fb->f1[0] = temp_fb.f1[0]; - fb->f1[1] = temp_fb.f1[1]; - fb->f1[2] = temp_fb.f1[2]; - fb->t1[0] = temp_fb.t1[0]; - fb->t1[1] = temp_fb.t1[1]; - fb->t1[2] = temp_fb.t1[2]; - if (b2) { - fb->f2[0] = temp_fb.f2[0]; - fb->f2[1] = temp_fb.f2[1]; - fb->f2[2] = temp_fb.f2[2]; - fb->t2[0] = temp_fb.t2[0]; - fb->t2[1] = temp_fb.t2[1]; - fb->t2[2] = temp_fb.t2[2]; - } - } - // if the joint is breakable we need to check the breaking conditions - if (jBI) { - dReal relCF1[3]; - dReal relCT1[3]; - // multiply the force and torque vectors by the rotation matrix of body 1 - dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]); - dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]); - if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { - // check if the force is to high - for (int i = 0; i < 3; i++) { - if (relCF1[i] > jBI->b1MaxF[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { - // check if the torque is to high - for (int i = 0; i < 3; i++) { - if (relCT1[i] > jBI->b1MaxT[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - if (b2) { - dReal relCF2[3]; - dReal relCT2[3]; - // multiply the force and torque vectors by the rotation matrix of body 2 - dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]); - dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]); - if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { - // check if the force is to high - for (int i = 0; i < 3; i++) { - if (relCF2[i] > jBI->b2MaxF[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { - // check if the torque is to high - for (int i = 0; i < 3; i++) { - if (relCT2[i] > jBI->b2MaxT[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - } - doneCheckingBreaks: - ; - } - } -/*************************************************************************/ - else { - // no feedback is required, let's compute cforce the faster way - MultiplyAdd1_8q1 (cforce + 8*b1->tag,JJ, lambda+ofs[i], info[i].m); - if (b2) { - MultiplyAdd1_8q1 (cforce + 8*b2->tag, - JJ + 8*info[i].m, lambda+ofs[i], info[i].m); - } - } - } - } - - // compute the velocity update -# ifdef TIMING - dTimerNow ("compute velocity update"); -# endif - - // add fe to cforce - for (i=0; ifacc[j]; - for (j=0; j<3; j++) cforce[i*8+4+j] += body[i]->tacc[j]; - } - // multiply cforce by stepsize - for (i=0; i < nb*8; i++) cforce[i] *= stepsize; - // add invM * cforce to the body velocity - for (i=0; iinvMass; - dReal *body_invI = invI + i*12; - for (j=0; j<3; j++) body[i]->lvel[j] += body_invMass * cforce[i*8+j]; - dMULTIPLYADD0_331 (body[i]->avel,body_invI,cforce+i*8+4); - } - - // update the position and orientation from the new linear/angular velocity - // (over the given timestep) -# ifdef TIMING - dTimerNow ("update position"); -# endif - for (i=0; ilvel[j]; - for (j=0; j<3; j++) tmp_vnew[i*6+3+j] = body[i]->avel[j]; - } - comparator.nextMatrix (tmp_vnew,nb*6,1,0,"vnew"); -# endif - -# ifdef TIMING - dTimerNow ("tidy up"); -# endif - - // zero all force accumulators - for (i=0; ifacc[0] = 0; - body[i]->facc[1] = 0; - body[i]->facc[2] = 0; - body[i]->facc[3] = 0; - body[i]->tacc[0] = 0; - body[i]->tacc[1] = 0; - body[i]->tacc[2] = 0; - body[i]->tacc[3] = 0; - } - -# ifdef TIMING - dTimerEnd(); - if (m > 0) dTimerReport (stdout,1); -# endif -} - -//**************************************************************************** - -void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb, - dxJoint * const *joint, int nj, dReal stepsize) -{ -# ifndef COMPARE_METHODS - dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize); -# endif - -# ifdef COMPARE_METHODS - int i; - - // save body state - dxBody *state = (dxBody*) ALLOCA (nb*sizeof(dxBody)); - for (i=0; i -#include -#include -#include -#include -#include -#include -#include "lcp.h" -#include "step.h" - - -// misc defines - -#define ALLOCA dALLOCA16 - -#define RANDOM_JOINT_ORDER -//#define FAST_FACTOR //use a factorization approximation to the LCP solver (fast, theoretically less accurate) -#define SLOW_LCP //use the old LCP solver -//#define NO_ISLANDS //does not perform island creation code (3~4% of simulation time), body disabling doesn't work -//#define TIMING - - -static int autoEnableDepth = 2; - -void dWorldSetAutoEnableDepthSF1 (dxWorld *world, int autodepth) -{ - if (autodepth > 0) - autoEnableDepth = autodepth; - else - autoEnableDepth = 0; -} - -int dWorldGetAutoEnableDepthSF1 (dxWorld *world) -{ - return autoEnableDepth; -} - -//little bit of math.... the _sym_ functions assume the return matrix will be symmetric -static void -Multiply2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip) -{ - int i, j; - dReal sum, *aa, *ad, *bb, *cc; - dIASSERT (p > 0 && A && B && C); - bb = B; - for (i = 0; i < p; i++) - { - //aa is going accross the matrix, ad down - aa = ad = A; - cc = C; - for (j = i; j < p; j++) - { - sum = bb[0] * cc[0]; - sum += bb[1] * cc[1]; - sum += bb[2] * cc[2]; - sum += bb[4] * cc[4]; - sum += bb[5] * cc[5]; - sum += bb[6] * cc[6]; - *(aa++) = *ad = sum; - ad += Askip; - cc += 8; - } - bb += 8; - A += Askip + 1; - C += 8; - } -} - -static void -MultiplyAdd2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip) -{ - int i, j; - dReal sum, *aa, *ad, *bb, *cc; - dIASSERT (p > 0 && A && B && C); - bb = B; - for (i = 0; i < p; i++) - { - //aa is going accross the matrix, ad down - aa = ad = A; - cc = C; - for (j = i; j < p; j++) - { - sum = bb[0] * cc[0]; - sum += bb[1] * cc[1]; - sum += bb[2] * cc[2]; - sum += bb[4] * cc[4]; - sum += bb[5] * cc[5]; - sum += bb[6] * cc[6]; - *(aa++) += sum; - *ad += sum; - ad += Askip; - cc += 8; - } - bb += 8; - A += Askip + 1; - C += 8; - } -} - - -// this assumes the 4th and 8th rows of B are zero. - -static void -Multiply0_p81 (dReal * A, dReal * B, dReal * C, int p) -{ - int i; - dIASSERT (p > 0 && A && B && C); - dReal sum; - for (i = p; i; i--) - { - sum = B[0] * C[0]; - sum += B[1] * C[1]; - sum += B[2] * C[2]; - sum += B[4] * C[4]; - sum += B[5] * C[5]; - sum += B[6] * C[6]; - *(A++) = sum; - B += 8; - } -} - - -// this assumes the 4th and 8th rows of B are zero. - -static void -MultiplyAdd0_p81 (dReal * A, dReal * B, dReal * C, int p) -{ - int i; - dIASSERT (p > 0 && A && B && C); - dReal sum; - for (i = p; i; i--) - { - sum = B[0] * C[0]; - sum += B[1] * C[1]; - sum += B[2] * C[2]; - sum += B[4] * C[4]; - sum += B[5] * C[5]; - sum += B[6] * C[6]; - *(A++) += sum; - B += 8; - } -} - - -// this assumes the 4th and 8th rows of B are zero. - -static void -Multiply1_8q1 (dReal * A, dReal * B, dReal * C, int q) -{ - int k; - dReal sum; - dIASSERT (q > 0 && A && B && C); - sum = 0; - for (k = 0; k < q; k++) - sum += B[k * 8] * C[k]; - A[0] = sum; - sum = 0; - for (k = 0; k < q; k++) - sum += B[1 + k * 8] * C[k]; - A[1] = sum; - sum = 0; - for (k = 0; k < q; k++) - sum += B[2 + k * 8] * C[k]; - A[2] = sum; - sum = 0; - for (k = 0; k < q; k++) - sum += B[4 + k * 8] * C[k]; - A[4] = sum; - sum = 0; - for (k = 0; k < q; k++) - sum += B[5 + k * 8] * C[k]; - A[5] = sum; - sum = 0; - for (k = 0; k < q; k++) - sum += B[6 + k * 8] * C[k]; - A[6] = sum; -} - -//**************************************************************************** -// body rotation - -// return sin(x)/x. this has a singularity at 0 so special handling is needed -// for small arguments. - -static inline dReal -sinc (dReal x) -{ - // if |x| < 1e-4 then use a taylor series expansion. this two term expansion - // is actually accurate to one LS bit within this range if double precision - // is being used - so don't worry! - if (dFabs (x) < 1.0e-4) - return REAL (1.0) - x * x * REAL (0.166666666666666666667); - else - return dSin (x) / x; -} - - -// given a body b, apply its linear and angular rotation over the time -// interval h, thereby adjusting its position and orientation. - -static inline void -moveAndRotateBody (dxBody * b, dReal h) -{ - int j; - - // handle linear velocity - for (j = 0; j < 3; j++) - b->pos[j] += h * b->lvel[j]; - - if (b->flags & dxBodyFlagFiniteRotation) - { - dVector3 irv; // infitesimal rotation vector - dQuaternion q; // quaternion for finite rotation - - if (b->flags & dxBodyFlagFiniteRotationAxis) - { - // split the angular velocity vector into a component along the finite - // rotation axis, and a component orthogonal to it. - dVector3 frv, irv; // finite rotation vector - dReal k = dDOT (b->finite_rot_axis, b->avel); - frv[0] = b->finite_rot_axis[0] * k; - frv[1] = b->finite_rot_axis[1] * k; - frv[2] = b->finite_rot_axis[2] * k; - irv[0] = b->avel[0] - frv[0]; - irv[1] = b->avel[1] - frv[1]; - irv[2] = b->avel[2] - frv[2]; - - // make a rotation quaternion q that corresponds to frv * h. - // compare this with the full-finite-rotation case below. - h *= REAL (0.5); - dReal theta = k * h; - q[0] = dCos (theta); - dReal s = sinc (theta) * h; - q[1] = frv[0] * s; - q[2] = frv[1] * s; - q[3] = frv[2] * s; - } - else - { - // make a rotation quaternion q that corresponds to w * h - dReal wlen = dSqrt (b->avel[0] * b->avel[0] + b->avel[1] * b->avel[1] + b->avel[2] * b->avel[2]); - h *= REAL (0.5); - dReal theta = wlen * h; - q[0] = dCos (theta); - dReal s = sinc (theta) * h; - q[1] = b->avel[0] * s; - q[2] = b->avel[1] * s; - q[3] = b->avel[2] * s; - } - - // do the finite rotation - dQuaternion q2; - dQMultiply0 (q2, q, b->q); - for (j = 0; j < 4; j++) - b->q[j] = q2[j]; - - // do the infitesimal rotation if required - if (b->flags & dxBodyFlagFiniteRotationAxis) - { - dReal dq[4]; - dWtoDQ (irv, b->q, dq); - for (j = 0; j < 4; j++) - b->q[j] += h * dq[j]; - } - } - else - { - // the normal way - do an infitesimal rotation - dReal dq[4]; - dWtoDQ (b->avel, b->q, dq); - for (j = 0; j < 4; j++) - b->q[j] += h * dq[j]; - } - - // normalize the quaternion and convert it to a rotation matrix - dNormalize4 (b->q); - dQtoR (b->q, b->R); - - // notify all attached geoms that this body has moved - for (dxGeom * geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - -//**************************************************************************** -//This is an implementation of the iterated/relaxation algorithm. -//Here is a quick overview of the algorithm per Sergi Valverde's posts to the -//mailing list: -// -// for i=0..N-1 do -// for c = 0..C-1 do -// Solve constraint c-th -// Apply forces to constraint bodies -// next -// next -// Integrate bodies - -void -dInternalStepFast (dxWorld * world, dxBody * body[2], dReal * GI[2], dReal * GinvI[2], dxJoint * joint, dxJoint::Info1 info, dxJoint::Info2 Jinfo, dReal stepsize) -{ - int i, j, k; -# ifdef TIMING - dTimerNow ("constraint preprocessing"); -# endif - - dReal stepsize1 = dRecip (stepsize); - - int m = info.m; - // nothing to do if no constraints. - if (m <= 0) - return; - - int nub = 0; - if (info.nub == info.m) - nub = m; - - // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same - // format as J so we just go through the constraints in J multiplying by - // the appropriate scalars and matrices. -# ifdef TIMING - dTimerNow ("compute A"); -# endif - dReal JinvM[2 * 6 * 8]; - //dSetZero (JinvM, 2 * m * 8); - - dReal *Jsrc = Jinfo.J1l; - dReal *Jdst = JinvM; - if (body[0]) - { - for (j = m - 1; j >= 0; j--) - { - for (k = 0; k < 3; k++) - Jdst[k] = Jsrc[k] * body[0]->invMass; - dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[0]); - Jsrc += 8; - Jdst += 8; - } - } - if (body[1]) - { - Jsrc = Jinfo.J2l; - Jdst = JinvM + 8 * m; - for (j = m - 1; j >= 0; j--) - { - for (k = 0; k < 3; k++) - Jdst[k] = Jsrc[k] * body[1]->invMass; - dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[1]); - Jsrc += 8; - Jdst += 8; - } - } - - - // now compute A = JinvM * J'. - int mskip = dPAD (m); - dReal A[6 * 8]; - //dSetZero (A, 6 * 8); - - if (body[0]) - Multiply2_sym_p8p (A, JinvM, Jinfo.J1l, m, mskip); - if (body[1]) - MultiplyAdd2_sym_p8p (A, JinvM + 8 * m, Jinfo.J2l, m, mskip); - - // add cfm to the diagonal of A - for (i = 0; i < m; i++) - A[i * mskip + i] += Jinfo.cfm[i] * stepsize1; - - // compute the right hand side `rhs' -# ifdef TIMING - dTimerNow ("compute rhs"); -# endif - dReal tmp1[16]; - //dSetZero (tmp1, 16); - // put v/h + invM*fe into tmp1 - for (i = 0; i < 2; i++) - { - if (!body[i]) - continue; - for (j = 0; j < 3; j++) - tmp1[i * 8 + j] = body[i]->facc[j] * body[i]->invMass + body[i]->lvel[j] * stepsize1; - dMULTIPLY0_331 (tmp1 + i * 8 + 4, GinvI[i], body[i]->tacc); - for (j = 0; j < 3; j++) - tmp1[i * 8 + 4 + j] += body[i]->avel[j] * stepsize1; - } - // put J*tmp1 into rhs - dReal rhs[6]; - //dSetZero (rhs, 6); - - if (body[0]) - Multiply0_p81 (rhs, Jinfo.J1l, tmp1, m); - if (body[1]) - MultiplyAdd0_p81 (rhs, Jinfo.J2l, tmp1 + 8, m); - - // complete rhs - for (i = 0; i < m; i++) - rhs[i] = Jinfo.c[i] * stepsize1 - rhs[i]; - -#ifdef SLOW_LCP - // solve the LCP problem and get lambda. - // this will destroy A but that's okay -# ifdef TIMING - dTimerNow ("solving LCP problem"); -# endif - dReal *lambda = (dReal *) ALLOCA (m * sizeof (dReal)); - dReal *residual = (dReal *) ALLOCA (m * sizeof (dReal)); - dReal lo[6], hi[6]; - memcpy (lo, Jinfo.lo, m * sizeof (dReal)); - memcpy (hi, Jinfo.hi, m * sizeof (dReal)); - dSolveLCP (m, A, lambda, rhs, residual, nub, lo, hi, Jinfo.findex); -#endif - - // LCP Solver replacement: - // This algorithm goes like this: - // Do a straightforward LDLT factorization of the matrix A, solving for - // A*x = rhs - // For each x[i] that is outside of the bounds of lo[i] and hi[i], - // clamp x[i] into that range. - // Substitute into A the now known x's - // subtract the residual away from the rhs. - // Remove row and column i from L, updating the factorization - // place the known x's at the end of the array, keeping up with location in p - // Repeat until all constraints have been clamped or all are within bounds - // - // This is probably only faster in the single joint case where only one repeat is - // the norm. - -#ifdef FAST_FACTOR - // factorize A (L*D*L'=A) -# ifdef TIMING - dTimerNow ("factorize A"); -# endif - dReal d[6]; - dReal L[6 * 8]; - memcpy (L, A, m * mskip * sizeof (dReal)); - dFactorLDLT (L, d, m, mskip); - - // compute lambda -# ifdef TIMING - dTimerNow ("compute lambda"); -# endif - - int left = m; //constraints left to solve. - int remove[6]; - dReal lambda[6]; - dReal x[6]; - int p[6]; - for (i = 0; i < 6; i++) - p[i] = i; - while (true) - { - memcpy (x, rhs, left * sizeof (dReal)); - dSolveLDLT (L, d, x, left, mskip); - - int fixed = 0; - for (i = 0; i < left; i++) - { - j = p[i]; - remove[i] = false; - // This isn't the exact same use of findex as dSolveLCP.... since x[findex] - // may change after I've already clamped x[i], but it should be close - if (Jinfo.findex[j] > -1) - { - dReal f = fabs (Jinfo.hi[j] * x[p[Jinfo.findex[j]]]); - if (x[i] > f) - x[i] = f; - else if (x[i] < -f) - x[i] = -f; - else - continue; - } - else - { - if (x[i] > Jinfo.hi[j]) - x[i] = Jinfo.hi[j]; - else if (x[i] < Jinfo.lo[j]) - x[i] = Jinfo.lo[j]; - else - continue; - } - remove[i] = true; - fixed++; - } - if (fixed == 0 || fixed == left) //no change or all constraints solved - break; - - for (i = 0; i < left; i++) //sub in to right hand side. - if (remove[i]) - for (j = 0; j < left; j++) - if (!remove[j]) - rhs[j] -= A[j * mskip + i] * x[i]; - - for (int r = left - 1; r >= 0; r--) //eliminate row/col for fixed variables - { - if (remove[r]) - { - //dRemoveLDLT adapted for use without row pointers. - if (r == left - 1) - { - left--; - continue; // deleting last row/col is easy - } - else if (r == 0) - { - dReal a[6]; - for (i = 0; i < left; i++) - a[i] = -A[i * mskip]; - a[0] += REAL (1.0); - dLDLTAddTL (L, d, a, left, mskip); - } - else - { - dReal t[6]; - dReal a[6]; - for (i = 0; i < r; i++) - t[i] = L[r * mskip + i] / d[i]; - for (i = 0; i < left - r; i++) - a[i] = dDot (L + (r + i) * mskip, t, r) - A[(r + i) * mskip + r]; - a[0] += REAL (1.0); - dLDLTAddTL (L + r * mskip + r, d + r, a, left - r, mskip); - } - - dRemoveRowCol (L, left, mskip, r); - //end dRemoveLDLT - - left--; - if (r < (left - 1)) - { - dReal tx = x[r]; - memmove (d + r, d + r + 1, (left - r) * sizeof (dReal)); - memmove (rhs + r, rhs + r + 1, (left - r) * sizeof (dReal)); - //x will get written over by rhs anyway, no need to move it around - //just store the fixed value we just discovered in it. - x[left] = tx; - for (i = 0; i < m; i++) - if (p[i] > r && p[i] <= left) - p[i]--; - p[r] = left; - } - } - } - } - - for (i = 0; i < m; i++) - lambda[i] = x[p[i]]; -# endif - // compute the constraint force `cforce' -# ifdef TIMING - dTimerNow ("compute constraint force"); -#endif - - // compute cforce = J'*lambda - dJointFeedback *fb = joint->feedback; - dReal cforce[16]; - //dSetZero (cforce, 16); - -/******************** breakable joint contribution ***********************/ - // this saves us a few dereferences - dxJointBreakInfo *jBI = joint->breakInfo; - // we need joint feedback if the joint is breakable or if the user - // requested feedback. - if (jBI||fb) { - // we need feedback on the amount of force that this joint is - // applying to the bodies. we use a slightly slower computation - // that splits out the force components and puts them in the - // feedback structure. - dJointFeedback temp_fb; // temporary storage for joint feedback - dReal data1[8],data2[8]; - if (body[0]) - { - Multiply1_8q1 (data1, Jinfo.J1l, lambda, m); - dReal *cf1 = cforce; - cf1[0] = (temp_fb.f1[0] = data1[0]); - cf1[1] = (temp_fb.f1[1] = data1[1]); - cf1[2] = (temp_fb.f1[2] = data1[2]); - cf1[4] = (temp_fb.t1[0] = data1[4]); - cf1[5] = (temp_fb.t1[1] = data1[5]); - cf1[6] = (temp_fb.t1[2] = data1[6]); - } - if (body[1]) - { - Multiply1_8q1 (data2, Jinfo.J2l, lambda, m); - dReal *cf2 = cforce + 8; - cf2[0] = (temp_fb.f2[0] = data2[0]); - cf2[1] = (temp_fb.f2[1] = data2[1]); - cf2[2] = (temp_fb.f2[2] = data2[2]); - cf2[4] = (temp_fb.t2[0] = data2[4]); - cf2[5] = (temp_fb.t2[1] = data2[5]); - cf2[6] = (temp_fb.t2[2] = data2[6]); - } - // if the user requested so we must copy the feedback information to - // the feedback struct that the user suplied. - if (fb) { - // copy temp_fb to fb - fb->f1[0] = temp_fb.f1[0]; - fb->f1[1] = temp_fb.f1[1]; - fb->f1[2] = temp_fb.f1[2]; - fb->t1[0] = temp_fb.t1[0]; - fb->t1[1] = temp_fb.t1[1]; - fb->t1[2] = temp_fb.t1[2]; - if (body[1]) { - fb->f2[0] = temp_fb.f2[0]; - fb->f2[1] = temp_fb.f2[1]; - fb->f2[2] = temp_fb.f2[2]; - fb->t2[0] = temp_fb.t2[0]; - fb->t2[1] = temp_fb.t2[1]; - fb->t2[2] = temp_fb.t2[2]; - } - } - // if the joint is breakable we need to check the breaking conditions - if (jBI) { - dReal relCF1[3]; - dReal relCT1[3]; - // multiply the force and torque vectors by the rotation matrix of body 1 - dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]); - dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]); - if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { - // check if the force is to high - for (int i = 0; i < 3; i++) { - if (relCF1[i] > jBI->b1MaxF[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { - // check if the torque is to high - for (int i = 0; i < 3; i++) { - if (relCT1[i] > jBI->b1MaxT[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - if (body[1]) { - dReal relCF2[3]; - dReal relCT2[3]; - // multiply the force and torque vectors by the rotation matrix of body 2 - dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]); - dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]); - if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { - // check if the force is to high - for (int i = 0; i < 3; i++) { - if (relCF2[i] > jBI->b2MaxF[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { - // check if the torque is to high - for (int i = 0; i < 3; i++) { - if (relCT2[i] > jBI->b2MaxT[i]) { - jBI->flags |= dJOINT_BROKEN; - goto doneCheckingBreaks; - } - } - } - } - doneCheckingBreaks: - ; - } - } -/*************************************************************************/ - else - { - // no feedback is required, let's compute cforce the faster way - if (body[0]) - Multiply1_8q1 (cforce, Jinfo.J1l, lambda, m); - if (body[1]) - Multiply1_8q1 (cforce + 8, Jinfo.J2l, lambda, m); - } - - for (i = 0; i < 2; i++) - { - if (!body[i]) - continue; - for (j = 0; j < 3; j++) - { - body[i]->facc[j] += cforce[i * 8 + j]; - body[i]->tacc[j] += cforce[i * 8 + 4 + j]; - } - } -} - -void -dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoint * const *_joints, int nj, dReal stepsize, int maxiterations) -{ -# ifdef TIMING - dTimerNow ("preprocessing"); -# endif - dxBody *bodyPair[2], *body; - dReal *GIPair[2], *GinvIPair[2]; - dxJoint *joint; - int iter, b, j, i; - dReal ministep = stepsize / maxiterations; - - // make a local copy of the joint array, because we might want to modify it. - // (the "dxJoint *const*" declaration says we're allowed to modify the joints - // but not the joint array, because the caller might need it unchanged). - dxJoint **joints = (dxJoint **) ALLOCA (nj * sizeof (dxJoint *)); - memcpy (joints, _joints, nj * sizeof (dxJoint *)); - - // get m = total constraint dimension, nub = number of unbounded variables. - // create constraint offset array and number-of-rows array for all joints. - // the constraints are re-ordered as follows: the purely unbounded - // constraints, the mixed unbounded + LCP constraints, and last the purely - // LCP constraints. this assists the LCP solver to put all unbounded - // variables at the start for a quick factorization. - // - // joints with m=0 are inactive and are removed from the joints array - // entirely, so that the code that follows does not consider them. - // also number all active joints in the joint list (set their tag values). - // inactive joints receive a tag value of -1. - - int m = 0; - dxJoint::Info1 * info = (dxJoint::Info1 *) ALLOCA (nj * sizeof (dxJoint::Info1)); - int *ofs = (int *) ALLOCA (nj * sizeof (int)); - for (i = 0, j = 0; j < nj; j++) - { // i=dest, j=src - joints[j]->vtable->getInfo1 (joints[j], info + i); - dIASSERT (info[i].m >= 0 && info[i].m <= 6 && info[i].nub >= 0 && info[i].nub <= info[i].m); - if (info[i].m > 0) - { - joints[i] = joints[j]; - joints[i]->tag = i; - i++; - } - else - { - joints[j]->tag = -1; - } - } - nj = i; - - // the purely unbounded constraints - for (i = 0; i < nj; i++) - { - ofs[i] = m; - m += info[i].m; - } - dReal *c = NULL; - dReal *cfm = NULL; - dReal *lo = NULL; - dReal *hi = NULL; - int *findex = NULL; - - dReal *J = NULL; - dxJoint::Info2 * Jinfo = NULL; - - if (m) - { - // create a constraint equation right hand side vector `c', a constraint - // force mixing vector `cfm', and LCP low and high bound vectors, and an - // 'findex' vector. - c = (dReal *) ALLOCA (m * sizeof (dReal)); - cfm = (dReal *) ALLOCA (m * sizeof (dReal)); - lo = (dReal *) ALLOCA (m * sizeof (dReal)); - hi = (dReal *) ALLOCA (m * sizeof (dReal)); - findex = (int *) ALLOCA (m * sizeof (int)); - dSetZero (c, m); - dSetValue (cfm, m, world->global_cfm); - dSetValue (lo, m, -dInfinity); - dSetValue (hi, m, dInfinity); - for (i = 0; i < m; i++) - findex[i] = -1; - - // get jacobian data from constraints. a (2*m)x8 matrix will be created - // to store the two jacobian blocks from each constraint. it has this - // format: - // - // l l l 0 a a a 0 \ . - // l l l 0 a a a 0 }-- jacobian body 1 block for joint 0 (3 rows) - // l l l 0 a a a 0 / - // l l l 0 a a a 0 \ . - // l l l 0 a a a 0 }-- jacobian body 2 block for joint 0 (3 rows) - // l l l 0 a a a 0 / - // l l l 0 a a a 0 }--- jacobian body 1 block for joint 1 (1 row) - // l l l 0 a a a 0 }--- jacobian body 2 block for joint 1 (1 row) - // etc... - // - // (lll) = linear jacobian data - // (aaa) = angular jacobian data - // -# ifdef TIMING - dTimerNow ("create J"); -# endif - J = (dReal *) ALLOCA (2 * m * 8 * sizeof (dReal)); - dSetZero (J, 2 * m * 8); - Jinfo = (dxJoint::Info2 *) ALLOCA (nj * sizeof (dxJoint::Info2)); - for (i = 0; i < nj; i++) - { - Jinfo[i].rowskip = 8; - Jinfo[i].fps = dRecip (stepsize); - Jinfo[i].erp = world->global_erp; - Jinfo[i].J1l = J + 2 * 8 * ofs[i]; - Jinfo[i].J1a = Jinfo[i].J1l + 4; - Jinfo[i].J2l = Jinfo[i].J1l + 8 * info[i].m; - Jinfo[i].J2a = Jinfo[i].J2l + 4; - Jinfo[i].c = c + ofs[i]; - Jinfo[i].cfm = cfm + ofs[i]; - Jinfo[i].lo = lo + ofs[i]; - Jinfo[i].hi = hi + ofs[i]; - Jinfo[i].findex = findex + ofs[i]; - //joints[i]->vtable->getInfo2 (joints[i], Jinfo+i); - } - - } - - dReal *saveFacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal)); - dReal *saveTacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal)); - dReal *globalI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal)); - dReal *globalInvI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal)); - for (b = 0; b < nb; b++) - { - for (i = 0; i < 4; i++) - { - saveFacc[b * 4 + i] = bodies[b]->facc[i]; - saveTacc[b * 4 + i] = bodies[b]->tacc[i]; - bodies[b]->tag = b; - } - } - - for (iter = 0; iter < maxiterations; iter++) - { -# ifdef TIMING - dTimerNow ("applying inertia and gravity"); -# endif - dReal tmp[12] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; - - for (b = 0; b < nb; b++) - { - body = bodies[b]; - - // for all bodies, compute the inertia tensor and its inverse in the global - // frame, and compute the rotational force and add it to the torque - // accumulator. I and invI are vertically stacked 3x4 matrices, one per body. - // @@@ check computation of rotational force. - - // compute inertia tensor in global frame - dMULTIPLY2_333 (tmp, body->mass.I, body->R); - dMULTIPLY0_333 (globalI + b * 12, body->R, tmp); - // compute inverse inertia tensor in global frame - dMULTIPLY2_333 (tmp, body->invI, body->R); - dMULTIPLY0_333 (globalInvI + b * 12, body->R, tmp); - - for (i = 0; i < 4; i++) - body->tacc[i] = saveTacc[b * 4 + i]; - // compute rotational force - dMULTIPLY0_331 (tmp, globalI + b * 12, body->avel); - dCROSS (body->tacc, -=, body->avel, tmp); - - // add the gravity force to all bodies - if ((body->flags & dxBodyNoGravity) == 0) - { - body->facc[0] = saveFacc[b * 4 + 0] + body->mass.mass * world->gravity[0]; - body->facc[1] = saveFacc[b * 4 + 1] + body->mass.mass * world->gravity[1]; - body->facc[2] = saveFacc[b * 4 + 2] + body->mass.mass * world->gravity[2]; - body->facc[3] = 0; - } - - } - -#ifdef RANDOM_JOINT_ORDER -#ifdef TIMING - dTimerNow ("randomizing joint order"); -#endif - //randomize the order of the joints by looping through the array - //and swapping the current joint pointer with a random one before it. - for (j = 0; j < nj; j++) - { - joint = joints[j]; - dxJoint::Info1 i1 = info[j]; - dxJoint::Info2 i2 = Jinfo[j]; - int r = rand () % (j + 1); - joints[j] = joints[r]; - info[j] = info[r]; - Jinfo[j] = Jinfo[r]; - joints[r] = joint; - info[r] = i1; - Jinfo[r] = i2; - } -#endif - - //now iterate through the random ordered joint array we created. - for (j = 0; j < nj; j++) - { -#ifdef TIMING - dTimerNow ("setting up joint"); -#endif - joint = joints[j]; - bodyPair[0] = joint->node[0].body; - bodyPair[1] = joint->node[1].body; - - if (bodyPair[0] && (bodyPair[0]->flags & dxBodyDisabled)) - bodyPair[0] = 0; - if (bodyPair[1] && (bodyPair[1]->flags & dxBodyDisabled)) - bodyPair[1] = 0; - - //if this joint is not connected to any enabled bodies, skip it. - if (!bodyPair[0] && !bodyPair[1]) - continue; - - if (bodyPair[0]) - { - GIPair[0] = globalI + bodyPair[0]->tag * 12; - GinvIPair[0] = globalInvI + bodyPair[0]->tag * 12; - } - if (bodyPair[1]) - { - GIPair[1] = globalI + bodyPair[1]->tag * 12; - GinvIPair[1] = globalInvI + bodyPair[1]->tag * 12; - } - - joints[j]->vtable->getInfo2 (joints[j], Jinfo + j); - - //dInternalStepIslandFast is an exact copy of the old routine with one - //modification: the calculated forces are added back to the facc and tacc - //vectors instead of applying them to the bodies and moving them. - if (info[j].m > 0) - { - dInternalStepFast (world, bodyPair, GIPair, GinvIPair, joint, info[j], Jinfo[j], ministep); - } - } - // } -# ifdef TIMING - dTimerNow ("moving bodies"); -# endif - //Now we can simulate all the free floating bodies, and move them. - for (b = 0; b < nb; b++) - { - body = bodies[b]; - - for (i = 0; i < 4; i++) - { - body->facc[i] *= ministep; - body->tacc[i] *= ministep; - } - - //apply torque - dMULTIPLYADD0_331 (body->avel, globalInvI + b * 12, body->tacc); - - //apply force - for (i = 0; i < 3; i++) - body->lvel[i] += body->invMass * body->facc[i]; - - //move It! - moveAndRotateBody (body, ministep); - } - } - for (b = 0; b < nb; b++) - for (j = 0; j < 4; j++) - bodies[b]->facc[j] = bodies[b]->tacc[j] = 0; -} - - -#ifdef NO_ISLANDS - -// Since the iterative algorithm doesn't care about islands of bodies, this is a -// faster algorithm that just sends it all the joints and bodies in one array. -// It's downfall is it's inability to handle disabled bodies as well as the old one. -static void -processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations) -{ - // nothing to do if no bodies - if (world->nb <= 0) - return; - -# ifdef TIMING - dTimerStart ("creating joint and body arrays"); -# endif - dxBody **bodies, *body; - dxJoint **joints, *joint; - joints = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *)); - bodies = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *)); - - int nj = 0; - for (joint = world->firstjoint; joint; joint = (dxJoint *) joint->next) - joints[nj++] = joint; - - int nb = 0; - for (body = world->firstbody; body; body = (dxBody *) body->next) - bodies[nb++] = body; - - dInternalStepIslandFast (world, bodies, nb, joints, nj, stepsize, maxiterations); -# ifdef TIMING - dTimerEnd (); - dTimerReport (stdout, 1); -# endif -} - -#else - -//**************************************************************************** -// island processing - -// this groups all joints and bodies in a world into islands. all objects -// in an island are reachable by going through connected bodies and joints. -// each island can be simulated separately. -// note that joints that are not attached to anything will not be included -// in any island, an so they do not affect the simulation. -// -// this function starts new island from unvisited bodies. however, it will -// never start a new islands from a disabled body. thus islands of disabled -// bodies will not be included in the simulation. disabled bodies are -// re-enabled if they are found to be part of an active island. - -static void -processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations) -{ -#ifdef TIMING - dTimerStart ("Island Setup"); -#endif - dxBody *b, *bb, **body; - dxJoint *j, **joint; - - // nothing to do if no bodies - if (world->nb <= 0) - return; - - // make arrays for body and joint lists (for a single island) to go into - body = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *)); - joint = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *)); - int bcount = 0; // number of bodies in `body' - int jcount = 0; // number of joints in `joint' - int tbcount = 0; - int tjcount = 0; - - // set all body/joint tags to 0 - for (b = world->firstbody; b; b = (dxBody *) b->next) - b->tag = 0; - for (j = world->firstjoint; j; j = (dxJoint *) j->next) - j->tag = 0; - - // allocate a stack of unvisited bodies in the island. the maximum size of - // the stack can be the lesser of the number of bodies or joints, because - // new bodies are only ever added to the stack by going through untagged - // joints. all the bodies in the stack must be tagged! - int stackalloc = (world->nj < world->nb) ? world->nj : world->nb; - dxBody **stack = (dxBody **) ALLOCA (stackalloc * sizeof (dxBody *)); - int *autostack = (int *) ALLOCA (stackalloc * sizeof (int)); - - for (bb = world->firstbody; bb; bb = (dxBody *) bb->next) - { -#ifdef TIMING - dTimerNow ("Island Processing"); -#endif - // get bb = the next enabled, untagged body, and tag it - if (bb->tag || (bb->flags & dxBodyDisabled)) - continue; - bb->tag = 1; - - // tag all bodies and joints starting from bb. - int stacksize = 0; - int autoDepth = autoEnableDepth; - b = bb; - body[0] = bb; - bcount = 1; - jcount = 0; - goto quickstart; - while (stacksize > 0) - { - b = stack[--stacksize]; // pop body off stack - autoDepth = autostack[stacksize]; - body[bcount++] = b; // put body on body list - quickstart: - - // traverse and tag all body's joints, add untagged connected bodies - // to stack - for (dxJointNode * n = b->firstjoint; n; n = n->next) - { - if (!n->joint->tag) - { - int thisDepth = autoEnableDepth; - n->joint->tag = 1; - joint[jcount++] = n->joint; - if (n->body && !n->body->tag) - { - if (n->body->flags & dxBodyDisabled) - thisDepth = autoDepth - 1; - if (thisDepth < 0) - continue; - n->body->flags &= ~dxBodyDisabled; - n->body->tag = 1; - autostack[stacksize] = thisDepth; - stack[stacksize++] = n->body; - } - } - } - dIASSERT (stacksize <= world->nb); - dIASSERT (stacksize <= world->nj); - } - - // now do something with body and joint lists - dInternalStepIslandFast (world, body, bcount, joint, jcount, stepsize, maxiterations); - - // what we've just done may have altered the body/joint tag values. - // we must make sure that these tags are nonzero. - // also make sure all bodies are in the enabled state. - int i; - for (i = 0; i < bcount; i++) - { - body[i]->tag = 1; - body[i]->flags &= ~dxBodyDisabled; - } - for (i = 0; i < jcount; i++) - joint[i]->tag = 1; - - tbcount += bcount; - tjcount += jcount; - } - -#ifdef TIMING - dMessage(0, "Total joints processed: %i, bodies: %i", tjcount, tbcount); -#endif - - // if debugging, check that all objects (except for disabled bodies, - // unconnected joints, and joints that are connected to disabled bodies) - // were tagged. -# ifndef dNODEBUG - for (b = world->firstbody; b; b = (dxBody *) b->next) - { - if (b->flags & dxBodyDisabled) - { - if (b->tag) - dDebug (0, "disabled body tagged"); - } - else - { - if (!b->tag) - dDebug (0, "enabled body not tagged"); - } - } - for (j = world->firstjoint; j; j = (dxJoint *) j->next) - { - if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled) == 0) || (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled) == 0)) - { - if (!j->tag) - dDebug (0, "attached enabled joint not tagged"); - } - else - { - if (j->tag) - dDebug (0, "unattached or disabled joint tagged"); - } - } -# endif - /******************** breakable joint contribution ***********************/ - dxJoint* nextJ; - if (!world->firstjoint) - nextJ = 0; - else - nextJ = (dxJoint*)world->firstjoint->next; - for (j=world->firstjoint; j; j=nextJ) { - nextJ = (dxJoint*)j->next; - // check if joint is breakable and broken - if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { - // detach (break) the joint - dJointAttach (j, 0, 0); - // call the callback function if it is set - if (j->breakInfo->callback) j->breakInfo->callback (j); - // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set - if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); - } - } - /*************************************************************************/ - -# ifdef TIMING - dTimerEnd (); - dTimerReport (stdout, 1); -# endif -} - -#endif - - -void dWorldStepFast1 (dWorldID w, dReal stepsize, int maxiterations) -{ - dUASSERT (w, "bad world argument"); - dUASSERT (stepsize > 0, "stepsize must be > 0"); - processIslandsFast (w, stepsize, maxiterations); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/test_breakable.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/test_breakable.cpp deleted file mode 100644 index bfed3a32..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/BreakableJoints/test_breakable.cpp +++ /dev/null @@ -1,416 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -buggy with suspension. -this also shows you how to use geom groups. - -*/ - - -#include - -#include -#include - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCappedCylinder dsDrawCappedCylinderD -#endif - - -// some constants - -#define LENGTH 0.7 // chassis length -#define WIDTH 0.4 // chassis width -#define HEIGHT 0.2 // chassis height -#define RADIUS 0.22 // wheel radius -#define STARTZ 0.4 // starting height of chassis -#define CMASS 1 // chassis mass -#define WMASS 0.2 // wheel mass - -// dynamics and collision objects (chassis, 4 wheels, environment, obstacles, chain) -static dWorldID world; -static dSpaceID space; - -// chain stuff -static const float chain_radius = 0.1; -static const float chain_mass = 0.1; -static const int chain_num = 10; -static dBodyID chain_body[chain_num]; -static dGeomID chain_geom[chain_num]; -static dJointID chain_joint[chain_num-1]; - -// 1 chasses, 4 wheels -static dBodyID body[5]; -// joint[0] is left front wheel, joint[1] is right front wheel -static dJointID joint[4]; -static int joint_exists[4]; -static dJointGroupID contactgroup; -static dGeomID ground; -static dSpaceID car_space; -static dGeomID box[1]; -static dGeomID sphere[4]; -static dGeomID ground_box; -static const int obstacle_num = 25; -static dGeomID obstacle[obstacle_num]; - -// things that the user controls - -static dReal speed=0,steer=0; // user commands - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - -// // do not collide objects that are connected -// dBodyID b1 = dGeomGetBody (o1), -// b2 = dGeomGetBody (o2); -// if (b1 && b2 && dAreConnected(b1, b2)) return; - - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); - if (n > 0) { - for (i=0; i 0.1) v = 0.1; - if (v < -0.1) v = -0.1; - v *= 10.0; - dJointSetHinge2Param (joint[i],dParamVel,v); - dJointSetHinge2Param (joint[i],dParamFMax,0.2); - dJointSetHinge2Param (joint[i],dParamLoStop,-0.75); - dJointSetHinge2Param (joint[i],dParamHiStop,0.75); - dJointSetHinge2Param (joint[i],dParamFudgeFactor,0.1); - } - } - - dSpaceCollide (space,0,&nearCallback); - //dWorldStep (world,0.05); - dWorldStepFast1 (world,0.05,5); - - // remove all contact joints - dJointGroupEmpty (contactgroup); - } - - dsSetColor (0,1,1); - dsSetTexture (DS_WOOD); - dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); - dsSetColor (1,1,1); - for (i=1; i<=4; i++) - dsDrawCylinder (dBodyGetPosition(body[i]), - dBodyGetRotation(body[i]), - 0.2, - RADIUS); - - dVector3 ss; - dGeomBoxGetLengths (ground_box,ss); - dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); - - dsSetColor (1,0,0); - for (i=0; i -#include - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCappedCylinder dsDrawCappedCylinderD -#endif - - -// some constants - -#define LENGTH 0.7 // chassis length -#define WIDTH 0.5 // chassis width -#define HEIGHT 0.2 // chassis height -#define RADIUS 0.18 // wheel radius -#define STARTZ 0.5 // starting height of chassis -#define CMASS 1 // chassis mass -#define WMASS 0.2 // wheel mass - - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; -static dBodyID body[4]; -static dJointID joint[3]; // joint[0] is the front wheel -static dJointGroupID contactgroup; -static dGeomID ground; -static dSpaceID car_space; -static dGeomID box[1]; -static dGeomID sphere[3]; -static dGeomID ground_box; - - -// things that the user controls - -static dReal speed=0,steer=0; // user commands - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - // only collide things with the ground - int g1 = (o1 == ground || o1 == ground_box); - int g2 = (o2 == ground || o2 == ground_box); - if (!(g1 ^ g2)) return; - - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); - if (n > 0) { - for (i=0; i 0.1) v = 0.1; - if (v < -0.1) v = -0.1; - v *= 10.0; - dJointSetHinge2Param (joint[0],dParamVel,v); - dJointSetHinge2Param (joint[0],dParamFMax,0.2); - dJointSetHinge2Param (joint[0],dParamLoStop,-0.75); - dJointSetHinge2Param (joint[0],dParamHiStop,0.75); - dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1); - - dSpaceCollide (space,0,&nearCallback); - dWorldStep (world,0.05); - - // remove all contact joints - dJointGroupEmpty (contactgroup); - } - - dsSetColor (0,1,1); - dsSetTexture (DS_WOOD); - dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); - dsSetColor (1,1,1); - for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]), - dBodyGetRotation(body[i]),0.02f,RADIUS); - - dVector3 ss; - dGeomBoxGetLengths (ground_box,ss); - dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); - - /* - printf ("%.10f %.10f %.10f %.10f\n", - dJointGetHingeAngle (joint[1]), - dJointGetHingeAngle (joint[2]), - dJointGetHingeAngleRate (joint[1]), - dJointGetHingeAngleRate (joint[2])); - */ -} - - -int main (int argc, char **argv) -{ - int i; - dMass m; - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = "../../drawstuff/textures"; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - // create world - - world = dWorldCreate(); - space = dHashSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - dWorldSetGravity (world,0,0,-0.5); - ground = dCreatePlane (space,0,0,1,0); - - // chassis body - body[0] = dBodyCreate (world); - dBodySetPosition (body[0],0,0,STARTZ); - dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); - dMassAdjust (&m,CMASS); - dBodySetMass (body[0],&m); - box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT); - dGeomSetBody (box[0],body[0]); - - // wheel bodies - for (i=1; i<=3; i++) { - body[i] = dBodyCreate (world); - dQuaternion q; - dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); - dBodySetQuaternion (body[i],q); - dMassSetSphere (&m,1,RADIUS); - dMassAdjust (&m,WMASS); - dBodySetMass (body[i],&m); - sphere[i-1] = dCreateSphere (0,RADIUS); - dGeomSetBody (sphere[i-1],body[i]); - } - dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5); - dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5); - dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5); - - // front wheel hinge - /* - joint[0] = dJointCreateHinge2 (world,0); - dJointAttach (joint[0],body[0],body[1]); - const dReal *a = dBodyGetPosition (body[1]); - dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]); - dJointSetHinge2Axis1 (joint[0],0,0,1); - dJointSetHinge2Axis2 (joint[0],0,1,0); - */ - - // front and back wheel hinges - for (i=0; i<3; i++) { - joint[i] = dJointCreateHinge2 (world,0); - dJointAttach (joint[i],body[0],body[i+1]); - const dReal *a = dBodyGetPosition (body[i+1]); - dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]); - dJointSetHinge2Axis1 (joint[i],0,0,1); - dJointSetHinge2Axis2 (joint[i],0,1,0); - - // breakable joints contribution - // the wheels can break - dJointSetBreakable (joint[i], 1); - // the wheels wil break at a specific force - dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_B1_FORCE|dJOINT_BREAK_AT_B2_FORCE); - // specify the force for the first body connected to the joint ... - dJointSetBreakForce (joint[i], 0, 1.5, 1.5, 1.5); - // and for the second body - dJointSetBreakForce (joint[i], 1, 1.5, 1.5, 1.5); - } - - // set joint suspension - for (i=0; i<3; i++) { - dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4); - dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8); - } - - // lock back wheels along the steering axis - for (i=1; i<3; i++) { - // set stops to make sure wheels always stay in alignment - dJointSetHinge2Param (joint[i],dParamLoStop,0); - dJointSetHinge2Param (joint[i],dParamHiStop,0); - // the following alternative method is no good as the wheels may get out - // of alignment: - // dJointSetHinge2Param (joint[i],dParamVel,0); - // dJointSetHinge2Param (joint[i],dParamFMax,dInfinity); - } - - // create car space and add it to the top level space - car_space = dSimpleSpaceCreate (space); - dSpaceSetCleanup (car_space,0); - dSpaceAdd (car_space,box[0]); - dSpaceAdd (car_space,sphere[0]); - dSpaceAdd (car_space,sphere[1]); - dSpaceAdd (car_space,sphere[2]); - - // environment - ground_box = dCreateBox (space,2,1.5,1); - dMatrix3 R; - dRFromAxisAndAngle (R,0,1,0,-0.15); - dGeomSetPosition (ground_box,2,0,-0.34); - dGeomSetRotation (ground_box,R); - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dGeomDestroy (box[0]); - dGeomDestroy (sphere[0]); - dGeomDestroy (sphere[1]); - dGeomDestroy (sphere[2]); - - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/AssemblyInfo.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/AssemblyInfo.cpp deleted file mode 100644 index e550a322..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/AssemblyInfo.cpp +++ /dev/null @@ -1,58 +0,0 @@ -#include "stdafx.h" - -using namespace System::Reflection; -using namespace System::Runtime::CompilerServices; - -// -// General Information about an assembly is controlled through the following -// set of attributes. Change these attribute values to modify the information -// associated with an assembly. -// -[assembly:AssemblyTitleAttribute("")]; -[assembly:AssemblyDescriptionAttribute("")]; -[assembly:AssemblyConfigurationAttribute("")]; -[assembly:AssemblyCompanyAttribute("")]; -[assembly:AssemblyProductAttribute("")]; -[assembly:AssemblyCopyrightAttribute("")]; -[assembly:AssemblyTrademarkAttribute("")]; -[assembly:AssemblyCultureAttribute("")]; - -// -// Version information for an assembly consists of the following four values: -// -// Major Version -// Minor Version -// Build Number -// Revision -// -// You can specify all the value or you can default the Revision and Build Numbers -// by using the '*' as shown below: - -[assembly:AssemblyVersionAttribute("1.0.*")]; - -// -// In order to sign your assembly you must specify a key to use. Refer to the -// Microsoft .NET Framework documentation for more information on assembly signing. -// -// Use the attributes below to control which key is used for signing. -// -// Notes: -// (*) If no key is specified, the assembly is not signed. -// (*) KeyName refers to a key that has been installed in the Crypto Service -// Provider (CSP) on your machine. KeyFile refers to a file which contains -// a key. -// (*) If the KeyFile and the KeyName values are both specified, the -// following processing occurs: -// (1) If the KeyName can be found in the CSP, that key is used. -// (2) If the KeyName does not exist and the KeyFile does exist, the key -// in the KeyFile is installed into the CSP and used. -// (*) In order to create a KeyFile, you can use the sn.exe (Strong Name) utility. -// When specifying the KeyFile, the location of the KeyFile should be -// relative to the project directory. -// (*) Delay Signing is an advanced option - see the Microsoft .NET Framework -// documentation for more information on this. -// -[assembly:AssemblyDelaySignAttribute(false)]; -[assembly:AssemblyKeyFileAttribute("")]; -[assembly:AssemblyKeyNameAttribute("")]; - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Body.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Body.cpp deleted file mode 100644 index c95ae579..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Body.cpp +++ /dev/null @@ -1,322 +0,0 @@ -#include "StdAfx.h" - -#include -#include "Body.h" - -namespace ODEManaged -{ - - //Constructors - - Body::Body(void) - { - _id = 0; - } - - Body::Body(World &world) - { - _id = dBodyCreate(world.Id()); - } - - - //Destructor - - Body::~Body(void) - { - dBodyDestroy(this->_id); - } - - - //Methods - - //Id - dBodyID Body::Id() - { - return _id; - } - - - //SetData - void Body::SetData(void *data) - { - dBodySetData(this->_id, data); - } - - //GetData - void *Body::GetData(void) - { - return dBodyGetData(this->_id); - } - - - //SetPosition - void Body::SetPosition (double x, double y, double z) - { - dBodySetPosition(this->_id, x, y, z); - } - - - //Overloaded GetPosition - Vector3 Body::GetPosition(void) - { - Vector3 retVal; - const dReal *temp; - temp = dBodyGetPosition(this->_id); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - }; - - void Body::GetPosition(double position __gc[]) - { - const dReal *temp; - temp = dBodyGetPosition(this->_id); - position[0] = temp[0]; - position[1] = temp[1]; - position[2] = temp[2]; - } - - - //SetRotationIdentity - void Body::SetRotationIdentity(void) - { - dMatrix3 temp; - dRSetIdentity(temp); - dBodySetRotation(this->_id, temp); - } - - - //SetRotation (left handed system=>transpose) - void Body::SetRotation(Matrix3 rotation) - { - dMatrix3 temp; - temp[0] = rotation.m11; - temp[4] = rotation.m12; - temp[8] = rotation.m13; - temp[1] = rotation.m21; - temp[5] = rotation.m22; - temp[9] = rotation.m23; - temp[2] = rotation.m31; - temp[6] = rotation.m32; - temp[10] = rotation.m33; - dBodySetRotation(this->_id, temp); - } - - //GetRotation (left handed system=>transpose) - Matrix3 Body::GetRotation(void) - { - Matrix3 retVal; - //const dMatrix3 *m; - const dReal *temp; - temp = dBodyGetRotation(this->_id); - retVal.m11 = temp[0]; - retVal.m12 = temp[4]; - retVal.m13 = temp[8]; - retVal.m21 = temp[1]; - retVal.m22 = temp[5]; - retVal.m23 = temp[9]; - retVal.m31 = temp[2]; - retVal.m32 = temp[6]; - retVal.m33 = temp[10]; - return retVal; - } - - - //Overloaded SetMass - void Body::SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia) - { - dMass *temp = new dMass(); - dMassSetParameters(temp, mass, - centerOfGravity.x, - centerOfGravity.y, - centerOfGravity.z, - inertia.m11, inertia.m22, - inertia.m33, inertia.m12, - inertia.m13, inertia.m23); - - dBodySetMass(this->_id, temp); - } - - - //SetMassSphere - void Body::SetMassSphere(double density, double radius) - { - dMass *temp = new dMass(); - dMassSetSphere(temp, density, radius); - dBodySetMass(this->_id, temp); - } - - - //SetMassBox - void Body::SetMassBox(double density, double sideX, double sideY, double sideZ) - { - dMass *temp = new dMass(); - dMassSetBox(temp, density, sideX, sideY, sideZ); - dBodySetMass(this->_id, temp); - } - - - //SetMassCappedCylinder - void Body::SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength) - { - dMass *temp = new dMass(); - dMassSetCappedCylinder(temp, density, axis, - cylinderRadius, - cylinderLength); - - dBodySetMass(this->_id, temp); - } - - - //AddForce - void Body::AddForce(double fX, double fY, double fZ) - { - dBodyAddForce(this->_id, fX, fY, fZ); - } - - - //AddRelForce - void Body::AddRelForce(double fX, double fY, double fZ) - { - dBodyAddRelForce(this->_id, fX,fY,fZ); - } - - - //AddForceAtPos - void Body::AddForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ) - { - dBodyAddForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ); - } - - - //AddRelForceAtPos - void Body::AddRelForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ) - { - dBodyAddRelForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ); - } - - - //AddRelForceAtRelPos - void Body::AddRelForceAtRelPos(double fX, double fY, double fZ, double pX, double pY, double pZ) - { - dBodyAddRelForceAtRelPos(this->_id, fX, fY, fZ, pX, pY, pZ); - } - - - //ApplyLinearVelocityDrag - void Body::ApplyLinearVelocityDrag(double dragCoef) - { - const dReal *temp; - double fX; - double fY; - double fZ; - temp = dBodyGetLinearVel(this->_id); - fX = temp[0]*dragCoef*-1; - fY = temp[1]*dragCoef*-1; - fZ = temp[2]*dragCoef*-1; - dBodyAddForce(this->_id, fX, fY, fZ); - } - - - //ApplyAngularVelocityDrag - void Body::ApplyAngularVelocityDrag(double dragCoef) - { - const dReal *temp; - double fX; - double fY; - double fZ; - temp = dBodyGetAngularVel(this->_id); - fX = temp[0]*dragCoef*-1; - fY = temp[1]*dragCoef*-1; - fZ = temp[2]*dragCoef*-1; - dBodyAddTorque(this->_id, fX, fY, fZ); - } - - - //AddTorque - void Body::AddTorque(double fX, double fY, double fZ) - { - dBodyAddTorque(this->_id, fX, fY, fZ); - } - - - //AddRelTorque - void Body::AddRelTorque(double fX, double fY, double fZ) - { - dBodyAddRelTorque(this->_id, fX,fY,fZ); - } - - - //SetLinearVelocity - void Body::SetLinearVelocity(double x, double y, double z) - { - dBodySetLinearVel(this->_id, x, y, z); - } - - - //GetLinearVelocity - Vector3 Body::GetLinearVelocity(void) - { - Vector3 retVal; - const dReal *temp; - temp = dBodyGetLinearVel(this->_id); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //SetAngularVelocity - void Body::SetAngularVelocity(double x, double y, double z) - { - dBodySetAngularVel(this->_id, x, y, z); - } - - //GetAngularVelocity - Vector3 Body::GetAngularVelocity(void) - { - Vector3 retVal; - const dReal *temp; - temp = dBodyGetAngularVel(this->_id); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //GetRelPointPos - Vector3 Body::GetRelPointPos(double pX, double pY, double pZ) - { - Vector3 retVal; - dVector3 temp; - dBodyGetRelPointPos(this->_id, pX, pY, pZ, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //GetRelPointVel - Vector3 Body::GetRelPointVel(double pX, double pY, double pZ) - { - Vector3 retVal; - dVector3 temp; - dBodyGetRelPointVel(this->_id, pX, pY, pZ, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //ConnectedTo - int Body::ConnectedTo(const Body &b) - { - return dAreConnected(this->_id, b._id); - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Body.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Body.h deleted file mode 100644 index 9347c179..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Body.h +++ /dev/null @@ -1,76 +0,0 @@ -#pragma once - -#include "World.h" -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class Body - { - public: - - //Constructors and Destructors - - Body(void); - Body(World &world); - - ~Body(void); - - - //Public Methods - - dBodyID Id(); - void SetData (void *data); - void *GetData (void); - - //POSITION - void SetPosition(double x, double y, double z); - Vector3 GetPosition(void); - void GetPosition(double position __gc[]); - - //ROTATION - void SetRotationIdentity(void); - void SetRotation(Matrix3 rotation); - Matrix3 GetRotation(void); - - //MASS - void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia); - void SetMassSphere(double density, double radius); - void SetMassBox(double density, double sideX, double sideY, double sideZ); - void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength); - - //FORCE AND TORQUE - void AddForce(double fX, double fY, double fZ); - void AddRelForce(double fX, double fY, double fZ); - void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ); - void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ); - void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ); - void ApplyLinearVelocityDrag(double dragCoef); - void ApplyAngularVelocityDrag(double dragCoef); - - - void AddTorque(double fX, double fY, double fZ); - void AddRelTorque(double fX, double fY, double fZ); - - //LINEAR VELOCITY - void SetLinearVelocity (double x, double y, double z); - Vector3 GetLinearVelocity(void); - - //ANGULAR VELOCITY - void SetAngularVelocity (double x, double y, double z); - Vector3 GetAngularVelocity(void); - - //POINT - Vector3 GetRelPointPos(double pX, double pY, double pZ); - Vector3 GetRelPointVel(double pX, double pY, double pZ); - - //CONNECTED TO - int ConnectedTo (const Body &b); - - private: - - dBodyID _id; - - }; -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/CommonMgd.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/CommonMgd.h deleted file mode 100644 index 143397d1..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/CommonMgd.h +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -namespace ODEManaged -{ - - __value public struct Vector3 - { - double x; - double y; - double z; - }; - - - __value public struct Vector4 - { - double W; - double x; - double y; - double z; - }; - - - __value public struct Matrix3 - { - double m11; - double m12; - double m13; - double m21; - double m22; - double m23; - double m31; - double m32; - double m33; - }; - - //__value public struct NearCallback - //{ - // void *data; - // dGeomID o1; - // dGeomID o2; - //}; - -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/DotNetManaged.sln b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/DotNetManaged.sln deleted file mode 100644 index 2694a266..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/DotNetManaged.sln +++ /dev/null @@ -1,21 +0,0 @@ -Microsoft Visual Studio Solution File, Format Version 7.00 -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DotNetManaged", "DotNetManaged.vcproj", "{4B75AC19-971A-4CC6-A4F5-0695C9F8562F}" -EndProject -Global - GlobalSection(SolutionConfiguration) = preSolution - ConfigName.0 = Debug - ConfigName.1 = Release - EndGlobalSection - GlobalSection(ProjectDependencies) = postSolution - EndGlobalSection - GlobalSection(ProjectConfiguration) = postSolution - {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.ActiveCfg = Debug|Win32 - {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.Build.0 = Debug|Win32 - {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.ActiveCfg = Release|Win32 - {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.Build.0 = Release|Win32 - EndGlobalSection - GlobalSection(ExtensibilityGlobals) = postSolution - EndGlobalSection - GlobalSection(ExtensibilityAddIns) = postSolution - EndGlobalSection -EndGlobal diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/DotNetManaged.vcproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/DotNetManaged.vcproj deleted file mode 100644 index 2f5bb6cb..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/DotNetManaged.vcproj +++ /dev/null @@ -1,379 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Geom.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Geom.cpp deleted file mode 100644 index 3655466a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Geom.cpp +++ /dev/null @@ -1,219 +0,0 @@ - -#include "StdAfx.h" - -#include -#include "Geom.h" - - -namespace ODEManaged -{ - - //Constructors - - Geom::Geom(void) - { - _id = 0; - } - - - //Destructor - - Geom::~Geom(void) - { - dGeomDestroy(this->_id); - } - - - //Methods - - //Id - dGeomID Geom::Id(void) - { - return _id; - } - - - //GetBody - dBodyID Geom::GetBody(void) - { - return dGeomGetBody(this->_id); - } - - - //Overloaded SetBody - void Geom::SetBody(Body &body) - { - dGeomSetBody(this->_id, body.Id()); - } - - //void Geom::SetBody(dBodyID b) - //{ - // dGeomSetBody(this->_id, b); - //} - - - //SetPosition - void Geom::SetPosition(double x, double y, double z) - { - dGeomSetPosition(this->_id, x, y, z); - } - - - //SetRotation - void Geom::SetRotation(Matrix3 rotation) - { - dMatrix3 temp; - temp[0] = rotation.m11; - temp[4] = rotation.m12; - temp[8] = rotation.m13; - temp[1] = rotation.m21; - temp[5] = rotation.m22; - temp[9] = rotation.m23; - temp[2] = rotation.m31; - temp[6] = rotation.m32; - temp[10] = rotation.m33; - dGeomSetRotation(_id, temp); - } - - - //Destroy - void Geom::Destroy() - { - if(this->_id) dGeomDestroy(this->_id); - _id = 0; - } - - - //SetData - void Geom::SetData(void *data) - { - dGeomSetData(this->_id, data); - } - - - //GetData - void *Geom::GetData(void) - { - return dGeomGetData(this->_id); - } - - - //GetPosition - Vector3 Geom::GetPosition(void) - { - Vector3 retVal; - const dReal *temp; - temp = dGeomGetPosition(this->_id); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //GetRotation (left handed system=>transpose) - Matrix3 Geom::GetRotation(void) - { - Matrix3 retVal; - const dReal *temp; - temp = dGeomGetRotation(this->_id); - retVal.m11 = temp[0]; - retVal.m12 = temp[4]; - retVal.m13 = temp[8]; - retVal.m21 = temp[1]; - retVal.m22 = temp[5]; - retVal.m23 = temp[9]; - retVal.m31 = temp[2]; - retVal.m32 = temp[6]; - retVal.m33 = temp[10]; - return retVal; - } - - - //CreateSphere - void Geom::CreateSphere(Space &space, double radius) - { - if(this->_id) dGeomDestroy(this->_id); - _id = dCreateSphere(space.Id(), radius); - } - - - //CreateBox - void Geom::CreateBox(Space &space, double lx, double ly, double lz) - { - if(this->_id) dGeomDestroy(this->_id); - _id = dCreateBox(space.Id(), lx, ly, lz); - } - - - //CreatePlane - void Geom::CreatePlane(Space &space, double a, double b, double c, double d) - { - if(this->_id) dGeomDestroy(this->_id); - _id = dCreatePlane(space.Id(), a, b, c, d); - } - - - //CreateCCylinder - void Geom::CreateCCylinder(Space &space, double radius, double length) - { - if(this->_id) dGeomDestroy(this->_id); - _id = dCreateCCylinder(space.Id(), radius, length); - } - - - //SphereGetRadius - double Geom::SphereGetRadius(void) - { - return dGeomSphereGetRadius(this->_id); - } - - - //BoxGetLengths - Vector3 Geom::BoxGetLengths(void) - { - Vector3 retVal; - dVector3 temp; - dGeomBoxGetLengths(this->_id, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //PlaneGetParams - Vector4 Geom::PlaneGetParams(void) - { - Vector4 retVal; - dVector4 temp; - dGeomPlaneGetParams(this->_id, temp); - retVal.W = temp[0]; - retVal.x = temp[1]; - retVal.y = temp[2]; - retVal.z = temp[3]; - return retVal; - } - - - //CCylinderGetParams - void Geom::CCylinderGetParams(double *radius, double *length) - { - dGeomCCylinderGetParams(this->_id, radius, length); - } - - - //GetClass - int Geom::GetClass(void) - { - return dGeomGetClass(this->_id); - } - -} - - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Geom.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Geom.h deleted file mode 100644 index 83a6faf7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Geom.h +++ /dev/null @@ -1,75 +0,0 @@ -#pragma once - -#include "Body.h" -#include "Space.h" -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class Geom - { - public: - - - //Constructor - - Geom (void); - - - //Destructor - - ~Geom (void); - - - //Methods - - //Basic Stuff - - dGeomID Id (void); - dBodyID GetBody (void); - - //Overloaded SetBody - void SetBody (Body &body); - /*void SetBody (dBodyID b);*/ - - Vector3 GetPosition (void); - void SetPosition (double x, double y, double z); - - Matrix3 GetRotation (void); - void SetRotation (Matrix3 rotation); - - void SetData (void *data); - void *GetData (void); - - - //Create Objects - - void CreateSphere (Space &space, double radius); - void CreateBox (Space &space, double lx, double ly, double lz); - void CreatePlane (Space &space, double a, double b, double c, double d); - void CreateCCylinder (Space &space, double radius, double length); - - - //Destroy Objects - - void Destroy (void); - - - //Get Object's Parameters - - double SphereGetRadius (void); - Vector3 BoxGetLengths (void); - Vector4 PlaneGetParams (void); - void CCylinderGetParams (double *radius, double *length); - int GetClass (void); - - - //Properties - - private: - - dGeomID _id; - - }; - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Joint.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Joint.cpp deleted file mode 100644 index e2d8de69..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Joint.cpp +++ /dev/null @@ -1,35 +0,0 @@ -#include "StdAfx.h" - -#include -#include "joint.h" -#include "CommonMgd.h" -#include "world.h" - -namespace ODEManaged -{ - - //Constructor - - Joint::Joint(void) - { - _id=0; - } - - - //Destructor - - Joint::~Joint(void) - { - dJointDestroy(this->_id); - } - - - //Methods - - //Id - dJointID Joint::Id(void) - { - return _id; - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Joint.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Joint.h deleted file mode 100644 index d9ab254d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Joint.h +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once - -#include "JointGroup.h" -#include "World.h" -#include "Body.h" - -namespace ODEManaged -{ - __gc public class Joint - { - protected: - //Constructor and Destructor Defenition - Joint(void); - ~Joint(void); - - //Public Methods - dJointID Id(void); - - dJointID _id; - }; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointAMotor.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointAMotor.cpp deleted file mode 100644 index c5a4543c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointAMotor.cpp +++ /dev/null @@ -1,162 +0,0 @@ -#include "StdAfx.h" - -#include -#include "JointAMotor.h" - -namespace ODEManaged -{ - - //Constructors - - JointAMotor::JointAMotor(void) : Joint(){} - - - JointAMotor::JointAMotor(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateAMotor(world.Id(), 0); - } - - - JointAMotor::JointAMotor(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateAMotor(world.Id(), jointGroup.Id()); - } - - - //Destructor - - JointAMotor::~JointAMotor(void){} - - - //Methods - - //Overloaded Create - void JointAMotor::Create(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateAMotor(world.Id(), jointGroup.Id()); - } - - void JointAMotor::Create(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateAMotor(world.Id(), 0); - } - - - //Overloaded Attach - void JointAMotor::Attach(Body &body1, Body &body2) - { - dJointAttach(this->_id, body1.Id(), body2.Id()); - } - - void JointAMotor::Attach(Body &body1) - { - dJointAttach(this->_id, body1.Id(), 0); - } - - - //SetNumAxes - - void JointAMotor::SetNumAxes(int num) - { - dJointSetAMotorNumAxes(this->_id, num); - } - - - //GetNumAxes - - int JointAMotor::GetNumAxes(void) - { - return dJointGetAMotorNumAxes(this->_id); - } - - - //SetAxis - - void JointAMotor::SetAxis(int anum, int rel, double x, double y ,double z) - { - dJointSetAMotorAxis(this->_id, anum, rel, x, y, z); - } - - - //GetAxis - - Vector3 JointAMotor::GetAxis(int anum) - { - Vector3 retVal; - dVector3 temp; - dJointGetAMotorAxis(this->_id, anum, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //SetAngle - - void JointAMotor::SetAngle(int anum, double angle) - { - dJointSetAMotorAngle(this->_id, anum, angle); - } - - - //GetAngle - - double JointAMotor::GetAngle(int anum) - { - return dJointGetAMotorAngle(this->_id, anum); - } - - - //SetParam - - void JointAMotor::SetParam(int parameter, double value) - { - dJointSetAMotorParam(this->_id, parameter, value); - } - - - //GetParam - - double JointAMotor::GetParam(int parameter) - { - return dJointGetAMotorParam(this->_id, parameter); - } - - - //SetMode - - void JointAMotor::SetMode(int mode) - { - dJointSetAMotorMode(this->_id, mode); - } - - - //GetMode - - int JointAMotor::GetMode(void) - { - return dJointGetAMotorMode(this->_id); - } - - - //GetAxisRel - - int JointAMotor::GetAxisRel(int anum) - { - return dJointGetAMotorAxisRel(this->_id, anum); - } - - - //GetAngleRate - - double JointAMotor::GetAngleRate(int anum) - { - return dJointGetAMotorAngleRate(this->_id, anum); - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointAMotor.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointAMotor.h deleted file mode 100644 index aa3ca4b9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointAMotor.h +++ /dev/null @@ -1,62 +0,0 @@ -#pragma once - -#include "Joint.h" - -namespace ODEManaged -{ - __gc public class JointAMotor : public Joint - { - public: - - - //Constructors - - JointAMotor (void); - JointAMotor (World &world); - JointAMotor (World &world, JointGroup &jointGroup); - - - //Destructor - - virtual ~JointAMotor (void); - - - //Methods - - //Basic Stuff - - //Overloaded Create - void Create (World &world, JointGroup &jointGroup); - void Create (World &world); - - void SetNumAxes (int num); - int GetNumAxes (void); - - void SetAxis (int anum, int rel, double x, double y, double z); - Vector3 GetAxis (int anum); - - void SetAngle (int anum, double angle); - double GetAngle (int anum); - - void SetMode (int mode); - int GetMode (void); - - int GetAxisRel (int anum); - double GetAngleRate (int anum); - - //Overloaded Attach - void Attach (Body &body1, Body &body2); - void Attach (Body &body1); - - - //Movement Parameters - - void SetParam (int parameter, double value); - double GetParam (int parameter); - - - - - - }; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointBall.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointBall.cpp deleted file mode 100644 index d9336c9d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointBall.cpp +++ /dev/null @@ -1,79 +0,0 @@ -#include "StdAfx.h" - -#include -#include "jointball.h" - -namespace ODEManaged -{ - - //Constructors - - JointBall::JointBall(void) : Joint(){} - - - JointBall::JointBall(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateBall(world.Id(), 0); - } - - - JointBall::JointBall(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateBall(world.Id(), jointGroup.Id()); - } - - - //Destructor - - JointBall::~JointBall(void){} - - - //Methods - - //Overloaded Create - void JointBall::Create(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateBall(world.Id(), jointGroup.Id()); - } - - void JointBall::Create(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateBall(world.Id(), 0); - } - - - //Overloaded Attach - void JointBall::Attach(Body &body1, Body &body2) - { - dJointAttach(this->_id, body1.Id(), body2.Id()); - } - - void JointBall::Attach(Body &body1) - { - dJointAttach(this->_id, body1.Id(), 0); - } - - - //SetAnchor - void JointBall::SetAnchor(double x, double y ,double z) - { - dJointSetBallAnchor(this->_id, x, y, z); - } - - //GetAnchor - Vector3 JointBall::GetAnchor(void) - { - Vector3 retVal; - dVector3 temp; - dJointGetBallAnchor(this->_id,temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointBall.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointBall.h deleted file mode 100644 index 2355bdda..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointBall.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include "Joint.h" - -namespace ODEManaged -{ - __gc public class JointBall : public Joint - { - public: - - //Constructors - - JointBall(void); - JointBall(World &world); - JointBall(World &world, JointGroup &jointGroup); - - - //Destructors - - virtual ~JointBall(void); - - - //Methods - - //Overloaded Create - void Create(World &world, JointGroup &jointGroup); - void Create(World &world); - - //Overloaded Attach - void Attach(Body &body1, Body &body2); - void Attach(Body &body1); - - void SetAnchor(double x, double y, double z); - Vector3 GetAnchor(void); - - }; - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointFixed.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointFixed.cpp deleted file mode 100644 index afe92225..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointFixed.cpp +++ /dev/null @@ -1,67 +0,0 @@ -#include "StdAfx.h" - -#include -#include "jointfixed.h" - -namespace ODEManaged -{ - - //Constructors - - JointFixed::JointFixed(void) : Joint(){} - - - JointFixed::JointFixed(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateFixed(world.Id(),0); - } - - - JointFixed::JointFixed(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateFixed(world.Id(), jointGroup.Id()); - } - - - //Destructor - - JointFixed::~JointFixed(void){} - - - //Methods - - //Overloaded Create - void JointFixed::Create(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateFixed(world.Id(), jointGroup.Id()); - } - - void JointFixed::Create(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateFixed(world.Id(), 0); - } - - - //Overloaded Attach - void JointFixed::Attach(Body &body1, Body &body2) - { - dJointAttach(this->_id, body1.Id(), body2.Id()); - } - - void JointFixed::Attach(Body &body1) - { - dJointAttach(this->_id, body1.Id(), 0); - } - - - //Fixed - void JointFixed::SetFixed(void) - { - dJointSetFixed(this->_id); - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointFixed.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointFixed.h deleted file mode 100644 index 5ca50dc7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointFixed.h +++ /dev/null @@ -1,37 +0,0 @@ -#pragma once - -#include "Joint.h" - -namespace ODEManaged -{ - __gc public class JointFixed : public Joint - { - public: - - //Constructors - - JointFixed(void); - JointFixed(World &world); - JointFixed(World &world, JointGroup &jointGroup); - - - //Destructor - - virtual ~JointFixed(void); - - - //Methods - - //Overloaded Create - void Create(World &world, JointGroup &jointGroup); - void Create(World &world); - - //Overloaded Attach - void Attach(Body &body1, Body &body2); - void Attach(Body &body1); - - void SetFixed(void); - - }; - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointGroup.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointGroup.cpp deleted file mode 100644 index 925751ff..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointGroup.cpp +++ /dev/null @@ -1,53 +0,0 @@ -#include "StdAfx.h" - -#include -#include "jointgroup.h" - -namespace ODEManaged -{ - - //Constructors - - JointGroup::JointGroup(void) - { - _id=0; - } - - JointGroup::JointGroup (int maxSize) - { - _id = dJointGroupCreate(maxSize); - } - - - //Destructor - - JointGroup::~JointGroup(void) - { - dJointGroupDestroy(this->_id); - } - - - //Methods - - //ID - dJointGroupID JointGroup::Id() - { - return _id; - } - - - //Create - void JointGroup::Create (int maxSize) - { - if(_id) dJointGroupDestroy(_id); - _id = dJointGroupCreate(maxSize); - } - - - //Empty - void JointGroup::Empty (void) - { - dJointGroupEmpty(this->_id); - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointGroup.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointGroup.h deleted file mode 100644 index b62ced0f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointGroup.h +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once - -namespace ODEManaged -{ - __gc public class JointGroup - { - public: - - //Constructors - - JointGroup(void); - JointGroup(int maxSize); - - - //Destructor - - ~JointGroup(void); - - - //Methods - - dJointGroupID Id(void); - void Create(int maxSize); - void Empty(void); - - - private: - - dJointGroupID _id; - - }; - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge.cpp deleted file mode 100644 index 85d420bd..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge.cpp +++ /dev/null @@ -1,121 +0,0 @@ -#include "stdafx.h" - -#include -#include "jointhinge.h" - -namespace ODEManaged -{ - - //Constructors - - JointHinge::JointHinge(void) : Joint(){} - - - JointHinge::JointHinge(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge(world.Id(), 0); - } - - - JointHinge::JointHinge(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge(world.Id(), jointGroup.Id()); - } - - - //Destructor - - JointHinge::~JointHinge(void){} - - - //Methods - - //Overloaded Create - void JointHinge::Create(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge(world.Id(), jointGroup.Id()); - } - - void JointHinge::Create(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge(world.Id(), 0); - } - - - //Overloaded Attach - void JointHinge::Attach(Body &body1, Body &body2) - { - dJointAttach(this->_id, body1.Id(), body2.Id()); - } - - void JointHinge::Attach(Body &body1) - { - dJointAttach(this->_id, body1.Id(), 0); - } - - - //SetAxis - void JointHinge::SetAxis(double x, double y, double z) - { - dJointSetHingeAxis(this->_id, x, y, z); - } - - //GetAxis - Vector3 JointHinge::GetAxis(void) - { - Vector3 retVal; - dVector3 temp; - dJointGetHingeAxis(this->_id, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //SetAnchor - void JointHinge::SetAnchor(double x, double y, double z) - { - dJointSetHingeAnchor(this->_id, x, y, z); - } - - //GetAnchor - Vector3 JointHinge::GetAnchor(void) - { - Vector3 retVal; - dVector3 temp; - dJointGetHingeAnchor(this->_id, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //Movement Parameters - - //SetAllMovParams - void JointHinge::SetAllMovParams(double LoStop, double HiStop, - double Velocity, double MaxForce, - double FudgeFactor, double Bounce, - double StopERP, double StopCFM) - { - if (LoStop > -3.141592653 && LoStop <= 0) - dJointSetHingeParam(this->_id, dParamLoStop, LoStop); - - if (HiStop < 3.141592653 && HiStop >= 0) - dJointSetHingeParam(this->_id, dParamHiStop, HiStop); - - dJointSetHingeParam(this->_id, dParamVel, Velocity); - dJointSetHingeParam(this->_id, dParamFMax, MaxForce); - dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor); - dJointSetHingeParam(this->_id, dParamBounce, Bounce); - dJointSetHingeParam(this->_id, dParamStopERP, StopERP); - dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM); - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge.h deleted file mode 100644 index 3115845f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge.h +++ /dev/null @@ -1,195 +0,0 @@ -#pragma once - -#include "Joint.h" -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class JointHinge : public Joint - { - public: - - //Constructors - - JointHinge(void); - JointHinge(World &world); - JointHinge(World &world, JointGroup &jointGroup); - - - //Destructor - - virtual~JointHinge(void); - - - //Methods - - //Overloaded Create - void Create(World &world, JointGroup &jointGroup); - void Create(World &world); - - //Overloaded Attach - void Attach(Body &body1, Body &body2); - void Attach(Body &body1); - - void SetAnchor(double x, double y, double z); - Vector3 GetAnchor(void); - - void SetAxis(double x, double y, double z); - Vector3 GetAxis(void); - - void SetAllMovParams(double LoStop, double HiStop, - double Velocity, double MaxForce, - double FudgeFactor, double Bounce, - double StopERP, double StopCFM); - - - //Properties - - //LoStop - __property double get_LoStop(void) - { - return dJointGetHingeParam(this->_id, dParamLoStop); - } - - __property void set_LoStop(double value) - { - if (value > -3.141592653 && value <= 0) - dJointSetHingeParam(this->_id, dParamLoStop, value); - } - - - //HiStop - __property double get_HiStop(void) - { - return dJointGetHingeParam(this->_id, dParamHiStop); - } - - __property void set_HiStop(double value) - { - if (value < 3.141592653 && value >= 0) - dJointSetHingeParam(this->_id, dParamHiStop, value); - } - - - //Velocity - __property double get_Velocity(void) - { - return dJointGetHingeParam(this->_id, dParamVel); - } - - __property void set_Velocity(double value) - { - dJointSetHingeParam(this->_id, dParamVel, value); - } - - - //MaxForce - __property double get_MaxForce(void) - { - return dJointGetHingeParam(this->_id, dParamFMax); - } - - __property void set_MaxForce(double value) - { - dJointSetHingeParam(this->_id, dParamFMax, value); - } - - - //FudgeFactor - __property double get_FudgeFactor(void) - { - return dJointGetHingeParam(this->_id, dParamFudgeFactor); - } - - __property void set_FudgeFactor(double value) - { - dJointSetHingeParam(this->_id, dParamFudgeFactor, value); - } - - - //Bounce - __property double get_Bounce(void) - { - return dJointGetHingeParam(this->_id, dParamBounce); - } - - __property void set_Bounce(double value) - { - dJointSetHingeParam(this->_id, dParamBounce, value); - } - - - //StopERP - __property double get_StopERP(void) - { - return dJointGetHingeParam(this->_id, dParamStopERP); - } - - __property void set_StopERP(double value) - { - dJointSetHingeParam(this->_id, dParamStopERP, value); - } - - - //StopCFM - __property double get_StopCFM(void) - { - return dJointGetHingeParam(this->_id, dParamStopCFM); - } - - __property void set_StopCFM(double value) - { - dJointSetHingeParam(this->_id, dParamStopCFM, value); - } - - - //GetAngle - __property double get_Angle(void) - { - return dJointGetHingeAngle(this->_id); - } - - - //GetAngleRate - __property double get_AngleRate(void) - { - return dJointGetHingeAngleRate(this->_id); - } - - }; - -} - -// void SetSuspensionERP(double value); -// double GetSuspensionERP(void); - -// void SetSuspensionCFM(double value); -// double GetSuspensionCFM(void); - -/* - //SetSuspensionERP - void JointHinge::SetSuspensionERP(double value) - { - dJointSetHingeParam(this->_id, dParamSuspensionERP, value); - } - - //GetSuspensionERP - double JointHinge::GetSuspensionERP(void) - { - return dJointGetHingeParam(this->_id, dParamSuspensionERP); - } - - - //SetSuspensionCFM - void JointHinge::SetSuspensionCFM(double value) - { - dJointSetHingeParam(this->_id, dParamSuspensionCFM, value); - } - - //GetSuspensionCFM - double JointHinge::GetSuspensionCFM(void) - { - return dJointGetHingeParam(this->_id, dParamSuspensionCFM); - } - -*/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge2.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge2.cpp deleted file mode 100644 index 94fd7a7b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge2.cpp +++ /dev/null @@ -1,133 +0,0 @@ -#include "StdAfx.h" - -#include -#include "jointhinge2.h" - -namespace ODEManaged -{ - //Constructors - JointHinge2::JointHinge2(void) : Joint(){} - - JointHinge2::JointHinge2(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge2(world.Id(),0); - } - - JointHinge2::JointHinge2(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge2(world.Id(), jointGroup.Id()); - } - - //Destructor - JointHinge2::~JointHinge2(void){} - - //CreateHinge2 (overload 1) - void JointHinge2::Create(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge2(world.Id(), jointGroup.Id()); - } - - //CreateHinge2 (overload 2) - void JointHinge2::Create(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateHinge2(world.Id(),0); - } - - //SetAnchor1 - void JointHinge2::SetAnchor (double x, double y ,double z) - { - dJointSetHinge2Anchor(_id, x,y,z); - } - - //GetAnchor1 - Vector3 JointHinge2::GetAnchor() - { - Vector3 retVal; - dVector3 temp; - dJointGetHinge2Anchor(_id,temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - //SetAxis1 - void JointHinge2::SetAxis1 (double x, double y ,double z) - { - dJointSetHinge2Axis1(_id, x,y,z); - } - - //GetAxis1 - Vector3 JointHinge2::GetAxis1() - { - Vector3 retVal; - dVector3 temp; - dJointGetHinge2Axis1(_id,temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - //SetAxis2 - void JointHinge2::SetAxis2 (double x, double y ,double z) - { - dJointSetHinge2Axis2(_id, x,y,z); - } - - //GetAxis2 - Vector3 JointHinge2::GetAxis2() - { - Vector3 retVal; - dVector3 temp; - dJointGetHinge2Axis2(_id,temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - //GetAngle1 - double JointHinge2::GetAngle1 () - { - return dJointGetHinge2Angle1(this->_id); - } - - //GetAngle1Rate - double JointHinge2::GetAngle1Rate () - { - return dJointGetHinge2Angle1Rate(this->_id); - } - - ////GetAngle hmm, this doesn't exist - //double JointHinge2::GetAngle2 () - //{ - // return dJointGetHinge2Angle2(this->_id); - //} - - //GetAngle2Rate - double JointHinge2::GetAngle2Rate () - { - return dJointGetHinge2Angle2Rate(this->_id); - } - - - //Attach (overload 1) - void JointHinge2::Attach (Body &body1, Body &body2) - { - dJointAttach(_id, body1.Id(),body2.Id()); - } - - //Attach (overload 2) - //TODO: possibly add an overload that takes anchor as a param also. - void JointHinge2::Attach (Body &body1) - { - dJointAttach(_id, body1.Id(),0); - } - - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge2.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge2.h deleted file mode 100644 index e883ea82..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointHinge2.h +++ /dev/null @@ -1,48 +0,0 @@ -#pragma once - -#include "Joint.h" -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class JointHinge2 : public Joint - { - public: - - - //Constructors - - JointHinge2 (void); - JointHinge2 (World &world); - JointHinge2 (World &world, JointGroup &jointGroup); - - //Destructors - - virtual ~JointHinge2 (void); - - - //Methods - - //Overloaded Hinge.Create - void Create (World &world, JointGroup &jointGroup); - void Create (World &world); - - void SetAnchor (double x, double y, double z); - Vector3 GetAnchor (void); - - void SetAxis1 (double x, double y, double z); - Vector3 GetAxis1 (void); - - void SetAxis2 (double x, double y, double z); - Vector3 GetAxis2 (void); - - double GetAngle1 (void); - double GetAngle1Rate (void); - - //double GetAngle2 (void); - double GetAngle2Rate (void); - - void Attach (Body &body1, Body &body2); - void Attach( Body &body1); - }; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointSlider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointSlider.cpp deleted file mode 100644 index ab7ebd69..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointSlider.cpp +++ /dev/null @@ -1,102 +0,0 @@ -#include "StdAfx.h" - -#include -#include "jointslider.h" - -namespace ODEManaged -{ - - //Constructors - - JointSlider::JointSlider(void) : Joint(){} - - - JointSlider::JointSlider(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateSlider(world.Id(), 0); - } - - - JointSlider::JointSlider(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateSlider(world.Id(), jointGroup.Id()); - } - - - //Destructor - - JointSlider::~JointSlider(void){} - - - //Methods - - //Overloaded Create - void JointSlider::Create(World &world, JointGroup &jointGroup) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateSlider(world.Id(), jointGroup.Id()); - } - - void JointSlider::Create(World &world) - { - if(this->_id) dJointDestroy(this->_id); - _id = dJointCreateSlider(world.Id(), 0); - } - - - //Overloaded Attach - void JointSlider::Attach(Body &body1, Body &body2) - { - dJointAttach(this->_id, body1.Id(), body2.Id()); - } - - void JointSlider::Attach(Body &body1) - { - dJointAttach(this->_id, body1.Id(), 0); - } - - - //SetAxis - void JointSlider::SetAxis(double x, double y, double z) - { - dJointSetSliderAxis(this->_id, x, y, z); - } - - //GetAxis - Vector3 JointSlider::GetAxis(void) - { - Vector3 retVal; - dVector3 temp; - dJointGetSliderAxis(this->_id, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - - //Movement Parameters - - //SetAllMovParams - void JointSlider::SetAllMovParams(double LoStop, double HiStop, - double Velocity, double MaxForce, - double FudgeFactor, double Bounce, - double StopERP, double StopCFM) - { - if (LoStop <= 0) - dJointSetHingeParam(this->_id, dParamLoStop, LoStop); - - if (HiStop >= 0) - dJointSetHingeParam(this->_id, dParamHiStop, HiStop); - - dJointSetSliderParam(this->_id, dParamVel, Velocity); - dJointSetSliderParam(this->_id, dParamFMax, MaxForce); - dJointSetSliderParam(this->_id, dParamFudgeFactor, FudgeFactor); - dJointSetSliderParam(this->_id, dParamBounce, Bounce); - dJointSetSliderParam(this->_id, dParamStopERP, StopERP); - dJointSetSliderParam(this->_id, dParamStopCFM, StopCFM); - } - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointSlider.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointSlider.h deleted file mode 100644 index 7e96e597..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/JointSlider.h +++ /dev/null @@ -1,158 +0,0 @@ -#pragma once - -#include "Joint.h" -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class JointSlider : public Joint - { - public: - - - //Constructors - - JointSlider(void); - JointSlider(World &world); - JointSlider(World &world, JointGroup &jointGroup); - - - //Destructors - - virtual ~JointSlider(void); - - - //Methods - - //Overloaded Create - void Create(World &world, JointGroup &jointGroup); - void Create(World &world); - - //Overloaded Attach - void Attach(Body &body1, Body &body2); - void Attach(Body &body1); - - void SetAxis(double x, double y, double z); - Vector3 GetAxis(void); - - void SetAllMovParams(double LoStop, double HiStop, - double Velocity, double MaxForce, - double FudgeFactor, double Bounce, - double StopERP, double StopCFM); - - - //Properties - - //LoStop - __property double get_LoStop(void) - { - return dJointGetSliderParam(this->_id, dParamLoStop); - } - - __property void set_LoStop(double value) - { - if (value <=0) - dJointSetSliderParam(this->_id, dParamLoStop, value); - } - - - //HiStop - __property double get_HiStop(void) - { - return dJointGetSliderParam(this->_id, dParamHiStop); - } - - __property void set_HiStop(double value) - { - if (value >= 0) - dJointSetSliderParam(this->_id, dParamHiStop, value); - } - - - //Velocity - __property double get_Velocity(void) - { - return dJointGetSliderParam(this->_id, dParamVel); - } - - __property void set_Velocity(double value) - { - dJointSetSliderParam(this->_id, dParamVel, value); - } - - - //MaxForce - __property double get_MaxForce(void) - { - return dJointGetSliderParam(this->_id, dParamFMax); - } - - __property void set_MaxForce(double value) - { - dJointSetSliderParam(this->_id, dParamFMax, value); - } - - - //FudgeFactor - __property double get_FudgeFactor(void) - { - return dJointGetSliderParam(this->_id, dParamFudgeFactor); - } - - __property void set_FudgeFactor(double value) - { - dJointSetSliderParam(this->_id, dParamFudgeFactor, value); - } - - - //Bounce - __property double get_Bounce(void) - { - return dJointGetSliderParam(this->_id, dParamBounce); - } - - __property void set_Bounce(double value) - { - dJointSetSliderParam(this->_id, dParamBounce, value); - } - - - //StopERP - __property double get_StopERP(void) - { - return dJointGetSliderParam(this->_id, dParamStopERP); - } - - __property void set_StopERP(double value) - { - dJointSetSliderParam(this->_id, dParamStopERP, value); - } - - - //StopCFM - __property double get_StopCFM(void) - { - return dJointGetSliderParam(this->_id, dParamStopCFM); - } - - __property void set_StopCFM(double value) - { - dJointSetSliderParam(this->_id, dParamStopCFM, value); - } - - - //GetAngle - __property double get_Position(void) - { - return dJointGetSliderPosition(this->_id); - } - - - //GetAngleRate - __property double get_PositionRate(void) - { - return dJointGetSliderPositionRate(this->_id); - } - - }; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Release/ode.dll b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Release/ode.dll deleted file mode 100644 index ccf2a412..00000000 Binary files a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Release/ode.dll and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Space.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Space.cpp deleted file mode 100644 index c9a7e190..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Space.cpp +++ /dev/null @@ -1,53 +0,0 @@ -#include "StdAfx.h" - -#include -#include "Space.h" -#include "TEST.h" - -namespace ODEManaged -{ - - //Constructor - - Space::Space(void) - { - _id = dSimpleSpaceCreate(); - } - - Space::Space(int minlevel, int maxlevel) - { - _id = dHashSpaceCreate(); - dHashSpaceSetLevels(this->_id, minlevel, maxlevel); - } - - - //Destructor - - Space::~Space(void) - { - dSpaceDestroy(this->_id); - } - - - //Methods - - //Id - dSpaceID Space::Id() - { - return _id; - } - - - //Collide - void Space::Collide(void *data, dNearCallback *callback) - { - dSpaceCollide(this->_id, data, callback); - } - - - - - - - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Space.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Space.h deleted file mode 100644 index 78e81ad6..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Space.h +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once - -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class Space - { - public: - - //Constructor - - Space(void); - Space(int minlevel, int maxlevel); - - //Destructor - - ~Space(void); - - - //Methods - - dSpaceID Id(void); - void Collide(void *data, dNearCallback *callback); - - - private: - - dSpaceID _id; - - }; - -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Stdafx.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Stdafx.cpp deleted file mode 100644 index b6c9d988..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Stdafx.cpp +++ /dev/null @@ -1,5 +0,0 @@ -// stdafx.cpp : source file that includes just the standard includes -// ODEManaged.pch will be the pre-compiled header -// stdafx.obj will contain the pre-compiled type information - -#include "stdafx.h" diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Stdafx.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Stdafx.h deleted file mode 100644 index 22227596..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/Stdafx.h +++ /dev/null @@ -1,12 +0,0 @@ -// stdafx.h : include file for standard system include files, -// or project specific include files that are used frequently, -// but are changed infrequently - -#pragma once - -#using - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/TEST.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/TEST.h deleted file mode 100644 index e2cdbc36..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/TEST.h +++ /dev/null @@ -1,17 +0,0 @@ - -#pragma once - -#include "CommonMgd.h" - -namespace ODEManaged -{ - -void RnearCallback(void *data, dGeomID o1, dGeomID o2) - { - } - -} - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/World.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/World.cpp deleted file mode 100644 index beab21a4..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/World.cpp +++ /dev/null @@ -1,74 +0,0 @@ -#include "StdAfx.h" - -#include -#include "World.h" - -namespace ODEManaged -{ - - //Constructor - - World::World(void) - { - /*dWorldID _temp = dWorldCreate(); - _id = _temp;*/ - _id = dWorldCreate(); - } - - - //Destructor - - World::~World(void) - { - dWorldDestroy(this->_id); - } - - - //Methods - - //Id - dWorldID World::Id() - { - return _id; - } - - - //SetGravity - void World::SetGravity(double x, double y, double z) - { - dWorldSetGravity(this->_id, x, y, z); - } - - - //Overloaded GetGravity - Vector3 World::GetGravity(void) - { - Vector3 retVal; - dVector3 temp; - dWorldGetGravity(this->_id, temp); - retVal.x = temp[0]; - retVal.y = temp[1]; - retVal.z = temp[2]; - return retVal; - } - - void World::GetGravity(double gravity __gc[]) - { - dVector3 temp; - dWorldGetGravity(this->_id, temp); - gravity[0] = temp[0]; - gravity[1] = temp[1]; - gravity[2] = temp[2]; - } - - - //Step - void World::Step(double stepSize) - { - dWorldStep(this->_id, stepSize); - } - -} - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/World.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/World.h deleted file mode 100644 index c4c60e54..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/DotNetManaged/World.h +++ /dev/null @@ -1,67 +0,0 @@ -#pragma once - -#include "CommonMgd.h" - -namespace ODEManaged -{ - __gc public class World - { - public: - - //Constructor - - World(void); - - - //Destructor - - ~World(void); - - - // Methods - - dWorldID Id(void); - - void SetGravity(double x, double y, double z); - - //Overloaded GetGravity - Vector3 GetGravity(void); - void GetGravity(double gravity __gc[]); - - void Step(double stepSize); - - - //Properties - - //Constraint Force Mixing - __property void set_CFM(double cfm) - { - dWorldSetCFM(this->_id,cfm); - } - - __property double get_CFM(void) - { - return dWorldGetCFM(this->_id); - } - - - //Error Reduction Parameter - __property void set_ERP(double erp) - { - dWorldSetERP(this->_id,erp); - } - - __property double get_ERP(void) - { - return dWorldGetERP(this->_id); - } - - - private: - - dWorldID _id; - - }; - -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/GeomTransformGroup.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/GeomTransformGroup.cpp deleted file mode 100644 index 26b77b04..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/GeomTransformGroup.cpp +++ /dev/null @@ -1,218 +0,0 @@ - -/* ************************************************************************ */ -/* - grouped and transformed geometry functions - author: Tim Schmidt tisch@uni-paderborn.de -*/ - - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "objects.h" -#include "array.h" -#include "geom_internal.h" - -// given a pointer `p' to a dContactGeom, return the dContactGeom at -// p + skip bytes. - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) - - -// ############################################################################ - -int dGeomTransformGroupClass = -1; -// ############################################################################ - -struct dxGeomTransformGroup { - dArray parts; // all the geoms that make up the group - dVector3 relativePosition; - dMatrix3 relativeRotation; -}; -// ############################################################################ - -void dGeomTransformGroupSetRelativePosition (dxGeom *g, dReal x, dReal y, dReal z) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->relativePosition[0] = x; - transformGroup->relativePosition[1] = y; - transformGroup->relativePosition[2] = z; -} -// ############################################################################ - -void dGeomTransformGroupSetRelativeRotation (dxGeom *g, const dMatrix3 R) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - memcpy (transformGroup->relativeRotation,R,sizeof(dMatrix3)); -} -// ############################################################################ - -const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->relativePosition; -} -// ############################################################################ - -const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->relativeRotation; -} -// ############################################################################ - -static void computeFinalTransformation (const dxGeom *tg, const dxGeom *part) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(tg); - dMULTIPLY0_331 (part->pos,tg->R,transformGroup->relativePosition); - part->pos[0] += tg->pos[0]; - part->pos[1] += tg->pos[1]; - part->pos[2] += tg->pos[2]; - dMULTIPLY0_333 (part->R,tg->R,transformGroup->relativeRotation); -} -// ############################################################################ - -int dCollideTransformGroup (const dxGeom *o1, const dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(o1); - if (transformGroup->parts.size() == 0) - { - return 0; - } - int numleft = flags & NUMC_MASK; - if (numleft == 0) numleft = 1; - flags &= ~NUMC_MASK; - int num=0, i=0; - while (i < transformGroup->parts.size() && numleft > 0) - { - dUASSERT (transformGroup->parts[i]->spaceid==0, - "GeomTransformGroup encapsulated object must not be in a space"); - dUASSERT (transformGroup->parts[i]->body==0, - "GeomTransformGroup encapsulated object must not be attached to a body"); - if (!o1->space_aabb) - { - computeFinalTransformation (o1, transformGroup->parts[i]); - } - dxBody *bodyBackup = transformGroup->parts[i]->body; - transformGroup->parts[i]->body = o1->body; - int n = dCollide (transformGroup->parts[i],const_cast(o2), - flags | numleft,contact,skip); - transformGroup->parts[i]->body = bodyBackup; - contact = CONTACT (contact,skip*n); - numleft -= n; - num += n; - i++; - } - return num; -} -// ############################################################################ - -static dColliderFn * dGeomTransformGroupColliderFn (int num) -{ - return (dColliderFn *) &dCollideTransformGroup; -} -// ############################################################################ - -static void dGeomTransformGroupAABB (dxGeom *geom, dReal aabb[6]) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); - aabb[0] = dInfinity; - aabb[1] = -dInfinity; - aabb[2] = dInfinity; - aabb[3] = -dInfinity; - aabb[4] = dInfinity; - aabb[5] = -dInfinity; - int i,j; - for (i=0; i < transformGroup->parts.size(); i++) - { - computeFinalTransformation (geom, transformGroup->parts[i]); - dReal aabb2[6]; - transformGroup->parts[i]->_class->aabb (transformGroup->parts[i],aabb2); - for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j]; - for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j]; - } -} -// ############################################################################ - -static void dGeomTransformGroupDtor (dxGeom *geom) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); - transformGroup->parts.~dArray(); -} -// ############################################################################ - -dxGeom *dCreateGeomTransformGroup (dSpaceID space) -{ - if (dGeomTransformGroupClass == -1) { - dGeomClass c; - c.bytes = sizeof (dxGeomTransformGroup); - c.collider = &dGeomTransformGroupColliderFn; - c.aabb = &dGeomTransformGroupAABB; - c.aabb_test = 0; - c.dtor = dGeomTransformGroupDtor; - dGeomTransformGroupClass = dCreateGeomClass (&c); - } - dxGeom *g = dCreateGeom (dGeomTransformGroupClass); - if (space) - { - dSpaceAdd (space,g); - } - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->parts.constructor(); - dSetZero (transformGroup->relativePosition,4); - dRSetIdentity (transformGroup->relativeRotation); - return g; -} -// ############################################################################ - -void dGeomTransformGroupAddGeom (dxGeom *g, dxGeom *obj) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->parts.push (obj); -} -// ############################################################################ - -void dGeomTransformGroupRemoveGeom (dxGeom *g, dxGeom *obj) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - for (int i=0; i < transformGroup->parts.size(); i++) { - if (transformGroup->parts[i] == obj) { - transformGroup->parts.remove (i); - return; - } - } -} -// ############################################################################ - -dxGeom * dGeomTransformGroupGetGeom (dxGeom *g, int i) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - dAASSERT (i >= 0 && i < transformGroup->parts.size()); - return transformGroup->parts[i]; -} -// ############################################################################ - -int dGeomTransformGroupGetNumGeoms (dxGeom *g) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->parts.size(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/GeomTransformGroup.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/GeomTransformGroup.h deleted file mode 100644 index 705fdb92..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/GeomTransformGroup.h +++ /dev/null @@ -1,29 +0,0 @@ - -/* ************************************************************************ */ -/* - grouped and transformed geometry functions - author: Tim Schmidt tisch@uni-paderborn.de -*/ - - -#ifdef __cplusplus -extern "C" { -#endif - - -extern int dGeomTransformGroupClass; - -void dGeomTransformGroupSetRelativePosition (dGeomID g, dReal x, dReal y, dReal z); -void dGeomTransformGroupSetRelativeRotation (dGeomID g, const dMatrix3 R); -const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g); -const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g); -dGeomID dCreateGeomTransformGroup (dSpaceID space); -void dGeomTransformGroupAddGeom (dGeomID tg, dGeomID obj); -void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj); -dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i); -int dGeomTransformGroupGetNumGeoms (dGeomID tg); - - -#ifdef __cplusplus -} -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/README.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/README.txt deleted file mode 100644 index bca0e665..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/GeomTransformGroup/README.txt +++ /dev/null @@ -1,148 +0,0 @@ -README for GeomTransformGroup by Tim Schmidt. ---------------------------------------------- - -This is a patch to add the dGeomTransformGroup object to the list of geometry -objects. - -It should work with the cvs version of the ode library from 07/24/2002. - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - -comment by russ smith: this code is easy to use with the rest of ODE. -simply copy GeomTransformGroup.cpp to ode/src and copy GeomTransformGroup.h -to include/ode. then add GeomTransformGroup.cpp to the ODE_SRC variable -in the makefile. rebuild, and you're done! of course i could have done all -this for you, but i prefer to keep GeomTransformGroup separated from the -rest of ODE for now while other issues with the collision system are -resolved. - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - - -Description: - -The dGeomTransformGroup is an adaption of the TransformGroup known from -Java3D (and maybe other libraries with a similar scene graph representation). -It can be used to build an arbitrarily structured tree of objects that are -each positioned relative to the particular parent node. - -If you have a plane for example, there is one root node associated with the -plane's body and another three transformgroups placed 'under' this node. One -with the fuselage (cappedcylinder) under it and two with the underlying wings -(flat boxes). And if you want to add engines, simply put them 'next to' the -wings under another two transformgroups. - -bodyTG ---> associated with dBody - | - +--fuselageTG - | | - | +--fuselageCylinder - | - +--leftwingTG - | | - | +--wingBox - | | - | +--leftengineTG - | | - | +--leftengineCylinder - | - +--rightwingTG - | - +--wingBox - | - +--rightengineTG - | - +--rightengineCylinder - -This is a method to easily compose objects without the necessity of always -calculating global coordinates. But apart from this there is something else -that makes dGeomTransformGroups very valuable. - -Maybe you remember that some users reported the problem of acquiring the -correct bodies to be attached by a contactjoint in the nearCallback when -using dGeomGroups and dGeomTransforms at the same time. This results from the -fact that dGeomGroups are not associated with bodies while all other -geometries are. - -So, as you can see in the nearCallback of the the test_buggy demo you have to -attach the contactjoint with the bodies that you get from the geometries that -are stored in the contact struct (-> dGeomGetBody(contacts[i].geom.g1)). -Normally you would do this by asking o1 and o2 directly with dGeomGetBody(o1) -and dGeomGetBody(o2) respectively. - -As a first approach you can overcome that problem by testing o1 and o2 if -they are groups or not to find out how to get the corresponding bodies. - -However this will fail if you want grouped transforms that are constructed -out of dGeomTransforms encapsulated in a dGeomGroup. According to the test -you use contacts[i].geom.g1 to get the right body. Unfortunately g1 is -encapsulated in a transform and therefore not attached to any body. In this -case the dGeomTransform 'in the middle' would have been the right object to -be asked for the body. - -You may now conclude that it is a good idea to unwrap the group encapsulated -geoms at the beginning of the nearcallback and use dGeomGetBody(o1) -consistently. But keep in mind that this also means not to invoke -dCollide(..) on groups at all and therefore not to expoit the capability of -dGeomGroups to speed up collision detection by the creation of bounding boxes -around the encapsulated geometry. - -Everything becomes even worse if you create a dGeomTransform that contains a -dGeomGroup of geoms. The function that cares about the collision of -transforms with other objects uses the position and rotation of the -respective encapsulated object to compute its final position and orientation. -Unfortunately dGeomGroups do not have a position and rotation, so the result -will not be what you have expected. - -Here the dGeomTransformGroups comes into operation, because it combines the -advantages and capabilities of the dGeomGroup and the dGeomTransform. -And as an effect of synergy it is now even possible to set the position of a -group of geoms with one single command. -Even nested encapsulations of dGeomTransformGroups in dGeomTransformGroups -should be possible (to be honest, I have not tried that so far ;-) ). - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - -API: - -dGeomID dCreateGeomTransformGroup (dSpaceID space); - - create a GeomTransformGroup - -void dGeomTransformGroupAddGeom (dGeomID tg, dGeomID obj); - - Comparable to dGeomTransformSetGeom or dGeomGroupAdd - - add objects to this group - -void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj); - - remove objects from this group - -void dGeomTransformGroupSetRelativePosition - (dGeomID g, dReal x, dReal y, dReal z); -void dGeomTransformGroupSetRelativeRotation - (dGeomID g, const dMatrix3 R); - - Comparable to setting the position and rotation of all the - dGeomTransform encapsulated geometry. The difference - is that it is global with respect to this group and therefore - affects all geoms in this group. - - The relative position and rotation are attributes of the - transformgroup, so the position and rotation of the individual - geoms are not changed - -const dReal * dGeomTransformGroupGetRelativePosition (dGeomID g); -const dReal * dGeomTransformGroupGetRelativeRotation (dGeomID g); - - get the relative position and rotation - -dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i); - - Comparable to dGeomGroupGetGeom - - get a specific geom of the group - -int dGeomTransformGroupGetNumGeoms (dGeomID tg); - - Comparable to dGeomGroupGetNumGeoms - - get the number of geoms in the group - - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - -Tim Schmidt -student of computer science -University of Paderborn, Germany -tisch@uni-paderborn.de diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/CW7_projects.sit.bin b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/CW7_projects.sit.bin deleted file mode 100644 index c06768c8..00000000 Binary files a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/CW7_projects.sit.bin and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/README.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/README.txt deleted file mode 100644 index 7c1f8a44..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/README.txt +++ /dev/null @@ -1,95 +0,0 @@ ------------------------------ -ODE - Mac CFM Carbon Port -(contact Frank Condello with questions regarding this port) - -Although ODE contains a MacOSX makefile, and some individuals have implemented ODE in -Cocoa, I opted to use (and prefer) CodeWarrior. This also opens up ODE to MacOS8 & 9 -users, without scarfing functionality in MacOSX (same binaries run on both platforms). - -The 'ode_CW7.mcp' project contains release and debug targets to create static ODE and -DrawStuff libraries. - -'examples_CW7.mcp' contains targets for the entire ODE test suite, plus a couple other -test programs which were posted to the ODE mailing list. - - ------------------------------ -Compiling Notes: - -You'll need to extract the CodeWarrior projects from the 'CW7_projects.sit.bin' archive -(They're nearly a meg uncompressed so this was done to be bandwith friendly on the CVS). - -Projects require CodeWarrior 7 or above (recreating them with earlier versions shouldn't -be too difficult). The projects use relative paths and are meant to be compiled from -'contrib/Mac_CFMCarbon/'. Don't move them! - -All the libraries build into the 'lib/' directory, all test applications build into -'contrib/Mac_CFMCarbon/mac_testbin/' (and must be run from that directory since the -texture path is hard-coded). - -You'll need to compile the release ODE library, and the DrawStuff library before -compiling the examples. - -The ODE 'configurator' has not been ported, but a Mac-friendly 'config.h' header has been -manually hacked together (all PPC Macs should be fine with this header). Single or double -precision can be defined in the 'CommonPrefix.h' header found in -'contrib/Mac_CFMCarbon/mac_source/'. - -'contrib/Mac_CFMCarbon/mac_source/' also contains any mac specific additions to the main source. -The directory structure here matches the main source tree, and I would recommend that this -format is maintained when making additions, since the access paths are touchy (more below...) - -Some issues were encountered with duplicate header names. CodeWarrior tends to be -unforgiving about this sort of thing but fudging with the access paths eventually -cleared up the problem. If ODE fails to compile, make sure the and -"objects.h" or and are actually pointing to the correct header. - -You'll need Apple's OpenGL SDK (with GLUT) in your compiler path to build DrawStuff. I've -added redirection headers in 'contrib/Mac_CFMCarbon/mac_source/include/GL/' to properly -link with the Apple headers (since the projects are set to follow DOS paths). - -The examples link against a crapload of static libraries, but my initial builds using -ODE, MSL, GLUT, and DrawStuff shared/merged DLL's proved unstable (mostly problems with -SIOUX spawning multiple sessions, and crashes in Classic). Static libs just worked better -in the end, but the test apps are a little bloated as a result, and need to be re-linked -whenever a change to a library is made. - -IMPORTANT: You must use the same 'CommonPrefix.h' settings for libraries, and test apps -(i.e. double or single precision). - - ------------------------------ -Running the test apps: - -The test apps will show the SIOUX CLI prompt when run. Just hit OK to ignore it, or add any -DrawStuff arguments. You'll want to log output to a file for 'test_ode'. - -There are two extra test programs in the 'mac_source' directory. Both were posted to the ODE -mailing list by OSX users. 'test_stability1' visualizes some internal issues with ODE, and -'test_stacktest' is a standalone GLUT program (doesn't use DrawStuff) that can be useful -to stress test the library, and give you an idea of just how much stack memory you're -going to need for large systems. - -ISSUES: - -The carbon DrawStuff lib uses GLUT to make life easy, but GLUT isn't exactly bug-free -or stable on the Mac... Try moving the mouse around if a simulation is running slowly -on OS9 (it's not ODE's fault, but rather a poor carbon GLUT implementation - seems GLUT stalls -when it's not getting system events - I haven't seen this problem on OSX). - -The 3D view may not update if typing in the SIOUX console window. - -You cannot pass startup args to GLUT due to the way the DrawStuff library initializes. - -'Write Frames' doesn't actually do anything at the moment. - -The 'test_joints' app seems broken (though I don't know what the intended effect should be) - - ------------------------------ -TODO: - -- Re-add shared library targets (if stability issues are resolved). -- Implement 'Write Frames' in DrawStuff. -- Write a Carbon compatible configurator -- Create CodeWarrior 8 projects (once I scrounge up enough dough for the update). \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h deleted file mode 100644 index 5948b3e3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h +++ /dev/null @@ -1,6 +0,0 @@ -#define TARGET_API_MAC_CARBON 1 -#define finite isfinite -#define dNODEBUG 1 - -// Comment out for single precision -#define PRECISION_DOUBLE 1 \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h deleted file mode 100644 index 61225283..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef prefix_h -#define prefix_h - -#include "CommonPrefix.h" - -#endif // prefix_h \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h deleted file mode 100644 index 0e328a9f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h +++ /dev/null @@ -1,10 +0,0 @@ -#ifndef prefix_h -#define prefix_h - -#include "CommonPrefix.h" - -#ifdef dNODEBUG -#undef dNODEBUG -#endif - -#endif // prefix_h \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h deleted file mode 100644 index 1dedfc93..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef prefix_h -#define prefix_h - -#include "CommonPrefix.h" - -// Hack to automatically call SIOUX's CLI interface for the test apps -#include -#include -int fmain (int argc, char **argv); -int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(argc, argv); } -#define main(argc, argv) fmain(argc, argv) - -#endif // prefix_h \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h deleted file mode 100644 index f8f50222..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h +++ /dev/null @@ -1,13 +0,0 @@ -#ifndef prefix_h -#define prefix_h - -#include "CommonPrefix.h" - -// Hack to automatically call SIOUX's CLI interface for the test apps -#include -#include -int fmain (); -int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(); } -#define main() fmain() - -#endif // prefix_h \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h deleted file mode 100644 index 61225283..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef prefix_h -#define prefix_h - -#include "CommonPrefix.h" - -#endif // prefix_h \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp deleted file mode 100644 index 331885b3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp +++ /dev/null @@ -1,281 +0,0 @@ -/************************************************************************* - * * - * DrawStuff Library, Copyright (C) 2001 Russell L. Smith. * - * 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 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 (see the file LICENSE.TXT); if not, * - * write to the Free Software Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307 USA. * - * * - *************************************************************************/ - -// main window and event handling for Mac CFM Carbon - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include "internal.h" - - -//*************************************************************************** -// error handling for unix (works just fine with SIOUX) - -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 - -// window and openGL -static int width=0,height=0; // window size -static int last_key_pressed=0; // last key pressed in the window -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 dsFunctions *gfn; -static int frame = 1; - -float getTime (void) -{ - UnsignedWide ms; - - Microseconds(&ms); - return ms.lo / 1000000.0; -} - - -static void captureFrame (int num) -{ -// TODO -} - -static void reshape(int w, int h) -{ - width = w; - height = h; -} - -static void draw(void) -{ - dsDrawFrame (width,height,gfn,pause && !singlestep); - singlestep = 0; - glutSwapBuffers(); - - if (pause==0 && writeframes) { - captureFrame (frame); - frame++; - } -} - -static void idle(void) -{ - static float lasttime=0; - float t; - - // Try to maintain a reasonable rate (good enough for testing anyway) - t = getTime(); - if (lasttime < t) { - lasttime = t+0.005; - draw(); - } -} - -static void key(unsigned char key, int x, int y) -{ - if (!glutGetModifiers()) { - - if (key >= ' ' && key <= 126 && gfn->command) gfn->command (key); - - // GLUT_ACTIVE_CTRL doesn't seem to be working, so we use Alt - } else if (glutGetModifiers()&GLUT_ACTIVE_ALT) { - - switch (key) { - case 't': case 'T': - dsSetTextures (dsGetTextures() ^ 1); - break; - case 's': case 'S': - dsSetShadows (dsGetShadows() ^ 1); - 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; - } - // No case 'X' - Quit works through the Mac system menu, or cmd-q - case 'w': case 'W': - writeframes ^= 1; - if (writeframes) printf ("Write frames not done yet!\n");// TODO - break; - } - } - - last_key_pressed = key; -} - -static int mx=0,my=0; // mouse position -static int mode = 0; // mouse button bits - -static void MouseDown(int button, int state, int x, int y) -{ - if(button == GLUT_LEFT_BUTTON) - { - if(state == GLUT_DOWN) - mode |= 1; - else if(state == GLUT_UP) - mode &= (~1); - } - else if (button == GLUT_MIDDLE_BUTTON) - { - if(state == GLUT_DOWN) - mode |= 3; - else if(state == GLUT_UP) - mode &= (~3); - } - else if (button == GLUT_RIGHT_BUTTON) - { - if(state == GLUT_DOWN) - mode |= 2; - else if(state == GLUT_UP) - mode &= (~2); - } - - mx = x; - my = y; -} - -static void MouseMove(int x, int y) -{ - dsMotion (mode, x - mx, y - my); - mx = x; - my = y; -} - -static void createMainWindow (int _width, int _height) -{ - // So GLUT doesn't complain - int argc = 0; - char **argv = NULL; - - // initialize variables - width = _width; - height = _height; - last_key_pressed = 0; - - if (width < 1 || height < 1) dsDebug (0,"bad window width or height"); - - glutInit(&argc, argv); - glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); - glutInitWindowSize(_width, _height); - glutInitWindowPosition(100, 100); - glutCreateWindow("ODE Simulation"); - - glutKeyboardFunc(key); - glutMotionFunc(MouseMove); - glutMouseFunc(MouseDown); - glutReshapeFunc(reshape); - glutDisplayFunc(idle); - glutIdleFunc(idle); -} - -void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn, - int initial_pause) -{ - SIOUXSettings.initializeTB = false; - SIOUXSettings.standalone = false; - SIOUXSettings.setupmenus = false; - SIOUXSettings.autocloseonquit = true; - SIOUXSettings.asktosaveonclose = false; - - gfn = fn; - pause = initial_pause; - - printf ( - "\n" - "Simulation test environment v%d.%02d\n" - " Option-P : pause / unpause (or say `-pause' on command line).\n" - " Option-O : single step when paused.\n" - " Option-T : toggle textures (or say `-notex' on command line).\n" - " Option-S : toggle shadows (or say `-noshadow' on command line).\n" - " Option-V : print current viewpoint coordinates (x,y,z,h,p,r).\n" - " Option-W : write frames to ppm files: frame/frameNNN.ppm\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); - - createMainWindow (window_width, window_height); - dsStartGraphics (window_width,window_height,fn); - - if (fn->start) fn->start(); - - glutMainLoop(); - - if (fn->stop) fn->stop(); - dsStopGraphics(); -} - -extern "C" void dsStop(){ }// GLUT/MSL hooks into the system to exit diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h deleted file mode 100644 index 4acaeed7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h +++ /dev/null @@ -1,2 +0,0 @@ -// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths) -#include \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h deleted file mode 100644 index 5b4a791d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h +++ /dev/null @@ -1,2 +0,0 @@ -// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths) -#include \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h deleted file mode 100644 index bb889f9d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h +++ /dev/null @@ -1,52 +0,0 @@ -/* This file has been manually hacked together for the Mac CFM Carbon build - Frank. */ - -#ifndef _ODE_CONFIG_H_ -#define _ODE_CONFIG_H_ - -/* standard system headers */ -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* #define PENTIUM 1 -- not a pentium */ - -/* integer types (we assume int >= 32 bits) */ -typedef char int8; -typedef unsigned char uint8; -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; - -#ifdef PRECISION_DOUBLE - - /*select the base floating point type*/ - #define dDOUBLE 1 - - /* the floating point infinity */ - #define dInfinity DBL_MAX - -#else - - /* select the base floating point type */ - #define dSINGLE 1 - - /* the floating point infinity */ - #define dInfinity FLT_MAX - -#endif - -#ifdef __cplusplus -} -#endif -#endif \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp deleted file mode 100644 index 79c066a5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp +++ /dev/null @@ -1,289 +0,0 @@ -/************************************************************************* - * * - * 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 -#include - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCappedCylinder dsDrawCappedCylinderD -#endif - - -// some constants - -#define DENSITY (5.0) // density of all objects - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom; // geometry representing this body -}; - -static dWorldID world; -static dSpaceID space; -static MyObject fallingObject; -static dGeomID box1, box2; -static dJointGroupID contactgroup; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnected (b1,b2)) return; - - dContact contact[4]; // up to 3 contacts per box - for (i=0; i<4; i++) { - contact[i].surface.mode = dContactBounce; //dContactMu2; - contact[i].surface.mu = dInfinity; - contact[i].surface.mu2 = 0; - contact[i].surface.bounce = 0.5; - contact[i].surface.bounce_vel = 0.1; - } - if (int numc = dCollide (o1,o2,4,&contact[0].geom,sizeof(dContact))) { - // dMatrix3 RI; - // dRSetIdentity (RI); - // const dReal ss[3] = {0.02,0.02,0.02}; - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - int i,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c') { - // Destroy the currently falling object and replace it by an instance of the requested type - if (fallingObject.body) { - dBodyDestroy (fallingObject.body); - dGeomDestroy (fallingObject.geom); - memset (&fallingObject, 0, sizeof(fallingObject)); - } - - fallingObject.body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - // Start out centered above the V-gap - dBodySetPosition (fallingObject.body, 0,0,5); - -#if 0 - dMatrix3 R; - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - dBodySetRotation (fallingObject.body,R); - dBodySetData (fallingObject.body,(void*) i); -#endif - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - fallingObject.geom = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); - fallingObject.geom = dCreateCCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - fallingObject.geom = dCreateSphere (space,sides[0]); - } - - dGeomSetBody (fallingObject.geom,fallingObject.body); - - dBodySetMass (fallingObject.body,&m); - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R) -{ - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCCylinderClass) { - dReal radius,length; - dGeomCCylinderGetParams (g,&radius,&length); - dsDrawCappedCylinder (pos,R,length,radius); - } - /* - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R); - } - */ -} - - -// simulation loop - -static void simLoop (int pause) -{ - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - if (!pause) dWorldStep (world,0.0005); - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - - // draw the falling object - dsSetColor (1,0,0); - drawGeom (fallingObject.geom,0,0); - - // draw the constraining boxes - dsSetColor(0.8, 1, 0.8); - drawGeom (box1,0,0); - drawGeom (box2,0,0); -} - - -int main (int argc, char **argv) -{ - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = "../../drawstuff/textures"; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - // create world - - world = dWorldCreate(); - space = dHashSpaceCreate(); - contactgroup = dJointGroupCreate (0); - dWorldSetGravity (world,0,0,-0.5); - dWorldSetCFM (world,1e-5); - dCreatePlane (space,0,0,1,0); - memset (&fallingObject,0,sizeof(fallingObject)); - - // Create two flat boxes, just slightly off vertical and a bit apart for stuff to fall in between. - // Don't create bodies for these boxes -- they'll be immovable instead. - { - dReal sides[3]; - dMatrix3 R; - - sides[0] = 4; - sides[1] = 0.2; - sides[2] = 3; - - box1 = dCreateBox (space,sides[0],sides[1],sides[2]); - dGeomSetPosition (box1, 0, sides[1], sides[2]/2); - dRFromAxisAndAngle (R, 1, 0, 0, -0.1); - dGeomSetRotation (box1, R); - - box2 = dCreateBox (space,sides[0],sides[1],sides[2]); - dGeomSetPosition (box2, 0, -sides[1], sides[2]/2); - dRFromAxisAndAngle (R, 1, 0, 0, 0.1); - dGeomSetRotation (box2, R); - } - - // Pretend to drop a box to start - command('b'); - - // run simulation - dsSimulationLoop (argc,argv,640,480,&fn); - - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c deleted file mode 100644 index e49fd73c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c +++ /dev/null @@ -1,197 +0,0 @@ -#include -#include -#include "ode.h" - -#define NUMBODIES 80 - -#define USE_SPHERE 0 -#define USE_HELIX 1 -#define USE_TORQUE 1 -#define USE_WEIRD_MATRIX_OPS 0 - -#define CONTACTS 1 - -dWorldID aWorld; -dSpaceID aSpace; -float cycle = 0, fade; -dJointGroupID aContactGroup; -dBodyID bodies[NUMBODIES]; -dGeomID geoms[NUMBODIES]; -GLfloat colors[NUMBODIES][4]; -unsigned int contactsThisFrame; - -void kglTransformByODEGeom(dGeomID geom) { - const dReal *p = dGeomGetPosition(geom); - const dReal *R = dGeomGetRotation(geom); - GLdouble glm[16]; - - glm[0] = R[0]; glm[1] = R[4]; glm[2] = R[8]; glm[3] = 0; - glm[4] = R[1]; glm[5] = R[5]; glm[6] = R[9]; glm[7] = 0; - glm[8] = R[2]; glm[9] = R[6]; glm[10] = R[10];glm[11] = 0; - glm[12] = p[0]; glm[13] = p[1]; glm[14] = p[2]; glm[15] = 1; - - glMultMatrixd(glm); -} - -static void odeNearCallback(void *data, dGeomID g1, dGeomID g2) { - dBodyID b1 = dGeomGetBody(g1), - b2 = dGeomGetBody(g2); - dContact contact[CONTACTS]; - int contactsUsed, i; - - if (b1 && b2 && dAreConnected(b1, b2)) return; - - contactsUsed = dCollide(g1, g2, CONTACTS, &contact[0].geom, - sizeof(dContact)); - if (contactsUsed > CONTACTS) contactsUsed = CONTACTS; - - for (i = 0; i < contactsUsed; i++) { - contact[i].surface.mode = 0; - contact[i].surface.mu = 20.0; - - dJointAttach(dJointCreateContact(aWorld, aContactGroup, - &(contact[i])), b1, b2); - contactsThisFrame++; - } -} - -void myGlutResize(int w, int h) { - glViewport(0, 0, w, h); - glMatrixMode(GL_PROJECTION); - glLoadIdentity(); - gluPerspective(45.0, (GLfloat)w / h, 1.0, 120.0); - glMatrixMode(GL_MODELVIEW); - glLoadIdentity(); - glTranslatef(0, -6, -20); -} - -void myGlutIdle(void) { - const float step = 1.0/120; - int i; - - cycle = fmod(cycle + step / 4, 1); - fade = fabs(cycle * 2 - 1); - - contactsThisFrame = 0; - dSpaceCollide(aSpace, NULL, &odeNearCallback); - //printf("%u\n", contactsThisFrame); - dWorldStep(aWorld, step); - dJointGroupEmpty(aContactGroup); - - for (i = 0; i < NUMBODIES; i++) { - const dReal *cvel = dBodyGetLinearVel(bodies[i]); - dBodyAddForce(bodies[i], - -cvel[0] * 0.5, - -cvel[1] * 0.5, - -cvel[2] * 0.5 - ); - } - - glutPostRedisplay(); -} - -void myGlutDisplay(void) { - int i; - - glClearColor(fade * 0.15, 0, 0, 1); - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - if (USE_WEIRD_MATRIX_OPS) glPushMatrix(); - for (i = 0; i < NUMBODIES; i++) { - if (!USE_WEIRD_MATRIX_OPS) glPushMatrix(); - kglTransformByODEGeom(geoms[i]); - glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, colors[i]); - glColor3f(fade * 1.5, 0, 0); -#if USE_SPHERE - glRotatef(90, 1, 0, 0); - glutSolidSphere(0.5, 9, 6); - glDisable(GL_LIGHTING); - glutWireSphere(0.5, 9, 6); -#else - glutSolidCube(1); - glDisable(GL_LIGHTING); - glutWireCube(1); -#endif - glEnable(GL_LIGHTING); - if (!USE_WEIRD_MATRIX_OPS) glPopMatrix(); - } - if (USE_WEIRD_MATRIX_OPS) glPopMatrix(); - - glutSwapBuffers(); -} - -int main(int argc, char **argv) { - printf("Initializing GLUT\n"); - - glutInit(&argc, argv); - glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); - glutInitWindowSize(400, 300); - glutInitWindowPosition(100, 100); - glutCreateWindow("ODE Crash Test"); - - glutDisplayFunc(myGlutDisplay); - glutReshapeFunc(myGlutResize); - glutIdleFunc(myGlutIdle); - - glPolygonOffset(1, 1); - glDepthFunc(GL_LEQUAL); - glEnable(GL_POLYGON_OFFSET_FILL); - glEnable(GL_DEPTH_TEST); - glEnable(GL_CULL_FACE); - glEnable(GL_LIGHTING); - glEnable(GL_LIGHT0); - myGlutResize(400, 300); - - printf("Creating ODE world\n"); - aWorld = dWorldCreate(); - aSpace = dHashSpaceCreate(); - aContactGroup = dJointGroupCreate(0); - dCreatePlane(aSpace, 0, 1, 0, 0); - dWorldSetGravity(aWorld, 0, -9.81, 0); - dWorldSetERP(aWorld, 0.4); - dWorldSetCFM(aWorld, 1e-10); - - printf("Creating objects\n"); - { - int i; - dMass mass; - - dMassSetBox(&mass, 1.0, 1, 1, 1); - - for (i = 0; i < NUMBODIES; i++) { - float fraction = (float)i / NUMBODIES; - - bodies[i] = dBodyCreate(aWorld); - dBodySetMass(bodies[i], &mass); -#if USE_SPHERE - geoms[i] = dCreateSphere(aSpace, 0.5); -#else - geoms[i] = dCreateBox(aSpace, 1, 1, 1); -#endif - dGeomSetBody(geoms[i], bodies[i]); - - if (USE_HELIX) { - float r = (i % 3 - 1) * (1.5+4*(1 - fraction)), - theta = (float)i / 4; - dBodySetPosition(bodies[i], - sin(theta) * r, - (float)i + 1, - cos(theta) * r - ); - } else { - dBodySetPosition(bodies[i], 0, (float)i * 2 + 1, 0); - } - if (USE_TORQUE) dBodyAddTorque(bodies[i], fraction*10, fraction*20, fraction*30); - - colors[i][0] = fraction; - colors[i][1] = 1 - fraction; - colors[i][2] = 1 - fabs(fraction * 2 - 1); - colors[i][3] = 1; - } - } - - printf("Starting simulation\n"); - glutMainLoop(); - - return 0; -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs deleted file mode 100644 index f84ff43f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs +++ /dev/null @@ -1,18 +0,0 @@ -using System; -using System.Reflection; -using System.Runtime.CompilerServices; -using System.Runtime.InteropServices; - -[assembly: AssemblyTitle("Drawstuff.NET")] -[assembly: AssemblyDescription("")] -[assembly: AssemblyConfiguration("")] -[assembly: AssemblyCompany("")] -[assembly: AssemblyProduct("Ode.NET")] -[assembly: AssemblyCopyright("")] -[assembly: AssemblyTrademark("")] -[assembly: AssemblyCulture("")] -[assembly: ComVisible(false)] -[assembly: Guid("b2a39dd4-dd67-4e8a-af70-d3b412da8850")] -[assembly: AssemblyVersion("0.7.0.0")] -[assembly: AssemblyFileVersion("0.7.0.0")] -[assembly: CLSCompliantAttribute(true)] diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/Drawstuff.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/Drawstuff.cs deleted file mode 100644 index e590b642..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/Drawstuff.cs +++ /dev/null @@ -1,58 +0,0 @@ -using System; -using System.Runtime.InteropServices; -using Ode.NET; - -namespace Drawstuff.NET -{ -#if dDOUBLE - using dReal = System.Double; -#else - using dReal = System.Single; -#endif - - public static class ds - { - public const int VERSION = 2; - - public enum Texture - { - None, - Wood - } - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void CallbackFunction(int arg); - - [StructLayout(LayoutKind.Sequential)] - public struct Functions - { - public int version; - public CallbackFunction start; - public CallbackFunction step; - public CallbackFunction command; - public CallbackFunction stop; - public string path_to_textures; - } - - [DllImport("drawstuff", EntryPoint="dsDrawBox")] - public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides); - - [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")] - public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius); - - [DllImport("drawstuff", EntryPoint = "dsDrawConvex")] - public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("drawstuff", EntryPoint="dsSetColor")] - public static extern void SetColor(float red, float green, float blue); - - [DllImport("drawstuff", EntryPoint="dsSetTexture")] - public static extern void SetTexture(Texture texture); - - [DllImport("drawstuff", EntryPoint="dsSetViewpoint")] - public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr); - - [DllImport("drawstuff", EntryPoint="dsSimulationLoop")] - public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn); - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/premake.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/premake.lua deleted file mode 100644 index d76a5944..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Drawstuff/premake.lua +++ /dev/null @@ -1,19 +0,0 @@ -package.name = "Drawstuff.NET" -package.kind = "dll" -package.language = "c#" - -if (options["with-doubles"]) then - package.defines = { "dDOUBLE" } -else - package.defines = { "dSINGLE " } -end - -package.links = { - "System", - "Ode.NET" -} - -package.files = { - "AssemblyInfo.cs", - "Drawstuff.cs" -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode.NET.sln b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode.NET.sln deleted file mode 100644 index 32152267..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode.NET.sln +++ /dev/null @@ -1,25 +0,0 @@ -Microsoft Visual Studio Solution File, Format Version 10.00 -# Visual Studio 2008 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Ode.NET", "Ode\Ode.NET.csproj", "{3EB82B5D-D288-8B47-A202-4A3F49A340EF}" -EndProject -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ConsoleApplication1", "ConsoleApplication1\ConsoleApplication1.csproj", "{703D9D05-A117-43FB-872E-B338D763FECD}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {3EB82B5D-D288-8B47-A202-4A3F49A340EF}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {3EB82B5D-D288-8B47-A202-4A3F49A340EF}.Debug|Any CPU.Build.0 = Debug|Any CPU - {3EB82B5D-D288-8B47-A202-4A3F49A340EF}.Release|Any CPU.ActiveCfg = Release|Any CPU - {3EB82B5D-D288-8B47-A202-4A3F49A340EF}.Release|Any CPU.Build.0 = Release|Any CPU - {703D9D05-A117-43FB-872E-B338D763FECD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {703D9D05-A117-43FB-872E-B338D763FECD}.Debug|Any CPU.Build.0 = Debug|Any CPU - {703D9D05-A117-43FB-872E-B338D763FECD}.Release|Any CPU.ActiveCfg = Release|Any CPU - {703D9D05-A117-43FB-872E-B338D763FECD}.Release|Any CPU.Build.0 = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -EndGlobal diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode.NET.suo b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode.NET.suo deleted file mode 100644 index 7847555e..00000000 Binary files a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode.NET.suo and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/AssemblyInfo.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/AssemblyInfo.cs deleted file mode 100644 index 137ebc7a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/AssemblyInfo.cs +++ /dev/null @@ -1,18 +0,0 @@ -using System; -using System.Reflection; -using System.Runtime.CompilerServices; -using System.Runtime.InteropServices; - -[assembly: AssemblyTitle("Ode.NET")] -[assembly: AssemblyDescription("")] -[assembly: AssemblyConfiguration("")] -[assembly: AssemblyCompany("")] -[assembly: AssemblyProduct("Ode.NET")] -[assembly: AssemblyCopyright("")] -[assembly: AssemblyTrademark("")] -[assembly: AssemblyCulture("")] -[assembly: ComVisible(false)] -[assembly: Guid("1347a35e-c32b-4ff6-8064-7d10b2cc113b")] -[assembly: AssemblyVersion("0.10.0.0")] -[assembly: AssemblyFileVersion("0.10.0.0")] -[assembly: CLSCompliantAttribute(true)] diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/BoxStack.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/BoxStack.cs deleted file mode 100644 index bd82114d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/BoxStack.cs +++ /dev/null @@ -1,260 +0,0 @@ -using System; -using System.Collections.Generic; -using Drawstuff.NET; - -namespace Ode.NET -{ -#if dDOUBLE - using dReal = System.Double; -#else - using dReal = System.Single; -#endif - - public class TestBoxStack - { - #region Description of convex shape - - static dReal[] planes = - { - 1.0f, 0.0f, 0.0f, 0.25f, - 0.0f, 1.0f, 0.0f, 0.25f, - 0.0f, 0.0f, 1.0f, 0.25f, - 0.0f, 0.0f, -1.0f, 0.25f, - 0.0f, -1.0f, 0.0f, 0.25f, - -1.0f, 0.0f , 0.0f, 0.25f - }; - - static dReal[] points = - { - 0.25f, 0.25f, 0.25f, - -0.25f, 0.25f, 0.25f, - 0.25f, -0.25f, 0.25f, - -0.25f, -0.25f, 0.25f, - 0.25f, 0.25f, -0.25f, - -0.25f,0.25f,-0.25f, - 0.25f,-0.25f,-0.25f, - -0.25f,-0.25f,-0.25f, - }; - - static int[] polygons = - { - 4, 0, 2, 6, 4, - 4, 1, 0, 4, 5, - 4, 0, 1, 3, 2, - 4, 3, 1, 5, 7, - 4, 2, 3, 7, 6, - 4, 5, 4, 6, 7, - }; - - #endregion - - const int NUM = 100; - const float DENSITY = 5.0f; - const int MAX_CONTACTS = 8; - - static IntPtr world; - static IntPtr space; - static IntPtr contactgroup; - - static Queue obj = new Queue(); - - static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f); - static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); - - static d.NearCallback nearCallback = near; - static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS]; - static d.Contact contact; - - - // Called when window is opened - sets up viewpoint and prints usage - static void start(int unused) - { - ds.SetViewpoint(ref xyz, ref hpr); - Console.WriteLine("To drop another object, press:"); - Console.WriteLine(" b for box."); - Console.WriteLine(" s for sphere."); - Console.WriteLine(" c for capsule."); - Console.WriteLine(" y for cylinder."); - Console.WriteLine(" v for a convex object."); - Console.WriteLine(" x for a composite object."); - Console.WriteLine("To select an object, press space."); - Console.WriteLine("To disable the selected object, press d."); - Console.WriteLine("To enable the selected object, press e."); - Console.WriteLine("To toggle showing the geom AABBs, press a."); - Console.WriteLine("To toggle showing the contact points, press t."); - Console.WriteLine("To toggle dropping from random position/orientation, press r."); - Console.WriteLine("To save the current state to 'state.dif', press 1."); - } - - - // Near callback - creates contact joints - static void near(IntPtr space, IntPtr g1, IntPtr g2) - { - IntPtr b1 = d.GeomGetBody(g1); - IntPtr b2 = d.GeomGetBody(g2); - if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) - return; - - int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf); - for (int i = 0; i < count; ++i) - { - contact.geom = contacts[i]; - IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); - d.JointAttach(joint, b1, b2); - } - } - - - // Adds a new object to the scene - attaches a body to the geom and - // sets the initial position and orientation - static void addObject(IntPtr geom, d.Mass mass) - { - // Create a body for this object - IntPtr body = d.BodyCreate(world); - d.GeomSetBody(geom, body); - d.BodySetMass(body, ref mass); - obj.Enqueue(geom); - - // Set the position of the new object - d.Matrix3 R; - d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2); - d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5); - d.BodySetRotation(body, ref R); - - // Cap the total number of objects - if (obj.Count > NUM) - { - geom = obj.Dequeue(); - body = d.GeomGetBody(geom); - d.BodyDestroy(body); - d.GeomDestroy(geom); - } - } - - - // Keyboard callback - static void command(int cmd) - { - IntPtr geom; - d.Mass mass; - d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f); - - Char ch = Char.ToLower((Char)cmd); - switch ((Char)ch) - { - case 'b': - d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z); - geom = d.CreateBox(space, sides.X, sides.Y, sides.Z); - addObject(geom, mass); - break; - - case 'c': - sides.X *= 0.5f; - d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y); - geom = d.CreateCapsule(space, sides.X, sides.Y); - addObject(geom, mass); - break; - - case 'v': - d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f); - geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons); - addObject(geom, mass); - break; - } - } - - - // Draw an object in the scene - static void drawGeom(IntPtr geom) - { - IntPtr body = d.GeomGetBody(geom); - - d.Vector3 pos; - d.BodyCopyPosition(body, out pos); - - d.Matrix3 R; - d.BodyCopyRotation(body, out R); - - d.GeomClassID type = d.GeomGetClass(geom); - switch (type) - { - case d.GeomClassID.BoxClass: - d.Vector3 sides; - d.GeomBoxGetLengths(geom, out sides); - ds.DrawBox(ref pos, ref R, ref sides); - break; - case d.GeomClassID.CapsuleClass: - dReal radius, length; - d.GeomCapsuleGetParams(geom, out radius, out length); - ds.DrawCapsule(ref pos, ref R, length, radius); - break; - case d.GeomClassID.ConvexClass: - ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons); - break; - } - } - - - // Called once per frame; updates the scene - static void step(int pause) - { - d.SpaceCollide(space, IntPtr.Zero, nearCallback); - if (pause == 0) - d.WorldQuickStep(world, 0.02f); - d.JointGroupEmpty(contactgroup); - - ds.SetColor(1.0f, 1.0f, 0.0f); - ds.SetTexture(ds.Texture.Wood); - - foreach (IntPtr geom in obj) - { - drawGeom(geom); - } - } - - - static void Main(string[] args) - { - // Setup pointers to drawstuff callback functions - ds.Functions fn; - fn.version = ds.VERSION; - fn.start = new ds.CallbackFunction(start); - fn.step = new ds.CallbackFunction(step); - fn.command = new ds.CallbackFunction(command); - fn.stop = null; - fn.path_to_textures = "../../../../drawstuff/textures"; - if (args.Length > 0) - { - fn.path_to_textures = args[0]; - } - - // Set up contact response parameters - contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; - contact.surface.mu = d.Infinity; - contact.surface.mu2 = 0.0f; - contact.surface.bounce = 0.1f; - contact.surface.bounce_vel = 0.1f; - contact.surface.soft_cfm = 0.01f; - - // Initialize the scene - world = d.WorldCreate(); - space = d.HashSpaceCreate(IntPtr.Zero); - contactgroup = d.JointGroupCreate(0); - d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); - d.WorldSetCFM(world, 1e-5f); - d.WorldSetAutoDisableFlag(world, true); - d.WorldSetContactMaxCorrectingVel(world, 0.1f); - d.WorldSetContactSurfaceLayer(world, 0.001f); - d.CreatePlane(space, 0, 0, 1, 0); - - // Run the scene - ds.SimulationLoop(args.Length, args, 352, 288, ref fn); - - // Clean up - d.JointGroupDestroy(contactgroup); - d.SpaceDestroy(space); - d.WorldDestroy(world); - d.CloseODE(); - } - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Drawstuff.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Drawstuff.cs deleted file mode 100644 index e590b642..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Drawstuff.cs +++ /dev/null @@ -1,58 +0,0 @@ -using System; -using System.Runtime.InteropServices; -using Ode.NET; - -namespace Drawstuff.NET -{ -#if dDOUBLE - using dReal = System.Double; -#else - using dReal = System.Single; -#endif - - public static class ds - { - public const int VERSION = 2; - - public enum Texture - { - None, - Wood - } - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void CallbackFunction(int arg); - - [StructLayout(LayoutKind.Sequential)] - public struct Functions - { - public int version; - public CallbackFunction start; - public CallbackFunction step; - public CallbackFunction command; - public CallbackFunction stop; - public string path_to_textures; - } - - [DllImport("drawstuff", EntryPoint="dsDrawBox")] - public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides); - - [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")] - public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius); - - [DllImport("drawstuff", EntryPoint = "dsDrawConvex")] - public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("drawstuff", EntryPoint="dsSetColor")] - public static extern void SetColor(float red, float green, float blue); - - [DllImport("drawstuff", EntryPoint="dsSetTexture")] - public static extern void SetTexture(Texture texture); - - [DllImport("drawstuff", EntryPoint="dsSetViewpoint")] - public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr); - - [DllImport("drawstuff", EntryPoint="dsSimulationLoop")] - public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn); - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.NET.csproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.NET.csproj deleted file mode 100644 index a60ad9da..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.NET.csproj +++ /dev/null @@ -1,57 +0,0 @@ - - - Debug - AnyCPU - 9.0.30729 - 2.0 - {3EB82B5D-D288-8B47-A202-4A3F49A340EF} - Library - Properties - Ode.NET - Ode.NET - - - - - 2.0 - - - true - full - false - ../bin/Debug\ - dSINGLE - prompt - 4 - true - false - - - pdbonly - true - ../bin/Release\ - dSINGLE - prompt - 4 - true - false - - - - - - - - - - - - - - \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.NET.csproj.user b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.NET.csproj.user deleted file mode 100644 index 135e085b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.NET.csproj.user +++ /dev/null @@ -1,5 +0,0 @@ - - - C:\Documents and Settings\DCOLIVE\Desktop\Ode.NET-0.9\Ode.NET-0.9\bin\Release\ - - \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.cs deleted file mode 100644 index 43f68b2a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/Ode.cs +++ /dev/null @@ -1,1876 +0,0 @@ -using System; -using System.Runtime.InteropServices; -using System.Security; - -namespace Ode.NET -{ -#if dDOUBLE - using dReal = System.Double; -#else - using dReal = System.Single; -#endif - - public static class d - { - public static dReal Infinity = dReal.MaxValue; - - #region Flags and Enumerations - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [Flags] - public enum AllocateODEDataFlags : uint - { - BasicData = 0, - CollisionData = 0x00000001, - All = ~0u - } - - [CLSCompliant(false)] - [Flags] - public enum IniteODEFlags : uint - { - dInitFlagManualThreadCleanup = 0x00000001 - } -#endif - - [Flags] - public enum ContactFlags : int - { - Mu2 = 0x001, - FDir1 = 0x002, - Bounce = 0x004, - SoftERP = 0x008, - SoftCFM = 0x010, - Motion1 = 0x020, - Motion2 = 0x040, - MotionN = 0x080, - Slip1 = 0x100, - Slip2 = 0x200, - Approx0 = 0x0000, - Approx1_1 = 0x1000, - Approx1_2 = 0x2000, - Approx1 = 0x3000 - } - - public enum GeomClassID : int - { - SphereClass, - BoxClass, - CapsuleClass, - CylinderClass, - PlaneClass, - RayClass, - ConvexClass, - GeomTransformClass, - TriMeshClass, - HeightfieldClass, - FirstSpaceClass, - SimpleSpaceClass = FirstSpaceClass, - HashSpaceClass, - QuadTreeSpaceClass, - LastSpaceClass = QuadTreeSpaceClass, - FirstUserClass, - LastUserClass = FirstUserClass + MaxUserClasses - 1, - NumClasses, - MaxUserClasses = 4 - } - - public enum JointType : int - { - None, - Ball, - Hinge, - Slider, - Contact, - Universal, - Hinge2, - Fixed, - Null, - AMotor, - LMotor, - Plane2D - } - - public enum JointParam : int - { - LoStop, - HiStop, - Vel, - FMax, - FudgeFactor, - Bounce, - CFM, - StopERP, - StopCFM, - SuspensionERP, - SuspensionCFM, - LoStop2 = 256, - HiStop2, - Vel2, - FMax2, - FudgeFactor2, - Bounce2, - CFM2, - StopERP2, - StopCFM2, - SuspensionERP2, - SuspensionCFM2, - LoStop3 = 512, - HiStop3, - Vel3, - FMax3, - FudgeFactor3, - Bounce3, - CFM3, - StopERP3, - StopCFM3, - SuspensionERP3, - SuspensionCFM3 - } - - public enum dSweepAndPruneAxis : int - { - XYZ = ((0)|(1<<2)|(2<<4)), - XZY = ((0)|(2<<2)|(1<<4)), - YXZ = ((1)|(0<<2)|(2<<4)), - YZX = ((1)|(2<<2)|(0<<4)), - ZXY = ((2)|(0<<2)|(1<<4)), - ZYX = ((2)|(1<<2)|(0<<4)) - } - - #endregion - - #region Callbacks - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void GetAABBFn(IntPtr geom, out AABB aabb); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate ColliderFn GetColliderFnFn(int num); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void GeomDtorFn(IntPtr o); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); - - [UnmanagedFunctionPointer(CallingConvention.Cdecl)] - public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); - - #endregion - - #region Structs - - [StructLayout(LayoutKind.Sequential)] - public struct AABB - { - public dReal MinX, MaxX; - public dReal MinY, MaxY; - public dReal MinZ, MaxZ; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Contact - { - public SurfaceParameters surface; - public ContactGeom geom; - public Vector3 fdir1; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct ContactGeom - { - public static readonly int SizeOf = Marshal.SizeOf(typeof(ContactGeom)); - - public Vector3 pos; - public Vector3 normal; - public dReal depth; - public IntPtr g1; - public IntPtr g2; - public int side1; - public int side2; - } - - [StructLayout(LayoutKind.Sequential)] - public struct GeomClass - { - public int bytes; - public GetColliderFnFn collider; - public GetAABBFn aabb; - public AABBTestFn aabb_test; - public GeomDtorFn dtor; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct JointFeedback - { - public Vector3 f1; - public Vector3 t1; - public Vector3 f2; - public Vector3 t2; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Mass - { - public dReal mass; - public Vector4 c; - public Matrix3 I; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Matrix3 - { - public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) - { - M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; - M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; - M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; - } - public dReal M00, M10, M20; - private dReal _m30; - public dReal M01, M11, M21; - private dReal _m31; - public dReal M02, M12, M22; - private dReal _m32; - } - - [StructLayout(LayoutKind.Sequential)] - public struct Matrix4 - { - public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, - dReal m01, dReal m11, dReal m21, dReal m31, - dReal m02, dReal m12, dReal m22, dReal m32, - dReal m03, dReal m13, dReal m23, dReal m33) - { - M00 = m00; M10 = m10; M20 = m20; M30 = m30; - M01 = m01; M11 = m11; M21 = m21; M31 = m31; - M02 = m02; M12 = m12; M22 = m22; M32 = m32; - M03 = m03; M13 = m13; M23 = m23; M33 = m33; - } - public dReal M00, M10, M20, M30; - public dReal M01, M11, M21, M31; - public dReal M02, M12, M22, M32; - public dReal M03, M13, M23, M33; - } - - [StructLayout(LayoutKind.Sequential)] - public struct Quaternion - { - public dReal W, X, Y, Z; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct SurfaceParameters - { - public ContactFlags mode; - public dReal mu; - public dReal mu2; - public dReal bounce; - public dReal bounce_vel; - public dReal soft_erp; - public dReal soft_cfm; - public dReal motion1; - public dReal motion2; - public dReal motionN; - public dReal slip1; - public dReal slip2; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Vector3 - { - public Vector3(dReal x, dReal y, dReal z) - { - X = x; Y = y; Z = z; _w = 0.0f; - } - public dReal X, Y, Z; - private dReal _w; - } - - - [StructLayout(LayoutKind.Sequential)] - public struct Vector4 - { - public Vector4(dReal x, dReal y, dReal z, dReal w) - { - X = x; Y = y; Z = z; W = w; - } - public dReal X, Y, Z, W; - } - - #endregion - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] - public static extern int AllocateODEDataForThread(uint ODEInitFlags); -#endif - - [DllImport("ode", EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] - public static extern bool AreConnected(IntPtr b1, IntPtr b2); - - [DllImport("ode", EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] - public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); - - [DllImport("ode", EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); - - [DllImport("ode", EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); - - [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); - - [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyPosition(IntPtr body, out dReal X); - - [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); - - [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); - - [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); - - [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodyCopyRotation(IntPtr body, out dReal M00); - - [DllImport("ode", EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyCreate(IntPtr world); - - [DllImport("ode", EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void BodyDestroy(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] - public static extern void BodyDisable(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] - public static extern void BodyEnable(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyGetAutoDisableFlag(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetAutoDisableDefaults(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetAutoDisableSteps(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAutoDisableTime(IntPtr body); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); - public static Vector3 BodyGetAngularVel(IntPtr body) - { - unsafe { return *(BodyGetAngularVelUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetData(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetFiniteRotationMode(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); - public static Vector3 BodyGetForce(IntPtr body) - { - unsafe { return *(BodyGetForceUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyGetGravityMode(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetGyroscopicMode(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetJoint(IntPtr body, int index); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); - public static Vector3 BodyGetLinearVel(IntPtr body) - { - unsafe { return *(BodyGetLinearVelUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetMass(IntPtr body, out Mass mass); - - [DllImport("ode", EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] - public static extern int BodyGetNumJoints(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); - public static Vector3 BodyGetPosition(IntPtr body) - { - unsafe { return *(BodyGetPositionUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); - public static Quaternion BodyGetQuaternion(IntPtr body) - { - unsafe { return *(BodyGetQuaternionUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); - public static Matrix3 BodyGetRotation(IntPtr body) - { - unsafe { return *(BodyGetRotationUnsafe(body)); } - } -#endif - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); - public static Vector3 BodyGetTorque(IntPtr body) - { - unsafe { return *(BodyGetTorqueUnsafe(body)); } - } -#endif - - [DllImport("ode", EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr BodyGetWorld(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool BodyIsEnabled(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableDefaults(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); - - [DllImport("ode", EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); - - [DllImport("ode", EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetData(IntPtr body, IntPtr data); - - [DllImport("ode", EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); - - [DllImport("ode", EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearDamping(IntPtr body, dReal scale); - - [DllImport("ode", EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularDamping(IntPtr body, dReal scale); - - [DllImport("ode", EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetLinearDamping(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAngularDamping(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); - - [DllImport("ode", EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); - - [DllImport("ode", EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); - - [DllImport("ode", EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); - - [DllImport("ode", EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetGravityMode(IntPtr body, bool mode); - - /// - /// Sets the Gyroscopic term status on the body specified. - /// - /// Pointer to body - /// NonZero enabled, Zero disabled - [DllImport("ode", EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] - public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); - - [DllImport("ode", EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetMass(IntPtr body, ref Mass mass); - - [DllImport("ode", EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); - - [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetQuaternion(IntPtr body, ref dReal w); - - [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetRotation(IntPtr body, ref dReal M00); - - [DllImport("ode", EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] - public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] - public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] - public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); - - [DllImport("ode", EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] - public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, - ref Vector3 side1, ref Vector3 p2, - ref Matrix3 R2, ref Vector3 side2, - ref Vector3 normal, out dReal depth, out int return_code, - int maxc, out ContactGeom contact, int skip); - - [DllImport("ode", EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] - public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, - ref Vector3 side1, ref Vector3 _p2, - ref Matrix3 R2, ref Vector3 side2); - - [DllImport("ode", EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] - public static extern void CleanupODEAllDataForThread(); - - [DllImport("ode", EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] - public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, - ref Vector3 b1, ref Vector3 b2, - ref Vector3 cp1, ref Vector3 cp2); - - [DllImport("ode", EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] - public static extern void CloseODE(); - - [DllImport("ode", EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] - public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); - - [DllImport("ode", EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); - - [DllImport("ode", EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("ode", EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable); - - [DllImport("ode", EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateGeom(int classnum); - - [DllImport("ode", EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] - public static extern int CreateGeomClass(ref GeomClass classptr); - - [DllImport("ode", EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateGeomTransform(IntPtr space); - - [DllImport("ode", EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); - - [DllImport("ode", EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateRay(IntPtr space, dReal length); - - [DllImport("ode", EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateSphere(IntPtr space, dReal radius); - - [DllImport("ode", EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data, - TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); - - [DllImport("ode", EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] - public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); - - [DllImport("ode", EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] - public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); - - [DllImport("ode", EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] - public static extern int FactorCholesky(ref dReal A00, int n); - - [DllImport("ode", EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] - public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); - - [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); - - [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); - - [DllImport("ode", EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] - public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); - - [DllImport("ode", EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] - public static extern void GeomClearOffset(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); - - [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyPosition(IntPtr geom, out dReal X); - - [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); - - [DllImport("ode", EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); - - [DllImport("ode", EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomDestroy(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] - public static extern void GeomDisable(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] - public static extern void GeomEnable(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] - public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); - - [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] - public static extern void GeomGetAABB(IntPtr geom, out dReal minX); - - [DllImport("ode", EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetBody(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] - public static extern int GeomGetCategoryBits(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetClassData(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] - public static extern int GeomGetCollideBits(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] - public static extern GeomClassID GeomGetClass(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetData(IntPtr geom); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); - public static Vector3 GeomGetOffsetPosition(IntPtr geom) - { - unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } - } -#endif - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); - public static Matrix3 GeomGetOffsetRotation(IntPtr geom) - { - unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } - } -#endif - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); - public static Vector3 GeomGetPosition(IntPtr geom) - { - unsafe { return *(GeomGetPositionUnsafe(geom)); } - } -#endif - - [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); - - [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); - public static Matrix3 GeomGetRotation(IntPtr geom) - { - unsafe { return *(GeomGetRotationUnsafe(geom)); } - } -#endif - - [DllImport("ode", EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomGetSpace(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomHeightfieldDataCreate(); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataDestroy(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsEnabled(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsOffset(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomIsSpace(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); - - [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); - - [DllImport("ode", EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); - - [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); - - [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); - - [DllImport("ode", EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] - public static extern int GeomRayGetClosestHit(IntPtr ray); - - [DllImport("ode", EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomRayGetLength(IntPtr ray); - - [DllImport("ode", EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); - - [DllImport("ode", EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); - - [DllImport("ode", EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); - - [DllImport("ode", EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetLength(IntPtr ray, dReal length); - - [DllImport("ode", EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] - public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); - - [DllImport("ode", EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetBody(IntPtr geom, IntPtr body); - - [DllImport("ode", EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetCategoryBits(IntPtr geom, int bits); - - [DllImport("ode", EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetCollideBits(IntPtr geom, int bits); - - [DllImport("ode", EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); - - [DllImport("ode", EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetData(IntPtr geom, IntPtr data); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); - - [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); - - [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomSphereGetRadius(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] - public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] - public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); - - [DllImport("ode", EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern int GeomTransformGetCleanup(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTransformGetGeom(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] - public static extern int GeomTransformGetInfo(IntPtr geom); - - [DllImport("ode", EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); - - [DllImport("ode", EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); - - [DllImport("ode", EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTransformSetInfo(IntPtr geom, int info); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - double[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, - double[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - double[] normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildDouble(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle(IntPtr d, - dReal[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, - dReal[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - dReal[] normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple(IntPtr d, - float[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, - float[] vertices, int vertexStride, int vertexCount, - int[] indices, int indexCount, int triStride, - float[] normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, - IntPtr vertices, int vertexStride, int vertexCount, - IntPtr indices, int indexCount, int triStride, - IntPtr normals); - - [DllImport("ode", EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshClearTCCache(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshDataCreate(); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataDestroy(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataPreprocess(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); - - [DllImport("ode", EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshDataUpdate(IntPtr d); - - [DllImport("ode", EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshGetData(IntPtr g); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] - public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); - public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) - { - unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } - } -#endif - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] - public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] - public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] - public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] - public extern static int GeomTriMeshGetTriangleCount(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); - - [DllImport("ode", EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] - public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); - - [DllImport("ode", EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] - public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); - - [DllImport("ode", EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr HashSpaceCreate(IntPtr space); - - [DllImport("ode", EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] - public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); - - [DllImport("ode", EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] - public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); - - [DllImport("ode", EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] - public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); - - [DllImport("ode", EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] - public static extern void InitODE(); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] - public static extern int InitODE2(uint ODEInitFlags); -#endif - [DllImport("ode", EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] - public static extern int IsPositiveDefinite(ref dReal A, int n); - - [DllImport("ode", EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] - public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); - - [DllImport("ode", EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); - - [DllImport("ode", EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); - - [DllImport("ode", EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); - - [DllImport("ode", EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddPRTorque(IntPtr joint, dReal torque); - - [DllImport("ode", EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); - - [DllImport("ode", EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] - public static extern void JointAddSliderForce(IntPtr joint, dReal force); - - [DllImport("ode", EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] - public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); - - [DllImport("ode", EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); - - [DllImport("ode", EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); - - [DllImport("ode", EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void JointDestroy(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); - - [DllImport("ode", EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorMode(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetAMotorNumAxes(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGetBody(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGetData(IntPtr j); - -#if !dNO_UNSAFE_CODE - [CLSCompliant(false)] - [DllImport("ode", EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] - public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); - public static JointFeedback JointGetFeedback(IntPtr j) - { - unsafe { return *(JointGetFeedbackUnsafe(j)); } - } -#endif - - [DllImport("ode", EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeAngle(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeAngleRate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHingeParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle1(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern int JointGetLMotorNumAxes(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRPosition(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetPRPositionRate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderPosition(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetSliderPositionRate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] - public static extern JointType JointGetType(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle1(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle2(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); - - [DllImport("ode", EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] - public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); - - [DllImport("ode", EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr JointGroupCreate(int max_size); - - [DllImport("ode", EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void JointGroupDestroy(IntPtr group); - - [DllImport("ode", EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] - public static extern void JointGroupEmpty(IntPtr group); - - [DllImport("ode", EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); - - [DllImport("ode", EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorMode(IntPtr j, int mode); - - [DllImport("ode", EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorNumAxes(IntPtr group, int num); - - [DllImport("ode", EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetData(IntPtr j, IntPtr data); - - [DllImport("ode", EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); - - [DllImport("ode", EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetFixed(IntPtr j); - - [DllImport("ode", EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - [DllImport("ode", EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorNumAxes(IntPtr j, int num); - - [DllImport("ode", EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - [DllImport("ode", EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] - public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); - - [DllImport("ode", EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] - public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); - - [DllImport("ode", EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] - public static extern void MassAdd(ref Mass a, ref Mass b); - - [DllImport("ode", EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] - public static extern void MassAdjust(ref Mass m, dReal newmass); - - [DllImport("ode", EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] - public static extern bool MassCheck(ref Mass m); - - [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] - public static extern void MassRotate(ref Mass mass, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] - public static extern void MassRotate(ref Mass mass, ref dReal M00); - - [DllImport("ode", EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); - - [DllImport("ode", EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); - - [DllImport("ode", EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetParameters(out Mass mass, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal i11, dReal i22, dReal i33, - dReal i12, dReal i13, dReal i23); - - [DllImport("ode", EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); - - [DllImport("ode", EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] - public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); - - [DllImport("ode", EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); - - [DllImport("ode", EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] - public static extern void MassSetZero(out Mass mass); - - [DllImport("ode", EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] - public static extern void MassTranslate(ref Mass mass, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] - public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); - - [DllImport("ode", EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] - public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); - - [DllImport("ode", EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] - public static extern void QfromR(out Quaternion q, ref Matrix3 R); - - [DllImport("ode", EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] - public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); - - [DllImport("ode", EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] - public static extern void QSetIdentity(out Quaternion q); - - [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); - - [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); - - [DllImport("ode", EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] - public static extern dReal RandReal(); - - [DllImport("ode", EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] - public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); - - [DllImport("ode", EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] - public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); - - [DllImport("ode", EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] - public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); - - [DllImport("ode", EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] - public static extern void RfromQ(out Matrix3 R, ref Quaternion q); - - [DllImport("ode", EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] - public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); - - [DllImport("ode", EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] - public static extern void RSetIdentity(out Matrix3 R); - - [DllImport("ode", EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] - public static extern void SetValue(out dReal a, int n); - - [DllImport("ode", EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] - public static extern void SetZero(out dReal a, int n); - - [DllImport("ode", EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SimpleSpaceCreate(IntPtr space); - - [DllImport("ode", EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] - public static extern void SolveCholesky(ref dReal L, out dReal b, int n); - - [DllImport("ode", EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] - public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); - - [DllImport("ode", EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] - public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); - - [DllImport("ode", EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] - public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); - - [DllImport("ode", EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceAdd(IntPtr space, IntPtr geom); - - [DllImport("ode", EntryPoint = "dSpaceLockQuery"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceLockQuery(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceClean(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); - - [DllImport("ode", EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); - - [DllImport("ode", EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceDestroy(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceGetCleanup(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] - public static extern int SpaceGetNumGeoms(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SpaceGetGeom(IntPtr space, int i); - - [DllImport("ode", EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] - public static extern int SpaceGetSublevel(IntPtr space); - - [DllImport("ode", EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] - public static extern bool SpaceQuery(IntPtr space, IntPtr geom); - - [DllImport("ode", EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceRemove(IntPtr space, IntPtr geom); - - [DllImport("ode", EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceSetCleanup(IntPtr space, bool mode); - - [DllImport("ode", EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] - public static extern void SpaceSetSublevel(IntPtr space, int sublevel); - - [DllImport("ode", EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); - - [DllImport("ode", EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] - public static extern void VectorScale(out dReal a, ref dReal d, int n); - - [DllImport("ode", EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] - public static extern IntPtr WorldCreate(); - - [DllImport("ode", EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] - public static extern void WorldDestroy(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern bool WorldGetAutoDisableFlag(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoDisableSteps(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAutoDisableTime(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetCFM(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetERP(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); - - [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldGetGravity(IntPtr world, out dReal X); - - [DllImport("ode", EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAngularDamping(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetLinearDamping(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] - public static extern int WorldGetQuickStepNumIterations(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetQuickStepW(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] - public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); - - [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] - public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); - - [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] - public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); - - [DllImport("ode", EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] - public static extern void WorldQuickStep(IntPtr world, dReal stepsize); - - [DllImport("ode", EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); - - [DllImport("ode", EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); - - [DllImport("ode", EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); - - [DllImport("ode", EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); - - [DllImport("ode", EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetCFM(IntPtr world, dReal cfm); - - [DllImport("ode", EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); - - [DllImport("ode", EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); - - [DllImport("ode", EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); - - [DllImport("ode", EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetERP(IntPtr world, dReal erp); - - [DllImport("ode", EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); - - [DllImport("ode", EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); - - [DllImport("ode", EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); - - [DllImport("ode", EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); - - [DllImport("ode", EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); - - [DllImport("ode", EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] - public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); - - [DllImport("ode", EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] - public static extern void WorldStep(IntPtr world, dReal stepsize); - - [DllImport("ode", EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] - public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); - - [DllImport("ode", EntryPoint = "dWorldExportDIF"), SuppressUnmanagedCodeSecurity] - public static extern void WorldExportDIF(IntPtr world, string filename, bool append, string prefix); - - - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/premake.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/premake.lua deleted file mode 100644 index 1e3633cd..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Ode/premake.lua +++ /dev/null @@ -1,31 +0,0 @@ -package.name = "Ode.NET" -package.kind = "dll" -package.language = "c#" - --- Build options - - package.defines = { } - - if (options["with-doubles"]) then - table.insert(package.defines, "dDOUBLE") - else - table.insert(package.defines, "dSINGLE") - end - - if (options["no-unsafe"]) then - table.insert(package.defines, "dNO_UNSAFE_CODE") - else - package.buildflags = { "unsafe" } - end - - --- Files & Libraries - - package.files = { - "AssemblyInfo.cs", - "Ode.cs" - } - - package.links = { - "System" - } diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/README.TXT b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/README.TXT deleted file mode 100644 index 32c68cc5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/README.TXT +++ /dev/null @@ -1,68 +0,0 @@ -Ode.NET - .NET bindings for ODE -Jason Perkins (starkos@industriousone.com) - - ---------------------------------------------------------------------- - INSTALLATION ---------------------------------------------------------------------- - - This binding uses a C# 2.0 feature (the UnmanagedFunctionPointer - attribute). You will need to use Visual Studio 2005 (C# Express is - fine) or Mono's gmcs compiler. - - Start by getting or building ODE as a shared library (DLL). - - The simplest way to build the bindings is probably to create a - new library assembly in your tool of choice and drop in the files - Ode/Ode.cs and Ode/AssemblyInfo.cs (optional). Define the symbol - `dDOUBLE` if you used double-precision math in your ode.dll. - Build, done. - - For testing purposes, I have also created bindings for the - Drawstuff library and a C# version of the BoxStack demo. You can - throw all of these files into a console executable and run it to - see the demo. - - If you happen to have Premake installed (http://premake.sf.net/), - you can generate build scripts for the library with: - - premake --target (toolset) # for single precision - premake --with-doubles --target (toolset) # for double precision - - To build the test application too, use: - - premake --with-tests --target (toolset) - - To build with Mono, you must add the --dotnet parameter to enable - support .NET 2.0: - - premake --dotnet mono2 --target gnu - - ---------------------------------------------------------------------- - USAGE ---------------------------------------------------------------------- - - I have tried to keep things as close to the original C API as I can, - rather than forcing a class structure on everyone. Everything is - contained within the `Ode.NET` namespace inside a static class - named `d`. All ODE IDs are replaced with IntPtrs. A quick example: - - using Ode.NET; - - IntPtr world = d.WorldCreate(); - IntPtr body = d.BodyCreate(world); - - Take a look at Tests/BoxStack.cs for a more complete example. - - ---------------------------------------------------------------------- - KNOWN ISSUES ---------------------------------------------------------------------- - - While I managed to map most of the API, there may still be some bits - missing. If you find something, please submit a bug report or patch - the Tracker on SourceForge. - - Collision response (contact joints) do not work when built under - Mono as double-precision. I have not tried to track down why. diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Tests/BoxStack.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Tests/BoxStack.cs deleted file mode 100644 index ccf05160..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Tests/BoxStack.cs +++ /dev/null @@ -1,262 +0,0 @@ -using System; -using System.Collections.Generic; -using Drawstuff.NET; - -namespace Ode.NET -{ -#if dDOUBLE - using dReal = System.Double; -#else - using dReal = System.Single; -#endif - - public class TestBoxStack - { - #region Description of convex shape - - static dReal[] planes = - { - 1.0f, 0.0f, 0.0f, 0.25f, - 0.0f, 1.0f, 0.0f, 0.25f, - 0.0f, 0.0f, 1.0f, 0.25f, - 0.0f, 0.0f, -1.0f, 0.25f, - 0.0f, -1.0f, 0.0f, 0.25f, - -1.0f, 0.0f , 0.0f, 0.25f - }; - - static dReal[] points = - { - 0.25f, 0.25f, 0.25f, - -0.25f, 0.25f, 0.25f, - 0.25f, -0.25f, 0.25f, - -0.25f, -0.25f, 0.25f, - 0.25f, 0.25f, -0.25f, - -0.25f,0.25f,-0.25f, - 0.25f,-0.25f,-0.25f, - -0.25f,-0.25f,-0.25f, - }; - - static int[] polygons = - { - 4, 0, 2, 6, 4, - 4, 1, 0, 4, 5, - 4, 0, 1, 3, 2, - 4, 3, 1, 5, 7, - 4, 2, 3, 7, 6, - 4, 5, 4, 6, 7, - }; - - #endregion - - const int NUM = 100; - const float DENSITY = 5.0f; - const int MAX_CONTACTS = 8; - - static IntPtr world; - static IntPtr space; - static IntPtr contactgroup; - - static Queue obj = new Queue(); - - static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f); - static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); - - static d.NearCallback nearCallback = near; - static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS]; - static d.Contact contact; - - - // Called when window is opened - sets up viewpoint and prints usage - static void start(int unused) - { - ds.SetViewpoint(ref xyz, ref hpr); - Console.WriteLine("To drop another object, press:"); - Console.WriteLine(" b for box."); - Console.WriteLine(" s for sphere."); - Console.WriteLine(" c for capsule."); - Console.WriteLine(" y for cylinder."); - Console.WriteLine(" v for a convex object."); - Console.WriteLine(" x for a composite object."); - Console.WriteLine("To select an object, press space."); - Console.WriteLine("To disable the selected object, press d."); - Console.WriteLine("To enable the selected object, press e."); - Console.WriteLine("To toggle showing the geom AABBs, press a."); - Console.WriteLine("To toggle showing the contact points, press t."); - Console.WriteLine("To toggle dropping from random position/orientation, press r."); - Console.WriteLine("To save the current state to 'state.dif', press 1."); - } - - - // Near callback - creates contact joints - static void near(IntPtr space, IntPtr g1, IntPtr g2) - { - IntPtr b1 = d.GeomGetBody(g1); - IntPtr b2 = d.GeomGetBody(g2); - if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) - return; - - int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf); - for (int i = 0; i < count; ++i) - { - contact.geom = contacts[i]; - IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); - d.JointAttach(joint, b1, b2); - } - } - - - // Adds a new object to the scene - attaches a body to the geom and - // sets the initial position and orientation - static void addObject(IntPtr geom, d.Mass mass) - { - // Create a body for this object - IntPtr body = d.BodyCreate(world); - d.GeomSetBody(geom, body); - d.BodySetMass(body, ref mass); - obj.Enqueue(geom); - - // Set the position of the new object - d.Matrix3 R; - d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2); - d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5); - d.BodySetRotation(body, ref R); - - // Cap the total number of objects - if (obj.Count > NUM) - { - geom = obj.Dequeue(); - body = d.GeomGetBody(geom); - d.BodyDestroy(body); - d.GeomDestroy(geom); - } - } - - - // Keyboard callback - static void command(int cmd) - { - IntPtr geom; - d.Mass mass; - d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f); - - Char ch = Char.ToLower((Char)cmd); - switch ((Char)ch) - { - case 'b': - d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z); - geom = d.CreateBox(space, sides.X, sides.Y, sides.Z); - addObject(geom, mass); - break; - - case 'c': - sides.X *= 0.5f; - d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y); - geom = d.CreateCapsule(space, sides.X, sides.Y); - addObject(geom, mass); - break; - - case 'v': - d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f); - geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons); - addObject(geom, mass); - break; - } - } - - - // Draw an object in the scene - static void drawGeom(IntPtr geom) - { - IntPtr body = d.GeomGetBody(geom); - - d.Vector3 pos; - d.BodyCopyPosition(body, out pos); - - d.Matrix3 R; - d.BodyCopyRotation(body, out R); - - d.GeomClassID type = d.GeomGetClass(geom); - switch (type) - { - case d.GeomClassID.BoxClass: - d.Vector3 sides; - d.GeomBoxGetLengths(geom, out sides); - ds.DrawBox(ref pos, ref R, ref sides); - break; - case d.GeomClassID.CapsuleClass: - dReal radius, length; - d.GeomCapsuleGetParams(geom, out radius, out length); - ds.DrawCapsule(ref pos, ref R, length, radius); - break; - case d.GeomClassID.ConvexClass: - ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons); - break; - } - } - - - // Called once per frame; updates the scene - static void step(int pause) - { - d.SpaceCollide(space, IntPtr.Zero, nearCallback); - if (pause == 0) - d.WorldQuickStep(world, 0.02f); - d.JointGroupEmpty(contactgroup); - - ds.SetColor(1.0f, 1.0f, 0.0f); - ds.SetTexture(ds.Texture.Wood); - - foreach (IntPtr geom in obj) - { - drawGeom(geom); - } - } - - - static void Main(string[] args) - { - d.InitODE(); - // Setup pointers to drawstuff callback functions - ds.Functions fn; - fn.version = ds.VERSION; - fn.start = new ds.CallbackFunction(start); - fn.step = new ds.CallbackFunction(step); - fn.command = new ds.CallbackFunction(command); - fn.stop = null; - fn.path_to_textures = "../../../../drawstuff/textures"; - if (args.Length > 0) - { - fn.path_to_textures = args[0]; - } - - // Set up contact response parameters - contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; - contact.surface.mu = d.Infinity; - contact.surface.mu2 = 0.0f; - contact.surface.bounce = 0.1f; - contact.surface.bounce_vel = 0.1f; - contact.surface.soft_cfm = 0.01f; - - - // Initialize the scene - world = d.WorldCreate(); - space = d.HashSpaceCreate(IntPtr.Zero); - contactgroup = d.JointGroupCreate(0); - d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); - d.WorldSetCFM(world, 1e-5f); - d.WorldSetAutoDisableFlag(world, true); - d.WorldSetContactMaxCorrectingVel(world, 0.1f); - d.WorldSetContactSurfaceLayer(world, 0.001f); - d.CreatePlane(space, 0, 0, 1, 0); - - // Run the scene - ds.SimulationLoop(args.Length, args, 352, 288, ref fn); - - // Clean up - d.JointGroupDestroy(contactgroup); - d.SpaceDestroy(space); - d.WorldDestroy(world); - d.CloseODE(); - } - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Tests/premake.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Tests/premake.lua deleted file mode 100644 index 4ba2ec20..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/Tests/premake.lua +++ /dev/null @@ -1,27 +0,0 @@ --- This function creates the test packages -function maketest(name) - - package = newpackage() - package.name = name - package.kind = "exe" - package.language = "c#" - - if (options["with-doubles"]) then - package.defines = { "dDOUBLE" } - else - package.defines = { "dSINGLE " } - end - - package.links = { - "System", - "Ode.NET", - "Drawstuff.NET" - } - - package.files = { - name .. ".cs" - } - -end - -maketest("BoxStack") diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/premake.exe b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/premake.exe deleted file mode 100644 index feb7ff70..00000000 Binary files a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/premake.exe and /dev/null differ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/premake.lua b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/premake.lua deleted file mode 100644 index 87c1da56..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/Ode.NET/premake.lua +++ /dev/null @@ -1,29 +0,0 @@ -project.name = "Ode.NET" - --- Target checking - - if (target and target ~= "vs2005" and target ~= "gnu") then - error("Ode.NET requires a .NET 2.0 compiler") - end - - --- Project options - - addoption("with-doubles", "Use double instead of float as base numeric type") - addoption("with-tests", "Builds the test applications and DrawStuff library") - addoption("no-unsafe", "Exclude functions using unsafe code (dBodyGetPosition, etc.)") - - --- Build settings - - project.config["Debug"].bindir = "bin/Debug" - project.config["Release"].bindir = "bin/Release" - - --- Packages - - if (options["with-tests"]) then - dopackage("Tests") - dopackage("Drawstuff") - end - dopackage("Ode") diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/LICENSE-BSD.TXT b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/LICENSE-BSD.TXT deleted file mode 100644 index 5b021ddd..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/LICENSE-BSD.TXT +++ /dev/null @@ -1,37 +0,0 @@ - -This is the BSD-style license for The ODE Model Processor ----------------------------------------------------------- - -The ODE Model Processor -Copyright (c) 2007, Department Of Information Science, -University of Otago, Dunedin, New Zealand. -All rights reserved. - -Author: Richard Barrington - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. - -Redistributions in binary form must reproduce the above copyright notice, -this list of conditions and the following disclaimer in the documentation -and/or other materials provided with the distribution. - -Neither the names of the copyright owner nor the names of its -contributors may be used to endorse or promote products derived from -this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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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. - - , 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor.sln b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor.sln deleted file mode 100644 index 8b12b727..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor.sln +++ /dev/null @@ -1,20 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 9.00 -# Visual C# Express 2005 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "OdeModelProcessor", "OdeModelProcessor\OdeModelProcessor.csproj", "{246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Debug|Any CPU.Build.0 = Debug|Any CPU - {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Release|Any CPU.ActiveCfg = Release|Any CPU - {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Release|Any CPU.Build.0 = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -EndGlobal diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs deleted file mode 100644 index e4cfae62..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs +++ /dev/null @@ -1,354 +0,0 @@ -/* - * The ODE Model Processor - * ----------------------- - * - * Copyright 2007, Department of Information Science, - * University of Otago, Dunedin, New Zealand. - * - * Author: Richard Barrington - * - * This is a Content Processor and Tag library written for use with - * Microsoft Visual C# 2005 Express Edition and Microsoft XNA Game - * Studio Express 1.0. - * - * It can be used to read .x model vertex and index data before - * insertion into the content pipeline. This is used to build ODE - * Triangle Meshes which are then used for collision detection that - * is more accurate than the default XNA bounding boxes or spheres. - * - * Usage is simple: - * Build the library and reference the DLL in your project. - * Add the DLL to the Content Pipeline - * Set the content processor for you .x models to OdeModelProcessor. - * - * Create triangle meshes as follows: - * 1) Create a space, but only one for all of models. - * 2) Create a triangle data. - * 3) Load the model. - * 4) Retreive the tag from the model. - * 6) Build the triangle mesh by calling d.GeomTriMeshDataBuildSimple. - * - * Eg: - * IntPtr space = d.SimpleSpaceCreate(IntPtr.Zero); - * IntPtr triangleData = d.GeomTriMeshDataCreate(); - * Model obj = content.Load("Content\\mycube"); - * OdeTag tag = (OdeTag)obj.Tag; - * IntPtr vertexArray = tag.getVertices(); - * IntPtr indexArray = tag.getIndices(); - * d.GeomTriMeshDataBuildSimple - * ( - * triangleData, - * vertexArray, tag.getVertexStride(), tag.getVertexCount(), - * indexArray, tag.getIndexCount(), tag.getIndexStride() - * ); - * IntPtr triangleMesh = d.CreateTriMesh(space, triangleData, null, null, null); - * - * You can load multiple models and test for collisions with something - * like this in the update method: - * - * d.GeomSetPosition(odeTri1, obj1Position.X, obj1Position.Y, obj1Position.Z); - * d.GeomSetPosition(odeTri2, obj2Position.X, obj2Position.Y, obj2Position.Z); - * int numberOfContacts = d.Collide(odeTri1, odeTri2, ODE_CONTACTS, - * contactGeom, d.ContactGeom.SizeOf); - * - * Where odeTri1 and odeTri2 are triangle meshes you've created, obj1Position - * and obj2Position are the positions of your rendered models in the scene, - * ODE_CONTACTS is a constant defining the maximum number of contacts - * to test for, contactGeom is a d.ContactGeom[] of length ODE_CONTACTS. - * - * If numberOfContacts is greater than 0, you have a collision. - * - * Other ODE functions such as d.SpaceCollide() also work; see ODE.NET BoxTest.cs. - * - * This library is free software; you can redistribute it and/or - * modify it under the same terms as the ODE and ODE.Net libraries. - * Specifically, the terms are one 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. - * - */ - -using System; -using System.Collections.Generic; -using System.Text; -using Microsoft.Xna.Framework; -using Microsoft.Xna.Framework.Content; -using Microsoft.Xna.Framework.Graphics; -using Microsoft.Xna.Framework.Design; -using Microsoft.Xna.Framework.Content.Pipeline; -using Microsoft.Xna.Framework.Content.Pipeline.Graphics; -using Microsoft.Xna.Framework.Content.Pipeline.Processors; -using Microsoft.Xna.Framework.Content.Pipeline.Serialization.Compiler; -using Ode.NET; -using System.Runtime.InteropServices; - -namespace OdeModelProcessor -{ - /* - * Container for vertex and index data in a format - * that ODE.Net can use - */ - public class OdeTag - { - - private float[] vertexData; - private int[] indexData; - private const int indexStride = (sizeof(int)); - private const int vertexStride = (3 * sizeof(float)); - - /* Constructors */ - public OdeTag() - { - vertexData = new float[0]; - indexData = new int[0]; - } - - public OdeTag(float[] vertexData, int[] indexData) - { - this.vertexData = vertexData; - this.indexData = indexData; - } - - /* Data setter */ - public void setData(float[] vertexData, int[] indexData) - { - this.vertexData = vertexData; - this.indexData = indexData; - } - - /* Data appenders */ - public void appendVertexData(float[] vertexData) - { - int newVertexDataLength = vertexData.Length; - float[] tempVertexArray = new float[newVertexDataLength + this.vertexData.Length]; - this.vertexData.CopyTo(tempVertexArray, 0); - vertexData.CopyTo(tempVertexArray, this.vertexData.Length); - this.vertexData = tempVertexArray; - } - - public void appendIndexData(int[] indexData) - { - int newIndexDataLength = indexData.Length; - int[] tempIndexArray = new int[newIndexDataLength + this.indexData.Length]; - this.indexData.CopyTo(tempIndexArray, 0); - indexData.CopyTo(tempIndexArray, this.indexData.Length); - this.indexData = tempIndexArray; - } - - /* Data getters */ - public float[] getVertexData() - { - return this.vertexData; - } - - public int[] getIndexData() - { - return this.indexData; - } - - /* Native data getters */ - public IntPtr getVertices() - { - int count = getVertexData().Length; - int memsize = count * Marshal.SizeOf(getVertexData()[0].GetType()); - IntPtr pointer = Marshal.AllocCoTaskMem(memsize); - Marshal.Copy(getVertexData(), 0, pointer, count); - return pointer; - } - - public IntPtr getIndices() - { - int count = getIndexData().Length; - int memsize = count * Marshal.SizeOf(getIndexData()[0].GetType()); - IntPtr pointer = Marshal.AllocCoTaskMem(memsize); - Marshal.Copy(getIndexData(), 0, pointer, count); - return pointer; - } - - /* Count getters */ - public int getVertexCount() - { - return vertexData.Length/3; - } - - public int getIndexCount() - { - return indexData.Length; - } - - /* Stride getters */ - public int getVertexStride() - { - return vertexStride; - } - - public int getIndexStride() - { - return indexStride; - } - - /* - * Convienience method to build the mesh and return it. The triangleData - * is passed in to allow the calling application to delete it afterwards. - * - * Be sure to destroy the returned TriangleMesh in the client application. - * - * Can't destroy the index and vertex arrays here though, so best to handle - * this manually - only use this method if nothing else makes sense. - */ - public IntPtr getTriangleMesh(IntPtr space, IntPtr triangleData) - { - d.GeomTriMeshDataBuildSimple( - triangleData, - getVertices(), getVertexStride(), getVertexCount(), - getIndices(), getIndexCount(), getIndexStride() - ); - return d.CreateTriMesh(space, triangleData, null, null, null); - } - - } - - /* - * Subclass of the XNA .x model processor, which creates and appends a tag - * containing vertex and index data for ODE.Net to use. - */ - [ContentProcessor] - public class OdeModelProcessor : ModelProcessor - { - private OdeTag tag; - private int indexOffset = 0; - - public override ModelContent Process(NodeContent input, ContentProcessorContext context) - { - tag = new OdeTag(); - GenerateVerticesRecursive( input ); - ModelContent model = base.Process(input, context); - model.Tag = tag; - indexOffset = 0; - return model; - } - - public void GenerateVerticesRecursive(NodeContent input) - { - - MeshContent mesh = input as MeshContent; - - if (mesh != null) - { - GeometryContentCollection gc = mesh.Geometry; - foreach (GeometryContent g in gc) - { - VertexContent vc = g.Vertices; - IndirectPositionCollection ipc = vc.Positions; - IndexCollection ic = g.Indices; - - float[] vertexData = new float[ipc.Count * 3]; - for (int i = 0; i < ipc.Count; i++) - { - - Vector3 v0 = ipc[i]; - vertexData[(i * 3) + 0] = v0.X; - vertexData[(i * 3) + 1] = v0.Y; - vertexData[(i * 3) + 2] = v0.Z; - - } - - int[] indexData = new int[ic.Count]; - for (int j = 0; j < ic.Count; j ++) - { - - indexData[j] = ic[j] + indexOffset; - - } - - tag.appendVertexData(vertexData); - tag.appendIndexData(indexData); - indexOffset += ipc.Count; - } - - } - - foreach (NodeContent child in input.Children) - { - GenerateVerticesRecursive(child); - } - - } - - } - - /* Writer for the OdeTag class */ - [ContentTypeWriter] - public class OdeTagWriter : ContentTypeWriter - { - - protected override void Write(ContentWriter output, OdeTag value) - { - float[] vertexData = value.getVertexData(); - int[] indexData = value.getIndexData(); - output.Write(vertexData.Length); - output.Write(indexData.Length); - for (int j = 0; j < vertexData.Length; j++) - { - output.Write(vertexData[j]); - } - for (int i = 0; i < indexData.Length; i++) - { - output.Write(indexData[i]); - } - } - - public override string GetRuntimeType(TargetPlatform targetPlatform) - { - return typeof(OdeTag).AssemblyQualifiedName; - } - - public override string GetRuntimeReader(TargetPlatform targetPlatform) - { - return "OdeModelProcessor.OdeTagReader, OdeModelProcessor, Version=1.0.0.0, Culture=neutral"; - } - - } - - /* Reader for the OdeTag class */ - public class OdeTagReader : ContentTypeReader - { - protected override OdeTag Read(ContentReader input, OdeTag existingInstance) - { - float[] vertexData = new float[input.ReadInt32()]; - int[] indexData = new int[input.ReadInt32()]; - for (int j = 0; j < vertexData.Length; j++) - { - vertexData[j] = input.ReadSingle(); - } - for (int i = 0; i < indexData.Length; i++) - { - indexData[i] = input.ReadInt32(); - } - - OdeTag tag = null; - if (existingInstance == null) - { - tag = new OdeTag(vertexData, indexData); - } - else - { - tag = existingInstance; - tag.setData(vertexData, indexData); - } - return tag; - } - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj deleted file mode 100644 index 9d21735f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj +++ /dev/null @@ -1,69 +0,0 @@ - - - Debug - AnyCPU - 8.0.50727 - 2.0 - {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2} - Library - Properties - OdeModelProcessor - OdeModelProcessor - - - true - full - false - bin\Debug\ - DEBUG - prompt - 4 - false - false - - - pdbonly - true - bin\Release\ - - - prompt - 4 - false - false - - - - - - False - ..\..\ODE\Ode.NET-0.8\bin\Release\Ode.NET.dll - - - - - - - - - - True - True - Settings.settings - - - - - SettingsSingleFileGenerator - Settings.Designer.cs - - - - - \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs deleted file mode 100644 index 8843e5a9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs +++ /dev/null @@ -1,35 +0,0 @@ -using System.Reflection; -using System.Runtime.CompilerServices; -using System.Runtime.InteropServices; - -// General Information about an assembly is controlled through the following -// set of attributes. Change these attribute values to modify the information -// associated with an assembly. -[assembly: AssemblyTitle("OdeModelProcessor")] -[assembly: AssemblyDescription("")] -[assembly: AssemblyConfiguration("")] -[assembly: AssemblyCompany("")] -[assembly: AssemblyProduct("OdeModelProcessor")] -[assembly: AssemblyCopyright("Copyright © 2007")] -[assembly: AssemblyTrademark("")] -[assembly: AssemblyCulture("")] - -// Setting ComVisible to false makes the types in this assembly not visible -// to COM components. If you need to access a type in this assembly from -// COM, set the ComVisible attribute to true on that type. -[assembly: ComVisible(false)] - -// The following GUID is for the ID of the typelib if this project is exposed to COM -[assembly: Guid("29c5609a-cd5f-480b-b4ef-5c11de022268")] - -// Version information for an assembly consists of the following four values: -// -// Major Version -// Minor Version -// Build Number -// Revision -// -// You can specify all the values or you can default the Revision and Build Numbers -// by using the '*' as shown below: -[assembly: AssemblyVersion("1.0.0.0")] -[assembly: AssemblyFileVersion("1.0.0.0")] diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs deleted file mode 100644 index 192cac9e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs +++ /dev/null @@ -1,26 +0,0 @@ -//------------------------------------------------------------------------------ -// -// This code was generated by a tool. -// Runtime Version:2.0.50727.832 -// -// Changes to this file may cause incorrect behavior and will be lost if -// the code is regenerated. -// -//------------------------------------------------------------------------------ - -namespace OdeModelProcessor.Properties { - - - [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] - [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "8.0.0.0")] - internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase { - - private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); - - public static Settings Default { - get { - return defaultInstance; - } - } - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings deleted file mode 100644 index 049245f4..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/README.TXT b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/README.TXT deleted file mode 100644 index 46fd1897..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/OdeModelProcessor/README.TXT +++ /dev/null @@ -1,78 +0,0 @@ -The ODE Model Processor ------------------------ - -Copyright 2007, Department of Information Science, -University of Otago, Dunedin, New Zealand. - -Author: Richard Barrington - -This is a Content Processor and Tag library written for use with -Microsoft Visual C# 2005 Express Edition and Microsoft XNA Game -Studio Express 1.0. - -It can be used to read .x model vertex and index data before -insertion into the content pipeline. This is used to build ODE -Triangle Meshes which are then used for collision detection that -is more accurate than the default XNA bounding boxes or spheres. - -Usage is fairly simple: -Build the library and reference the DLL in your project. -Add the DLL to the Content Pipeline -Set the content processor for you .x models to OdeModelProcessor. - -Create triangle meshes as follows: -1) Create a space, but only one for all of models. -2) Create a triangle data. -3) Load the model. -4) Retreive the tag from the model. -6) Build the triangle mesh by calling d.GeomTriMeshDataBuildSimple. - -Eg: -IntPtr space = d.SimpleSpaceCreate(IntPtr.Zero); -IntPtr triangleData = d.GeomTriMeshDataCreate(); -Model obj = content.Load("Content\\mycube"); -OdeTag tag = (OdeTag)obj.Tag; -IntPtr vertexArray = tag.getVertices(); -IntPtr indexArray = tag.getIndices(); -d.GeomTriMeshDataBuildSimple -( - triangleData, - vertexArray, tag.getVertexStride(), tag.getVertexCount(), - indexArray, tag.getIndexCount(), tag.getIndexStride() -); -IntPtr triangleMesh = d.CreateTriMesh(space, triangleData, null, null, null); - -You can load multiple models and test for collisions with something -like this in the update method: - -d.GeomSetPosition(odeTri1, obj1Position.X, obj1Position.Y, obj1Position.Z); -d.GeomSetPosition(odeTri2, obj2Position.X, obj2Position.Y, obj2Position.Z); -int numberOfContacts = d.Collide(odeTri1, odeTri2, ODE_CONTACTS, - contactGeom, d.ContactGeom.SizeOf); - -Where odeTri1 and odeTri2 are triangle meshes you've created, obj1Position -and obj2Position are the positions of your rendered models in the scene, -ODE_CONTACTS is a constant defining the maximum number of contacts -to test for, contactGeom is a d.ContactGeom[] of length ODE_CONTACTS. - -If numberOfContacts is greater than 0, you have a collision. - -Other ODE functions such as d.SpaceCollide() also work; see ODE.NET BoxTest.cs. - -This library is free software; you can redistribute it and/or -modify it under the same terms as the ODE and ODE.Net libraries. -Specifically, the terms are one 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. diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/README b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/README deleted file mode 100644 index dbfaf7f3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/README +++ /dev/null @@ -1,19 +0,0 @@ -This directory contains ODE-related things that have been generously -contributed by ODE's users. Why is this stuff here and not integrated -into the main ODE source tree? There may be several reasons: - - * The author(s) and ODE maintainers(s) may not have had time to do - the job. - - * It may not be finished. - - * It may contribute functionality that is useful but not considered - to be part of ODE's core. - -No guarantees are made about the code in this directory - it may not -be documented, it may not have been tested, and it may not even -compile for you. - -Each package has its own subdirectory, with a README file in that -directory explaining what the package is. - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/collision_std_internal.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/collision_std_internal.h deleted file mode 100644 index b4453535..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/collision_std_internal.h +++ /dev/null @@ -1,100 +0,0 @@ -//Benoit CHAPEROT 2003-2004 www.jstarlab.com -#ifndef _ODE_COLLISION_STD_INTERNAL_H_ -#define _ODE_COLLISION_STD_INTERNAL_H_ - -#include -#include "collision_kernel.h" - -struct dxSphere : public dxGeom { - dReal radius; // sphere radius - dxSphere (dSpaceID space, dReal _radius); - void computeAABB(); -}; - - -struct dxBox : public dxGeom { - dVector3 side; // side lengths (x,y,z) - dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); - void computeAABB(); -}; - - -struct dxCCylinder : public dxGeom { - dReal radius,lz; // radius, length along z axis - dxCCylinder (dSpaceID space, dReal _radius, dReal _length); - void computeAABB(); -}; - - -struct dxPlane : public dxGeom { - dReal p[4]; - dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); - void computeAABB(); -}; - -struct dxCylinder : public dxGeom { - dReal radius,lz; // radius, length along z axis - dxCylinder (dSpaceID space, dReal _radius, dReal _length); - void computeAABB(); -}; - -struct dxCone : public dxGeom { - dReal radius,lz; - dxCone(dSpaceID space, dReal _radius,dReal _length); - ~dxCone(); - void computeAABB(); -}; - -struct dxRay : public dxGeom { - dReal length; - dxRay (dSpaceID space, dReal _length); - void computeAABB(); -}; - -struct dxTerrainY : public dxGeom { - dReal m_vLength; - dReal *m_pHeights; - dReal m_vMinHeight; - dReal m_vMaxHeight; - dReal m_vNodeLength; - int m_nNumNodesPerSide; - int m_nNumNodesPerSideShift; - int m_nNumNodesPerSideMask; - int m_bFinite; - dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable); - ~dxTerrainY(); - void computeAABB(); - dReal GetHeight(dReal x,dReal z); - dReal GetHeight(int x,int z); - int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip); - bool IsOnTerrain(int nx,int nz,int w,dReal *pos); -}; - -struct dxTerrainZ : public dxGeom { - dReal m_vLength; - dReal *m_pHeights; - dReal m_vMinHeight; - dReal m_vMaxHeight; - dReal m_vNodeLength; - int m_nNumNodesPerSide; - int m_nNumNodesPerSideShift; - int m_nNumNodesPerSideMask; - int m_bFinite; - dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable); - ~dxTerrainZ(); - void computeAABB(); - dReal GetHeight(dReal x,dReal y); - dReal GetHeight(int x,int y); - int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip); - bool IsOnTerrain(int nx,int ny,int w,dReal *pos); -}; - -#ifndef MIN -#define MIN(a,b) ((ab)?a:b) -#endif - -#endif //_ODE_COLLISION_STD_INTERNAL_H_ \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/dCone.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/dCone.cpp deleted file mode 100644 index 8c5c3be9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/dCone.cpp +++ /dev/null @@ -1,504 +0,0 @@ -//Benoit CHAPEROT 2003-2004 www.jstarlab.com -//some code inspired by Magic Software -#include -#include -#include -#include -#include -#include "collision_kernel.h" -#include "collision_std.h" -#include "collision_std_internal.h" -#include "collision_util.h" -#include -#include "windows.h" -#include "ode\ode.h" - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) -const dReal fEPSILON = 1e-9f; - -dxCone::dxCone (dSpaceID space, dReal _radius,dReal _length) : -dxGeom (space,1) -{ - dAASSERT(_radius > 0.f); - dAASSERT(_length > 0.f); - type = dConeClass; - radius = _radius; - lz = _length; -} - -dxCone::~dxCone() -{ -} - -void dxCone::computeAABB() -{ - const dMatrix3& R = final_posr->R; - const dVector3& pos = final_posr->pos; - - dReal xrange = dFabs(R[2] * lz) + radius; - dReal yrange = dFabs(R[6] * lz) + radius; - dReal zrange = dFabs(R[10] * lz) + radius; - aabb[0] = pos[0] - xrange; - aabb[1] = pos[0] + xrange; - aabb[2] = pos[1] - yrange; - aabb[3] = pos[1] + yrange; - aabb[4] = pos[2] - zrange; - aabb[5] = pos[2] + zrange; -} - -dGeomID dCreateCone(dSpaceID space, dReal _radius,dReal _length) -{ - return new dxCone(space,_radius,_length); -} - -void dGeomConeSetParams (dGeomID g, dReal _radius, dReal _length) -{ - dUASSERT (g && g->type == dConeClass,"argument not a cone"); - dAASSERT (_radius > 0.f); - dAASSERT (_length > 0.f); - g->recomputePosr(); - dxCone *c = (dxCone*) g; - c->radius = _radius; - c->lz = _length; - dGeomMoved (g); -} - - -void dGeomConeGetParams (dGeomID g, dReal *_radius, dReal *_length) -{ - dUASSERT (g && g->type == dConeClass,"argument not a cone"); - g->recomputePosr(); - dxCone *c = (dxCone*) g; - *_radius = c->radius; - *_length = c->lz; -} - -//positive inside -dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z) -{ - dUASSERT (g && g->type == dConeClass,"argument not a cone"); - - g->recomputePosr(); - dxCone *cone = (dxCone*) g; - - dVector3 tmp,q; - tmp[0] = x - cone->final_posr->pos[0]; - tmp[1] = y - cone->final_posr->pos[1]; - tmp[2] = z - cone->final_posr->pos[2]; - dMULTIPLY1_331 (q,cone->final_posr->R,tmp); - - dReal r = cone->radius; - dReal h = cone->lz; - - dReal d0 = (r - r*q[2]/h) - dSqrt(q[0]*q[0]+q[1]*q[1]); - dReal d1 = q[2]; - dReal d2 = h-q[2]; - - if (d0 < d1) { - if (d0 < d2) return d0; else return d2; - } - else { - if (d1 < d2) return d1; else return d2; - } -} - -//plane plane -bool FindIntersectionPlanePlane(const dReal Plane0[4], const dReal Plane1[4], - dVector3 LinePos,dVector3 LineDir) -{ - // If Cross(N0,N1) is zero, then either planes are parallel and separated - // or the same plane. In both cases, 'false' is returned. Otherwise, - // the intersection line is - // - // L(t) = t*Cross(N0,N1) + c0*N0 + c1*N1 - // - // for some coefficients c0 and c1 and for t any real number (the line - // parameter). Taking dot products with the normals, - // - // d0 = Dot(N0,L) = c0*Dot(N0,N0) + c1*Dot(N0,N1) - // d1 = Dot(N1,L) = c0*Dot(N0,N1) + c1*Dot(N1,N1) - // - // which are two equations in two unknowns. The solution is - // - // c0 = (Dot(N1,N1)*d0 - Dot(N0,N1)*d1)/det - // c1 = (Dot(N0,N0)*d1 - Dot(N0,N1)*d0)/det - // - // where det = Dot(N0,N0)*Dot(N1,N1)-Dot(N0,N1)^2. -/* - Real fN00 = rkPlane0.Normal().SquaredLength(); - Real fN01 = rkPlane0.Normal().Dot(rkPlane1.Normal()); - Real fN11 = rkPlane1.Normal().SquaredLength(); - Real fDet = fN00*fN11 - fN01*fN01; - - if ( Math::FAbs(fDet) < gs_fEpsilon ) - return false; - - Real fInvDet = 1.0f/fDet; - Real fC0 = (fN11*rkPlane0.Constant() - fN01*rkPlane1.Constant())*fInvDet; - Real fC1 = (fN00*rkPlane1.Constant() - fN01*rkPlane0.Constant())*fInvDet; - - rkLine.Direction() = rkPlane0.Normal().Cross(rkPlane1.Normal()); - rkLine.Origin() = fC0*rkPlane0.Normal() + fC1*rkPlane1.Normal(); - return true; -*/ - dReal fN00 = dLENGTHSQUARED(Plane0); - dReal fN01 = dDOT(Plane0,Plane1); - dReal fN11 = dLENGTHSQUARED(Plane1); - dReal fDet = fN00*fN11 - fN01*fN01; - - if ( fabs(fDet) < fEPSILON) - return false; - - dReal fInvDet = 1.0f/fDet; - dReal fC0 = (fN11*Plane0[3] - fN01*Plane1[3])*fInvDet; - dReal fC1 = (fN00*Plane1[3] - fN01*Plane0[3])*fInvDet; - - dCROSS(LineDir,=,Plane0,Plane1); - dNormalize3(LineDir); - - dVector3 Temp0,Temp1; - dOPC(Temp0,*,Plane0,fC0); - dOPC(Temp1,*,Plane1,fC1); - dOP(LinePos,+,Temp0,Temp1); - - return true; -} - -//plane ray -bool FindIntersectionPlaneRay(const dReal Plane[4], - const dVector3 &LinePos,const dVector3 &LineDir, - dReal &u,dVector3 &Pos) -{ -/* - u = (A*X1 + B*Y1 + C*Z1 + D) / (A*(X1-X2) + B*(Y1-Y2)+C*(Z1-Z2)) -*/ - dReal fDet = -dDot(Plane,LineDir,3); - - if ( fabs(fDet) < fEPSILON) - return false; - - u = (dDot(Plane,LinePos,3) - Plane[3]) / fDet; - dOPC(Pos,*,LineDir,u); - dOPE(Pos,+=,LinePos); - - return true; -} - -int SolveQuadraticPolynomial(dReal a,dReal b,dReal c,dReal &x0,dReal &x1) -{ - dReal d = b*b - 4*a*c; - int NumRoots = 0; - dReal dr; - - if (d < 0.f) - return NumRoots; - - if (d == 0.f) - { - NumRoots = 1; - dr = 0.f; - } - else - { - NumRoots = 2; - dr = sqrtf(d); - } - - x0 = (-b -dr) / (2.f * a); - x1 = (-b +dr) / (2.f * a); - - return NumRoots; -} -/* -const int VALID_INTERSECTION = 1<<0; -const int POS_TEST_FAILEDT0 = 1<<0; -const int POS_TEST_FAILEDT1 = 1<<1; -*/ -int ProcessConeRayIntersectionPoint( dReal r,dReal h, - const dVector3 &q,const dVector3 &v,dReal t, - dVector3 &p, - dVector3 &n, - int &f) -{ - dOPC(p,*,v,t); - dOPE(p,+=,q); - n[0] = 2*p[0]; - n[1] = 2*p[1]; - n[2] = -2*p[2]*r*r/(h*h); - - f = 0; - if (p[2] > h) return 0; - if (p[2] < 0) return 0; - if (t > 1) return 0; - if (t < 0) return 0; - - return 1; -} - -//cone ray -//line in cone space (position,direction) -//distance from line position (direction normalized)(if any) -//return the number of intersection -int FindIntersectionConeRay(dReal r,dReal h, - const dVector3 &q,const dVector3 &v,dContactGeom *pContact) -{ - dVector3 qp,vp; - dOPE(qp,=,q); - dOPE(vp,=,v); - qp[2] = h-q[2]; - vp[2] = -v[2]; - dReal ts = (r/h); - ts *= ts; - dReal a = vp[0]*vp[0] + vp[1]*vp[1] - ts*vp[2]*vp[2]; - dReal b = 2.f*qp[0]*vp[0] + 2.f*qp[1]*vp[1] - 2.f*ts*qp[2]*vp[2]; - dReal c = qp[0]*qp[0] + qp[1]*qp[1] - ts*qp[2]*qp[2]; - -/* - dReal a = v[0]*v[0] + v[1]*v[1] - (v[2]*v[2]*r*r) / (h*h); - dReal b = 2.f*q[0]*v[0] + 2.f*q[1]*v[1] + 2.f*r*r*v[2]/h - 2*r*r*q[0]*v[0]/(h*h); - dReal c = q[0]*q[0] + q[1]*q[1] + 2*r*r*q[2]/h - r*r*q[2]/(h*h) - r*r; -*/ - int nNumRoots=SolveQuadraticPolynomial(a,b,c,pContact[0].depth,pContact[1].depth); - int flag = 0; - - dContactGeom ValidContact[2]; - - int nNumValidContacts = 0; - for (int i=0;i=0) && (d<=1)) - { - dOPC(vp,*,v,d); - dOP(qp,+,q,vp); - - if (qp[0]*qp[0]+qp[1]*qp[1] < r*r) - { - dOPE(ValidContact[nNumValidContacts].pos,=,qp); - ValidContact[nNumValidContacts].normal[0] = 0.f; - ValidContact[nNumValidContacts].normal[1] = 0.f; - ValidContact[nNumValidContacts].normal[2] = -1.f; - ValidContact[nNumValidContacts].depth = d; - nNumValidContacts++; - } - } - } - - if (nNumValidContacts == 2) - { - if (ValidContact[0].depth > ValidContact[1].depth) - { - pContact[0] = ValidContact[1]; - pContact[1] = ValidContact[0]; - } - else - { - pContact[0] = ValidContact[0]; - pContact[1] = ValidContact[1]; - } - } - else if (nNumValidContacts == 1) - { - pContact[0] = ValidContact[0]; - } - - return nNumValidContacts; -} - -int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dConeClass); - dIASSERT (o2->type == dPlaneClass); - dxCone *cone = (dxCone*) o1; - dxPlane *plane = (dxPlane*) o2; - - contact->g1 = o1; - contact->g2 = o2; - - dVector3 p0,p1,pp0,pp1; - dOPE(p0,=,cone->final_posr->pos); - p1[0] = cone->final_posr->R[0*4+2] * cone->lz + p0[0]; - p1[1] = cone->final_posr->R[1*4+2] * cone->lz + p0[1]; - p1[2] = cone->final_posr->R[2*4+2] * cone->lz + p0[2]; - - dReal u; - FindIntersectionPlaneRay(plane->p,p0,plane->p,u,pp0); - FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); - - if (dDISTANCE(pp0,pp1) < fEPSILON) - { - p1[0] = cone->final_posr->R[0*4+0] * cone->lz + p0[0]; - p1[1] = cone->final_posr->R[1*4+0] * cone->lz + p0[1]; - p1[2] = cone->final_posr->R[2*4+0] * cone->lz + p0[2]; - FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); - dIASSERT(dDISTANCE(pp0,pp1) >= fEPSILON); - } - dVector3 h,r0,r1; - h[0] = cone->final_posr->R[0*4+2]; - h[1] = cone->final_posr->R[1*4+2]; - h[2] = cone->final_posr->R[2*4+2]; - - dOP(r0,-,pp0,pp1); - dCROSS(r1,=,h,r0); - dCROSS(r0,=,r1,h); - dNormalize3(r0); - dOPEC(h,*=,cone->lz); - dOPEC(r0,*=,cone->radius); - - dVector3 p[3]; - dOP(p[0],+,cone->final_posr->pos,h); - dOP(p[1],+,cone->final_posr->pos,r0); - dOP(p[2],-,cone->final_posr->pos,r0); - - int numMaxContacts = flags & 0xffff; - if (numMaxContacts == 0) - numMaxContacts = 1; - - int n=0; - for (int i=0;i<3;i++) - { - dReal d = dGeomPlanePointDepth(o2, p[i][0], p[i][1], p[i][2]); - - if (d>0.f) - { - CONTACT(contact,n*skip)->g1 = o1; - CONTACT(contact,n*skip)->g2 = o2; - dOPE(CONTACT(contact,n*skip)->normal,=,plane->p); - dOPE(CONTACT(contact,n*skip)->pos,=,p[i]); - CONTACT(contact,n*skip)->depth = d; - n++; - - if (n == numMaxContacts) - return n; - } - } - - return n; -} - -int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dRayClass); - dIASSERT (o2->type == dConeClass); - dxRay *ray = (dxRay*) o1; - dxCone *cone = (dxCone*) o2; - - contact->g1 = o1; - contact->g2 = o2; - - dVector3 tmp,q,v; - tmp[0] = ray->final_posr->pos[0] - cone->final_posr->pos[0]; - tmp[1] = ray->final_posr->pos[1] - cone->final_posr->pos[1]; - tmp[2] = ray->final_posr->pos[2] - cone->final_posr->pos[2]; - dMULTIPLY1_331 (q,cone->final_posr->R,tmp); - tmp[0] = ray->final_posr->R[0*4+2] * ray->length; - tmp[1] = ray->final_posr->R[1*4+2] * ray->length; - tmp[2] = ray->final_posr->R[2*4+2] * ray->length; - dMULTIPLY1_331 (v,cone->final_posr->R,tmp); - - dReal r = cone->radius; - dReal h = cone->lz; - - dContactGeom Contact[2]; - - if (FindIntersectionConeRay(r,h,q,v,Contact)) - { - dMULTIPLY0_331(contact->normal,cone->final_posr->R,Contact[0].normal); - dMULTIPLY0_331(contact->pos,cone->final_posr->R,Contact[0].pos); - dOPE(contact->pos,+=,cone->final_posr->pos); - contact->depth = Contact[0].depth * dLENGTH(v); -/* - dMatrix3 RI; - dRSetIdentity (RI); - dVector3 ss; - ss[0] = 0.01f; - ss[1] = 0.01f; - ss[2] = 0.01f; - - dsSetColorAlpha (1,0,0,0.8f); - dsDrawBox(contact->pos,RI,ss); -*/ - return 1; - } - - return 0; -} - -int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dConeClass); - dIASSERT (o2->type == dSphereClass); - dxCone *cone = (dxCone*) o1; - - dxSphere ASphere(0,cone->radius); - dGeomSetRotation(&ASphere,cone->final_posr->R); - dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); - - return dCollideSphereSphere(&ASphere, o2, flags, contact, skip); -} - -int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dConeClass); - dIASSERT (o2->type == dBoxClass); - dxCone *cone = (dxCone*) o1; - - dxSphere ASphere(0,cone->radius); - dGeomSetRotation(&ASphere,cone->final_posr->R); - dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); - - return dCollideSphereBox(&ASphere, o2, flags, contact, skip); -} - -int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dCCylinderClass); - dIASSERT (o2->type == dConeClass); - dxCone *cone = (dxCone*) o2; - - dxSphere ASphere(0,cone->radius); - dGeomSetRotation(&ASphere,cone->final_posr->R); - dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); - - return dCollideCCylinderSphere(o1, &ASphere, flags, contact, skip); -} - -extern int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); - -int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dTriMeshClass); - dIASSERT (o2->type == dConeClass); - dxCone *cone = (dxCone*) o2; - - dxSphere ASphere(0,cone->radius); - dGeomSetRotation(&ASphere,cone->final_posr->R); - dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); - - return dCollideSTL(o1, &ASphere, flags, contact, skip); -} - - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/dTerrainY.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/dTerrainY.cpp deleted file mode 100644 index ff779ace..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/dTerrainY.cpp +++ /dev/null @@ -1,662 +0,0 @@ -//Benoit CHAPEROT 2003-2004 www.jstarlab.com -//some code inspired by Magic Software -#include -#include -#include -#include -#include -#include "collision_kernel.h" -#include "collision_std.h" -#include "collision_std_internal.h" -#include "collision_util.h" -//#include -#include "windows.h" -#include "ode\ode.h" - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) -#define MAXCONTACT 10 -#define TERRAINTOL 0.0f - -static bool IsAPowerOfTwo(int f) -{ - dAASSERT(f!=0); - while ((f&1) != 1) - f >>= 1; - - return (f == 1); -} - -static int GetPowerOfTwo(int f) -{ - dAASSERT(f!=0); - int n = 0; - while ((f&1) != 1) - { - n++; - f >>= 1; - } - - return n; -} - -dxTerrainY::dxTerrainY (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) : -dxGeom (space,bPlaceable) -{ - dIASSERT(IsAPowerOfTwo(nNumNodesPerSide)); - dIASSERT(pHeights); - dIASSERT(vLength > 0.f); - dIASSERT(nNumNodesPerSide > 0); - type = dTerrainYClass; - m_vLength = vLength; - m_pHeights = new dReal[nNumNodesPerSide * nNumNodesPerSide]; - dIASSERT(m_pHeights); - m_nNumNodesPerSide = nNumNodesPerSide; - m_vNodeLength = m_vLength / m_nNumNodesPerSide; - m_nNumNodesPerSideShift = GetPowerOfTwo(m_nNumNodesPerSide); - m_nNumNodesPerSideMask = m_nNumNodesPerSide - 1; - m_vMinHeight = dInfinity; - m_vMaxHeight = -dInfinity; - m_bFinite = bFinite; - - for (int i=0;i m_vMaxHeight) m_vMaxHeight = m_pHeights[i]; - } -} - -dxTerrainY::~dxTerrainY() -{ - dIASSERT(m_pHeights); - delete [] m_pHeights; -} - -void dxTerrainY::computeAABB() -{ - if (m_bFinite) - { - if (gflags & GEOM_PLACEABLE) - { - dReal dx[6],dy[6],dz[6]; - dx[0] = 0; - dx[1] = final_posr->R[0] * m_vLength; - dx[2] = final_posr->R[1] * m_vMinHeight; - dx[3] = final_posr->R[1] * m_vMaxHeight; - dx[4] = 0; - dx[5] = final_posr->R[2] * m_vLength; - - dy[0] = 0; - dy[1] = final_posr->R[4] * m_vLength; - dy[2] = final_posr->R[5] * m_vMinHeight; - dy[3] = final_posr->R[5] * m_vMaxHeight; - dy[4] = 0; - dy[5] = final_posr->R[6] * m_vLength; - - dz[0] = 0; - dz[1] = final_posr->R[8] * m_vLength; - dz[2] = final_posr->R[9] * m_vMinHeight; - dz[3] = final_posr->R[9] * m_vMaxHeight; - dz[4] = 0; - dz[5] = final_posr->R[10] * m_vLength; - - aabb[0] = final_posr->pos[0] + MIN(dx[0],dx[1]) + MIN(dx[2],dx[3]) + MIN(dx[4],dx[5]); - aabb[1] = final_posr->pos[0] + MAX(dx[0],dx[1]) + MAX(dx[2],dx[3]) + MAX(dx[4],dx[5]); - aabb[2] = final_posr->pos[1] + MIN(dy[0],dy[1]) + MIN(dy[2],dy[3]) + MIN(dy[4],dy[5]); - aabb[3] = final_posr->pos[1] + MAX(dy[0],dy[1]) + MAX(dy[2],dy[3]) + MAX(dy[4],dy[5]); - aabb[4] = final_posr->pos[2] + MIN(dz[0],dz[1]) + MIN(dz[2],dz[3]) + MIN(dz[4],dz[5]); - aabb[5] = final_posr->pos[2] + MAX(dz[0],dz[1]) + MAX(dz[2],dz[3]) + MAX(dz[4],dz[5]); - } - else - { - aabb[0] = 0; - aabb[1] = m_vLength; - aabb[2] = m_vMinHeight; - aabb[3] = m_vMaxHeight; - aabb[4] = 0; - aabb[5] = m_vLength; - } - } - else - { - if (gflags & GEOM_PLACEABLE) - { - aabb[0] = -dInfinity; - aabb[1] = dInfinity; - aabb[2] = -dInfinity; - aabb[3] = dInfinity; - aabb[4] = -dInfinity; - aabb[5] = dInfinity; - } - else - { - aabb[0] = -dInfinity; - aabb[1] = dInfinity; - aabb[2] = m_vMinHeight; - aabb[3] = m_vMaxHeight; - aabb[4] = -dInfinity; - aabb[5] = dInfinity; - } - } -} - -dReal dxTerrainY::GetHeight(int x,int z) -{ - return m_pHeights[ (((unsigned int)(z) & m_nNumNodesPerSideMask) << m_nNumNodesPerSideShift) - + ((unsigned int)(x) & m_nNumNodesPerSideMask)]; -} - -dReal dxTerrainY::GetHeight(dReal x,dReal z) -{ - int nX = int(floor(x / m_vNodeLength)); - int nZ = int(floor(z / m_vNodeLength)); - dReal dx = (x - (dReal(nX) * m_vNodeLength)) / m_vNodeLength; - dReal dz = (z - (dReal(nZ) * m_vNodeLength)) / m_vNodeLength; - dIASSERT((dx >= 0.f) && (dx <= 1.f)); - dIASSERT((dz >= 0.f) && (dz <= 1.f)); - - dReal y,y0; - - if (dx + dz < 1.f) - { - y0 = GetHeight(nX,nZ); - y = y0 - + (GetHeight(nX+1,nZ) - y0) * dx - + (GetHeight(nX,nZ+1) - y0) * dz; - } - else - { - y0 = GetHeight(nX+1,nZ+1); - y = y0 - + (GetHeight(nX+1,nZ) - y0) * (1.f - dz) - + (GetHeight(nX,nZ+1) - y0) * (1.f - dx); - } - - return y; -} - -bool dxTerrainY::IsOnTerrain(int nx,int nz,int w,dReal *pos) -{ - dVector3 Min,Max; - Min[0] = nx * m_vNodeLength; - Min[2] = nz * m_vNodeLength; - Max[0] = (nx+1) * m_vNodeLength; - Max[2] = (nz+1) * m_vNodeLength; - dReal Tol = m_vNodeLength * TERRAINTOL; - - if ((pos[0]Max[0]+Tol)) - return false; - - if ((pos[2]Max[2]+Tol)) - return false; - - dReal dx = (pos[0] - (dReal(nx) * m_vNodeLength)) / m_vNodeLength; - dReal dz = (pos[2] - (dReal(nz) * m_vNodeLength)) / m_vNodeLength; - - if ((w == 0) && (dx + dz > 1.f+TERRAINTOL)) - return false; - - if ((w == 1) && (dx + dz < 1.f-TERRAINTOL)) - return false; - - return true; -} - -dGeomID dCreateTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) -{ - return new dxTerrainY(space, pHeights,vLength,nNumNodesPerSide,bFinite,bPlaceable); -} - -dReal dGeomTerrainYPointDepth (dGeomID g, dReal x, dReal y, dReal z) -{ - dUASSERT (g && g->type == dTerrainYClass,"argument not a terrain"); - g->recomputePosr(); - dxTerrainY *t = (dxTerrainY*) g; - return t->GetHeight(x,z) - y; -} - -typedef dReal dGetDepthFn(dGeomID g, dReal x, dReal y, dReal z); -#define RECOMPUTE_RAYNORMAL -//#define DO_RAYDEPTH - -#define DMESS(A) \ - dMessage(0,"Contact Plane (%d %d %d) %.5e %.5e (%.5e %.5e %.5e)(%.5e %.5e %.5e)).", \ - x,z,A, \ - pContact->depth, \ - dGeomSphereGetRadius(o2), \ - pContact->pos[0], \ - pContact->pos[1], \ - pContact->pos[2], \ - pContact->normal[0], \ - pContact->normal[1], \ - pContact->normal[2]); -/* -(y is up) - -A-B-E.x -|/| -C-D -| -F -. -z -*/ -int dxTerrainY::dCollideTerrainUnit( - int x,int z,dxGeom *o2,int numMaxContacts, - int flags,dContactGeom *contact, int skip) -{ - dColliderFn *CollideRayN; - dColliderFn *CollideNPlane; - dGetDepthFn *GetDepth; - int numContacts = 0; - int numPlaneContacts = 0; - int i; - - if (numContacts == numMaxContacts) - return numContacts; - - dContactGeom PlaneContact[MAXCONTACT]; - flags = (flags & 0xffff0000) | MAXCONTACT; - - switch (o2->type) - { - case dSphereClass: - CollideRayN = dCollideRaySphere; - CollideNPlane = dCollideSpherePlane; - GetDepth = dGeomSpherePointDepth; - break; - case dBoxClass: - CollideRayN = dCollideRayBox; - CollideNPlane = dCollideBoxPlane; - GetDepth = dGeomBoxPointDepth; - break; - case dCCylinderClass: - CollideRayN = dCollideRayCCylinder; - CollideNPlane = dCollideCCylinderPlane; - GetDepth = dGeomCCylinderPointDepth; - break; - case dRayClass: - CollideRayN = NULL; - CollideNPlane = dCollideRayPlane; - GetDepth = NULL; - break; - case dConeClass: - CollideRayN = dCollideRayCone; - CollideNPlane = dCollideConePlane; - GetDepth = dGeomConePointDepth; - break; - default: - dIASSERT(0); - } - - dReal Plane[4],lBD,lCD,lBC; - dVector3 A,B,C,D,BD,CD,BC,AB,AC; - A[0] = x * m_vNodeLength; - A[2] = z* m_vNodeLength; - A[1] = GetHeight(x,z); - B[0] = (x+1) * m_vNodeLength; - B[2] = z * m_vNodeLength; - B[1] = GetHeight(x+1,z); - C[0] = x * m_vNodeLength; - C[2] = (z+1) * m_vNodeLength; - C[1] = GetHeight(x,z+1); - D[0] = (x+1) * m_vNodeLength; - D[2] = (z+1) * m_vNodeLength; - D[1] = GetHeight(x+1,z+1); - - dOP(BC,-,C,B); - lBC = dLENGTH(BC); - dOPEC(BC,/=,lBC); - - dOP(BD,-,D,B); - lBD = dLENGTH(BD); - dOPEC(BD,/=,lBD); - - dOP(CD,-,D,C); - lCD = dLENGTH(CD); - dOPEC(CD,/=,lCD); - - dOP(AB,-,B,A); - dNormalize3(AB); - - dOP(AC,-,C,A); - dNormalize3(AC); - - if (CollideRayN) - { -#ifdef RECOMPUTE_RAYNORMAL - dVector3 E,F; - dVector3 CE,FB,AD; - dVector3 Normal[3]; - E[0] = (x+2) * m_vNodeLength; - E[2] = z * m_vNodeLength; - E[1] = GetHeight(x+2,z); - F[0] = x * m_vNodeLength; - F[2] = (z+2) * m_vNodeLength; - F[1] = GetHeight(x,z+2); - dOP(AD,-,D,A); - dNormalize3(AD); - dOP(CE,-,E,C); - dNormalize3(CE); - dOP(FB,-,B,F); - dNormalize3(FB); - - //BC - dCROSS(Normal[0],=,BC,AD); - dNormalize3(Normal[0]); - - //BD - dCROSS(Normal[1],=,BD,CE); - dNormalize3(Normal[1]); - - //CD - dCROSS(Normal[2],=,CD,FB); - dNormalize3(Normal[2]); -#endif - int nA[3],nB[3]; - dContactGeom ContactA[3],ContactB[3]; - dxRay rayBC(0,lBC); - dGeomRaySet(&rayBC, B[0], B[1], B[2], BC[0], BC[1], BC[2]); - nA[0] = CollideRayN(&rayBC,o2,flags,&ContactA[0],sizeof(dContactGeom)); - dGeomRaySet(&rayBC, C[0], C[1], C[2], -BC[0], -BC[1], -BC[2]); - nB[0] = CollideRayN(&rayBC,o2,flags,&ContactB[0],sizeof(dContactGeom)); - - dxRay rayBD(0,lBD); - dGeomRaySet(&rayBD, B[0], B[1], B[2], BD[0], BD[1], BD[2]); - nA[1] = CollideRayN(&rayBD,o2,flags,&ContactA[1],sizeof(dContactGeom)); - dGeomRaySet(&rayBD, D[0], D[1], D[2], -BD[0], -BD[1], -BD[2]); - nB[1] = CollideRayN(&rayBD,o2,flags,&ContactB[1],sizeof(dContactGeom)); - - dxRay rayCD(0,lCD); - dGeomRaySet(&rayCD, C[0], C[1], C[2], CD[0], CD[1], CD[2]); - nA[2] = CollideRayN(&rayCD,o2,flags,&ContactA[2],sizeof(dContactGeom)); - dGeomRaySet(&rayCD, D[0], D[1], D[2], -CD[0], -CD[1], -CD[2]); - nB[2] = CollideRayN(&rayCD,o2,flags,&ContactB[2],sizeof(dContactGeom)); - - for (i=0;i<3;i++) - { - if (nA[i] & nB[i]) - { - dContactGeom *pContact = CONTACT(contact,numContacts*skip); - pContact->pos[0] = (ContactA[i].pos[0] + ContactB[i].pos[0])/2; - pContact->pos[1] = (ContactA[i].pos[1] + ContactB[i].pos[1])/2; - pContact->pos[2] = (ContactA[i].pos[2] + ContactB[i].pos[2])/2; -#ifdef RECOMPUTE_RAYNORMAL - pContact->normal[0] = -Normal[i][0]; - pContact->normal[1] = -Normal[i][1]; - pContact->normal[2] = -Normal[i][2]; -#else - pContact->normal[0] = (ContactA[i].normal[0] + ContactB[i].normal[0])/2; //0.f; - pContact->normal[1] = (ContactA[i].normal[1] + ContactB[i].normal[1])/2; //0.f; - pContact->normal[2] = (ContactA[i].normal[2] + ContactB[i].normal[2])/2; //-1.f; - dNormalize3(pContact->normal); -#endif -#ifdef DO_RAYDEPTH - dxRay rayV(0,1000.f); - dGeomRaySet(&rayV, pContact->pos[0], - pContact->pos[1], - pContact->pos[2], - -pContact->normal[0], - -pContact->normal[1], - -pContact->normal[2]); - - dContactGeom ContactV; - if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) - { - pContact->depth = ContactV.depth; - numContacts++; - } -#else - - if (GetDepth == NULL) - { - dxRay rayV(0,1000.f); - dGeomRaySet(&rayV, pContact->pos[0], - pContact->pos[1], - pContact->pos[2], - -pContact->normal[0], - -pContact->normal[1], - -pContact->normal[2]); - - dContactGeom ContactV; - - if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) - { - pContact->depth = ContactV.depth; - numContacts++; - } - } - else - { - pContact->depth = GetDepth(o2, - pContact->pos[0], - pContact->pos[1], - pContact->pos[2]); - numContacts++; - } - -#endif - if (numContacts == numMaxContacts) - return numContacts; - - } - } - } - - dCROSS(Plane,=,AC,AB); - dNormalize3(Plane); - Plane[3] = Plane[0] * A[0] + Plane[1] * A[1] + Plane[2] * A[2]; - dxPlane planeABC(0,Plane[0],Plane[1],Plane[2],Plane[3]); - numPlaneContacts = CollideNPlane(o2,&planeABC,flags,PlaneContact,sizeof(dContactGeom)); - - for (i=0;ipos[0] = PlaneContact[i].pos[0]; - pContact->pos[1] = PlaneContact[i].pos[1]; - pContact->pos[2] = PlaneContact[i].pos[2]; - pContact->normal[0] = -PlaneContact[i].normal[0]; - pContact->normal[1] = -PlaneContact[i].normal[1]; - pContact->normal[2] = -PlaneContact[i].normal[2]; - pContact->depth = PlaneContact[i].depth; - - //DMESS(0); - numContacts++; - - if (numContacts == numMaxContacts) - return numContacts; - } - } - - dCROSS(Plane,=,BD,CD); - dNormalize3(Plane); - Plane[3] = Plane[0] * D[0] + Plane[1] * D[1] + Plane[2] * D[2]; - dxPlane planeDCB(0,Plane[0],Plane[1],Plane[2],Plane[3]); - numPlaneContacts = CollideNPlane(o2,&planeDCB,flags,PlaneContact,sizeof(dContactGeom)); - - for (i=0;ipos[0] = PlaneContact[i].pos[0]; - pContact->pos[1] = PlaneContact[i].pos[1]; - pContact->pos[2] = PlaneContact[i].pos[2]; - pContact->normal[0] = -PlaneContact[i].normal[0]; - pContact->normal[1] = -PlaneContact[i].normal[1]; - pContact->normal[2] = -PlaneContact[i].normal[2]; - pContact->depth = PlaneContact[i].depth; - //DMESS(1); - numContacts++; - - if (numContacts == numMaxContacts) - return numContacts; - } - } - - return numContacts; -} - -int dCollideTerrainY(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dTerrainYClass); - int i,j; - - if ((flags & 0xffff) == 0) - flags = (flags & 0xffff0000) | 1; - - int numMaxTerrainContacts = (flags & 0xffff); - dxTerrainY *terrain = (dxTerrainY*) o1; - - dReal aabbbak[6]; - int gflagsbak; - - dVector3 pos0; - int numTerrainContacts = 0; - - dxPosR *bak; - dxPosR X1; - - if (terrain->gflags & GEOM_PLACEABLE) - { - dOP(pos0,-,o2->final_posr->pos,terrain->final_posr->pos); - dMULTIPLY1_331(X1.pos,terrain->final_posr->R,pos0); - dMULTIPLY1_333(X1.R,terrain->final_posr->R,o2->final_posr->R); - bak = o2->final_posr; - o2->final_posr = &X1; - memcpy(aabbbak,o2->aabb,sizeof(dReal)*6); - gflagsbak = o2->gflags; - o2->computeAABB(); - } - - int nMinX = int(floor(o2->aabb[0] / terrain->m_vNodeLength)); - int nMaxX = int(floor(o2->aabb[1] / terrain->m_vNodeLength)) + 1; - int nMinZ = int(floor(o2->aabb[4] / terrain->m_vNodeLength)); - int nMaxZ = int(floor(o2->aabb[5] / terrain->m_vNodeLength)) + 1; - - if (terrain->m_bFinite) - { - nMinX = MAX(nMinX,0); - nMaxX = MIN(nMaxX,terrain->m_nNumNodesPerSide); - nMinZ = MAX(nMinZ,0); - nMaxZ = MIN(nMaxZ,terrain->m_nNumNodesPerSide); - - if ((nMinX >= nMaxX) || (nMinZ >= nMaxZ)) - goto dCollideTerrainYExit; - } - - dVector3 AabbTop; - AabbTop[0] = (o2->aabb[0]+o2->aabb[1]) / 2; - AabbTop[2] = (o2->aabb[4]+o2->aabb[5]) / 2; - AabbTop[1] = o2->aabb[3]; - if (o2->type != dRayClass) - { - dReal AabbTopDepth = terrain->GetHeight(AabbTop[0],AabbTop[2]) - AabbTop[1]; - if (AabbTopDepth > 0.f) - { - contact->depth = AabbTopDepth; - dReal MaxDepth = (o2->aabb[3]-o2->aabb[2]) / 2; - if (contact->depth > MaxDepth) - contact->depth = MaxDepth; - contact->g1 = o1; - contact->g2 = o2; - dOPE(contact->pos,=,AabbTop); - contact->normal[0] = 0.f; - contact->normal[1] = -1.f; - contact->normal[2] = 0.f; - - numTerrainContacts = 1; - goto dCollideTerrainYExit; - } - } - - for (i=nMinX;idCollideTerrainUnit( - i,j,o2,numMaxTerrainContacts - numTerrainContacts, - flags,CONTACT(contact,numTerrainContacts*skip),skip ); - } - } - - dIASSERT(numTerrainContacts <= numMaxTerrainContacts); - - for (i=0; ig1 = o1; - CONTACT(contact,i*skip)->g2 = o2; - } - -dCollideTerrainYExit: - - if (terrain->gflags & GEOM_PLACEABLE) - { - o2->final_posr = bak; - memcpy(o2->aabb,aabbbak,sizeof(dReal)*6); - o2->gflags = gflagsbak; - - for (i=0; ipos); - dMULTIPLY0_331(CONTACT(contact,i*skip)->pos,terrain->final_posr->R,pos0); - dOP(CONTACT(contact,i*skip)->pos,+,CONTACT(contact,i*skip)->pos,terrain->final_posr->pos); - - dOPE(pos0,=,CONTACT(contact,i*skip)->normal); - dMULTIPLY0_331(CONTACT(contact,i*skip)->normal,terrain->final_posr->R,pos0); - } - } - - return numTerrainContacts; -} -/* -void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos) -{ - float A[3],B[3],C[3],D[3]; - float R[12]; - float pos[3]; - if (pR) - memcpy(R,pR,sizeof(R)); - else - { - memset(R,0,sizeof(R)); - R[0] = 1.f; - R[5] = 1.f; - R[10] = 1.f; - } - - if (ppos) - memcpy(pos,ppos,sizeof(pos)); - else - memset(pos,0,sizeof(pos)); - - float vx,vz; - vx = vLength * x; - vz = vLength * z; - - int i; - for (i=0;i -#include -#include -#include -#include -#include "collision_kernel.h" -#include "collision_std.h" -#include "collision_std_internal.h" -#include "collision_util.h" -//#include -#include "windows.h" -#include "ode\ode.h" - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) -#define MAXCONTACT 10 -#define TERRAINTOL 0.0f - -static bool IsAPowerOfTwo(int f) -{ - dAASSERT(f!=0); - while ((f&1) != 1) - f >>= 1; - - return (f == 1); -} - -static int GetPowerOfTwo(int f) -{ - dAASSERT(f!=0); - int n = 0; - while ((f&1) != 1) - { - n++; - f >>= 1; - } - - return n; -} - -dxTerrainZ::dxTerrainZ (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) : -dxGeom (space,bPlaceable) -{ - dIASSERT(IsAPowerOfTwo(nNumNodesPerSide)); - dIASSERT(pHeights); - dIASSERT(vLength > 0.f); - dIASSERT(nNumNodesPerSide > 0); - type = dTerrainZClass; - m_vLength = vLength; - m_pHeights = new dReal[nNumNodesPerSide * nNumNodesPerSide]; - dIASSERT(m_pHeights); - m_nNumNodesPerSide = nNumNodesPerSide; - m_vNodeLength = m_vLength / m_nNumNodesPerSide; - m_nNumNodesPerSideShift = GetPowerOfTwo(m_nNumNodesPerSide); - m_nNumNodesPerSideMask = m_nNumNodesPerSide - 1; - m_vMinHeight = dInfinity; - m_vMaxHeight = -dInfinity; - m_bFinite = bFinite; - - for (int i=0;i m_vMaxHeight) m_vMaxHeight = m_pHeights[i]; - } -} - -dxTerrainZ::~dxTerrainZ() -{ - dIASSERT(m_pHeights); - delete [] m_pHeights; -} - -void dxTerrainZ::computeAABB() -{ - if (m_bFinite) - { - if (gflags & GEOM_PLACEABLE) - { - dReal dx[6],dy[6],dz[6]; - dx[0] = 0; - dx[1] = final_posr->R[0] * m_vLength; - dx[2] = 0; - dx[3] = final_posr->R[1] * m_vLength; - dx[4] = final_posr->R[2] * m_vMinHeight; - dx[5] = final_posr->R[2] * m_vMaxHeight; - - dy[0] = 0; - dy[1] = final_posr->R[4] * m_vLength; - dy[2] = 0; - dy[3] = final_posr->R[5] * m_vLength; - dy[4] = final_posr->R[6] * m_vMinHeight; - dy[5] = final_posr->R[6] * m_vMaxHeight; - - dz[0] = 0; - dz[1] = final_posr->R[8] * m_vLength; - dz[2] = 0; - dz[3] = final_posr->R[9] * m_vLength; - dz[4] = final_posr->R[10] * m_vMinHeight; - dz[5] = final_posr->R[10] * m_vMaxHeight; - - aabb[0] = final_posr->pos[0] + MIN(dx[0],dx[1]) + MIN(dx[2],dx[3]) + MIN(dx[4],dx[5]); - aabb[1] = final_posr->pos[0] + MAX(dx[0],dx[1]) + MAX(dx[2],dx[3]) + MAX(dx[4],dx[5]); - aabb[2] = final_posr->pos[1] + MIN(dy[0],dy[1]) + MIN(dy[2],dy[3]) + MIN(dy[4],dy[5]); - aabb[3] = final_posr->pos[1] + MAX(dy[0],dy[1]) + MAX(dy[2],dy[3]) + MAX(dy[4],dy[5]); - aabb[4] = final_posr->pos[2] + MIN(dz[0],dz[1]) + MIN(dz[2],dz[3]) + MIN(dz[4],dz[5]); - aabb[5] = final_posr->pos[2] + MAX(dz[0],dz[1]) + MAX(dz[2],dz[3]) + MAX(dz[4],dz[5]); - } - else - { - aabb[0] = 0; - aabb[1] = m_vLength; - aabb[2] = 0; - aabb[3] = m_vLength; - aabb[4] = m_vMinHeight; - aabb[5] = m_vMaxHeight; - } - } - else - { - if (gflags & GEOM_PLACEABLE) - { - aabb[0] = -dInfinity; - aabb[1] = dInfinity; - aabb[2] = -dInfinity; - aabb[3] = dInfinity; - aabb[4] = -dInfinity; - aabb[5] = dInfinity; - } - else - { - aabb[0] = -dInfinity; - aabb[1] = dInfinity; - aabb[2] = -dInfinity; - aabb[3] = dInfinity; - aabb[4] = m_vMinHeight; - aabb[5] = m_vMaxHeight; - } - } -} - -dReal dxTerrainZ::GetHeight(int x,int y) -{ - return m_pHeights[ (((unsigned int)(y) & m_nNumNodesPerSideMask) << m_nNumNodesPerSideShift) - + ((unsigned int)(x) & m_nNumNodesPerSideMask)]; -} - -dReal dxTerrainZ::GetHeight(dReal x,dReal y) -{ - int nX = int(floor(x / m_vNodeLength)); - int nY = int(floor(y / m_vNodeLength)); - dReal dx = (x - (dReal(nX) * m_vNodeLength)) / m_vNodeLength; - dReal dy = (y - (dReal(nY) * m_vNodeLength)) / m_vNodeLength; - dIASSERT((dx >= 0.f) && (dx <= 1.f)); - dIASSERT((dy >= 0.f) && (dy <= 1.f)); - - dReal z,z0; - - if (dx + dy < 1.f) - { - z0 = GetHeight(nX,nY); - z = z0 - + (GetHeight(nX+1,nY) - z0) * dx - + (GetHeight(nX,nY+1) - z0) * dy; - } - else - { - z0 = GetHeight(nX+1,nY+1); - z = z0 - + (GetHeight(nX+1,nY) - z0) * (1.f - dy) - + (GetHeight(nX,nY+1) - z0) * (1.f - dx); - } - - return z; -} - -bool dxTerrainZ::IsOnTerrain(int nx,int ny,int w,dReal *pos) -{ - dVector3 Min,Max; - Min[0] = nx * m_vNodeLength; - Min[1] = ny * m_vNodeLength; - Max[0] = (nx+1) * m_vNodeLength; - Max[1] = (ny+1) * m_vNodeLength; - dReal Tol = m_vNodeLength * TERRAINTOL; - - if ((pos[0]Max[0]+Tol)) - return false; - - if ((pos[1]Max[1]+Tol)) - return false; - - dReal dx = (pos[0] - (dReal(nx) * m_vNodeLength)) / m_vNodeLength; - dReal dy = (pos[1] - (dReal(ny) * m_vNodeLength)) / m_vNodeLength; - - if ((w == 0) && (dx + dy > 1.f+TERRAINTOL)) - return false; - - if ((w == 1) && (dx + dy < 1.f-TERRAINTOL)) - return false; - - return true; -} - -dGeomID dCreateTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) -{ - return new dxTerrainZ(space, pHeights,vLength,nNumNodesPerSide, bFinite, bPlaceable); -} - -dReal dGeomTerrainZPointDepth (dGeomID g, dReal x, dReal y, dReal z) -{ - dUASSERT (g && g->type == dTerrainZClass,"argument not a terrain"); - g->recomputePosr(); - dxTerrainZ *t = (dxTerrainZ*) g; - return t->GetHeight(x,y) - z; -} - -typedef dReal dGetDepthFn(dGeomID g, dReal x, dReal y, dReal z); -#define RECOMPUTE_RAYNORMAL -//#define DO_RAYDEPTH - -#define DMESS(A) \ - dMessage(0,"Contact Plane (%d %d %d) %.5e %.5e (%.5e %.5e %.5e)(%.5e %.5e %.5e)).", \ - x,y,A, \ - pContact->depth, \ - dGeomSphereGetRadius(o2), \ - pContact->pos[0], \ - pContact->pos[1], \ - pContact->pos[2], \ - pContact->normal[0], \ - pContact->normal[1], \ - pContact->normal[2]); -/* -(z is up) - -y -. -F -| -C-D -|\| -A-B-E.x -*/ -int dxTerrainZ::dCollideTerrainUnit( - int x,int y,dxGeom *o2,int numMaxContacts, - int flags,dContactGeom *contact, int skip) -{ - dColliderFn *CollideRayN; - dColliderFn *CollideNPlane; - dGetDepthFn *GetDepth; - int numContacts = 0; - int numPlaneContacts = 0; - int i; - - if (numContacts == numMaxContacts) - return numContacts; - - dContactGeom PlaneContact[MAXCONTACT]; - flags = (flags & 0xffff0000) | MAXCONTACT; - - switch (o2->type) - { - case dSphereClass: - CollideRayN = dCollideRaySphere; - CollideNPlane = dCollideSpherePlane; - GetDepth = dGeomSpherePointDepth; - break; - case dBoxClass: - CollideRayN = dCollideRayBox; - CollideNPlane = dCollideBoxPlane; - GetDepth = dGeomBoxPointDepth; - break; - case dCCylinderClass: - CollideRayN = dCollideRayCCylinder; - CollideNPlane = dCollideCCylinderPlane; - GetDepth = dGeomCCylinderPointDepth; - break; - case dRayClass: - CollideRayN = NULL; - CollideNPlane = dCollideRayPlane; - GetDepth = NULL; - break; - case dConeClass: - CollideRayN = dCollideRayCone; - CollideNPlane = dCollideConePlane; - GetDepth = dGeomConePointDepth; - break; - default: - dIASSERT(0); - } - - dReal Plane[4],lBD,lCD,lBC; - dVector3 A,B,C,D,BD,CD,BC,AB,AC; - A[0] = x * m_vNodeLength; - A[1] = y * m_vNodeLength; - A[2] = GetHeight(x,y); - B[0] = (x+1) * m_vNodeLength; - B[1] = y * m_vNodeLength; - B[2] = GetHeight(x+1,y); - C[0] = x * m_vNodeLength; - C[1] = (y+1) * m_vNodeLength; - C[2] = GetHeight(x,y+1); - D[0] = (x+1) * m_vNodeLength; - D[1] = (y+1) * m_vNodeLength; - D[2] = GetHeight(x+1,y+1); - - dOP(BC,-,C,B); - lBC = dLENGTH(BC); - dOPEC(BC,/=,lBC); - - dOP(BD,-,D,B); - lBD = dLENGTH(BD); - dOPEC(BD,/=,lBD); - - dOP(CD,-,D,C); - lCD = dLENGTH(CD); - dOPEC(CD,/=,lCD); - - dOP(AB,-,B,A); - dNormalize3(AB); - - dOP(AC,-,C,A); - dNormalize3(AC); - - if (CollideRayN) - { -#ifdef RECOMPUTE_RAYNORMAL - dVector3 E,F; - dVector3 CE,FB,AD; - dVector3 Normal[3]; - E[0] = (x+2) * m_vNodeLength; - E[1] = y * m_vNodeLength; - E[2] = GetHeight(x+2,y); - F[0] = x * m_vNodeLength; - F[1] = (y+2) * m_vNodeLength; - F[2] = GetHeight(x,y+2); - dOP(AD,-,D,A); - dNormalize3(AD); - dOP(CE,-,E,C); - dNormalize3(CE); - dOP(FB,-,B,F); - dNormalize3(FB); - - //BC - dCROSS(Normal[0],=,AD,BC); - dNormalize3(Normal[0]); - - //BD - dCROSS(Normal[1],=,CE,BD); - dNormalize3(Normal[1]); - - //CD - dCROSS(Normal[2],=,FB,CD); - dNormalize3(Normal[2]); -#endif - int nA[3],nB[3]; - dContactGeom ContactA[3],ContactB[3]; - dxRay rayBC(0,lBC); - dGeomRaySet(&rayBC, B[0], B[1], B[2], BC[0], BC[1], BC[2]); - nA[0] = CollideRayN(&rayBC,o2,flags,&ContactA[0],sizeof(dContactGeom)); - dGeomRaySet(&rayBC, C[0], C[1], C[2], -BC[0], -BC[1], -BC[2]); - nB[0] = CollideRayN(&rayBC,o2,flags,&ContactB[0],sizeof(dContactGeom)); - - dxRay rayBD(0,lBD); - dGeomRaySet(&rayBD, B[0], B[1], B[2], BD[0], BD[1], BD[2]); - nA[1] = CollideRayN(&rayBD,o2,flags,&ContactA[1],sizeof(dContactGeom)); - dGeomRaySet(&rayBD, D[0], D[1], D[2], -BD[0], -BD[1], -BD[2]); - nB[1] = CollideRayN(&rayBD,o2,flags,&ContactB[1],sizeof(dContactGeom)); - - dxRay rayCD(0,lCD); - dGeomRaySet(&rayCD, C[0], C[1], C[2], CD[0], CD[1], CD[2]); - nA[2] = CollideRayN(&rayCD,o2,flags,&ContactA[2],sizeof(dContactGeom)); - dGeomRaySet(&rayCD, D[0], D[1], D[2], -CD[0], -CD[1], -CD[2]); - nB[2] = CollideRayN(&rayCD,o2,flags,&ContactB[2],sizeof(dContactGeom)); - - for (i=0;i<3;i++) - { - if (nA[i] & nB[i]) - { - dContactGeom *pContact = CONTACT(contact,numContacts*skip); - pContact->pos[0] = (ContactA[i].pos[0] + ContactB[i].pos[0])/2; - pContact->pos[1] = (ContactA[i].pos[1] + ContactB[i].pos[1])/2; - pContact->pos[2] = (ContactA[i].pos[2] + ContactB[i].pos[2])/2; -#ifdef RECOMPUTE_RAYNORMAL - pContact->normal[0] = -Normal[i][0]; - pContact->normal[1] = -Normal[i][1]; - pContact->normal[2] = -Normal[i][2]; -#else - pContact->normal[0] = (ContactA[i].normal[0] + ContactB[i].normal[0])/2; //0.f; - pContact->normal[1] = (ContactA[i].normal[1] + ContactB[i].normal[1])/2; //0.f; - pContact->normal[2] = (ContactA[i].normal[2] + ContactB[i].normal[2])/2; //-1.f; - dNormalize3(pContact->normal); -#endif -#ifdef DO_RAYDEPTH - dxRay rayV(0,1000.f); - dGeomRaySet(&rayV, pContact->pos[0], - pContact->pos[1], - pContact->pos[2], - -pContact->normal[0], - -pContact->normal[1], - -pContact->normal[2]); - - dContactGeom ContactV; - if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) - { - pContact->depth = ContactV.depth; - numContacts++; - } -#else - if (GetDepth == NULL) - { - dxRay rayV(0,1000.f); - dGeomRaySet(&rayV, pContact->pos[0], - pContact->pos[1], - pContact->pos[2], - -pContact->normal[0], - -pContact->normal[1], - -pContact->normal[2]); - - dContactGeom ContactV; - if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) - { - pContact->depth = ContactV.depth; - numContacts++; - } - } - else - { - pContact->depth = GetDepth(o2, - pContact->pos[0], - pContact->pos[1], - pContact->pos[2]); - numContacts++; - } -#endif - if (numContacts == numMaxContacts) - return numContacts; - - } - } - } - - dCROSS(Plane,=,AB,AC); - dNormalize3(Plane); - Plane[3] = Plane[0] * A[0] + Plane[1] * A[1] + Plane[2] * A[2]; - dxPlane planeABC(0,Plane[0],Plane[1],Plane[2],Plane[3]); - numPlaneContacts = CollideNPlane(o2,&planeABC,flags,PlaneContact,sizeof(dContactGeom)); - - for (i=0;ipos[0] = PlaneContact[i].pos[0]; - pContact->pos[1] = PlaneContact[i].pos[1]; - pContact->pos[2] = PlaneContact[i].pos[2]; - pContact->normal[0] = -PlaneContact[i].normal[0]; - pContact->normal[1] = -PlaneContact[i].normal[1]; - pContact->normal[2] = -PlaneContact[i].normal[2]; - pContact->depth = PlaneContact[i].depth; - - //DMESS(0); - numContacts++; - - if (numContacts == numMaxContacts) - return numContacts; - } - } - - dCROSS(Plane,=,CD,BD); - dNormalize3(Plane); - Plane[3] = Plane[0] * D[0] + Plane[1] * D[1] + Plane[2] * D[2]; - dxPlane planeDCB(0,Plane[0],Plane[1],Plane[2],Plane[3]); - numPlaneContacts = CollideNPlane(o2,&planeDCB,flags,PlaneContact,sizeof(dContactGeom)); - - for (i=0;ipos[0] = PlaneContact[i].pos[0]; - pContact->pos[1] = PlaneContact[i].pos[1]; - pContact->pos[2] = PlaneContact[i].pos[2]; - pContact->normal[0] = -PlaneContact[i].normal[0]; - pContact->normal[1] = -PlaneContact[i].normal[1]; - pContact->normal[2] = -PlaneContact[i].normal[2]; - pContact->depth = PlaneContact[i].depth; - //DMESS(1); - numContacts++; - - if (numContacts == numMaxContacts) - return numContacts; - } - } - - return numContacts; -} - -int dCollideTerrainZ(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip) -{ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (o1->type == dTerrainZClass); - int i,j; - - if ((flags & 0xffff) == 0) - flags = (flags & 0xffff0000) | 1; - - int numMaxTerrainContacts = (flags & 0xffff); - dxTerrainZ *terrain = (dxTerrainZ*) o1; - - dReal aabbbak[6]; - int gflagsbak; - - dVector3 pos0; - int numTerrainContacts = 0; - - dxPosR *bak; - dxPosR X1; - - if (terrain->gflags & GEOM_PLACEABLE) - { - dOP(pos0,-,o2->final_posr->pos,terrain->final_posr->pos); - dMULTIPLY1_331(X1.pos,terrain->final_posr->R,pos0); - dMULTIPLY1_333(X1.R,terrain->final_posr->R,o2->final_posr->R); - bak = o2->final_posr; - o2->final_posr = &X1; - memcpy(aabbbak,o2->aabb,sizeof(dReal)*6); - gflagsbak = o2->gflags; - o2->computeAABB(); - } - - int nMinX = int(floor(o2->aabb[0] / terrain->m_vNodeLength)); - int nMaxX = int(floor(o2->aabb[1] / terrain->m_vNodeLength)) + 1; - int nMinY = int(floor(o2->aabb[2] / terrain->m_vNodeLength)); - int nMaxY = int(floor(o2->aabb[3] / terrain->m_vNodeLength)) + 1; - - if (terrain->m_bFinite) - { - nMinX = MAX(nMinX,0); - nMaxX = MIN(nMaxX,terrain->m_nNumNodesPerSide); - nMinY = MAX(nMinY,0); - nMaxY = MIN(nMaxY,terrain->m_nNumNodesPerSide); - - if ((nMinX >= nMaxX) || (nMinY >= nMaxY)) - goto dCollideTerrainZExit; - } - - dVector3 AabbTop; - AabbTop[0] = (o2->aabb[0]+o2->aabb[1]) / 2; - AabbTop[1] = (o2->aabb[2]+o2->aabb[3]) / 2; - AabbTop[2] = o2->aabb[5]; - if (o2->type != dRayClass) - { - dReal AabbTopDepth = terrain->GetHeight(AabbTop[0],AabbTop[1]) - AabbTop[2]; - if (AabbTopDepth > 0.f) - { - contact->depth = AabbTopDepth; - dReal MaxDepth = (o2->aabb[5]-o2->aabb[4]) / 2; - if (contact->depth > MaxDepth) - contact->depth = MaxDepth; - contact->g1 = o1; - contact->g2 = o2; - dOPE(contact->pos,=,AabbTop); - contact->normal[0] = 0.f; - contact->normal[1] = 0.f; - contact->normal[2] = -1.f; - - numTerrainContacts = 1; - goto dCollideTerrainZExit; - } - } - - for (i=nMinX;idCollideTerrainUnit( - i,j,o2,numMaxTerrainContacts - numTerrainContacts, - flags,CONTACT(contact,numTerrainContacts*skip),skip ); - } - } - - dIASSERT(numTerrainContacts <= numMaxTerrainContacts); - - for (i=0; ig1 = o1; - CONTACT(contact,i*skip)->g2 = o2; - } - -dCollideTerrainZExit: - - if (terrain->gflags & GEOM_PLACEABLE) - { - o2->final_posr = bak; - memcpy(o2->aabb,aabbbak,sizeof(dReal)*6); - o2->gflags = gflagsbak; - - for (i=0; ipos); - dMULTIPLY0_331(CONTACT(contact,i*skip)->pos,terrain->final_posr->R,pos0); - dOP(CONTACT(contact,i*skip)->pos,+,CONTACT(contact,i*skip)->pos,terrain->final_posr->pos); - - dOPE(pos0,=,CONTACT(contact,i*skip)->normal); - dMULTIPLY0_331(CONTACT(contact,i*skip)->normal,terrain->final_posr->R,pos0); - } - } - - return numTerrainContacts; -} -/* -void dsDrawTerrainZ(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos) -{ - float A[3],B[3],C[3],D[3]; - float R[12]; - float pos[3]; - if (pR) - memcpy(R,pR,sizeof(R)); - else - { - memset(R,0,sizeof(R)); - R[0] = 1.f; - R[5] = 1.f; - R[10] = 1.f; - } - - if (ppos) - memcpy(pos,ppos,sizeof(pos)); - else - memset(pos,0,sizeof(pos)); - - float vx,vz; - vx = vLength * x; - vz = vLength * z; - - int i; - for (i=0;i edit each .cpp file and comment out #include "windows.h" & #include "ode\ode.h" - - -*** add to drawstuff\src\drawstuff.cpp: - -static void drawCone(float l, float r) -{ - int i; - float tmp,ny,nz,a,ca,sa; - const int n = 24; // number of sides to the cone (divisible by 4) - - a = float(M_PI*2.0)/float(n); - sa = (float) sin(a); - ca = (float) cos(a); - - // draw top - glShadeModel (GL_FLAT); - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_FAN); - glNormal3d (0,0,1); - glVertex3d (0,0,l); - for (i=0; i<=n; i++) { - if (i==1 || i==n/2+1) - setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); - glNormal3d (ny*r,nz*r,0); - glVertex3d (ny*r,nz*r,0); - if (i==1 || i==n/2+1) - setColor (color[0],color[1],color[2],color[3]); - - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw bottom - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_FAN); - glNormal3d (0,0,-1); - glVertex3d (0,0,0); - for (i=0; i<=n; i++) { - if (i==1 || i==n/2+1) - setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); - glNormal3d (0,0,-1); - glVertex3d (ny*r,nz*r,0); - if (i==1 || i==n/2+1) - setColor (color[0],color[1],color[2],color[3]); - - // rotate ny,nz - tmp = ca*ny + sa*nz; - nz = -sa*ny + ca*nz; - ny = tmp; - } - glEnd(); -} - -void dsDrawCone (const float pos[3], const float R[12], float length, float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - drawCone (length,radius); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawCone (length,radius); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - -void dsDrawConeD (const double pos[3], const double R[12], float length, float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawCone(pos2,R2,length,radius); -} - -static float GetHeight(int x,int y,int nNumNodesPerSide,float *pHeights) -{ - int nNumNodesPerSideMask = nNumNodesPerSide - 1; - return pHeights[ (((unsigned int)(y) & nNumNodesPerSideMask) * nNumNodesPerSide) - + ((unsigned int)(x) & nNumNodesPerSideMask)]; -} - -void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos) -{ - float A[3],B[3],C[3],D[3]; - float R[12]; - float pos[3]; - if (pR) - memcpy(R,pR,sizeof(R)); - else - { - memset(R,0,sizeof(R)); - R[0] = 1.f; - R[5] = 1.f; - R[10] = 1.f; - } - - if (ppos) - memcpy(pos,ppos,sizeof(pos)); - else - memset(pos,0,sizeof(pos)); - - float vx,vz; - vx = vLength * x; - vz = vLength * z; - - int i; - for (i=0;i add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the libode_a_SOURCES variable in the ode/src/Makefile.am file. - -*** now you can now test using file test_boxstackb.cpp (to add in folder ode\test). - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/test_boxstackb.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/test_boxstackb.cpp deleted file mode 100644 index f1fa5929..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/TerrainAndCone/test_boxstackb.cpp +++ /dev/null @@ -1,1375 +0,0 @@ -/************************************************************************* - - -* * - - -* 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 - - -#include - - - - - -#ifdef _MSC_VER - - -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints - - -#endif - - - - - -// select correct drawing functions - - - - - -#ifdef dDOUBLE - - -#define dsDrawBox dsDrawBoxD - - -#define dsDrawSphere dsDrawSphereD - - -#define dsDrawCylinder dsDrawCylinderD - - -#define dsDrawCappedCylinder dsDrawCappedCylinderD - - -#endif - - - - - - - - -// some constants - - - - - -const dReal vTerrainLength = 4.f; - - -const dReal vTerrainHeight = 0.5f; - - -const int TERRAINNODES = 4; - - -dReal pTerrainHeights[TERRAINNODES*TERRAINNODES]; - - - - - -dGeomID terrainZ = NULL; - - -dGeomID terrainY = NULL; - - - - - -#define NUM 20 // max number of objects - - -#define DENSITY (5.0) // density of all objects - - -#define GPB 3 // maximum number of geometries per body - - -#define MAX_CONTACTS 4 // maximum number of contact points per body - - - - - - - - -// dynamics and collision objects - - - - - -struct MyObject { - - - dBodyID body; // the body - - - dGeomID geom[GPB]; // geometries representing this body - - -}; - - - - - -static int num=0; // number of objects in simulation - - -static int nextobj=0; // next object to recycle if num==NUM - - -static dWorldID world; - - -static dSpaceID space; - - -static MyObject obj[NUM]; - - -static dJointGroupID contactgroup; - - -static int selected = -1; // selected object - - -static int show_aabb = 0; // show geom AABBs? - - -static int show_contacts = 0; // show contact points? - - -static int random_pos = 1; // drop objects from random position? - - - - - - - - -// this is called by dSpaceCollide when two objects in space are - - -// potentially colliding. - - - - - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) - - -{ - - - int i; - - - // if (o1->body && o2->body) return; - - - - - - // exit without doing anything if the two bodies are connected by a joint - - - dBodyID b1 = dGeomGetBody(o1); - - - dBodyID b2 = dGeomGetBody(o2); - - - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - - - - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - - - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - - - else return c; - - -} - - - - - - - - -// called when a key pressed - - - - - -static void command (int cmd) - - -{ - - - int i,j,k; - - - dReal sides[3]; - - - dMass m; - - - - - - cmd = locase (cmd); - - - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' - - - /* || cmd == 'l' */) { - - - if (num < NUM) { - - - i = num; - - - num++; - - - } - - - else { - - - i = nextobj; - - - nextobj++; - - - if (nextobj >= num) nextobj = 0; - - - - - - // destroy the body and geoms for slot i - - - dBodyDestroy (obj[i].body); - - - for (k=0; k < GPB; k++) { - - - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - - - } - - - memset (&obj[i],0,sizeof(obj[i])); - - - } - - - - - - obj[i].body = dBodyCreate (world); - - - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - - - - - dMatrix3 R; - - - if (random_pos) { - - - dBodySetPosition (obj[i].body, - - - dRandReal()*2-1,dRandReal()*2+1,dRandReal()+3); - - - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - - - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - - - } - - - else { - - - dReal maxheight = 0; - - - for (k=0; k maxheight) maxheight = pos[2]; - - - } - - - dBodySetPosition (obj[i].body, 0,maxheight+1,maxheight+3); - - - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - - - } - - - dBodySetRotation (obj[i].body,R); - - - dBodySetData (obj[i].body,(void*) i); - - - - - - if (cmd == 'b') { - - - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - - - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - - - } - - - else if (cmd == 'c') { - - - sides[0] *= 0.5; - - - dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); - - - obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); - - - } - - - /* - - - // cylinder option not yet implemented - - - else if (cmd == 'l') { - - - sides[1] *= 0.5; - - - dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); - - - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - - - } - - - */ - - - else if (cmd == 's') { - - - sides[0] *= 0.5; - - - dMassSetSphere (&m,DENSITY,sides[0]); - - - obj[i].geom[0] = dCreateSphere (space,sides[0]); - - - } - - - else if (cmd == 'x') { - - - dGeomID g2[GPB]; // encapsulated geometries - - - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - - - - - // start accumulating masses for the encapsulated geometries - - - dMass m2; - - - dMassSetZero (&m); - - - - - - // set random delta positions - - - for (j=0; j= num) selected = 0; - - - if (selected < 0) selected = 0; - - - } - - - else if (cmd == 'd' && selected >= 0 && selected < num) { - - - dBodyDisable (obj[selected].body); - - - } - - - else if (cmd == 'e' && selected >= 0 && selected < num) { - - - dBodyEnable (obj[selected].body); - - - } - - - else if (cmd == 'a') { - - - show_aabb ^= 1; - - - } - - - else if (cmd == 't') { - - - show_contacts ^= 1; - - - } - - - else if (cmd == 'r') { - - - random_pos ^= 1; - - - } - - -} - - - - - - - - -// draw a geom - - - - - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) - - -{ - - - int i; - - - - - - if (!g) return; - - - if (!pos) pos = dGeomGetPosition (g); - - - if (!R) R = dGeomGetRotation (g); - - - - - - int type = dGeomGetClass (g); - - - if (type == dBoxClass) { - - - dVector3 sides; - - - dGeomBoxGetLengths (g,sides); - - - dsDrawBox (pos,R,sides); - - - } - - - else if (type == dSphereClass) { - - - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - - - } - - - else if (type == dCCylinderClass) { - - - dReal radius,length; - - - dGeomCCylinderGetParams (g,&radius,&length); - - - dsDrawCappedCylinder (pos,R,length,radius); - - - } - - - /* - - - // cylinder option not yet implemented - - - else if (type == dCylinderClass) { - - - dReal radius,length; - - - dGeomCylinderGetParams (g,&radius,&length); - - - dsDrawCylinder (pos,R,length,radius); - - - } - - - */ - - - else if (type == dGeomTransformClass) { - - - dGeomID g2 = dGeomTransformGetGeom (g); - - - const dReal *pos2 = dGeomGetPosition (g2); - - - const dReal *R2 = dGeomGetRotation (g2); - - - dVector3 actual_pos; - - - dMatrix3 actual_R; - - - dMULTIPLY0_331 (actual_pos,R,pos2); - - - actual_pos[0] += pos[0]; - - - actual_pos[1] += pos[1]; - - - actual_pos[2] += pos[2]; - - - dMULTIPLY0_333 (actual_R,R,R2); - - - drawGeom (g2,actual_pos,actual_R,0); - - - } - - - - - - if (show_aabb) { - - - // draw the bounding box for this geom - - - dReal aabb[6]; - - - dGeomGetAABB (g,aabb); - - - dVector3 bbpos; - - - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - - - dVector3 bbsides; - - - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - - - dMatrix3 RI; - - - dRSetIdentity (RI); - - - dsSetColorAlpha (1,0,0,0.5); - - - dsDrawBox (bbpos,RI,bbsides); - - - } - - -} - - - - - - - - -// simulation loop - - - - - -static void simLoop (int pause) - - -{ - - - dsSetColor (0,0,2); - - - dSpaceCollide (space,0,&nearCallback); - - - if (!pause) dWorldStep (world,0.05); - - - - - - dAASSERT(terrainY); - - - dAASSERT(terrainZ); - - - dsSetColor (0,1,0); - - - dsDrawTerrainY(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainY),dGeomGetPosition(terrainY)); - - - dsDrawTerrainZ(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainZ),dGeomGetPosition(terrainZ)); - - - - - - if (show_aabb) - - - { - - - dReal aabb[6]; - - - dGeomGetAABB (terrainY,aabb); - - - dVector3 bbpos; - - - int i; - - - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - - - dVector3 bbsides; - - - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - - - dMatrix3 RI; - - - dRSetIdentity (RI); - - - dsSetColorAlpha (1,0,0,0.5); - - - dsDrawBox (bbpos,RI,bbsides); - - - - - - dGeomGetAABB (terrainZ,aabb); - - - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - - - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - - - dsDrawBox (bbpos,RI,bbsides); - - - } - - - - - - dsSetColor (1,1,0); - - - - - - // remove all contact joints - - - dJointGroupEmpty (contactgroup); - - - - - - dsSetColor (1,1,0); - - - dsSetTexture (DS_WOOD); - - - for (int i=0; i -#include "dCylinder.h" -// given a pointer `p' to a dContactGeom, return the dContactGeom at -// p + skip bytes. - -struct dxCylinder { // cylinder - dReal radius,lz; // radius, length along y axis // -}; - -int dCylinderClassUser = -1; - -#define NUMC_MASK (0xffff) - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) - -///////////////////////////////////////////////////////////////////////////////////////////////// -/////////////////////////////circleIntersection////////////////////////////////////////////////// -//this does following: -//takes two circles as normals to planes n1,n2, center points cp1,cp2,and radiuses r1,r2 -//finds line on which circles' planes intersect -//finds four points O1,O2 - intersection between the line and sphere with center cp1 radius r1 -// O3,O4 - intersection between the line and sphere with center cp2 radius r2 -//returns false if there is no intersection -//computes distances O1-O3, O1-O4, O2-O3, O2-O4 -//in "point" returns mean point between intersection points with smallest distance -///////////////////////////////////////////////////////////////////////////////////////////////// -inline bool circleIntersection(const dReal* n1,const dReal* cp1,dReal r1,const dReal* n2,const dReal* cp2,dReal r2,dVector3 point){ -dReal c1=dDOT14(cp1,n1); -dReal c2=dDOT14(cp2,n2); -dReal cos=dDOT44(n1,n2); -dReal cos_2=cos*cos; -dReal sin_2=1-cos_2; -dReal p1=(c1-c2*cos)/sin_2; -dReal p2=(c2-c1*cos)/sin_2; -dVector3 lp={p1*n1[0]+p2*n2[0],p1*n1[4]+p2*n2[4],p1*n1[8]+p2*n2[8]}; -dVector3 n; -dCROSS144(n,=,n1,n2); -dVector3 LC1={lp[0]-cp1[0],lp[1]-cp1[1],lp[2]-cp1[2]}; -dVector3 LC2={lp[0]-cp2[0],lp[1]-cp2[1],lp[2]-cp2[2]}; -dReal A,B,C,B_A,B_A_2,D; -dReal t1,t2,t3,t4; -A=dDOT(n,n); -B=dDOT(LC1,n); -C=dDOT(LC1,LC1)-r1*r1; -B_A=B/A; -B_A_2=B_A*B_A; -D=B_A_2-C; -if(D<0.f){ //somewhat strange solution - //- it is needed to set some - //axis to sepparate cylinders - //when their edges approach - t1=-B_A+sqrtf(-D); - t2=-B_A-sqrtf(-D); -// return false; - } -else{ -t1=-B_A-sqrtf(D); -t2=-B_A+sqrtf(D); -} -B=dDOT(LC2,n); -C=dDOT(LC2,LC2)-r2*r2; -B_A=B/A; -B_A_2=B_A*B_A; -D=B_A_2-C; - -if(D<0.f) { - t3=-B_A+sqrtf(-D); - t4=-B_A-sqrtf(-D); -// return false; - } -else{ -t3=-B_A-sqrtf(D); -t4=-B_A+sqrtf(D); -} -dVector3 O1={lp[0]+n[0]*t1,lp[1]+n[1]*t1,lp[2]+n[2]*t1}; -dVector3 O2={lp[0]+n[0]*t2,lp[1]+n[1]*t2,lp[2]+n[2]*t2}; - -dVector3 O3={lp[0]+n[0]*t3,lp[1]+n[1]*t3,lp[2]+n[2]*t3}; -dVector3 O4={lp[0]+n[0]*t4,lp[1]+n[1]*t4,lp[2]+n[2]*t4}; - -dVector3 L1_3={O3[0]-O1[0],O3[1]-O1[1],O3[2]-O1[2]}; -dVector3 L1_4={O4[0]-O1[0],O4[1]-O1[1],O4[2]-O1[2]}; - -dVector3 L2_3={O3[0]-O2[0],O3[1]-O2[1],O3[2]-O2[2]}; -dVector3 L2_4={O4[0]-O2[0],O4[1]-O2[1],O4[2]-O2[2]}; - - -dReal l1_3=dDOT(L1_3,L1_3); -dReal l1_4=dDOT(L1_4,L1_4); - -dReal l2_3=dDOT(L2_3,L2_3); -dReal l2_4=dDOT(L2_4,L2_4); - - -if (l1_3 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = norm; \ - invert_normal = ((expr1) < 0); \ - *code = (cc); \ - } - - s = -dInfinity; - invert_normal = 0; - *code = 0; - - // separating axis = cylinder ax u2 - //used when a box vertex touches a flat face of the cylinder - TEST (pp[1],(hlz + B1*Q21 + B2*Q22 + B3*Q23),R1+1,0); - - - // separating axis = box axis v1,v2,v3 - //used when cylinder edge touches box face - //there is two ways to compute sQ: sQ21=sqrtf(1.f-Q21*Q21); or sQ21=sqrtf(Q23*Q23+Q22*Q22); - //if we did not need Q23 and Q22 the first way might be used to quiken the routine but then it need to - //check if Q21<=1.f, becouse it may slightly exeed 1.f. - - - sQ21=sqrtf(Q23*Q23+Q22*Q22); - TEST (dDOT41(R2+0,p),(radius*sQ21 + hlz*Q21 + B1),R2+0,1); - - sQ22=sqrtf(Q23*Q23+Q21*Q21); - TEST (dDOT41(R2+1,p),(radius*sQ22 + hlz*Q22 + B2),R2+1,2); - - sQ23=sqrtf(Q22*Q22+Q21*Q21); - TEST (dDOT41(R2+2,p),(radius*sQ23 + hlz*Q23 + B3),R2+2,3); - - -#undef TEST -#define TEST(expr1,expr2,n1,n2,n3,cc) \ - s2 = dFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = 0; \ - normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \ - invert_normal = ((expr1) < 0); \ - *code = (cc); \ - } - - - -// separating axis is a normal to the cylinder axis passing across the nearest box vertex -//used when a box vertex touches the lateral surface of the cylinder - -dReal proj,boxProj,cos,sin,cos1,cos3; -dVector3 tAx,Ax,pb; -{ -//making Ax which is perpendicular to cyl ax to box position// -proj=dDOT14(p2,R1+1)-dDOT14(p1,R1+1); - -Ax[0]=p2[0]-p1[0]-R1[1]*proj; -Ax[1]=p2[1]-p1[1]-R1[5]*proj; -Ax[2]=p2[2]-p1[2]-R1[9]*proj; -dNormalize3(Ax); -//using Ax find box vertex which is nearest to the cylinder axis - dReal sign; - - for (i=0; i<3; i++) pb[i] = p2[i]; - sign = (dDOT14(Ax,R2+0) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4]; - sign = (dDOT14(Ax,R2+1) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1]; - sign = (dDOT14(Ax,R2+2) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2]; - -//building axis which is normal to cylinder ax to the nearest box vertex -proj=dDOT14(pb,R1+1)-dDOT14(p1,R1+1); - -Ax[0]=pb[0]-p1[0]-R1[1]*proj; -Ax[1]=pb[1]-p1[1]-R1[5]*proj; -Ax[2]=pb[2]-p1[2]-R1[9]*proj; -dNormalize3(Ax); -} - -boxProj=dFabs(dDOT14(Ax,R2+0)*B1)+ - dFabs(dDOT14(Ax,R2+1)*B2)+ - dFabs(dDOT14(Ax,R2+2)*B3); - -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(radius+boxProj),Ax[0],Ax[1],Ax[2],4); - - -//next three test used to handle collisions between cylinder circles and box ages -proj=dDOT14(p1,R2+0)-dDOT14(p2,R2+0); - -tAx[0]=-p1[0]+p2[0]+R2[0]*proj; -tAx[1]=-p1[1]+p2[1]+R2[4]*proj; -tAx[2]=-p1[2]+p2[2]+R2[8]*proj; -dNormalize3(tAx); - -//now tAx is normal to first ax of the box to cylinder center -//making perpendicular to tAx lying in the plane which is normal to the cylinder axis -//it is tangent in the point where projection of tAx on cylinder's ring intersect edge circle - -cos=dDOT14(tAx,R1+0); -sin=dDOT14(tAx,R1+2); -tAx[0]=R1[2]*cos-R1[0]*sin; -tAx[1]=R1[6]*cos-R1[4]*sin; -tAx[2]=R1[10]*cos-R1[8]*sin; - - -//use cross between tAx and first ax of the box as separating axix - -dCROSS114(Ax,=,tAx,R2+0); -dNormalize3(Ax); - -boxProj=dFabs(dDOT14(Ax,R2+1)*B2)+ - dFabs(dDOT14(Ax,R2+0)*B1)+ - dFabs(dDOT14(Ax,R2+2)*B3); - - cos=dFabs(dDOT14(Ax,R1+1)); - cos1=dDOT14(Ax,R1+0); - cos3=dDOT14(Ax,R1+2); - sin=sqrtf(cos1*cos1+cos3*cos3); - -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],5); - - -//same thing with the second axis of the box -proj=dDOT14(p1,R2+1)-dDOT14(p2,R2+1); - -tAx[0]=-p1[0]+p2[0]+R2[1]*proj; -tAx[1]=-p1[1]+p2[1]+R2[5]*proj; -tAx[2]=-p1[2]+p2[2]+R2[9]*proj; -dNormalize3(tAx); - - -cos=dDOT14(tAx,R1+0); -sin=dDOT14(tAx,R1+2); -tAx[0]=R1[2]*cos-R1[0]*sin; -tAx[1]=R1[6]*cos-R1[4]*sin; -tAx[2]=R1[10]*cos-R1[8]*sin; - -dCROSS114(Ax,=,tAx,R2+1); -dNormalize3(Ax); - -boxProj=dFabs(dDOT14(Ax,R2+0)*B1)+ - dFabs(dDOT14(Ax,R2+1)*B2)+ - dFabs(dDOT14(Ax,R2+2)*B3); - - cos=dFabs(dDOT14(Ax,R1+1)); - cos1=dDOT14(Ax,R1+0); - cos3=dDOT14(Ax,R1+2); - sin=sqrtf(cos1*cos1+cos3*cos3); -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],6); - -//same thing with the third axis of the box -proj=dDOT14(p1,R2+2)-dDOT14(p2,R2+2); - -Ax[0]=-p1[0]+p2[0]+R2[2]*proj; -Ax[1]=-p1[1]+p2[1]+R2[6]*proj; -Ax[2]=-p1[2]+p2[2]+R2[10]*proj; -dNormalize3(tAx); - -cos=dDOT14(tAx,R1+0); -sin=dDOT14(tAx,R1+2); -tAx[0]=R1[2]*cos-R1[0]*sin; -tAx[1]=R1[6]*cos-R1[4]*sin; -tAx[2]=R1[10]*cos-R1[8]*sin; - -dCROSS114(Ax,=,tAx,R2+2); -dNormalize3(Ax); -boxProj=dFabs(dDOT14(Ax,R2+1)*B2)+ - dFabs(dDOT14(Ax,R2+2)*B3)+ - dFabs(dDOT14(Ax,R2+0)*B1); - - cos=dFabs(dDOT14(Ax,R1+1)); - cos1=dDOT14(Ax,R1+0); - cos3=dDOT14(Ax,R1+2); - sin=sqrtf(cos1*cos1+cos3*cos3); -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],7); - - -#undef TEST - -// note: cross product axes need to be scaled when s is computed. -// normal (n1,n2,n3) is relative to box 1. - -#define TEST(expr1,expr2,n1,n2,n3,cc) \ - s2 = dFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \ - if (l > 0) { \ - s2 /= l; \ - if (s2 > s) { \ - s = s2; \ - normalR = 0; \ - normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \ - invert_normal = ((expr1) < 0); \ - *code = (cc); \ - } \ - } - -//crosses between cylinder axis and box axes - // separating axis = u2 x (v1,v2,v3) - TEST(pp[0]*R31-pp[2]*R11,(radius+B2*Q23+B3*Q22),R31,0,-R11,8); - TEST(pp[0]*R32-pp[2]*R12,(radius+B1*Q23+B3*Q21),R32,0,-R12,9); - TEST(pp[0]*R33-pp[2]*R13,(radius+B1*Q22+B2*Q21),R33,0,-R13,10); - - -#undef TEST - - // if we get to this point, the boxes interpenetrate. compute the normal - // in global coordinates. - if (normalR) { - normal[0] = normalR[0]; - normal[1] = normalR[4]; - normal[2] = normalR[8]; - } - else { - if(*code>7) dMULTIPLY0_331 (normal,R1,normalC); - else {normal[0] =normalC[0];normal[1] = normalC[1];normal[2] = normalC[2];} - } - if (invert_normal) { - normal[0] = -normal[0]; - normal[1] = -normal[1]; - normal[2] = -normal[2]; - } - *depth = -s; - - // compute contact point(s) - - if (*code > 7) { - //find point on the cylinder pa deepest along normal - dVector3 pa; - dReal sign, cos1,cos3,factor; - - - for (i=0; i<3; i++) pa[i] = p1[i]; - - cos1 = dDOT14(normal,R1+0); - cos3 = dDOT14(normal,R1+2) ; - factor=sqrtf(cos1*cos1+cos3*cos3); - - cos1/=factor; - cos3/=factor; - - for (i=0; i<3; i++) pa[i] += cos1 * radius * R1[i*4]; - - sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pa[i] += sign * hlz * R1[i*4+1]; - - - for (i=0; i<3; i++) pa[i] += cos3 * radius * R1[i*4+2]; - - // find vertex of the box deepest along normal - dVector3 pb; - for (i=0; i<3; i++) pb[i] = p2[i]; - sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4]; - sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1]; - sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2]; - - - dReal alpha,beta; - dVector3 ua,ub; - for (i=0; i<3; i++) ua[i] = R1[1 + i*4]; - for (i=0; i<3; i++) ub[i] = R2[*code-8 + i*4]; - - lineClosestApproach (pa,ua,pb,ub,&alpha,&beta); - for (i=0; i<3; i++) pa[i] += ua[i]*alpha; - for (i=0; i<3; i++) pb[i] += ub[i]*beta; - - for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]); - contact[0].depth = *depth; - return 1; - } - - - if(*code==4){ - for (i=0; i<3; i++) contact[0].pos[i] = pb[i]; - contact[0].depth = *depth; - return 1; - } - - - dVector3 vertex; - if (*code == 0) { - - dReal sign; - for (i=0; i<3; i++) vertex[i] = p2[i]; - sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) vertex[i] += sign * B1 * R2[i*4]; - sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) vertex[i] += sign * B2 * R2[i*4+1]; - sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0); - for (i=0; i<3; i++) vertex[i] += sign * B3 * R2[i*4+2]; - } - else { - - dReal sign,cos1,cos3,factor; - for (i=0; i<3; i++) vertex[i] = p1[i]; - cos1 = dDOT14(normal,R1+0) ; - cos3 = dDOT14(normal,R1+2); - factor=sqrtf(cos1*cos1+cos3*cos3); - factor= factor ? factor : 1.f; - cos1/=factor; - cos3/=factor; - for (i=0; i<3; i++) vertex[i] += cos1 * radius * R1[i*4]; - - sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) vertex[i] += sign * hlz * R1[i*4+1]; - - for (i=0; i<3; i++) vertex[i] += cos3 * radius * R1[i*4+2]; - } - for (i=0; i<3; i++) contact[0].pos[i] = vertex[i]; - contact[0].depth = *depth; - return 1; -} - -//**************************************************************************** - -extern "C" int dCylCyl (const dVector3 p1, const dMatrix3 R1, - const dReal radius1,const dReal lz1, const dVector3 p2, - const dMatrix3 R2, const dReal radius2,const dReal lz2, - dVector3 normal, dReal *depth, int *code, - int maxc, dContactGeom *contact, int skip) -{ - dVector3 p,pp1,pp2,normalC; - const dReal *normalR = 0; - dReal hlz1,hlz2,s,s2; - int i,invert_normal; - - // 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 (pp1,R1,p); // get pp1 = p relative to body 1 - dMULTIPLY1_331 (pp2,R2,p); - // get side lengths / 2 - hlz1 = lz1*REAL(0.5); - hlz2 = lz2*REAL(0.5); - - dReal proj,cos,sin,cos1,cos3; - - - -#define TEST(expr1,expr2,norm,cc) \ - s2 = dFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = norm; \ - invert_normal = ((expr1) < 0); \ - *code = (cc); \ - } - - s = -dInfinity; - invert_normal = 0; - *code = 0; - - cos=dFabs(dDOT44(R1+1,R2+1)); - sin=sqrtf(1.f-(cos>1.f ? 1.f : cos)); - - TEST (pp1[1],(hlz1 + radius2*sin + hlz2*cos ),R1+1,0);//pp - - TEST (pp2[1],(radius1*sin + hlz1*cos + hlz2),R2+1,1); - - - - // note: cross product axes need to be scaled when s is computed. - -#undef TEST -#define TEST(expr1,expr2,n1,n2,n3,cc) \ - s2 = dFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = 0; \ - normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \ - invert_normal = ((expr1) < 0); \ - *code = (cc); \ - } - - -dVector3 tAx,Ax,pa,pb; - -//cross between cylinders' axes -dCROSS144(Ax,=,R1+1,R2+1); -dNormalize3(Ax); -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius1+radius2,Ax[0],Ax[1],Ax[2],6); - - -{ - - dReal sign, factor; - - //making ax which is perpendicular to cyl1 ax passing across cyl2 position// - //(project p on cyl1 flat surface ) - for (i=0; i<3; i++) pb[i] = p2[i]; - //cos1 = dDOT14(p,R1+0); - //cos3 = dDOT14(p,R1+2) ; - tAx[0]=pp1[0]*R1[0]+pp1[2]*R1[2]; - tAx[1]=pp1[0]*R1[4]+pp1[2]*R1[6]; - tAx[2]=pp1[0]*R1[8]+pp1[2]*R1[10]; - dNormalize3(tAx); - -//find deepest point pb of cyl2 on opposite direction of tAx - cos1 = dDOT14(tAx,R2+0); - cos3 = dDOT14(tAx,R2+2) ; - factor=sqrtf(cos1*cos1+cos3*cos3); - cos1/=factor; - cos3/=factor; - for (i=0; i<3; i++) pb[i] -= cos1 * radius2 * R2[i*4]; - - sign = (dDOT14(tAx,R2+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pb[i] -= sign * hlz2 * R2[i*4+1]; - - for (i=0; i<3; i++) pb[i] -= cos3 * radius2 * R2[i*4+2]; - -//making perpendicular to cyl1 ax passing across pb - proj=dDOT14(pb,R1+1)-dDOT14(p1,R1+1); - - Ax[0]=pb[0]-p1[0]-R1[1]*proj; - Ax[1]=pb[1]-p1[1]-R1[5]*proj; - Ax[2]=pb[2]-p1[2]-R1[9]*proj; - -} - -dNormalize3(Ax); - - - cos=dFabs(dDOT14(Ax,R2+1)); - cos1=dDOT14(Ax,R2+0); - cos3=dDOT14(Ax,R2+2); - sin=sqrtf(cos1*cos1+cos3*cos3); - -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius1+cos*hlz2+sin*radius2,Ax[0],Ax[1],Ax[2],3); - - - -{ - - dReal sign, factor; - - for (i=0; i<3; i++) pa[i] = p1[i]; - - //making ax which is perpendicular to cyl2 ax passing across cyl1 position// - //(project p on cyl2 flat surface ) - //cos1 = dDOT14(p,R2+0); - //cos3 = dDOT14(p,R2+2) ; - tAx[0]=pp2[0]*R2[0]+pp2[2]*R2[2]; - tAx[1]=pp2[0]*R2[4]+pp2[2]*R2[6]; - tAx[2]=pp2[0]*R2[8]+pp2[2]*R2[10]; - dNormalize3(tAx); - - cos1 = dDOT14(tAx,R1+0); - cos3 = dDOT14(tAx,R1+2) ; - factor=sqrtf(cos1*cos1+cos3*cos3); - cos1/=factor; - cos3/=factor; - -//find deepest point pa of cyl2 on direction of tAx - for (i=0; i<3; i++) pa[i] += cos1 * radius1 * R1[i*4]; - - sign = (dDOT14(tAx,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pa[i] += sign * hlz1 * R1[i*4+1]; - - - for (i=0; i<3; i++) pa[i] += cos3 * radius1 * R1[i*4+2]; - - proj=dDOT14(pa,R2+1)-dDOT14(p2,R2+1); - - Ax[0]=pa[0]-p2[0]-R2[1]*proj; - Ax[1]=pa[1]-p2[1]-R2[5]*proj; - Ax[2]=pa[2]-p2[2]-R2[9]*proj; - -} -dNormalize3(Ax); - - - - cos=dFabs(dDOT14(Ax,R1+1)); - cos1=dDOT14(Ax,R1+0); - cos3=dDOT14(Ax,R1+2); - sin=sqrtf(cos1*cos1+cos3*cos3); - -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius2+cos*hlz1+sin*radius1,Ax[0],Ax[1],Ax[2],4); - - -////test circl - -//@ this needed to set right normal when cylinders edges intersect -//@ the most precise axis for this test may be found as a line between nearest points of two -//@ circles. But it needs comparatively a lot of computation. -//@ I use a trick which lets not to solve quadric equation. -//@ In the case when cylinder eidges touches the test below rather accurate. -//@ I still not sure about problems with sepparation but they have not been revealed during testing. -dVector3 point; -{ - dVector3 ca,cb; - dReal sign; - for (i=0; i<3; i++) ca[i] = p1[i]; - for (i=0; i<3; i++) cb[i] = p2[i]; -//find two nearest flat rings - sign = (pp1[1] > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) ca[i] += sign * hlz1 * R1[i*4+1]; - - sign = (pp2[1] > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) cb[i] -= sign * hlz2 * R2[i*4+1]; - - dVector3 tAx,tAx1; - circleIntersection(R1+1,ca,radius1,R2+1,cb,radius2,point); - - Ax[0]=point[0]-ca[0]; - Ax[1]=point[1]-ca[1]; - Ax[2]=point[2]-ca[2]; - - cos1 = dDOT14(Ax,R1+0); - cos3 = dDOT14(Ax,R1+2) ; - - tAx[0]=cos3*R1[0]-cos1*R1[2]; - tAx[1]=cos3*R1[4]-cos1*R1[6]; - tAx[2]=cos3*R1[8]-cos1*R1[10]; - - Ax[0]=point[0]-cb[0]; - Ax[1]=point[1]-cb[1]; - Ax[2]=point[2]-cb[2]; - - - cos1 = dDOT14(Ax,R2+0); - cos3 = dDOT14(Ax,R2+2) ; - - tAx1[0]=cos3*R2[0]-cos1*R2[2]; - tAx1[1]=cos3*R2[4]-cos1*R2[6]; - tAx1[2]=cos3*R2[8]-cos1*R2[10]; - dCROSS(Ax,=,tAx,tAx1); - - - - -dNormalize3(Ax); -dReal cyl1Pr,cyl2Pr; - - cos=dFabs(dDOT14(Ax,R1+1)); - cos1=dDOT14(Ax,R1+0); - cos3=dDOT14(Ax,R1+2); - sin=sqrtf(cos1*cos1+cos3*cos3); - cyl1Pr=cos*hlz1+sin*radius1; - - cos=dFabs(dDOT14(Ax,R2+1)); - cos1=dDOT14(Ax,R2+0); - cos3=dDOT14(Ax,R2+2); - sin=sqrtf(cos1*cos1+cos3*cos3); - cyl2Pr=cos*hlz2+sin*radius2; -TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],cyl1Pr+cyl2Pr,Ax[0],Ax[1],Ax[2],5); - - -} - - -#undef TEST - - - - // if we get to this point, the cylinders interpenetrate. compute the normal - // in global coordinates. - if (normalR) { - normal[0] = normalR[0]; - normal[1] = normalR[4]; - normal[2] = normalR[8]; - } - else { - normal[0] =normalC[0];normal[1] = normalC[1];normal[2] = normalC[2]; - } - if (invert_normal) { - normal[0] = -normal[0]; - normal[1] = -normal[1]; - normal[2] = -normal[2]; - } - - *depth = -s; - - // compute contact point(s) - - if(*code==3){ - for (i=0; i<3; i++) contact[0].pos[i] = pb[i]; - contact[0].depth = *depth; - return 1; - } - - if(*code==4){ - for (i=0; i<3; i++) contact[0].pos[i] = pa[i]; - contact[0].depth = *depth; - return 1; - } - - if(*code==5){ - for (i=0; i<3; i++) contact[0].pos[i] = point[i]; - contact[0].depth = *depth; - return 1; - } - -if (*code == 6) { - dVector3 pa; - dReal sign, cos1,cos3,factor; - - - for (i=0; i<3; i++) pa[i] = p1[i]; - - cos1 = dDOT14(normal,R1+0); - cos3 = dDOT14(normal,R1+2) ; - factor=sqrtf(cos1*cos1+cos3*cos3); - - cos1/=factor; - cos3/=factor; - - for (i=0; i<3; i++) pa[i] += cos1 * radius1 * R1[i*4]; - - sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pa[i] += sign * hlz1 * R1[i*4+1]; - - - for (i=0; i<3; i++) pa[i] += cos3 * radius1 * R1[i*4+2]; - - // find a point pb on the intersecting edge of cylinder 2 - dVector3 pb; - for (i=0; i<3; i++) pb[i] = p2[i]; - cos1 = dDOT14(normal,R2+0); - cos3 = dDOT14(normal,R2+2) ; - factor=sqrtf(cos1*cos1+cos3*cos3); - - cos1/=factor; - cos3/=factor; - - for (i=0; i<3; i++) pb[i] -= cos1 * radius2 * R2[i*4]; - - sign = (dDOT14(normal,R2+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pb[i] -= sign * hlz2 * R2[i*4+1]; - - - for (i=0; i<3; i++) pb[i] -= cos3 * radius2 * R2[i*4+2]; - - - dReal alpha,beta; - dVector3 ua,ub; - for (i=0; i<3; i++) ua[i] = R1[1 + i*4]; - for (i=0; i<3; i++) ub[i] = R2[1 + i*4]; - lineClosestApproach (pa,ua,pb,ub,&alpha,&beta); - for (i=0; i<3; i++) pa[i] += ua[i]*alpha; - for (i=0; i<3; i++) pb[i] += ub[i]*beta; - - for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]); - contact[0].depth = *depth; - return 1; - } - - // okay, we have a face-something intersection (because the separating - // axis is perpendicular to a face). - - // @@@ temporary: make deepest point on the "other" cylinder the contact point. - // @@@ this kind of works, but we need multiple contact points for stability, - // @@@ especially for face-face contact. - - dVector3 vertex; - if (*code == 0) { - // flat face from cylinder 1 touches a edge/face from cylinder 2. - dReal sign,cos1,cos3,factor; - for (i=0; i<3; i++) vertex[i] = p2[i]; - cos1 = dDOT14(normal,R2+0) ; - cos3 = dDOT14(normal,R2+2); - factor=sqrtf(cos1*cos1+cos3*cos3); - - cos1/=factor; - cos3/=factor; - for (i=0; i<3; i++) vertex[i] -= cos1 * radius2 * R2[i*4]; - - sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) vertex[i] -= sign * hlz2 * R2[i*4+1]; - - for (i=0; i<3; i++) vertex[i] -= cos3 * radius2 * R2[i*4+2]; - } - else { - // flat face from cylinder 2 touches a edge/face from cylinder 1. - dReal sign,cos1,cos3,factor; - for (i=0; i<3; i++) vertex[i] = p1[i]; - cos1 = dDOT14(normal,R1+0) ; - cos3 = dDOT14(normal,R1+2); - factor=sqrtf(cos1*cos1+cos3*cos3); - - cos1/=factor; - cos3/=factor; - for (i=0; i<3; i++) vertex[i] += cos1 * radius1 * R1[i*4]; - - sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) vertex[i] += sign * hlz1 * R1[i*4+1]; - - for (i=0; i<3; i++) vertex[i] += cos3 * radius1 * R1[i*4+2]; - } - for (i=0; i<3; i++) contact[0].pos[i] = vertex[i]; - contact[0].depth = *depth; - return 1; -} - -//**************************************************************************** - - -int dCollideCylS (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - - - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (dGeomGetClass(o2) == dSphereClass); - dIASSERT (dGeomGetClass(o1) == dCylinderClassUser); - const dReal* p1=dGeomGetPosition(o1); - const dReal* p2=dGeomGetPosition(o2); - const dReal* R=dGeomGetRotation(o1); - dVector3 p,normalC,normal; - const dReal *normalR = 0; - dReal cylRadius; - dReal hl; - dGeomCylinderGetParams(o1,&cylRadius,&hl); - dReal sphereRadius; - sphereRadius=dGeomSphereGetRadius(o2); - - int i,invert_normal; - - // get vector from centers of cyl to shere - p[0] = p2[0] - p1[0]; - p[1] = p2[1] - p1[1]; - p[2] = p2[2] - p1[2]; - -dReal s,s2; -unsigned char code; -#define TEST(expr1,expr2,norm,cc) \ - s2 = dFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = norm; \ - invert_normal = ((expr1) < 0); \ - code = (cc); \ - } - - s = -dInfinity; - invert_normal = 0; - code = 0; - - // separating axis cyl ax - - TEST (dDOT14(p,R+1),sphereRadius+hl,R+1,2); - // note: cross product axes need to be scaled when s is computed. - // normal (n1,n2,n3) is relative to -#undef TEST -#define TEST(expr1,expr2,n1,n2,n3,cc) \ - s2 = dFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = 0; \ - normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \ - invert_normal = ((expr1) < 0); \ - code = (cc); \ - } - -//making ax which is perpendicular to cyl1 ax to sphere center// - -dReal proj,cos,sin,cos1,cos3; -dVector3 Ax; - proj=dDOT14(p2,R+1)-dDOT14(p1,R+1); - - Ax[0]=p2[0]-p1[0]-R[1]*proj; - Ax[1]=p2[1]-p1[1]-R[5]*proj; - Ax[2]=p2[2]-p1[2]-R[9]*proj; -dNormalize3(Ax); -TEST(dDOT(p,Ax),sphereRadius+cylRadius,Ax[0],Ax[1],Ax[2],9); - - -Ax[0]=p[0]; -Ax[1]=p[1]; -Ax[2]=p[2]; -dNormalize3(Ax); - - dVector3 pa; - dReal sign, factor; - for (i=0; i<3; i++) pa[i] = p1[i]; - - cos1 = dDOT14(Ax,R+0); - cos3 = dDOT14(Ax,R+2) ; - factor=sqrtf(cos1*cos1+cos3*cos3); - cos1/=factor; - cos3/=factor; - for (i=0; i<3; i++) pa[i] += cos1 * cylRadius * R[i*4]; - sign = (dDOT14(normal,R+1) > 0) ? REAL(1.0) : REAL(-1.0); - for (i=0; i<3; i++) pa[i] += sign * hl * R[i*4+1]; - for (i=0; i<3; i++) pa[i] += cos3 * cylRadius * R[i*4+2]; - -Ax[0]=p2[0]-pa[0]; -Ax[1]=p2[1]-pa[1]; -Ax[2]=p2[2]-pa[2]; -dNormalize3(Ax); - - cos=dFabs(dDOT14(Ax,R+1)); - cos1=dDOT14(Ax,R+0); - cos3=dDOT14(Ax,R+2); - sin=sqrtf(cos1*cos1+cos3*cos3); -TEST(dDOT(p,Ax),sphereRadius+cylRadius*sin+hl*cos,Ax[0],Ax[1],Ax[2],14); - - -#undef TEST - - if (normalR) { - normal[0] = normalR[0]; - normal[1] = normalR[4]; - normal[2] = normalR[8]; - } - else { - - normal[0] = normalC[0]; - normal[1] = normalC[1]; - normal[2] = normalC[2]; - } - if (invert_normal) { - normal[0] = -normal[0]; - normal[1] = -normal[1]; - normal[2] = -normal[2]; - } - // compute contact point(s) -contact->depth=-s; -contact->normal[0]=-normal[0]; -contact->normal[1]=-normal[1]; -contact->normal[2]=-normal[2]; -contact->g1=const_cast (o1); -contact->g2=const_cast (o2); -contact->pos[0]=p2[0]-normal[0]*sphereRadius; -contact->pos[1]=p2[1]-normal[1]*sphereRadius; -contact->pos[2]=p2[2]-normal[2]*sphereRadius; -return 1; -} - - - -int dCollideCylB (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dVector3 normal; - dReal depth; - int code; - dReal cylRadius,cylLength; - dVector3 boxSides; - dGeomCylinderGetParams(o1,&cylRadius,&cylLength); - dGeomBoxGetLengths(o2,boxSides); - int num = dCylBox(dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius,cylLength, - dGeomGetPosition(o2),dGeomGetRotation(o2),boxSides, - normal,&depth,&code,flags & NUMC_MASK,contact,skip); - for (int i=0; inormal[0] = -normal[0]; - CONTACT(contact,i*skip)->normal[1] = -normal[1]; - CONTACT(contact,i*skip)->normal[2] = -normal[2]; - CONTACT(contact,i*skip)->g1 = const_cast (o1); - CONTACT(contact,i*skip)->g2 = const_cast (o2); - } - return num; -} - -int dCollideCylCyl (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dVector3 normal; - dReal depth; - int code; -dReal cylRadius1,cylRadius2; -dReal cylLength1,cylLength2; -dGeomCylinderGetParams(o1,&cylRadius1,&cylLength1); -dGeomCylinderGetParams(o2,&cylRadius2,&cylLength2); -int num = dCylCyl (dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius1,cylLength1, - dGeomGetPosition(o2),dGeomGetRotation(o2),cylRadius2,cylLength2, - normal,&depth,&code,flags & NUMC_MASK,contact,skip); - - for (int i=0; inormal[0] = -normal[0]; - CONTACT(contact,i*skip)->normal[1] = -normal[1]; - CONTACT(contact,i*skip)->normal[2] = -normal[2]; - CONTACT(contact,i*skip)->g1 = const_cast (o1); - CONTACT(contact,i*skip)->g2 = const_cast (o2); - } - return num; -} - -struct dxPlane { - dReal p[4]; -}; - - -int dCollideCylPlane - ( - dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip){ - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (dGeomGetClass(o1) == dCylinderClassUser); - dIASSERT (dGeomGetClass(o2) == dPlaneClass); - contact->g1 = const_cast (o1); - contact->g2 = const_cast (o2); - - unsigned int ret = 0; - - dReal radius; - dReal hlz; - dGeomCylinderGetParams(o1,&radius,&hlz); - hlz /= 2; - - const dReal *R = dGeomGetRotation(o1);// rotation of cylinder - const dReal* p = dGeomGetPosition(o1); - dVector4 n; // normal vector - dReal pp; - dGeomPlaneGetParams (o2, n); - pp=n[3]; - dReal cos1,sin1; - cos1=dFabs(dDOT14(n,R+1)); - -cos1=cos10 ? hlz*R[1]:-hlz*R[1]; - pos[1]-= A2>0 ? hlz*R[5]:-hlz*R[5]; - pos[2]-= A2>0 ? hlz*R[9]:-hlz*R[9]; - - - - contact->pos[0] = pos[0]; - contact->pos[1] = pos[1]; - contact->pos[2] = pos[2]; - contact->depth = outDepth; - ret=1; - -if(dFabs(Q2)>M_SQRT1_2){ - - CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*A1*R[0]; - CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*A1*R[4]; - CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*A1*R[8]; - CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q1*2.f*A1); - - if(CONTACT(contact,ret*skip)->depth>0.f) - ret++; - - - CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*A3*R[2]; - CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*A3*R[6]; - CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*A3*R[10]; - CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q3*2.f*A3); - - if(CONTACT(contact,ret*skip)->depth>0.f) ret++; -} else { - - CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*(A2>0 ? hlz*R[1]:-hlz*R[1]); - CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*(A2>0 ? hlz*R[5]:-hlz*R[5]); - CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*(A2>0 ? hlz*R[9]:-hlz*R[9]); - CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q2*2.f*A2); - - if(CONTACT(contact,ret*skip)->depth>0.f) ret++; -} - - - - for (unsigned int i=0; ig1 = const_cast (o1); - CONTACT(contact,i*skip)->g2 = const_cast (o2); - CONTACT(contact,i*skip)->normal[0] =n[0]; - CONTACT(contact,i*skip)->normal[1] =n[1]; - CONTACT(contact,i*skip)->normal[2] =n[2]; - } - return ret; -} - -int dCollideCylRay(dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip) { - dIASSERT (skip >= (int)sizeof(dContactGeom)); - dIASSERT (dGeomGetClass(o1) == dCylinderClassUser); - dIASSERT (dGeomGetClass(o2) == dRayClass); - contact->g1 = const_cast (o1); - contact->g2 = const_cast (o2); - dReal radius; - dReal lz; - dGeomCylinderGetParams(o1,&radius,&lz); - dReal lz2=lz*REAL(0.5); - const dReal *R = dGeomGetRotation(o1); // rotation of the cylinder - const dReal *p = dGeomGetPosition(o1); // position of the cylinder - dVector3 start,dir; - dGeomRayGet(o2,start,dir); // position and orientation of the ray - dReal length = dGeomRayGetLength(o2); - - // compute some useful info - dVector3 cs,q,r; - dReal C,k; - cs[0] = start[0] - p[0]; - cs[1] = start[1] - p[1]; - cs[2] = start[2] - p[2]; - k = dDOT41(R+1,cs); // position of ray start along cyl axis (Y) - q[0] = k*R[0*4+1] - cs[0]; - q[1] = k*R[1*4+1] - cs[1]; - q[2] = k*R[2*4+1] - cs[2]; - C = dDOT(q,q) - radius*radius; - // if C < 0 then ray start position within infinite extension of cylinder - // if ray start position is inside the cylinder - int inside_cyl=0; - if (C<0 && !(k<-lz2 || k>lz2)) inside_cyl=1; - // compute ray collision with infinite cylinder, except for the case where - // the ray is outside the cylinder but within the infinite cylinder - // (it that case the ray can only hit endcaps) - if (!inside_cyl && C < 0) { - // set k to cap position to check - if (k < 0) k = -lz2; else k = lz2; - } - else { - dReal uv = dDOT41(R+1,dir); - r[0] = uv*R[0*4+1] - dir[0]; - r[1] = uv*R[1*4+1] - dir[1]; - r[2] = uv*R[2*4+1] - dir[2]; - dReal A = dDOT(r,r); - dReal B = 2*dDOT(q,r); - k = B*B-4*A*C; - if (k < 0) { - // the ray does not intersect the infinite cylinder, but if the ray is - // inside and parallel to the cylinder axis it may intersect the end - // caps. set k to cap position to check. - if (!inside_cyl) return 0; - if (uv < 0) k = -lz2; else k = lz2; - } - else { - k = dSqrt(k); - A = dRecip (2*A); - dReal alpha = (-B-k)*A; - if (alpha < 0) { - alpha = (-B+k)*A; - if (alpha<0) return 0; - } - if (alpha>length) return 0; - // the ray intersects the infinite cylinder. check to see if the - // intersection point is between the caps - contact->pos[0] = start[0] + alpha*dir[0]; - contact->pos[1] = start[1] + alpha*dir[1]; - contact->pos[2] = start[2] + alpha*dir[2]; - q[0] = contact->pos[0] - p[0]; - q[1] = contact->pos[1] - p[1]; - q[2] = contact->pos[2] - p[2]; - k = dDOT14(q,R+1); - dReal nsign = inside_cyl ? -1 : 1; - if (k >= -lz2 && k <= lz2) { - contact->normal[0] = nsign * (contact->pos[0] - - (p[0] + k*R[0*4+1])); - contact->normal[1] = nsign * (contact->pos[1] - - (p[1] + k*R[1*4+1])); - contact->normal[2] = nsign * (contact->pos[2] - - (p[2] + k*R[2*4+1])); - dNormalize3 (contact->normal); - contact->depth = alpha; - return 1; - } - // the infinite cylinder intersection point is not between the caps. - // set k to cap position to check. - if (k < 0) k = -lz2; else k = lz2; - } - } - // check for ray intersection with the caps. k must indicate the cap - // position to check - // perform a ray plan interesection - // R+1 is the plan normal - q[0] = start[0] - (p[0] + k*R[0*4+1]); - q[1] = start[1] - (p[1] + k*R[1*4+1]); - q[2] = start[2] - (p[2] + k*R[2*4+1]); - dReal alpha = -dDOT14(q,R+1); - dReal k2 = dDOT14(dir,R+1); - if (k2==0) return 0; // ray parallel to the plane - alpha/=k2; - if (alpha<0 || alpha>length) return 0; // too short - contact->pos[0]=start[0]+alpha*dir[0]; - contact->pos[1]=start[1]+alpha*dir[1]; - contact->pos[2]=start[2]+alpha*dir[2]; - dReal nsign = (k<0)?-1:1; - contact->normal[0]=nsign*R[0*4+1]; - contact->normal[1]=nsign*R[1*4+1]; - contact->normal[2]=nsign*R[2*4+1]; - contact->depth=alpha; - return 1; -} - -static dColliderFn * dCylinderColliderFn (int num) -{ - if (num == dBoxClass) return (dColliderFn *) &dCollideCylB; - else if (num == dSphereClass) return (dColliderFn *) &dCollideCylS; - else if (num == dCylinderClassUser) return (dColliderFn *) &dCollideCylCyl; - else if (num == dPlaneClass) return (dColliderFn *) &dCollideCylPlane; - else if (num == dRayClass) return (dColliderFn *) &dCollideCylRay; - return 0; -} - - -static void dCylinderAABB (dxGeom *geom, dReal aabb[6]) -{ - dReal radius,lz; - dGeomCylinderGetParams(geom,&radius,&lz); -const dReal* R= dGeomGetRotation(geom); -const dReal* pos= dGeomGetPosition(geom); - dReal xrange = dFabs (R[0] *radius) + - REAL(0.5) *dFabs (R[1] * lz) + dFabs (R[2] * radius); - - dReal yrange = dFabs (R[4] *radius) + - REAL(0.5) * dFabs (R[5] * lz) + dFabs (R[6] * radius); - - dReal zrange = dFabs (R[8] * radius) + - REAL(0.5) *dFabs (R[9] * lz) + dFabs (R[10] * radius); - - aabb[0] = pos[0] - xrange; - aabb[1] = pos[0] + xrange; - aabb[2] = pos[1] - yrange; - aabb[3] = pos[1] + yrange; - aabb[4] = pos[2] - zrange; - aabb[5] = pos[2] + zrange; -} - -dxGeom *dCreateCylinder (dSpaceID space, dReal r, dReal lz) -{ - dAASSERT (r > 0 && lz > 0); - if (dCylinderClassUser == -1) - { - dGeomClass c; - c.bytes = sizeof (dxCylinder); - c.collider = &dCylinderColliderFn; - c.aabb = &dCylinderAABB; - c.aabb_test = 0; - c.dtor = 0; - dCylinderClassUser=dCreateGeomClass (&c); - - } - - dGeomID g = dCreateGeom (dCylinderClassUser); - if (space) dSpaceAdd (space,g); - dxCylinder *c = (dxCylinder*) dGeomGetClassData(g); - - c->radius = r; - c->lz = lz; - return g; -} - - - -void dGeomCylinderSetParams (dGeomID g, dReal radius, dReal length) -{ - dUASSERT (g && dGeomGetClass(g) == dCylinderClassUser,"argument not a cylinder"); - dAASSERT (radius > 0 && length > 0); - dxCylinder *c = (dxCylinder*) dGeomGetClassData(g); - c->radius = radius; - c->lz = length; -} - - - -void dGeomCylinderGetParams (dGeomID g, dReal *radius, dReal *length) -{ - dUASSERT (g && dGeomGetClass(g) == dCylinderClassUser ,"argument not a cylinder"); - dxCylinder *c = (dxCylinder*) dGeomGetClassData(g); - *radius = c->radius; - *length = c->lz; -} - -/* -void dMassSetCylinder (dMass *m, dReal density, - dReal radius, dReal length) -{ - dAASSERT (m); - dMassSetZero (m); - dReal M = length*M_PI*radius*radius*density; - m->mass = M; - m->_I(0,0) = M/REAL(4.0) * (ly*ly + lz*lz); - m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz); - m->_I(2,2) = M/REAL(4.0) * (lx*lx + ly*ly); - -# ifndef dNODEBUG - checkMass (m); -# endif -} -*/ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dCylinder/dCylinder.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dCylinder/dCylinder.h deleted file mode 100644 index 06e3a0b5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dCylinder/dCylinder.h +++ /dev/null @@ -1,14 +0,0 @@ - -#ifndef dCylinder_h -#define dCylinder_h - -struct dxCylinder; -extern int dCylinderClassUser; - - -dxGeom *dCreateCylinder (dSpaceID space, dReal r, dReal lz); -void dGeomCylinderSetParams (dGeomID g, dReal radius, dReal length); - -void dGeomCylinderGetParams (dGeomID g, dReal *radius, dReal *length); -#endif //dCylinder_h - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dCylinder/readme.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dCylinder/readme.txt deleted file mode 100644 index facd13ed..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dCylinder/readme.txt +++ /dev/null @@ -1,62 +0,0 @@ -readme.txt - -WARNING: THIS IS NOT VERY RELIABLE CODE. IT HAS BUGS. YOUR - SUCCESS MAY VARY. CONTRIBUTIONS OF FIXES/REWRITES ARE - WELCOME. - -/////////////////////////////////////////////////////////////////////// - -Cylinder geometry class. - -New in this version: - -Cylinder class implemented as User Geometry Class so it now can be -used with old and new ODE collision detection. - -Cylinder - Ray has been contributed by Olivier Michel. - -THE IDENTIFIER dCylinderClass HAS BEEN REPLACED BY dCylinderClassUser - -to avoid conflict with dCylinderClass in the enum definite in collision.h - -/////////////////////////////////////////////////////////////////////// -The dCylinder class includes the following collisions: - -Cylinder - Box -Cylinder - Cylinder -Cylinder - Sphere -Cylinder - Plane -Cylinder - Ray (contributed by Olivier Michel) - -Cylinder aligned along axis - Y when created. (Not like Capped -Cylinder which aligned along axis - Z). - -Interface is just the same as Capped Cylinder has. - -Use functions which have one "C" instead of double "C". - -to create: -dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); - -to set params: -void dGeomCylinderSetParams (dGeomID cylinder, - dReal radius, dReal length); - - -to get params: -void dGeomCylinderGetParams (dGeomID cylinder, - dReal *radius, dReal *length); - -Return in radius and length the parameters of the given cylinder. - -Identification number of the class: - dCylinderClassUser - - I do not include a function that sets inertia tensor for cylinder. - One may use existing ODE functions dMassSetCappedCylinder or dMassSetBox. - To set exact tensor for cylinder use dMassSetParameters. - Remember cylinder aligned along axis - Y. - - /////////////////////////////////////////////////////////////////////////// - Konstantin Slipchenko - February 5, 2002 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/Include/dRay.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/Include/dRay.h deleted file mode 100644 index f6caea85..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/Include/dRay.h +++ /dev/null @@ -1,15 +0,0 @@ -#include "ode\ode.h" - -/* Class ID */ -extern int dRayClass; - -/* Creates a ray */ -dxGeom* dGeomCreateRay(dSpaceID space, dReal Length); - -/* Set/Get length */ -void dGeomRaySetLength(dxGeom* g, dReal Length); -dReal dGeomRayGetLength(dxGeom* g); - -/* Utility function to override the ray's pos + rot */ -void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction); -void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction); diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/README.txt b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/README.txt deleted file mode 100644 index 89972082..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/README.txt +++ /dev/null @@ -1,16 +0,0 @@ -From: "Erwin de Vries" -To: -Subject: [ODE] dRay class -Date: Thu, 25 Jul 2002 13:05:28 +0200 - -Yesterday and today i've written a dRay class. It interacts with dPlane, -dSphere, dBox and dCCylinder. It does not generate full contact information. -It only generates the pos member. I dont think its useful to anyone to go -through hoops and find a reasonable normal and penetration depth, as i dont -think anyone will want to use it for dynamics. Just for CD. - -It should compile in single and double precision mode, and should be -platform independant. I hope. - -The next Tri-Collider release using Opcode 1.1 will also implement a ray -collision function along with some other not too interesting improvements. diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/Test/test_ray.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/Test/test_ray.cpp deleted file mode 100644 index faa8b14b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/Test/test_ray.cpp +++ /dev/null @@ -1,1372 +0,0 @@ -/************************************************************************* - - - * * - - - * 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 - - -#include - - -#include - - - - - -#ifdef _MSC_VER - - -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints - - -#endif - - - - - -// select correct drawing functions - - - - - -#ifdef dDOUBLE - - -#define dsDrawBox dsDrawBoxD - - -#define dsDrawSphere dsDrawSphereD - - -#define dsDrawCylinder dsDrawCylinderD - - -#define dsDrawCappedCylinder dsDrawCappedCylinderD - - -#endif - - - - - - - - -// some constants - - - - - -#define NUM 20 // max number of objects - - -#define DENSITY (5.0) // density of all objects - - -#define GPB 3 // maximum number of geometries per body - - - - - - - - -// dynamics and collision objects - - - - - -struct MyObject { - - - dBodyID body; // the body - - - dGeomID geom[GPB]; // geometries representing this body - - -}; - - - - - -static int num=0; // number of objects in simulation - - -static int nextobj=0; // next object to recycle if num==NUM - - -static dWorldID world; - - -static dSpaceID space; - - -static MyObject obj[NUM]; - - -static dJointGroupID contactgroup; - - -static int selected = -1; // selected object - - - - - -static dGeomID* Rays; - - -static int RayCount; - - - - - -// this is called by dSpaceCollide when two objects in space are - - -// potentially colliding. - - - - - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) - - -{ - - - int i; - - - // if (o1->body && o2->body) return; - - - - - - // exit without doing anything if the two bodies are connected by a joint - - - dBodyID b1 = dGeomGetBody(o1); - - - dBodyID b2 = dGeomGetBody(o2); - - - if (b1 && b2 && dAreConnected (b1,b2)) return; - - - - - - dContact contact[32]; // up to 3 contacts per box - - - for (i=0; i<32; i++) { - - - contact[i].surface.mode = dContactBounce; //dContactMu2; - - - contact[i].surface.mu = dInfinity; - - - contact[i].surface.mu2 = 0; - - - contact[i].surface.bounce = 0.5; - - - contact[i].surface.bounce_vel = 0.1; - - - } - - - if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { - - - dMatrix3 RI; - - - dRSetIdentity (RI); - - - const dReal ss[3] = {0.02,0.02,0.02}; - - - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - - - else return c; - - -} - - - - - - - - -// called when a key pressed - - - - - -static void command (int cmd) - - -{ - - - int i,j,k; - - - dReal sides[3]; - - - dMass m; - - - - - - cmd = locase (cmd); - - - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') { - - - if (num < NUM) { - - - i = num; - - - num++; - - - } - - - else { - - - i = nextobj; - - - nextobj++; - - - if (nextobj >= num) nextobj = 0; - - - - - - // destroy the body and geoms for slot i - - - dBodyDestroy (obj[i].body); - - - for (k=0; k < GPB; k++) { - - - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - - - } - - - memset (&obj[i],0,sizeof(obj[i])); - - - } - - - - - - obj[i].body = dBodyCreate (world); - - - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - - - - - dBodySetPosition (obj[i].body, - - - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); - - - dMatrix3 R; - - - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - - - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - - - dBodySetRotation (obj[i].body,R); - - - dBodySetData (obj[i].body,(void*) i); - - - - - - if (cmd == 'b') { - - - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - - - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - - - } - - - else if (cmd == 'c') { - - - sides[0] *= 0.5; - - - dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); - - - obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); - - - } - - - else if (cmd == 's') { - - - sides[0] *= 0.5; - - - dMassSetSphere (&m,DENSITY,sides[0]); - - - obj[i].geom[0] = dCreateSphere (space,sides[0]); - - - } - - - else if (cmd == 'x') { - - - dGeomID g2[GPB]; // encapsulated geometries - - - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - - - - - // start accumulating masses for the encapsulated geometries - - - dMass m2; - - - dMassSetZero (&m); - - - - - - // set random delta positions - - - for (j=0; j= num) selected = 0; - - - if (selected < 0) selected = 0; - - - } - - - else if (cmd == 'd' && selected >= 0 && selected < num) { - - - dBodyDisable (obj[selected].body); - - - } - - - else if (cmd == 'e' && selected >= 0 && selected < num) { - - - dBodyEnable (obj[selected].body); - - - } - - -} - - - - - - - - -// draw a geom - - - - - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R) - - -{ - - - if (!g) return; - - - if (!pos) pos = dGeomGetPosition (g); - - - if (!R) R = dGeomGetRotation (g); - - - - - - int type = dGeomGetClass (g); - - - if (type == dBoxClass) { - - - dVector3 sides; - - - dGeomBoxGetLengths (g,sides); - - - dsDrawBox (pos,R,sides); - - - } - - - else if (type == dSphereClass) { - - - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - - - } - - - else if (type == dCCylinderClass) { - - - dReal radius,length; - - - dGeomCCylinderGetParams (g,&radius,&length); - - - dsDrawCappedCylinder (pos,R,length,radius); - - - } - - - else if (type == dGeomTransformClass) { - - - dGeomID g2 = dGeomTransformGetGeom (g); - - - const dReal *pos2 = dGeomGetPosition (g2); - - - const dReal *R2 = dGeomGetRotation (g2); - - - dVector3 actual_pos; - - - dMatrix3 actual_R; - - - dMULTIPLY0_331 (actual_pos,R,pos2); - - - actual_pos[0] += pos[0]; - - - actual_pos[1] += pos[1]; - - - actual_pos[2] += pos[2]; - - - dMULTIPLY0_333 (actual_R,R,R2); - - - drawGeom (g2,actual_pos,actual_R); - - - } - - -} - - - - - - - - -// simulation loop - - - - - -static void simLoop (int pause) - - -{ - - - dsSetColor (0,0,2); - - - dSpaceCollide (space,0,&nearCallback); - - - if (!pause) dWorldStep (world,0.05); - - - - - - // remove all contact joints - - - dJointGroupEmpty (contactgroup); - - - - - - dsSetColor (1,1,0); - - - dsSetTexture (DS_WOOD); - - - for (int i=0; iLength = Length; -} - -dReal dGeomRayGetLength(dxGeom* g){ - return ((dxRay*)dGeomGetClassData(g))->Length; -} - -void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction){ - dGeomSetPosition(g, Origin[0], Origin[1], Origin[2]); - - dVector3 Up, Right; - dPlaneSpace(Direction, Up, Right); - - Origin[3] = Up[3] = Right[3] = REAL(0.0); - - dMatrix3 Rotation; - Rotation[0 * 4 + 0] = Right[0]; - Rotation[1 * 4 + 0] = Right[1]; - Rotation[2 * 4 + 0] = Right[2]; - Rotation[3 * 4 + 0] = Right[3]; - - Rotation[0 * 4 + 1] = Up[0]; - Rotation[1 * 4 + 1] = Up[1]; - Rotation[2 * 4 + 1] = Up[2]; - Rotation[3 * 4 + 1] = Up[3]; - - Rotation[0 * 4 + 2] = Direction[0]; - Rotation[1 * 4 + 2] = Direction[1]; - Rotation[2 * 4 + 2] = Direction[2]; - Rotation[3 * 4 + 2] = Direction[3]; - - dGeomSetRotation(g, Rotation); -} - -void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction){ - const dReal* Position = dGeomGetPosition(g); - Origin[0] = Position[0]; - Origin[1] = Position[1]; - Origin[2] = Position[2]; - Origin[3] = Position[3]; - - const dReal* Rotation = dGeomGetRotation(g); - Direction[0] = Rotation[0 * 4 + 2]; - Direction[1] = Rotation[1 * 4 + 2]; - Direction[2] = Rotation[2 * 4 + 2]; - Direction[3] = Rotation[3 * 4 + 2]; -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Box.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Box.cpp deleted file mode 100644 index d2a0d9c5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Box.cpp +++ /dev/null @@ -1,134 +0,0 @@ -// Ripped from Magic Software - -#include "Include\dRay.h" -#include "dxRay.h" - -bool Clip(dReal Denom, dReal Numer, dReal& T0, dReal& T1){ - // Return value is 'true' if line segment intersects the current test - // plane. Otherwise 'false' is returned in which case the line segment - // is entirely clipped. - - if (Denom > REAL(0.0)){ - if (Numer > Denom * T1){ - return false; - } - - if (Numer > Denom * T0){ - T0 = Numer / Denom; - } - return true; - } - else if (Denom < REAL(0.0)){ - if (Numer > Denom * T0){ - return false; - } - - if (Numer > Denom * T1){ - T1 = Numer / Denom; - } - return true; - } - else return Numer <= REAL(0.0); -} - -bool FindIntersection(const dVector3 Origin, const dVector3 Direction, const dVector3 Extents, dReal& T0, dReal& T1){ - dReal SaveT0 = T0; - dReal SaveT1 = T1; - - bool NotEntirelyClipped = - Clip(+Direction[0], -Origin[0] - Extents[0], T0, T1) && - Clip(-Direction[0], +Origin[0] - Extents[0], T0, T1) && - Clip(+Direction[1], -Origin[1] - Extents[1], T0, T1) && - Clip(-Direction[1], +Origin[1] - Extents[1], T0, T1) && - Clip(+Direction[2], -Origin[2] - Extents[2], T0, T1) && - Clip(-Direction[2], +Origin[2] - Extents[2], T0, T1); - - return NotEntirelyClipped && (T0 != SaveT0 || T1 != SaveT1); -} - -int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){ - const dVector3& Position = *(const dVector3*)dGeomGetPosition(BoxGeom); - const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(BoxGeom); - dVector3 Extents; - dGeomBoxGetLengths(BoxGeom, Extents); - Extents[0] /= 2; - Extents[1] /= 2; - Extents[2] /= 2; - Extents[3] /= 2; - - dVector3 Origin, Direction; - dGeomRayGet(RayGeom, Origin, Direction); - dReal Length = dGeomRayGetLength(RayGeom); - - dVector3 Diff; - Diff[0] = Origin[0] - Position[0]; - Diff[1] = Origin[1] - Position[1]; - Diff[2] = Origin[2] - Position[2]; - Diff[3] = Origin[3] - Position[3]; - - Direction[0] *= Length; - Direction[1] *= Length; - Direction[2] *= Length; - Direction[3] *= Length; - - dVector3 Rot[3]; - Decompose(Rotation, Rot); - - dVector3 TransOrigin; - TransOrigin[0] = dDOT(Diff, Rot[0]); - TransOrigin[1] = dDOT(Diff, Rot[1]); - TransOrigin[2] = dDOT(Diff, Rot[2]); - TransOrigin[3] = REAL(0.0); - - dVector3 TransDirection; - TransDirection[0] = dDOT(Direction, Rot[0]); - TransDirection[1] = dDOT(Direction, Rot[1]); - TransDirection[2] = dDOT(Direction, Rot[2]); - TransDirection[3] = REAL(0.0); - - dReal T[2]; - T[0] = 0.0f; - T[1] = dInfinity; - - bool Intersect = FindIntersection(TransOrigin, TransDirection, Extents, T[0], T[1]); - - if (Intersect){ - if (T[0] > REAL(0.0)){ - dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride); - Contact0->pos[0] = Origin[0] + T[0] * Direction[0]; - Contact0->pos[1] = Origin[1] + T[0] * Direction[1]; - Contact0->pos[2] = Origin[2] + T[0] * Direction[2]; - Contact0->pos[3] = Origin[3] + T[0] * Direction[3]; - //Contact0->normal = 0; - Contact0->depth = 0.0f; - Contact0->g1 = RayGeom; - Contact0->g2 = BoxGeom; - - dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride); - Contact1->pos[0] = Origin[0] + T[1] * Direction[0]; - Contact1->pos[1] = Origin[1] + T[1] * Direction[1]; - Contact1->pos[2] = Origin[2] + T[1] * Direction[2]; - Contact1->pos[3] = Origin[3] + T[1] * Direction[3]; - //Contact1->normal = 0; - Contact1->depth = 0.0f; - Contact1->g1 = RayGeom; - Contact1->g2 = BoxGeom; - - return 2; - } - else{ - dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride); - Contact->pos[0] = Origin[0] + T[1] * Direction[0]; - Contact->pos[1] = Origin[1] + T[1] * Direction[1]; - Contact->pos[2] = Origin[2] + T[1] * Direction[2]; - Contact->pos[3] = Origin[3] + T[1] * Direction[3]; - //Contact->normal = 0; - Contact->depth = 0.0f; - Contact->g1 = RayGeom; - Contact->g2 = BoxGeom; - - return 1; - } - } - else return 0; -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_CCylinder.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_CCylinder.cpp deleted file mode 100644 index b9ea0c0d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_CCylinder.cpp +++ /dev/null @@ -1,199 +0,0 @@ -// Ripped from Magic Software - -#include "Include\dRay.h" -#include "dxRay.h" - -int Find(const dVector3 Origin, dVector3 Direction, dReal Length, const dVector3 CCPos, const dMatrix3 CCRot, dReal CCRadius, dReal CCLength, dReal T[2]){ - dVector3 U, V, W; - Decompose(CCRot, U, V, W); - - dVector3 CCOrigin; - CCOrigin[0] = CCPos[0] - (W[0] * CCLength / 2); - CCOrigin[1] = CCPos[1] - (W[1] * CCLength / 2); - CCOrigin[2] = CCPos[2] - (W[2] * CCLength / 2); - CCOrigin[3] = CCPos[3] - (W[3] * CCLength / 2); - - dVector3 D; - D[0] = dDOT(U, Direction); - D[1] = dDOT(V, Direction); - D[2] = dDOT(W, Direction); - - dReal DMag = Length; - dReal InvDMag = REAL(1.0) / DMag; - - dVector3 Diff; - Diff[0] = Origin[0] - CCOrigin[0]; - Diff[1] = Origin[1] - CCOrigin[1]; - Diff[2] = Origin[2] - CCOrigin[2]; - Diff[3] = Origin[3] - CCOrigin[3]; - - dVector3 P; - P[0] = dDOT(U, Diff); - P[1] = dDOT(V, Diff); - P[2] = dDOT(W, Diff); - - dReal CCRadiusSq = CCRadius * CCRadius; - - dReal Epsilon = 1e-12f; - - if (dFabs(D[2]) >= REAL(1.0) - Epsilon){ // line is parallel to capsule axis - dReal Discr = CCRadiusSq - P[0] * P[0] - P[1] * P[1]; - - if (Discr >= REAL(0.0)){ - dReal Root = dSqrt(Discr); - T[0] = (-P[2] + Root) * InvDMag; - T[1] = (CCLength - P[2] + Root) * InvDMag; - return 2; - } - else return 0; - } - - // test intersection with infinite cylinder - dReal A = D[0] * D[0] + D[1] * D[1]; - dReal B = P[0] * D[0] + P[1] * D[1]; - dReal C = P[0] * P[0] + P[1] * P[1] - CCRadiusSq; - dReal Discr = B * B - A * C; - if (Discr < REAL(0.0)){ // line does not intersect infinite cylinder - return 0; - } - - int Count = 0; - - if (Discr > REAL(0.0)){ // line intersects infinite cylinder in two places - dReal Root = dSqrt(Discr); - dReal Inv = REAL(1.0) / A; - - dReal TTemp = (-B - Root) * Inv; - - dReal Tmp = P[2] + TTemp * D[2]; - if (REAL(0.0) <= Tmp && Tmp <= CCLength){ - T[Count++] = TTemp * InvDMag; - } - - - TTemp = (-B + Root) * Inv; - Tmp = P[2] + TTemp * D[2]; - if (REAL(0.0) <= Tmp && Tmp <= CCLength){ - T[Count++] = TTemp * InvDMag; - } - - if (Count == 2){ // line intersects capsule wall in two places - return 2; - } - } - else{ // line is tangent to infinite cylinder - dReal TTemp = -B / A; - dReal Tmp = P[2] + TTemp * D[2]; - if (REAL(0.0) <= Tmp && Tmp <= CCLength){ - T[0] = TTemp * InvDMag; - return 1; - } - } - - // test intersection with bottom hemisphere - // fA = 1 - B += P[2] * D[2]; - C += P[2] * P[2]; - Discr = B * B - C; - if (Discr > REAL(0.0)){ - dReal Root = dSqrt(Discr); - dReal TTemp = -B - Root; - dReal Tmp = P[2] + TTemp * D[2]; - if (Tmp <= REAL(0.0)){ - T[Count++] = TTemp * InvDMag; - if (Count == 2){ - return 2; - } - } - - TTemp = -B + Root; - Tmp = P[2] + TTemp * D[2]; - if (Tmp <= REAL(0.0)){ - T[Count++] = TTemp * InvDMag; - if (Count == 2){ - return 2; - } - } - } - else if (Discr == REAL(0.0)){ - dReal TTemp = -B; - dReal Tmp = P[2] + TTemp * D[2]; - if (Tmp <= REAL(0.0)){ - T[Count++] = TTemp * InvDMag; - if (Count == 2){ - return 2; - } - } - } - - // test intersection with top hemisphere - // fA = 1 - B -= D[2] * CCLength; - C += CCLength * (CCLength - REAL(2.0) * P[2]); - - Discr = B * B - C; - if (Discr > REAL(0.0)){ - dReal Root = dSqrt(Discr); - dReal TTemp = -B - Root; - dReal Tmp = P[2] + TTemp * D[2]; - if (Tmp >= CCLength){ - - T[Count++] = TTemp * InvDMag; - if (Count == 2){ - return 2; - } - } - - TTemp = -B + Root; - Tmp = P[2] + TTemp * D[2]; - if (Tmp >= CCLength){ - T[Count++] = TTemp * InvDMag; - if (Count == 2){ - return 2; - } - } - } - else if (Discr == REAL(0.0)){ - dReal TTemp = -B; - dReal Tmp = P[2] + TTemp * D[2]; - if (Tmp >= CCLength){ - T[Count++] = TTemp * InvDMag; - if (Count == 2){ - return 2; - } - } - } - return Count; -} - -int dCollideCCR(dxGeom* RayGeom, dxGeom* CCGeom, int Flags, dContactGeom* Contacts, int Stride){ - const dVector3& CCPos = *(const dVector3*)dGeomGetPosition(CCGeom); - const dMatrix3& CCRot = *(const dMatrix3*)dGeomGetRotation(CCGeom); - - dReal CCRadius, CCLength; - dGeomCCylinderGetParams(CCGeom, &CCRadius, &CCLength); - - dVector3 Origin, Direction; - dGeomRayGet(RayGeom, Origin, Direction); - dReal Length = dGeomRayGetLength(RayGeom); - - dReal T[2]; - int Count = Find(Origin, Direction, Length, CCPos, CCRot, CCRadius, CCLength, T); - int ContactCount = 0; - for (int i = 0; i < Count; i++){ - if (T[i] >= 0.0){ - dContactGeom* Contact = CONTACT(Flags, Contacts, ContactCount, Stride); - Contact->pos[0] = Origin[0] + T[i] * Direction[0] * Length; - Contact->pos[1] = Origin[1] + T[i] * Direction[1] * Length; - Contact->pos[2] = Origin[2] + T[i] * Direction[2] * Length; - Contact->pos[3] = Origin[3] + T[i] * Direction[3] * Length; - //Contact->normal = 0; - Contact->depth = 0.0f; - Contact->g1 = RayGeom; - Contact->g2 = CCGeom; - - ContactCount++; - } - } - return ContactCount; -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Plane.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Plane.cpp deleted file mode 100644 index cf03c5b3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Plane.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// Ripped from Paul Bourke - -#include "Include\dRay.h" -#include "dxRay.h" - -int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contact, int Stride){ - dVector3 Plane; - dGeomPlaneGetParams(PlaneGeom, Plane); - - dVector3 Origin, Direction; - dGeomRayGet(RayGeom, Origin, Direction); - - dReal Length = dGeomRayGetLength(RayGeom); - - dReal Denom = Plane[0] * Direction[0] + Plane[1] * Direction[1] + Plane[2] * Direction[2]; - if (dFabs(Denom) < 0.00001f){ - return 0; // Ray never hits - } - - float T = -(Plane[3] + Plane[0] * Origin[0] + Plane[1] * Origin[1] + Plane[2] * Origin[2]) / Denom; - - if (T < 0 || T > Length){ - return 0; // Ray hits but not within boundaries - } - - Contact->pos[0] = Origin[0] + T * Direction[0]; - Contact->pos[1] = Origin[1] + T * Direction[1]; - Contact->pos[2] = Origin[2] + T * Direction[2]; - Contact->pos[3] = REAL(0.0); - //Contact->normal = 0; - Contact->depth = 0.0f; - Contact->g1 = RayGeom; - Contact->g2 = PlaneGeom; - return 1; -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Sphere.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Sphere.cpp deleted file mode 100644 index 8e1ac393..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dRay_Sphere.cpp +++ /dev/null @@ -1,95 +0,0 @@ -// Ripped from Magic Software - -#include "Include\dRay.h" -#include "dxRay.h" - -int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){ - const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom); - dReal Radius = dGeomSphereGetRadius(SphereGeom); - - dVector3 Origin, Direction; - dGeomRayGet(RayGeom, Origin, Direction); - dReal Length = dGeomRayGetLength(RayGeom); - - dVector3 Diff; - Diff[0] = Origin[0] - Position[0]; - Diff[1] = Origin[1] - Position[1]; - Diff[2] = Origin[2] - Position[2]; - Diff[3] = Origin[3] - Position[3]; - - Direction[0] *= Length; - Direction[1] *= Length; - Direction[2] *= Length; - Direction[3] *= Length; - - dReal A = Length * Length; - dReal B = dDOT(Diff, Direction); - dReal C = dDOT(Diff, Diff) - (Radius * Radius); - - dReal Discr = B * B - A * C; - if (Discr < REAL(0.0)){ - return 0; - } - else if (Discr > REAL(0.0)){ - dReal T[2]; - dReal Root = dSqrt(Discr); - dReal InvA = REAL(1.0) / A; - T[0] = (-B - Root) * InvA; - T[1] = (-B + Root) * InvA; - - if (T[0] >= REAL(0.0)){ - dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride); - Contact0->pos[0] = Origin[0] + T[0] * Direction[0]; - Contact0->pos[1] = Origin[1] + T[0] * Direction[1]; - Contact0->pos[2] = Origin[2] + T[0] * Direction[2]; - Contact0->pos[3] = Origin[3] + T[0] * Direction[3]; - //Contact0->normal = 0; - Contact0->depth = 0.0f; - Contact0->g1 = RayGeom; - Contact0->g2 = SphereGeom; - - dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride); - Contact1->pos[0] = Origin[0] + T[1] * Direction[0]; - Contact1->pos[1] = Origin[1] + T[1] * Direction[1]; - Contact1->pos[2] = Origin[2] + T[1] * Direction[2]; - Contact1->pos[3] = Origin[3] + T[1] * Direction[3]; - //Contact1->normal = 0; - Contact1->depth = 0.0f; - Contact1->g1 = RayGeom; - Contact1->g2 = SphereGeom; - - return 2; - } - else if (T[1] >= REAL(0.0)){ - dContactGeom* Contact = CONTACT(Flags, Contacts, 1, Stride); - Contact->pos[0] = Origin[0] + T[1] * Direction[0]; - Contact->pos[1] = Origin[1] + T[1] * Direction[1]; - Contact->pos[2] = Origin[2] + T[1] * Direction[2]; - Contact->pos[3] = Origin[3] + T[1] * Direction[3]; - //Contact->normal = 0; - Contact->depth = 0.0f; - Contact->g1 = RayGeom; - Contact->g2 = SphereGeom; - - return 1; - } - else return 0; - } - else{ - dReal T; - T = -B / A; - if (T >= REAL(0.0)){ - dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride); - Contact->pos[0] = Origin[0] + T * Direction[0]; - Contact->pos[1] = Origin[1] + T * Direction[1]; - Contact->pos[2] = Origin[2] + T * Direction[2]; - Contact->pos[3] = Origin[3] + T * Direction[3]; - //Contact->normal = 0; - Contact->depth = 0.0f; - Contact->g1 = RayGeom; - Contact->g2 = SphereGeom; - return 1; - } - else return 0; - } -} \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dxRay.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dxRay.h deleted file mode 100644 index 0fd1d2d5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/dRay/dxRay.h +++ /dev/null @@ -1,32 +0,0 @@ -struct dxRay{ - dReal Length; -}; - -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] = Matrix[3 * 4 + 0]; - Up[0] = Matrix[0 * 4 + 1]; - Up[1] = Matrix[1 * 4 + 1]; - Up[2] = Matrix[2 * 4 + 1]; - Up[3] = Matrix[3 * 4 + 1]; - Direction[0] = Matrix[0 * 4 + 2]; - Direction[1] = Matrix[1 * 4 + 2]; - Direction[2] = Matrix[2 * 4 + 2]; - Direction[3] = Matrix[3 * 4 + 2]; -} - -inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){ - Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]); -} - -inline dContactGeom* CONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){ - dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff)); - return ((dContactGeom*)(((char*)Contacts) + (Index * Stride))); -} - -int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contacts, int Stride); -int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride); -int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride); -int dCollideCCR(dxGeom* RayGeom, dxGeom* CCylinderGeom, int Flags, dContactGeom* Contacts, int Stride); \ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/Makefile.am deleted file mode 100644 index def863ca..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/Makefile.am +++ /dev/null @@ -1,4 +0,0 @@ -if ENABLE_DRAWSTUFF -SUBDIRS = src dstest -EXTRA_DIST = textures -endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/dstest/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/dstest/Makefile.am deleted file mode 100644 index 65e6b89e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/dstest/Makefile.am +++ /dev/null @@ -1,17 +0,0 @@ -noinst_PROGRAMS= dstest -AM_CPPFLAGS = -I$(top_srcdir)/drawstuff/src -I$(top_srcdir)/include - -dstest_SOURCES= dstest.cpp -dstest_LDADD=$(top_builddir)/drawstuff/src/libdrawstuff.la \ - @GL_LIBS@ - -if WIN32 -resources.o: $(top_srcdir)/drawstuff/src/resources.rc $(top_srcdir)/drawstuff/src/resource.h - @WINDRES@ $(top_srcdir)/drawstuff/src/resources.rc -o resources.o - -dstest_LDADD += resources.o -endif - -if X11 -dstest_LDADD+=$(X_PRE_LIBS) $(X_LIBS) $(X_EXTRA_LIBS) -endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/dstest/dstest.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/dstest/dstest.cpp deleted file mode 100644 index 27f042fc..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/dstest/dstest.cpp +++ /dev/null @@ -1,125 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include - - -#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; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/Makefile.am deleted file mode 100644 index f62b32e9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/Makefile.am +++ /dev/null @@ -1,24 +0,0 @@ -# Drawstuff is meant as an aid for testing and not as a full -# rendering library. - -noinst_LTLIBRARIES = libdrawstuff.la -libdrawstuff_la_SOURCES = drawstuff.cpp internal.h -AM_CPPFLAGS = -I$(top_srcdir)/include \ - -DDEFAULT_PATH_TO_TEXTURES='"$(top_srcdir)/drawstuff/textures/"' \ - $(X_CFLAGS) - -if WIN32 -libdrawstuff_la_SOURCES+= windows.cpp resource.h resources.rc -libdrawstuff_la_LIBADD = -lwinmm -lgdi32 -libdrawstuff_la_LDFLAGS = -no-undefined -endif - -if X11 -libdrawstuff_la_SOURCES+= x11.cpp -libdrawstuff_la_LIBADD = $(X_LIBS) -endif - -if OSX -libdrawstuff_la_SOURCES+= osx.cpp -endif - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/drawstuff.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/drawstuff.cpp deleted file mode 100644 index d6f4faa0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/drawstuff.cpp +++ /dev/null @@ -1,1613 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -simple graphics. - -the following command line flags can be used (typically under unix) - -notex Do not use any textures - -noshadow[s] Do not draw any shadows - -pause Start the simulation paused - -TODO ----- - -manage openGL state changes better - -*/ - -#ifdef WIN32 -#include -#endif - -#include -#include "config.h" -#ifdef HAVE_APPLE_OPENGL_FRAMEWORK -#include -#include -#else -#include -#include -#endif - -#include "drawstuff/drawstuff.h" -#include "internal.h" - -//*************************************************************************** -// misc - -#ifndef DEFAULT_PATH_TO_TEXTURES -#ifdef WIN32 -#define DEFAULT_PATH_TO_TEXTURES "..\\textures\\" -#else -#define DEFAULT_PATH_TO_TEXTURES "../textures/" -#endif -#endif - -#ifndef M_PI -#define M_PI (3.14159265358979323846) -#endif - -// constants to convert degrees to radians and the reverse -#define RAD_TO_DEG (180.0/M_PI) -#define DEG_TO_RAD (M_PI/180.0) - -// light vector. LIGHTZ is implicitly 1 -#define LIGHTX (1.0f) -#define LIGHTY (0.4f) - -// ground and sky -#define SHADOW_INTENSITY (0.65f) -#define GROUND_R (0.5f) // ground color for when there's no texture -#define GROUND_G (0.5f) -#define GROUND_B (0.3f) - -const float ground_scale = 1.0f/1.0f; // ground texture scale (1/size) -const float ground_ofsx = 0.5; // offset of ground texture -const float ground_ofsy = 0.5; -const float sky_scale = 1.0f/4.0f; // sky texture scale (1/size) -const float sky_height = 1.0f; // sky height above viewpoint - -//*************************************************************************** -// misc mathematics stuff - -static void normalizeVector3 (float v[3]) -{ - float len = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; - if (len <= 0.0f) { - v[0] = 1; - v[1] = 0; - v[2] = 0; - } - else { - len = 1.0f / (float)sqrt(len); - v[0] *= len; - v[1] *= len; - v[2] *= len; - } -} - -//*************************************************************************** -// PPM image object - -typedef unsigned char byte; - -class Image { - int image_width,image_height; - byte *image_data; -public: - Image (char *filename); - // load from PPM file - ~Image(); - int width() { return image_width; } - int height() { return image_height; } - byte *data() { return image_data; } -}; - - -// skip over whitespace and comments in a stream. - -static void skipWhiteSpace (char *filename, FILE *f) -{ - int c,d; - for(;;) { - c = fgetc(f); - if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename); - - // skip comments - if (c == '#') { - do { - d = fgetc(f); - if (d==EOF) dsError ("unexpected end of file in \"%s\"",filename); - } while (d != '\n'); - continue; - } - - if (c > ' ') { - ungetc (c,f); - return; - } - } -} - - -// read a number from a stream, this return 0 if there is none (that's okay -// because 0 is a bad value for all PPM numbers anyway). - -static int readNumber (char *filename, FILE *f) -{ - int c,n=0; - for(;;) { - c = fgetc(f); - if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename); - if (c >= '0' && c <= '9') n = n*10 + (c - '0'); - else { - ungetc (c,f); - return n; - } - } -} - - -Image::Image (char *filename) -{ - FILE *f = fopen (filename,"rb"); - if (!f) dsError ("Can't open image file `%s'",filename); - - // read in header - if (fgetc(f) != 'P' || fgetc(f) != '6') - dsError ("image file \"%s\" is not a binary PPM (no P6 header)",filename); - skipWhiteSpace (filename,f); - - // read in image parameters - image_width = readNumber (filename,f); - skipWhiteSpace (filename,f); - image_height = readNumber (filename,f); - skipWhiteSpace (filename,f); - int max_value = readNumber (filename,f); - - // check values - if (image_width < 1 || image_height < 1) - dsError ("bad image file \"%s\"",filename); - if (max_value != 255) - dsError ("image file \"%s\" must have color range of 255",filename); - - // read either nothing, LF (10), or CR,LF (13,10) - int c = fgetc(f); - if (c == 10) { - // LF - } - else if (c == 13) { - // CR - c = fgetc(f); - if (c != 10) ungetc (c,f); - } - else ungetc (c,f); - - // read in rest of data - image_data = new byte [image_width*image_height*3]; - if (fread (image_data,image_width*image_height*3,1,f) != 1) - dsError ("Can not read data from image file `%s'",filename); - fclose (f); -} - - -Image::~Image() -{ - delete[] image_data; -} - -//*************************************************************************** -// Texture object. - -class Texture { - Image *image; - GLuint name; -public: - Texture (char *filename); - ~Texture(); - void bind (int modulate); -}; - - -Texture::Texture (char *filename) -{ - image = new Image (filename); - glGenTextures (1,&name); - glBindTexture (GL_TEXTURE_2D,name); - - // set pixel unpacking mode - glPixelStorei (GL_UNPACK_SWAP_BYTES, 0); - glPixelStorei (GL_UNPACK_ROW_LENGTH, 0); - glPixelStorei (GL_UNPACK_ALIGNMENT, 1); - glPixelStorei (GL_UNPACK_SKIP_ROWS, 0); - glPixelStorei (GL_UNPACK_SKIP_PIXELS, 0); - - // glTexImage2D (GL_TEXTURE_2D, 0, 3, image->width(), image->height(), 0, - // GL_RGB, GL_UNSIGNED_BYTE, image->data()); - gluBuild2DMipmaps (GL_TEXTURE_2D, 3, image->width(), image->height(), - GL_RGB, GL_UNSIGNED_BYTE, image->data()); - - // set texture parameters - will these also be bound to the texture??? - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); - - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, - GL_LINEAR_MIPMAP_LINEAR); - - glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL); -} - - -Texture::~Texture() -{ - delete image; - glDeleteTextures (1,&name); -} - - -void Texture::bind (int modulate) -{ - glBindTexture (GL_TEXTURE_2D,name); - glTexEnvi (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, - modulate ? GL_MODULATE : GL_DECAL); -} - -//*************************************************************************** -// the current drawing state (for when the user's step function is drawing) - -static float color[4] = {0,0,0,0}; // current r,g,b,alpha color -static int tnum = 0; // current texture number - -//*************************************************************************** -// OpenGL utility stuff - -static void setCamera (float x, float y, float z, float h, float p, float r) -{ - glMatrixMode (GL_MODELVIEW); - glLoadIdentity(); - glRotatef (90, 0,0,1); - glRotatef (90, 0,1,0); - glRotatef (r, 1,0,0); - glRotatef (p, 0,1,0); - glRotatef (-h, 0,0,1); - glTranslatef (-x,-y,-z); -} - - -// sets the material color, not the light color - -static void setColor (float r, float g, float b, float alpha) -{ - GLfloat light_ambient[4],light_diffuse[4],light_specular[4]; - light_ambient[0] = r*0.3f; - light_ambient[1] = g*0.3f; - light_ambient[2] = b*0.3f; - light_ambient[3] = alpha; - light_diffuse[0] = r*0.7f; - light_diffuse[1] = g*0.7f; - light_diffuse[2] = b*0.7f; - light_diffuse[3] = alpha; - light_specular[0] = r*0.2f; - light_specular[1] = g*0.2f; - light_specular[2] = b*0.2f; - light_specular[3] = alpha; - glMaterialfv (GL_FRONT_AND_BACK, GL_AMBIENT, light_ambient); - glMaterialfv (GL_FRONT_AND_BACK, GL_DIFFUSE, light_diffuse); - glMaterialfv (GL_FRONT_AND_BACK, GL_SPECULAR, light_specular); - glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, 5.0f); -} - - -static void setTransform (const float pos[3], const float R[12]) -{ - GLfloat matrix[16]; - matrix[0]=R[0]; - matrix[1]=R[4]; - matrix[2]=R[8]; - matrix[3]=0; - matrix[4]=R[1]; - matrix[5]=R[5]; - matrix[6]=R[9]; - matrix[7]=0; - matrix[8]=R[2]; - matrix[9]=R[6]; - matrix[10]=R[10]; - matrix[11]=0; - matrix[12]=pos[0]; - matrix[13]=pos[1]; - matrix[14]=pos[2]; - matrix[15]=1; - glPushMatrix(); - glMultMatrixf (matrix); -} -static void setTransformD (const double pos[3], const double R[12]) -{ - GLdouble matrix[16]; - matrix[0]=R[0]; - matrix[1]=R[4]; - matrix[2]=R[8]; - matrix[3]=0; - matrix[4]=R[1]; - matrix[5]=R[5]; - matrix[6]=R[9]; - matrix[7]=0; - matrix[8]=R[2]; - matrix[9]=R[6]; - matrix[10]=R[10]; - matrix[11]=0; - matrix[12]=pos[0]; - matrix[13]=pos[1]; - matrix[14]=pos[2]; - matrix[15]=1; - glPushMatrix(); - glMultMatrixd (matrix); -} - - -// set shadow projection transform - -static void setShadowTransform() -{ - GLfloat matrix[16]; - for (int i=0; i<16; i++) matrix[i] = 0; - matrix[0]=1; - matrix[5]=1; - matrix[8]=-LIGHTX; - matrix[9]=-LIGHTY; - matrix[15]=1; - glPushMatrix(); - glMultMatrixf (matrix); -} - -static void drawConvex (float *_planes,unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons) -{ - unsigned int polyindex=0; - for(unsigned int i=0;i<_planecount;++i) - { - unsigned int pointcount=_polygons[polyindex]; - polyindex++; - glBegin (GL_POLYGON); - glNormal3f(_planes[(i*4)+0], - _planes[(i*4)+1], - _planes[(i*4)+2]); - for(unsigned int j=0;j 0) { - float q1[3],q2[3],q3[3]; // sub-vertices - for (i=0; i<3; i++) { - q1[i] = 0.5f*(p1[i]+p2[i]); - q2[i] = 0.5f*(p2[i]+p3[i]); - q3[i] = 0.5f*(p3[i]+p1[i]); - } - float length1 = (float)(1.0/sqrt(q1[0]*q1[0]+q1[1]*q1[1]+q1[2]*q1[2])); - float length2 = (float)(1.0/sqrt(q2[0]*q2[0]+q2[1]*q2[1]+q2[2]*q2[2])); - float length3 = (float)(1.0/sqrt(q3[0]*q3[0]+q3[1]*q3[1]+q3[2]*q3[2])); - for (i=0; i<3; i++) { - q1[i] *= length1; - q2[i] *= length2; - q3[i] *= length3; - } - drawPatch (p1,q1,q3,level-1); - drawPatch (q1,p2,q2,level-1); - drawPatch (q1,q2,q3,level-1); - drawPatch (q3,q2,p3,level-1); - } - else { - glNormal3f (p1[0],p1[1],p1[2]); - glVertex3f (p1[0],p1[1],p1[2]); - glNormal3f (p2[0],p2[1],p2[2]); - glVertex3f (p2[0],p2[1],p2[2]); - glNormal3f (p3[0],p3[1],p3[2]); - glVertex3f (p3[0],p3[1],p3[2]); - } -} - - -// draw a sphere of radius 1 - -static int sphere_quality = 1; - -static void drawSphere() -{ - // icosahedron data for an icosahedron of radius 1.0 -# define ICX 0.525731112119133606f -# define ICZ 0.850650808352039932f - static GLfloat idata[12][3] = { - {-ICX, 0, ICZ}, - {ICX, 0, ICZ}, - {-ICX, 0, -ICZ}, - {ICX, 0, -ICZ}, - {0, ICZ, ICX}, - {0, ICZ, -ICX}, - {0, -ICZ, ICX}, - {0, -ICZ, -ICX}, - {ICZ, ICX, 0}, - {-ICZ, ICX, 0}, - {ICZ, -ICX, 0}, - {-ICZ, -ICX, 0} - }; - - static int index[20][3] = { - {0, 4, 1}, {0, 9, 4}, - {9, 5, 4}, {4, 5, 8}, - {4, 8, 1}, {8, 10, 1}, - {8, 3, 10}, {5, 3, 8}, - {5, 2, 3}, {2, 7, 3}, - {7, 10, 3}, {7, 6, 10}, - {7, 11, 6}, {11, 0, 6}, - {0, 1, 6}, {6, 1, 10}, - {9, 0, 11}, {9, 11, 2}, - {9, 2, 5}, {7, 2, 11}, - }; - - static GLuint listnum = 0; - if (listnum==0) { - listnum = glGenLists (1); - glNewList (listnum,GL_COMPILE); - glBegin (GL_TRIANGLES); - for (int i=0; i<20; i++) { - drawPatch (&idata[index[i][2]][0],&idata[index[i][1]][0], - &idata[index[i][0]][0],sphere_quality); - } - glEnd(); - glEndList(); - } - glCallList (listnum); -} - - -static void drawSphereShadow (float px, float py, float pz, float radius) -{ - // calculate shadow constants based on light vector - static int init=0; - static float len2,len1,scale; - if (!init) { - len2 = LIGHTX*LIGHTX + LIGHTY*LIGHTY; - len1 = 1.0f/(float)sqrt(len2); - scale = (float) sqrt(len2 + 1); - init = 1; - } - - // map sphere center to ground plane based on light vector - px -= LIGHTX*pz; - py -= LIGHTY*pz; - - const float kx = 0.96592582628907f; - const float ky = 0.25881904510252f; - float x=radius, y=0; - - glBegin (GL_TRIANGLE_FAN); - for (int i=0; i<24; i++) { - // for all points on circle, scale to elongated rotated shadow and draw - float x2 = (LIGHTX*x*scale - LIGHTY*y)*len1 + px; - float y2 = (LIGHTY*x*scale + LIGHTX*y)*len1 + py; - glTexCoord2f (x2*ground_scale+ground_ofsx,y2*ground_scale+ground_ofsy); - glVertex3f (x2,y2,0); - - // rotate [x,y] vector - float xtmp = kx*x - ky*y; - y = ky*x + kx*y; - x = xtmp; - } - glEnd(); -} - - -static void drawTriangle (const float *v0, const float *v1, const float *v2, int solid) -{ - float u[3],v[3],normal[3]; - u[0] = v1[0] - v0[0]; - u[1] = v1[1] - v0[1]; - u[2] = v1[2] - v0[2]; - v[0] = v2[0] - v0[0]; - v[1] = v2[1] - v0[1]; - v[2] = v2[2] - v0[2]; - dCROSS (normal,=,u,v); - normalizeVector3 (normal); - - glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP); - glNormal3fv (normal); - glVertex3fv (v0); - glVertex3fv (v1); - glVertex3fv (v2); - glEnd(); -} - -static void drawTriangleD (const double *v0, const double *v1, const double *v2, int solid) -{ - float u[3],v[3],normal[3]; - u[0] = float( v1[0] - v0[0] ); - u[1] = float( v1[1] - v0[1] ); - u[2] = float( v1[2] - v0[2] ); - v[0] = float( v2[0] - v0[0] ); - v[1] = float( v2[1] - v0[1] ); - v[2] = float( v2[2] - v0[2] ); - dCROSS (normal,=,u,v); - normalizeVector3 (normal); - - glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP); - glNormal3fv (normal); - glVertex3dv (v0); - glVertex3dv (v1); - glVertex3dv (v2); - glEnd(); -} - - -// draw a capped cylinder of length l and radius r, aligned along the x axis - -static int capped_cylinder_quality = 3; - -static void drawCapsule (float l, float r) -{ - int i,j; - float tmp,nx,ny,nz,start_nx,start_ny,a,ca,sa; - // number of sides to the cylinder (divisible by 4): - const int n = capped_cylinder_quality*4; - - l *= 0.5; - a = float(M_PI*2.0)/float(n); - sa = (float) sin(a); - ca = (float) cos(a); - - // draw cylinder body - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,l); - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,-l); - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw first cylinder cap - start_nx = 0; - start_ny = 1; - for (j=0; j<(n/4); j++) { - // get start_n2 = rotated start_n - float start_nx2 = ca*start_nx + sa*start_ny; - float start_ny2 = -sa*start_nx + ca*start_ny; - // get n=start_n and n2=start_n2 - nx = start_nx; ny = start_ny; nz = 0; - float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0; - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny2,nz2,nx2); - glVertex3d (ny2*r,nz2*r,l+nx2*r); - glNormal3d (ny,nz,nx); - glVertex3d (ny*r,nz*r,l+nx*r); - // rotate n,n2 - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - tmp = ca*ny2- sa*nz2; - nz2 = sa*ny2 + ca*nz2; - ny2 = tmp; - } - glEnd(); - start_nx = start_nx2; - start_ny = start_ny2; - } - - // draw second cylinder cap - start_nx = 0; - start_ny = 1; - for (j=0; j<(n/4); j++) { - // get start_n2 = rotated start_n - float start_nx2 = ca*start_nx - sa*start_ny; - float start_ny2 = sa*start_nx + ca*start_ny; - // get n=start_n and n2=start_n2 - nx = start_nx; ny = start_ny; nz = 0; - float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0; - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny,nz,nx); - glVertex3d (ny*r,nz*r,-l+nx*r); - glNormal3d (ny2,nz2,nx2); - glVertex3d (ny2*r,nz2*r,-l+nx2*r); - // rotate n,n2 - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - tmp = ca*ny2- sa*nz2; - nz2 = sa*ny2 + ca*nz2; - ny2 = tmp; - } - glEnd(); - start_nx = start_nx2; - start_ny = start_ny2; - } - - glPopMatrix(); -} - - -// draw a cylinder of length l and radius r, aligned along the z axis - -static void drawCylinder (float l, float r, float zoffset) -{ - int i; - float tmp,ny,nz,a,ca,sa; - const int n = 24; // number of sides to the cylinder (divisible by 4) - - l *= 0.5; - a = float(M_PI*2.0)/float(n); - sa = (float) sin(a); - ca = (float) cos(a); - - // draw cylinder body - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,l+zoffset); - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,-l+zoffset); - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw top cap - glShadeModel (GL_FLAT); - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_FAN); - glNormal3d (0,0,1); - glVertex3d (0,0,l+zoffset); - for (i=0; i<=n; i++) { - if (i==1 || i==n/2+1) - setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); - glNormal3d (0,0,1); - glVertex3d (ny*r,nz*r,l+zoffset); - if (i==1 || i==n/2+1) - setColor (color[0],color[1],color[2],color[3]); - - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw bottom cap - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_FAN); - glNormal3d (0,0,-1); - glVertex3d (0,0,-l+zoffset); - for (i=0; i<=n; i++) { - if (i==1 || i==n/2+1) - setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); - glNormal3d (0,0,-1); - glVertex3d (ny*r,nz*r,-l+zoffset); - if (i==1 || i==n/2+1) - setColor (color[0],color[1],color[2],color[3]); - - // rotate ny,nz - tmp = ca*ny + sa*nz; - nz = -sa*ny + ca*nz; - ny = tmp; - } - glEnd(); -} - -//*************************************************************************** -// motion model - -// current camera position and orientation -static float view_xyz[3]; // position x,y,z -static float view_hpr[3]; // heading, pitch, roll (degrees) - - -// initialize the above variables - -static void initMotionModel() -{ - view_xyz[0] = 2; - view_xyz[1] = 0; - view_xyz[2] = 1; - view_hpr[0] = 180; - view_hpr[1] = 0; - view_hpr[2] = 0; -} - - -static void wrapCameraAngles() -{ - for (int i=0; i<3; i++) { - while (view_hpr[i] > 180) view_hpr[i] -= 360; - while (view_hpr[i] < -180) view_hpr[i] += 360; - } -} - - -// call this to update the current camera position. the bits in `mode' say -// if the left (1), middle (2) or right (4) mouse button is pressed, and -// (deltax,deltay) is the amount by which the mouse pointer has moved. - -void dsMotion (int mode, int deltax, int deltay) -{ - float side = 0.01f * float(deltax); - float fwd = (mode==4) ? (0.01f * float(deltay)) : 0.0f; - float s = (float) sin (view_hpr[0]*DEG_TO_RAD); - float c = (float) cos (view_hpr[0]*DEG_TO_RAD); - - if (mode==1) { - view_hpr[0] += float (deltax) * 0.5f; - view_hpr[1] += float (deltay) * 0.5f; - } - else { - view_xyz[0] += -s*side + c*fwd; - view_xyz[1] += c*side + s*fwd; - if (mode==2 || mode==5) view_xyz[2] += 0.01f * float(deltay); - } - wrapCameraAngles(); -} - -//*************************************************************************** -// drawing loop stuff - -// the current state: -// 0 = uninitialized -// 1 = dsSimulationLoop() called -// 2 = dsDrawFrame() called -static int current_state = 0; - -// textures and shadows -static int use_textures=1; // 1 if textures to be drawn -static int use_shadows=1; // 1 if shadows to be drawn -static Texture *sky_texture = 0; -static Texture *ground_texture = 0; -static Texture *wood_texture = 0; -static Texture *checkered_texture = 0; - -static Texture *texture[4+1]; // +1 since index 0 is not used - - - -#ifndef macintosh - -void dsStartGraphics (int width, int height, dsFunctions *fn) -{ - - const char *prefix = DEFAULT_PATH_TO_TEXTURES; - if (fn->version >= 2 && fn->path_to_textures) prefix = fn->path_to_textures; - char *s = (char*) alloca (strlen(prefix) + 20); - - strcpy (s,prefix); - strcat (s,"/sky.ppm"); - texture[DS_SKY] = sky_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,"/ground.ppm"); - texture[DS_GROUND] = ground_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,"/wood.ppm"); - texture[DS_WOOD] = wood_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,"/checkered.ppm"); - texture[DS_CHECKERED] = checkered_texture = new Texture (s); -} - -#else // macintosh - -void dsStartGraphics (int width, int height, dsFunctions *fn) -{ - - // All examples build into the same dir - char *prefix = "::::drawstuff:textures"; - char *s = (char*) alloca (strlen(prefix) + 20); - - strcpy (s,prefix); - strcat (s,":sky.ppm"); - sky_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,":ground.ppm"); - ground_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,":wood.ppm"); - wood_texture = new Texture (s); -} - -#endif - - -void dsStopGraphics() -{ - delete sky_texture; - delete ground_texture; - delete wood_texture; - sky_texture = 0; - ground_texture = 0; - wood_texture = 0; -} - - -static void drawSky (float view_xyz[3]) -{ - glDisable (GL_LIGHTING); - if (use_textures) { - glEnable (GL_TEXTURE_2D); - sky_texture->bind (0); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (0,0.5,1.0); - } - - // make sure sky depth is as far back as possible - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LEQUAL); - glDepthRange (1,1); - - const float ssize = 1000.0f; - static float offset = 0.0f; - - float x = ssize*sky_scale; - float z = view_xyz[2] + sky_height; - - glBegin (GL_QUADS); - glNormal3f (0,0,-1); - glTexCoord2f (-x+offset,-x+offset); - glVertex3f (-ssize+view_xyz[0],-ssize+view_xyz[1],z); - glTexCoord2f (-x+offset,x+offset); - glVertex3f (-ssize+view_xyz[0],ssize+view_xyz[1],z); - glTexCoord2f (x+offset,x+offset); - glVertex3f (ssize+view_xyz[0],ssize+view_xyz[1],z); - glTexCoord2f (x+offset,-x+offset); - glVertex3f (ssize+view_xyz[0],-ssize+view_xyz[1],z); - glEnd(); - - offset = offset + 0.002f; - if (offset > 1) offset -= 1; - - glDepthFunc (GL_LESS); - glDepthRange (0,1); -} - - -static void drawGround() -{ - glDisable (GL_LIGHTING); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - // glDepthRange (1,1); - - if (use_textures) { - glEnable (GL_TEXTURE_2D); - ground_texture->bind (0); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (GROUND_R,GROUND_G,GROUND_B); - } - - // ground fog seems to cause problems with TNT2 under windows - /* - GLfloat fogColor[4] = {0.5, 0.5, 0.5, 1}; - glEnable (GL_FOG); - glFogi (GL_FOG_MODE, GL_EXP2); - glFogfv (GL_FOG_COLOR, fogColor); - glFogf (GL_FOG_DENSITY, 0.05f); - glHint (GL_FOG_HINT, GL_NICEST); // GL_DONT_CARE); - glFogf (GL_FOG_START, 1.0); - glFogf (GL_FOG_END, 5.0); - */ - - const float gsize = 100.0f; - const float offset = 0; // -0.001f; ... polygon offsetting doesn't work well - - glBegin (GL_QUADS); - glNormal3f (0,0,1); - glTexCoord2f (-gsize*ground_scale + ground_ofsx, - -gsize*ground_scale + ground_ofsy); - glVertex3f (-gsize,-gsize,offset); - glTexCoord2f (gsize*ground_scale + ground_ofsx, - -gsize*ground_scale + ground_ofsy); - glVertex3f (gsize,-gsize,offset); - glTexCoord2f (gsize*ground_scale + ground_ofsx, - gsize*ground_scale + ground_ofsy); - glVertex3f (gsize,gsize,offset); - glTexCoord2f (-gsize*ground_scale + ground_ofsx, - gsize*ground_scale + ground_ofsy); - glVertex3f (-gsize,gsize,offset); - glEnd(); - - glDisable (GL_FOG); -} - - -static void drawPyramidGrid() -{ - // setup stuff - glEnable (GL_LIGHTING); - glDisable (GL_TEXTURE_2D); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - - // draw the pyramid grid - for (int i=-1; i<=1; i++) { - for (int j=-1; j<=1; j++) { - glPushMatrix(); - glTranslatef ((float)i,(float)j,(float)0); - if (i==1 && j==0) setColor (1,0,0,1); - else if (i==0 && j==1) setColor (0,0,1,1); - else setColor (1,1,0,1); - const float k = 0.03f; - glBegin (GL_TRIANGLE_FAN); - glNormal3f (0,-1,1); - glVertex3f (0,0,k); - glVertex3f (-k,-k,0); - glVertex3f ( k,-k,0); - glNormal3f (1,0,1); - glVertex3f ( k, k,0); - glNormal3f (0,1,1); - glVertex3f (-k, k,0); - glNormal3f (-1,0,1); - glVertex3f (-k,-k,0); - glEnd(); - glPopMatrix(); - } - } -} - - -void dsDrawFrame (int width, int height, dsFunctions *fn, int pause) -{ - if (current_state < 1) dsDebug ("internal error"); - current_state = 2; - - // setup stuff - glEnable (GL_LIGHTING); - glEnable (GL_LIGHT0); - glDisable (GL_TEXTURE_2D); - glDisable (GL_TEXTURE_GEN_S); - glDisable (GL_TEXTURE_GEN_T); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - glEnable (GL_CULL_FACE); - glCullFace (GL_BACK); - glFrontFace (GL_CCW); - - // setup viewport - glViewport (0,0,width,height); - glMatrixMode (GL_PROJECTION); - glLoadIdentity(); - const float vnear = 0.1f; - const float vfar = 100.0f; - const float k = 0.8f; // view scale, 1 = +/- 45 degrees - if (width >= height) { - float k2 = float(height)/float(width); - glFrustum (-vnear*k,vnear*k,-vnear*k*k2,vnear*k*k2,vnear,vfar); - } - else { - float k2 = float(width)/float(height); - glFrustum (-vnear*k*k2,vnear*k*k2,-vnear*k,vnear*k,vnear,vfar); - } - - // setup lights. it makes a difference whether this is done in the - // GL_PROJECTION matrix mode (lights are scene relative) or the - // GL_MODELVIEW matrix mode (lights are camera relative, bad!). - static GLfloat light_ambient[] = { 0.5, 0.5, 0.5, 1.0 }; - static GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; - static GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 }; - glLightfv (GL_LIGHT0, GL_AMBIENT, light_ambient); - glLightfv (GL_LIGHT0, GL_DIFFUSE, light_diffuse); - glLightfv (GL_LIGHT0, GL_SPECULAR, light_specular); - glColor3f (1.0, 1.0, 1.0); - - // clear the window - glClearColor (0.5,0.5,0.5,0); - glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - // snapshot camera position (in MS Windows it is changed by the GUI thread) - float view2_xyz[3]; - float view2_hpr[3]; - memcpy (view2_xyz,view_xyz,sizeof(float)*3); - memcpy (view2_hpr,view_hpr,sizeof(float)*3); - - // go to GL_MODELVIEW matrix mode and set the camera - glMatrixMode (GL_MODELVIEW); - glLoadIdentity(); - setCamera (view2_xyz[0],view2_xyz[1],view2_xyz[2], - view2_hpr[0],view2_hpr[1],view2_hpr[2]); - - // set the light position (for some reason we have to do this in model view. - static GLfloat light_position[] = { LIGHTX, LIGHTY, 1.0, 0.0 }; - glLightfv (GL_LIGHT0, GL_POSITION, light_position); - - // draw the background (ground, sky etc) - drawSky (view2_xyz); - drawGround(); - - // draw the little markers on the ground - drawPyramidGrid(); - - // leave openGL in a known state - flat shaded white, no textures - glEnable (GL_LIGHTING); - glDisable (GL_TEXTURE_2D); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - glColor3f (1,1,1); - setColor (1,1,1,1); - - // draw the rest of the objects. set drawing state first. - color[0] = 1; - color[1] = 1; - color[2] = 1; - color[3] = 1; - tnum = 0; - if (fn->step) fn->step (pause); -} - - -int dsGetShadows() -{ - return use_shadows; -} - - -void dsSetShadows (int a) -{ - use_shadows = (a != 0); -} - - -int dsGetTextures() -{ - return use_textures; -} - - -void dsSetTextures (int a) -{ - use_textures = (a != 0); -} - -//*************************************************************************** -// C interface - -// sets lighting and texture modes, sets current color -static void setupDrawingMode() -{ - glEnable (GL_LIGHTING); - if (tnum) { - if (use_textures) { - glEnable (GL_TEXTURE_2D); - texture[tnum]->bind (1); - glEnable (GL_TEXTURE_GEN_S); - glEnable (GL_TEXTURE_GEN_T); - glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); - glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); - static GLfloat s_params[4] = {1.0f,1.0f,0.0f,1}; - static GLfloat t_params[4] = {0.817f,-0.817f,0.817f,1}; - glTexGenfv (GL_S,GL_OBJECT_PLANE,s_params); - glTexGenfv (GL_T,GL_OBJECT_PLANE,t_params); - } - else { - glDisable (GL_TEXTURE_2D); - } - } - else { - glDisable (GL_TEXTURE_2D); - } - setColor (color[0],color[1],color[2],color[3]); - - if (color[3] < 1) { - glEnable (GL_BLEND); - glBlendFunc (GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA); - } - else { - glDisable (GL_BLEND); - } -} - - -static void setShadowDrawingMode() -{ - glDisable (GL_LIGHTING); - if (use_textures) { - glEnable (GL_TEXTURE_2D); - ground_texture->bind (1); - glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY); - glEnable (GL_TEXTURE_2D); - glEnable (GL_TEXTURE_GEN_S); - glEnable (GL_TEXTURE_GEN_T); - glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR); - glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR); - static GLfloat s_params[4] = {ground_scale,0,0,ground_ofsx}; - static GLfloat t_params[4] = {0,ground_scale,0,ground_ofsy}; - glTexGenfv (GL_S,GL_EYE_PLANE,s_params); - glTexGenfv (GL_T,GL_EYE_PLANE,t_params); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY, - GROUND_B*SHADOW_INTENSITY); - } - glDepthRange (0,0.9999); -} - - -extern "C" void dsSimulationLoop (int argc, char **argv, - int window_width, int window_height, - dsFunctions *fn) -{ - if (current_state != 0) dsError ("dsSimulationLoop() called more than once"); - current_state = 1; - - // look for flags that apply to us - int initial_pause = 0; - for (int i=1; iversion > DS_VERSION) - dsDebug ("bad version number in dsFunctions structure"); - - initMotionModel(); - dsPlatformSimLoop (window_width,window_height,fn,initial_pause); - - current_state = 0; -} - - -extern "C" void dsSetViewpoint (float xyz[3], float hpr[3]) -{ - if (current_state < 1) dsError ("dsSetViewpoint() called before simulation started"); - if (xyz) { - view_xyz[0] = xyz[0]; - view_xyz[1] = xyz[1]; - view_xyz[2] = xyz[2]; - } - if (hpr) { - view_hpr[0] = hpr[0]; - view_hpr[1] = hpr[1]; - view_hpr[2] = hpr[2]; - wrapCameraAngles(); - } -} - - -extern "C" void dsGetViewpoint (float xyz[3], float hpr[3]) -{ - if (current_state < 1) dsError ("dsGetViewpoint() called before simulation started"); - if (xyz) { - xyz[0] = view_xyz[0]; - xyz[1] = view_xyz[1]; - xyz[2] = view_xyz[2]; - } - if (hpr) { - hpr[0] = view_hpr[0]; - hpr[1] = view_hpr[1]; - hpr[2] = view_hpr[2]; - } -} - - -extern "C" void dsSetTexture (int texture_number) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - tnum = texture_number; -} - - -extern "C" void dsSetColor (float red, float green, float blue) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - color[0] = red; - color[1] = green; - color[2] = blue; - color[3] = 1; -} - - -extern "C" void dsSetColorAlpha (float red, float green, float blue, - float alpha) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - color[0] = red; - color[1] = green; - color[2] = blue; - color[3] = alpha; -} - - -extern "C" void dsDrawBox (const float pos[3], const float R[12], - const float sides[3]) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos,R); - drawBox (sides); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawBox (sides); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - -extern "C" void dsDrawConvex (const float pos[3], const float R[12], - float *_planes,unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos,R); - drawConvex(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawConvex(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - - -extern "C" void dsDrawSphere (const float pos[3], const float R[12], - float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glEnable (GL_NORMALIZE); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - glScaled (radius,radius,radius); - drawSphere(); - glPopMatrix(); - glDisable (GL_NORMALIZE); - - // draw shadows - if (use_shadows) { - glDisable (GL_LIGHTING); - if (use_textures) { - ground_texture->bind (1); - glEnable (GL_TEXTURE_2D); - glDisable (GL_TEXTURE_GEN_S); - glDisable (GL_TEXTURE_GEN_T); - glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY, - GROUND_B*SHADOW_INTENSITY); - } - glShadeModel (GL_FLAT); - glDepthRange (0,0.9999); - drawSphereShadow (pos[0],pos[1],pos[2],radius); - glDepthRange (0,1); - } -} - - -extern "C" void dsDrawTriangle (const float pos[3], const float R[12], - const float *v0, const float *v1, - const float *v2, int solid) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos,R); - drawTriangle (v0, v1, v2, solid); - glPopMatrix(); -} - - -extern "C" void dsDrawCylinder (const float pos[3], const float R[12], - float length, float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - drawCylinder (length,radius,0); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawCylinder (length,radius,0); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - - -extern "C" void dsDrawCapsule (const float pos[3], const float R[12], - float length, float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - drawCapsule (length,radius); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawCapsule (length,radius); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - - -void dsDrawLine (const float pos1[3], const float pos2[3]) -{ - setupDrawingMode(); - glColor3f (color[0],color[1],color[2]); - glDisable (GL_LIGHTING); - glLineWidth (2); - glShadeModel (GL_FLAT); - glBegin (GL_LINES); - glVertex3f (pos1[0],pos1[1],pos1[2]); - glVertex3f (pos2[0],pos2[1],pos2[2]); - glEnd(); -} - - -void dsDrawBoxD (const double pos[3], const double R[12], - const double sides[3]) -{ - int i; - float pos2[3],R2[12],fsides[3]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - for (i=0; i<3; i++) fsides[i]=(float)sides[i]; - dsDrawBox (pos2,R2,fsides); -} - -extern "C" void dsDrawConvexD (const double pos[3], const double R[12], - double *_planes,unsigned int _planecount, - double *_points, - unsigned int _pointcount, - unsigned int *_polygons) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransformD (pos,R); - drawConvexD(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransformD (pos,R); - drawConvexD(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - -void dsDrawSphereD (const double pos[3], const double R[12], float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawSphere (pos2,R2,radius); -} - - -void dsDrawTriangleD (const double pos[3], const double R[12], - const double *v0, const double *v1, - const double *v2, int solid) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos2,R2); - drawTriangleD (v0, v1, v2, solid); - glPopMatrix(); -} - - -void dsDrawCylinderD (const double pos[3], const double R[12], - float length, float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawCylinder (pos2,R2,length,radius); -} - - -void dsDrawCapsuleD (const double pos[3], const double R[12], - float length, float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawCapsule (pos2,R2,length,radius); -} - - -void dsDrawLineD (const double _pos1[3], const double _pos2[3]) -{ - int i; - float pos1[3],pos2[3]; - for (i=0; i<3; i++) pos1[i]=(float)_pos1[i]; - for (i=0; i<3; i++) pos2[i]=(float)_pos2[i]; - dsDrawLine (pos1,pos2); -} - - -void dsSetSphereQuality (int n) -{ - sphere_quality = n; -} - - -void dsSetCapsuleQuality (int n) -{ - capped_cylinder_quality = n; -} - -void dsSetDrawMode(int mode) -{ - switch(mode) - { - case DS_POLYFILL: - glPolygonMode(GL_FRONT,GL_FILL); - break; - case DS_WIREFRAME: - glPolygonMode(GL_FRONT,GL_LINE); - break; - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/internal.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/internal.h deleted file mode 100644 index de1aa116..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/internal.h +++ /dev/null @@ -1,50 +0,0 @@ -/************************************************************************* - * * - * 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/osx.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/osx.cpp deleted file mode 100644 index 8e669dfa..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/osx.cpp +++ /dev/null @@ -1,543 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -// Platform-specific code for Mac OS X using Carbon+AGL -// -// Created using x11.cpp and the window-initialization -routines from GLFW -// as reference. -// Not thoroughly tested and is certain to contain deficiencies and bugs - -#include -#include "config.h" -#include -#include -#include - -#ifdef HAVE_SYS_TIME_H -#include -#endif - -#include -#include -#include "internal.h" - -#include -#include - -// Global variables - -static bool running = true; // 1 if simulation running -static bool paused = false; // 1 if in `pause' mode -static bool singlestep = false; // 1 if single step key pressed -static bool writeframes = false; // 1 if frame files to be written - -static int windowWidth = -1; -static int windowHeight = -1; -static UInt32 modifierMask = 0; -static int mouseButtonMode = 0; -static bool mouseWithOption = false; // Set if dragging the mouse with alt pressed -static bool mouseWithControl = false; // Set if dragging the mouse with ctrl pressed - -static dsFunctions* functions = NULL; -static WindowRef windowReference; -static AGLContext aglContext; - -static EventHandlerUPP mouseUPP = NULL; -static EventHandlerUPP keyboardUPP = NULL; -static EventHandlerUPP windowUPP = NULL; - -// Describes the window-events we are interested in -EventTypeSpec OSX_WINDOW_EVENT_TYPES[] = { - { kEventClassWindow, kEventWindowBoundsChanged }, - { kEventClassWindow, kEventWindowClose }, - { kEventClassWindow, kEventWindowDrawContent } -}; - -// Describes the mouse-events we are interested in -EventTypeSpec OSX_MOUSE_EVENT_TYPES[] = { - { kEventClassMouse, kEventMouseDown }, - { kEventClassMouse, kEventMouseUp }, - { kEventClassMouse, kEventMouseMoved }, - { kEventClassMouse, kEventMouseDragged } -}; - -// Describes the key-events we are interested in -EventTypeSpec OSX_KEY_EVENT_TYPES[] = { - { kEventClassKeyboard, kEventRawKeyDown }, -// { kEventClassKeyboard, kEventRawKeyUp }, - { kEventClassKeyboard, kEventRawKeyModifiersChanged } -}; - -//*************************************************************************** -// error handling for unix - -static void printMessage (const char *msg1, const 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 (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("Error",msg,ap); - exit (1); -} - - -extern "C" void dsDebug (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("INTERNAL ERROR",msg,ap); - // *((char *)0) = 0; ... commit SEGVicide ? - abort(); -} - -extern "C" void dsPrint (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - vprintf (msg,ap); -} - -static void captureFrame( int num ){ - - fprintf( stderr,"\rcapturing frame %04d", num ); - unsigned char buffer[windowWidth*windowHeight][3]; - glReadPixels( 0, 0, windowWidth, windowHeight, GL_RGB, GL_UNSIGNED_BYTE, &buffer ); - char s[100]; - sprintf (s,"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", windowWidth, windowHeight ); - for( int y=windowHeight-1; y>-1; y-- ){ - fwrite( buffer[y*windowWidth], 3*windowWidth, 1, f ); - } - fclose (f); -} - -extern "C" void dsStop(){ - - running = false; -} - -extern "C" double dsElapsedTime() -{ -#if HAVE_GETTIMEOFDAY - static double prev=0.0; - timeval tv ; - - gettimeofday(&tv, 0); - double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; - if (!prev) - prev=curr; - double retval = curr-prev; - prev=curr; - if (retval>1.0) retval=1.0; - if (retval= ' ' && charCode <= 126 && functions -> command ){ - functions -> command( charCode ); - } - } - else if( ( modifierMask & controlKey ) ){ - // ctrl+key was pressed - switch(uppercase ){ - case 'T': - dsSetTextures( !dsGetTextures() ); - break; - case 'S': - dsSetShadows( !dsGetShadows() ); - break; - case 'X': - running = false; - break; - case 'P': - paused = !paused; - singlestep = false; - break; - case 'O': - if( paused ){ - singlestep = true; - } - break; - 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': - writeframes = !writeframes; - if( writeframes ){ - printf( "Now writing frames to PPM files\n" ); - } - break; - } - - } - return noErr; - case kEventRawKeyModifiersChanged: - if( GetEventParameter( event, kEventParamKeyModifiers, typeUInt32, NULL, sizeof( UInt32 ), NULL, &modifierMask ) == noErr ){ - if( ( mouseWithOption && !( modifierMask & optionKey ) ) || ( mouseWithControl && !( modifierMask & controlKey ) ) ){ - // The mouse was being dragged using either the command-key or the option-key modifier to emulate - // the right button or both left + right. - // Now the modifier-key has been released so the mouseButtonMode must be changed accordingly - // The following releases the right-button. - mouseButtonMode &= (~4); - mouseWithOption = false; - mouseWithControl = false; - } - return noErr; - } - break; - } - return eventNotHandledErr; -} - -OSStatus osxMouseEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - bool buttonDown = false; - HIPoint mouseLocation; - - switch( GetEventKind( event ) ){ - - case kEventMouseDown: - buttonDown = true; - case kEventMouseUp: - if( GetEventParameter( event, kEventParamWindowMouseLocation, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) != noErr ){ - break; - } - EventMouseButton button; - if( GetEventParameter( event, kEventParamMouseButton, typeMouseButton, NULL, sizeof( EventMouseButton ), NULL, &button ) == noErr ){ - - if( button == kEventMouseButtonPrimary ){ - if( modifierMask & controlKey ){ - // Ctrl+button == right - button = kEventMouseButtonSecondary; - mouseWithControl = true; - } - else if( modifierMask & optionKey ){ - // Alt+button == left+right - mouseButtonMode = 5; - mouseWithOption = true; - return noErr; - } - } - if( buttonDown ){ - if( button == kEventMouseButtonPrimary ) mouseButtonMode |= 1; // Left - if( button == kEventMouseButtonTertiary ) mouseButtonMode |= 2; // Middle - if( button == kEventMouseButtonSecondary ) mouseButtonMode |= 4; // Right - } - else{ - if( button == kEventMouseButtonPrimary ) mouseButtonMode &= (~1); // Left - if( button == kEventMouseButtonTertiary ) mouseButtonMode &= (~2); // Middle - if( button == kEventMouseButtonSecondary ) mouseButtonMode &= (~4);// Right - } - return noErr; - } - break; - case kEventMouseMoved: - // NO-OP - return noErr; - case kEventMouseDragged: - // Carbon provides mouse-position deltas, so we don't have to store the old state ourselves - if( GetEventParameter( event, kEventParamMouseDelta, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) == noErr ){ - //printf( "Mode %d\n", mouseButtonMode ); - dsMotion( mouseButtonMode, (int)mouseLocation.x, (int)mouseLocation.y ); - return noErr; - } - break; - case kEventMouseWheelMoved: - // NO-OP - break; - } - return eventNotHandledErr; -} - -static void osxCloseMainWindow(){ - - if( windowUPP != NULL ){ - DisposeEventHandlerUPP( windowUPP ); - windowUPP = NULL; - } - - if( aglContext != NULL ){ - aglSetCurrentContext( NULL ); - aglSetDrawable( aglContext, NULL ); - aglDestroyContext( aglContext ); - aglContext = NULL; - } - - if( windowReference != NULL ){ - ReleaseWindow( windowReference ); - windowReference = NULL; - } -} - -OSStatus osxWindowEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - //printf( "WindowEvent\n" ); - switch( GetEventKind(event) ){ - case kEventWindowBoundsChanged: - WindowRef window; - GetEventParameter( event, kEventParamDirectObject, typeWindowRef, NULL, sizeof(WindowRef), NULL, &window ); - Rect rect; - GetWindowPortBounds( window, &rect ); - windowWidth = rect.right; - windowHeight = rect.bottom; - aglUpdateContext( aglContext ); - break; - case kEventWindowClose: - osxCloseMainWindow(); - exit( 0 ); - return noErr; - case kEventWindowDrawContent: - // NO-OP - break; - } - - return eventNotHandledErr; -} - -static void osxCreateMainWindow( int width, int height ){ - - int redbits = 4; - int greenbits = 4; - int bluebits = 4; - int alphabits = 4; - int depthbits = 16; - - OSStatus error; - - // create pixel format attribute list - - GLint pixelFormatAttributes[256]; - int numAttrs = 0; - - pixelFormatAttributes[numAttrs++] = AGL_RGBA; - pixelFormatAttributes[numAttrs++] = AGL_DOUBLEBUFFER; - - pixelFormatAttributes[numAttrs++] = AGL_RED_SIZE; - pixelFormatAttributes[numAttrs++] = redbits; - pixelFormatAttributes[numAttrs++] = AGL_GREEN_SIZE; - pixelFormatAttributes[numAttrs++] = greenbits; - pixelFormatAttributes[numAttrs++] = AGL_BLUE_SIZE; - pixelFormatAttributes[numAttrs++] = bluebits; - pixelFormatAttributes[numAttrs++] = AGL_ALPHA_SIZE; - pixelFormatAttributes[numAttrs++] = alphabits; - pixelFormatAttributes[numAttrs++] = AGL_DEPTH_SIZE; - pixelFormatAttributes[numAttrs++] = depthbits; - - pixelFormatAttributes[numAttrs++] = AGL_NONE; - - // create pixel format. - - AGLDevice mainMonitor = GetMainDevice(); - AGLPixelFormat pixelFormat = aglChoosePixelFormat( &mainMonitor, 1, pixelFormatAttributes ); - if( pixelFormat == NULL ){ - return; - } - - aglContext = aglCreateContext( pixelFormat, NULL ); - - aglDestroyPixelFormat( pixelFormat ); - - if( aglContext == NULL ){ - osxCloseMainWindow(); - return; - } - - Rect windowContentBounds; - windowContentBounds.left = 0; - windowContentBounds.top = 0; - windowContentBounds.right = width; - windowContentBounds.bottom = height; - - int windowAttributes = kWindowCloseBoxAttribute - | kWindowFullZoomAttribute - | kWindowCollapseBoxAttribute - | kWindowResizableAttribute - | kWindowStandardHandlerAttribute - | kWindowLiveResizeAttribute; - - error = CreateNewWindow( kDocumentWindowClass, windowAttributes, &windowContentBounds, &windowReference ); - if( ( error != noErr ) || ( windowReference == NULL ) ){ - osxCloseMainWindow(); - return; - } - - windowUPP = NewEventHandlerUPP( osxWindowEventHandler ); - - error = InstallWindowEventHandler( windowReference, windowUPP,GetEventTypeCount( OSX_WINDOW_EVENT_TYPES ), OSX_WINDOW_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - osxCloseMainWindow(); - return; - } - - // The process-type must be changed for a ForegroundApplication - // Unless it is a foreground-process, the application will not show in the dock or expose and the window - // will not behave properly. - ProcessSerialNumber currentProcess; - GetCurrentProcess( ¤tProcess ); - TransformProcessType( ¤tProcess, kProcessTransformToForegroundApplication ); - SetFrontProcess( ¤tProcess ); - - SetWindowTitleWithCFString( windowReference, CFSTR( "ODE - Drawstuff" ) ); - RepositionWindow( windowReference, NULL, kWindowCenterOnMainScreen ); - - ShowWindow( windowReference ); - - if( !aglSetDrawable( aglContext, GetWindowPort( windowReference ) ) ){ - osxCloseMainWindow(); - return; - } - - if( !aglSetCurrentContext( aglContext ) ){ - osxCloseMainWindow(); - } - - windowWidth = width; - windowHeight = height; -} - -int osxInstallEventHandlers(){ - - OSStatus error; - - mouseUPP = NewEventHandlerUPP( osxMouseEventHandler ); - - error = InstallEventHandler( GetApplicationEventTarget(), mouseUPP, GetEventTypeCount( OSX_MOUSE_EVENT_TYPES ), OSX_MOUSE_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - return GL_FALSE; - } - - keyboardUPP = NewEventHandlerUPP( osxKeyEventHandler ); - - error = InstallEventHandler( GetApplicationEventTarget(), keyboardUPP, GetEventTypeCount( OSX_KEY_EVENT_TYPES ), OSX_KEY_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - return GL_FALSE; - } - - return GL_TRUE; -} - -extern void dsPlatformSimLoop( int givenWindowWidth, int givenWindowHeight, dsFunctions *fn, int givenPause ){ - - functions = fn; - - paused = givenPause; - - osxCreateMainWindow( givenWindowWidth, givenWindowHeight ); - osxInstallEventHandlers(); - - dsStartGraphics( windowWidth, windowHeight, fn ); - - static bool firsttime=true; - if( firsttime ) - { - 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 (or Ctrl + button) - forward and sideways.\n" - " Left + Right button (or middle button, or Alt + button) - sideways and up.\n" - "\n",DS_VERSION >> 8,DS_VERSION & 0xff - ); - firsttime = false; - } - - if( fn -> start ) fn->start(); - - int frame = 1; - running = true; - while( running ){ - // read in and process all pending events for the main window - EventRef event; - EventTargetRef eventDispatcher = GetEventDispatcherTarget(); - while( ReceiveNextEvent( 0, NULL, 0.0, TRUE, &event ) == noErr ){ - SendEventToEventTarget( event, eventDispatcher ); - ReleaseEvent( event ); - } - - dsDrawFrame( windowWidth, windowHeight, fn, paused && !singlestep ); - singlestep = false; - - glFlush(); - aglSwapBuffers( aglContext ); - - // capture frames if necessary - if( !paused && writeframes ){ - captureFrame( frame ); - frame++; - } - } - - if( fn->stop ) fn->stop(); - dsStopGraphics(); - - osxCloseMainWindow(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/resource.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/resource.h deleted file mode 100644 index 15802b60..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/resource.h +++ /dev/null @@ -1,28 +0,0 @@ -//{{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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/resources.rc b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/resources.rc deleted file mode 100644 index 61611f7b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/resources.rc +++ /dev/null @@ -1,153 +0,0 @@ -//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, GRAYED - 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, GRAYED - 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 - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/windows.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/windows.cpp deleted file mode 100644 index 6e1412ef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/contrib/drawstuff/src/windows.cpp +++ /dev/null @@ -1,530 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -#if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built -#include -#endif -#include -#include "config.h" -#include - -#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 (const char *title, const 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 (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - errorBox ("Warning",msg,ap); -} - - -extern "C" void dsError (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - errorBox ("Error",msg,ap); - exit (1); -} - - -extern "C" void dsDebug (const 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 (const 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 = int(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] = int(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: { - if (renderer_pause) - renderer_ss = 1; - else - SendMessage( hWnd, WM_COMMAND, IDM_PAUSE, 0 ); - 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; - if (!ghInstance) - 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); -} - - -extern "C" double dsElapsedTime() -{ - static double prev=0.0; - double curr = timeGetTime()/1000.0; - if (!prev) - prev=curr; - double retval = curr-prev; - prev=curr; - if (retval>1.0) retval=1.0; - if (retval -#include "config.h" -#include -#include -#include -#include -#include -#include -#include - -#ifdef HAVE_SYS_TIME_H -#include -#endif - -#include -#include -#include "internal.h" - -//*************************************************************************** -// error handling for unix - -static void printMessage (const char *msg1, const 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 (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("Error",msg,ap); - exit (1); -} - - -extern "C" void dsDebug (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("INTERNAL ERROR",msg,ap); - // *((char *)0) = 0; ... commit SEGVicide ? - abort(); -} - - -extern "C" void dsPrint (const 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 attribListDblBuf[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16, - GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None}; - static int attribList[] = {GLX_RGBA, GLX_DEPTH_SIZE,16, - GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None}; - visual = glXChooseVisual (display,screen,attribListDblBuf); - if (!visual) 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); - XCloseDisplay(display); - 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; yred_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); - - static bool firsttime=true; - if (firsttime) - { - 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 - ); - firsttime = false; - } - - 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; -} - - -extern "C" double dsElapsedTime() -{ -#if HAVE_GETTIMEOFDAY - static double prev=0.0; - timeval tv ; - - gettimeofday(&tv, 0); - double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; - if (!prev) - prev=curr; - double retval = curr-prev; - prev=curr; - if (retval>1.0) retval=1.0; - if 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\ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/Makefile.am deleted file mode 100644 index def863ca..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/Makefile.am +++ /dev/null @@ -1,4 +0,0 @@ -if ENABLE_DRAWSTUFF -SUBDIRS = src dstest -EXTRA_DIST = textures -endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/dstest/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/dstest/Makefile.am deleted file mode 100644 index 65e6b89e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/dstest/Makefile.am +++ /dev/null @@ -1,17 +0,0 @@ -noinst_PROGRAMS= dstest -AM_CPPFLAGS = -I$(top_srcdir)/drawstuff/src -I$(top_srcdir)/include - -dstest_SOURCES= dstest.cpp -dstest_LDADD=$(top_builddir)/drawstuff/src/libdrawstuff.la \ - @GL_LIBS@ - -if WIN32 -resources.o: $(top_srcdir)/drawstuff/src/resources.rc $(top_srcdir)/drawstuff/src/resource.h - @WINDRES@ $(top_srcdir)/drawstuff/src/resources.rc -o resources.o - -dstest_LDADD += resources.o -endif - -if X11 -dstest_LDADD+=$(X_PRE_LIBS) $(X_LIBS) $(X_EXTRA_LIBS) -endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/dstest/dstest.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/dstest/dstest.cpp deleted file mode 100644 index 27f042fc..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/dstest/dstest.cpp +++ /dev/null @@ -1,125 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include - - -#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; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/Makefile.am deleted file mode 100644 index f62b32e9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/Makefile.am +++ /dev/null @@ -1,24 +0,0 @@ -# Drawstuff is meant as an aid for testing and not as a full -# rendering library. - -noinst_LTLIBRARIES = libdrawstuff.la -libdrawstuff_la_SOURCES = drawstuff.cpp internal.h -AM_CPPFLAGS = -I$(top_srcdir)/include \ - -DDEFAULT_PATH_TO_TEXTURES='"$(top_srcdir)/drawstuff/textures/"' \ - $(X_CFLAGS) - -if WIN32 -libdrawstuff_la_SOURCES+= windows.cpp resource.h resources.rc -libdrawstuff_la_LIBADD = -lwinmm -lgdi32 -libdrawstuff_la_LDFLAGS = -no-undefined -endif - -if X11 -libdrawstuff_la_SOURCES+= x11.cpp -libdrawstuff_la_LIBADD = $(X_LIBS) -endif - -if OSX -libdrawstuff_la_SOURCES+= osx.cpp -endif - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/drawstuff.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/drawstuff.cpp deleted file mode 100644 index d6f4faa0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/drawstuff.cpp +++ /dev/null @@ -1,1613 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -simple graphics. - -the following command line flags can be used (typically under unix) - -notex Do not use any textures - -noshadow[s] Do not draw any shadows - -pause Start the simulation paused - -TODO ----- - -manage openGL state changes better - -*/ - -#ifdef WIN32 -#include -#endif - -#include -#include "config.h" -#ifdef HAVE_APPLE_OPENGL_FRAMEWORK -#include -#include -#else -#include -#include -#endif - -#include "drawstuff/drawstuff.h" -#include "internal.h" - -//*************************************************************************** -// misc - -#ifndef DEFAULT_PATH_TO_TEXTURES -#ifdef WIN32 -#define DEFAULT_PATH_TO_TEXTURES "..\\textures\\" -#else -#define DEFAULT_PATH_TO_TEXTURES "../textures/" -#endif -#endif - -#ifndef M_PI -#define M_PI (3.14159265358979323846) -#endif - -// constants to convert degrees to radians and the reverse -#define RAD_TO_DEG (180.0/M_PI) -#define DEG_TO_RAD (M_PI/180.0) - -// light vector. LIGHTZ is implicitly 1 -#define LIGHTX (1.0f) -#define LIGHTY (0.4f) - -// ground and sky -#define SHADOW_INTENSITY (0.65f) -#define GROUND_R (0.5f) // ground color for when there's no texture -#define GROUND_G (0.5f) -#define GROUND_B (0.3f) - -const float ground_scale = 1.0f/1.0f; // ground texture scale (1/size) -const float ground_ofsx = 0.5; // offset of ground texture -const float ground_ofsy = 0.5; -const float sky_scale = 1.0f/4.0f; // sky texture scale (1/size) -const float sky_height = 1.0f; // sky height above viewpoint - -//*************************************************************************** -// misc mathematics stuff - -static void normalizeVector3 (float v[3]) -{ - float len = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; - if (len <= 0.0f) { - v[0] = 1; - v[1] = 0; - v[2] = 0; - } - else { - len = 1.0f / (float)sqrt(len); - v[0] *= len; - v[1] *= len; - v[2] *= len; - } -} - -//*************************************************************************** -// PPM image object - -typedef unsigned char byte; - -class Image { - int image_width,image_height; - byte *image_data; -public: - Image (char *filename); - // load from PPM file - ~Image(); - int width() { return image_width; } - int height() { return image_height; } - byte *data() { return image_data; } -}; - - -// skip over whitespace and comments in a stream. - -static void skipWhiteSpace (char *filename, FILE *f) -{ - int c,d; - for(;;) { - c = fgetc(f); - if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename); - - // skip comments - if (c == '#') { - do { - d = fgetc(f); - if (d==EOF) dsError ("unexpected end of file in \"%s\"",filename); - } while (d != '\n'); - continue; - } - - if (c > ' ') { - ungetc (c,f); - return; - } - } -} - - -// read a number from a stream, this return 0 if there is none (that's okay -// because 0 is a bad value for all PPM numbers anyway). - -static int readNumber (char *filename, FILE *f) -{ - int c,n=0; - for(;;) { - c = fgetc(f); - if (c==EOF) dsError ("unexpected end of file in \"%s\"",filename); - if (c >= '0' && c <= '9') n = n*10 + (c - '0'); - else { - ungetc (c,f); - return n; - } - } -} - - -Image::Image (char *filename) -{ - FILE *f = fopen (filename,"rb"); - if (!f) dsError ("Can't open image file `%s'",filename); - - // read in header - if (fgetc(f) != 'P' || fgetc(f) != '6') - dsError ("image file \"%s\" is not a binary PPM (no P6 header)",filename); - skipWhiteSpace (filename,f); - - // read in image parameters - image_width = readNumber (filename,f); - skipWhiteSpace (filename,f); - image_height = readNumber (filename,f); - skipWhiteSpace (filename,f); - int max_value = readNumber (filename,f); - - // check values - if (image_width < 1 || image_height < 1) - dsError ("bad image file \"%s\"",filename); - if (max_value != 255) - dsError ("image file \"%s\" must have color range of 255",filename); - - // read either nothing, LF (10), or CR,LF (13,10) - int c = fgetc(f); - if (c == 10) { - // LF - } - else if (c == 13) { - // CR - c = fgetc(f); - if (c != 10) ungetc (c,f); - } - else ungetc (c,f); - - // read in rest of data - image_data = new byte [image_width*image_height*3]; - if (fread (image_data,image_width*image_height*3,1,f) != 1) - dsError ("Can not read data from image file `%s'",filename); - fclose (f); -} - - -Image::~Image() -{ - delete[] image_data; -} - -//*************************************************************************** -// Texture object. - -class Texture { - Image *image; - GLuint name; -public: - Texture (char *filename); - ~Texture(); - void bind (int modulate); -}; - - -Texture::Texture (char *filename) -{ - image = new Image (filename); - glGenTextures (1,&name); - glBindTexture (GL_TEXTURE_2D,name); - - // set pixel unpacking mode - glPixelStorei (GL_UNPACK_SWAP_BYTES, 0); - glPixelStorei (GL_UNPACK_ROW_LENGTH, 0); - glPixelStorei (GL_UNPACK_ALIGNMENT, 1); - glPixelStorei (GL_UNPACK_SKIP_ROWS, 0); - glPixelStorei (GL_UNPACK_SKIP_PIXELS, 0); - - // glTexImage2D (GL_TEXTURE_2D, 0, 3, image->width(), image->height(), 0, - // GL_RGB, GL_UNSIGNED_BYTE, image->data()); - gluBuild2DMipmaps (GL_TEXTURE_2D, 3, image->width(), image->height(), - GL_RGB, GL_UNSIGNED_BYTE, image->data()); - - // set texture parameters - will these also be bound to the texture??? - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); - - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - glTexParameterf (GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, - GL_LINEAR_MIPMAP_LINEAR); - - glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL); -} - - -Texture::~Texture() -{ - delete image; - glDeleteTextures (1,&name); -} - - -void Texture::bind (int modulate) -{ - glBindTexture (GL_TEXTURE_2D,name); - glTexEnvi (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, - modulate ? GL_MODULATE : GL_DECAL); -} - -//*************************************************************************** -// the current drawing state (for when the user's step function is drawing) - -static float color[4] = {0,0,0,0}; // current r,g,b,alpha color -static int tnum = 0; // current texture number - -//*************************************************************************** -// OpenGL utility stuff - -static void setCamera (float x, float y, float z, float h, float p, float r) -{ - glMatrixMode (GL_MODELVIEW); - glLoadIdentity(); - glRotatef (90, 0,0,1); - glRotatef (90, 0,1,0); - glRotatef (r, 1,0,0); - glRotatef (p, 0,1,0); - glRotatef (-h, 0,0,1); - glTranslatef (-x,-y,-z); -} - - -// sets the material color, not the light color - -static void setColor (float r, float g, float b, float alpha) -{ - GLfloat light_ambient[4],light_diffuse[4],light_specular[4]; - light_ambient[0] = r*0.3f; - light_ambient[1] = g*0.3f; - light_ambient[2] = b*0.3f; - light_ambient[3] = alpha; - light_diffuse[0] = r*0.7f; - light_diffuse[1] = g*0.7f; - light_diffuse[2] = b*0.7f; - light_diffuse[3] = alpha; - light_specular[0] = r*0.2f; - light_specular[1] = g*0.2f; - light_specular[2] = b*0.2f; - light_specular[3] = alpha; - glMaterialfv (GL_FRONT_AND_BACK, GL_AMBIENT, light_ambient); - glMaterialfv (GL_FRONT_AND_BACK, GL_DIFFUSE, light_diffuse); - glMaterialfv (GL_FRONT_AND_BACK, GL_SPECULAR, light_specular); - glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, 5.0f); -} - - -static void setTransform (const float pos[3], const float R[12]) -{ - GLfloat matrix[16]; - matrix[0]=R[0]; - matrix[1]=R[4]; - matrix[2]=R[8]; - matrix[3]=0; - matrix[4]=R[1]; - matrix[5]=R[5]; - matrix[6]=R[9]; - matrix[7]=0; - matrix[8]=R[2]; - matrix[9]=R[6]; - matrix[10]=R[10]; - matrix[11]=0; - matrix[12]=pos[0]; - matrix[13]=pos[1]; - matrix[14]=pos[2]; - matrix[15]=1; - glPushMatrix(); - glMultMatrixf (matrix); -} -static void setTransformD (const double pos[3], const double R[12]) -{ - GLdouble matrix[16]; - matrix[0]=R[0]; - matrix[1]=R[4]; - matrix[2]=R[8]; - matrix[3]=0; - matrix[4]=R[1]; - matrix[5]=R[5]; - matrix[6]=R[9]; - matrix[7]=0; - matrix[8]=R[2]; - matrix[9]=R[6]; - matrix[10]=R[10]; - matrix[11]=0; - matrix[12]=pos[0]; - matrix[13]=pos[1]; - matrix[14]=pos[2]; - matrix[15]=1; - glPushMatrix(); - glMultMatrixd (matrix); -} - - -// set shadow projection transform - -static void setShadowTransform() -{ - GLfloat matrix[16]; - for (int i=0; i<16; i++) matrix[i] = 0; - matrix[0]=1; - matrix[5]=1; - matrix[8]=-LIGHTX; - matrix[9]=-LIGHTY; - matrix[15]=1; - glPushMatrix(); - glMultMatrixf (matrix); -} - -static void drawConvex (float *_planes,unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons) -{ - unsigned int polyindex=0; - for(unsigned int i=0;i<_planecount;++i) - { - unsigned int pointcount=_polygons[polyindex]; - polyindex++; - glBegin (GL_POLYGON); - glNormal3f(_planes[(i*4)+0], - _planes[(i*4)+1], - _planes[(i*4)+2]); - for(unsigned int j=0;j 0) { - float q1[3],q2[3],q3[3]; // sub-vertices - for (i=0; i<3; i++) { - q1[i] = 0.5f*(p1[i]+p2[i]); - q2[i] = 0.5f*(p2[i]+p3[i]); - q3[i] = 0.5f*(p3[i]+p1[i]); - } - float length1 = (float)(1.0/sqrt(q1[0]*q1[0]+q1[1]*q1[1]+q1[2]*q1[2])); - float length2 = (float)(1.0/sqrt(q2[0]*q2[0]+q2[1]*q2[1]+q2[2]*q2[2])); - float length3 = (float)(1.0/sqrt(q3[0]*q3[0]+q3[1]*q3[1]+q3[2]*q3[2])); - for (i=0; i<3; i++) { - q1[i] *= length1; - q2[i] *= length2; - q3[i] *= length3; - } - drawPatch (p1,q1,q3,level-1); - drawPatch (q1,p2,q2,level-1); - drawPatch (q1,q2,q3,level-1); - drawPatch (q3,q2,p3,level-1); - } - else { - glNormal3f (p1[0],p1[1],p1[2]); - glVertex3f (p1[0],p1[1],p1[2]); - glNormal3f (p2[0],p2[1],p2[2]); - glVertex3f (p2[0],p2[1],p2[2]); - glNormal3f (p3[0],p3[1],p3[2]); - glVertex3f (p3[0],p3[1],p3[2]); - } -} - - -// draw a sphere of radius 1 - -static int sphere_quality = 1; - -static void drawSphere() -{ - // icosahedron data for an icosahedron of radius 1.0 -# define ICX 0.525731112119133606f -# define ICZ 0.850650808352039932f - static GLfloat idata[12][3] = { - {-ICX, 0, ICZ}, - {ICX, 0, ICZ}, - {-ICX, 0, -ICZ}, - {ICX, 0, -ICZ}, - {0, ICZ, ICX}, - {0, ICZ, -ICX}, - {0, -ICZ, ICX}, - {0, -ICZ, -ICX}, - {ICZ, ICX, 0}, - {-ICZ, ICX, 0}, - {ICZ, -ICX, 0}, - {-ICZ, -ICX, 0} - }; - - static int index[20][3] = { - {0, 4, 1}, {0, 9, 4}, - {9, 5, 4}, {4, 5, 8}, - {4, 8, 1}, {8, 10, 1}, - {8, 3, 10}, {5, 3, 8}, - {5, 2, 3}, {2, 7, 3}, - {7, 10, 3}, {7, 6, 10}, - {7, 11, 6}, {11, 0, 6}, - {0, 1, 6}, {6, 1, 10}, - {9, 0, 11}, {9, 11, 2}, - {9, 2, 5}, {7, 2, 11}, - }; - - static GLuint listnum = 0; - if (listnum==0) { - listnum = glGenLists (1); - glNewList (listnum,GL_COMPILE); - glBegin (GL_TRIANGLES); - for (int i=0; i<20; i++) { - drawPatch (&idata[index[i][2]][0],&idata[index[i][1]][0], - &idata[index[i][0]][0],sphere_quality); - } - glEnd(); - glEndList(); - } - glCallList (listnum); -} - - -static void drawSphereShadow (float px, float py, float pz, float radius) -{ - // calculate shadow constants based on light vector - static int init=0; - static float len2,len1,scale; - if (!init) { - len2 = LIGHTX*LIGHTX + LIGHTY*LIGHTY; - len1 = 1.0f/(float)sqrt(len2); - scale = (float) sqrt(len2 + 1); - init = 1; - } - - // map sphere center to ground plane based on light vector - px -= LIGHTX*pz; - py -= LIGHTY*pz; - - const float kx = 0.96592582628907f; - const float ky = 0.25881904510252f; - float x=radius, y=0; - - glBegin (GL_TRIANGLE_FAN); - for (int i=0; i<24; i++) { - // for all points on circle, scale to elongated rotated shadow and draw - float x2 = (LIGHTX*x*scale - LIGHTY*y)*len1 + px; - float y2 = (LIGHTY*x*scale + LIGHTX*y)*len1 + py; - glTexCoord2f (x2*ground_scale+ground_ofsx,y2*ground_scale+ground_ofsy); - glVertex3f (x2,y2,0); - - // rotate [x,y] vector - float xtmp = kx*x - ky*y; - y = ky*x + kx*y; - x = xtmp; - } - glEnd(); -} - - -static void drawTriangle (const float *v0, const float *v1, const float *v2, int solid) -{ - float u[3],v[3],normal[3]; - u[0] = v1[0] - v0[0]; - u[1] = v1[1] - v0[1]; - u[2] = v1[2] - v0[2]; - v[0] = v2[0] - v0[0]; - v[1] = v2[1] - v0[1]; - v[2] = v2[2] - v0[2]; - dCROSS (normal,=,u,v); - normalizeVector3 (normal); - - glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP); - glNormal3fv (normal); - glVertex3fv (v0); - glVertex3fv (v1); - glVertex3fv (v2); - glEnd(); -} - -static void drawTriangleD (const double *v0, const double *v1, const double *v2, int solid) -{ - float u[3],v[3],normal[3]; - u[0] = float( v1[0] - v0[0] ); - u[1] = float( v1[1] - v0[1] ); - u[2] = float( v1[2] - v0[2] ); - v[0] = float( v2[0] - v0[0] ); - v[1] = float( v2[1] - v0[1] ); - v[2] = float( v2[2] - v0[2] ); - dCROSS (normal,=,u,v); - normalizeVector3 (normal); - - glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP); - glNormal3fv (normal); - glVertex3dv (v0); - glVertex3dv (v1); - glVertex3dv (v2); - glEnd(); -} - - -// draw a capped cylinder of length l and radius r, aligned along the x axis - -static int capped_cylinder_quality = 3; - -static void drawCapsule (float l, float r) -{ - int i,j; - float tmp,nx,ny,nz,start_nx,start_ny,a,ca,sa; - // number of sides to the cylinder (divisible by 4): - const int n = capped_cylinder_quality*4; - - l *= 0.5; - a = float(M_PI*2.0)/float(n); - sa = (float) sin(a); - ca = (float) cos(a); - - // draw cylinder body - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,l); - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,-l); - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw first cylinder cap - start_nx = 0; - start_ny = 1; - for (j=0; j<(n/4); j++) { - // get start_n2 = rotated start_n - float start_nx2 = ca*start_nx + sa*start_ny; - float start_ny2 = -sa*start_nx + ca*start_ny; - // get n=start_n and n2=start_n2 - nx = start_nx; ny = start_ny; nz = 0; - float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0; - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny2,nz2,nx2); - glVertex3d (ny2*r,nz2*r,l+nx2*r); - glNormal3d (ny,nz,nx); - glVertex3d (ny*r,nz*r,l+nx*r); - // rotate n,n2 - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - tmp = ca*ny2- sa*nz2; - nz2 = sa*ny2 + ca*nz2; - ny2 = tmp; - } - glEnd(); - start_nx = start_nx2; - start_ny = start_ny2; - } - - // draw second cylinder cap - start_nx = 0; - start_ny = 1; - for (j=0; j<(n/4); j++) { - // get start_n2 = rotated start_n - float start_nx2 = ca*start_nx - sa*start_ny; - float start_ny2 = sa*start_nx + ca*start_ny; - // get n=start_n and n2=start_n2 - nx = start_nx; ny = start_ny; nz = 0; - float nx2 = start_nx2, ny2 = start_ny2, nz2 = 0; - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny,nz,nx); - glVertex3d (ny*r,nz*r,-l+nx*r); - glNormal3d (ny2,nz2,nx2); - glVertex3d (ny2*r,nz2*r,-l+nx2*r); - // rotate n,n2 - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - tmp = ca*ny2- sa*nz2; - nz2 = sa*ny2 + ca*nz2; - ny2 = tmp; - } - glEnd(); - start_nx = start_nx2; - start_ny = start_ny2; - } - - glPopMatrix(); -} - - -// draw a cylinder of length l and radius r, aligned along the z axis - -static void drawCylinder (float l, float r, float zoffset) -{ - int i; - float tmp,ny,nz,a,ca,sa; - const int n = 24; // number of sides to the cylinder (divisible by 4) - - l *= 0.5; - a = float(M_PI*2.0)/float(n); - sa = (float) sin(a); - ca = (float) cos(a); - - // draw cylinder body - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_STRIP); - for (i=0; i<=n; i++) { - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,l+zoffset); - glNormal3d (ny,nz,0); - glVertex3d (ny*r,nz*r,-l+zoffset); - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw top cap - glShadeModel (GL_FLAT); - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_FAN); - glNormal3d (0,0,1); - glVertex3d (0,0,l+zoffset); - for (i=0; i<=n; i++) { - if (i==1 || i==n/2+1) - setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); - glNormal3d (0,0,1); - glVertex3d (ny*r,nz*r,l+zoffset); - if (i==1 || i==n/2+1) - setColor (color[0],color[1],color[2],color[3]); - - // rotate ny,nz - tmp = ca*ny - sa*nz; - nz = sa*ny + ca*nz; - ny = tmp; - } - glEnd(); - - // draw bottom cap - ny=1; nz=0; // normal vector = (0,ny,nz) - glBegin (GL_TRIANGLE_FAN); - glNormal3d (0,0,-1); - glVertex3d (0,0,-l+zoffset); - for (i=0; i<=n; i++) { - if (i==1 || i==n/2+1) - setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); - glNormal3d (0,0,-1); - glVertex3d (ny*r,nz*r,-l+zoffset); - if (i==1 || i==n/2+1) - setColor (color[0],color[1],color[2],color[3]); - - // rotate ny,nz - tmp = ca*ny + sa*nz; - nz = -sa*ny + ca*nz; - ny = tmp; - } - glEnd(); -} - -//*************************************************************************** -// motion model - -// current camera position and orientation -static float view_xyz[3]; // position x,y,z -static float view_hpr[3]; // heading, pitch, roll (degrees) - - -// initialize the above variables - -static void initMotionModel() -{ - view_xyz[0] = 2; - view_xyz[1] = 0; - view_xyz[2] = 1; - view_hpr[0] = 180; - view_hpr[1] = 0; - view_hpr[2] = 0; -} - - -static void wrapCameraAngles() -{ - for (int i=0; i<3; i++) { - while (view_hpr[i] > 180) view_hpr[i] -= 360; - while (view_hpr[i] < -180) view_hpr[i] += 360; - } -} - - -// call this to update the current camera position. the bits in `mode' say -// if the left (1), middle (2) or right (4) mouse button is pressed, and -// (deltax,deltay) is the amount by which the mouse pointer has moved. - -void dsMotion (int mode, int deltax, int deltay) -{ - float side = 0.01f * float(deltax); - float fwd = (mode==4) ? (0.01f * float(deltay)) : 0.0f; - float s = (float) sin (view_hpr[0]*DEG_TO_RAD); - float c = (float) cos (view_hpr[0]*DEG_TO_RAD); - - if (mode==1) { - view_hpr[0] += float (deltax) * 0.5f; - view_hpr[1] += float (deltay) * 0.5f; - } - else { - view_xyz[0] += -s*side + c*fwd; - view_xyz[1] += c*side + s*fwd; - if (mode==2 || mode==5) view_xyz[2] += 0.01f * float(deltay); - } - wrapCameraAngles(); -} - -//*************************************************************************** -// drawing loop stuff - -// the current state: -// 0 = uninitialized -// 1 = dsSimulationLoop() called -// 2 = dsDrawFrame() called -static int current_state = 0; - -// textures and shadows -static int use_textures=1; // 1 if textures to be drawn -static int use_shadows=1; // 1 if shadows to be drawn -static Texture *sky_texture = 0; -static Texture *ground_texture = 0; -static Texture *wood_texture = 0; -static Texture *checkered_texture = 0; - -static Texture *texture[4+1]; // +1 since index 0 is not used - - - -#ifndef macintosh - -void dsStartGraphics (int width, int height, dsFunctions *fn) -{ - - const char *prefix = DEFAULT_PATH_TO_TEXTURES; - if (fn->version >= 2 && fn->path_to_textures) prefix = fn->path_to_textures; - char *s = (char*) alloca (strlen(prefix) + 20); - - strcpy (s,prefix); - strcat (s,"/sky.ppm"); - texture[DS_SKY] = sky_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,"/ground.ppm"); - texture[DS_GROUND] = ground_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,"/wood.ppm"); - texture[DS_WOOD] = wood_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,"/checkered.ppm"); - texture[DS_CHECKERED] = checkered_texture = new Texture (s); -} - -#else // macintosh - -void dsStartGraphics (int width, int height, dsFunctions *fn) -{ - - // All examples build into the same dir - char *prefix = "::::drawstuff:textures"; - char *s = (char*) alloca (strlen(prefix) + 20); - - strcpy (s,prefix); - strcat (s,":sky.ppm"); - sky_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,":ground.ppm"); - ground_texture = new Texture (s); - - strcpy (s,prefix); - strcat (s,":wood.ppm"); - wood_texture = new Texture (s); -} - -#endif - - -void dsStopGraphics() -{ - delete sky_texture; - delete ground_texture; - delete wood_texture; - sky_texture = 0; - ground_texture = 0; - wood_texture = 0; -} - - -static void drawSky (float view_xyz[3]) -{ - glDisable (GL_LIGHTING); - if (use_textures) { - glEnable (GL_TEXTURE_2D); - sky_texture->bind (0); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (0,0.5,1.0); - } - - // make sure sky depth is as far back as possible - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LEQUAL); - glDepthRange (1,1); - - const float ssize = 1000.0f; - static float offset = 0.0f; - - float x = ssize*sky_scale; - float z = view_xyz[2] + sky_height; - - glBegin (GL_QUADS); - glNormal3f (0,0,-1); - glTexCoord2f (-x+offset,-x+offset); - glVertex3f (-ssize+view_xyz[0],-ssize+view_xyz[1],z); - glTexCoord2f (-x+offset,x+offset); - glVertex3f (-ssize+view_xyz[0],ssize+view_xyz[1],z); - glTexCoord2f (x+offset,x+offset); - glVertex3f (ssize+view_xyz[0],ssize+view_xyz[1],z); - glTexCoord2f (x+offset,-x+offset); - glVertex3f (ssize+view_xyz[0],-ssize+view_xyz[1],z); - glEnd(); - - offset = offset + 0.002f; - if (offset > 1) offset -= 1; - - glDepthFunc (GL_LESS); - glDepthRange (0,1); -} - - -static void drawGround() -{ - glDisable (GL_LIGHTING); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - // glDepthRange (1,1); - - if (use_textures) { - glEnable (GL_TEXTURE_2D); - ground_texture->bind (0); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (GROUND_R,GROUND_G,GROUND_B); - } - - // ground fog seems to cause problems with TNT2 under windows - /* - GLfloat fogColor[4] = {0.5, 0.5, 0.5, 1}; - glEnable (GL_FOG); - glFogi (GL_FOG_MODE, GL_EXP2); - glFogfv (GL_FOG_COLOR, fogColor); - glFogf (GL_FOG_DENSITY, 0.05f); - glHint (GL_FOG_HINT, GL_NICEST); // GL_DONT_CARE); - glFogf (GL_FOG_START, 1.0); - glFogf (GL_FOG_END, 5.0); - */ - - const float gsize = 100.0f; - const float offset = 0; // -0.001f; ... polygon offsetting doesn't work well - - glBegin (GL_QUADS); - glNormal3f (0,0,1); - glTexCoord2f (-gsize*ground_scale + ground_ofsx, - -gsize*ground_scale + ground_ofsy); - glVertex3f (-gsize,-gsize,offset); - glTexCoord2f (gsize*ground_scale + ground_ofsx, - -gsize*ground_scale + ground_ofsy); - glVertex3f (gsize,-gsize,offset); - glTexCoord2f (gsize*ground_scale + ground_ofsx, - gsize*ground_scale + ground_ofsy); - glVertex3f (gsize,gsize,offset); - glTexCoord2f (-gsize*ground_scale + ground_ofsx, - gsize*ground_scale + ground_ofsy); - glVertex3f (-gsize,gsize,offset); - glEnd(); - - glDisable (GL_FOG); -} - - -static void drawPyramidGrid() -{ - // setup stuff - glEnable (GL_LIGHTING); - glDisable (GL_TEXTURE_2D); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - - // draw the pyramid grid - for (int i=-1; i<=1; i++) { - for (int j=-1; j<=1; j++) { - glPushMatrix(); - glTranslatef ((float)i,(float)j,(float)0); - if (i==1 && j==0) setColor (1,0,0,1); - else if (i==0 && j==1) setColor (0,0,1,1); - else setColor (1,1,0,1); - const float k = 0.03f; - glBegin (GL_TRIANGLE_FAN); - glNormal3f (0,-1,1); - glVertex3f (0,0,k); - glVertex3f (-k,-k,0); - glVertex3f ( k,-k,0); - glNormal3f (1,0,1); - glVertex3f ( k, k,0); - glNormal3f (0,1,1); - glVertex3f (-k, k,0); - glNormal3f (-1,0,1); - glVertex3f (-k,-k,0); - glEnd(); - glPopMatrix(); - } - } -} - - -void dsDrawFrame (int width, int height, dsFunctions *fn, int pause) -{ - if (current_state < 1) dsDebug ("internal error"); - current_state = 2; - - // setup stuff - glEnable (GL_LIGHTING); - glEnable (GL_LIGHT0); - glDisable (GL_TEXTURE_2D); - glDisable (GL_TEXTURE_GEN_S); - glDisable (GL_TEXTURE_GEN_T); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - glEnable (GL_CULL_FACE); - glCullFace (GL_BACK); - glFrontFace (GL_CCW); - - // setup viewport - glViewport (0,0,width,height); - glMatrixMode (GL_PROJECTION); - glLoadIdentity(); - const float vnear = 0.1f; - const float vfar = 100.0f; - const float k = 0.8f; // view scale, 1 = +/- 45 degrees - if (width >= height) { - float k2 = float(height)/float(width); - glFrustum (-vnear*k,vnear*k,-vnear*k*k2,vnear*k*k2,vnear,vfar); - } - else { - float k2 = float(width)/float(height); - glFrustum (-vnear*k*k2,vnear*k*k2,-vnear*k,vnear*k,vnear,vfar); - } - - // setup lights. it makes a difference whether this is done in the - // GL_PROJECTION matrix mode (lights are scene relative) or the - // GL_MODELVIEW matrix mode (lights are camera relative, bad!). - static GLfloat light_ambient[] = { 0.5, 0.5, 0.5, 1.0 }; - static GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; - static GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 }; - glLightfv (GL_LIGHT0, GL_AMBIENT, light_ambient); - glLightfv (GL_LIGHT0, GL_DIFFUSE, light_diffuse); - glLightfv (GL_LIGHT0, GL_SPECULAR, light_specular); - glColor3f (1.0, 1.0, 1.0); - - // clear the window - glClearColor (0.5,0.5,0.5,0); - glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - // snapshot camera position (in MS Windows it is changed by the GUI thread) - float view2_xyz[3]; - float view2_hpr[3]; - memcpy (view2_xyz,view_xyz,sizeof(float)*3); - memcpy (view2_hpr,view_hpr,sizeof(float)*3); - - // go to GL_MODELVIEW matrix mode and set the camera - glMatrixMode (GL_MODELVIEW); - glLoadIdentity(); - setCamera (view2_xyz[0],view2_xyz[1],view2_xyz[2], - view2_hpr[0],view2_hpr[1],view2_hpr[2]); - - // set the light position (for some reason we have to do this in model view. - static GLfloat light_position[] = { LIGHTX, LIGHTY, 1.0, 0.0 }; - glLightfv (GL_LIGHT0, GL_POSITION, light_position); - - // draw the background (ground, sky etc) - drawSky (view2_xyz); - drawGround(); - - // draw the little markers on the ground - drawPyramidGrid(); - - // leave openGL in a known state - flat shaded white, no textures - glEnable (GL_LIGHTING); - glDisable (GL_TEXTURE_2D); - glShadeModel (GL_FLAT); - glEnable (GL_DEPTH_TEST); - glDepthFunc (GL_LESS); - glColor3f (1,1,1); - setColor (1,1,1,1); - - // draw the rest of the objects. set drawing state first. - color[0] = 1; - color[1] = 1; - color[2] = 1; - color[3] = 1; - tnum = 0; - if (fn->step) fn->step (pause); -} - - -int dsGetShadows() -{ - return use_shadows; -} - - -void dsSetShadows (int a) -{ - use_shadows = (a != 0); -} - - -int dsGetTextures() -{ - return use_textures; -} - - -void dsSetTextures (int a) -{ - use_textures = (a != 0); -} - -//*************************************************************************** -// C interface - -// sets lighting and texture modes, sets current color -static void setupDrawingMode() -{ - glEnable (GL_LIGHTING); - if (tnum) { - if (use_textures) { - glEnable (GL_TEXTURE_2D); - texture[tnum]->bind (1); - glEnable (GL_TEXTURE_GEN_S); - glEnable (GL_TEXTURE_GEN_T); - glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); - glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); - static GLfloat s_params[4] = {1.0f,1.0f,0.0f,1}; - static GLfloat t_params[4] = {0.817f,-0.817f,0.817f,1}; - glTexGenfv (GL_S,GL_OBJECT_PLANE,s_params); - glTexGenfv (GL_T,GL_OBJECT_PLANE,t_params); - } - else { - glDisable (GL_TEXTURE_2D); - } - } - else { - glDisable (GL_TEXTURE_2D); - } - setColor (color[0],color[1],color[2],color[3]); - - if (color[3] < 1) { - glEnable (GL_BLEND); - glBlendFunc (GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA); - } - else { - glDisable (GL_BLEND); - } -} - - -static void setShadowDrawingMode() -{ - glDisable (GL_LIGHTING); - if (use_textures) { - glEnable (GL_TEXTURE_2D); - ground_texture->bind (1); - glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY); - glEnable (GL_TEXTURE_2D); - glEnable (GL_TEXTURE_GEN_S); - glEnable (GL_TEXTURE_GEN_T); - glTexGeni (GL_S,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR); - glTexGeni (GL_T,GL_TEXTURE_GEN_MODE,GL_EYE_LINEAR); - static GLfloat s_params[4] = {ground_scale,0,0,ground_ofsx}; - static GLfloat t_params[4] = {0,ground_scale,0,ground_ofsy}; - glTexGenfv (GL_S,GL_EYE_PLANE,s_params); - glTexGenfv (GL_T,GL_EYE_PLANE,t_params); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY, - GROUND_B*SHADOW_INTENSITY); - } - glDepthRange (0,0.9999); -} - - -extern "C" void dsSimulationLoop (int argc, char **argv, - int window_width, int window_height, - dsFunctions *fn) -{ - if (current_state != 0) dsError ("dsSimulationLoop() called more than once"); - current_state = 1; - - // look for flags that apply to us - int initial_pause = 0; - for (int i=1; iversion > DS_VERSION) - dsDebug ("bad version number in dsFunctions structure"); - - initMotionModel(); - dsPlatformSimLoop (window_width,window_height,fn,initial_pause); - - current_state = 0; -} - - -extern "C" void dsSetViewpoint (float xyz[3], float hpr[3]) -{ - if (current_state < 1) dsError ("dsSetViewpoint() called before simulation started"); - if (xyz) { - view_xyz[0] = xyz[0]; - view_xyz[1] = xyz[1]; - view_xyz[2] = xyz[2]; - } - if (hpr) { - view_hpr[0] = hpr[0]; - view_hpr[1] = hpr[1]; - view_hpr[2] = hpr[2]; - wrapCameraAngles(); - } -} - - -extern "C" void dsGetViewpoint (float xyz[3], float hpr[3]) -{ - if (current_state < 1) dsError ("dsGetViewpoint() called before simulation started"); - if (xyz) { - xyz[0] = view_xyz[0]; - xyz[1] = view_xyz[1]; - xyz[2] = view_xyz[2]; - } - if (hpr) { - hpr[0] = view_hpr[0]; - hpr[1] = view_hpr[1]; - hpr[2] = view_hpr[2]; - } -} - - -extern "C" void dsSetTexture (int texture_number) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - tnum = texture_number; -} - - -extern "C" void dsSetColor (float red, float green, float blue) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - color[0] = red; - color[1] = green; - color[2] = blue; - color[3] = 1; -} - - -extern "C" void dsSetColorAlpha (float red, float green, float blue, - float alpha) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - color[0] = red; - color[1] = green; - color[2] = blue; - color[3] = alpha; -} - - -extern "C" void dsDrawBox (const float pos[3], const float R[12], - const float sides[3]) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos,R); - drawBox (sides); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawBox (sides); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - -extern "C" void dsDrawConvex (const float pos[3], const float R[12], - float *_planes,unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos,R); - drawConvex(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawConvex(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - - -extern "C" void dsDrawSphere (const float pos[3], const float R[12], - float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glEnable (GL_NORMALIZE); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - glScaled (radius,radius,radius); - drawSphere(); - glPopMatrix(); - glDisable (GL_NORMALIZE); - - // draw shadows - if (use_shadows) { - glDisable (GL_LIGHTING); - if (use_textures) { - ground_texture->bind (1); - glEnable (GL_TEXTURE_2D); - glDisable (GL_TEXTURE_GEN_S); - glDisable (GL_TEXTURE_GEN_T); - glColor3f (SHADOW_INTENSITY,SHADOW_INTENSITY,SHADOW_INTENSITY); - } - else { - glDisable (GL_TEXTURE_2D); - glColor3f (GROUND_R*SHADOW_INTENSITY,GROUND_G*SHADOW_INTENSITY, - GROUND_B*SHADOW_INTENSITY); - } - glShadeModel (GL_FLAT); - glDepthRange (0,0.9999); - drawSphereShadow (pos[0],pos[1],pos[2],radius); - glDepthRange (0,1); - } -} - - -extern "C" void dsDrawTriangle (const float pos[3], const float R[12], - const float *v0, const float *v1, - const float *v2, int solid) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos,R); - drawTriangle (v0, v1, v2, solid); - glPopMatrix(); -} - - -extern "C" void dsDrawCylinder (const float pos[3], const float R[12], - float length, float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - drawCylinder (length,radius,0); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawCylinder (length,radius,0); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - - -extern "C" void dsDrawCapsule (const float pos[3], const float R[12], - float length, float radius) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_SMOOTH); - setTransform (pos,R); - drawCapsule (length,radius); - glPopMatrix(); - - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransform (pos,R); - drawCapsule (length,radius); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - - -void dsDrawLine (const float pos1[3], const float pos2[3]) -{ - setupDrawingMode(); - glColor3f (color[0],color[1],color[2]); - glDisable (GL_LIGHTING); - glLineWidth (2); - glShadeModel (GL_FLAT); - glBegin (GL_LINES); - glVertex3f (pos1[0],pos1[1],pos1[2]); - glVertex3f (pos2[0],pos2[1],pos2[2]); - glEnd(); -} - - -void dsDrawBoxD (const double pos[3], const double R[12], - const double sides[3]) -{ - int i; - float pos2[3],R2[12],fsides[3]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - for (i=0; i<3; i++) fsides[i]=(float)sides[i]; - dsDrawBox (pos2,R2,fsides); -} - -extern "C" void dsDrawConvexD (const double pos[3], const double R[12], - double *_planes,unsigned int _planecount, - double *_points, - unsigned int _pointcount, - unsigned int *_polygons) -{ - if (current_state != 2) dsError ("drawing function called outside simulation loop"); - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransformD (pos,R); - drawConvexD(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - if (use_shadows) { - setShadowDrawingMode(); - setShadowTransform(); - setTransformD (pos,R); - drawConvexD(_planes,_planecount,_points,_pointcount,_polygons); - glPopMatrix(); - glPopMatrix(); - glDepthRange (0,1); - } -} - -void dsDrawSphereD (const double pos[3], const double R[12], float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawSphere (pos2,R2,radius); -} - - -void dsDrawTriangleD (const double pos[3], const double R[12], - const double *v0, const double *v1, - const double *v2, int solid) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - - setupDrawingMode(); - glShadeModel (GL_FLAT); - setTransform (pos2,R2); - drawTriangleD (v0, v1, v2, solid); - glPopMatrix(); -} - - -void dsDrawCylinderD (const double pos[3], const double R[12], - float length, float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawCylinder (pos2,R2,length,radius); -} - - -void dsDrawCapsuleD (const double pos[3], const double R[12], - float length, float radius) -{ - int i; - float pos2[3],R2[12]; - for (i=0; i<3; i++) pos2[i]=(float)pos[i]; - for (i=0; i<12; i++) R2[i]=(float)R[i]; - dsDrawCapsule (pos2,R2,length,radius); -} - - -void dsDrawLineD (const double _pos1[3], const double _pos2[3]) -{ - int i; - float pos1[3],pos2[3]; - for (i=0; i<3; i++) pos1[i]=(float)_pos1[i]; - for (i=0; i<3; i++) pos2[i]=(float)_pos2[i]; - dsDrawLine (pos1,pos2); -} - - -void dsSetSphereQuality (int n) -{ - sphere_quality = n; -} - - -void dsSetCapsuleQuality (int n) -{ - capped_cylinder_quality = n; -} - -void dsSetDrawMode(int mode) -{ - switch(mode) - { - case DS_POLYFILL: - glPolygonMode(GL_FRONT,GL_FILL); - break; - case DS_WIREFRAME: - glPolygonMode(GL_FRONT,GL_LINE); - break; - } -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/internal.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/internal.h deleted file mode 100644 index de1aa116..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/internal.h +++ /dev/null @@ -1,50 +0,0 @@ -/************************************************************************* - * * - * 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/osx.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/osx.cpp deleted file mode 100644 index 8e669dfa..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/osx.cpp +++ /dev/null @@ -1,543 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -// Platform-specific code for Mac OS X using Carbon+AGL -// -// Created using x11.cpp and the window-initialization -routines from GLFW -// as reference. -// Not thoroughly tested and is certain to contain deficiencies and bugs - -#include -#include "config.h" -#include -#include -#include - -#ifdef HAVE_SYS_TIME_H -#include -#endif - -#include -#include -#include "internal.h" - -#include -#include - -// Global variables - -static bool running = true; // 1 if simulation running -static bool paused = false; // 1 if in `pause' mode -static bool singlestep = false; // 1 if single step key pressed -static bool writeframes = false; // 1 if frame files to be written - -static int windowWidth = -1; -static int windowHeight = -1; -static UInt32 modifierMask = 0; -static int mouseButtonMode = 0; -static bool mouseWithOption = false; // Set if dragging the mouse with alt pressed -static bool mouseWithControl = false; // Set if dragging the mouse with ctrl pressed - -static dsFunctions* functions = NULL; -static WindowRef windowReference; -static AGLContext aglContext; - -static EventHandlerUPP mouseUPP = NULL; -static EventHandlerUPP keyboardUPP = NULL; -static EventHandlerUPP windowUPP = NULL; - -// Describes the window-events we are interested in -EventTypeSpec OSX_WINDOW_EVENT_TYPES[] = { - { kEventClassWindow, kEventWindowBoundsChanged }, - { kEventClassWindow, kEventWindowClose }, - { kEventClassWindow, kEventWindowDrawContent } -}; - -// Describes the mouse-events we are interested in -EventTypeSpec OSX_MOUSE_EVENT_TYPES[] = { - { kEventClassMouse, kEventMouseDown }, - { kEventClassMouse, kEventMouseUp }, - { kEventClassMouse, kEventMouseMoved }, - { kEventClassMouse, kEventMouseDragged } -}; - -// Describes the key-events we are interested in -EventTypeSpec OSX_KEY_EVENT_TYPES[] = { - { kEventClassKeyboard, kEventRawKeyDown }, -// { kEventClassKeyboard, kEventRawKeyUp }, - { kEventClassKeyboard, kEventRawKeyModifiersChanged } -}; - -//*************************************************************************** -// error handling for unix - -static void printMessage (const char *msg1, const 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 (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("Error",msg,ap); - exit (1); -} - - -extern "C" void dsDebug (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("INTERNAL ERROR",msg,ap); - // *((char *)0) = 0; ... commit SEGVicide ? - abort(); -} - -extern "C" void dsPrint (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - vprintf (msg,ap); -} - -static void captureFrame( int num ){ - - fprintf( stderr,"\rcapturing frame %04d", num ); - unsigned char buffer[windowWidth*windowHeight][3]; - glReadPixels( 0, 0, windowWidth, windowHeight, GL_RGB, GL_UNSIGNED_BYTE, &buffer ); - char s[100]; - sprintf (s,"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", windowWidth, windowHeight ); - for( int y=windowHeight-1; y>-1; y-- ){ - fwrite( buffer[y*windowWidth], 3*windowWidth, 1, f ); - } - fclose (f); -} - -extern "C" void dsStop(){ - - running = false; -} - -extern "C" double dsElapsedTime() -{ -#if HAVE_GETTIMEOFDAY - static double prev=0.0; - timeval tv ; - - gettimeofday(&tv, 0); - double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; - if (!prev) - prev=curr; - double retval = curr-prev; - prev=curr; - if (retval>1.0) retval=1.0; - if (retval= ' ' && charCode <= 126 && functions -> command ){ - functions -> command( charCode ); - } - } - else if( ( modifierMask & controlKey ) ){ - // ctrl+key was pressed - switch(uppercase ){ - case 'T': - dsSetTextures( !dsGetTextures() ); - break; - case 'S': - dsSetShadows( !dsGetShadows() ); - break; - case 'X': - running = false; - break; - case 'P': - paused = !paused; - singlestep = false; - break; - case 'O': - if( paused ){ - singlestep = true; - } - break; - 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': - writeframes = !writeframes; - if( writeframes ){ - printf( "Now writing frames to PPM files\n" ); - } - break; - } - - } - return noErr; - case kEventRawKeyModifiersChanged: - if( GetEventParameter( event, kEventParamKeyModifiers, typeUInt32, NULL, sizeof( UInt32 ), NULL, &modifierMask ) == noErr ){ - if( ( mouseWithOption && !( modifierMask & optionKey ) ) || ( mouseWithControl && !( modifierMask & controlKey ) ) ){ - // The mouse was being dragged using either the command-key or the option-key modifier to emulate - // the right button or both left + right. - // Now the modifier-key has been released so the mouseButtonMode must be changed accordingly - // The following releases the right-button. - mouseButtonMode &= (~4); - mouseWithOption = false; - mouseWithControl = false; - } - return noErr; - } - break; - } - return eventNotHandledErr; -} - -OSStatus osxMouseEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - bool buttonDown = false; - HIPoint mouseLocation; - - switch( GetEventKind( event ) ){ - - case kEventMouseDown: - buttonDown = true; - case kEventMouseUp: - if( GetEventParameter( event, kEventParamWindowMouseLocation, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) != noErr ){ - break; - } - EventMouseButton button; - if( GetEventParameter( event, kEventParamMouseButton, typeMouseButton, NULL, sizeof( EventMouseButton ), NULL, &button ) == noErr ){ - - if( button == kEventMouseButtonPrimary ){ - if( modifierMask & controlKey ){ - // Ctrl+button == right - button = kEventMouseButtonSecondary; - mouseWithControl = true; - } - else if( modifierMask & optionKey ){ - // Alt+button == left+right - mouseButtonMode = 5; - mouseWithOption = true; - return noErr; - } - } - if( buttonDown ){ - if( button == kEventMouseButtonPrimary ) mouseButtonMode |= 1; // Left - if( button == kEventMouseButtonTertiary ) mouseButtonMode |= 2; // Middle - if( button == kEventMouseButtonSecondary ) mouseButtonMode |= 4; // Right - } - else{ - if( button == kEventMouseButtonPrimary ) mouseButtonMode &= (~1); // Left - if( button == kEventMouseButtonTertiary ) mouseButtonMode &= (~2); // Middle - if( button == kEventMouseButtonSecondary ) mouseButtonMode &= (~4);// Right - } - return noErr; - } - break; - case kEventMouseMoved: - // NO-OP - return noErr; - case kEventMouseDragged: - // Carbon provides mouse-position deltas, so we don't have to store the old state ourselves - if( GetEventParameter( event, kEventParamMouseDelta, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) == noErr ){ - //printf( "Mode %d\n", mouseButtonMode ); - dsMotion( mouseButtonMode, (int)mouseLocation.x, (int)mouseLocation.y ); - return noErr; - } - break; - case kEventMouseWheelMoved: - // NO-OP - break; - } - return eventNotHandledErr; -} - -static void osxCloseMainWindow(){ - - if( windowUPP != NULL ){ - DisposeEventHandlerUPP( windowUPP ); - windowUPP = NULL; - } - - if( aglContext != NULL ){ - aglSetCurrentContext( NULL ); - aglSetDrawable( aglContext, NULL ); - aglDestroyContext( aglContext ); - aglContext = NULL; - } - - if( windowReference != NULL ){ - ReleaseWindow( windowReference ); - windowReference = NULL; - } -} - -OSStatus osxWindowEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - //printf( "WindowEvent\n" ); - switch( GetEventKind(event) ){ - case kEventWindowBoundsChanged: - WindowRef window; - GetEventParameter( event, kEventParamDirectObject, typeWindowRef, NULL, sizeof(WindowRef), NULL, &window ); - Rect rect; - GetWindowPortBounds( window, &rect ); - windowWidth = rect.right; - windowHeight = rect.bottom; - aglUpdateContext( aglContext ); - break; - case kEventWindowClose: - osxCloseMainWindow(); - exit( 0 ); - return noErr; - case kEventWindowDrawContent: - // NO-OP - break; - } - - return eventNotHandledErr; -} - -static void osxCreateMainWindow( int width, int height ){ - - int redbits = 4; - int greenbits = 4; - int bluebits = 4; - int alphabits = 4; - int depthbits = 16; - - OSStatus error; - - // create pixel format attribute list - - GLint pixelFormatAttributes[256]; - int numAttrs = 0; - - pixelFormatAttributes[numAttrs++] = AGL_RGBA; - pixelFormatAttributes[numAttrs++] = AGL_DOUBLEBUFFER; - - pixelFormatAttributes[numAttrs++] = AGL_RED_SIZE; - pixelFormatAttributes[numAttrs++] = redbits; - pixelFormatAttributes[numAttrs++] = AGL_GREEN_SIZE; - pixelFormatAttributes[numAttrs++] = greenbits; - pixelFormatAttributes[numAttrs++] = AGL_BLUE_SIZE; - pixelFormatAttributes[numAttrs++] = bluebits; - pixelFormatAttributes[numAttrs++] = AGL_ALPHA_SIZE; - pixelFormatAttributes[numAttrs++] = alphabits; - pixelFormatAttributes[numAttrs++] = AGL_DEPTH_SIZE; - pixelFormatAttributes[numAttrs++] = depthbits; - - pixelFormatAttributes[numAttrs++] = AGL_NONE; - - // create pixel format. - - AGLDevice mainMonitor = GetMainDevice(); - AGLPixelFormat pixelFormat = aglChoosePixelFormat( &mainMonitor, 1, pixelFormatAttributes ); - if( pixelFormat == NULL ){ - return; - } - - aglContext = aglCreateContext( pixelFormat, NULL ); - - aglDestroyPixelFormat( pixelFormat ); - - if( aglContext == NULL ){ - osxCloseMainWindow(); - return; - } - - Rect windowContentBounds; - windowContentBounds.left = 0; - windowContentBounds.top = 0; - windowContentBounds.right = width; - windowContentBounds.bottom = height; - - int windowAttributes = kWindowCloseBoxAttribute - | kWindowFullZoomAttribute - | kWindowCollapseBoxAttribute - | kWindowResizableAttribute - | kWindowStandardHandlerAttribute - | kWindowLiveResizeAttribute; - - error = CreateNewWindow( kDocumentWindowClass, windowAttributes, &windowContentBounds, &windowReference ); - if( ( error != noErr ) || ( windowReference == NULL ) ){ - osxCloseMainWindow(); - return; - } - - windowUPP = NewEventHandlerUPP( osxWindowEventHandler ); - - error = InstallWindowEventHandler( windowReference, windowUPP,GetEventTypeCount( OSX_WINDOW_EVENT_TYPES ), OSX_WINDOW_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - osxCloseMainWindow(); - return; - } - - // The process-type must be changed for a ForegroundApplication - // Unless it is a foreground-process, the application will not show in the dock or expose and the window - // will not behave properly. - ProcessSerialNumber currentProcess; - GetCurrentProcess( ¤tProcess ); - TransformProcessType( ¤tProcess, kProcessTransformToForegroundApplication ); - SetFrontProcess( ¤tProcess ); - - SetWindowTitleWithCFString( windowReference, CFSTR( "ODE - Drawstuff" ) ); - RepositionWindow( windowReference, NULL, kWindowCenterOnMainScreen ); - - ShowWindow( windowReference ); - - if( !aglSetDrawable( aglContext, GetWindowPort( windowReference ) ) ){ - osxCloseMainWindow(); - return; - } - - if( !aglSetCurrentContext( aglContext ) ){ - osxCloseMainWindow(); - } - - windowWidth = width; - windowHeight = height; -} - -int osxInstallEventHandlers(){ - - OSStatus error; - - mouseUPP = NewEventHandlerUPP( osxMouseEventHandler ); - - error = InstallEventHandler( GetApplicationEventTarget(), mouseUPP, GetEventTypeCount( OSX_MOUSE_EVENT_TYPES ), OSX_MOUSE_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - return GL_FALSE; - } - - keyboardUPP = NewEventHandlerUPP( osxKeyEventHandler ); - - error = InstallEventHandler( GetApplicationEventTarget(), keyboardUPP, GetEventTypeCount( OSX_KEY_EVENT_TYPES ), OSX_KEY_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - return GL_FALSE; - } - - return GL_TRUE; -} - -extern void dsPlatformSimLoop( int givenWindowWidth, int givenWindowHeight, dsFunctions *fn, int givenPause ){ - - functions = fn; - - paused = givenPause; - - osxCreateMainWindow( givenWindowWidth, givenWindowHeight ); - osxInstallEventHandlers(); - - dsStartGraphics( windowWidth, windowHeight, fn ); - - static bool firsttime=true; - if( firsttime ) - { - 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 (or Ctrl + button) - forward and sideways.\n" - " Left + Right button (or middle button, or Alt + button) - sideways and up.\n" - "\n",DS_VERSION >> 8,DS_VERSION & 0xff - ); - firsttime = false; - } - - if( fn -> start ) fn->start(); - - int frame = 1; - running = true; - while( running ){ - // read in and process all pending events for the main window - EventRef event; - EventTargetRef eventDispatcher = GetEventDispatcherTarget(); - while( ReceiveNextEvent( 0, NULL, 0.0, TRUE, &event ) == noErr ){ - SendEventToEventTarget( event, eventDispatcher ); - ReleaseEvent( event ); - } - - dsDrawFrame( windowWidth, windowHeight, fn, paused && !singlestep ); - singlestep = false; - - glFlush(); - aglSwapBuffers( aglContext ); - - // capture frames if necessary - if( !paused && writeframes ){ - captureFrame( frame ); - frame++; - } - } - - if( fn->stop ) fn->stop(); - dsStopGraphics(); - - osxCloseMainWindow(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/resource.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/resource.h deleted file mode 100644 index 15802b60..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/resource.h +++ /dev/null @@ -1,28 +0,0 @@ -//{{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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/resources.rc b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/resources.rc deleted file mode 100644 index 61611f7b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/resources.rc +++ /dev/null @@ -1,153 +0,0 @@ -//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, GRAYED - 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, GRAYED - 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 - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/windows.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/windows.cpp deleted file mode 100644 index 6e1412ef..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/drawstuff/src/windows.cpp +++ /dev/null @@ -1,530 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -#if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built -#include -#endif -#include -#include "config.h" -#include - -#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 (const char *title, const 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 (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - errorBox ("Warning",msg,ap); -} - - -extern "C" void dsError (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - errorBox ("Error",msg,ap); - exit (1); -} - - -extern "C" void dsDebug (const 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 (const 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 = int(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] = int(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: { - if (renderer_pause) - renderer_ss = 1; - else - SendMessage( hWnd, WM_COMMAND, IDM_PAUSE, 0 ); - 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; - if (!ghInstance) - 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); -} - - -extern "C" double dsElapsedTime() -{ - static double prev=0.0; - double curr = timeGetTime()/1000.0; - if (!prev) - prev=curr; - double retval = curr-prev; - prev=curr; - if (retval>1.0) retval=1.0; - if (retval -#include "config.h" -#include -#include -#include -#include -#include -#include -#include - -#ifdef HAVE_SYS_TIME_H -#include -#endif - -#include -#include -#include "internal.h" - -//*************************************************************************** -// error handling for unix - -static void printMessage (const char *msg1, const 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 (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("Error",msg,ap); - exit (1); -} - - -extern "C" void dsDebug (const char *msg, ...) -{ - va_list ap; - va_start (ap,msg); - printMessage ("INTERNAL ERROR",msg,ap); - // *((char *)0) = 0; ... commit SEGVicide ? - abort(); -} - - -extern "C" void dsPrint (const 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 attribListDblBuf[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16, - GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None}; - static int attribList[] = {GLX_RGBA, GLX_DEPTH_SIZE,16, - GLX_RED_SIZE,4, GLX_GREEN_SIZE,4, GLX_BLUE_SIZE,4, None}; - visual = glXChooseVisual (display,screen,attribListDblBuf); - if (!visual) 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); - XCloseDisplay(display); - 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; yred_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); - - static bool firsttime=true; - if (firsttime) - { - 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 - ); - firsttime = false; - } - - 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; -} - - -extern "C" double dsElapsedTime() -{ -#if HAVE_GETTIMEOFDAY - static double prev=0.0; - timeval tv ; - - gettimeofday(&tv, 0); - double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; - if (!prev) - prev=curr; - double retval = curr-prev; - prev=curr; - if (retval>1.0) retval=1.0; - if 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\ No newline at end of file diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/Makefile.am deleted file mode 100644 index 0a0830ed..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/Makefile.am +++ /dev/null @@ -1 +0,0 @@ -SUBDIRS = ode drawstuff diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/Makefile.am deleted file mode 100644 index 26f832d2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/Makefile.am +++ /dev/null @@ -1,3 +0,0 @@ - -noinst_HEADERS = drawstuff.h version.h - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/drawstuff.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/drawstuff.h deleted file mode 100644 index bc60f1b8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/drawstuff.h +++ /dev/null @@ -1,311 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/** @defgroup drawstuff DrawStuff - -DrawStuff is a library for rendering simple 3D objects in a virtual -environment, for the purposes of demonstrating the features of ODE. -It is provided for demonstration purposes and is not intended for -production use. - -@section 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__ - -/* Define a DLL export symbol for those platforms that need it */ -#if defined(ODE_PLATFORM_WINDOWS) - #if defined(DS_DLL) - #define DS_API __declspec(dllexport) - #elif !defined(DS_LIB) - #define DS_DLL_API __declspec(dllimport) - #endif -#endif - -#if !defined(DS_API) - #define DS_API -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - -#include - - -/* texture numbers */ - enum DS_TEXTURE_NUMBER - { - DS_NONE = 0, /* uses the current color instead of a texture */ - DS_WOOD, - DS_CHECKERED, - DS_GROUND, - DS_SKY, - }; - -/* draw modes */ - -#define DS_POLYFILL 0 -#define DS_WIREFRAME 1 - -/** - * @struct dsFunctions - * @brief Set of functions to be used as callbacks by the simulation loop. - * @ingroup drawstuff - */ -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 */ - const char *path_to_textures; /* if nonzero, path to texture files */ -} dsFunctions; - - -/** - * @brief Does the complete simulation. - * @ingroup drawstuff - * This function starts running the simulation, and only exits when the simulation is done. - * Function pointers should be provided for the callbacks. - * @param argv supports flags like '-notex' '-noshadow' '-pause' - * @param fn Callback functions. - */ -DS_API void dsSimulationLoop (int argc, char **argv, - int window_width, int window_height, - struct dsFunctions *fn); - -/** - * @brief exit with error message. - * @ingroup drawstuff - * This function displays an error message then exit. - * @param msg format strin, like printf, without the newline character. - */ -DS_API void dsError (const char *msg, ...); - -/** - * @brief exit with error message and core dump. - * @ingroup drawstuff - * this functions tries to dump core or start the debugger. - * @param msg format strin, like printf, without the newline character. - */ -DS_API void dsDebug (const char *msg, ...); - -/** - * @brief print log message - * @ingroup drawstuff - * @param msg format string, like printf, without the \n. - */ -DS_API void dsPrint (const char *msg, ...); - -/** - * @brief Sets the viewpoint - * @ingroup drawstuff - * @param xyz camera position. - * @param 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". - */ -DS_API void dsSetViewpoint (float xyz[3], float hpr[3]); - - -/** - * @brief Gets the viewpoint - * @ingroup drawstuff - * @param xyz position - * @param hpr heading,pitch,roll. - */ -DS_API void dsGetViewpoint (float xyz[3], float hpr[3]); - -/** - * @brief Stop the simulation loop. - * @ingroup drawstuff - * 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. - */ -DS_API void dsStop(); - -/** - * @brief Get the elapsed time (on wall-clock) - * @ingroup drawstuff - * It returns the nr of seconds since the last call to this function. - */ -DS_API double dsElapsedTime(); - -/** - * @brief Toggle the rendering of textures. - * @ingroup drawstuff - * It changes the way objects are drawn. these changes will apply to all further - * dsDrawXXX() functions. - * @param the texture number must be a DS_xxx texture constant. - * 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. - */ -DS_API void dsSetTexture (int texture_number); - -/** - * @brief Set the color with which geometry is drawn. - * @ingroup drawstuff - * @param red Red component from 0 to 1 - * @param green Green component from 0 to 1 - * @param blue Blue component from 0 to 1 - */ -DS_API void dsSetColor (float red, float green, float blue); - -/** - * @brief Set the color and transparency with which geometry is drawn. - * @ingroup drawstuff - * @param alpha Note that alpha transparency is a misnomer: it is alpha opacity. - * 1.0 means fully opaque, and 0.0 means fully transparent. - */ -DS_API void dsSetColorAlpha (float red, float green, float blue, float alpha); - -/** - * @brief Draw a box. - * @ingroup drawstuff - * @param pos is the x,y,z of the center of the object. - * @param 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 ] - * @param sides[] is an array of x,y,z side lengths. - */ -DS_API void dsDrawBox (const float pos[3], const float R[12], const float sides[3]); - -/** - * @brief Draw a sphere. - * @ingroup drawstuff - * @param pos Position of center. - * @param R orientation. - * @param radius - */ -DS_API void dsDrawSphere (const float pos[3], const float R[12], float radius); - -/** - * @brief Draw a triangle. - * @ingroup drawstuff - * @param pos Position of center - * @param R orientation - * @param v0 first vertex - * @param v1 second - * @param v2 third vertex - * @param solid set to 0 for wireframe - */ -DS_API void dsDrawTriangle (const float pos[3], const float R[12], - const float *v0, const float *v1, const float *v2, int solid); - -/** - * @brief Draw a z-aligned cylinder - * @ingroup drawstuff - */ -DS_API void dsDrawCylinder (const float pos[3], const float R[12], - float length, float radius); - -/** - * @brief Draw a z-aligned capsule - * @ingroup drawstuff - */ -DS_API void dsDrawCapsule (const float pos[3], const float R[12], - float length, float radius); - -/** - * @brief Draw a line. - * @ingroup drawstuff - */ -DS_API void dsDrawLine (const float pos1[3], const float pos2[3]); - -/** - * @brief Draw a convex shape. - * @ingroup drawstuff - */ -DS_API void dsDrawConvex(const float pos[3], const float R[12], - float *_planes, - unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons); - - /* these drawing functions are identical to the ones above, except they take - * double arrays for `pos' and `R'. - */ -DS_API void dsDrawBoxD (const double pos[3], const double R[12], - const double sides[3]); -DS_API void dsDrawSphereD (const double pos[3], const double R[12], - const float radius); -DS_API void dsDrawTriangleD (const double pos[3], const double R[12], - const double *v0, const double *v1, const double *v2, int solid); -DS_API void dsDrawCylinderD (const double pos[3], const double R[12], - float length, float radius); -DS_API void dsDrawCapsuleD (const double pos[3], const double R[12], - float length, float radius); -DS_API void dsDrawLineD (const double pos1[3], const double pos2[3]); -DS_API void dsDrawConvexD(const double pos[3], const double R[12], - double *_planes, - unsigned int _planecount, - double *_points, - unsigned int _pointcount, - unsigned int *_polygons); - -/** - * @brief Set the quality with which curved objects are rendered. - * @ingroup drawstuff - * Higher numbers are higher quality, but slower to draw. - * This must be set before the first objects are drawn to be effective. - * Default sphere quality is 1, default capsule quality is 3. - */ -DS_API void dsSetSphereQuality (int n); /* default = 1 */ -DS_API void dsSetCapsuleQuality (int n); /* default = 3 */ - -/** - * @brief Set Drawmode 0=Polygon Fill,1=Wireframe). - * Use the DS_POLYFILL and DS_WIREFRAME macros. - * @ingroup drawstuff - */ -DS_API void dsSetDrawMode(int mode); - -// Backwards compatible API -#define dsDrawCappedCylinder dsDrawCapsule -#define dsDrawCappedCylinderD dsDrawCapsuleD -#define dsSetCappedCylinderQuality dsSetCapsuleQuality - -/* closing bracket for extern "C" */ -#ifdef __cplusplus -} -#endif - -#endif - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/version.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/version.h deleted file mode 100644 index 71d95f46..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/drawstuff/version.h +++ /dev/null @@ -1,29 +0,0 @@ -/************************************************************************* - * * - * 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/Makefile.am deleted file mode 100644 index 0593d995..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/Makefile.am +++ /dev/null @@ -1,24 +0,0 @@ -libode_la_includedir = $(includedir)/ode -libode_la_include_HEADERS = collision_trimesh.h \ - mass.h \ - odecpp.h \ - common.h \ - matrix.h \ - odecpp_collision.h \ - compatibility.h \ - memory.h \ - contact.h \ - misc.h \ - odemath.h \ - odeinit.h \ - collision.h \ - error.h \ - objects.h \ - rotation.h \ - collision_space.h \ - export-dif.h \ - ode.h \ - timer.h \ - odeconfig.h - -EXTRA_DIST = README diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/README b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/README deleted file mode 100644 index 9d7e99a8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/README +++ /dev/null @@ -1,18 +0,0 @@ - -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! diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision.h deleted file mode 100644 index 536897fa..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision.h +++ /dev/null @@ -1,1406 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include -// Include odeinit.h for backward compatibility as some of initialization APIs -// were initally declared in current header. -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup collide Collision Detection - * - * ODE has two main components: a dynamics simulation engine and a collision - * detection engine. The collision engine is given information about the - * shape of each body. At each time step it figures out which bodies touch - * each other and passes the resulting contact point information to the user. - * The user in turn creates contact joints between bodies. - * - * Using ODE's collision detection is optional - an alternative collision - * detection system can be used as long as it can supply the right kinds of - * contact information. - */ - - -/* ************************************************************************ */ -/* general functions */ - -/** - * @brief Destroy a geom, removing it from any space. - * - * Destroy a geom, removing it from any space it is in first. This one - * function destroys a geom of any type, but to create a geom you must call - * a creation function for that type. - * - * When a space is destroyed, if its cleanup mode is 1 (the default) then all - * the geoms in that space are automatically destroyed as well. - * - * @param geom the geom to be destroyed. - * @ingroup collide - */ -ODE_API void dGeomDestroy (dGeomID geom); - - -/** - * @brief Set the user-defined data pointer stored in the geom. - * - * @param geom the geom to hold the data - * @param data the data pointer to be stored - * @ingroup collide - */ -ODE_API void dGeomSetData (dGeomID geom, void* data); - - -/** - * @brief Get the user-defined data pointer stored in the geom. - * - * @param geom the geom containing the data - * @ingroup collide - */ -ODE_API void *dGeomGetData (dGeomID geom); - - -/** - * @brief Set the body associated with a placeable geom. - * - * Setting a body on a geom automatically combines the position vector and - * rotation matrix of the body and geom, so that setting the position or - * orientation of one will set the value for both objects. Setting a body - * ID of zero gives the geom its own position and rotation, independent - * from any body. If the geom was previously connected to a body then its - * new independent position/rotation is set to the current position/rotation - * of the body. - * - * Calling these functions on a non-placeable geom results in a runtime - * error in the debug build of ODE. - * - * @param geom the geom to connect - * @param body the body to attach to the geom - * @ingroup collide - */ -ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); - - -/** - * @brief Get the body associated with a placeable geom. - * @param geom the geom to query. - * @sa dGeomSetBody - * @ingroup collide - */ -ODE_API dBodyID dGeomGetBody (dGeomID geom); - - -/** - * @brief Set the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @sa dBodySetPosition - * @ingroup collide - */ -ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @sa dBodySetRotation - * @ingroup collide - */ -ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the rotation of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @sa dBodySetQuaternion - * @ingroup collide - */ -ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Get the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's position vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetPosition - * @ingroup collide - */ -ODE_API const dReal * dGeomGetPosition (dGeomID geom); - - -/** - * @brief Copy the position of a geom into a vector. - * @ingroup collide - * @param geom the geom to query - * @param pos a copy of the geom position - * @sa dGeomGetPosition - */ -ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetRotation - * @ingroup collide - */ -ODE_API const dReal * dGeomGetRotation (dGeomID geom); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param R a copy of the geom rotation - * @sa dGeomGetRotation - * @ingroup collide - */ -ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the rotation quaternion of a placeable geom. - * - * If the geom is attached to a body, the body's quaternion will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @sa dBodyGetQuaternion - * @ingroup collide - */ -ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); - - -/** - * @brief Return the axis-aligned bounding box. - * - * Return in aabb an axis aligned bounding box that surrounds the given geom. - * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the - * geom is a space, a bounding box that surrounds all contained geoms is - * returned. - * - * This function may return a pre-computed cached bounding box, if it can - * determine that the geom has not moved since the last time the bounding - * box was computed. - * - * @param geom the geom to query - * @param aabb the returned bounding box - * @ingroup collide - */ -ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); - - -/** - * @brief Determing if a geom is a space. - * @param geom the geom to query - * @returns Non-zero if the geom is a space, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsSpace (dGeomID geom); - - -/** - * @brief Query for the space containing a particular geom. - * @param geom the geom to query - * @returns The space that contains the geom, or NULL if the geom is - * not contained by a space. - * @ingroup collide - */ -ODE_API dSpaceID dGeomGetSpace (dGeomID); - - -/** - * @brief Given a geom, this returns its class. - * - * The ODE classes are: - * @li dSphereClass - * @li dBoxClass - * @li dCylinderClass - * @li dPlaneClass - * @li dRayClass - * @li dConvexClass - * @li dGeomTransformClass - * @li dTriMeshClass - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * User-defined class will return their own number. - * - * @param geom the geom to query - * @returns The geom class ID. - * @ingroup collide - */ -ODE_API int dGeomGetClass (dGeomID geom); - - -/** - * @brief Set the "category" bitfield for the given geom. - * - * The category bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Set the "collide" bitfield for the given geom. - * - * The collide bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Get the "category" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCategoryBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCategoryBits (dGeomID); - - -/** - * @brief Get the "collide" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCollideBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCollideBits (dGeomID); - - -/** - * @brief Enable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to enable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomEnable (dGeomID geom); - - -/** - * @brief Disable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to disable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomDisable (dGeomID geom); - - -/** - * @brief Check to see if a geom is enabled. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to query - * @returns Non-zero if the geom is enabled, zero otherwise. - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API int dGeomIsEnabled (dGeomID geom); - -/* ************************************************************************ */ -/* geom offset from body */ - -/** - * @brief Set the local offset position of a geom from its body. - * - * Sets the geom's positional offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the local offset rotation matrix of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the local offset rotation of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Set the offset position of a geom from its body. - * - * Sets the geom's positional offset to move it to the new world - * coordinates. - * After this call, the geom will be at the world position passed in, - * and the offset will be the difference from the current body position. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); - - -/** - * @brief Clear any offset from the geom. - * - * If the geom has an offset, it is eliminated and the geom is - * repositioned at the body's position. If the geom has no offset, - * this function does nothing. - * This is more efficient than calling dGeomSetOffsetPosition(zero) - * and dGeomSetOffsetRotation(identiy), because this function actually - * eliminates the offset, rather than leaving it as the identity transform. - * - * @param geom the geom to have its offset destroyed. - * @ingroup collide - */ -ODE_API void dGeomClearOffset(dGeomID geom); - - -/** - * @brief Check to see whether the geom has an offset. - * - * This function will return non-zero if the offset has been created. - * Note that there is a difference between a geom with no offset, - * and a geom with an offset that is the identity transform. - * In the latter case, although the observed behaviour is identical, - * there is a unnecessary computation involved because the geom will - * be applying the transform whenever it needs to recalculate its world - * position. - * - * @param geom the geom to query. - * @returns Non-zero if the geom has an offset, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsOffset(dGeomID geom); - - -/** - * @brief Get the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); - - -/** - * @brief Copy the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @param pos returns the offset position - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); - - -/** - * @brief Copy the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @param R returns the rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the offset rotation quaternion of a geom. - * - * Returns the rotation offset of the geom as a quaternion. - * If the geom has no offset, the identity quaternion is returned. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @ingroup collide - */ -ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); - - -/* ************************************************************************ */ -/* collision detection */ - -/* - * Just generate any contacts (disables any contact refining). - */ -#define CONTACTS_UNIMPORTANT 0x80000000 - -/** - * - * @brief Given two geoms o1 and o2 that potentially intersect, - * generate contact information for them. - * - * Internally, this just calls the correct class-specific collision - * functions for o1 and o2. - * - * @param o1 The first geom to test. - * @param o2 The second geom to test. - * - * @param flags The flags specify how contacts should be generated if - * the geoms touch. The lower 16 bits of flags is an integer that - * specifies the maximum number of contact points to generate. You must - * ask for at least one contact. - * Additionally, following bits may be set: - * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). - * All other bits in flags must be set to zero. In the future the other bits - * may be used to select from different contact generation strategies. - * - * @param contact Points to an array of dContactGeom structures. The array - * must be able to hold at least the maximum number of contacts. These - * dContactGeom structures may be embedded within larger structures in the - * array -- the skip parameter is the byte offset from one dContactGeom to - * the next in the array. If skip is sizeof(dContactGeom) then contact - * points to a normal (C-style) array. It is an error for skip to be smaller - * than sizeof(dContactGeom). - * - * @returns If the geoms intersect, this function returns the number of contact - * points generated (and updates the contact array), otherwise it returns 0 - * (and the contact array is not touched). - * - * @remarks If a space is passed as o1 or o2 then this function will collide - * all objects contained in o1 with all objects contained in o2, and return - * the resulting contact points. This method for colliding spaces with geoms - * (or spaces with spaces) provides no user control over the individual - * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. - * - * @remarks If o1 and o2 are the same geom then this function will do nothing - * and return 0. Technically speaking an object intersects with itself, but it - * is not useful to find contact points in this case. - * - * @remarks This function does not care if o1 and o2 are in the same space or not - * (or indeed if they are in any space at all). - * - * @ingroup collide - */ -ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, - int skip); - -/** - * @brief Determines which pairs of geoms in a space may potentially intersect, - * and calls the callback function for each candidate pair. - * - * @param space The space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide2 - * @ingroup collide - */ -ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); - - -/** - * @brief Determines which geoms from one space may potentially intersect with - * geoms from another space, and calls the callback function for each candidate - * pair. - * - * @param space1 The first space to test. - * - * @param space2 The second space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks This function can also test a single non-space geom against a - * space. This function is useful when there is a collision hierarchy, i.e. - * when there are spaces that contain other spaces. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks Sublevel value of space affects how the spaces are iterated. - * Both spaces are recursed only if their sublevels match. Otherwise, only - * the space with greater sublevel is recursed and the one with lesser sublevel - * is used as a geom itself. - * - * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide - * @sa dSpaceSetSublevel - * @ingroup collide - */ -ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, 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, - dCapsuleClass, - dCylinderClass, - dPlaneClass, - dRayClass, - dConvexClass, - dGeomTransformClass, - dTriMeshClass, - dHeightfieldClass, - - dFirstSpaceClass, - dSimpleSpaceClass = dFirstSpaceClass, - dHashSpaceClass, - dSweepAndPruneSpaceClass, // SAP - dQuadTreeSpaceClass, - dLastSpaceClass = dQuadTreeSpaceClass, - - dFirstUserClass, - dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, - dGeomNumClasses -}; - - -/** - * @defgroup collide_sphere Sphere Class - * @ingroup collide - */ - -/** - * @brief Create a sphere geom of the given radius, and return its ID. - * - * @param space a space to contain the new geom. May be null. - * @param radius the radius of the sphere. - * - * @returns A new sphere geom. - * - * @remarks The point of reference for a sphere is its center. - * - * @sa dGeomDestroy - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); - - -/** - * @brief Set the radius of a sphere geom. - * - * @param sphere the sphere to set. - * @param radius the new radius. - * - * @sa dGeomSphereGetRadius - * @ingroup collide_sphere - */ -ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); - - -/** - * @brief Retrieves the radius of a sphere geom. - * - * @param sphere the sphere to query. - * - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); - - -/** - * @brief Calculate the depth of the a given point within a sphere. - * - * @param sphere the sphere to query. - * @param x the X coordinate of the point. - * @param y the Y coordinate of the point. - * @param z the Z coordinate of the point. - * - * @returns The depth of the point. Points inside the sphere will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - * - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); - - -//--> Convex Functions -ODE_API dGeomID dCreateConvex (dSpaceID space, - dReal *_planes, - unsigned int _planecount, - dReal *_points, - unsigned int _pointcount,unsigned int *_polygons); - -ODE_API void dGeomSetConvex (dGeomID g, - dReal *_planes, - unsigned int _count, - dReal *_points, - unsigned int _pointcount,unsigned int *_polygons); -//<-- Convex Functions - -/** - * @defgroup collide_box Box Class - * @ingroup collide - */ - -/** - * @brief Create a box geom with the provided side lengths. - * - * @param space a space to contain the new geom. May be null. - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @returns A new box geom. - * - * @remarks The point of reference for a box is its center. - * - * @sa dGeomDestroy - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Set the side lengths of the given box. - * - * @param box the box to set - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @sa dGeomBoxGetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Get the side lengths of a box. - * - * @param box the box to query - * @param result the returned side lengths - * - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); - - -/** - * @brief Return the depth of a point in a box. - * - * @param box the box to query - * @param x the X coordinate of the point to test. - * @param y the Y coordinate of the point to test. - * @param z the Z coordinate of the point to test. - * - * @returns The depth of the point. Points inside the box will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - */ -ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); - - -ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); -ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); - -ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); -ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); -ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); - -// For now we want to have a backwards compatible C-API, note: C++ API is not. -#define dCreateCCylinder dCreateCapsule -#define dGeomCCylinderSetParams dGeomCapsuleSetParams -#define dGeomCCylinderGetParams dGeomCapsuleGetParams -#define dGeomCCylinderPointDepth dGeomCapsulePointDepth -#define dCCylinderClass dCapsuleClass - -ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); -ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); - -ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); -ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); -ODE_API dReal dGeomRayGetLength (dGeomID ray); -ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, - dReal dx, dReal dy, dReal dz); -ODE_API 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. - */ -ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); -ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); -ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); -ODE_API int dGeomRayGetClosestHit (dGeomID g); - -#include "collision_trimesh.h" - -ODE_API dGeomID dCreateGeomTransform (dSpaceID space); -ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); -ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); -ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); -ODE_API int dGeomTransformGetCleanup (dGeomID g); -ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); -ODE_API int dGeomTransformGetInfo (dGeomID g); - - -/* ************************************************************************ */ -/* heightfield functions */ - - -// Data storage for heightfield data. -struct dxHeightfieldData; -typedef struct dxHeightfieldData* dHeightfieldDataID; - - -/** - * @brief Callback prototype - * - * Used by the callback heightfield data type to sample a height for a - * given cell position. - * - * @param p_user_data User data specified when creating the dHeightfieldDataID - * @param x The index of a sample in the local x axis. It is a value - * in the range zero to ( nWidthSamples - 1 ). - * @param x The index of a sample in the local z axis. It is a value - * in the range zero to ( nDepthSamples - 1 ). - * - * @return The sample height which is then scaled and offset using the - * values specified when the heightfield data was created. - * - * @ingroup collide - */ -typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); - - - -/** - * @brief Creates a heightfield geom. - * - * Uses the information in the given dHeightfieldDataID to construct - * a geom representing a heightfield in a collision space. - * - * @param space The space to add the geom to. - * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and - * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, - * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. - * @param bPlaceable If non-zero this geom can be transformed in the world using the - * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is - * not set as placeable, then it uses a fixed orientation where the global y axis - * represents the dynamic 'height' of the heightfield. - * - * @return A geom id to reference this geom in other calls. - * - * @ingroup collide - */ -ODE_API dGeomID dCreateHeightfield( dSpaceID space, - dHeightfieldDataID data, int bPlaceable ); - - -/** - * @brief Creates a new empty dHeightfieldDataID. - * - * Allocates a new dHeightfieldDataID and returns it. You must call - * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. - * The dHeightfieldDataID value is used when specifying a data format type. - * - * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, - * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or - * dGeomHeightfieldDataBuildFloat. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(); - - -/** - * @brief Destroys a dHeightfieldDataID. - * - * Deallocates a given dHeightfieldDataID and all managed resources. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); - - - -/** - * @brief Configures a dHeightfieldDataID to use a callback to - * retrieve height data. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is computed by - * the user and it should use the given callback when determining - * the height of a given element of it's shape. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, - void* pUserData, dHeightfieldGetHeight* pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in byte format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of bytes (8 bit unsigned) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, - const unsigned char* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in short format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of shorts (16 bit signed) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, - const short* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * single precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of single precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, - const float* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * double precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of double precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, - const double* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Manually set the minimum and maximum height bounds. - * - * This call allows you to set explicit min / max values after initial - * creation typically for callback heightfields which default to +/- infinity, - * or those whose data has changed. This must be set prior to binding with a - * geom, as the the AABB is not recomputed after it's first generation. - * - * @remarks The minimum and maximum values are used to compute the AABB - * for the heightfield which is used for early rejection of collisions. - * A close fit will yield a more efficient collision check. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @param min_height The new minimum height value. Scale, offset and thickness is then applied. - * @param max_height The new maximum height value. Scale and offset is then applied. - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, - dReal minHeight, dReal maxHeight ); - - -/** - * @brief Assigns a dHeightfieldDataID to a heightfield geom. - * - * Associates the given dHeightfieldDataID with a heightfield geom. - * This is done without affecting the GEOM_PLACEABLE flag. - * - * @param g A geom created by dCreateHeightfield - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); - - -/** - * @brief Gets the dHeightfieldDataID bound to a heightfield geom. - * - * Returns the dHeightfieldDataID associated with a heightfield geom. - * - * @param g A geom created by dCreateHeightfield - * @return The dHeightfieldDataID which may be NULL if none was assigned. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); - - - -/* ************************************************************************ */ -/* utility functions */ - -ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, - const dVector3 b1, const dVector3 b2, - dVector3 cp1, dVector3 cp2); - -ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 _p2, - const dMatrix3 R2, const dVector3 side2); - -// The meaning of flags parameter is the same as in dCollide() -ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *return_code, - int flags, dContactGeom *contact, int skip); - -ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); - - -/* ************************************************************************ */ -/* 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; - -ODE_API int dCreateGeomClass (const dGeomClass *classptr); -ODE_API void * dGeomGetClassData (dGeomID); -ODE_API dGeomID dCreateGeom (int classnum); - -/** - * @brief Sets a custom collider function for two geom classes. - * - * @param i The first geom class handled by this collider - * @param j The second geom class handled by this collider - * @param fn The collider function to use to determine collisions. - * @ingroup collide - */ -ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn); - - -/* ************************************************************************ */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision_space.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision_space.h deleted file mode 100644 index b8972eb5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision_space.h +++ /dev/null @@ -1,149 +0,0 @@ -/************************************************************************* - * * - * 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 - -#ifdef __cplusplus -extern "C" { -#endif - -struct dContactGeom; - -/** - * @brief User callback for geom-geom collision testing. - * - * @param data The user data object, as passed to dSpaceCollide. - * @param o1 The first geom being tested. - * @param o2 The second geom being test. - * - * @remarks The callback function can call dCollide on o1 and o2 to generate - * contact points between each pair. Then these contact points may be added - * to the simulation as contact joints. The user's callback function can of - * course chose not to call dCollide for any pair, e.g. if the user decides - * that those pairs should not interact. - * - * @ingroup collide - */ -typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); - - -ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); -ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); -ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth); - - -// SAP -// Order XZY or ZXY usually works best, if your Y is up. -#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) -#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) -#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) -#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) -#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) -#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) - -ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder ); - - - -ODE_API void dSpaceDestroy (dSpaceID); - -ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); -ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); - -ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); -ODE_API int dSpaceGetCleanup (dSpaceID space); - -/** -* @brief Sets sublevel value for a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. If sublevels of both spaces match, the function iterates -* geometries of both spaces and collides them with each other. If sublevel of one -* space is greater than the sublevel of another one, only the geometries of the -* space with greater sublevel are iterated, another space is passed into -* collision callback as a geometry itself. By default all the spaces are assigned -* zero sublevel. -* -* @note -* The space sublevel @e IS @e NOT automatically updated when one space is inserted -* into another or removed from one. It is a client's responsibility to update sublevel -* value if necessary. -* -* @param space the space to modify -* @param sublevel the sublevel value to be assigned -* @ingroup collide -* @see dSpaceGetSublevel -* @see dSpaceCollide2 -*/ -ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel); - -/** -* @brief Gets sublevel value of a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. See @c dSpaceSetSublevel for more details. -* -* @param space the space to query -* @returns the sublevel value of the space -* @ingroup collide -* @see dSpaceSetSublevel -* @see dSpaceCollide2 -*/ -ODE_API int dSpaceGetSublevel (dSpaceID space); - -ODE_API void dSpaceAdd (dSpaceID, dGeomID); -ODE_API void dSpaceRemove (dSpaceID, dGeomID); -ODE_API int dSpaceQuery (dSpaceID, dGeomID); -ODE_API void dSpaceClean (dSpaceID); -ODE_API int dSpaceGetNumGeoms (dSpaceID); -ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); - -/** - * @brief Given a space, this returns its class. - * - * The ODE classes are: - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dSweepAndPruneSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * The class id not defined by the user should be between - * dFirstSpaceClass and dLastSpaceClass. - * - * User-defined class will return their own number. - * - * @param space the space to query - * @returns The space class ID. - * @ingroup collide - */ -ODE_API int dSpaceGetClass(dSpaceID space); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision_trimesh.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision_trimesh.h deleted file mode 100644 index 61d89e96..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/collision_trimesh.h +++ /dev/null @@ -1,205 +0,0 @@ -/************************************************************************* - * * - * 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. - */ -ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); -ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); - - - -enum { TRIMESH_FACE_NORMALS }; -ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data); -ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); - - - -/** - * We need to set the last transform after each time step for - * accurate collision response. These functions get and set that transform. - * It is stored per geom instance, rather than per dTriMeshDataID. - */ -ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans ); -ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g ); - -/* - * Build a TriMesh data object with single precision vertex data. - */ -ODE_API 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) */ -ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); -/* -* Build a TriMesh data object with double precision vertex data. -*/ -ODE_API 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) */ -ODE_API 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! - */ -ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount, - const int* Normals); - -/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */ -ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g); -/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */ -ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); -ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf); - - -/* - * 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); -ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback); -ODE_API 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); -ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback); -ODE_API 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); -ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback); -ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g); - -/* - * Trimesh class - * Construction. Callbacks are optional. - */ -ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); - -ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data); -ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); - - -// enable/disable/check temporal coherence -ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); -ODE_API 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. - */ -ODE_API void dGeomTriMeshClearTCCache(dGeomID g); - - -/* - * returns the TriMeshDataID - */ -ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g); - -/* - * Gets a triangle. - */ -ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); - -/* - * Gets the point on the requested triangle and the given barycentric - * coordinates. - */ -ODE_API 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); - -*/ - - -ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g); - -ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g); - -#ifdef __cplusplus -} -#endif - -#endif /* _ODE_COLLISION_TRIMESH_H_ */ - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/common.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/common.h deleted file mode 100644 index b6ba8f3e..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/common.h +++ /dev/null @@ -1,396 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -/* configuration stuff */ - -/* constants */ - -/* pi and 1/sqrt(2) are defined here if necessary because they don't get - * defined in 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() File %s Line %d", __FUNCTION__, __FILE__,__LINE__); -#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)") - -// Macro used to suppress unused variable warning -#define dVARIABLEUSED(a) ((void)a) - -/* floating point data type, vector, matrix and quaternion types */ - -#if defined(dSINGLE) -typedef float dReal; -#ifdef dDOUBLE -#error You can only #define dSINGLE or dDOUBLE, not both. -#endif // dDOUBLE -#elif defined(dDOUBLE) -typedef double dReal; -#else -#error You must #define dSINGLE or dDOUBLE -#endif - -// Detect if we've got both trimesh engines enabled. -#if dTRIMESH_ENABLED -#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT -#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both. -#endif -#endif // dTRIMESH_ENABLED - -// Define a type for indices, either 16 or 32 bit, based on build option -// TODO: Currently GIMPACT only supports 32 bit indices. -#if dTRIMESH_16BIT_INDICES -#if dTRIMESH_GIMPACT -typedef uint32 dTriIndex; -#else // dTRIMESH_GIMPACT -typedef uint16 dTriIndex; -#endif // dTRIMESH_GIMPACT -#else // dTRIMESH_16BIT_INDICES -typedef uint32 dTriIndex; -#endif // dTRIMESH_16BIT_INDICES - -/* 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) ((1.0f/(x))) /* reciprocal */ -#define dSqrt(x) (sqrtf(x)) /* square root */ -#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */ -#define dSin(x) (sinf(x)) /* sine */ -#define dCos(x) (cosf(x)) /* cosine */ -#define dFabs(x) (fabsf(x)) /* absolute value */ -#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */ -#define dFMod(a,b) (fmodf(a,b)) /* modulo */ -#define dFloor(x) floorf(x) /* floor */ - -#ifdef HAVE___ISNANF -#define dIsNan(x) (__isnanf(x)) -#elif defined(HAVE__ISNANF) -#define dIsNan(x) (_isnanf(x)) -#elif defined(HAVE_ISNANF) -#define dIsNan(x) (isnanf(x)) -#else - /* - fall back to _isnan which is the VC way, - this may seem redundant since we already checked - for _isnan before, but if isnan is detected by - configure but is not found during compilation - we should always make sure we check for __isnanf, - _isnanf and isnanf in that order before falling - back to a default - */ -#define dIsNan(x) (_isnan(x)) -#endif - -#define dCopySign(a,b) ((dReal)copysignf(a,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 dFloor(x) floor(x) - -#ifdef HAVE___ISNAN -#define dIsNan(x) (__isnan(x)) -#elif defined(HAVE__ISNAN) -#define dIsNan(x) (_isnan(x)) -#elif defined(HAVE_ISNAN) -#define dIsNan(x) (isnan(x)) -#else -#define dIsNan(x) (_isnan(x)) -#endif - -#define dCopySign(a,b) (copysign((a),(b))) - -#else -#error You must #define dSINGLE or dDOUBLE -#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 */ - -typedef enum { - dJointTypeNone = 0, /* or "unknown" */ - dJointTypeBall, - dJointTypeHinge, - dJointTypeSlider, - dJointTypeContact, - dJointTypeUniversal, - dJointTypeHinge2, - dJointTypeFixed, - dJointTypeNull, - dJointTypeAMotor, - dJointTypeLMotor, - dJointTypePlane2D, - dJointTypePR, - dJointTypePU, - dJointTypePiston -} dJointType; - - -/* 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, \ - dParamERP, \ - - ////////////////////////////////////////////////////////////////////////////// - /// \enum D_ALL_PARAM_NAMES_X - /// - /// \var dParamGroup This is the starting value of the different group - /// (i.e. dParamGroup1, dParamGroup2, dParamGroup3) - /// It also helps in the use of parameter - /// (dParamGroup2 | dParamFMax) == dParamFMax2 - ////////////////////////////////////////////////////////////////////////////// -#define D_ALL_PARAM_NAMES_X(start,x) \ - dParamGroup ## x = start, \ - /* 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, \ - dParamERP ## x, - -enum { - D_ALL_PARAM_NAMES(0) - dParamsInGroup, ///< Number of parameter in a group - D_ALL_PARAM_NAMES_X(0x000,1) - 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); - -/** - * dGetConfiguration returns the specific ODE build configuration as - * a string of tokens. The string can be parsed in a similar way to - * the OpenGL extension mechanism, the naming convention should be - * familiar too. The following extensions are reported: - * - * ODE - * ODE_single_precision - * ODE_double_precision - * ODE_EXT_no_debug - * ODE_EXT_trimesh - * ODE_EXT_opcode - * ODE_EXT_gimpact - * ODE_EXT_malloc_not_alloca - * ODE_EXT_gyroscopic - * ODE_OPC_16bit_indices - * ODE_OPC_new_collider -*/ -ODE_API const char* dGetConfiguration (void); - -/** - * Helper to check for a token in the ODE configuration string. - * Caution, this function is case sensitive. - * - * @param token A configuration token, see dGetConfiguration for details - * - * @return 1 if exact token is present, 0 if not present - */ -ODE_API int dCheckConfiguration( const char* token ); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/compatibility.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/compatibility.h deleted file mode 100644 index b3709866..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/compatibility.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/contact.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/contact.h deleted file mode 100644 index 8bb810f5..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/contact.h +++ /dev/null @@ -1,104 +0,0 @@ -/************************************************************************* - * * - * 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 - -#ifdef __cplusplus -extern "C" { -#endif - - -enum { - dContactMu2 = 0x001, - dContactFDir1 = 0x002, - dContactBounce = 0x004, - dContactSoftERP = 0x008, - dContactSoftCFM = 0x010, - dContactMotion1 = 0x020, - dContactMotion2 = 0x040, - dContactMotionN = 0x080, - dContactSlip1 = 0x100, - dContactSlip2 = 0x200, - - 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,motionN; - dReal slip1,slip2; -} dSurfaceParameters; - - -/** - * @brief Describe the contact point between two geoms. - * - * If two bodies touch, or if a body touches a static feature in its - * environment, the contact is represented by one or more "contact - * points", described by dContactGeom. - * - * The convention is that if body 1 is moved along the normal vector by - * a distance depth (or equivalently if body 2 is moved the same distance - * in the opposite direction) then the contact depth will be reduced to - * zero. This means that the normal vector points "in" to body 1. - * - * @ingroup collide - */ -typedef struct dContactGeom { - dVector3 pos; ///< contact position - dVector3 normal; ///< normal vector - dReal depth; ///< penetration depth - dGeomID g1,g2; ///< the colliding geoms - int side1,side2; ///< (to be documented) -} dContactGeom; - - -/* contact info used by contact joint */ - -typedef struct dContact { - dSurfaceParameters surface; - dContactGeom geom; - dVector3 fdir1; -} dContact; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/error.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/error.h deleted file mode 100644 index 20b9ba45..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/error.h +++ /dev/null @@ -1,63 +0,0 @@ -/************************************************************************* - * * - * 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 - -#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. - */ -ODE_API void dSetErrorHandler (dMessageFunction *fn); -ODE_API void dSetDebugHandler (dMessageFunction *fn); -ODE_API void dSetMessageHandler (dMessageFunction *fn); - -/* return the current error, debug or warning handler. if the return value is - * 0, the default handlers are in place. - */ -ODE_API dMessageFunction *dGetErrorHandler(void); -ODE_API dMessageFunction *dGetDebugHandler(void); -ODE_API dMessageFunction *dGetMessageHandler(void); - -/* generate a fatal error, debug trap or a message. */ -ODE_API void dError (int num, const char *msg, ...); -ODE_API void dDebug (int num, const char *msg, ...); -ODE_API void dMessage (int num, const char *msg, ...); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/export-dif.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/export-dif.h deleted file mode 100644 index ca479adc..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/export-dif.h +++ /dev/null @@ -1,32 +0,0 @@ -/************************************************************************* - * * - * 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_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name); - - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/mass.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/mass.h deleted file mode 100644 index 558eba4a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/mass.h +++ /dev/null @@ -1,144 +0,0 @@ -/************************************************************************* - * * - * 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 - -#ifdef __cplusplus -extern "C" { -#endif - -struct dMass; -typedef struct dMass dMass; - -/** - * Check if a mass structure has valid value. - * The function check if the mass and innertia matrix are positive definits - * - * @param m A mass structure to check - * - * @return 1 if both codition are met - */ -ODE_API int dMassCheck(const dMass *m); - -ODE_API void dMassSetZero (dMass *); - -ODE_API void dMassSetParameters (dMass *, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23); - -ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius); -ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius); - -ODE_API void dMassSetCapsule (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetCylinder (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetBox (dMass *, dReal density, - dReal lx, dReal ly, dReal lz); -ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass, - dReal lx, dReal ly, dReal lz); - -ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g); - -ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g); - -ODE_API void dMassAdjust (dMass *, dReal newmass); - -ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z); - -ODE_API void dMassRotate (dMass *, const dMatrix3 R); - -ODE_API void dMassAdd (dMass *a, const dMass *b); - - -// Backwards compatible API -ODE_API ODE_API_DEPRECATED void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); -ODE_API ODE_API_DEPRECATED void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); - - -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 setSphereTotal (dReal total, dReal radius) - { dMassSetSphereTotal (this,total,radius); } - - void setCapsule (dReal density, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,density,direction,radius,length); } - void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,total,direction,radius,length); } - - void setCylinder(dReal density, int direction, dReal radius, dReal length) - { dMassSetCylinder (this,density,direction,radius,length); } - void setCylinderTotal(dReal total, int direction, dReal radius, dReal length) - { dMassSetCylinderTotal (this,total,direction,radius,length); } - - void setBox (dReal density, dReal lx, dReal ly, dReal lz) - { dMassSetBox (this,density,lx,ly,lz); } - void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz) - { dMassSetBoxTotal (this,total,lx,ly,lz); } - - void setTrimesh(dReal density, dGeomID g) - { dMassSetTrimesh (this, density, g); } - void setTrimeshTotal(dReal total, dGeomID g) - { dMassSetTrimeshTotal (this, total, g); } - - 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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/matrix.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/matrix.h deleted file mode 100644 index eeb004d8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/matrix.h +++ /dev/null @@ -1,194 +0,0 @@ -/************************************************************************* - * * - * 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 - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* set a vector/matrix of size n to all zeros, or to a specific value. */ - -ODE_API void dSetZero (dReal *a, int n); -ODE_API 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). - */ - -ODE_API 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. - */ - -ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API 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). - */ - -ODE_API 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. - */ - -ODE_API 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). - */ - -ODE_API 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. - */ - -ODE_API 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. - */ -ODE_API 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'. - */ -ODE_API 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'. - */ -ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip); - - -/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */ - -ODE_API 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'. - */ - -ODE_API 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. - */ -ODE_API 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. - */ -ODE_API 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. - */ -ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/memory.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/memory.h deleted file mode 100644 index 361061c1..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/memory.h +++ /dev/null @@ -1,59 +0,0 @@ -/************************************************************************* - * * - * 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 - -#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. */ -ODE_API void dSetAllocHandler (dAllocFunction *fn); -ODE_API void dSetReallocHandler (dReallocFunction *fn); -ODE_API void dSetFreeHandler (dFreeFunction *fn); - -/* get current memory management functions */ -ODE_API dAllocFunction *dGetAllocHandler (void); -ODE_API dReallocFunction *dGetReallocHandler (void); -ODE_API dFreeFunction *dGetFreeHandler (void); - -/* allocate and free memory. */ -ODE_API void * dAlloc (size_t size); -ODE_API void * dRealloc (void *ptr, size_t oldsize, size_t newsize); -ODE_API void dFree (void *ptr, size_t size); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/misc.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/misc.h deleted file mode 100644 index 0c55fc5b..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/misc.h +++ /dev/null @@ -1,85 +0,0 @@ -/************************************************************************* - * * - * 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 - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* return 1 if the random number generator is working. */ -ODE_API int dTestRand(void); - -/* return next 32 bit random number. this uses a not-very-random linear - * congruential method. - */ -ODE_API unsigned long dRand(void); - -/* get and set the current random number seed. */ -ODE_API unsigned long dRandGetSeed(void); -ODE_API void dRandSetSeed (unsigned long s); - -/* return a random integer between 0..n-1. the distribution will get worse - * as n approaches 2^32. - */ -ODE_API int dRandInt (int n); - -/* return a random real number between 0..1 */ -ODE_API dReal dRandReal(void); - -/* print out a matrix */ -#ifdef __cplusplus -ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ", - FILE *f=stdout); -#else -ODE_API 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. */ -ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); - -/* make a random matrix with entries between +/- range. A has size n*m. */ -ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); - -/* clear the upper triangle of a square matrix */ -ODE_API void dClearUpperTriangle (dReal *A, int n); - -/* return the maximum element difference between the two n*m matrices */ -ODE_API 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 */ -ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/objects.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/objects.h deleted file mode 100644 index 3425e28a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/objects.h +++ /dev/null @@ -1,2627 +0,0 @@ - - -/************************************************************************* - * * - * 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 -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup world World - * - * The world object is a container for rigid bodies and joints. Objects in - * different worlds can not interact, for example rigid bodies from two - * different worlds can not collide. - * - * All the objects in a world exist at the same point in time, thus one - * reason to use separate worlds is to simulate systems at different rates. - * Most applications will only need one world. - */ - - -/** - * @brief Create a new, empty world and return its ID number. - * @return an identifier - * @ingroup world - */ -ODE_API dWorldID dWorldCreate(void); - - -/** - * @brief Destroy a world and everything in it. - * - * This includes all bodies, and all joints that are not part of a joint - * group. Joints that are part of a joint group will be deactivated, and - * can be destroyed by calling, for example, dJointGroupEmpty(). - * @ingroup world - * @param world the identifier for the world the be destroyed. - */ -ODE_API void dWorldDestroy (dWorldID world); - - -/** - * @brief Set the world's global gravity vector. - * - * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), - * assuming that +z is up. The default is no gravity, i.e. (0,0,0). - * - * @ingroup world - */ -ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); - - -/** - * @brief Get the gravity vector for a given world. - * @ingroup world - */ -ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity); - - -/** - * @brief Set the global ERP value, that controls how much error - * correction is performed in each time step. - * @ingroup world - * @param dWorldID the identifier of the world. - * @param erp Typical values are in the range 0.1--0.8. The default is 0.2. - */ -ODE_API void dWorldSetERP (dWorldID, dReal erp); - -/** - * @brief Get the error reduction parameter. - * @ingroup world - * @return ERP value - */ -ODE_API dReal dWorldGetERP (dWorldID); - - -/** - * @brief Set the global CFM (constraint force mixing) value. - * @ingroup world - * @param cfm Typical values are in the range @m{10^{-9}} -- 1. - * The default is 10^-5 if single precision is being used, or 10^-10 - * if double precision is being used. - */ -ODE_API void dWorldSetCFM (dWorldID, dReal cfm); - -/** - * @brief Get the constraint force mixing value. - * @ingroup world - * @return CFM value - */ -ODE_API dReal dWorldGetCFM (dWorldID); - - -/** - * @brief Step the world. - * - * This uses a "big matrix" method that takes time on the order of m^3 - * and memory on the order of m^2, where m is the total number of constraint - * rows. For large systems this will use a lot of memory and can be very slow, - * but this is currently the most accurate method. - * @ingroup world - * @param stepsize The number of seconds that the simulation has to advance. - */ -ODE_API void dWorldStep (dWorldID, dReal stepsize); - - -/** - * @brief Converts an impulse to a force. - * @ingroup world - * @remarks - * If you want to apply a linear or angular impulse to a rigid body, - * instead of a force or a torque, then you can use this function to convert - * the desired impulse into a force/torque vector before calling the - * BodyAdd... function. - * The current algorithm simply scales the impulse by 1/stepsize, - * where stepsize is the step size for the next step that will be taken. - * This function is given a dWorldID because, in the future, the force - * computation may depend on integrator parameters that are set as - * properties of the world. - */ -ODE_API void dWorldImpulseToForce -( - dWorldID, dReal stepsize, - dReal ix, dReal iy, dReal iz, dVector3 force -); - - -/** - * @brief Step the world. - * @ingroup world - * @remarks - * This uses an iterative method that takes time on the order of m*N - * and memory on the order of m, where m is the total number of constraint - * rows N is the number of iterations. - * For large systems this is a lot faster than dWorldStep(), - * but it is less accurate. - * @remarks - * QuickStep is great for stacks of objects especially when the - * auto-disable feature is used as well. - * However, it has poor accuracy for near-singular systems. - * Near-singular systems can occur when using high-friction contacts, motors, - * or certain articulated structures. For example, a robot with multiple legs - * sitting on the ground may be near-singular. - * @remarks - * There are ways to help overcome QuickStep's inaccuracy problems: - * \li Increase CFM. - * \li Reduce the number of contacts in your system (e.g. use the minimum - * number of contacts for the feet of a robot or creature). - * \li Don't use excessive friction in the contacts. - * \li Use contact slip if appropriate - * \li Avoid kinematic loops (however, kinematic loops are inevitable in - * legged creatures). - * \li Don't use excessive motor strength. - * \liUse force-based motors instead of velocity-based motors. - * - * Increasing the number of QuickStep iterations may help a little bit, but - * it is not going to help much if your system is really near singular. - */ -ODE_API void dWorldQuickStep (dWorldID w, dReal stepsize); - - -/** - * @brief Set the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @remarks - * More iterations will give a more accurate solution, but will take - * longer to compute. - * @param num The default is 20 iterations. - */ -ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num); - - -/** - * @brief Get the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @return nr of iterations - */ -ODE_API int dWorldGetQuickStepNumIterations (dWorldID); - -/** - * @brief Set the SOR over-relaxation parameter - * @ingroup world - * @param over_relaxation value to use by SOR - */ -ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation); - -/** - * @brief Get the SOR over-relaxation parameter - * @ingroup world - * @returns the over-relaxation setting - */ -ODE_API dReal dWorldGetQuickStepW (dWorldID); - -/* World contact parameter functions */ - -/** - * @brief Set the maximum correcting velocity that contacts are allowed - * to generate. - * @ingroup world - * @param vel The default value is infinity (i.e. no limit). - * @remarks - * Reducing this value can help prevent "popping" of deeply embedded objects. - */ -ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel); - -/** - * @brief Get the maximum correcting velocity that contacts are allowed - * to generated. - * @ingroup world - */ -ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID); - -/** - * @brief Set the depth of the surface layer around all geometry objects. - * @ingroup world - * @remarks - * Contacts are allowed to sink into the surface layer up to the given - * depth before coming to rest. - * @param depth The default value is zero. - * @remarks - * Increasing this to some small value (e.g. 0.001) can help prevent - * jittering problems due to contacts being repeatedly made and broken. - */ -ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth); - -/** - * @brief Get the depth of the surface layer around all geometry objects. - * @ingroup world - * @returns the depth - */ -ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); - -/* StepFast1 functions */ - -/** - * @brief Step the world using the StepFast1 algorithm. - * @param stepsize the nr of seconds to advance the simulation. - * @param maxiterations The number of iterations to perform. - * @ingroup world - */ -ODE_API void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations); - - -/** - * @defgroup disable Automatic Enabling and Disabling - * @ingroup world bodies - * - * Every body can be enabled or disabled. Enabled bodies participate in the - * simulation, while disabled bodies are turned off and do not get updated - * during a simulation step. New bodies are always created in the enabled state. - * - * A disabled body that is connected through a joint to an enabled body will be - * automatically re-enabled at the next simulation step. - * - * Disabled bodies do not consume CPU time, therefore to speed up the simulation - * bodies should be disabled when they come to rest. This can be done automatically - * with the auto-disable feature. - * - * If a body has its auto-disable flag turned on, it will automatically disable - * itself when - * @li It has been idle for a given number of simulation steps. - * @li It has also been idle for a given amount of simulation time. - * - * A body is considered to be idle when the magnitudes of both its - * linear average velocity and angular average velocity are below given thresholds. - * The sample size for the average defaults to one and can be disabled by setting - * to zero with - * - * Thus, every body has six auto-disable parameters: an enabled flag, a idle step - * count, an idle time, linear/angular average velocity thresholds, and the - * average samples count. - * - * Newly created bodies get these parameters from world. - */ - -/** - * @brief Set the AutoEnableDepth parameter used by the StepFast1 algorithm. - * @ingroup disable - */ -ODE_API void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth); - -/** - * @brief Get the AutoEnableDepth parameter used by the StepFast1 algorithm. - * @ingroup disable - */ -ODE_API int dWorldGetAutoEnableDepthSF1(dWorldID); - -/** - * @brief Get auto disable linear threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); - -/** - * @brief Set auto disable linear threshold for newly created bodies. - * @param linear_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold); - -/** - * @brief Get auto disable angular threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); - -/** - * @brief Set auto disable angular threshold for newly created bodies. - * @param linear_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold); - -/** - * @brief Get auto disable linear average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold (dWorldID); - -/** - * @brief Set auto disable linear average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold (dWorldID); - -/** - * @brief Set auto disable angular average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold); - -/** - * @brief Get auto disable sample count for newly created bodies. - * @ingroup disable - * @return number of samples used - */ -ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID); - -/** - * @brief Set auto disable average sample count for newly created bodies. - * @ingroup disable - * @param average_samples_count Default is 1, meaning only instantaneous velocity is used. - * Set to zero to disable sampling and thus prevent any body from auto-disabling. - */ -ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count ); - -/** - * @brief Get auto disable steps for newly created bodies. - * @ingroup disable - * @return nr of steps - */ -ODE_API int dWorldGetAutoDisableSteps (dWorldID); - -/** - * @brief Set auto disable steps for newly created bodies. - * @ingroup disable - * @param steps default is 10 - */ -ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps); - -/** - * @brief Get auto disable time for newly created bodies. - * @ingroup disable - * @return nr of seconds - */ -ODE_API dReal dWorldGetAutoDisableTime (dWorldID); - -/** - * @brief Set auto disable time for newly created bodies. - * @ingroup disable - * @param time default is 0 seconds - */ -ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time); - -/** - * @brief Get auto disable flag for newly created bodies. - * @ingroup disable - * @return 0 or 1 - */ -ODE_API int dWorldGetAutoDisableFlag (dWorldID); - -/** - * @brief Set auto disable flag for newly created bodies. - * @ingroup disable - * @param do_auto_disable default is false. - */ -ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable); - - -/** - * @defgroup damping Damping - * @ingroup bodies world - * - * Damping serves two purposes: reduce simulation instability, and to allow - * the bodies to come to rest (and possibly auto-disabling them). - * - * Bodies are constructed using the world's current damping parameters. Setting - * the scales to 0 disables the damping. - * - * Here is how it is done: after every time step linear and angular - * velocities are tested against the corresponding thresholds. If they - * are above, they are multiplied by (1 - scale). So a negative scale value - * will actually increase the speed, and values greater than one will - * make the object oscillate every step; both can make the simulation unstable. - * - * To disable damping just set the damping scale to zero. - * - * You can also limit the maximum angular velocity. In contrast to the damping - * functions, the angular velocity is affected before the body is moved. - * This means that it will introduce errors in joints that are forcing the body - * to rotate too fast. Some bodies have naturally high angular velocities - * (like cars' wheels), so you may want to give them a very high (like the default, - * dInfinity) limit. - * - * @note The velocities are damped after the stepper function has moved the - * object. Otherwise the damping could introduce errors in joints. First the - * joint constraints are processed by the stepper (moving the body), then - * the damping is applied. - * - * @note The damping happens right after the moved callback is called; this way - * it still possible use the exact velocities the body has acquired during the - * step. You can even use the callback to create your own customized damping. - */ - -/** - * @brief Get the world's linear damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w); - -/** - * @brief Set the world's linear damping threshold. - * @param threshold The damping won't be applied if the linear speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's angular damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w); - -/** - * @brief Set the world's angular damping threshold. - * @param threshold The damping won't be applied if the angular speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's linear damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDamping (dWorldID w); - -/** - * @brief Set the world's linear damping scale. - * @param scale The linear damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale); - -/** - * @brief Get the world's angular damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDamping (dWorldID w); - -/** - * @brief Set the world's angular damping scale. - * @param scale The angular damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale); - -/** - * @brief Convenience function to set body linear and angular scales. - * @param linear_scale The linear damping scale that is to be applied to bodies. - * @param angular_scale The angular damping scale that is to be applied to bodies. - * @ingroup damping - */ -ODE_API void dWorldSetDamping(dWorldID w, - dReal linear_scale, - dReal angular_scale); - -/** - * @brief Get the default maximum angular speed. - * @ingroup damping - * @sa dBodyGetMaxAngularSpeed() - */ -ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w); - - -/** - * @brief Set the default maximum angular speed for new bodies. - * @ingroup damping - * @sa dBodySetMaxAngularSpeed() - */ -ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed); - - - -/** - * @defgroup bodies Rigid Bodies - * - * A rigid body has various properties from the point of view of the - * simulation. Some properties change over time: - * - * @li Position vector (x,y,z) of the body's point of reference. - * Currently the point of reference must correspond to the body's center of mass. - * @li Linear velocity of the point of reference, a vector (vx,vy,vz). - * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or - * a 3x3 rotation matrix. - * @li Angular velocity vector (wx,wy,wz) which describes how the orientation - * changes over time. - * - * Other body properties are usually constant over time: - * - * @li Mass of the body. - * @li Position of the center of mass with respect to the point of reference. - * In the current implementation the center of mass and the point of - * reference must coincide. - * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass - * is distributed around the center of mass. Conceptually each body has an - * x-y-z coordinate frame embedded in it that moves and rotates with the body. - * - * The origin of this coordinate frame is the body's point of reference. Some values - * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others - * are relative to the global coordinate frame. - * - * Note that the shape of a rigid body is not a dynamical property (except insofar as - * it influences the various mass properties). It is only collision detection that cares - * about the detailed shape of the body. - */ - - -/** - * @brief Get auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID); - -/** - * @brief Set auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID); - -/** - * @brief Set auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold); - -/** - * @brief Get auto disable average size (samples count). - * @ingroup bodies disable - * @return the nr of steps/size. - */ -ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID); - -/** - * @brief Set auto disable average buffer size (average steps). - * @ingroup bodies disable - * @param average_samples_count the nr of samples to review. - */ -ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count); - - -/** - * @brief Get auto steps a body must be thought of as idle to disable - * @ingroup bodies disable - * @return the nr of steps - */ -ODE_API int dBodyGetAutoDisableSteps (dBodyID); - -/** - * @brief Set auto disable steps. - * @ingroup bodies disable - * @param steps the nr of steps. - */ -ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps); - -/** - * @brief Get auto disable time. - * @ingroup bodies disable - * @return nr of seconds - */ -ODE_API dReal dBodyGetAutoDisableTime (dBodyID); - -/** - * @brief Set auto disable time. - * @ingroup bodies disable - * @param time nr of seconds. - */ -ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time); - -/** - * @brief Get auto disable flag. - * @ingroup bodies disable - * @return 0 or 1 - */ -ODE_API int dBodyGetAutoDisableFlag (dBodyID); - -/** - * @brief Set auto disable flag. - * @ingroup bodies disable - * @param do_auto_disable 0 or 1 - */ -ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable); - -/** - * @brief Set auto disable defaults. - * @remarks - * Set the values for the body to those set as default for the world. - * @ingroup bodies disable - */ -ODE_API void dBodySetAutoDisableDefaults (dBodyID); - - -/** - * @brief Retrieves the world attached to te given body. - * @remarks - * - * @ingroup bodies - */ -ODE_API dWorldID dBodyGetWorld (dBodyID); - -/** - * @brief Create a body in given world. - * @remarks - * Default mass parameters are at position (0,0,0). - * @ingroup bodies - */ -ODE_API dBodyID dBodyCreate (dWorldID); - -/** - * @brief Destroy a body. - * @remarks - * All joints that are attached to this body will be put into limbo: - * i.e. unattached and not affecting the simulation, but they will NOT be - * deleted. - * @ingroup bodies - */ -ODE_API void dBodyDestroy (dBodyID); - -/** - * @brief Set the body's user-data pointer. - * @ingroup bodies - * @param data arbitraty pointer - */ -ODE_API void dBodySetData (dBodyID, void *data); - -/** - * @brief Get the body's user-data pointer. - * @ingroup bodies - * @return a pointer to the user's data. - */ -ODE_API void *dBodyGetData (dBodyID); - -/** - * @brief Set position of a body. - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - * @ingroup bodies - */ -ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q); - -/** - * @brief Set the linear velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the angular velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the position of a body. - * @ingroup bodies - * @remarks - * When getting, the returned values are pointers to internal data structures, - * so the vectors are valid until any changes are made to the rigid body - * system structure. - * @sa dBodyCopyPosition - */ -ODE_API const dReal * dBodyGetPosition (dBodyID); - - -/** - * @brief Copy the position of a body into a vector. - * @ingroup bodies - * @param body the body to query - * @param pos a copy of the body position - * @sa dBodyGetPosition - */ -ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to a 4x3 rotation matrix. - */ -ODE_API const dReal * dBodyGetRotation (dBodyID); - - -/** - * @brief Copy the rotation of a body. - * @ingroup bodies - * @param body the body to query - * @param R a copy of the rotation matrix - * @sa dBodyGetRotation - */ -ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to 4 scalars that represent the quaternion. - */ -ODE_API const dReal * dBodyGetQuaternion (dBodyID); - - -/** - * @brief Copy the orientation of a body into a quaternion. - * @ingroup bodies - * @param body the body to query - * @param quat a copy of the orientation quaternion - * @sa dBodyGetQuaternion - */ -ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat); - - -/** - * @brief Get the linear velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetLinearVel (dBodyID); - -/** - * @brief Get the angular velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetAngularVel (dBodyID); - -/** - * @brief Set the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodySetMass (dBodyID, const dMass *mass); - -/** - * @brief Get the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodyGetMass (dBodyID, dMass *mass); - -/** - * @brief Add force at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); - -/** - * @brief Return the current accumulated force vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetForce (dBodyID); - -/** - * @brief Return the current accumulated torque vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetTorque (dBodyID); - -/** - * @brief Set the body force accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Set the body torque accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Get world position of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointPos -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a globally - * specified point on a body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in body-relative coordinates. - * @remarks - * This is the inverse of dBodyGetRelPointPos() - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPosRelPoint -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from local to world coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorToWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to local coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorFromWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief controls the way a body's orientation is updated at each timestep. - * @ingroup bodies - * @param mode can be 0 or 1: - * \li 0: An ``infinitesimal'' orientation update is used. - * This is fast to compute, but it can occasionally cause inaccuracies - * for bodies that are rotating at high speed, especially when those - * bodies are joined to other bodies. - * This is the default for every new body that is created. - * \li 1: A ``finite'' orientation update is used. - * This is more costly to compute, but will be more accurate for high - * speed rotations. - * @remarks - * Note however that high speed rotations can result in many types of - * error in a simulation, and the finite mode will only fix one of those - * sources of error. - */ -ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode); - -/** - * @brief sets the finite rotation axis for a body. - * @ingroup bodies - * @remarks - * This is axis only has meaning when the finite rotation mode is set - * If this axis is zero (0,0,0), full finite rotations are performed on - * the body. - * If this axis is nonzero, the body is rotated by performing a partial finite - * rotation along the axis direction followed by an infinitesimal rotation - * along an orthogonal direction. - * @remarks - * This can be useful to alleviate certain sources of error caused by quickly - * spinning bodies. For example, if a car wheel is rotating at high speed - * you can call this function with the wheel's hinge axis as the argument to - * try and improve its behavior. - */ -ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the way a body's orientation is updated each timestep. - * @ingroup bodies - * @return the mode 0 (infitesimal) or 1 (finite). - */ -ODE_API int dBodyGetFiniteRotationMode (dBodyID); - -/** - * @brief Get the finite rotation axis. - * @param result will contain the axis. - * @ingroup bodies - */ -ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); - -/** - * @brief Get the number of joints that are attached to this body. - * @ingroup bodies - * @return nr of joints - */ -ODE_API int dBodyGetNumJoints (dBodyID b); - -/** - * @brief Return a joint attached to this body, given by index. - * @ingroup bodies - * @param index valid range is 0 to n-1 where n is the value returned by - * dBodyGetNumJoints(). - */ -ODE_API dJointID dBodyGetJoint (dBodyID, int index); - -/** - * @brief Manually enable a body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodyEnable (dBodyID); - -/** - * @brief Manually disable a body. - * @ingroup bodies - * @remarks - * A disabled body that is connected through a joint to an enabled body will - * be automatically re-enabled at the next simulation step. - */ -ODE_API void dBodyDisable (dBodyID); - -/** - * @brief Check wether a body is enabled. - * @ingroup bodies - * @return 1 if a body is currently enabled or 0 if it is disabled. - */ -ODE_API int dBodyIsEnabled (dBodyID); - -/** - * @brief Set whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @param mode when nonzero gravity affects this body. - * @remarks - * Newly created bodies are always influenced by the world's gravity. - */ -ODE_API void dBodySetGravityMode (dBodyID b, int mode); - -/** - * @brief Get whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @return nonzero means gravity affects this body. - */ -ODE_API int dBodyGetGravityMode (dBodyID b); - -/** - * @brief Set the 'moved' callback of a body. - * - * Whenever a body has its position or rotation changed during the - * timestep, the callback will be called (with body as the argument). - * Use it to know which body may need an update in an external - * structure (like a 3D engine). - * - * @param b the body that needs to be watched. - * @param callback the callback to be invoked when the body moves. Set to zero - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID)); - - -/** - * @brief Return the first geom associated with the body. - * - * You can traverse through the geoms by repeatedly calling - * dBodyGetNextGeom(). - * - * @return the first geom attached to this body, or 0. - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetFirstGeom (dBodyID b); - - -/** - * @brief returns the next geom associated with the same body. - * @param g a geom attached to some body. - * @return the next geom attached to the same body, or 0. - * @sa dBodyGetFirstGeom - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetNextGeom (dGeomID g); - - -/** - * @brief Resets the damping settings to the current world's settings. - * @ingroup bodies damping - */ -ODE_API void dBodySetDampingDefaults(dBodyID b); - -/** - * @brief Get the body's linear damping scale. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDamping (dBodyID b); - -/** - * @brief Set the body's linear damping scale. - * @param scale The linear damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's linear damping - * scale until dBodySetDampingDefaults() is called. - * @sa dBodySetDampingDefaults() - */ -ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale); - -/** - * @brief Get the body's angular damping scale. - * @ingroup bodies damping - * @remarks If the body's angular damping scale was not set, this function - * returns the world's angular damping scale. - */ -ODE_API dReal dBodyGetAngularDamping (dBodyID b); - -/** - * @brief Set the body's angular damping scale. - * @param scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's angular damping - * scale until dBodyResetAngularDamping() is called. - * @sa dBodyResetAngularDamping() - */ -ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale); - -/** - * @brief Convenience function to set linear and angular scales at once. - * @param linear_scale The linear damping scale. Should be in the interval [0, 1]. - * @param angular_scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @sa dBodySetLinearDamping() dBodySetAngularDamping() - */ -ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale); - -/** - * @brief Get the body's linear damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b); - -/** - * @brief Set the body's linear damping threshold. - * @param threshold The linear threshold to be used. Damping - * is only applied if the linear speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's angular damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b); - -/** - * @brief Set the body's angular damping threshold. - * @param threshold The angular threshold to be used. Damping is - * only used if the angular speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldGetMaxAngularSpeed() - */ -ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b); - -/** - * @brief Set the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed() - * The default value is dInfinity, but it's a good idea to limit - * it at less than 500 if the body has the gyroscopic term - * enabled. - */ -ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed); - - - -/** - * @brief Get the body's gyroscopic state. - * - * @return nonzero if gyroscopic term computation is enabled (default), - * zero otherwise. - * @ingroup bodies - */ -ODE_API int dBodyGetGyroscopicMode(dBodyID b); - - -/** - * @brief Enable/disable the body's gyroscopic term. - * - * Disabling the gyroscopic term of a body usually improves - * stability. It also helps turning spining objects, like cars' - * wheels. - * - * @param enabled nonzero (default) to enable gyroscopic term, 0 - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled); - - - - -/** - * @defgroup joints Joints - * - * In real life a joint is something like a hinge, that is used to connect two - * objects. - * In ODE a joint is very similar: It is a relationship that is enforced between - * two bodies so that they can only have certain positions and orientations - * relative to each other. - * This relationship is called a constraint -- the words joint and - * constraint are often used interchangeably. - * - * A joint has a set of parameters that can be set. These include: - * - * - * \li dParamLoStop Low stop angle or position. Setting this to - * -dInfinity (the default value) turns off the low stop. - * For rotational joints, this stop must be greater than -pi to be - * effective. - * \li dParamHiStop High stop angle or position. Setting this to - * dInfinity (the default value) turns off the high stop. - * For rotational joints, this stop must be less than pi to be - * effective. - * If the high stop is less than the low stop then both stops will - * be ineffective. - * \li dParamVel Desired motor velocity (this will be an angular or - * linear velocity). - * \li dParamFMax The maximum force or torque that the motor will use to - * achieve the desired velocity. - * This must always be greater than or equal to zero. - * Setting this to zero (the default value) turns off the motor. - * \li dParamFudgeFactor The current joint stop/motor implementation has - * a small problem: - * when the joint is at one stop and the motor is set to move it away - * from the stop, too much force may be applied for one time step, - * causing a ``jumping'' motion. - * This fudge factor is used to scale this excess force. - * It should have a value between zero and one (the default value). - * If the jumping motion is too visible in a joint, the value can be - * reduced. - * Making this value too small can prevent the motor from being able to - * move the joint away from a stop. - * \li dParamBounce The bouncyness of the stops. - * This is a restitution parameter in the range 0..1. - * 0 means the stops are not bouncy at all, 1 means maximum bouncyness. - * \li dParamCFM The constraint force mixing (CFM) value used when not - * at a stop. - * \li dParamStopERP The error reduction parameter (ERP) used by the - * stops. - * \li dParamStopCFM The constraint force mixing (CFM) value used by the - * stops. Together with the ERP value this can be used to get spongy or - * soft stops. - * Note that this is intended for unpowered joints, it does not really - * work as expected when a powered joint reaches its limit. - * \li dParamSuspensionERP Suspension error reduction parameter (ERP). - * Currently this is only implemented on the hinge-2 joint. - * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value. - * Currently this is only implemented on the hinge-2 joint. - * - * If a particular parameter is not implemented by a given joint, setting it - * will have no effect. - * These parameter names can be optionally followed by a digit (2 or 3) - * to indicate the second or third set of parameters, e.g. for the second axis - * in a hinge-2 joint, or the third axis in an AMotor joint. - */ - - -/** - * @brief Create a new joint of the ball type. - * @ingroup joints - * @remarks - * The joint is initially in "limbo" (i.e. it has no effect on the simulation) - * because it does not connect to any bodies. - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the slider type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the contact type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); - -/** - * @brief Create a new joint of the hinge2 type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the universal type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PR (Prismatic and Rotoide) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); - - /** - * @brief Create a new joint of the PU (Prismatic and Universal) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ - ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); - - /** - * @brief Create a new joint of the Piston type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given - * joint group. - */ - ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the fixed type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID); - -ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the A-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the L-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the plane-2d type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); - -/** - * @brief Destroy a joint. - * @ingroup joints - * - * disconnects it from its attached bodies and removing it from the world. - * However, if the joint is a member of a group then this function has no - * effect - to destroy that joint the group must be emptied or destroyed. - */ -ODE_API void dJointDestroy (dJointID); - - -/** - * @brief Create a joint group - * @ingroup joints - * @param max_size deprecated. Set to 0. - */ -ODE_API dJointGroupID dJointGroupCreate (int max_size); - -/** - * @brief Destroy a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed. - */ -ODE_API void dJointGroupDestroy (dJointGroupID); - -/** - * @brief Empty a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed, - * but the joint group itself will not be destroyed. - */ -ODE_API void dJointGroupEmpty (dJointGroupID); - -/** - * @brief Return the number of bodies attached to the joint - * @ingroup joints - */ -ODE_API int dJointGetNumBodies(dJointID); - -/** - * @brief Attach the joint to some new bodies. - * @ingroup joints - * - * If the joint is already attached, it will be detached from the old bodies - * first. - * To attach this joint to only one body, set body1 or body2 to zero - a zero - * body refers to the static environment. - * Setting both bodies to zero puts the joint into "limbo", i.e. it will - * have no effect on the simulation. - * @remarks - * Some joints, like hinge-2 need to be attached to two bodies to work. - */ -ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2); - -/** - * @brief Set the user-data pointer - * @ingroup joints - */ -ODE_API void dJointSetData (dJointID, void *data); - -/** - * @brief Get the user-data pointer - * @ingroup joints - */ -ODE_API void *dJointGetData (dJointID); - -/** - * @brief Get the type of the joint - * @ingroup joints - * @return the type, being one of these: - * \li dJointTypeBall - * \li dJointTypeHinge - * \li dJointTypeSlider - * \li dJointTypeContact - * \li dJointTypeUniversal - * \li dJointTypeHinge2 - * \li dJointTypeFixed - * \li dJointTypeNull - * \li dJointTypeAMotor - * \li dJointTypeLMotor - * \li dJointTypePlane2D - * \li dJointTypePR - * \li dJointTypePU - * \li dJointTypePiston - */ -ODE_API dJointType dJointGetType (dJointID); - -/** - * @brief Return the bodies that this joint connects. - * @ingroup joints - * @param index return the first (0) or second (1) body. - * @remarks - * If one of these returned body IDs is zero, the joint connects the other body - * to the static environment. - * If both body IDs are zero, the joint is in ``limbo'' and has no effect on - * the simulation. - */ -ODE_API dBodyID dJointGetBody (dJointID, int index); - -/** - * @brief Sets the datastructure that is to receive the feedback. - * - * The feedback can be used by the user, so that it is known how - * much force an individual joint exerts. - * @ingroup joints - */ -ODE_API void dJointSetFeedback (dJointID, dJointFeedback *); - -/** - * @brief Gets the datastructure that is to receive the feedback. - * @ingroup joints - */ -ODE_API dJointFeedback *dJointGetFeedback (dJointID); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - * - * The joint will try to keep this point on each body - * together. The input is specified in world coordinates. - */ -ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - */ -ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Param setting for Ball joints - * @ingroup joints - */ -ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value); - -/** - * @brief Set hinge anchor parameter. - * @ingroup joints - */ -ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); - -ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief Set hinge axis. - * @ingroup joints - */ -ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Hinge axis as if the 2 bodies were already at angle appart. - * @ingroup joints - * - * This function initialize the Axis and the relative orientation of each body - * as if body1 was rotated around the axis by the angle value. \br - * Ex: - * 
    - * dJointSetHingeAxis(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0
- * dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
- *
    - - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b angle appart. - * @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" - * angle position. - */ -ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the hinge axis. - * - * That is, it applies a torque with specified magnitude in the direction - * of the hinge axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque); - -/** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @ingroup joints - */ -ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * slider's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddSliderForce(dJointID joint, dReal force); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the hinge2's axis 1, torque2 about the - * hinge2's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the universal's axis 1, torque2 about the - * universal's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); - - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the rotoide articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for the rotoide articulation - */ -ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PR joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPRTorque (dJointID j, dReal torque); - - - /** - * @brief set anchor - * @ingroup joints - */ - ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); - - /** - * @brief set anchor - * @ingroup joints - */ - ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - - /** - * @brief set the axis for the first axis or the universal articulation - * @ingroup joints - */ - ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); - - /** - * @brief set the axis for the second axis or the universal articulation - * @ingroup joints - */ - ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); - - /** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ - ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); - - /** - * @brief set the axis for the prismatic articulation - * @ingroup joints - * @note This function was added for convenience it is the same as - * dJointSetPUAxis3 - */ - ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); - - - - /** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for second axis of the - * universal articulation - * @note parameterX where X equal 3 refer to parameter for prismatic - * articulation - */ - ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); - - /** - * @brief Applies the torque about the rotoide axis of the PU joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ - ODE_API void dJointAddPUTorque (dJointID j, dReal torque); - - - - - /** - * @brief set the joint anchor - * @ingroup joints - */ - ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); - - /** - * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
    -   * dReal offset = 3;
-   * dVector3 axis;
-   * dJointGetPistonAxis(jId, axis);
-   * dJointSetPistonAnchor(jId, 0, 0, 0);
-   * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
-   * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
-   * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
-   *
    - * @param j The Piston joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ - ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - - /** - * @brief set the joint axis - * @ingroup joints - */ - ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); - - /** - * This function set prismatic axis of the joint and also set the position - * of the joint. - * - * @ingroup joints - * @param j The joint affected by this function - * @param x The x component of the axis - * @param y The y component of the axis - * @param z The z component of the axis - * @param dx The Initial position of the prismatic join in the x direction - * @param dy The Initial position of the prismatic join in the y direction - * @param dz The Initial position of the prismatic join in the z direction - */ - ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - - /** - * @brief set joint parameter - * @ingroup joints - */ - ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); - - /** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * prismatic's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ - ODE_API void dJointAddPistonForce (dJointID joint, dReal force); - - -/** - * @brief Call this on the fixed joint after it has been attached to - * remember the current desired relative offset and desired relative - * rotation between the bodies. - * @ingroup joints - */ -ODE_API void dJointSetFixed (dJointID); - -/* - * @brief Sets joint parameter - * - * @ingroup joints - */ -ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value); - -/** - * @brief set the nr of axes - * @param num 0..3 - * @ingroup joints - */ -ODE_API void dJointSetAMotorNumAxes (dJointID, int num); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel, - dReal x, dReal y, dReal z); - -/** - * @brief Tell the AMotor what the current angle is along axis anum. - * - * This function should only be called in dAMotorUser mode, because in this - * mode the AMotor has no other way of knowing the joint angles. - * The angle information is needed if stops have been set along the axis, - * but it is not needed for axis motors. - * @ingroup joints - */ -ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value); - -/** - * @brief set mode - * @ingroup joints - */ -ODE_API void dJointSetAMotorMode (dJointID, int mode); - -/** - * @brief Applies torque0 about the AMotor's axis 0, torque1 about the - * AMotor's axis 1, and torque2 about the AMotor's axis 2. - * @remarks - * If the motor has fewer than three axes, the higher torques are ignored. - * This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); - -/** - * @brief Set the number of axes that will be controlled by the LMotor. - * @param num can range from 0 (which effectively deactivates the joint) to 3. - * @ingroup joints - */ -ODE_API void dJointSetLMotorNumAxes (dJointID, int num); - -/** - * @brief Set the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @remarks The axis vector is always specified in global coordinates - * regardless of the setting of rel. - * @ingroup joints - */ -ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ - -ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - */ -ODE_API void dJointGetBallAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 2. You can think of a ball and socket - * joint as trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetBallAnchor() to - * within roundoff errors. dJointGetBallAnchor2() can be used, along with - * dJointGetBallAnchor(), to see how far the joint has come apart. - */ -ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetBallParam (dJointID, int parameter); - -/** - * @brief Get the hinge anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return The point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHingeAnchor(). - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result); - -/** - * @brief get axis - * @ingroup joints - */ -ODE_API void dJointGetHingeAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHingeParam (dJointID, int parameter); - -/** - * @brief Get the hinge angle. - * - * The angle is measured between the two bodies, or between the body and - * the static environment. - * The angle will be between -pi..pi. - * Give the relative rotation with respect to the Hinge axis of Body 1 with - * respect to Body 2. - * When the hinge anchor or axis is set, the current position of the attached - * bodies is examined and that position will be the zero angle. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngle (dJointID); - -/** - * @brief Get the hinge angle time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngleRate (dJointID); - -/** - * @brief Get the slider linear position (i.e. the slider's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - - * The position is the distance, with respect to the zero position, - * along the slider axis of body 1 with respect to - * body 2. (A NULL body is replaced by the world). - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPosition (dJointID); - -/** - * @brief Get the slider linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPositionRate (dJointID); - -/** - * @brief Get the slider axis - * @ingroup joints - */ -ODE_API void dJointGetSliderAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetSliderParam (dJointID, int parameter); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * This returns the point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHinge2Anchor. - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Param (dJointID, int parameter); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2Rate (dJointID); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return This returns the point on body 2. - * @remarks - * You can think of the ball and socket part of a universal joint as - * trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is - * perfectly satisfied, this function will return the same value - * as dJointGetUniversalAnchor() to within roundoff errors. - * dJointGetUniversalAnchor2() can be used, along with - * dJointGetUniversalAnchor(), to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result); - - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalParam (dJointID, int parameter); - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine getUniversalAngle1 and getUniversalAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2Rate (dJointID); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPRAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PR linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPositionRate (dJointID); - - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the Rotoide axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPRParam (dJointID, int parameter); - - - - /** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ - ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); - - /** - * @brief Get the PU linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUPosition (dJointID); - - /** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUPositionRate (dJointID); - - /** - * @brief Get the first axis of the universal component of the joint - * @ingroup joints - */ - ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); - - /** - * @brief Get the second axis of the Universal component of the joint - * @ingroup joints - */ - ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); - - /** - * @brief Get the prismatic axis - * @ingroup joints - */ - ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); - - /** - * @brief Get the prismatic axis - * @ingroup joints - * - * @note This function was added for convenience it is the same as - * dJointGetPUAxis3 - */ - ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); - - - - - /** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The Prismatic universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together - * and try to avoid redundant calculation - */ - ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); - - /** - * @brief Get angle - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle1 (dJointID); - - /** - * @brief * @brief Get time derivative of angle1 - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle1Rate (dJointID); - - - /** - * @brief Get angle - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle2 (dJointID); - - /** - * @brief * @brief Get time derivative of angle2 - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle2Rate (dJointID); - - /** - * @brief get joint parameter - * @ingroup joints - */ - ODE_API dReal dJointGetPUParam (dJointID, int parameter); - - - - - -/** - * @brief Get the Piston linear position (i.e. the piston's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonPosition (dJointID); - - /** - * @brief Get the piston linear position's time derivative. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonPositionRate (dJointID); - -/** - * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonAngle (dJointID); - - /** - * @brief Get the piston angular position's time derivative. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonAngleRate (dJointID); - - - /** - * @brief Get the joint anchor - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2 in direction perpendicular - * to the prismatic axis. - * - * @ingroup joints - */ - ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); - - /** - * @brief Get the joint anchor w.r.t. body 2 - * - * This returns the point on body 2. You can think of a Piston - * joint as trying to keep the result of dJointGetPistonAnchor() and - * dJointGetPistonAnchor2() the same in the direction perpendicular to the - * pirsmatic axis. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetPistonAnchor() to - * within roundoff errors. dJointGetPistonAnchor2() can be used, along with - * dJointGetPistonAnchor(), to see how far the joint has come apart. - * - * @ingroup joints - */ - ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); - - /** - * @brief Get the prismatic axis (This is also the rotoide axis. - * @ingroup joints - */ - ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); - - /** - * @brief get joint parameter - * @ingroup joints - */ - ODE_API dReal dJointGetPistonParam (dJointID, int parameter); - - - /** - * @brief Get the number of angular axes that will be controlled by the - * AMotor. - * @param num can range from 0 (which effectively deactivates the - * joint) to 3. - * This is automatically set to 3 in dAMotorEuler mode. - * @ingroup joints - */ -ODE_API int dJointGetAMotorNumAxes (dJointID); - -/** - * @brief Get the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes. - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @ingroup joints - */ -ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief Get axis - * @remarks - * The axis vector is always specified in global coordinates regardless - * of the setting of rel. - * There are two GetAMotorAxis functions, one to return the axis and one to - * return the relative mode. - * - * For dAMotorEuler mode: - * \li Only axes 0 and 2 need to be set. Axis 1 will be determined - automatically at each time step. - * \li Axes 0 and 2 must be perpendicular to each other. - * \li Axis 0 must be anchored to the first body, axis 2 must be anchored - to the second body. - * @ingroup joints - */ -ODE_API int dJointGetAMotorAxisRel (dJointID, int anum); - -/** - * @brief Get the current angle for axis. - * @remarks - * In dAMotorUser mode this is simply the value that was set with - * dJointSetAMotorAngle(). - * In dAMotorEuler mode this is the corresponding euler angle. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngle (dJointID, int anum); - -/** - * @brief Get the current angle rate for axis anum. - * @remarks - * In dAMotorUser mode this is always zero, as not enough information is - * available. - * In dAMotorEuler mode this is the corresponding euler angle rate. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorParam (dJointID, int parameter); - -/** - * @brief Get the angular motor mode. - * @param mode must be one of the following constants: - * \li dAMotorUser The AMotor axes and joint angle settings are entirely - * controlled by the user. This is the default mode. - * \li dAMotorEuler Euler angles are automatically computed. - * The axis a1 is also automatically computed. - * The AMotor axes must be set correctly when in this mode, - * as described below. - * When this mode is initially set the current relative orientations - * of the bodies will correspond to all euler angles at zero. - * @ingroup joints - */ -ODE_API int dJointGetAMotorMode (dJointID); - -/** - * @brief Get nr of axes. - * @ingroup joints - */ -ODE_API int dJointGetLMotorNumAxes (dJointID); - -/** - * @brief Get axis. - * @ingroup joints - */ -ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetLMotorParam (dJointID, int parameter); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetFixedParam (dJointID, int parameter); - - -/** - * @ingroup joints - */ -ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); - -/** - * @ingroup joints - */ -ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint, otherwise return 0. - * @ingroup joints - */ -ODE_API int dAreConnected (dBodyID, dBodyID); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint that does not have type @arg{joint_type}, otherwise return 0. - * @param body1 A body to check. - * @param body2 A body to check. - * @param joint_type is a dJointTypeXXX constant. - * This is useful for deciding whether to add contact joints between two bodies: - * if they are already connected by non-contact joints then it may not be - * appropriate to add contacts, however it is okay to add more contact between- - * bodies that already have contacts. - * @ingroup joints - */ -ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/ode.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/ode.h deleted file mode 100644 index af74e50f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/ode.h +++ /dev/null @@ -1,48 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odeconfig.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odeconfig.h deleted file mode 100644 index 0659f48d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odeconfig.h +++ /dev/null @@ -1,91 +0,0 @@ -#ifndef ODECONFIG_H -#define ODECONFIG_H - -#ifndef dDOUBLE -#ifndef dSINGLE -#define dSINGLE -#endif -#endif - -/* Pull in the standard headers */ -#include -#include -#include -#include -#include -#include - -#if defined(ODE_DLL) || defined(ODE_LIB) || !defined(_MSC_VER) -#define __ODE__ -#endif - -/* Define a DLL export symbol for those platforms that need it */ -#if defined(_MSC_VER) - #if defined(ODE_DLL) - #define ODE_API __declspec(dllexport) - #elif !defined(ODE_LIB) - #define ODE_DLL_API __declspec(dllimport) - #endif -#endif - -#if !defined(ODE_API) - #define ODE_API -#endif - -#if defined(_MSC_VER) -# define ODE_API_DEPRECATED __declspec(deprecated) -#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) ) -# define ODE_API_DEPRECATED __attribute__((__deprecated__)) -#else -# define ODE_API_DEPRECATED -#endif - -/* Well-defined common data types...need to define for 64 bit systems */ -#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__) - #define X86_64_SYSTEM 1 - typedef int int32; - typedef unsigned int uint32; - typedef short int16; - typedef unsigned short uint16; - typedef char int8; - typedef unsigned char uint8; -#else - typedef int int32; - typedef unsigned int uint32; - typedef short int16; - typedef unsigned short uint16; - typedef char int8; - typedef unsigned char uint8; -#endif - -/* Visual C does not define these functions */ -#if defined(_MSC_VER) - #define copysignf _copysign - #define copysign _copysign -#endif - - - -/* Define the dInfinity macro */ -#ifdef INFINITY - #define dInfinity INFINITY -#elif defined(HUGE_VAL) - #ifdef dSINGLE - #ifdef HUGE_VALF - #define dInfinity HUGE_VALF - #else - #define dInfinity ((float)HUGE_VAL) - #endif - #else - #define dInfinity HUGE_VAL - #endif -#else - #ifdef dSINGLE - #define dInfinity ((float)(1.0/0.0)) - #else - #define dInfinity (1.0/0.0) - #endif -#endif - - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odecpp.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odecpp.h deleted file mode 100644 index d4cf992f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odecpp.h +++ /dev/null @@ -1,1079 +0,0 @@ -/************************************************************************* - * * - * 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 - - - - -//namespace ode { - -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 setGravity (const dVector3 g) - { setGravity (g[0], g[1], g[2]); } - 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) const - { return dWorldGetAutoEnableDepthSF1 (_id); } - - void quickStep(dReal stepsize) - { dWorldQuickStep (_id, stepsize); } - void setQuickStepNumIterations(int num) - { dWorldSetQuickStepNumIterations (_id, num); } - int getQuickStepNumIterations() const - { return dWorldGetQuickStepNumIterations (_id); } - void setQuickStepW(dReal over_relaxation) - { dWorldSetQuickStepW (_id, over_relaxation); } - dReal getQuickStepW() const - { return dWorldGetQuickStepW (_id); } - - void setAutoDisableLinearThreshold (dReal threshold) - { dWorldSetAutoDisableLinearThreshold (_id,threshold); } - dReal getAutoDisableLinearThreshold() const - { return dWorldGetAutoDisableLinearThreshold (_id); } - void setAutoDisableAngularThreshold (dReal threshold) - { dWorldSetAutoDisableAngularThreshold (_id,threshold); } - dReal getAutoDisableAngularThreshold() const - { return dWorldGetAutoDisableAngularThreshold (_id); } - void setAutoDisableSteps (int steps) - { dWorldSetAutoDisableSteps (_id,steps); } - int getAutoDisableSteps() const - { return dWorldGetAutoDisableSteps (_id); } - void setAutoDisableTime (dReal time) - { dWorldSetAutoDisableTime (_id,time); } - dReal getAutoDisableTime() const - { return dWorldGetAutoDisableTime (_id); } - void setAutoDisableFlag (int do_auto_disable) - { dWorldSetAutoDisableFlag (_id,do_auto_disable); } - int getAutoDisableFlag() const - { return dWorldGetAutoDisableFlag (_id); } - - dReal getLinearDampingThreshold() const - { return dWorldGetLinearDampingThreshold(_id); } - void setLinearDampingThreshold(dReal threshold) - { dWorldSetLinearDampingThreshold(_id, threshold); } - dReal getAngularDampingThreshold() const - { return dWorldGetAngularDampingThreshold(_id); } - void setAngularDampingThreshold(dReal threshold) - { dWorldSetAngularDampingThreshold(_id, threshold); } - dReal getLinearDamping() const - { return dWorldGetLinearDamping(_id); } - void setLinearDamping(dReal scale) - { dWorldSetLinearDamping(_id, scale); } - dReal getAngularDamping() const - { return dWorldGetAngularDamping(_id); } - void setAngularDamping(dReal scale) - { dWorldSetAngularDamping(_id, scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dWorldSetDamping(_id, linear_scale, angular_scale); } - - dReal getMaxAngularSpeed() const - { return dWorldGetMaxAngularSpeed(_id); } - void setMaxAngularSpeed(dReal max_speed) - { dWorldSetMaxAngularSpeed(_id, max_speed); } - - void setContactSurfaceLayer(dReal depth) - { dWorldSetContactSurfaceLayer (_id, depth); } - dReal getContactSurfaceLayer() const - { return dWorldGetContactSurfaceLayer (_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 (dWorld& world) - { _id = dBodyCreate (world.id()); } - ~dBody() - { if (_id) dBodyDestroy (_id); } - - void create (dWorldID world) { - if (_id) dBodyDestroy (_id); - _id = dBodyCreate (world); - } - void create (dWorld& world) { - create(world.id()); - } - - 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 setPosition (const dVector3 p) - { setPosition(p[0], p[1], p[2]); } - - 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 setLinearVel (const dVector3 v) - { setLinearVel(v[0], v[1], v[2]); } - void setAngularVel (dReal x, dReal y, dReal z) - { dBodySetAngularVel (_id,x,y,z); } - void setAngularVel (const dVector3 v) - { setAngularVel (v[0], v[1], v[2]); } - - 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 setMass (const dMass &mass) - { setMass (&mass); } - dMass getMass () const - { dMass mass; dBodyGetMass (_id,&mass); return mass; } - - void addForce (dReal fx, dReal fy, dReal fz) - { dBodyAddForce (_id, fx, fy, fz); } - void addForce (const dVector3 f) - { addForce (f[0], f[1], f[2]); } - void addTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddTorque (_id, fx, fy, fz); } - void addTorque (const dVector3 t) - { addTorque(t[0], t[1], t[2]); } - - void addRelForce (dReal fx, dReal fy, dReal fz) - { dBodyAddRelForce (_id, fx, fy, fz); } - void addRelForce (const dVector3 f) - { addRelForce (f[0], f[1], f[2]); } - void addRelTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddRelTorque (_id, fx, fy, fz); } - void addRelTorque (const dVector3 t) - { addRelTorque (t[0], t[1], t[2]); } - - void addForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); } - void addForceAtPos (const dVector3 f, const dVector3 p) - { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); } - void addForceAtRelPos (const dVector3 f, const dVector3 p) - { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); } - void addRelForceAtPos (const dVector3 f, const dVector3 p) - { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); } - void addRelForceAtRelPos (const dVector3 f, const dVector3 p) - { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - 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 setForce (const dVector3 f) - { setForce (f[0], f[1], f[2]); } - void setTorque (dReal x, dReal y, dReal z) - { dBodySetTorque (_id,x,y,z); } - void setTorque (const dVector3 t) - { setTorque (t[0], t[1], t[2]); } - - void enable() - { dBodyEnable (_id); } - void disable() - { dBodyDisable (_id); } - bool isEnabled() const - { return dBodyIsEnabled (_id) != 0; } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointPos (_id, px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointVel (_id, px, py, pz, result); } - void getRelPointVel (const dVector3 p, dVector3 result) const - { getRelPointVel (p[0], p[1], p[2], result); } - - void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPointVel (_id, px, py, pz, result); } - void getPointVel (const dVector3 p, dVector3 result) const - { getPointVel (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPosRelPoint (_id, px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorToWorld (_id, px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorFromWorld (_id,px,py,pz,result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void setFiniteRotationMode (bool mode) - { dBodySetFiniteRotationMode (_id, mode); } - - void setFiniteRotationAxis (dReal x, dReal y, dReal z) - { dBodySetFiniteRotationAxis (_id, x, y, z); } - void setFiniteRotationAxis (const dVector3 a) - { setFiniteRotationAxis (a[0], a[1], a[2]); } - - bool getFiniteRotationMode() const - { return dBodyGetFiniteRotationMode (_id) != 0; } - 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 (bool mode) - { dBodySetGravityMode (_id,mode); } - bool getGravityMode() const - { return dBodyGetGravityMode (_id) != 0; } - - bool isConnectedTo (dBodyID body) const - { return dAreConnected (_id, body) != 0; } - - void setAutoDisableLinearThreshold (dReal threshold) - { dBodySetAutoDisableLinearThreshold (_id,threshold); } - dReal getAutoDisableLinearThreshold() const - { return dBodyGetAutoDisableLinearThreshold (_id); } - void setAutoDisableAngularThreshold (dReal threshold) - { dBodySetAutoDisableAngularThreshold (_id,threshold); } - dReal getAutoDisableAngularThreshold() const - { return dBodyGetAutoDisableAngularThreshold (_id); } - void setAutoDisableSteps (int steps) - { dBodySetAutoDisableSteps (_id,steps); } - int getAutoDisableSteps() const - { return dBodyGetAutoDisableSteps (_id); } - void setAutoDisableTime (dReal time) - { dBodySetAutoDisableTime (_id,time); } - dReal getAutoDisableTime() const - { return dBodyGetAutoDisableTime (_id); } - void setAutoDisableFlag (bool do_auto_disable) - { dBodySetAutoDisableFlag (_id,do_auto_disable); } - bool getAutoDisableFlag() const - { return dBodyGetAutoDisableFlag (_id) != 0; } - - dReal getLinearDamping() const - { return dBodyGetLinearDamping(_id); } - void setLinearDamping(dReal scale) - { dBodySetLinearDamping(_id, scale); } - dReal getAngularDamping() const - { return dBodyGetAngularDamping(_id); } - void setAngularDamping(dReal scale) - { dBodySetAngularDamping(_id, scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dBodySetDamping(_id, linear_scale, angular_scale); } - dReal getLinearDampingThreshold() const - { return dBodyGetLinearDampingThreshold(_id); } - void setLinearDampingThreshold(dReal threshold) const - { dBodySetLinearDampingThreshold(_id, threshold); } - dReal getAngularDampingThreshold() const - { return dBodyGetAngularDampingThreshold(_id); } - void setAngularDampingThreshold(dReal threshold) - { dBodySetAngularDampingThreshold(_id, threshold); } - void setDampingDefaults() - { dBodySetDampingDefaults(_id); } - - dReal getMaxAngularSpeed() const - { return dBodyGetMaxAngularSpeed(_id); } - void setMaxAngularSpeed(dReal max_speed) - { dBodySetMaxAngularSpeed(_id, max_speed); } - - bool getGyroscopicMode() const - { return dBodyGetGyroscopicMode(_id) != 0; } - void setGyroscopicMode(bool mode) - { dBodySetGyroscopicMode(_id, mode); } - -}; - - -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); } - void clear() - { empty(); } -}; - - -class dJoint { -private: - // intentionally undefined, don't use these - dJoint (const dJoint &) ; - void operator= (const dJoint &); - -protected: - dJointID _id; - - dJoint() // don't let user construct pure dJoint objects - { _id = 0; } - -public: - virtual ~dJoint() // :( Destructor must be virtual to suppress compiler warning "class XXX has virtual functions but non-virtual destructor" - { if (_id) dJointDestroy (_id); } - - dJointID id() const - { return _id; } - operator dJointID() const - { return _id; } - - int getNumBodies() const - { return dJointGetNumBodies(_id); } - - void attach (dBodyID body1, dBodyID body2) - { dJointAttach (_id, body1, body2); } - void attach (dBody& body1, dBody& body2) - { attach(body1.id(), body2.id()); } - - void setData (void *data) - { dJointSetData (_id, data); } - void *getData() const - { return dJointGetData (_id); } - - dJointType getType() const - { return dJointGetType (_id); } - - dBodyID getBody (int index) const - { return dJointGetBody (_id, index); } - - void setFeedback(dJointFeedback *fb) - { dJointSetFeedback(_id, fb); } - dJointFeedback *getFeedback() const - { return dJointGetFeedback(_id); } - - // If not implemented it will do nothing as describe in the doc - virtual void setParam (int, dReal) {}; - virtual dReal getParam (int) const { return 0; } -}; - - -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); } - dBallJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateBall (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateBall (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetBallAnchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetBallAnchor (_id, result); } - void getAnchor2 (dVector3 result) const - { dJointGetBallAnchor2 (_id, result); } - virtual void setParam (int parameter, dReal value) - { dJointSetBallParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetBallParam (_id, parameter); } - // TODO: expose params through methods -} ; - - -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); } - dHingeJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateHinge (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateHinge (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHingeAnchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - 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 setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetHingeAxis (_id, result); } - - dReal getAngle() const - { return dJointGetHingeAngle (_id); } - dReal getAngleRate() const - { return dJointGetHingeAngleRate (_id); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHingeParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHingeParam (_id, parameter); } - // TODO: expose params through methods - - 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); } - dSliderJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateSlider (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateSlider (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetSliderAxis (_id, x, y, z); } - void setAxis (const dVector3 a) - { setAxis (a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetSliderAxis (_id, result); } - - dReal getPosition() const - { return dJointGetSliderPosition (_id); } - dReal getPositionRate() const - { return dJointGetSliderPositionRate (_id); } - - virtual void setParam (int parameter, dReal value) - { dJointSetSliderParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetSliderParam (_id, parameter); } - // TODO: expose params through methods - - 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); } - dUniversalJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateUniversal (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateUniversal (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetUniversalAnchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis1 (_id, x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1 (a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis2 (_id, x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2 (a[0], a[1], a[2]); } - - 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); } - - virtual void setParam (int parameter, dReal value) - { dJointSetUniversalParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetUniversalParam (_id, parameter); } - // TODO: expose params through methods - - void getAngles(dReal *angle1, dReal *angle2) const - { dJointGetUniversalAngles (_id, angle1, angle2); } - - 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); } - dHinge2Joint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateHinge2 (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateHinge2 (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHinge2Anchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetHinge2Axis1 (_id, x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1 (a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetHinge2Axis2 (_id, x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2 (a[0], a[1], a[2]); } - - 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); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHinge2Param (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHinge2Param (_id, parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2) - { dJointAddHinge2Torques(_id, torque1, torque2); } -}; - - -class dPRJoint : public dJoint { - dPRJoint (const dPRJoint &); - void operator = (const dPRJoint &); - -public: - dPRJoint() { } - dPRJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreatePR (world, group); } - dPRJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreatePR (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreatePR (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPRAnchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPRAxis1 (_id, x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPRAxis2 (_id, x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2(a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetPRAnchor (_id, result); } - void getAxis1 (dVector3 result) const - { dJointGetPRAxis1 (_id, result); } - void getAxis2 (dVector3 result) const - { dJointGetPRAxis2 (_id, result); } - - dReal getPosition() const - { return dJointGetPRPosition (_id); } - dReal getPositionRate() const - { return dJointGetPRPositionRate (_id); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPRParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPRParam (_id, parameter); } -}; - - - -class dPUJoint : public dJoint -{ - dPUJoint (const dPUJoint &); - void operator = (const dPUJoint &); - -public: - dPUJoint() { } - dPUJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreatePU (world, group); } - dPUJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreatePU (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) - { - if (_id) dJointDestroy (_id); - _id = dJointCreatePU (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPUAnchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPUAxis1 (_id, x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPUAxis2 (_id, x, y, z); } - void setAxis3 (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (_id, x, y, z); } - void setAxis3 (const dVector3 a) - { setAxis3(a[0], a[1], a[2]); } - void setAxisP (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (_id, x, y, z); } - void setAxisP (const dVector3 a) - { setAxisP(a[0], a[1], a[2]); } - - virtual void getAnchor (dVector3 result) const - { dJointGetPUAnchor (_id, result); } - void getAxis1 (dVector3 result) const - { dJointGetPUAxis1 (_id, result); } - void getAxis2 (dVector3 result) const - { dJointGetPUAxis2 (_id, result); } - void getAxis3 (dVector3 result) const - { dJointGetPUAxis3 (_id, result); } - void getAxisP (dVector3 result) const - { dJointGetPUAxis3 (_id, result); } - - dReal getAngle1() const - { return dJointGetPUAngle1 (_id); } - dReal getAngle1Rate() const - { return dJointGetPUAngle1Rate (_id); } - dReal getAngle2() const - { return dJointGetPUAngle2 (_id); } - dReal getAngle2Rate() const - { return dJointGetPUAngle2Rate (_id); } - - dReal getPosition() const - { return dJointGetPUPosition (_id); } - dReal getPositionRate() const - { return dJointGetPUPositionRate (_id); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPUParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPUParam (_id, parameter); } - // TODO: expose params through methods -}; - - - - - -class dPistonJoint : public dJoint -{ - // intentionally undefined, don't use these - dPistonJoint (const dPistonJoint &); - void operator = (const dPistonJoint &); - -public: - dPistonJoint() { } - dPistonJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreatePiston (world, group); } - dPistonJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreatePiston (world, group); } - - void create (dWorldID world, dJointGroupID group=0) - { - if (_id) dJointDestroy (_id); - _id = dJointCreatePiston (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPistonAnchor (_id, x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetPistonAnchor (_id, result); } - void getAnchor2 (dVector3 result) const - { dJointGetPistonAnchor2 (_id, result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetPistonAxis (_id, x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetPistonAxis (_id, result); } - - dReal getPosition() const - { return dJointGetPistonPosition (_id); } - dReal getPositionRate() const - { return dJointGetPistonPositionRate (_id); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPistonParam (_id, parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPistonParam (_id, parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddPistonForce (_id, force); } -}; - - - -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); } - dFixedJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateFixed (world, group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateFixed (world, group); - } - void create (dWorld& world, dJointGroup group=0) - { create(world.id(), group); } - - void set() - { dJointSetFixed (_id); } - - virtual void setParam (int parameter, dReal value) - { dJointSetFixedParam (_id, parameter, value); } - - virtual dReal getParam (int parameter) const - { return dJointGetFixedParam (_id, parameter); } - // TODO: expose params through methods -}; - - -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); } - dContactJoint (dWorld& world, dJointGroupID group, dContact *contact) - { _id = dJointCreateContact (world.id(), group, contact); } - - void create (dWorldID world, dJointGroupID group, dContact *contact) { - if (_id) dJointDestroy (_id); - _id = dJointCreateContact (world, group, contact); - } - - void create (dWorld& world, dJointGroupID group, dContact *contact) - { create(world.id(), 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); } - dNullJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateNull (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateNull (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), 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); } - dAMotorJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateAMotor (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateAMotor (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), 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 setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - 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); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2, dReal torque3) - { dJointAddAMotorTorques(_id, torque1, torque2, torque3); } -}; - - -class dLMotorJoint : public dJoint { - // intentionally undefined, don't use these - dLMotorJoint (const dLMotorJoint &); - void operator = (const dLMotorJoint &); - -public: - dLMotorJoint() { } - dLMotorJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateLMotor (world, group); } - dLMotorJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateLMotor (world.id(), group); } - - void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateLMotor (world, group); - } - void create (dWorld& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setNumAxes (int num) - { dJointSetLMotorNumAxes (_id, num); } - int getNumAxes() const - { return dJointGetLMotorNumAxes (_id); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetLMotorAxis (_id, anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetLMotorAxis (_id, anum, result); } - - void setParam (int parameter, dReal value) - { dJointSetLMotorParam (_id, parameter, value); } - dReal getParam (int parameter) const - { return dJointGetLMotorParam (_id, parameter); } - // TODO: expose params through methods -}; - -//} - -#endif -#endif - -// Local variables: -// mode:c++ -// c-basic-offset:2 -// End: diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odecpp_collision.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odecpp_collision.h deleted file mode 100644 index 88d5f627..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odecpp_collision.h +++ /dev/null @@ -1,370 +0,0 @@ -/************************************************************************* - * * - * 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 - -//namespace ode { - -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 dCapsule : public dGeom { - // intentionally undefined, don't use these - dCapsule (dCapsule &); - void operator= (dCapsule &); - -public: - dCapsule() { } - dCapsule (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCapsule (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCapsule (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCapsuleSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCapsuleGetParams (_id,radius,length); } -}; - - -class dCylinder : public dGeom { - // intentionally undefined, don't use these - dCylinder (dCylinder &); - void operator= (dCylinder &); - -public: - dCylinder() { } - dCylinder (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCylinder (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCylinder (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCylinderSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCylinderGetParams (_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 diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odeinit.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odeinit.h deleted file mode 100644 index e8b5001f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odeinit.h +++ /dev/null @@ -1,227 +0,0 @@ -/************************************************************************* -* * -* 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. * -* * -*************************************************************************/ - -/* Library initialization/finalization functions. */ - -#ifndef _ODE_ODEINIT_H_ -#define _ODE_ODEINIT_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* ************************************************************************ */ -/* Library initialization */ - -/** - * @defgroup init Library Initialization - * - * Library initialization functions prepare ODE internal data structures for use - * and release allocated resources after ODE is not needed any more. - */ - - -/** - * @brief Library initialization flags. - * - * These flags define ODE library initialization options. - * - * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads - * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread. - * If this flag is not specified the automatic resource tracking algorithm is used. - * - * With automatic resource tracking, On Windows, memory allocated for a thread may - * remain not freed for some time after the thread exits. The resources may be - * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately, - * the resources are released when library is closed with @c dCloseODE. On other - * operating systems resources are always released by the thread itself on its exit - * or on library closure with @c dCloseODE. - * - * If @c dInitFlagManualThreadCleanup was not specified during initialization, - * calls to @c dCleanupODEAllDataForThread are not allowed. - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @see dCloseODE - * @ingroup init - */ -enum dInitODEFlags { - dInitFlagManualThreadCleanup = 0x00000001, //@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call -}; - -/** - * @brief Initializes ODE library. - * - * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization. - * - * A call to @c dInitODE is equal to the following initialization sequence - * @code - * dInitODE2(0); - * dAllocateODEDataForThread(dAllocateMaskAll); - * @endcode - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @ingroup init - */ -ODE_API void dInitODE(void); - -/** - * @brief Initializes ODE library. - * @param uiInitFlags Initialization options bitmask - * @return A nonzero if initialization succeeded and zero otherwise. - * - * This function must be called to initialize ODE library before first use. If - * initialization succeeds the function may not be called again until library is - * closed with a call to @c dCloseODE. - * - * The @a uiInitFlags parameter specifies initialization options to be used. These - * can be combination of zero or more @c dInitODEFlags flags. - * - * @see dInitODEFlags - * @see dCloseODE - * @ingroup init - */ -ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/); - - -/** - * @brief ODE data allocation flags. - * - * These flags are used to indicate which data is to be pre-allocated in call to - * @c dAllocateODEDataForThread. - * - * @c dAllocateFlagBasicData tells to allocate the basic data set required for - * normal library operation. This flag is equal to zero and is always implicitly - * included. - * - * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated. - * Collision detection functions may not be called if the data has not be allocated - * in advance. If collision detection is not going to be used, it is not necessary - * to specify this flag. - * - * @c dAllocateMaskAll is a mask that can be used for for allocating all possible - * data in cases when it is not known what exactly features of ODE will be used. - * The mask may not be used in combination with other flags. It is guaranteed to - * include all the current and future legal allocation flags. However, mature - * applications should use explicit flags they need rather than allocating everything. - * - * @see dAllocateODEDataForThread - * @ingroup init - */ -enum dAllocateODEDataFlags { - dAllocateFlagBasicData = 0, //@< Allocate basic data required for library to operate - - dAllocateFlagCollisionData = 0x00000001, //@< Allocate data for collision detection - - dAllocateMaskAll = ~0U, //@< Allocate all the possible data that is currently defined or will be defined in the future. -}; - -/** - * @brief Allocate thread local data to allow the thread calling ODE. - * @param uiAllocateFlags Allocation options bitmask. - * @return A nonzero if allocation succeeded and zero otherwise. - * - * The function is required to be called for every thread that is going to use - * ODE. This function allocates the data that is required for accessing ODE from - * current thread along with optional data required for particular ODE subsystems. - * - * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags - * enumerated type. Multiple calls with different allocation flags are allowed. - * The flags that are already allocated are ignored in subsequent calls. If zero - * is passed as the parameter, it means to only allocate the set of most important - * data the library can not operate without. - * - * If the function returns failure status it means that none of the requested - * data has been allocated. The client may retry allocation attempt with the same - * flags when more system resources are available. - * - * @see dAllocateODEDataFlags - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags); - -/** - * @brief Free thread local data that was allocated for current thread. - * - * If library was initialized with @c dInitFlagManualThreadCleanup flag the function - * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread. - * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining - * not freed until program exit. The function may also be called when ODE is still - * being used to release resources allocated for all the current subsystems and - * possibly proceed with data pre-allocation for other subsystems. - * - * The function can safely be called several times in a row. The function can be - * called without prior invocation of @c dAllocateODEDataForThread. The function - * may not be called before ODE is initialized with @c dInitODE2 or after library - * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases - * all the thread local resources that might be allocated for all the threads that - * were using ODE. - * - * If library was initialized without @c dInitFlagManualThreadCleanup flag - * @c dCleanupODEAllDataForThread must not be called. - * - * @see dAllocateODEDataForThread - * @see dInitODE2 - * @see dCloseODE - * @ingroup init - */ -ODE_API void dCleanupODEAllDataForThread(); - - -/** - * @brief Close ODE after it is not needed any more. - * - * The function is required to be called when program does not need ODE features any more. - * The call to @c dCloseODE releases all the resources allocated for library - * including all the thread local data that might be allocated for all the threads - * that were using ODE. - * - * @c dCloseODE is a paired function for @c dInitODE2 and must only be called - * after successful library initialization. - * - * @note Important! - * Make sure that all the threads that were using ODE have already terminated - * before calling @c dCloseODE. In particular it is not allowed to call - * @c dCleanupODEAllDataForThread after @c dCloseODE. - * - * @see dInitODE2 - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API void dCloseODE(void); - - - - - -#ifdef __cplusplus -}; // extern "C" -#endif - - -#endif // _ODE_ODEINIT_H_ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odemath.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odemath.h deleted file mode 100644 index f2bf3751..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/odemath.h +++ /dev/null @@ -1,357 +0,0 @@ -/************************************************************************* - * * - * 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 - -#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)]) - -/* - * Macro to test for valid floating point values - */ -#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]))) -#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3]))) -#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]))) -#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) )) - - - -/* - * General purpose vector operations with other vectors or constants. - */ - -#define dOP(a,op,b,c) \ - (a)[0] = ((b)[0]) op ((c)[0]); \ - (a)[1] = ((b)[1]) op ((c)[1]); \ - (a)[2] = ((b)[2]) op ((c)[2]); -#define dOPC(a,op,b,c) \ - (a)[0] = ((b)[0]) op (c); \ - (a)[1] = ((b)[1]) op (c); \ - (a)[2] = ((b)[2]) op (c); -#define dOPE(a,op,b) \ - (a)[0] op ((b)[0]); \ - (a)[1] op ((b)[1]); \ - (a)[2] op ((b)[2]); -#define dOPEC(a,op,c) \ - (a)[0] op (c); \ - (a)[1] op (c); \ - (a)[2] op (c); - -/// Define an equation with operatos -/// For example this function can be used to replace -/// 
    -/// for (int i=0; i<3; ++i)
-///   a[i] += b[i] + c[i];
-///
    -#define dOPE2(a,op1,b,op2,c) \ - (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ - (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ - (a)[2] op1 ((b)[2]) op2 ((c)[2]); - -/* - * Length, and squared length helpers. dLENGTH returns the length of a dVector3. - * dLENGTHSQUARED return the squared length of a dVector3. - */ - -#define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2])) - -#ifdef __cplusplus - -PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); } - -#else - -#define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) ) - -#endif /* __cplusplus */ - - - - - -/* - * 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 3D-vectors - */ - -#ifdef __cplusplus -PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b) - { 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 PURE_INLINE void - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -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) - */ - -#if defined(__ODE__) - -int _dSafeNormalize3 (dVector3 a); -int _dSafeNormalize4 (dVector4 a); - -static __inline void _dNormalize3(dVector3 a) -{ - int bNormalizationResult = _dSafeNormalize3(a); - //dIASSERT(bNormalizationResult); - dVARIABLEUSED(bNormalizationResult); -} - -static __inline void _dNormalize4(dVector4 a) -{ - int bNormalizationResult = _dSafeNormalize4(a); - //dIASSERT(bNormalizationResult); - dVARIABLEUSED(bNormalizationResult); -} - -#endif // defined(__ODE__) - -// For DLL export -ODE_API int dSafeNormalize3 (dVector3 a); -ODE_API int dSafeNormalize4 (dVector4 a); -ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec -ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec - -#if defined(__ODE__) - -// For internal use -#define dSafeNormalize3(a) _dSafeNormalize3(a) -#define dSafeNormalize4(a) _dSafeNormalize4(a) -#define dNormalize3(a) _dNormalize3(a) -#define dNormalize4(a) _dNormalize4(a) - -#endif // defined(__ODE__) - -/* - * 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. - */ - -ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/rotation.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/rotation.h deleted file mode 100644 index a72be27f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/rotation.h +++ /dev/null @@ -1,70 +0,0 @@ -/************************************************************************* - * * - * 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 -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -ODE_API void dRSetIdentity (dMatrix3 R); - -ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal angle); - -ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); - -ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal bx, dReal by, dReal bz); - -ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); - -ODE_API void dQSetIdentity (dQuaternion q); - -ODE_API 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 */ -ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by qc, then by inverse of qb */ -ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by qb */ -ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by inverse of qb */ -ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); - -ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); -ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); -ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/timer.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/timer.h deleted file mode 100644 index fe1483f7..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/include/ode/timer.h +++ /dev/null @@ -1,76 +0,0 @@ -/************************************************************************* - * * - * 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 - -#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; - -ODE_API void dStopwatchReset (dStopwatch *); -ODE_API void dStopwatchStart (dStopwatch *); -ODE_API void dStopwatchStop (dStopwatch *); -ODE_API double dStopwatchTime (dStopwatch *); /* returns total time in secs */ - - -/* code timers */ - -ODE_API void dTimerStart (const char *description); /* pass a static string here */ -ODE_API void dTimerNow (const char *description); /* pass a static string here */ -ODE_API 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. - */ -ODE_API 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. - */ -ODE_API double dTimerTicksPerSecond(void); - -/* returns an estimate of the actual timer resolution, in seconds. this may - * be greater than 1/ticks_per_second. - */ -ODE_API double dTimerResolution(void); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode-config.in b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode-config.in deleted file mode 100644 index 754b3afc..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode-config.in +++ /dev/null @@ -1,53 +0,0 @@ -#!/bin/sh - -prefix=@prefix@ -exec_prefix=@exec_prefix@ -exec_prefix_set=no - -usage="\ -Usage: ode-config [--prefix[=DIR]] [--exec-prefix[=DIR]] [--version] [--cflags] [--libs]" - -if test $# -eq 0; then - echo "${usage}" 1>&2 - exit 1 -fi - -while test $# -gt 0; do - case "$1" in - -*=*) optarg=`echo "$1" | sed 's/[-_a-zA-Z0-9]*=//'` ;; - *) optarg= ;; - esac - - case $1 in - --prefix=*) - prefix=$optarg - if test $exec_prefix_set = no ; then - exec_prefix=$optarg - fi - ;; - --prefix) - echo $prefix - ;; - --exec-prefix=*) - exec_prefix=$optarg - exec_prefix_set=yes - ;; - --exec-prefix) - echo $exec_prefix - ;; - --version) - echo @ODE_RELEASE@ - ;; - --cflags) - echo -I@includedir@ @ODE_PRECISION@ - ;; - --libs) - echo -L@libdir@ -lode - ;; - *) - echo "${usage}" 1>&2 - exit 1 - ;; - esac - shift -done diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode.pc.in b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode.pc.in deleted file mode 100644 index 10899bc8..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode.pc.in +++ /dev/null @@ -1,11 +0,0 @@ -prefix=@prefix@ -exec_prefix=@exec_prefix@ -libdir=@libdir@ -includedir=@includedir@ - -Name: ode -Description: Open Dynamics Engine -Version: @ODE_RELEASE@ -Libs: -L${libdir} -lode -Libs.private: -lstdc++ -lm -Cflags: -I${includedir} @ODE_PRECISION@ diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/Makefile.am deleted file mode 100644 index c5d0d27a..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/Makefile.am +++ /dev/null @@ -1,6 +0,0 @@ -SUBDIRS = src -if ENABLE_DEMOS - SUBDIRS += demo -endif - -EXTRA_DIST = doc diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/README b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/README deleted file mode 100644 index dd4596f9..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/README +++ /dev/null @@ -1,158 +0,0 @@ -Dynamics Library. -================= - -CONVENTIONS ------------ - -matrix storage --------------- - -matrix operations like factorization are expensive, so we must store the data -in a way that is most useful to the matrix code. we want the ability to update -the dynamics library without recompiling applications, e.g. so users can take -advantage of new floating point hardware. so we must settle on a single -format. because of the prevalence of 4-way SIMD, the format is this: store -the matrix by rows or columns, and each column is rounded up to a multiple of -4 elements. the extra "padding" elements at the end of each row/column are set -to 0. this is called the "standard format". to indicate if the data is stored -by rows or columns, we will say "standard row format" or "standard column -format". hopefully this decision will remain good in the future, as more and -more processors have 4-way SIMD, and 3D graphics always needs fast 4x4 -matrices. - -exception: matrices that have only one column or row (vectors), are always -stored as consecutive elements in standard row format, i.e. there is no -interior padding, only padding at the end. - -thus: all 3x1 floating point vectors are stored as 4x1 vectors: (x,x,x,0). -also: all 6x1 spatial velocities and accelerations are split into 3x1 position - and angular components, which are stored as contiguous 4x1 vectors. - -ALL matrices are stored by in standard row format. - - -arguments ---------- - -3x1 vector arguments to set() functions are supplied as x,y,z. -3x1 vector result arguments to get() function are pointers to arrays. -larger vectors are always supplied and returned as pointers. -all coordinates are in the global frame except where otherwise specified. -output-only arguments are usually supplied at the end. - - -memory allocation ------------------ - -with many C/C++ libraries memory allocation is a difficult problem to solve. -who allocates the memory? who frees it? must objects go on the heap or can -they go on the stack or in static storage? to provide the maximum flexibility, -the dynamics and collision libraries do not do their own memory allocation. -you must pass in pointers to externally allocated chunks of the right sizes. -the body, joint and colllision object structures are all exported, so you -can make instances of those structure and pass pointers to them. - -there are helper functions which allocate objects out of areans, in case you -need loots of dynamic creation and deletion. - -BUT!!! this ties us down to the body/joint/collision representation. - -a better approach is to supply custom memory allocation functions -(e.g. dlAlloc() etc). - - -C versus C++ ... ? ------------------- - -everything should be C linkable, and there should be C header files for -everything. but we want to develop in C++. so do this: - * all comments are "//". automatically convert to /**/ for distribution. - * structures derived from other structures --> automatically convert? - - -WORLDS ------- - -might want better terminology here. - -the dynamics world (DWorld) is a list of systems. each system corresponds to -one or more bodies, or perhaps some other kinds of physical object. -each system corresponds to one or more objects in the collision world -(there does not have to be a one-to-one correspondence between bodies and -collision objects). - -systems are simulated separately, perhaps using completely different -techniques. we must do something special when systems collide. -systems collide when collision objects belonging to system A touch -collision objects belonging to system B. - -for each collision point, the system must provide matrix equation data -that is used to compute collision forces. once those forces are computed, -the system must incorporate the forces into its timestep. -PROBLEM: what if we intertwine the LCP problems of the two systems - then -this simple approach wont work. - -the dynamics world contains two kinds of objects: bodies and joints. -joints connect two bodies together. - -the world contains one of more partitions. each partition is a collection of -bodies and joints such that each body is attached (through one or more joints) -to every other body. - -Joints ------- - -a joint can be connected to one or two bodies. -if the joint is only connected to one body, joint.node[1].body == 0. -joint.node[0].body is always valid. - - -Linkage -------- - -this library will always be statically linked with the app, for these reasons: - * collision space is selected at compile time, it adds data to the geom - objects. - - -Optimization ------------- - -doubles must be aligned on 8 byte boundaries! - - -MinGW on Windows issues ------------------------ - -* the .rc file for drawstuff needs a different include, try winresrc.h. - -* it seems we can't have both main() and WinMain() without the entry point - defaulting to main() and having resource loading problems. this screws up - what i was trying to do in the drawstuff library. perhaps main2() ? - -* remember to compile resources to COFF format RES files. - - - -Collision ---------- - -to plug in your own collision handling, replace (some of?) these functions -with your own. collision should be a separate library that you can link in -or not. your own library can call components in this collision library, e.g. -if you want polymorphic spaces instead of a single statically called space. - -creating an object will automatically register the appropriate -class (if necessary). how can we ensure that the minimum amount of code is -linked in? e.g. only one space handler, and sphere-sphere and sphere-box and -box-box collision code (if spheres and boxes instanced). - -the user creates a collision space, and for each dynamics object that is -created a collision object is inserted into the space. the collision -object's pos and R pointers are set to the corresponding dynamics -variables. - -there should be utility functions which create the dynamics and collision -objects at the same time, e.g. dMakeSphere(). - -collision objects and dynamics objects keep pointers to each other. diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/TODO b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/TODO deleted file mode 100644 index cf6cdaac..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/TODO +++ /dev/null @@ -1,698 +0,0 @@ - -@@@'s - - -TODO for COLLISION ------------------- - -box-box collision: adjust generated face-face contact points by depth/2 to -be more fair. - -what happens when a GeomTransform's encapsulated object is manipulated, -e.g. position changed. should this be disallowed? should a GeomTransform -behave like a space and propagate dirtyness upwards? - -make sure that when we are using a large space for static environmental geoms, -that there is not excessive AABB computation when geoms are added/removed from -the space. the space AABB is pretty much guaranteed to cover everything, so -there's no need to compute/test the AABB in this case. - -hash space: implement collide2() efficiently instead of the current -simple-space-like brute-force approach. - -hash space: incremental scheme, so we dont have to rebuild the data structures -for geoms that don't move. - -disabled geoms (remove from all collision considerations) ... isn't this the -same as just taking it out of its enclosing group/space? - -integrate: - dRay - triangle collider - get latest tri collider code from erwin - erwin's quadtree space - -tests: - all aspects of collision API - - dGeomSetBody(0) maintains body-geom linked list properly. - - simple space: instantiate lots of non-moving geoms (i.e. environmental - geoms and make sure that we're still able to collide efficiently. - make sure AABB computation is efficient, or can be made efficient - through proper use of the API. - - test C interface support for making new classes. - make sure the dxGeom::aabbTest() function behaves as advertised. - - testing for contact point consistency: test for things that - would cause the dynamics to fail or become unstable - - test for: small adjustment in geom position causes a big jump in the - contact point set (bad for dynamics). - - test for: if contact constraints observed then it's impossible - (or hard) to move the objects so that the penetration is - increased. relax this when only a subset of the contact points are - returned. - - test for consistency, e.g. the boundary of geoms X and Y can - be defined by intersecting with a point, so test the intersection of X - and Y by comparing with the point tests. - - check that contact points are in the collision volume - - all existing space tests, and more. - -demos: - test_buggy: make a terrain out of non-moving geoms. use heirarchical - groups to get efficient collision, even with the simple space. - -go though the new collision docs and make sure the behavior that is described -there is actually implemented. - -multi-resolution hash table: - the current implementation rebuilds a new hash table each time - collide() is called. we don't keep any state between calls. this is - wasteful if there are unmoving objects in the space. - - make sure we prevent multiple collision callbacks for the same pair - - better virtual address function. - - the collision search can perhaps be optimized - as we search - chains we can come across other candidate intersections at - other levels, perhaps we should do the intersection check - straight away? --> save on list searching time only, which is - not too significant. - -collision docs: - optimization guide: whenever a single geom changes in a simple space, - the space AABB has to be recomputed by examining EVERY geom. - document this, or find a better behavior. - - - -TODO BEFORE NEXT RELEASE ------------------------- - -g++ needed for compiling tests using gcc 3.2 ? what is the problem? - -add joint feedback info from lambda, so that we can get motor forces etc. -need a way to map constraint indexes to what they mean. - -track down and fix the occasional popping/jumping problem in test_boxstack, -especially when boxes are piled on top of each other. find out if this is -caused by a configuration singularity or whether there is a bug in LCP. -i need to add some kind of diagnostic tool to help resolve these kinds of -problems. - -fixup ground plane jitter and shadow jumping in drawstuff. - -the inertias/COMs don't appear to be totally correct for the boxstack demo. -fix up, and add a mode that shows the effective mass box (for a given density). - -Improve box-box collision, especially for face-face contact (3 contact points). -Improve cylinder-box collision (2 contact points). - -windows DLL building and unix shared libs. libtool? -also MSVC project files. - -dBodyGetPointVel() - -contrib directory - all stuff in ~/3/ode - -functions to allow systems to be copied/cloned - dBodyTransplant (b, world) - dTransplantIsland (b, world) - dBodyCopy (bdest, bsrc) - dJointCopy (jdest, jsrc) -- what about body connections? - dCloneBody() - dCloneJoint() - dCloseBodyAndJointList() - dCloneIsland() - -this collision rule: - // no contacts if both geoms on the same body, and the body is not 0 - if (g1->body == g2->body && g1->body) return 0; -needs to be replaced. sometimes we want no collision when both bodies are 0, -but this wont work for geomgroup-to-environment. avoid stupid stuff like - dGeomSetBody (geom_group, (dBodyID) 1); -this also causes "failed-to-report" errors in the space test. - -Expose type-specific collision functions? - -Automatic code optimization process. - -joint limit spongyness: interacts with powered joints badly, because when the -limit is reached full power is applied. fix or doc. - -various hinge2 functions may not function correctly if axis1 and axis2 are not -perpendicular. in particular the getAngle() and getAngleRate() functions -probably will give bogus answers. - -slow step function will not respect the joint getinfo2 functions calling -addTorque() because it reads the force/torque accumulators before the -getinfo2 functions are called. - -spaces need multiple lists of objects that can never overlap. objects in these -lists are never tested against each other. - -deleting a body a joint is attached to should adjust the joint to only have -one body attached. currently the connected joints have *both* their body -attachments removed. BUT, dont do this if the dJOINT_TWOBODIES flag is set -on the joint. - -document error, mem and math functions. - -Web pages - credits section - projects using ODE - -update C++ interface? use SWIG? - -collision exclusion groups - exclude if obj1.n == obj2.n ? - -make sure the amotor joint can be used with just one body. at the moment it -only allows two-body attachments. - -implement dJointGetAMotorAngleRate() - -erwin says: Should the GeomGroup have a cleanupmode as the GeomTransform has? - -erwin says: http://q12.org/pipermail/ode/2002-January/000766.html - and http://q12.org/pipermail/ode/2001-December/000753.html - -rename duplicate filenames (object.h?) - some environments can't handle this. - -naming inconsistency: dCreateSphere() should be dSphereCreate() (etc...) to -match the rest of the API. - - -TODO ----- - -joint allocation in joint groups. allocation size should be rounded up using -dEFFICIENT_SIZE, to properly align all the data members. - -all dAlloc() allocations should be aligned using dEFFICIENT_SIZE() ??? - -automatic body & joint disabling / enabling. - -sometimes getting LCP infinite loops. - -function to get the entire island of bodies/joints - -joints: - hinge2 joint - implement trail, i.e. non-convergent steering and wheel - axes. - - erp individually settable for each joint? - - more joints: - angular3 (constrian full angle not position) - fixed path 1 (point must follow fixed path, etc etc) - - other fixed path joints. - linear a (point in 1 body fixed to plane of other) - linear b (point in 1 body fixed to line on other) - linear c (line in 1 body fixed to plane on other) - linear d (line in 1 body fixed to line on other) - like - prismatic but orientation along line can change - Relative-Path-Relative-Oriention Joint (set all dofs of 2 - bodies relative to each other) - spring (with natural length) - universal (2 kinds) - various angular relationships - - when attaching joints to static env, provision to move attachment - point (e.g. give it a linear/angular velocity). this can be used - instead of a FPFO joint on a body in many cases. - also do this with contacts to static env, to allow for contacts to - *moving* objects in the static env. - - interpretation of erp: is it (1) the error reduction per timestep, - (2) or a time constant independent of timestep?? if it's (2) then - perhaps this should be universal - this is already the meaning for - the suspension. - - hinge2 suspension: - suspension limits - suspension limit restitution and spongyness?? - -use autoconf? set paths in makefile? - -no-arg init functions, for andy - -explore: do joint parameters need to be set for the joint to be setup -correctly, or should set some proper body-dependent params when it is -attached? this is only really an issue for joints that have no parameters to -set, such as the fixed joint. - -dAlloc() should take an arena parameters which is stored in dWorld. - -debugging mode should use dASSERT2 that prints a descriptive error message -on error, not just the file:line or function. use dASSERT for internal -consistency checking. - -when vectors and matrices are initialized, we must ensure that the padding -elements are set to 0. this is going to be a problem everywhere! - -don't use 3-vectors anywhere. use SIMD friendly 4-vectors. - -make sure all data in body/joint etc objects is aligned well for single -precision SIMD (i.e. all vectors start on a 16 byte boundary). - -think about more complicated uses of collision, e.g. a single geom representing -an articulated structure. - -bodyGroup? (like joint group but for bodies). systemGroup? - -check the overhead of resizing Array<>s as elements are pushed on to them. - -replace alloca() with dPushFrame(), dPopFrame(), and dAlloca() ? allow for -the possibility of allocating in non-stack memory ? - -make sure that we can set mass parameters with non-zero center of mass. -if this is done after the body position is set, the position is adjusted. -if this is done before the body position is set, what do we do when the -pos is set? does the pos always refer to the center of mass from the user's -point of view? - -consider splitting solver into functions, which can be optimized separately. -might make things go faster. - -faster code for islands with a single body? faster code for dynamically -symmetric bodies? - -rotation.cpp functions that set matrices should also set padding elements. - -lcp solver must return (L,d) and some other information, so we can re-solve -for other right hand sides later on, but using the same complimentarity -solution so there are no integrator discontinuities. - -dSetZero() - make fast inline functions for fixed n e.g. (1-4). - -need proper `sticky' friction, i.e. compensation for numerical slip. - -on windows, make sure gcc-compiles libs can be linked with VC++ apps. need -to make sure some C++ runtime bits are present? - -kill all references to dArray<> (in geom.cpp). - -need testing code to test all joints with body-to-static-env - -copy stack.cpp, memory.cpp stuff to reuse - -dFactorLDLT() is not so efficient for matrix sizes < block size, e.g. -redundant calls, zero loads, adds etc - -contacts: cheaper friction: viscous friction? one step delay friction force. - -in geom.cpp, for objects that are never meant to collide, dCollide() will -always try to find the collider functions, which wastes a bit of time. - -geom.cpp:dCollideG() - handle special case of colliding 2 groups more -efficiently. - -timer reporting function: - void timerReport (void (*printFunction)(char *, ...)); - -disabled bodies stored in a separate list, so they are never traversed at all, -for speed when there are many disabled bodies. - - -MAYBE ------ - -new implementation for joint groups that is not so system dependent. -maybe individual contacts are reusable? in this case contact information -should be settable in the contact joints. max_size arg is really annoying. - -consider making anchor,axis, (everything) into a joint parameter and setting -them with a consistent interface. also consider overload the joint functions -so they are not distinguished by joint type?? - -collision memory optimizations? - -collision: support for persistent contact information? - -multiply reference tri list data so that it can be cloned - if the tri-list geoms could support rot/pos - transformations then we could have several tri-lists pointing to the - same vertex information. - -height fields - -pre-converted collision data -- Creating a hash space and associated -opcode tree structures may take significant amounts of time for a -large world with many 10s of thousands of triangles. Any chance of -pre-building that off-line and passing a memory block pointer to the -collision system? - -putting objects in multiple spaces -- If it was possible to add -objects to more than one space, you could do collision queries other -than 1vsN and NvsN. That flexibility might be useful when you want to -only collide against a subset of the space. For example, a camera -system may want to collide some rays with occlusion walls but the -occlusion walls may also need to be in the game-level space to bounce -against. - - -ALWAYS ------- - -make sure functions check their arguments in debug mode (e.g. using dASSERT). -make sure joint/geom functions check for the specific object type. - -vectors alloca()ed on the stack must have the correct alignment, use ALLOCA16. - -library should have no global constructors, as it might be used with C linkage. - -use `const' in function arguments. blah. - - - -DON'T BOTHER ------------- - -warning if user tries to set mass params with nonzero center of mass. - - - -DONE ----- - -check: when contact attached with (body1,0) and (0,body1), check that polarity -on depth and error info is okay for the two cases. - -set a better convention for which is the 1st and 2nd body in a joint, because -sometimes we get things swapped (because of the way the joint nodes are used). - -hinge and prismatic, attachment to static environment. - -turn macros into C++ inline functions? what about C users? - -remove `space' argument to geom creation functions? make user add it? -or just remove it from dCreateGeom() ? <-- did this one. - -test_chain should be in C, not C++. but first must remove global constructors. - -add more functionality to C++ interface - dMass, dSpace, dGeom - -there should be functions to delete groups of bodies/joints in one go - this -will be more efficient than deleting them one at a time, because less -partitioning tests will be needed. - -should we expose body and joint object structures so that the user can -explicitly allocate them locally, or e.g. on the stack? makes allocating -temporary contact constraints easier. NO --> helps data hiding and therefore -library binary compatability. - -joints: - hinge & slider - DONE - measure angle, rate - DONE - power - DONE - joint limits - DONE - mixed powered+limited joints, powering away from limit - DONE - - hinge2 - DONE - steering angle and rate measurement - DONE - steering limits - DONE - steering motor - DONE - wheel motor - DONE - wheel angle rate measurement - DONE - - optional hinge2 suspension: - DONE - alignment of B&S part to given axis - DONE - global framework for giving epsilon and gamma - DONE - - toss away r-motor, make power & stuff specific to joint - DONE - it's just easier that way - - joint code reuse: - DONE - use standard functions to set velocity (c), limits (lo,hi), - spongyness (epsilon) etc, this prevents these functions from - proliferating - - implicit spring framework - actually allow joints to return a value `k' - such that J*vnew = c + k*f, where f = force needed to achieve - vnew - DONE - - contact slip - DONE - contact erp & cfm parameters (not just "softness") - DONE - - hinge2: when we lock back wheels along the steering axis, there is no - error correction if they get out of alignment - DONE, just use high - and low limits. - - joint limit spongyness: erp and cfm for joint set from world (global) - values when joint created. - DONE - - joint limit restitution - DONE - -check inertia transformations, e.g. by applying steering torque to a thin -wheel --> actually, i made test_I - -more comprehensive random number comparisons between slow and fast methods. - - random PD inertia (not just diagonal). - - random velocity - - random joint error (make joints then move bodies a bit) - -check that J*vnew=c (slow step already does this, but it doesn't equal zero -for some reason! - actually, when LCP constraint limits are reached, it wont!) - -tons of things in lcp.cpp (@@@), especially speed optimizations. also, we -wanted to do index block switching and index block updates to take advantage -of the outer product trick ... but this is not worth the effort i think. - -lcp.cpp: if lo=hi=0, check operation. can we switch from NL <-> NH without -going through C? --> done. - -andy says: still having trouble with those resource files.. -drawstuff.res doesn't seem to build or be found under cygwin gcc. - -DOC how bodies and geoms associated then resolved in contact callback ... not -really necessary. - -fix the "memory leak" in geom.cpp - -library should have no global constructors, as it might be used with C linkage. - --> as long as test_chain1 works, there are none. - -DOC cfm, the derivation and what it means. - --> partially done, could be better - -joint "get type" function - -andy says: in ode/src/error.cpp _snprintf() and _vsnprintf() are missing -in testode: finite and isnan are missing. copysign is missing - russ: okay here's the problem: i have Makefile.platform files for - VC++, MinGW, but not Cygwin. Cygwin uses the unix-like functions - for everything, but the VC++/MinGW configs assumes the MS C-runtime - functions. this is easy to fix, except i need to install Cygwin - which is a pain to do over MinGW. argh. - -build on linux - assumptions made about location of X11 lib, opengl etc. - -implement: dBodyAddForceAtPos,dBodyAddRelForceAtPos,dBodyAddRelForceAtRelPos, - dBodyGetPointPos,dBodyGetPointVel,dBodyGetPointRelVel - -dJointAttach(), allow both bodies to be 0 to put the joint into limbo. - -space near-callback should be given potentially intersecting objects 100 at a -time instead of 1 at a time, to save on calling costs ... which are trivial, -so we don't bother to do this. - -doccer: @func{} also refs second etc function in function *list*. - -make sure joints can return 0 from GetInfo1, i.e. no constraints or "inactive" -joint, and the step functions will handle it. - -when attaching contact with (0,body), instead of setting the reverse flag -on the joint and checking it in getInfo2(), we should just reverse the normal -straight away ... ? - --> trouble is, dJointAttach() knows nothing about what kind of joint - it is attaching. - -hinge2 needs to be attached to two bodies for it to work, make sure this is -always the case. --> assertion added in dJointAttach(). - -if two joints connect to the same two bodies, check that the fast solver -works! -> it should. - -functions to get all the joints/bodies a body/joint is connected to. - -If I don't have the GCC libraries installed, HUGE_VALF is undefined. - -fix capped cylinder - capped cylinder collision so that two contacts can -be generated. - -transformation geometry object. - -joint groups should also be destroyed by destroying the world --> naaahhh. - -DONT DO THIS: body/joint creators with world = 0 --> not inserted into any -world. allow bodies/joints to be detached from a world (this is what happens -to grouped joints when a world is destroyed). - can bodies and joints be linked together when not attached to world?? - what happens when we have an island of b/j, some of which are not in - world? soln: dont keep lists of b/j in the world, just infer it from - the islands? - -body & joint disabling / enabling - -start a change log. - -collision flags - 0xffff mask. - -dBodyGetFiniteRotationMode() / ...Axis() - -dBodyAddForceAtRelPos() - -ball & socket joint limits and motors. - -auto-build env on windows: 3 compilers, debug/release, short/double = -12 combinations --> auto logs. - -handle infinities better: HUGE_VALF is not commanly defined, it seems. -get rid of the __USE_ISOC9X macro in common.h -perhaps just use a "big" number instead of the actual IEEE infinity, it's -more portable anyway. - --> new config system - -dCloseODE() - tidy up *all* allocated memory, esp in geom.cpp. used to keep -leak detectors happy. - -extra API to get lambda and J'*lambda from last timestep. - -better stack implementation that is not so system dependent. but how will -we do dynamic page allocation? do we even need to? - - -all collision files will now be collision_*, not geom_* - -check exported global symbols - no C++ mangling. - -rename dSphere etc to dxSphere etc. - -C interface support for making new classes. - -make sure DLL-ized stuff preserved ... but class numbers should no longer be -exported. - -point geom ( = sphere of radius 0 ) - -geoms stored in doubly linked lists in space (fast removal). - -bodies need to keep geoms pointers and call dGeomMoved() in dBodySetPosition() -etc and world step. PROBLEM: links dynamics and collision together too much, -makes it hard to extract ODE collision ... unless we say: dGeomMoved() and -dGeomID must be supplied by the new collision library! - -dCollide() should take spaces as arguments - it should call dSpaceCollide2() -with its own callback that puts all found contacts in the array, stopping -when there is no more space left in the array. - -dxSpace::getGeom() - the geom numbers will change as geoms are dirtied - find -some other numbering scheme, or document this behavior. - -the 'placeable' property - objects that should not ever be attached to bodies -should flag an error when setBody etc are called. - -dGeomSetBody(0) - DOC: the position and orientation of the body will be -preserved. in this case the geom should NOT be dirtied (dGeomMoved() should -not be called). - -DOC: dGeomGetBodyNext() as part of dynamics/collision interface - -groups/spaces are subclasses of geom. - -groups/spaces can contain other groups/spaces. geom can be owned by a -group/space. collision handling: - geom-geom : standard collision function - geom-group : special space code - group-group : n^2 tests (or n space tests) - hard to optimize because - of disjoint space representations. - group internal : normal space internal-collision code - -groups/spaces can be told that some objects never move, i.e. that the objects -are locked. should we lock the whole space? - locking: the AABB for the object is not recalculated - -groups/spaces can be told that the internal contents self-intersect or not. -actually an old ODE group is the equivalent of an old ODE simple space. - - just call dCollide() or not. - -the group doesn't get passed to the space callback any more ... only the -intersecting geoms get passed? maybe the callback can initiate the extra -intersection tests itself? (because we want programmable flexibility to -determine what gets intersected and what doesn't) - - NO - -infrastructure to indicate when an object has moved (and thus its AABB needs -to be recalculated) - -space enumeration functions. make sure that there are no additions or deletions -while enumeration is taking place. - - documented the behavior, didn't disallow it - -cache the AABB in the dxGeom? (for non-moving objects) - perhaps keep a -pointer to separately allocated space? ... no - -DOC: dGeomGetClass() is a first-class geom function, not in the "User -defined classes" section. it returns a constant that can be checked -against dSphereClass etc. - -remove dxGeom dependence on dBodyID? ... not yet - -dBase -> dxBase - -allow a geom to be inserted into multiple spaces? need this to optimize some -kinds of tests ... no - -update docs. - -make CHECK_NOT_LOCKED an assert. - -DOC: "Calling these functions on a non-placeable geom results in a -runtime error." ...in the debug build only? - -non-placeable geoms should not allocate dxPosR. perhaps pass a dGeom -constructor arg that says 'placeable' or not - this also sets the -GEOM_PLACEABLE flag. - -GeomTransform: - final_pos and final_R valid if no GEOM_AABB_BAD flag!!! - fix up this code, esp use of ComputeTX(). - -Space incompatibilities: no dSpaceDestroy(), dGeomDestroy() does not -take a dSpaceID ... dSpaceDestroy() added. - -GeomGroup incompatibilities: - dCollide() used to take a GeomGroup and would return all the contact - points for all the intersecting objects. now you have to call - dSpaceCollide2() and get a callback for each one. - need to provide old behavior. - -simple space optimization: we should keep the precomputed AABB for the -non-moving geoms around, so that when the other geoms move we can just -compute the AABBs for those geoms and then combine it with the non-moving AABB. - --> too hard! - -collision build options: old and new - -tidyups for collision: - * rationalize what stuff goes in what source files, and file names - * minimize set of header files that all collision* sources use - after - all changes. - * update ode-cpp stuff (C++ interface header files). - -porting guide: - ODE list email - - dGeomGetSpaceAABB() deleted - - dGeomGetClass (geom_group); used to return a unique type for - GeomGroups, but now it returns dSimpleSpaceID. - -tidyups: update DLL declarations. - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/Makefile.am b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/Makefile.am deleted file mode 100644 index 873ec97c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/Makefile.am +++ /dev/null @@ -1,93 +0,0 @@ -AM_CPPFLAGS = -I$(abs_top_srcdir)/include \ - -DDRAWSTUFF_TEXTURE_PATH="\"$(abs_top_srcdir)/drawstuff/textures\"" - -if X11 -AM_LDFLAGS = $(X_PRE_LIBS) $(X_LIBS) $(X_EXTRA_LIBS) -endif - -# On Windows, GL_LIBS must go after libdrawstuff.la. -LDADD = $(top_builddir)/drawstuff/src/libdrawstuff.la \ - $(top_builddir)/ode/src/libode.la @GL_LIBS@ - -noinst_HEADERS = basket_geom.h texturepath.h world_geom3.h bunny_geom.h - -noinst_PROGRAMS = \ - demo_boxstack \ - demo_buggy \ - demo_chain1 \ - demo_chain2 \ - demo_collision \ - demo_convex_cd \ - demo_crash \ - demo_cylvssphere \ - demo_feedback \ - demo_friction \ - demo_gyroscopic \ - demo_heightfield \ - demo_hinge \ - demo_I \ - demo_jointPR \ - demo_joints \ - demo_jointPU \ - demo_motion \ - demo_motor \ - demo_ode \ - demo_piston \ - demo_plane2d \ - demo_slider \ - demo_space \ - demo_space_stress \ - demo_step - -demo_boxstack_SOURCES = demo_boxstack.cpp -demo_buggy_SOURCES = demo_buggy.cpp -demo_chain1_SOURCES = demo_chain1.c -demo_chain1_LDADD = $(LDADD) -lstdc++ -demo_chain2_SOURCES = demo_chain2.cpp -demo_collision_SOURCES = demo_collision.cpp -demo_convex_cd_SOURCES = demo_convex_cd.cpp -demo_convex_cd_DEPENDENCIES = $(top_builddir)/ode/src/libode.la -demo_crash_SOURCES = demo_crash.cpp -demo_cylvssphere_SOURCES = demo_cylvssphere.cpp -demo_feedback_SOURCES = demo_feedback.cpp -demo_friction_SOURCES = demo_friction.cpp -demo_gyroscopic_SOURCES = demo_gyroscopic.cpp -demo_heightfield_SOURCES = demo_heightfield.cpp -demo_hinge_SOURCES = demo_hinge.cpp -demo_I_SOURCES = demo_I.cpp -demo_jointPR_SOURCES = demo_jointPR.cpp -demo_joints_SOURCES = demo_joints.cpp -demo_jointPU_SOURCES = demo_jointPU.cpp -demo_motion_SOURCES = demo_motion.cpp -demo_motor_SOURCES = demo_motor.cpp -demo_ode_SOURCES = demo_ode.cpp -demo_piston_SOURCES = demo_piston.cpp -demo_plane2d_SOURCES = demo_plane2d.cpp -demo_slider_SOURCES = demo_slider.cpp -demo_space_SOURCES = demo_space.cpp -demo_space_stress_SOURCES = demo_space_stress.cpp -demo_step_SOURCES = demo_step.cpp - - -if TRIMESH -noinst_PROGRAMS += \ - demo_basket \ - demo_cyl \ - demo_moving_trimesh \ - demo_trimesh - -demo_basket_SOURCES = demo_basket.cpp -demo_cyl_SOURCES = demo_cyl.cpp -demo_moving_trimesh_SOURCES = demo_moving_trimesh.cpp -demo_trimesh_SOURCES = demo_trimesh.cpp - -AM_CPPFLAGS += -DdTRIMESH_ENABLED -endif - - - -if WIN32 -resources.o: $(top_srcdir)/drawstuff/src/resources.rc $(top_srcdir)/drawstuff/src/resource.h - @WINDRES@ $(top_srcdir)/drawstuff/src/resources.rc -o resources.o -LDADD += resources.o -endif diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/basket_geom.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/basket_geom.h 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-}; - -static dTriIndex world_indices[] = { -0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265,266,267,268,269,270,271,272,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287,288,289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,367,368,369,370,371,372,373,374,375,376,377,378,379,380,381,382,383,384,385,386,387,388,389,390,391,392,393,394,395,396,397,398,399,400,401,402,403,404,405,406,407,408,409,410,411,412,413,414,415,416,417,418,419,420,421,422,423,424,425,426,427,428,429,430,431,432,433,434,435,436,437,438,439,440,441,442,443,444,445,446,447,448,449,450,451,452,453,454,455,456,457,458,459,460,461,462,463,464,465,466,467,468,469,470,471,472,473,474,475,476,477,478,479,480,481,482,483,484,485, -}; - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/bunny_geom.h b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/bunny_geom.h deleted file mode 100644 index f095289c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/bunny_geom.h +++ /dev/null @@ -1,1366 +0,0 @@ -// Bunny mesh ripped from Opcode -const int VertexCount = 453; -const int IndexCount = 902 * 3; - - -float Vertices[VertexCount * 3] = { - REAL(-0.334392), REAL(0.133007), REAL(0.062259), - REAL(-0.350189), REAL(0.150354), REAL(-0.147769), - REAL(-0.234201), REAL(0.343811), REAL(-0.174307), - REAL(-0.200259), REAL(0.285207), REAL(0.093749), - REAL(0.003520), REAL(0.475208), REAL(-0.159365), - REAL(0.001856), REAL(0.419203), REAL(0.098582), - REAL(-0.252802), REAL(0.093666), REAL(0.237538), - REAL(-0.162901), REAL(0.237984), REAL(0.206905), - REAL(0.000865), REAL(0.318141), REAL(0.235370), - REAL(-0.414624), REAL(0.164083), REAL(-0.278254), - REAL(-0.262213), REAL(0.357334), REAL(-0.293246), - REAL(0.004628), REAL(0.482694), REAL(-0.338626), - REAL(-0.402162), REAL(0.133528), REAL(-0.443247), - REAL(-0.243781), REAL(0.324275), REAL(-0.436763), - REAL(0.005293), REAL(0.437592), REAL(-0.458332), - REAL(-0.339884), REAL(-0.041150), REAL(-0.668211), - REAL(-0.248382), REAL(0.255825), REAL(-0.627493), - REAL(0.006261), REAL(0.376103), REAL(-0.631506), - REAL(-0.216201), REAL(-0.126776), REAL(-0.886936), - REAL(-0.171075), REAL(0.011544), REAL(-0.881386), - REAL(-0.181074), REAL(0.098223), REAL(-0.814779), - REAL(-0.119891), REAL(0.218786), REAL(-0.760153), - REAL(-0.078895), REAL(0.276780), REAL(-0.739281), - REAL(0.006801), REAL(0.310959), REAL(-0.735661), - REAL(-0.168842), REAL(0.102387), REAL(-0.920381), - REAL(-0.104072), REAL(0.177278), REAL(-0.952530), - REAL(-0.129704), REAL(0.211848), REAL(-0.836678), - REAL(-0.099875), REAL(0.310931), REAL(-0.799381), - REAL(0.007237), REAL(0.361687), REAL(-0.794439), - REAL(-0.077913), REAL(0.258753), REAL(-0.921640), - REAL(0.007957), REAL(0.282241), REAL(-0.931680), - REAL(-0.252222), REAL(-0.550401), REAL(-0.557810), - REAL(-0.267633), REAL(-0.603419), REAL(-0.655209), - REAL(-0.446838), REAL(-0.118517), REAL(-0.466159), - REAL(-0.459488), REAL(-0.093017), REAL(-0.311341), - REAL(-0.370645), REAL(-0.100108), REAL(-0.159454), - REAL(-0.371984), REAL(-0.091991), REAL(-0.011044), - REAL(-0.328945), REAL(-0.098269), REAL(0.088659), - REAL(-0.282452), REAL(-0.018862), REAL(0.311501), - REAL(-0.352403), REAL(-0.131341), REAL(0.144902), - REAL(-0.364126), REAL(-0.200299), REAL(0.202388), - REAL(-0.283965), REAL(-0.231869), REAL(0.023668), - REAL(-0.298943), REAL(-0.155218), REAL(0.369716), - REAL(-0.293787), REAL(-0.121856), REAL(0.419097), - REAL(-0.290163), REAL(-0.290797), REAL(0.107824), - REAL(-0.264165), REAL(-0.272849), REAL(0.036347), - REAL(-0.228567), REAL(-0.372573), REAL(0.290309), - REAL(-0.190431), REAL(-0.286997), REAL(0.421917), - REAL(-0.191039), REAL(-0.240973), REAL(0.507118), - REAL(-0.287272), REAL(-0.276431), REAL(-0.065444), - REAL(-0.295675), REAL(-0.280818), REAL(-0.174200), - REAL(-0.399537), REAL(-0.313131), REAL(-0.376167), - REAL(-0.392666), REAL(-0.488581), REAL(-0.427494), - REAL(-0.331669), REAL(-0.570185), REAL(-0.466054), - REAL(-0.282290), REAL(-0.618140), REAL(-0.589220), - REAL(-0.374238), REAL(-0.594882), REAL(-0.323298), - REAL(-0.381071), REAL(-0.629723), REAL(-0.350777), - REAL(-0.382112), REAL(-0.624060), REAL(-0.221577), - REAL(-0.272701), REAL(-0.566522), REAL(0.259157), - REAL(-0.256702), REAL(-0.663406), REAL(0.286079), - REAL(-0.280948), REAL(-0.428359), REAL(0.055790), - REAL(-0.184974), REAL(-0.508894), REAL(0.326265), - REAL(-0.279971), REAL(-0.526918), REAL(0.395319), - REAL(-0.282599), REAL(-0.663393), REAL(0.412411), - REAL(-0.188329), REAL(-0.475093), REAL(0.417954), - REAL(-0.263384), REAL(-0.663396), REAL(0.466604), - REAL(-0.209063), REAL(-0.663393), REAL(0.509344), - REAL(-0.002044), REAL(-0.319624), REAL(0.553078), - REAL(-0.001266), REAL(-0.371260), REAL(0.413296), - REAL(-0.219753), REAL(-0.339762), REAL(-0.040921), - REAL(-0.256986), REAL(-0.282511), REAL(-0.006349), - REAL(-0.271706), REAL(-0.260881), REAL(0.001764), - REAL(-0.091191), REAL(-0.419184), REAL(-0.045912), - REAL(-0.114944), REAL(-0.429752), REAL(-0.124739), - REAL(-0.113970), REAL(-0.382987), REAL(-0.188540), - REAL(-0.243012), REAL(-0.464942), REAL(-0.242850), - REAL(-0.314815), REAL(-0.505402), REAL(-0.324768), - REAL(0.002774), REAL(-0.437526), REAL(-0.262766), - REAL(-0.072625), REAL(-0.417748), REAL(-0.221440), - REAL(-0.160112), REAL(-0.476932), REAL(-0.293450), - REAL(0.003859), REAL(-0.453425), REAL(-0.443916), - REAL(-0.120363), REAL(-0.581567), REAL(-0.438689), - REAL(-0.091499), REAL(-0.584191), REAL(-0.294511), - REAL(-0.116469), REAL(-0.599861), REAL(-0.188308), - REAL(-0.208032), REAL(-0.513640), REAL(-0.134649), - REAL(-0.235749), REAL(-0.610017), REAL(-0.040939), - REAL(-0.344916), REAL(-0.622487), REAL(-0.085380), - REAL(-0.336401), REAL(-0.531864), REAL(-0.212298), - REAL(0.001961), REAL(-0.459550), REAL(-0.135547), - REAL(-0.058296), REAL(-0.430536), REAL(-0.043440), - REAL(0.001378), REAL(-0.449511), REAL(-0.037762), - REAL(-0.130135), REAL(-0.510222), REAL(0.079144), - REAL(0.000142), REAL(-0.477549), REAL(0.157064), - REAL(-0.114284), REAL(-0.453206), REAL(0.304397), - REAL(-0.000592), REAL(-0.443558), REAL(0.285401), - REAL(-0.056215), REAL(-0.663402), REAL(0.326073), - REAL(-0.026248), REAL(-0.568010), REAL(0.273318), - REAL(-0.049261), REAL(-0.531064), REAL(0.389854), - REAL(-0.127096), REAL(-0.663398), REAL(0.479316), - REAL(-0.058384), REAL(-0.663401), REAL(0.372891), - REAL(-0.303961), REAL(0.054199), REAL(0.625921), - REAL(-0.268594), REAL(0.193403), REAL(0.502766), - REAL(-0.277159), REAL(0.126123), REAL(0.443289), - REAL(-0.287605), REAL(-0.005722), REAL(0.531844), - REAL(-0.231396), REAL(-0.121289), REAL(0.587387), - REAL(-0.253475), 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{412,426,425}, - {408,405,407}, - {413, 67, 68}, - {413, 68,414}, - {391,390,412}, - { 80,384,386}, - {404,406,378}, - {390,391,377}, - {390,377, 88}, - {400,415,375}, - {398,396,395}, - {398,395,371}, - {398,371,370}, - {112,359,358}, - {112,358,113}, - {351,352,369}, - {125,349,348}, - {345,343,342}, - {342,340,339}, - {341,335,337}, - {328,341,327}, - {331,323,333}, - {331,322,323}, - {327,318,319}, - {327,319,328}, - {315,314,324}, - {302,300,301}, - {302,301,303}, - {320,311,292}, - {285,284,289}, - {310,307,288}, - {310,288,290}, - {321,350,281}, - {321,281,282}, - {423,448,367}, - {272,273,384}, - {272,384,274}, - {264,265,382}, - {264,382,383}, - {440,442,261}, - {440,261,263}, - {252,253,254}, - {252,254,251}, - {262,256,249}, - {262,249,248}, - {228,243,242}, - {228, 31,243}, - {213,215,238}, - {213,238,237}, - { 19,212,230}, - {224,225,233}, - {224,233,231}, - {217,218, 56}, - {217, 56, 54}, - {217,216,239}, - {217,239,238}, - {217,238,215}, - {218,217,215}, - {218,215,214}, - { 6,102,206}, - {186,199,200}, - {197,182,180}, - {170,171,157}, - {201,200,189}, - {170,190,191}, - {170,191,192}, - {175,174,178}, - {175,178,179}, - {168,167,155}, - {122,149,158}, - {122,158,159}, - {135,153,154}, - {135,154,118}, - {143,140,141}, - {143,141,144}, - {132,133,136}, - {130,126,133}, - {124,125,127}, - {122,101,100}, - {122,100,121}, - {110,108,107}, - {110,107,109}, - { 98, 99, 97}, - { 98, 97, 64}, - { 98, 64, 66}, - { 87, 55, 57}, - { 83, 82, 79}, - { 83, 79, 84}, - { 78, 74, 50}, - { 49, 71, 41}, - { 49, 41, 37}, - { 49, 37, 36}, - { 58, 44, 60}, - { 60, 59, 58}, - { 51, 34, 33}, - { 39, 40, 42}, - { 39, 42, 38}, - {243,240, 33}, - {243, 33,229}, - { 39, 38, 6}, - { 44, 46, 40}, - { 55, 56, 57}, - { 64, 62, 65}, - { 64, 65, 66}, - { 41, 71, 45}, - { 75, 50, 51}, - { 81, 79, 82}, - { 77, 88, 73}, - { 93, 92, 94}, - { 68, 47, 46}, - { 96, 97, 99}, - { 96, 99, 95}, - {110,109,111}, - {111,112,110}, - {114,113,123}, - {114,123,124}, - {132,131,129}, - {133,137,136}, - {135,142,145}, - {145,152,135}, - {149,147,157}, - {157,158,149}, - {164,150,151}, - {153,163,168}, - {153,168,154}, - {185,183,182}, - {185,182,184}, - {161,189,190}, - {200,199,191}, - {200,191,190}, - {180,178,195}, - {180,195,196}, - {102,101,204}, - {102,204,206}, - { 43, 48,104}, - { 43,104,103}, - {216,217, 54}, - {216, 54, 32}, - {207,224,231}, - {230,212,211}, - {230,211,231}, - {227,232,241}, - {227,241,242}, - {235,234,241}, - {235,241,244}, - {430,248,247}, - {272,274,253}, - {272,253,252}, - {439,260,275}, - {225,224,259}, - {225,259,257}, - {269,270,407}, - {269,407,405}, - {270,269,273}, - {270,273,272}, - {273,269,268}, - {273,268,267}, - {273,267,266}, - {273,266,265}, - {273,265,264}, - {448,279,367}, - {281,350,368}, - {285,286,301}, - {290,323,310}, - {290,311,323}, - {282,281,189}, - {292,311,290}, - {292,290,291}, - {307,306,302}, - {307,302,303}, - {316,315,324}, - {316,324,329}, - {331,351,350}, - {330,334,335}, - {330,335,328}, - {341,337,338}, - {344,355,354}, - {346,345,348}, - {346,348,347}, - {364,369,352}, - {364,352,353}, - {365,363,361}, - {365,361,362}, - {376,401,402}, - {373,372,397}, - {373,397,400}, - {376, 92,377}, - {381,378,387}, - {381,387,385}, - {386, 77, 80}, - {390,389,412}, - {416,417,401}, - {403,417,415}, - {408,429,430}, - {419,423,418}, - {427,428,444}, - {427,444,446}, - {437,436,441}, - {450,445, 11}, - {450, 11, 4}, - {447,449, 5}, - {447, 5, 8}, - {441,438,437}, - {425,426,451}, - {425,451,452}, - {417,421,415}, - {408,407,429}, - {399,403,400}, - {399,400,397}, - {394,393,416}, - {389,411,412}, - {386,383,385}, - {408,387,378}, - {408,378,406}, - {377,391,376}, - { 94,375,415}, - {372,373,374}, - {372,374,370}, - {359,111,360}, - {359,112,111}, - {113,358,349}, - {113,349,123}, - {346,343,345}, - {343,340,342}, - {338,336,144}, - {338,144,141}, - {327,341,354}, - {327,354,326}, - {331,350,321}, - {331,321,322}, - {314,313,326}, - {314,326,325}, - {300,298,299}, - {300,299,301}, - {288,287,289}, - {189,292,282}, - {287,288,303}, - {284,285,297}, - {368,280,281}, - {448,447,279}, - {274,226,255}, - {267,268,404}, - {267,404,379}, - {429,262,430}, - {439,440,260}, - {257,258,249}, - {257,249,246}, - {430,262,248}, - {234,228,242}, - {234,242,241}, - {237,238,239}, - {237,239,236}, - { 15, 18,227}, - { 15,227,229}, - {222,223, 82}, - {222, 82, 83}, - {214,215,213}, - {214,213, 81}, - { 38,102, 6}, - {122,159,200}, - {122,200,201}, - {174,171,192}, - {174,192,194}, - {197,193,198}, - {190,170,161}, - {181,179,178}, - {181,178,180}, - {166,156,155}, - {163,153,152}, - {163,152,162}, - {120,156,149}, - {120,149,121}, - {152,153,135}, - {140,143,142}, - {135,131,132}, - {135,132,136}, - {130,129,128}, - {130,128,127}, - {100,105,119}, - {100,119,120}, - {106,104,107}, - {106,107,108}, - { 91, 95, 59}, - { 93, 94, 68}, - { 91, 89, 92}, - { 76, 53, 55}, - { 76, 55, 87}, - { 81, 78, 79}, - { 74, 73, 49}, - { 69, 60, 45}, - { 58, 62, 64}, - { 58, 64, 61}, - { 53, 31, 32}, - { 32, 54, 53}, - { 42, 43, 38}, - { 35, 36, 0}, - { 35, 0, 1}, - { 34, 35, 1}, - { 34, 1, 9}, - { 44, 40, 41}, - { 44, 41, 45}, - { 33,240, 51}, - { 63, 62, 58}, - { 63, 58, 59}, - { 45, 71, 70}, - { 76, 75, 51}, - { 76, 51, 52}, - { 86, 85, 84}, - { 86, 84, 87}, - { 89, 72, 73}, - { 89, 73, 88}, - { 91, 92, 96}, - { 91, 96, 95}, - { 72, 91, 60}, - { 72, 60, 69}, - {104,106,105}, - {119,105,117}, - {119,117,118}, - {124,127,128}, - {117,116,129}, - {117,129,131}, - {118,117,131}, - {135,140,142}, - {146,150,152}, - {146,152,145}, - {149,122,121}, - {166,165,151}, - {166,151,156}, - {158,172,173}, - {161,160,189}, - {199,198,193}, - {199,193,191}, - {204,201,202}, - {178,174,194}, - {200,159,186}, - {109, 48, 67}, - { 48,107,104}, - {216, 32,236}, - {216,236,239}, - {223,214, 81}, - {223, 81, 82}, - { 33, 12, 15}, - { 32,228,234}, - { 32,234,236}, - {240, 31, 52}, - {256,255,246}, - {256,246,249}, - {258,263,248}, - {258,248,249}, - {275,260,259}, - {275,259,276}, - {207,276,259}, - {270,271,429}, - {270,429,407}, - {413,418,366}, - {413,366,365}, - {368,367,279}, - {368,279,280}, - {303,301,286}, - {303,286,287}, - {283,282,292}, - {283,292,291}, - {320,292,189}, - {298,296,297}, - {298,297,299}, - {318,327,326}, - {318,326,313}, - {329,330,317}, - {336,333,320}, - {326,354,353}, - {334,332,333}, - {334,333,336}, - {342,339,139}, - {342,139,138}, - {345,342,126}, - {347,357,356}, - {369,368,351}, - {363,356,357}, - {363,357,361}, - {366,367,368}, - {366,368,369}, - {375,373,400}, - { 92, 90,377}, - {409,387,408}, - {386,385,387}, - {386,387,388}, - {412,394,391}, - {396,398,399}, - {408,406,405}, - {415,421,419}, - {415,419,414}, - {425,452,448}, - {425,448,424}, - {444,441,443}, - {448,452,449}, - {448,449,447}, - {446,444,443}, - {446,443,445}, - {250,247,261}, - {250,261,428}, - {421,422,423}, - {421,423,419}, - {427,410,250}, - {417,403,401}, - {403,402,401}, - {420,392,412}, - {420,412,425}, - {420,425,424}, - {386,411,389}, - {383,382,381}, - {383,381,385}, - {378,379,404}, - {372,371,395}, - {372,395,397}, - {371,372,370}, - {361,359,360}, - {361,360,362}, - {368,350,351}, - {349,347,348}, - {356,355,344}, - {356,344,346}, - {344,341,340}, - {344,340,343}, - {338,337,336}, - {328,335,341}, - {324,352,351}, - {324,351,331}, - {320,144,336}, - {314,325,324}, - {322,308,309}, - {310,309,307}, - {287,286,289}, - {203,280,279}, - {203,279,205}, - {297,295,283}, - {297,283,284}, - {447,205,279}, - {274,384, 80}, - {274, 80,226}, - {266,267,379}, - {266,379,380}, - {225,257,246}, - {225,246,245}, - {256,254,253}, - {256,253,255}, - {430,247,250}, - {226,235,244}, - {226,244,245}, - {232,233,244}, - {232,244,241}, - {230, 18, 19}, - { 32, 31,228}, - {219,220, 86}, - {219, 86, 57}, - {226,213,235}, - {206, 7, 6}, - {122,201,101}, - {201,204,101}, - {180,196,197}, - {170,192,171}, - {200,190,189}, - {194,193,195}, - {183,181,180}, - {183,180,182}, - {155,154,168}, - {149,156,151}, - {149,151,148}, - {155,156,120}, - {145,142,143}, - {145,143,146}, - {136,137,140}, - {133,132,130}, - {128,129,116}, - {100,120,121}, - {110,112,113}, - {110,113,114}, - { 66, 65, 63}, - { 66, 63, 99}, - { 66, 99, 98}, - { 96, 46, 61}, - { 89, 88, 90}, - { 86, 87, 57}, - { 80, 78, 81}, - { 72, 69, 49}, - { 67, 48, 47}, - { 67, 47, 68}, - { 56, 55, 53}, - { 50, 49, 36}, - { 50, 36, 35}, - { 40, 39, 41}, - {242,243,229}, - {242,229,227}, - { 6, 37, 39}, - { 42, 47, 48}, - { 42, 48, 43}, - { 61, 46, 44}, - { 45, 70, 69}, - { 69, 70, 71}, - { 69, 71, 49}, - { 74, 78, 77}, - { 83, 84, 85}, - { 73, 74, 77}, - { 93, 96, 92}, - { 68, 46, 93}, - { 95, 99, 63}, - { 95, 63, 59}, - {115,108,110}, - {115,110,114}, - {125,126,127}, - {129,130,132}, - {137,133,138}, - {137,138,139}, - {148,146,143}, - {148,143,147}, - {119,118,154}, - {161,147,143}, - {165,164,151}, - {158,157,171}, - {158,171,172}, - {159,158,187}, - {159,187,186}, - {194,192,191}, - {194,191,193}, - {189,202,201}, - {182,197,184}, - {205, 8, 7}, - { 48,109,107}, - {218,219, 57}, - {218, 57, 56}, - {207,231,211}, - {232,230,231}, - {232,231,233}, - { 53, 52, 31}, - {388,411,386}, - {409,430,250}, - {262,429,254}, - {262,254,256}, - {442,444,428}, - {273,264,383}, - {273,383,384}, - {429,271,251}, - {429,251,254}, - {413,365,362}, - { 67,413,360}, - {282,283,295}, - {285,301,299}, - {202,281,280}, - {284,283,291}, - {284,291,289}, - {320,189,160}, - {308,306,307}, - {307,309,308}, - {319,317,330}, - {319,330,328}, - {353,352,324}, - {332,331,333}, - {340,341,338}, - {354,341,344}, - {349,358,357}, - {349,357,347}, - {364,355,356}, - {364,356,363}, - {364,365,366}, - {364,366,369}, - {374,376,402}, - {375, 92,373}, - { 77,389,390}, - {382,380,381}, - {389, 77,386}, - {393,394,412}, - {393,412,392}, - {401,394,416}, - {415,400,403}, - {411,410,427}, - {411,427,426}, - {422,420,424}, - {247,248,263}, - {247,263,261}, - {445,443, 14}, - {445, 14, 11}, - {449,450, 4}, - {449, 4, 5}, - {443,441, 17}, - {443, 17, 14}, - {436, 23, 17}, - {436, 17,441}, - {424,448,422}, - {448,423,422}, - {414,419,418}, - {414,418,413}, - {406,404,405}, - {399,397,395}, - {399,395,396}, - {420,416,392}, - {388,410,411}, - {386,384,383}, - {390, 88, 77}, - {375, 94, 92}, - {415,414, 68}, - {415, 68, 94}, - {370,374,402}, - {370,402,398}, - {361,357,358}, - {361,358,359}, - {125,348,126}, - {346,344,343}, - {340,338,339}, - {337,335,334}, - {337,334,336}, - {325,353,324}, - {324,331,332}, - {324,332,329}, - {323,322,309}, - {323,309,310}, - {294,295,297}, - {294,297,296}, - {289,286,285}, - {202,280,203}, - {288,307,303}, - {282,295,321}, - { 67,360,111}, - {418,423,367}, - {418,367,366}, - {272,252,251}, - {272,251,271}, - {272,271,270}, - {255,253,274}, - {265,266,380}, - {265,380,382}, - {442,428,261}, - {440,263,258}, - {440,258,260}, - {409,250,410}, - {255,226,245}, - {255,245,246}, - { 31,240,243}, - {236,234,235}, - {236,235,237}, - {233,225,245}, - {233,245,244}, - {220,221, 85}, - {220, 85, 86}, - { 81,213,226}, - { 81,226, 80}, - { 7,206,205}, - {186,184,198}, - {186,198,199}, - {204,203,205}, - {204,205,206}, - {195,193,196}, - {171,174,172}, - {173,174,175}, - {173,172,174}, - {155,167,166}, - {160,161,143}, - {160,143,144}, - {119,154,155}, - {148,151,150}, - {148,150,146}, - {140,137,139}, - {140,139,141}, - {127,126,130}, - {114,124,128}, - {114,128,115}, - {117,105,106}, - {117,106,116}, - {104,105,100}, - {104,100,103}, - { 59, 60, 91}, - { 97, 96, 61}, - { 97, 61, 64}, - { 91, 72, 89}, - { 87, 84, 79}, - { 87, 79, 76}, - { 78, 80, 77}, - { 49, 50, 74}, - { 60, 44, 45}, - { 61, 44, 58}, - { 51, 50, 35}, - { 51, 35, 34}, - { 39, 37, 41}, - { 33, 34, 9}, - { 33, 9, 12}, - { 0, 36, 37}, - { 0, 37, 6}, - { 40, 46, 47}, - { 40, 47, 42}, - { 53, 54, 56}, - { 65, 62, 63}, - { 72, 49, 73}, - { 79, 78, 75}, - { 79, 75, 76}, - { 52, 53, 76}, - { 92, 89, 90}, - { 96, 93, 46}, - {102,103,100}, - {102,100,101}, - {116,106,108}, - {116,108,115}, - {123,125,124}, - {116,115,128}, - {118,131,135}, - {140,135,136}, - {148,147,149}, - {120,119,155}, - {164,162,152}, - {164,152,150}, - {157,147,161}, - {157,161,170}, - {186,187,185}, - {186,185,184}, - {193,197,196}, - {202,203,204}, - {194,195,178}, - {198,184,197}, - { 67,111,109}, - { 38, 43,103}, - { 38,103,102}, - {214,223,222}, - {214,222,221}, - {214,221,220}, - {214,220,219}, - {214,219,218}, - {213,237,235}, - {221,222, 83}, - {221, 83, 85}, - { 15,229, 33}, - {227, 18,230}, - {227,230,232}, - { 52, 51,240}, - { 75, 78, 50}, - {408,430,409}, - {260,258,257}, - {260,257,259}, - {224,207,259}, - {268,269,405}, - {268,405,404}, - {413,362,360}, - {447, 8,205}, - {299,297,285}, - {189,281,202}, - {290,288,289}, - {290,289,291}, - {322,321,295}, - {322,295,294}, - {333,323,311}, - {333,311,320}, - {317,316,329}, - {320,160,144}, - {353,325,326}, - {329,332,334}, - {329,334,330}, - {339,338,141}, - {339,141,139}, - {348,345,126}, - {347,356,346}, - {123,349,125}, - {364,353,354}, - {364,354,355}, - {365,364,363}, - {376,391,394}, - {376,394,401}, - { 92,376,374}, - { 92,374,373}, - {377, 90, 88}, - {380,379,378}, - {380,378,381}, - {388,387,409}, - {388,409,410}, - {416,393,392}, - {399,398,402}, - {399,402,403}, - {250,428,427}, - {421,417,416}, - {421,416,420}, - {426,427,446}, - {426,446,451}, - {444,442,441}, - {452,451,450}, - {452,450,449} -}; - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_I.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_I.cpp deleted file mode 100644 index 5c0bdb93..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_I.cpp +++ /dev/null @@ -1,257 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -test that the rotational physics is correct. - -an "anchor body" has a number of other randomly positioned bodies -("particles") attached to it by ball-and-socket joints, giving it some -random effective inertia tensor. the effective inertia matrix is calculated, -and then this inertia is assigned to another "test" body. a random torque is -applied to both bodies and the difference in angular velocity and orientation -is observed after a number of iterations. - -typical errors for each test cycle are about 1e-5 ... 1e-4. - -*/ - - -#include -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define NUM 10 // number of particles -#define SIDE 0.1 // visual size of the particles - - -// dynamics objects an globals - -static dWorldID world=0; -static dBodyID anchor_body,particle[NUM],test_body; -static dJointID particle_joint[NUM]; -static dReal torque[3]; -static int iteration; - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {1.5572f,-1.8886f,1.5700f}; - static float hpr[3] = {118.5000f,-17.0000f,0.0000f}; - dsSetViewpoint (xyz,hpr); -} - - -// compute the mass parameters of a particle set. q = particle positions, -// pm = particle masses - -#define _I(i,j) I[(i)*4+(j)] - -void computeMassParams (dMass *m, dReal q[NUM][3], dReal pm[NUM]) -{ - int i,j; - dMassSetZero (m); - for (i=0; imass += pm[i]; - for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j]; - m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]); - m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]); - m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]); - m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]); - m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]); - m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]); - } - for (j=0; j<3; j++) m->c[j] /= m->mass; - m->_I(1,0) = m->_I(0,1); - m->_I(2,0) = m->_I(0,2); - m->_I(2,1) = m->_I(1,2); -} - - -void reset_test() -{ - int i; - dMass m,anchor_m; - dReal q[NUM][3], pm[NUM]; // particle positions and masses - dReal pos1[3] = {1,0,1}; // point of reference (POR) - dReal pos2[3] = {-1,0,1}; // point of reference (POR) - - // make random particle positions (relative to POR) and masses - for (i=0; i= 100) { - // measure the difference between the anchor and test bodies - const dReal *w1 = dBodyGetAngularVel (anchor_body); - const dReal *w2 = dBodyGetAngularVel (test_body); - const dReal *q1 = dBodyGetQuaternion (anchor_body); - const dReal *q2 = dBodyGetQuaternion (test_body); - dReal maxdiff = dMaxDifference (w1,w2,1,3); - printf ("w-error = %.4e (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n", - maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]); - maxdiff = dMaxDifference (q1,q2,1,4); - printf ("q-error = %.4e\n",maxdiff); - reset_test(); - } - } - - dReal sides[3] = {SIDE,SIDE,SIDE}; - dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE}; - dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE}; - dsSetColor (1,1,1); - dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body), - sides3); - dsSetColor (1,0,0); - dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2); - dsSetColor (1,1,0); - for (int i=0; i -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" -#include "basket_geom.h" // this is our world mesh - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// some constants - -#define RADIUS 0.14 - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; - -static dBodyID sphbody; -static dGeomID sphgeom; - -static dJointGroupID contactgroup; -static dGeomID world_mesh; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - -// fprintf(stderr,"testing geoms %p %p\n", o1, o2); - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -//<---- Icosahedron ----> -unsigned int Sphere_pointcount = 42; -unsigned int Sphere_planecount = 80; -dReal Sphere_points[126]={ -0.000000,0.000000,-0.300000, -0.217080,-0.157716,-0.134164, --0.082915,-0.255192,-0.134164, --0.268327,0.000000,-0.134164, --0.082915,0.255192,-0.134164, -0.217080,0.157716,-0.134164, -0.082915,-0.255192,0.134164, --0.217080,-0.157716,0.134164, --0.217080,0.157716,0.134164, -0.082915,0.255192,0.134164, -0.268327,0.000000,0.134164, -0.000000,0.000000,0.300000, -0.127597,-0.092703,-0.255196, --0.048737,-0.149999,-0.255196, -0.078861,-0.242703,-0.157721, -0.127597,0.092703,-0.255196, -0.255194,0.000000,-0.157721, --0.157719,0.000000,-0.255195, --0.206457,-0.149999,-0.157721, --0.048737,0.149999,-0.255196, --0.206457,0.149999,-0.157721, -0.078861,0.242703,-0.157721, -0.285317,0.092704,0.000000, -0.285317,-0.092704,0.000000, -0.176336,-0.242705,0.000000, -0.000000,-0.300000,0.000000, --0.176336,-0.242705,0.000000, --0.285317,-0.092704,0.000000, --0.285317,0.092704,0.000000, --0.176336,0.242705,0.000000, -0.000000,0.300000,0.000000, -0.176336,0.242705,0.000000, -0.206457,-0.149999,0.157721, --0.078861,-0.242703,0.157721, --0.255194,0.000000,0.157721, --0.078861,0.242703,0.157721, -0.206457,0.149999,0.157721, -0.157719,0.000000,0.255195, -0.048737,-0.149999,0.255196, --0.127597,-0.092703,0.255196, --0.127597,0.092703,0.255196, -0.048737,0.149999,0.255196 -}; -unsigned int Sphere_polygons[]={ -3,14,12,1, -3,12,14,13, -3,2,13,14, -3,13,0,12, -3,16,1,12, -3,12,15,16, -3,5,16,15, -3,12,0,15, -3,18,13,2, -3,13,18,17, -3,3,17,18, -3,17,0,13, -3,20,17,3, -3,17,20,19, -3,4,19,20, -3,19,0,17, -3,21,19,4, -3,19,21,15, -3,5,15,21, -3,15,0,19, -3,23,1,16, -3,16,22,23, -3,10,23,22, -3,22,16,5, -3,25,2,14, -3,14,24,25, -3,6,25,24, -3,24,14,1, -3,27,3,18, -3,18,26,27, -3,7,27,26, -3,26,18,2, -3,29,4,20, -3,20,28,29, -3,8,29,28, -3,28,20,3, -3,31,5,21, -3,21,30,31, -3,9,31,30, -3,30,21,4, -3,32,23,10, -3,23,32,24, -3,6,24,32, -3,24,1,23, -3,33,25,6, -3,25,33,26, -3,7,26,33, -3,26,2,25, -3,34,27,7, -3,27,34,28, -3,8,28,34, -3,28,3,27, -3,35,29,8, -3,29,35,30, -3,9,30,35, -3,30,4,29, -3,36,31,9, -3,31,36,22, -3,10,22,36, -3,22,5,31, -3,38,6,32, -3,32,37,38, -3,11,38,37, -3,37,32,10, -3,39,7,33, -3,33,38,39, -3,11,39,38, -3,38,33,6, -3,40,8,34, -3,34,39,40, -3,11,40,39, -3,39,34,7, -3,41,9,35, -3,35,40,41, -3,11,41,40, -3,40,35,8, -3,37,10,36, -3,36,41,37, -3,11,37,41, -3,41,36,9, -}; -dReal Sphere_planes[]={ -0.471317,-0.583121,-0.661687,0.283056, -0.187594,-0.577345,-0.794658,0.280252, --0.038547,-0.748789,-0.661687,0.283056, -0.102381,-0.315090,-0.943523,0.283057, -0.700228,-0.268049,-0.661688,0.283056, -0.607060,0.000000,-0.794656,0.280252, -0.700228,0.268049,-0.661688,0.283056, -0.331305,0.000000,-0.943524,0.283057, --0.408939,-0.628443,-0.661686,0.283056, --0.491119,-0.356821,-0.794657,0.280252, --0.724044,-0.194735,-0.661694,0.283057, --0.268034,-0.194737,-0.943523,0.283057, --0.724044,0.194735,-0.661694,0.283057, --0.491119,0.356821,-0.794657,0.280252, --0.408939,0.628443,-0.661686,0.283056, --0.268034,0.194737,-0.943523,0.283057, --0.038547,0.748789,-0.661687,0.283056, -0.187594,0.577345,-0.794658,0.280252, -0.471317,0.583121,-0.661687,0.283056, -0.102381,0.315090,-0.943523,0.283057, -0.904981,-0.268049,-0.330393,0.283056, -0.982246,0.000000,-0.187599,0.280252, -0.992077,0.000000,0.125631,0.283057, -0.904981,0.268049,-0.330393,0.283056, -0.024726,-0.943519,-0.330396,0.283056, -0.303531,-0.934171,-0.187598,0.280251, -0.306568,-0.943519,0.125651,0.283056, -0.534590,-0.777851,-0.330395,0.283056, --0.889698,-0.315092,-0.330386,0.283056, --0.794656,-0.577348,-0.187595,0.280251, --0.802607,-0.583125,0.125648,0.283055, --0.574584,-0.748793,-0.330397,0.283055, --0.574584,0.748793,-0.330397,0.283055, --0.794656,0.577348,-0.187595,0.280251, --0.802607,0.583125,0.125648,0.283055, --0.889698,0.315092,-0.330386,0.283056, -0.534590,0.777851,-0.330395,0.283056, -0.303531,0.934171,-0.187598,0.280251, -0.306568,0.943519,0.125651,0.283056, -0.024726,0.943519,-0.330396,0.283056, -0.889698,-0.315092,0.330386,0.283056, -0.794656,-0.577348,0.187595,0.280251, -0.574584,-0.748793,0.330397,0.283055, -0.802607,-0.583125,-0.125648,0.283055, --0.024726,-0.943519,0.330396,0.283055, --0.303531,-0.934171,0.187598,0.280251, --0.534590,-0.777851,0.330395,0.283056, --0.306568,-0.943519,-0.125651,0.283056, --0.904981,-0.268049,0.330393,0.283056, --0.982246,0.000000,0.187599,0.280252, --0.904981,0.268049,0.330393,0.283056, --0.992077,0.000000,-0.125631,0.283057, --0.534590,0.777851,0.330395,0.283056, --0.303531,0.934171,0.187598,0.280251, --0.024726,0.943519,0.330396,0.283055, --0.306568,0.943519,-0.125651,0.283056, -0.574584,0.748793,0.330397,0.283055, -0.794656,0.577348,0.187595,0.280251, -0.889698,0.315092,0.330386,0.283056, -0.802607,0.583125,-0.125648,0.283055, -0.408939,-0.628443,0.661686,0.283056, -0.491119,-0.356821,0.794657,0.280252, -0.268034,-0.194737,0.943523,0.283057, -0.724044,-0.194735,0.661694,0.283057, --0.471317,-0.583121,0.661687,0.283056, --0.187594,-0.577345,0.794658,0.280252, --0.102381,-0.315090,0.943523,0.283057, -0.038547,-0.748789,0.661687,0.283056, --0.700228,0.268049,0.661688,0.283056, --0.607060,0.000000,0.794656,0.280252, --0.331305,0.000000,0.943524,0.283057, --0.700228,-0.268049,0.661688,0.283056, -0.038547,0.748789,0.661687,0.283056, --0.187594,0.577345,0.794658,0.280252, --0.102381,0.315090,0.943523,0.283057, --0.471317,0.583121,0.661687,0.283056, -0.724044,0.194735,0.661694,0.283057, -0.491119,0.356821,0.794657,0.280252, -0.268034,0.194737,0.943523,0.283057, -0.408939,0.628443,0.661686,0.283056, -}; - -//<---- Convex Object -dReal planes[]= // planes for a cube, these should coincide with the face array - { - 1.0f ,0.0f ,0.0f ,0.25f, - 0.0f ,1.0f ,0.0f ,0.25f, - 0.0f ,0.0f ,1.0f ,0.25f, - -1.0f,0.0f ,0.0f ,0.25f, - 0.0f ,-1.0f,0.0f ,0.25f, - 0.0f ,0.0f ,-1.0f,0.25f - /* - 1.0f ,0.0f ,0.0f ,2.0f, - 0.0f ,1.0f ,0.0f ,1.0f, - 0.0f ,0.0f ,1.0f ,1.0f, - 0.0f ,0.0f ,-1.0f,1.0f, - 0.0f ,-1.0f,0.0f ,1.0f, - -1.0f,0.0f ,0.0f ,0.0f - */ - }; -const unsigned int planecount=6; - -dReal points[]= // points for a cube - { - 0.25f,0.25f,0.25f, // point 0 - -0.25f,0.25f,0.25f, // point 1 - - 0.25f,-0.25f,0.25f, // point 2 - -0.25f,-0.25f,0.25f,// point 3 - - 0.25f,0.25f,-0.25f, // point 4 - -0.25f,0.25f,-0.25f,// point 5 - - 0.25f,-0.25f,-0.25f,// point 6 - -0.25f,-0.25f,-0.25f,// point 7 - }; -const unsigned int pointcount=8; -unsigned int polygons[] = //Polygons for a cube (6 squares) - { - 4,0,2,6,4, // positive X - 4,1,0,4,5, // positive Y - 4,0,1,3,2, // positive Z - 4,3,1,5,7, // negative X - 4,2,3,7,6, // negative Y - 4,5,4,6,7, // negative Z - }; -//----> Convex Object - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#endif - - -// some constants - -#define NUM 100 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 8 // maximum number of contact points per body -#define MAX_FEEDBACKNUM 20 -#define GRAVITY REAL(0.5) -#define USE_GEOM_OFFSET 1 - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? -static int write_world = 0; -static int show_body = 0; - -struct MyFeedback { - dJointFeedback fb; - bool first; -}; -static int doFeedback=0; -static MyFeedback feedbacks[MAX_FEEDBACKNUM]; -static int fbnum=0; - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - size_t i; - int j,k; - dReal sides[3]; - dMass m; - int setBody; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') - { - setBody = 0; - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) - { - dBodySetPosition (obj[i].body, - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else - { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRSetIdentity (R); - //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*) i); - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - //<---- Convex Object - else if (cmd == 'v') - { - dMassSetBox (&m,DENSITY,0.25,0.25,0.25); -#if 0 - obj[i].geom[0] = dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); -#else - obj[i].geom[0] = dCreateConvex (space, - Sphere_planes, - Sphere_planecount, - Sphere_points, - Sphere_pointcount, - Sphere_polygons); -#endif - } - //----> Convex Object - else if (cmd == 'y') { - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'x' && USE_GEOM_OFFSET) { - setBody = 1; - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - dMatrix3 drot[GPB]; - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == '1') { - write_world = 1; - } - else if (cmd == 'p'&& selected >= 0) - { - const dReal* pos = dGeomGetPosition(obj[selected].geom[0]); - const dReal* rot = dGeomGetRotation(obj[selected].geom[0]); - printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]); - printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n", - rot[0],rot[1],rot[2],rot[3], - rot[4],rot[5],rot[6],rot[7], - rot[8],rot[9],rot[10],rot[11]); - } - else if (cmd == 'f' && selected >= 0 && selected < num) { - if (dBodyIsEnabled(obj[selected].body)) - doFeedback = 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - int i; - - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - //<---- Convex Object - else if (type == dConvexClass) - { -#if 0 - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); -#else - dsDrawConvex(pos,R, - Sphere_planes, - Sphere_planecount, - Sphere_points, - Sphere_pointcount, - Sphere_polygons); -#endif - } - //----> Convex Object - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - if (show_body) { - dBodyID body = dGeomGetBody(g); - if (body) { - const dReal *bodypos = dBodyGetPosition (body); - const dReal *bodyr = dBodyGetRotation (body); - dReal bodySides[3] = { 0.1, 0.1, 0.1 }; - dsSetColorAlpha(0,1,0,1); - dsDrawBox(bodypos,bodyr,bodySides); - } - } - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - if (!pause) dWorldQuickStep (world,0.02); - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (world,f,"X"); - fclose (f); - } - write_world = 0; - } - - - if (doFeedback) - { - if (fbnum>MAX_FEEDBACKNUM) - printf("joint feedback buffer overflow!\n"); - else - { - dVector3 sum = {0, 0, 0}; - printf("\n"); - for (int i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define LENGTH 0.7 // chassis length -#define WIDTH 0.5 // chassis width -#define HEIGHT 0.2 // chassis height -#define RADIUS 0.18 // wheel radius -#define STARTZ 0.5 // starting height of chassis -#define CMASS 1 // chassis mass -#define WMASS 0.2 // wheel mass - - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; -static dBodyID body[4]; -static dJointID joint[3]; // joint[0] is the front wheel -static dJointGroupID contactgroup; -static dGeomID ground; -static dSpaceID car_space; -static dGeomID box[1]; -static dGeomID sphere[3]; -static dGeomID ground_box; - - -// things that the user controls - -static dReal speed=0,steer=0; // user commands - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - // only collide things with the ground - int g1 = (o1 == ground || o1 == ground_box); - int g2 = (o2 == ground || o2 == ground_box); - if (!(g1 ^ g2)) return; - - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); - if (n > 0) { - for (i=0; i 0.1) v = 0.1; - if (v < -0.1) v = -0.1; - v *= 10.0; - dJointSetHinge2Param (joint[0],dParamVel,v); - dJointSetHinge2Param (joint[0],dParamFMax,0.2); - dJointSetHinge2Param (joint[0],dParamLoStop,-0.75); - dJointSetHinge2Param (joint[0],dParamHiStop,0.75); - dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1); - - dSpaceCollide (space,0,&nearCallback); - dWorldStep (world,0.05); - - // remove all contact joints - dJointGroupEmpty (contactgroup); - } - - dsSetColor (0,1,1); - dsSetTexture (DS_WOOD); - dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); - dsSetColor (1,1,1); - for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]), - dBodyGetRotation(body[i]),0.02f,RADIUS); - - dVector3 ss; - dGeomBoxGetLengths (ground_box,ss); - dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); - - /* - printf ("%.10f %.10f %.10f %.10f\n", - dJointGetHingeAngle (joint[1]), - dJointGetHingeAngle (joint[2]), - dJointGetHingeAngleRate (joint[1]), - dJointGetHingeAngleRate (joint[2])); - */ -} - - -int main (int argc, char **argv) -{ - int i; - dMass m; - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - // create world - dInitODE2(0); - world = dWorldCreate(); - space = dHashSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - dWorldSetGravity (world,0,0,-0.5); - ground = dCreatePlane (space,0,0,1,0); - - // chassis body - body[0] = dBodyCreate (world); - dBodySetPosition (body[0],0,0,STARTZ); - dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); - dMassAdjust (&m,CMASS); - dBodySetMass (body[0],&m); - box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT); - dGeomSetBody (box[0],body[0]); - - // wheel bodies - for (i=1; i<=3; i++) { - body[i] = dBodyCreate (world); - dQuaternion q; - dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); - dBodySetQuaternion (body[i],q); - dMassSetSphere (&m,1,RADIUS); - dMassAdjust (&m,WMASS); - dBodySetMass (body[i],&m); - sphere[i-1] = dCreateSphere (0,RADIUS); - dGeomSetBody (sphere[i-1],body[i]); - } - dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5); - dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5); - dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5); - - // front wheel hinge - /* - joint[0] = dJointCreateHinge2 (world,0); - dJointAttach (joint[0],body[0],body[1]); - const dReal *a = dBodyGetPosition (body[1]); - dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]); - dJointSetHinge2Axis1 (joint[0],0,0,1); - dJointSetHinge2Axis2 (joint[0],0,1,0); - */ - - // front and back wheel hinges - for (i=0; i<3; i++) { - joint[i] = dJointCreateHinge2 (world,0); - dJointAttach (joint[i],body[0],body[i+1]); - const dReal *a = dBodyGetPosition (body[i+1]); - dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]); - dJointSetHinge2Axis1 (joint[i],0,0,1); - dJointSetHinge2Axis2 (joint[i],0,1,0); - } - - // set joint suspension - for (i=0; i<3; i++) { - dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4); - dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8); - } - - // lock back wheels along the steering axis - for (i=1; i<3; i++) { - // set stops to make sure wheels always stay in alignment - dJointSetHinge2Param (joint[i],dParamLoStop,0); - dJointSetHinge2Param (joint[i],dParamHiStop,0); - // the following alternative method is no good as the wheels may get out - // of alignment: - // dJointSetHinge2Param (joint[i],dParamVel,0); - // dJointSetHinge2Param (joint[i],dParamFMax,dInfinity); - } - - // create car space and add it to the top level space - car_space = dSimpleSpaceCreate (space); - dSpaceSetCleanup (car_space,0); - dSpaceAdd (car_space,box[0]); - dSpaceAdd (car_space,sphere[0]); - dSpaceAdd (car_space,sphere[1]); - dSpaceAdd (car_space,sphere[2]); - - // environment - ground_box = dCreateBox (space,2,1.5,1); - dMatrix3 R; - dRFromAxisAndAngle (R,0,1,0,-0.15); - dGeomSetPosition (ground_box,2,0,-0.34); - dGeomSetRotation (ground_box,R); - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dGeomDestroy (box[0]); - dGeomDestroy (sphere[0]); - dGeomDestroy (sphere[1]); - dGeomDestroy (sphere[2]); - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_chain1.c b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_chain1.c deleted file mode 100644 index 007d3708..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_chain1.c +++ /dev/null @@ -1,174 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* exercise the C interface */ - -#include -#include "ode/ode.h" -#include "drawstuff/drawstuff.h" -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -/* select correct drawing functions */ - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -/* some constants */ - -#define NUM 10 /* number of boxes */ -#define SIDE (0.2) /* side length of a box */ -#define MASS (1.0) /* mass of a box */ -#define RADIUS (0.1732f) /* sphere radius */ - - -/* dynamics and collision objects */ - -static dWorldID world; -static dSpaceID space; -static dBodyID body[NUM]; -static dJointID joint[NUM-1]; -static dJointGroupID contactgroup; -static dGeomID sphere[NUM]; - - -/* this is called by dSpaceCollide when two objects in space are - * potentially colliding. - */ - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - /* exit without doing anything if the two bodies are connected by a joint */ - dBodyID b1,b2; - dContact contact; - - b1 = dGeomGetBody(o1); - b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnected (b1,b2)) return; - - contact.surface.mode = 0; - contact.surface.mu = 0.1; - contact.surface.mu2 = 0; - if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { - dJointID c = dJointCreateContact (world,contactgroup,&contact); - dJointAttach (c,b1,b2); - } -} - - -/* start simulation - set viewpoint */ - -static void start() -{ - static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; - static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; - - dAllocateODEDataForThread(dAllocateMaskAll); - dsSetViewpoint (xyz,hpr); -} - - -/* simulation loop */ - -static void simLoop (int pause) -{ - int i; - if (!pause) { - static double angle = 0; - angle += 0.05; - dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0)); - - dSpaceCollide (space,0,&nearCallback); - dWorldStep (world,0.05); - - /* remove all contact joints */ - dJointGroupEmpty (contactgroup); - } - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define NUM 10 // number of boxes -#define SIDE (0.2) // side length of a box -#define MASS (1.0) // mass of a box -#define RADIUS (0.1732f) // sphere radius - -//using namespace ode; - -// dynamics and collision objects - -static dWorld world; -static dSimpleSpace space (0); -static dBody body[NUM]; -static dBallJoint joint[NUM-1]; -static dJointGroup contactgroup; -static dBox box[NUM]; - - -// this is called by space.collide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnected (b1,b2)) return; - - // @@@ it's still more convenient to use the C interface here. - - dContact contact; - contact.surface.mode = 0; - contact.surface.mu = dInfinity; - if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { - dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact); - dJointAttach (c,b1,b2); - } -} - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; - static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; - dsSetViewpoint (xyz,hpr); -} - - -// simulation loop - -static void simLoop (int pause) -{ - if (!pause) { - static double angle = 0; - angle += 0.05; - body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0)); - - space.collide (0,&nearCallback); - world.step (0.05); - - // remove all contact joints - contactgroup.empty(); - } - - dReal sides[3] = {SIDE,SIDE,SIDE}; - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (int i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawSphere dsDrawSphereD -#define dsDrawBox dsDrawBoxD -#define dsDrawLine dsDrawLineD -#define dsDrawCapsule dsDrawCapsuleD -#endif - -//**************************************************************************** -// test infrastructure, including constants and macros - -#define TEST_REPS1 1000 // run each test this many times (first batch) -#define TEST_REPS2 10000 // run each test this many times (second batch) -const dReal tol = 1e-8; // tolerance used for numerical checks -#define MAX_TESTS 1000 // maximum number of test slots -#define Z_OFFSET 2 // z offset for drawing (to get above ground) - -//using namespace ode; - -// test function. returns 1 if the test passed or 0 if it failed -typedef int test_function_t(); - -struct TestSlot { - int number; // number of test - const char *name; // name of test - int failcount; - test_function_t *test_fn; - int last_failed_line; -}; -TestSlot testslot[MAX_TESTS]; - - -// globals used by the test functions -int graphical_test=0; // show graphical results of this test, 0=none -int current_test; // currently execiting test -int draw_all_objects_called; - - -#define MAKE_TEST(number,function) \ - if (testslot[number].name) dDebug (0,"test number already used"); \ - if (number <= 0 || number >= MAX_TESTS) dDebug (0,"bad test number"); \ - testslot[number].name = # function; \ - testslot[number].test_fn = function; - -#define FAILED() { if (graphical_test==0) { \ - testslot[current_test].last_failed_line=__LINE__; return 0; } } -#define PASSED() { return 1; } - -//**************************************************************************** -// globals - -/* int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *code, - int maxc, dContactGeom *contact, int skip); */ - -void dLineClosestApproach (const dVector3 pa, const dVector3 ua, - const dVector3 pb, const dVector3 ub, - dReal *alpha, dReal *beta); - -//**************************************************************************** -// draw all objects in a space, and draw all the collision contact points - -void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,j,n; - const int N = 100; - dContactGeom contact[N]; - - if (dGeomGetClass (o2) == dRayClass) { - n = dCollide (o2,o1,N,&contact[0],sizeof(dContactGeom)); - } - else { - n = dCollide (o1,o2,N,&contact[0],sizeof(dContactGeom)); - } - if (n > 0) { - dMatrix3 RI; - dRSetIdentity (RI); - const dReal ss[3] = {0.01,0.01,0.01}; - for (i=0; i tol) FAILED(); - - // ********** test point on surface has depth 0 - - for (j=0; j<3; j++) q[j] = dRandReal()-0.5; - dNormalize3 (q); - for (j=0; j<3; j++) q[j] = q[j]*r + p[j]; - if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])) > tol) FAILED(); - - // ********** test point at random depth - - d = (dRandReal()*2-1) * r; - for (j=0; j<3; j++) q[j] = dRandReal()-0.5; - dNormalize3 (q); - for (j=0; j<3; j++) q[j] = q[j]*(r-d) + p[j]; - if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])-d) > tol) FAILED(); - - PASSED(); -} - - -int test_box_point_depth() -{ - int i,j; - dVector3 s,p,q,q2; // s = box sides - dMatrix3 R; - dReal ss,d; // ss = smallest side - - dSimpleSpace space(0); - dGeomID box = dCreateBox (0,1,1,1); - dSpaceAdd (space,box); - - // ********** make a random box - - for (j=0; j<3; j++) s[j] = dRandReal() + 0.1; - dGeomBoxSetLengths (box,s[0],s[1],s[2]); - dMakeRandomVector (p,3,1.0); - dGeomSetPosition (box,p[0],p[1],p[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (box,R); - - // ********** test center point has depth of smallest side - - ss = 1e9; - for (j=0; j<3; j++) if (s[j] < ss) ss = s[j]; - if (dFabs(dGeomBoxPointDepth (box,p[0],p[1],p[2]) - 0.5*ss) > tol) - FAILED(); - - // ********** test point on surface has depth 0 - - for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; - i = dRandInt (3); - if (dRandReal() > 0.5) q[i] = 0.5*s[i]; else q[i] = -0.5*s[i]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2])) > tol) FAILED(); - - // ********** test points outside box have -ve depth - - for (j=0; j<3; j++) { - q[j] = 0.5*s[j] + dRandReal() + 0.01; - if (dRandReal() > 0.5) q[j] = -q[j]; - } - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) >= 0) FAILED(); - - // ********** test points inside box have +ve depth - - for (j=0; j<3; j++) q[j] = s[j] * 0.99 * (dRandReal()-0.5); - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) <= 0) FAILED(); - - // ********** test random depth of point aligned along axis (up to ss deep) - - i = dRandInt (3); - for (j=0; j<3; j++) q[j] = 0; - d = (dRandReal()*(ss*0.5+1)-1); - q[i] = s[i]*0.5 - d; - if (dRandReal() > 0.5) q[i] = -q[i]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) - d) >= tol) FAILED(); - - PASSED(); -} - - -int test_ccylinder_point_depth() -{ - int j; - dVector3 p,a; - dMatrix3 R; - dReal r,l,beta,x,y,d; - - dSimpleSpace space(0); - dGeomID ccyl = dCreateCapsule (0,1,1); - dSpaceAdd (space,ccyl); - - // ********** make a random ccyl - - r = dRandReal()*0.5 + 0.01; - l = dRandReal()*1 + 0.01; - dGeomCapsuleSetParams (ccyl,r,l); - dMakeRandomVector (p,3,1.0); - dGeomSetPosition (ccyl,p[0],p[1],p[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ccyl,R); - - // ********** test point on axis has depth of 'radius' - - beta = dRandReal()-0.5; - for (j=0; j<3; j++) a[j] = p[j] + l*beta*R[j*4+2]; - if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - r) >= tol) - FAILED(); - - // ********** test point on surface (excluding caps) has depth 0 - - beta = dRandReal()*2*M_PI; - x = r*sin(beta); - y = r*cos(beta); - beta = dRandReal()-0.5; - for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2]; - if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED(); - - // ********** test point on surface of caps has depth 0 - - for (j=0; j<3; j++) a[j] = dRandReal()-0.5; - dNormalize3 (a); - if (dDOT14(a,R+2) > 0) { - for (j=0; j<3; j++) a[j] = p[j] + a[j]*r + l*0.5*R[j*4+2]; - } - else { - for (j=0; j<3; j++) a[j] = p[j] + a[j]*r - l*0.5*R[j*4+2]; - } - if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED(); - - // ********** test point inside ccyl has positive depth - - for (j=0; j<3; j++) a[j] = dRandReal()-0.5; - dNormalize3 (a); - beta = dRandReal()-0.5; - for (j=0; j<3; j++) a[j] = p[j] + a[j]*r*0.99 + l*beta*R[j*4+2]; - if (dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) < 0) FAILED(); - - // ********** test point depth (1) - - d = (dRandReal()*2-1) * r; - beta = dRandReal()*2*M_PI; - x = (r-d)*sin(beta); - y = (r-d)*cos(beta); - beta = dRandReal()-0.5; - for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2]; - if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol) - FAILED(); - - // ********** test point depth (2) - - d = (dRandReal()*2-1) * r; - for (j=0; j<3; j++) a[j] = dRandReal()-0.5; - dNormalize3 (a); - if (dDOT14(a,R+2) > 0) { - for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) + l*0.5*R[j*4+2]; - } - else { - for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) - l*0.5*R[j*4+2]; - } - if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol) - FAILED(); - - PASSED(); -} - - -int test_plane_point_depth() -{ - int j; - dVector3 n,p,q,a,b; // n = plane normal - dReal d; - - dSimpleSpace space(0); - dGeomID plane = dCreatePlane (0,0,0,1,0); - dSpaceAdd (space,plane); - - // ********** make a random plane - - for (j=0; j<3; j++) n[j] = dRandReal() - 0.5; - dNormalize3 (n); - d = dRandReal() - 0.5; - dGeomPlaneSetParams (plane,n[0],n[1],n[2],d); - dPlaneSpace (n,p,q); - - // ********** test point on plane has depth 0 - - a[0] = dRandReal() - 0.5; - a[1] = dRandReal() - 0.5; - a[2] = 0; - for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; - if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2])) >= tol) FAILED(); - - // ********** test arbitrary depth point - - a[0] = dRandReal() - 0.5; - a[1] = dRandReal() - 0.5; - a[2] = dRandReal() - 0.5; - for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; - if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) + a[2]) >= tol) - FAILED(); - - // ********** test depth-1 point - - a[0] = dRandReal() - 0.5; - a[1] = dRandReal() - 0.5; - a[2] = -1; - for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; - if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) - 1) >= tol) FAILED(); - - PASSED(); -} - -//**************************************************************************** -// ray tests - -int test_ray_and_sphere() -{ - int j; - dContactGeom contact; - dVector3 p,q,q2,n,v1; - dMatrix3 R; - dReal r,k; - - dSimpleSpace space(0); - dGeomID ray = dCreateRay (0,0); - dGeomID sphere = dCreateSphere (0,1); - dSpaceAdd (space,ray); - dSpaceAdd (space,sphere); - - // ********** make a random sphere of radius r at position p - - r = dRandReal()+0.1; - dGeomSphereSetRadius (sphere,r); - dMakeRandomVector (p,3,1.0); - dGeomSetPosition (sphere,p[0],p[1],p[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (sphere,R); - - // ********** test zero length ray just inside sphere - - dGeomRaySetLength (ray,0); - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j]; - dGeomSetPosition (ray,q[0],q[1],q[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ray,R); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test zero length ray just outside that sphere - - dGeomRaySetLength (ray,0); - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; - dGeomSetPosition (ray,q[0],q[1],q[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ray,R); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test finite length ray totally contained inside the sphere - - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - k = dRandReal(); - for (j=0; j<3; j++) q[j] = k*r*0.99 * q[j] + p[j]; - dMakeRandomVector (q2,3,1.0); - dNormalize3 (q2); - k = dRandReal(); - for (j=0; j<3; j++) q2[j] = k*r*0.99 * q2[j] + p[j]; - for (j=0; j<3; j++) n[j] = q2[j] - q[j]; - dNormalize3 (n); - dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,dDISTANCE (q,q2)); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test finite length ray totally outside the sphere - - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - do { - dMakeRandomVector (n,3,1.0); - dNormalize3 (n); - } - while (dDOT(n,q) < 0); // make sure normal goes away from sphere - for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; - dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,100); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray from outside to just above surface - - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - for (j=0; j<3; j++) n[j] = -q[j]; - for (j=0; j<3; j++) q2[j] = 2*r * q[j] + p[j]; - dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,0.99*r); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray from outside to just below surface - - dGeomRaySetLength (ray,1.01*r); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - for (j=0; j<3; j++) q2[j] = r * q[j] + p[j]; - if (dDISTANCE (contact.pos,q2) > tol) FAILED(); - - // ********** test contact point distance for random rays - - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - k = dRandReal()+0.5; - for (j=0; j<3; j++) q[j] = k*r * q[j] + p[j]; - dMakeRandomVector (n,3,1.0); - dNormalize3 (n); - dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,100); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom))) { - k = dDISTANCE (contact.pos,dGeomGetPosition(sphere)); - if (dFabs(k - r) > tol) FAILED(); - // also check normal signs - if (dDOT (n,contact.normal) > 0) FAILED(); - // also check depth of contact point - if (dFabs (dGeomSpherePointDepth - (sphere,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) - FAILED(); - - draw_all_objects (space); - } - - // ********** test tangential grazing - miss - - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - dPlaneSpace (q,n,v1); - for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; - for (j=0; j<3; j++) q[j] -= n[j]; - dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,2); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test tangential grazing - hit - - dMakeRandomVector (q,3,1.0); - dNormalize3 (q); - dPlaneSpace (q,n,v1); - for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j]; - for (j=0; j<3; j++) q[j] -= n[j]; - dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,2); - if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - - PASSED(); -} - - -int test_ray_and_box() -{ - int i,j; - dContactGeom contact; - dVector3 s,p,q,n,q2,q3,q4; // s = box sides - dMatrix3 R; - dReal k; - - dSimpleSpace space(0); - dGeomID ray = dCreateRay (0,0); - dGeomID box = dCreateBox (0,1,1,1); - dSpaceAdd (space,ray); - dSpaceAdd (space,box); - - // ********** make a random box - - for (j=0; j<3; j++) s[j] = dRandReal() + 0.1; - dGeomBoxSetLengths (box,s[0],s[1],s[2]); - dMakeRandomVector (p,3,1.0); - dGeomSetPosition (box,p[0],p[1],p[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (box,R); - - // ********** test zero length ray just inside box - - dGeomRaySetLength (ray,0); - for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; - i = dRandInt (3); - if (dRandReal() > 0.5) q[i] = 0.99*0.5*s[i]; else q[i] = -0.99*0.5*s[i]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - dGeomSetPosition (ray,q2[0],q2[1],q2[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ray,R); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test zero length ray just outside box - - dGeomRaySetLength (ray,0); - for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; - i = dRandInt (3); - if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - dGeomSetPosition (ray,q2[0],q2[1],q2[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ray,R); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test finite length ray totally contained inside the box - - for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*0.99*s[j]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - for (j=0; j<3; j++) q3[j] = (dRandReal()-0.5)*0.99*s[j]; - dMultiply0 (q4,dGeomGetRotation(box),q3,3,3,1); - for (j=0; j<3; j++) q4[j] += p[j]; - for (j=0; j<3; j++) n[j] = q4[j] - q2[j]; - dNormalize3 (n); - dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,dDISTANCE(q2,q4)); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test finite length ray totally outside the box - - for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; - i = dRandInt (3); - if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q3[j] = q2[j] + p[j]; - dNormalize3 (q2); - dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]); - dGeomRaySetLength (ray,10); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray from outside to just above surface - - for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j]; - i = dRandInt (3); - if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q3[j] = 2*q2[j] + p[j]; - k = dSqrt(q2[0]*q2[0] + q2[1]*q2[1] + q2[2]*q2[2]); - for (j=0; j<3; j++) q2[j] = -q2[j]; - dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]); - dGeomRaySetLength (ray,k*0.99); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray from outside to just below surface - - dGeomRaySetLength (ray,k*1.01); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - - // ********** test contact point position for random rays - - for (j=0; j<3; j++) q[j] = dRandReal()*s[j]; - dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1); - for (j=0; j<3; j++) q2[j] += p[j]; - for (j=0; j<3; j++) q3[j] = dRandReal()-0.5; - dNormalize3 (q3); - dGeomRaySet (ray,q2[0],q2[1],q2[2],q3[0],q3[1],q3[2]); - dGeomRaySetLength (ray,10); - if (dCollide (ray,box,1,&contact,sizeof(dContactGeom))) { - // check depth of contact point - if (dFabs (dGeomBoxPointDepth - (box,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) - FAILED(); - // check position of contact point - for (j=0; j<3; j++) contact.pos[j] -= p[j]; - dMultiply1 (q,dGeomGetRotation(box),contact.pos,3,3,1); - if ( dFabs(dFabs (q[0]) - 0.5*s[0]) > tol && - dFabs(dFabs (q[1]) - 0.5*s[1]) > tol && - dFabs(dFabs (q[2]) - 0.5*s[2]) > tol) { - FAILED(); - } - // also check normal signs - if (dDOT (q3,contact.normal) > 0) FAILED(); - - draw_all_objects (space); - } - - PASSED(); -} - - -int test_ray_and_ccylinder() -{ - int j; - dContactGeom contact; - dVector3 p,a,b,n; - dMatrix3 R; - dReal r,l,k,x,y; - - dSimpleSpace space(0); - dGeomID ray = dCreateRay (0,0); - dGeomID ccyl = dCreateCapsule (0,1,1); - dSpaceAdd (space,ray); - dSpaceAdd (space,ccyl); - - // ********** make a random capped cylinder - - r = dRandReal()*0.5 + 0.01; - l = dRandReal()*1 + 0.01; - dGeomCapsuleSetParams (ccyl,r,l); - dMakeRandomVector (p,3,1.0); - dGeomSetPosition (ccyl,p[0],p[1],p[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ccyl,R); - - // ********** test ray completely within ccyl - - for (j=0; j<3; j++) a[j] = dRandReal()-0.5; - dNormalize3 (a); - k = (dRandReal()-0.5)*l; - for (j=0; j<3; j++) a[j] = p[j] + r*0.99*a[j] + k*0.99*R[j*4+2]; - for (j=0; j<3; j++) b[j] = dRandReal()-0.5; - dNormalize3 (b); - k = (dRandReal()-0.5)*l; - for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2]; - dGeomRaySetLength (ray,dDISTANCE(a,b)); - for (j=0; j<3; j++) b[j] -= a[j]; - dNormalize3 (b); - dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); - if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray outside ccyl that just misses (between caps) - - k = dRandReal()*2*M_PI; - x = sin(k); - y = cos(k); - for (j=0; j<3; j++) a[j] = x*R[j*4+0] + y*R[j*4+1]; - k = (dRandReal()-0.5)*l; - for (j=0; j<3; j++) b[j] = -a[j]*r*2 + k*R[j*4+2] + p[j]; - dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]); - dGeomRaySetLength (ray,r*0.99); - if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray outside ccyl that just hits (between caps) - - dGeomRaySetLength (ray,r*1.01); - if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - // check depth of contact point - if (dFabs (dGeomCapsulePointDepth - (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) - FAILED(); - - // ********** test ray outside ccyl that just misses (caps) - - for (j=0; j<3; j++) a[j] = dRandReal()-0.5; - dNormalize3 (a); - if (dDOT14(a,R+2) < 0) { - for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2]; - } - else { - for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r - l*0.5*R[j*4+2]; - } - dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]); - dGeomRaySetLength (ray,r*0.99); - if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray outside ccyl that just hits (caps) - - dGeomRaySetLength (ray,r*1.01); - if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - // check depth of contact point - if (dFabs (dGeomCapsulePointDepth - (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) - FAILED(); - - // ********** test random rays - - for (j=0; j<3; j++) a[j] = dRandReal()-0.5; - for (j=0; j<3; j++) n[j] = dRandReal()-0.5; - dNormalize3 (n); - dGeomRaySet (ray,a[0],a[1],a[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,10); - - if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom))) { - // check depth of contact point - if (dFabs (dGeomCapsulePointDepth - (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) - FAILED(); - - // check normal signs - if (dDOT (n,contact.normal) > 0) FAILED(); - - draw_all_objects (space); - } - - PASSED(); -} - - -int test_ray_and_plane() -{ - int j; - dContactGeom contact; - dVector3 n,p,q,a,b,g,h; // n,d = plane parameters - dMatrix3 R; - dReal d; - - dSimpleSpace space(0); - dGeomID ray = dCreateRay (0,0); - dGeomID plane = dCreatePlane (0,0,0,1,0); - dSpaceAdd (space,ray); - dSpaceAdd (space,plane); - - // ********** make a random plane - - for (j=0; j<3; j++) n[j] = dRandReal() - 0.5; - dNormalize3 (n); - d = dRandReal() - 0.5; - dGeomPlaneSetParams (plane,n[0],n[1],n[2],d); - dPlaneSpace (n,p,q); - - // ********** test finite length ray below plane - - dGeomRaySetLength (ray,0.09); - a[0] = dRandReal()-0.5; - a[1] = dRandReal()-0.5; - a[2] = -dRandReal()*0.5 - 0.1; - for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; - dGeomSetPosition (ray,b[0],b[1],b[2]); - dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1, - dRandReal()*2-1,dRandReal()*10-5); - dGeomSetRotation (ray,R); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test finite length ray above plane - - a[0] = dRandReal()-0.5; - a[1] = dRandReal()-0.5; - a[2] = dRandReal()*0.5 + 0.01; - for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; - g[0] = dRandReal()-0.5; - g[1] = dRandReal()-0.5; - g[2] = dRandReal() + 0.01; - for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j]; - dNormalize3 (h); - dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]); - dGeomRaySetLength (ray,10); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test finite length ray that intersects plane - - a[0] = dRandReal()-0.5; - a[1] = dRandReal()-0.5; - a[2] = dRandReal()-0.5; - for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j]; - g[0] = dRandReal()-0.5; - g[1] = dRandReal()-0.5; - g[2] = dRandReal()-0.5; - for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j]; - dNormalize3 (h); - dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]); - dGeomRaySetLength (ray,10); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom))) { - // test that contact is on plane surface - if (dFabs (dDOT(contact.pos,n) - d) > tol) FAILED(); - // also check normal signs - if (dDOT (h,contact.normal) > 0) FAILED(); - // also check contact point depth - if (dFabs (dGeomPlanePointDepth - (plane,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) - FAILED(); - - draw_all_objects (space); - } - - // ********** test ray that just misses - - for (j=0; j<3; j++) b[j] = (1+d)*n[j]; - for (j=0; j<3; j++) h[j] = -n[j]; - dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]); - dGeomRaySetLength (ray,0.99); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); - - // ********** test ray that just hits - - dGeomRaySetLength (ray,1.01); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - - // ********** test polarity with typical ground plane - - dGeomPlaneSetParams (plane,0,0,1,0); - for (j=0; j<3; j++) a[j] = 0.1; - for (j=0; j<3; j++) b[j] = 0; - a[2] = 1; - b[2] = -1; - dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); - dGeomRaySetLength (ray,2); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - if (dFabs (contact.depth - 1) > tol) FAILED(); - a[2] = -1; - b[2] = 1; - dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); - if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); - if (dFabs (contact.depth - 1) > tol) FAILED(); - - PASSED(); -} - -//**************************************************************************** -// a really inefficient, but hopefully correct implementation of -// dBoxTouchesBox(), that does 144 edge-face tests. - -// return 1 if edge v1 -> v2 hits the rectangle described by p1,p2,p3 - -static int edgeIntersectsRect (dVector3 v1, dVector3 v2, - dVector3 p1, dVector3 p2, dVector3 p3) -{ - int k; - dVector3 u1,u2,n,tmp; - for (k=0; k<3; k++) u1[k] = p3[k]-p1[k]; - for (k=0; k<3; k++) u2[k] = p2[k]-p1[k]; - dReal d1 = dSqrt(dDOT(u1,u1)); - dReal d2 = dSqrt(dDOT(u2,u2)); - dNormalize3 (u1); - dNormalize3 (u2); - if (dFabs(dDOT(u1,u2)) > 1e-6) dDebug (0,"bad u1/u2"); - dCROSS (n,=,u1,u2); - for (k=0; k<3; k++) tmp[k] = v2[k]-v1[k]; - dReal d = -dDOT(n,p1); - if (dFabs(dDOT(n,p1)+d) > 1e-8) dDebug (0,"bad n wrt p1"); - if (dFabs(dDOT(n,p2)+d) > 1e-8) dDebug (0,"bad n wrt p2"); - if (dFabs(dDOT(n,p3)+d) > 1e-8) dDebug (0,"bad n wrt p3"); - dReal alpha = -(d+dDOT(n,v1))/dDOT(n,tmp); - for (k=0; k<3; k++) tmp[k] = v1[k]+alpha*(v2[k]-v1[k]); - if (dFabs(dDOT(n,tmp)+d) > 1e-6) dDebug (0,"bad tmp"); - if (alpha < 0) return 0; - if (alpha > 1) return 0; - for (k=0; k<3; k++) tmp[k] -= p1[k]; - dReal a1 = dDOT(u1,tmp); - dReal a2 = dDOT(u2,tmp); - if (a1<0 || a2<0 || a1>d1 || a2>d2) return 0; - return 1; -} - - -// return 1 if box 1 is completely inside box 2 - -static int box1inside2 (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2) -{ - for (int i=-1; i<=1; i+=2) { - for (int j=-1; j<=1; j+=2) { - for (int k=-1; k<=1; k+=2) { - dVector3 v,vv; - v[0] = i*0.5*side1[0]; - v[1] = j*0.5*side1[1]; - v[2] = k*0.5*side1[2]; - dMULTIPLY0_331 (vv,R1,v); - vv[0] += p1[0] - p2[0]; - vv[1] += p1[1] - p2[1]; - vv[2] += p1[2] - p2[2]; - for (int axis=0; axis < 3; axis++) { - dReal z = dDOT14(vv,R2+axis); - if (z < (-side2[axis]*0.5) || z > (side2[axis]*0.5)) return 0; - } - } - } - } - return 1; -} - - -// test if any edge from box 1 hits a face from box 2 - -static int testBoxesTouch2 (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2) -{ - int j,k,j1,j2; - - // for 6 faces from box 2 - for (int fd=0; fd<3; fd++) { // direction for face - - for (int fo=0; fo<2; fo++) { // offset of face - // get four points on the face. first get 2 indexes that are not fd - int k1=0,k2=0; - if (fd==0) { k1 = 1; k2 = 2; } - if (fd==1) { k1 = 0; k2 = 2; } - if (fd==2) { k1 = 0; k2 = 1; } - dVector3 fp[4],tmp; - k=0; - for (j1=-1; j1<=1; j1+=2) { - for (j2=-1; j2<=1; j2+=2) { - fp[k][k1] = j1; - fp[k][k2] = j2; - fp[k][fd] = fo*2-1; - k++; - } - } - for (j=0; j<4; j++) { - for (k=0; k<3; k++) fp[j][k] *= 0.5*side2[k]; - dMULTIPLY0_331 (tmp,R2,fp[j]); - for (k=0; k<3; k++) fp[j][k] = tmp[k] + p2[k]; - } - - // for 8 vertices - dReal v1[3]; - for (v1[0]=-1; v1[0] <= 1; v1[0] += 2) { - for (v1[1]=-1; v1[1] <= 1; v1[1] += 2) { - for (v1[2]=-1; v1[2] <= 1; v1[2] += 2) { - // for all possible +ve leading edges from those vertices - for (int ei=0; ei < 3; ei ++) { - if (v1[ei] < 0) { - // get vertex1 -> vertex2 = an edge from box 1 - dVector3 vv1,vv2; - for (k=0; k<3; k++) vv1[k] = v1[k] * 0.5*side1[k]; - for (k=0; k<3; k++) vv2[k] = (v1[k] + (k==ei)*2)*0.5*side1[k]; - dVector3 vertex1,vertex2; - dMULTIPLY0_331 (vertex1,R1,vv1); - dMULTIPLY0_331 (vertex2,R1,vv2); - for (k=0; k<3; k++) vertex1[k] += p1[k]; - for (k=0; k<3; k++) vertex2[k] += p1[k]; - - // see if vertex1 -> vertex2 interesects face - if (edgeIntersectsRect (vertex1,vertex2,fp[0],fp[1],fp[2])) - return 1; - } - } - } - } - } - } - } - - if (box1inside2 (p1,R1,side1,p2,R2,side2)) return 1; - if (box1inside2 (p2,R2,side2,p1,R1,side1)) return 1; - - return 0; -} - -//**************************************************************************** -// dBoxTouchesBox() test - -int test_dBoxTouchesBox() -{ - int k,bt1,bt2; - dVector3 p1,p2,side1,side2; - dMatrix3 R1,R2; - - dSimpleSpace space(0); - dGeomID box1 = dCreateBox (0,1,1,1); - dSpaceAdd (space,box1); - dGeomID box2 = dCreateBox (0,1,1,1); - dSpaceAdd (space,box2); - - dMakeRandomVector (p1,3,0.5); - dMakeRandomVector (p2,3,0.5); - for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01; - for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01; - dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - - dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]); - dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]); - dGeomSetPosition (box1,p1[0],p1[1],p1[2]); - dGeomSetRotation (box1,R1); - dGeomSetPosition (box2,p2[0],p2[1],p2[2]); - dGeomSetRotation (box2,R2); - draw_all_objects (space); - - int t1 = testBoxesTouch2 (p1,R1,side1,p2,R2,side2); - int t2 = testBoxesTouch2 (p2,R2,side2,p1,R1,side1); - bt1 = t1 || t2; - bt2 = dBoxTouchesBox (p1,R1,side1,p2,R2,side2); - - if (bt1 != bt2) FAILED(); - - /* - // some more debugging info if necessary - if (bt1 && bt2) printf ("agree - boxes touch\n"); - if (!bt1 && !bt2) printf ("agree - boxes don't touch\n"); - if (bt1 && !bt2) printf ("disagree - boxes touch but dBoxTouchesBox " - "says no\n"); - if (!bt1 && bt2) printf ("disagree - boxes don't touch but dBoxTouchesBox " - "says yes\n"); - */ - - PASSED(); -} - -//**************************************************************************** -// test box-box collision - -int test_dBoxBox() -{ - int k,bt; - dVector3 p1,p2,side1,side2,normal,normal2; - dMatrix3 R1,R2; - dReal depth,depth2; - int code; - dContactGeom contact[48]; - - dSimpleSpace space(0); - dGeomID box1 = dCreateBox (0,1,1,1); - dSpaceAdd (space,box1); - dGeomID box2 = dCreateBox (0,1,1,1); - dSpaceAdd (space,box2); - - dMakeRandomVector (p1,3,0.5); - dMakeRandomVector (p2,3,0.5); - for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01; - for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01; - - dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - - // dRSetIdentity (R1); // we can also try this - // dRSetIdentity (R2); - - dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]); - dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]); - dGeomSetPosition (box1,p1[0],p1[1],p1[2]); - dGeomSetRotation (box1,R1); - dGeomSetPosition (box2,p2[0],p2[1],p2[2]); - dGeomSetRotation (box2,R2); - - code = 0; - depth = 0; - bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal,&depth,&code,8,contact, - sizeof(dContactGeom)); - if (bt==1) { - p2[0] += normal[0] * 0.96 * depth; - p2[1] += normal[1] * 0.96 * depth; - p2[2] += normal[2] * 0.96 * depth; - bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact, - sizeof(dContactGeom)); - - /* - dGeomSetPosition (box2,p2[0],p2[1],p2[2]); - draw_all_objects (space); - */ - - if (bt != 1) { - FAILED(); - dGeomSetPosition (box2,p2[0],p2[1],p2[2]); - draw_all_objects (space); - } - - p2[0] += normal[0] * 0.08 * depth; - p2[1] += normal[1] * 0.08 * depth; - p2[2] += normal[2] * 0.08 * depth; - bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact, - sizeof(dContactGeom)); - if (bt != 0) FAILED(); - - // dGeomSetPosition (box2,p2[0],p2[1],p2[2]); - // draw_all_objects (space); - } - - // printf ("code=%2d depth=%.4f ",code,depth); - - PASSED(); -} - -//**************************************************************************** -// graphics - -int space_pressed = 0; - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {2.4807,-1.8023,2.7600}; - static float hpr[3] = {141.5000,-18.5000,0.0000}; - dsSetViewpoint (xyz,hpr); -} - - -// called when a key pressed - -static void command (int cmd) -{ - if (cmd == ' ') space_pressed = 1; -} - - -// simulation loop - -static void simLoop (int pause) -{ - do { - draw_all_objects_called = 0; - unsigned long seed = dRandGetSeed(); - testslot[graphical_test].test_fn(); - if (draw_all_objects_called) { - if (space_pressed) space_pressed = 0; else dRandSetSeed (seed); - } - } - while (!draw_all_objects_called); -} - -//**************************************************************************** -// do all the tests - -void do_tests (int argc, char **argv) -{ - int i,j; - - // process command line arguments - if (argc >= 2) { - graphical_test = atoi (argv[1]); - } - - if (graphical_test) { - // do one test gaphically and interactively - - if (graphical_test < 1 || graphical_test >= MAX_TESTS || - !testslot[graphical_test].name) { - dError (0,"invalid test number"); - } - - printf ("performing test: %s\n",testslot[graphical_test].name); - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - - dsSetSphereQuality (3); - dsSetCapsuleQuality (8); - dsSimulationLoop (argc,argv,1280,900,&fn); - } - else { - // do all tests noninteractively - - for (i=0; ifailcount = 0; - int total_reps=0; - for (int batch=0; batch<2; batch++) { - int reps = (batch==0) ? TEST_REPS1 : TEST_REPS2; - total_reps += reps; - printf ("testing batch %d (%d reps)...\n",batch+1,reps); - - // run tests - for (j=0; jnumber; - if (ts[i]->test_fn() != 1) ts[i]->failcount++; - } - } - - // check for failures - int total_fail_count=0; - for (i=0; ifailcount; - if (total_fail_count) break; - } - - // print results - for (i=0; inumber,ts[i]->name); - if (ts[i]->failcount) { - printf ("FAILED (%.2f%%) at line %d\n", - double(ts[i]->failcount)/double(total_reps)*100.0, - ts[i]->last_failed_line); - } - else { - printf ("ok\n"); - } - } - } -} - -//**************************************************************************** - -int main (int argc, char **argv) -{ - // setup all tests - - memset (testslot,0,sizeof(testslot)); - dInitODE2(0); - - MAKE_TEST(1,test_sphere_point_depth); - MAKE_TEST(2,test_box_point_depth); - MAKE_TEST(3,test_ccylinder_point_depth); - MAKE_TEST(4,test_plane_point_depth); - - MAKE_TEST(10,test_ray_and_sphere); - MAKE_TEST(11,test_ray_and_box); - MAKE_TEST(12,test_ray_and_ccylinder); - MAKE_TEST(13,test_ray_and_plane); - - MAKE_TEST(100,test_dBoxTouchesBox); - MAKE_TEST(101,test_dBoxBox); - - do_tests (argc,argv); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_convex_cd.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_convex_cd.cpp deleted file mode 100644 index 0ca38670..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_convex_cd.cpp +++ /dev/null @@ -1,395 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -#ifndef M_PI -#define M_PI (3.14159265358979323846) -#endif - -//<---- Convex Object -dReal planes[]= // planes for a cube - { - 1.0f ,0.0f ,0.0f ,0.25f, - 0.0f ,1.0f ,0.0f ,0.25f, - 0.0f ,0.0f ,1.0f ,0.25f, - -1.0f,0.0f ,0.0f ,0.25f, - 0.0f ,-1.0f,0.0f ,0.25f, - 0.0f ,0.0f ,-1.0f,0.25f - /* - 1.0f ,0.0f ,0.0f ,2.0f, - 0.0f ,1.0f ,0.0f ,1.0f, - 0.0f ,0.0f ,1.0f ,1.0f, - 0.0f ,0.0f ,-1.0f,1.0f, - 0.0f ,-1.0f,0.0f ,1.0f, - -1.0f,0.0f ,0.0f ,0.0f - */ - }; -const unsigned int planecount=6; - -dReal points[]= // points for a cube - { - 0.25f,0.25f,0.25f, // point 0 - -0.25f,0.25f,0.25f, // point 1 - - 0.25f,-0.25f,0.25f, // point 2 - -0.25f,-0.25f,0.25f,// point 3 - - 0.25f,0.25f,-0.25f, // point 4 - -0.25f,0.25f,-0.25f,// point 5 - - 0.25f,-0.25f,-0.25f,// point 6 - -0.25f,-0.25f,-0.25f,// point 7 - }; -const unsigned int pointcount=8; -unsigned int polygons[] = //Polygons for a cube (6 squares) - { - 4,0,2,6,4, // positive X Side 0 - 4,1,0,4,5, // positive Y Side 1 - 4,0,1,3,2, // positive Z Side 2 - 4,3,1,5,7, // negative X Side 3 - 4,2,3,7,6, // negative Y Side 4 - 4,5,4,6,7, // negative Z Side 5 - }; -//----> Convex Object - -#ifdef dDOUBLE -#define dsDrawConvex dsDrawConvexD -#define dsDrawBox dsDrawBoxD -#endif - -dGeomID* geoms; -dGeomID boxes[2]; -dGeomID convex[2]; -dSpaceID space; -dWorldID world; -dJointGroupID contactgroup; -/* -glRotate Matrix: -( xx(1-c)+c xy(1-c)-zs xz(1-c)+ys 0 ) -| | -| yx(1-c)+zs yy(1-c)+c yz(1-c)-xs 0 | -| xz(1-c)-ys yz(1-c)+xs zz(1-c)+c 0 | -| | -( 0 0 0 1 ) -Where c = cos(angle), s = sine(angle), and ||( x,y,z )|| = 1 - (if not, the GL will normalize this vector). -*/ - -dVector3 geom1pos={0.0,0.250,0.50}; -dQuaternion geom1quat={1,0,0,0}; -dQuaternion geom0quat={0.7071,0,0.7071,0}; - -bool DumpInfo=true; -int drawmode = DS_WIREFRAME; - -#if 0 -const dReal fixed_pos_0[]={0.703704,-0.748281,0.249495}; -const dReal fixed_rot_0[]={0.996994,-0.001009,-0.077468,0.000000, - -0.077468,-0.000117,-0.996995,0.000000, - 0.000996, 1.000000,-0.000195,0.000000}; - -const dReal fixed_pos_1[]={0.894169,-0.372081,0.249432}; -const dReal fixed_rot_1[]={-0.999461, 0.032777,0.001829,0.000000, - -0.032777,-0.999463,0.000033,0.000000, - 0.001829,-0.000027,0.999998,0.000000}; - -#else -// for EDGE-EDGE test -const dReal fixed_pos_0[]={0.0,0.0,0.25}; -const dReal fixed_rot_0[]={ 1,0,0,0,0,1,0,0,0,0,1,0 }; -const dReal fixed_pos_1[]={0.000000,0.450000,0.600000}; -const dReal fixed_rot_1[]={0.708311,-0.705472,-0.000000,0.000000, - 0.516939,0.519297,-0.679785,0.000000, - 0.480067,0.481293,0.733034,0.000000}; -#endif -void start() -{ - // adjust the starting viewpoint a bit - float xyz[3],hpr[3]; - dsGetViewpoint (xyz,hpr); - hpr[0] += 7; - dsSetViewpoint (xyz,hpr); - convex[0]=dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - convex[1]=dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - boxes[0]=dCreateBox(space,0.5,0.5,0.5); - boxes[1]=dCreateBox(space,0.5,0.5,0.5); - geoms=convex; - - dMatrix3 m1 = { 1,0,0,0,0,1,0,0,0,0,1,0 }; - dMatrix3 m2 = { 1,0,0,0,0,1,0,0,0,0,1,0 }; -#if 0 - dGeomSetPosition (convex[0], - 0.0, - 0.0, - 0.25); - dGeomSetPosition (convex[1], - geom1pos[0], - geom1pos[1], - geom1pos[2]); - dQtoR (geom0quat, m1); - dGeomSetRotation (convex[0],m1); - dQtoR (geom1quat, m2); - dGeomSetRotation (convex[1],m2); - - dGeomSetPosition (boxes[0], - 0.0, - 0.0, - 0.25); - dGeomSetPosition (boxes[1], - geom1pos[0], - geom1pos[1], - geom1pos[2]); - dQtoR (geom0quat, m1); - dGeomSetRotation (boxes[0],m1); - dQtoR (geom1quat, m2); - dGeomSetRotation (boxes[1],m2); -#else - dGeomSetPosition (convex[0], - fixed_pos_0[0], - fixed_pos_0[1], - fixed_pos_0[2]); - dGeomSetPosition (convex[1], - fixed_pos_1[0], - fixed_pos_1[1], - fixed_pos_1[2]); - dGeomSetRotation (convex[0],fixed_rot_0); - dGeomSetRotation (convex[1],fixed_rot_1); - dGeomSetPosition (boxes[0], - fixed_pos_0[0], - fixed_pos_0[1], - fixed_pos_0[2]); - dGeomSetPosition (boxes[1], - fixed_pos_1[0], - fixed_pos_1[1], - fixed_pos_1[2]); - dGeomSetRotation (boxes[0],fixed_rot_0); - dGeomSetRotation (boxes[1],fixed_rot_1); -#endif - -} - -int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip); -int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip); - -void simLoop (int pause) -{ - int contactcount; - const dReal ss[3] = {0.02,0.02,0.02}; - dContactGeom contacts[8]; -if(geoms==convex) - contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); -else - contactcount = dCollideBoxBox(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); - - //fprintf(stdout,"Contact Count %d\n",contactcount); - const dReal* pos; - const dReal* R; - dsSetTexture (DS_WOOD); - pos = dGeomGetPosition (geoms[0]); - R = dGeomGetRotation (geoms[0]); - dsSetColor (0.6f,0.6f,1); - dsSetDrawMode(drawmode); - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - dsSetDrawMode(DS_POLYFILL); - pos = dGeomGetPosition (geoms[1]); - R = dGeomGetRotation (geoms[1]); - dsSetColor (0.4f,1,1); - dsSetDrawMode(drawmode); - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - dsSetDrawMode(DS_POLYFILL); - /*if (show_contacts) */ - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColor (1.0f,0,0); - for(int i=0;i\n"); - } - else - { - printf("BOX--------------------------------------------------------->\n"); - } - break; - default: - dsPrint ("received command %d (`%c')\n",cmd,cmd); - } -#if 0 - dGeomSetPosition (geoms[1], - geom1pos[0], - geom1pos[1], - geom1pos[2]); - dQtoR (geom1quat, m); - dGeomSetRotation(geoms[1],m); - if(changed) - { - - printf("POS: %f,%f,%f\n",geom1pos[0],geom1pos[1],geom1pos[2]); - printf("ROT:\n%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f\n", - m[0],m[1],m[2],m[3], - m[4],m[5],m[6],m[7], - m[8],m[9],m[10],m[11]); - } -#endif - DumpInfo=true; -} - - -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 = DRAWSTUFF_TEXTURE_PATH; // uses default - world = dWorldCreate(); - space = dHashSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - - // run simulation - dsSimulationLoop (argc,argv,400,400,&fn); - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_crash.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_crash.cpp deleted file mode 100644 index d322107d..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_crash.cpp +++ /dev/null @@ -1,642 +0,0 @@ -/************************************************************************* - * * - * 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 a demo of the QuickStep and StepFast methods, -// originally by David Whittaker. - -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// select the method you want to test here (only uncomment *one* line) -#define QUICKSTEP 1 -//#define STEPFAST 1 - -// some constants - -#define LENGTH 3.5 // chassis length -#define WIDTH 2.5 // chassis width -#define HEIGHT 1.0 // chassis height -#define RADIUS 0.5 // wheel radius -#define STARTZ 1.0 // starting height of chassis -#define CMASS 1 // chassis mass -#define WMASS 1 // wheel mass -#define COMOFFSET -5 // center of mass offset -#define WALLMASS 1 // wall box mass -#define BALLMASS 1 // ball mass -#define FMAX 25 // car engine fmax -#define ROWS 1 // rows of cars -#define COLS 1 // columns of cars -#define ITERS 20 // number of iterations -#define WBOXSIZE 1.0 // size of wall boxes -#define WALLWIDTH 12 // width of wall -#define WALLHEIGHT 10 // height of wall -#define DISABLE_THRESHOLD 0.008 // maximum velocity (squared) a body can have and be disabled -#define DISABLE_STEPS 10 // number of steps a box has to have been disable-able before it will be disabled -#define CANNON_X -10 // x position of cannon -#define CANNON_Y 5 // y position of cannon -#define CANNON_BALL_MASS 10 // mass of the cannon ball -#define CANNON_BALL_RADIUS 0.5 - -//#define BOX -#define CARS -#define WALL -//#define BALLS -//#define BALLSTACK -//#define ONEBALL -//#define CENTIPEDE -#define CANNON - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; -static dBodyID body[10000]; -static int bodies; -static dJointID joint[100000]; -static int joints; -static dJointGroupID contactgroup; -static dGeomID ground; -static dGeomID box[10000]; -static int boxes; -static dGeomID sphere[10000]; -static int spheres; -static dGeomID wall_boxes[10000]; -static dBodyID wall_bodies[10000]; -static dGeomID cannon_ball_geom; -static dBodyID cannon_ball_body; -static int wb_stepsdis[10000]; -static int wb; -static bool doFast; -static dBodyID b; -static dMass m; - - -// things that the user controls - -static dReal turn = 0, speed = 0; // user commands -static dReal cannon_angle=0,cannon_elevation=-1.2; - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnected(b1, b2)) - return; - - const int N = 4; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); - if (n > 0) { - for (i=0; i -20; x-=RADIUS*2) - { - body[bodies] = dBodyCreate (world); - dBodySetPosition(body[bodies], x, y, STARTZ); - dMassSetSphere(&m, 1, RADIUS); - dMassAdjust(&m, WMASS); - dBodySetMass(body[bodies], &m); - sphere[spheres] = dCreateSphere (space, RADIUS); - dGeomSetBody (sphere[spheres++], body[bodies]); - - joint[joints] = dJointCreateHinge2 (world,0); - if (x == -17) - dJointAttach (joint[joints],b,body[bodies]); - else - dJointAttach (joint[joints],body[bodies-2],body[bodies]); - const dReal *a = dBodyGetPosition (body[bodies++]); - dJointSetHinge2Anchor (joint[joints],a[0],a[1],a[2]); - dJointSetHinge2Axis1 (joint[joints],0,0,1); - dJointSetHinge2Axis2 (joint[joints],1,0,0); - dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0); - dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5); - dJointSetHinge2Param (joint[joints],dParamLoStop,0); - dJointSetHinge2Param (joint[joints],dParamHiStop,0); - dJointSetHinge2Param (joint[joints],dParamVel2,-10.0); - dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX); - - body[bodies] = dBodyCreate (world); - dBodySetPosition(body[bodies], -30 - x, y, STARTZ); - dMassSetSphere(&m, 1, RADIUS); - dMassAdjust(&m, WMASS); - dBodySetMass(body[bodies], &m); - sphere[spheres] = dCreateSphere (space, RADIUS); - dGeomSetBody (sphere[spheres++], body[bodies]); - - joint[joints] = dJointCreateHinge2 (world,0); - if (x == -17) - dJointAttach (joint[joints],b,body[bodies]); - else - dJointAttach (joint[joints],body[bodies-2],body[bodies]); - const dReal *b = dBodyGetPosition (body[bodies++]); - dJointSetHinge2Anchor (joint[joints],b[0],b[1],b[2]); - dJointSetHinge2Axis1 (joint[joints],0,0,1); - dJointSetHinge2Axis2 (joint[joints],1,0,0); - dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0); - dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5); - dJointSetHinge2Param (joint[joints],dParamLoStop,0); - dJointSetHinge2Param (joint[joints],dParamHiStop,0); - dJointSetHinge2Param (joint[joints],dParamVel2,10.0); - dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX); - } - if (lastb) - { - dJointID j = dJointCreateFixed(world,0); - dJointAttach (j, b, lastb); - dJointSetFixed(j); - } - lastb = b; - } -#endif -#ifdef BOX - body[bodies] = dBodyCreate (world); - dBodySetPosition (body[bodies],0,0,HEIGHT/2); - dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); - dMassAdjust (&m, 1); - dBodySetMass (body[bodies],&m); - box[boxes] = dCreateBox (space,LENGTH,WIDTH,HEIGHT); - dGeomSetBody (box[boxes++],body[bodies++]); -#endif -#ifdef CANNON - cannon_ball_body = dBodyCreate (world); - cannon_ball_geom = dCreateSphere (space,CANNON_BALL_RADIUS); - dMassSetSphereTotal (&m,CANNON_BALL_MASS,CANNON_BALL_RADIUS); - dBodySetMass (cannon_ball_body,&m); - dGeomSetBody (cannon_ball_geom,cannon_ball_body); - dBodySetPosition (cannon_ball_body,CANNON_X,CANNON_Y,CANNON_BALL_RADIUS); -#endif -} - -// called when a key pressed - -static void command (int cmd) -{ - switch (cmd) { - case 'a': case 'A': - speed += 0.3; - break; - case 'z': case 'Z': - speed -= 0.3; - break; - case ',': - turn += 0.1; - if (turn > 0.3) - turn = 0.3; - break; - case '.': - turn -= 0.1; - if (turn < -0.3) - turn = -0.3; - break; - case ' ': - speed = 0; - turn = 0; - break; - case 'f': case 'F': - doFast = !doFast; - break; - case '+': - dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) + 1); - break; - case '-': - dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) - 1); - break; - case 'r': case 'R': - resetSimulation(); - break; - case '[': - cannon_angle += 0.1; - break; - case ']': - cannon_angle -= 0.1; - break; - case '1': - cannon_elevation += 0.1; - break; - case '2': - cannon_elevation -= 0.1; - break; - case 'x': case 'X': { - dMatrix3 R2,R3,R4; - dRFromAxisAndAngle (R2,0,0,1,cannon_angle); - dRFromAxisAndAngle (R3,0,1,0,cannon_elevation); - dMultiply0 (R4,R2,R3,3,3,3); - dReal cpos[3] = {CANNON_X,CANNON_Y,1}; - for (int i=0; i<3; i++) cpos[i] += 3*R4[i*4+2]; - dBodySetPosition (cannon_ball_body,cpos[0],cpos[1],cpos[2]); - dReal force = 10; - dBodySetLinearVel (cannon_ball_body,force*R4[2],force*R4[6],force*R4[10]); - dBodySetAngularVel (cannon_ball_body,0,0,0); - break; - } - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - int i, j; - - dsSetTexture (DS_WOOD); - - if (!pause) { -#ifdef BOX - dBodyAddForce(body[bodies-1],lspeed,0,0); -#endif - for (j = 0; j < joints; j++) - { - dReal curturn = dJointGetHinge2Angle1 (joint[j]); - //dMessage (0,"curturn %e, turn %e, vel %e", curturn, turn, (turn-curturn)*1.0); - dJointSetHinge2Param(joint[j],dParamVel,(turn-curturn)*1.0); - dJointSetHinge2Param(joint[j],dParamFMax,dInfinity); - dJointSetHinge2Param(joint[j],dParamVel2,speed); - dJointSetHinge2Param(joint[j],dParamFMax2,FMAX); - dBodyEnable(dJointGetBody(joint[j],0)); - dBodyEnable(dJointGetBody(joint[j],1)); - } - if (doFast) - { - dSpaceCollide (space,0,&nearCallback); -#if defined(QUICKSTEP) - dWorldQuickStep (world,0.05); -#elif defined(STEPFAST) - dWorldStepFast1 (world,0.05,ITERS); -#endif - dJointGroupEmpty (contactgroup); - } - else - { - dSpaceCollide (space,0,&nearCallback); - dWorldStep (world,0.05); - dJointGroupEmpty (contactgroup); - } - - for (i = 0; i < wb; i++) - { - b = dGeomGetBody(wall_boxes[i]); - if (dBodyIsEnabled(b)) - { - bool disable = true; - const dReal *lvel = dBodyGetLinearVel(b); - dReal lspeed = lvel[0]*lvel[0]+lvel[1]*lvel[1]+lvel[2]*lvel[2]; - if (lspeed > DISABLE_THRESHOLD) - disable = false; - const dReal *avel = dBodyGetAngularVel(b); - dReal aspeed = avel[0]*avel[0]+avel[1]*avel[1]+avel[2]*avel[2]; - if (aspeed > DISABLE_THRESHOLD) - disable = false; - - if (disable) - wb_stepsdis[i]++; - else - wb_stepsdis[i] = 0; - - if (wb_stepsdis[i] > DISABLE_STEPS) - { - dBodyDisable(b); - dsSetColor(0.5,0.5,1); - } - else - dsSetColor(1,1,1); - - } - else - dsSetColor(0.4,0.4,0.4); - dVector3 ss; - dGeomBoxGetLengths (wall_boxes[i], ss); - dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss); - } - } - else - { - for (i = 0; i < wb; i++) - { - b = dGeomGetBody(wall_boxes[i]); - if (dBodyIsEnabled(b)) - dsSetColor(1,1,1); - else - dsSetColor(0.4,0.4,0.4); - dVector3 ss; - dGeomBoxGetLengths (wall_boxes[i], ss); - dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss); - } - } - - dsSetColor (0,1,1); - dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; - for (i = 0; i < boxes; i++) - dsDrawBox (dGeomGetPosition(box[i]),dGeomGetRotation(box[i]),sides); - dsSetColor (1,1,1); - for (i=0; i< spheres; i++) dsDrawSphere (dGeomGetPosition(sphere[i]), - dGeomGetRotation(sphere[i]),RADIUS); - - // draw the cannon - dsSetColor (1,1,0); - dMatrix3 R2,R3,R4; - dRFromAxisAndAngle (R2,0,0,1,cannon_angle); - dRFromAxisAndAngle (R3,0,1,0,cannon_elevation); - dMultiply0 (R4,R2,R3,3,3,3); - dReal cpos[3] = {CANNON_X,CANNON_Y,1}; - dReal csides[3] = {2,2,2}; - dsDrawBox (cpos,R2,csides); - for (i=0; i<3; i++) cpos[i] += 1.5*R4[i*4+2]; - dsDrawCylinder (cpos,R4,3,0.5); - - // draw the cannon ball - dsDrawSphere (dBodyGetPosition(cannon_ball_body),dBodyGetRotation(cannon_ball_body), - CANNON_BALL_RADIUS); -} - -int main (int argc, char **argv) -{ - doFast = true; - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - dInitODE2(0); - - bodies = 0; - joints = 0; - boxes = 0; - spheres = 0; - - resetSimulation(); - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_cyl.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_cyl.cpp deleted file mode 100644 index c61d7797..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_cyl.cpp +++ /dev/null @@ -1,325 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -// Test for non-capped cylinder, by Bram Stolk -#include -#include -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" - -#include "world_geom3.h" // this is our world mesh - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -#define BOX -#define CYL - -// some constants - -#define RADIUS 0.22 // wheel radius -#define WMASS 0.2 // wheel mass -#define WHEELW 0.2 // wheel width -#define BOXSZ 0.4 // box size -//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; -#ifdef BOX -static dBodyID boxbody; -static dGeomID boxgeom; -#endif -#ifdef CYL -static dBodyID cylbody; -static dGeomID cylgeom; -#endif -static dJointGroupID contactgroup; -static dGeomID world_mesh; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - -// fprintf(stderr,"testing geoms %p %p\n", o1, o2); - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i -#include -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; - -static dBodyID cylbody; -static dGeomID cylgeom; - -static dBodyID sphbody; -static dGeomID sphgeom; - -static dJointGroupID contactgroup; - -static bool show_contacts = true; - -#define CYLRADIUS 0.6 -#define CYLLENGTH 2.0 -#define SPHERERADIUS 0.5 - - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawLine dsDrawLineD -#endif - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i -#include -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" - - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawCylinder dsDrawCylinderD -#endif - - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; - -static const int STACKCNT=10; // nr of weights on bridge -static const int SEGMCNT=16; // nr of segments in bridge -static const float SEGMDIM[3] = { 0.9, 4, 0.1 }; - -static dGeomID groundgeom; -static dBodyID segbodies[SEGMCNT]; -static dGeomID seggeoms[SEGMCNT]; -static dBodyID stackbodies[STACKCNT]; -static dGeomID stackgeoms[STACKCNT]; -static dJointID hinges[SEGMCNT-1]; -static dJointID sliders[2]; -static dJointFeedback jfeedbacks[SEGMCNT-1]; -static dReal colours[SEGMCNT]; -static int stress[SEGMCNT-1]; - -static dJointGroupID contactgroup; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i forcelimit || l1 > forcelimit) - stress[i]++; - else - stress[i]=0; - if (stress[i]>4) - { - // Low-pass filter the noisy feedback data. - // Only after 4 consecutive timesteps with excessive load, snap. - fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i); - dJointAttach (hinges[i], 0, 0); - } - } - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - int i; - - double simstep = 0.002; // 2ms simulation steps - double dt = dsElapsedTime(); - int nrofsteps = (int) ceilf(dt/simstep); - for (i=0; i1.0) v=1.0; - if (v<0.5) - { - r=2*v; - g=1.0; - } - else - { - r=1.0; - g=2*(1.0-v); - } - dsSetColor (r,g,b); - drawGeom(seggeoms[i]); - } - dsSetColor (1,1,1); - for (i=0; i MU * body_mass * GRAVITY - (j+1)*FORCE > MU * (i+1)*MASS * GRAVITY - (j+1) > (i+1) * (MU*MASS*GRAVITY/FORCE) - (j+1) > (i+1) * k - -this should be independent of the number of contact points, as N contact -points will each have 1/N'th the normal force but the pushing force will -have to overcome N contacts. the constants are chosen so that k=1. -thus you should see a triangle made of half the bodies in the array start to -slide. - -*/ - - -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define LENGTH 0.2 // box length & width -#define HEIGHT 0.05 // box height -#define MASS 0.2 // mass of box[i][j] = (i+1) * MASS -#define FORCE 0.05 // force applied to box[i][j] = (j+1) * FORCE -#define MU 0.5 // the global mu to use -#define GRAVITY 0.5 // the global gravity to use -#define N1 10 // number of different forces to try -#define N2 10 // number of different masses to try - - -// dynamics and collision objects - -static dWorldID world; -static dSpaceID space; -static dBodyID body[N1][N2]; -static dJointGroupID contactgroup; -static dGeomID ground; -static dGeomID box[N1][N2]; - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - - // only collide things with the ground - int g1 = (o1 == ground); - int g2 = (o2 == ground); - if (!(g1 ^ g2)) return; - - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - - dContact contact[3]; // up to 3 contacts per box - for (i=0; i<3; i++) { - contact[i].surface.mode = dContactSoftCFM | dContactApprox1; - contact[i].surface.mu = MU; - contact[i].surface.soft_cfm = 0.01; - } - if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { - for (i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#endif - -bool write_world = false; -bool show_contacts = false; -dWorld * world; -dBody *top1, *top2; -dSpace *space; -dJointGroup contactgroup; - -const dReal pinradius = 0.05f; -const dReal pinlength = 1.5f; -const dReal topradius = 1.0f; -const dReal toplength = 0.25f; -const dReal topmass = 1.0f; - -#define MAX_CONTACTS 4 - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - // for drawing the contact points - dMatrix3 RI; - dRSetIdentity (RI); - const dReal ss[3] = {0.02,0.02,0.02}; - - int i; - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - - dContact contact[MAX_CONTACTS]; - int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom, - sizeof(dContact)); - - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed -static void reset(); -static void tilt(); - -static void command (int cmd) -{ - cmd = locase (cmd); - if (cmd == ' ') - { - reset(); - } - else if (cmd == 'a') { - tilt(); - } - else if (cmd == 't') { - show_contacts = !show_contacts; - } - else if (cmd == '1') { - write_world = true; - } -} - -// simulation loop - -static void simLoop (int pause) -{ - dsSetColor (0,0,2); - space->collide(0,&nearCallback); - if (!pause) - //world->quickStep(0.02); - world->step(0.02); - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (*world,f,"X"); - fclose (f); - } - write_world = false; - } - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - dsSetTexture (DS_WOOD); - - dsSetColor (1,0.5f,0); - dsDrawCylinder(top1->getPosition(), - top1->getRotation(), - toplength, topradius); - dsDrawCapsule(top1->getPosition(), - top1->getRotation(), - pinlength, pinradius); - - dsSetColor (0.5f,1,0); - dsDrawCylinder(top2->getPosition(), - top2->getRotation(), - toplength, topradius); - dsDrawCapsule(top2->getPosition(), - top2->getRotation(), - pinlength, pinradius); - -} - - -static void reset() -{ - dMatrix3 R; - dRSetIdentity(R); - - top1->setRotation(R); - top2->setRotation(R); - - top1->setPosition(0.8f, -2, 2); - top2->setPosition(0.8f, 2, 2); - - top1->setAngularVel(0,0,5); - top2->setAngularVel(0,0,5); - - top1->setLinearVel(0,0.2f,0); - top2->setLinearVel(0,0.2f,0); -} - -static void tilt() -{ - top1->addTorque(0, 10, 0); - top2->addTorque(0, 10, 0); -} - -int main (int argc, char **argv) -{ - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - - // create world - dInitODE(); - world = new dWorld(); - world->setGravity(0,0,-0.5f); - world->setCFM(1e-5f); - world->setLinearDamping(0.00001f); - world->setAngularDamping(0.0001f); - - space = new dSimpleSpace(0); - - dPlane *floor = new dPlane(*space, 0,0,1,0); - - top1 = new dBody(*world); - top2 = new dBody(*world); - - dMass m; - m.setCylinderTotal(1, 3, topradius, toplength); - top1->setMass(m); - top2->setMass(m); - - dGeom *g1, *g2, *pin1, *pin2; - g1 = new dCylinder(*space, topradius, toplength); - g1->setBody(*top1); - g2 = new dCylinder(*space, topradius, toplength); - g2->setBody(*top2); - - pin1 = new dCapsule(*space, pinradius, pinlength); - pin1->setBody(*top1); - pin2 = new dCapsule(*space, pinradius, pinlength); - pin2->setBody(*top2); - - top2->setGyroscopicMode(false); - - reset(); - - // run simulation - dsSimulationLoop (argc,argv,512,384,&fn); - - delete g1; - delete g2; - delete pin1; - delete pin2; - delete floor; - contactgroup.empty(); - delete top1; - delete top2; - delete space; - delete world; - dCloseODE(); -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_heightfield.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_heightfield.cpp deleted file mode 100644 index adc3b1e0..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_heightfield.cpp +++ /dev/null @@ -1,765 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include "texturepath.h" -#include "bunny_geom.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -#define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians - -int g_allow_trimesh; - -// Our heightfield geom -dGeomID gheight; - - - -// Heightfield dimensions - -#define HFIELD_WSTEP 15 // Vertex count along edge >= 2 -#define HFIELD_DSTEP 31 - -#define HFIELD_WIDTH REAL( 4.0 ) -#define HFIELD_DEPTH REAL( 8.0 ) - -#define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) ) -#define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) ) - - - -//<---- Convex Object -dReal planes[]= // planes for a cube - { - 1.0f ,0.0f ,0.0f ,0.25f, - 0.0f ,1.0f ,0.0f ,0.25f, - 0.0f ,0.0f ,1.0f ,0.25f, - 0.0f ,0.0f ,-1.0f,0.25f, - 0.0f ,-1.0f,0.0f ,0.25f, - -1.0f,0.0f ,0.0f ,0.25f - /* - 1.0f ,0.0f ,0.0f ,2.0f, - 0.0f ,1.0f ,0.0f ,1.0f, - 0.0f ,0.0f ,1.0f ,1.0f, - 0.0f ,0.0f ,-1.0f,1.0f, - 0.0f ,-1.0f,0.0f ,1.0f, - -1.0f,0.0f ,0.0f ,0.0f - */ - }; -const unsigned int planecount=6; - -dReal points[]= // points for a cube - { - 0.25f,0.25f,0.25f, // point 0 - -0.25f,0.25f,0.25f, // point 1 - - 0.25f,-0.25f,0.25f, // point 2 - -0.25f,-0.25f,0.25f,// point 3 - - 0.25f,0.25f,-0.25f, // point 4 - -0.25f,0.25f,-0.25f,// point 5 - - 0.25f,-0.25f,-0.25f,// point 6 - -0.25f,-0.25f,-0.25f,// point 7 - }; -const unsigned int pointcount=8; -unsigned int polygons[] = //Polygons for a cube (6 squares) - { - 4,0,2,6,4, // positive X - 4,1,0,4,5, // positive Y - 4,0,1,3,2, // positive Z - 4,3,1,5,7, // negative X - 4,2,3,7,6, // negative Y - 4,5,4,6,7, // negative Z - }; -//----> Convex Object - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#define dsDrawTriangle dsDrawTriangleD -#endif - - -// some constants - -#define NUM 100 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 64 // maximum number of contact points per body - - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body - - // Trimesh only - double buffered matrices for 'last transform' setup - dReal matrix_dblbuff[ 16 * 2 ]; - int last_matrix_index; -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? -static int write_world = 0; - - - - -//============================ - -dGeomID TriMesh1; -dGeomID TriMesh2; -//static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data - -//============================ - - -dReal heightfield_callback( void* pUserData, int x, int z ) -{ - dIASSERT( x < HFIELD_WSTEP ); - dIASSERT( z < HFIELD_DSTEP ); - - dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 ); - dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 ); - - // Create an interesting 'hump' shape - dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) ); - - return h; -} - - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - size_t i; - int j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - - - // - // Geom Creation - // - - if ( cmd == 'b' || cmd == 's' || cmd == 'c' || ( cmd == 'm' && g_allow_trimesh ) || - cmd == 'x' || cmd == 'y' || cmd == 'v' ) - { - if ( num < NUM ) - { - i = num; - num++; - } - else - { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) - { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - (dRandReal()-0.5)*HFIELD_WIDTH*0.75, - (dRandReal()-0.5)*HFIELD_DEPTH*0.75, - dRandReal() + 2 ); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,maxheight+1,0); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*) i); - - if (cmd == 'b') - { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') - { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - //<---- Convex Object - else if (cmd == 'v') - { - dMassSetBox (&m,DENSITY,0.25,0.25,0.25); - obj[i].geom[0] = dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - } - //----> Convex Object - else if (cmd == 'y') - { - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') - { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'm' && g_allow_trimesh) - { - dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); - dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, - &Indices[0], IndexCount, 3 * sizeof(dTriIndex)); - - obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); - - dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); - printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); - dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); - dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); - } - else if (cmd == 'x') - { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == '1') { - write_world = 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - int i; - - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - //<---- Convex Object - else if (type == dConvexClass) - { - //dVector3 sides={0.50,0.50,0.50}; - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - } - //----> Convex Object - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } - -} - -// simulation loop - -static void simLoop (int pause) -{ - int i,j; - - dsSetColor (0,0,2); - - dSpaceCollide (space,0,&nearCallback); - - //if (!pause) dWorldStep (world,0.05); - //if (!pause) dWorldQuickStep (world,0.05); - if (!pause) dWorldStepFast1 (world,0.05, 5); - - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (world,f,"X"); - fclose (f); - } - write_world = 0; - } - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - - - const dReal* pReal = dGeomGetPosition( gheight ); - - const dReal* RReal = dGeomGetRotation( gheight ); - - // - // Draw Heightfield - // - - // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode. - int ox = (int) ( -HFIELD_WIDTH/2 ); - int oz = (int) ( -HFIELD_DEPTH/2 ); - -// for ( int tx = -1; tx < 2; ++tx ) -// for ( int tz = -1; tz < 2; ++tz ) - { - dsSetColorAlpha (0.5,1,0.5,0.5); - dsSetTexture( DS_WOOD ); - - for ( int i = 0; i < HFIELD_WSTEP - 1; ++i ) - for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) - { - dReal a[3], b[3], c[3], d[3]; - - a[ 0 ] = ox + ( i ) * HFIELD_WSAMP; - a[ 1 ] = heightfield_callback( NULL, i, j ); - a[ 2 ] = oz + ( j ) * HFIELD_DSAMP; - - b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; - b[ 1 ] = heightfield_callback( NULL, i + 1, j ); - b[ 2 ] = oz + ( j ) * HFIELD_DSAMP; - - c[ 0 ] = ox + ( i ) * HFIELD_WSAMP; - c[ 1 ] = heightfield_callback( NULL, i, j + 1 ); - c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; - - d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; - d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 ); - d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; - - dsDrawTriangle( pReal, RReal, a, c, b, 1 ); - dsDrawTriangle( pReal, RReal, b, c, d, 1 ); - } - } - - - - - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#endif - - -// some constants -#define SIDE (0.5f) // side length of a box -#define MASS (1.0) // mass of a box - - -// dynamics and collision objects -static dWorldID world; -static dBodyID body[2]; -static dJointID hinge; - - -// state set by keyboard commands -static int occasional_error = 0; - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; - static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; - dsSetViewpoint (xyz,hpr); - printf ("Press 'e' to start/stop occasional error.\n"); -} - - -// called when a key pressed - -static void command (int cmd) -{ - if (cmd == 'e' || cmd == 'E') { - occasional_error ^= 1; - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - const dReal kd = -0.3; // angular damping constant - if (!pause) { - // add an oscillating torque to body 0, and also damp its rotational motion - static dReal a=0; - const dReal *w = dBodyGetAngularVel (body[0]); - dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a)); - dWorldStep (world,0.05); - a += 0.01; - - // occasionally re-orient one of the bodies to create a deliberate error. - if (occasional_error) { - static int count = 0; - if ((count % 20)==0) { - // randomly adjust orientation of body[0] - const dReal *R1; - dMatrix3 R2,R3; - R1 = dBodyGetRotation (body[0]); - dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, - dRandReal()-0.5,dRandReal()-0.5); - dMultiply0 (R3,R1,R2,3,3,3); - dBodySetRotation (body[0],R3); - - // randomly adjust position of body[0] - const dReal *pos = dBodyGetPosition (body[0]); - dBodySetPosition (body[0], - pos[0]+0.2*(dRandReal()-0.5), - pos[1]+0.2*(dRandReal()-0.5), - pos[2]+0.2*(dRandReal()-0.5)); - } - count++; - } - } - - dReal sides1[3] = {SIDE,SIDE,SIDE}; - dReal sides2[3] = {SIDE,SIDE,SIDE*0.8f}; - dsSetTexture (DS_WOOD); - dsSetColor (1,1,0); - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); - dsSetColor (0,1,1); - dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); -} - - -int main (int argc, char **argv) -{ - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - // create world - dInitODE2(0); - world = dWorldCreate(); - - dMass m; - dMassSetBox (&m,1,SIDE,SIDE,SIDE); - dMassAdjust (&m,MASS); - - dQuaternion q; - dQFromAxisAndAngle (q,1,1,0,0.25*M_PI); - - body[0] = dBodyCreate (world); - dBodySetMass (body[0],&m); - dBodySetPosition (body[0],0.5*SIDE,0.5*SIDE,1); - dBodySetQuaternion (body[0],q); - - body[1] = dBodyCreate (world); - dBodySetMass (body[1],&m); - dBodySetPosition (body[1],-0.5*SIDE,-0.5*SIDE,1); - dBodySetQuaternion (body[1],q); - - hinge = dJointCreateHinge (world,0); - dJointAttach (hinge,body[0],body[1]); - dJointSetHingeAnchor (hinge,0,0,1); - dJointSetHingeAxis (hinge,1,-1,1.41421356); - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dWorldDestroy (world); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_jointPR.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_jointPR.cpp deleted file mode 100644 index 1db191f2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_jointPR.cpp +++ /dev/null @@ -1,380 +0,0 @@ -/************************************************************************* - * * - * 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 file try to demonstrate how the PR joint is working. - -The axisP is draw in red and the axisR is in green - -*/ - - -#include -#include -#include -#include -#include "texturepath.h" - - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#endif - - -// physics parameters -#define BOX1_LENGTH 2 // Size along the X axis -#define BOX1_WIDTH 1 // Size along the Y axis -#define BOX1_HEIGHT 0.4 // Size along the Z axis (up) since gravity is (0,0,-10) -#define BOX2_LENGTH 0.2 -#define BOX2_WIDTH 0.1 -#define BOX2_HEIGHT 0.4 -#define Mass1 10 -#define Mass2 0.1 - - -#define PRISMATIC_ONLY 1 -#define ROTOIDE_ONLY 2 -int flag = 0; - - -//camera view -static float xyz[3] = {2.0f,-3.5f,2.0000f}; -static float hpr[3] = {90.000f,-25.5000f,0.0000f}; -//world,space,body & geom -static dWorldID world; -static dSpaceID space; -static dSpaceID box1_space; -static dBodyID box1_body[1]; -static dBodyID box2_body[1]; -static dJointID joint[1]; -static dJointGroupID contactgroup; -static dGeomID ground; -static dGeomID box1[1]; -static dGeomID box2[1]; - - -//collision detection -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); - if (n > 0) - { - for (i=0; i= 2 ) - { - for (int i=1; i < argc; ++i) - { - if( 0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) ) - Help(argv); - - if(!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) ) - flag = PRISMATIC_ONLY; - - if(!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) ) - flag = ROTOIDE_ONLY; - - if(0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i])) - { - int j = i+1; - if ( j+1 > argc || // Check if we have enough arguments - argv[j] == '\0' || // We should have a path here - argv[j][0] == '-' ) // We should have a path not a command line - Help(argv); - else - fn.path_to_textures = argv[++i]; // Increase i since we use this argument - } - } - } - - dInitODE2(0); - - // create world - world = dWorldCreate(); - space = dHashSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - dWorldSetGravity (world,0,0,-10); - ground = dCreatePlane (space,0,0,1,0); - - //create two boxes - dMass m; - box1_body[0] = dBodyCreate (world); - dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); - dMassAdjust (&m,Mass1); - dBodySetMass (box1_body[0],&m); - box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); - dGeomSetBody (box1[0],box1_body[0]); - - box2_body[0] = dBodyCreate (world); - dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); - dMassAdjust (&m,Mass2); - dBodySetMass (box2_body[0],&m); - box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); - dGeomSetBody (box2[0],box2_body[0]); - - //set the initial positions of body1 and body2 - dMatrix3 R; - dRSetIdentity(R); - dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0); - dBodySetRotation (box1_body[0], R); - - dBodySetPosition (box2_body[0], - 2.1, - 0.0, - BOX2_HEIGHT/2.0); - dBodySetRotation (box2_body[0], R); - - - //set PR joint - joint[0] = dJointCreatePR(world,0); - dJointAttach (joint[0],box1_body[0],box2_body[0]); - switch (flag) - { - case PRISMATIC_ONLY: - dJointSetPRAnchor (joint[0], - 2.1, - 0.0, - BOX2_HEIGHT/2.0); - dJointSetPRParam (joint[0],dParamLoStop, -0.5); - dJointSetPRParam (joint[0],dParamHiStop, 1.5); - break; - - case ROTOIDE_ONLY: - dJointSetPRAnchor (joint[0], - 0.0, - 0.0, - BOX2_HEIGHT/2.0); - dJointSetPRParam (joint[0],dParamLoStop, 0.0); - dJointSetPRParam (joint[0],dParamHiStop, 0.0); - break; - - default: - dJointSetPRAnchor (joint[0], - 1.1, - 0.0, - BOX2_HEIGHT/2.0); - dJointSetPRParam (joint[0],dParamLoStop, -0.5); - dJointSetPRParam (joint[0],dParamHiStop, 1.5); - break; - } - - dJointSetPRAxis1(joint[0],1,0,0); - dJointSetPRAxis2(joint[0],0,0,1); -// We position the 2 body -// The position of the rotoide joint is on the second body so it can rotate on itself -// and move along the X axis. -// With this anchor -// - A force in X will move only the body 2 inside the low and hi limit -// of the prismatic -// - A force in Y will make the 2 bodies to rotate around on the plane - - box1_space = dSimpleSpaceCreate (space); - dSpaceSetCleanup (box1_space,0); - dSpaceAdd(box1_space,box1[0]); - - // run simulation - dsSimulationLoop (argc,argv,400,300,&fn); - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 0; -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_jointPU.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_jointPU.cpp deleted file mode 100644 index c647b06c..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_jointPU.cpp +++ /dev/null @@ -1,742 +0,0 @@ -/************************************************************************* - * * - * 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 program demonstrates how the PU joint works. - A PU joint is a combination of a Universal joint and a Slider joint. - It is a universal joint with a slider between the anchor point and - body 1. - - - The upper yellow body is fixed to the world - The lower yellow body is attached to the upper body by a PU joint - The green object is one aprt of the slider. - The purple object is the second part of the slider. - The red object represent the axis1 of the universal part. - The blue object represent the axis2 of the universal part. - The gray object represent the anchor2 of the PU joint. -*/ - - -#include -#include -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - -//using namespace ode; - -enum IDX_CYL_DIM -{ - RADIUS, - LENGTH, - NUM_CYL_DIM -}; - - -const dVector3 boxDim = {1,1,1}; -const dVector3 extDim = {0.2,0.2,1.2}; -const dVector3 ancDim = {0.2,0.2,0.5}; -const dReal axDim[NUM_CYL_DIM] = {0.1,1.0}; - - -int type = dJointTypePU; - - -const dReal VEL_INC = 0.01; // Velocity increment - -// physics parameters -const dReal PI = 3.14159265358979323846264338327950288419716939937510; - - -const dReal INT_EXT_RATIO = 0.8; - -#define X 0 -#define Y 1 -#define Z 2 - -enum INDEX -{ - W = 0, - D, - EXT, - INT, - AXIS1, - AXIS2, - ANCHOR, - GROUND, - NUM_PARTS, - ALL = NUM_PARTS, - // INDEX for catBits - JOINT, - LAST_INDEX_CNT -}; - -const int catBits[LAST_INDEX_CNT] = - { - 0x0001, ///< W Cylinder category - 0x0002, ///< D Cylinder category - 0x0004, ///< EXT sliderr category - 0x0008, ///< INT slider category - 0x0010, ///< AXIS1 universal category - 0x0020, ///< AXIS2 universal category - 0x0040, ///< Ground category - ~0L, ///< All categories - 0x0004 | 0x0008 | 0x0010 | 0x0020 ///< JOINT category - }; - -#define Mass1 10 -#define Mass2 8 - - -//camera view -static float xyz[3] = {6.0f,0.0f,6.0000f}; -static float hpr[3] = {-180.000f,-25.5000f,0.0000f}; - - -//world,space,body & geom -static dWorld world; -static dSpaceID space; -static dJointGroupID contactgroup; -static dBody body[NUM_PARTS]; -static dGeomID geom[NUM_PARTS]; - -static dJoint *joint; - - - -const dReal BOX_SIDES[3] = {1.0,1.0,1.0}; -const dReal OBS_SIDES[3] = {0.4,0.4,0.4}; -const dReal RECT_SIDES[3] = {0.3, 0.1, 0.2}; - - -//collision detection -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - dBodyID b1 = dGeomGetBody (o1); - dBodyID b2 = dGeomGetBody (o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact) ) return; - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof (dContact) ); - if (n > 0) { - for (i=0; igetParam (dParamVel3) - VEL_INC; - joint->setParam (dParamVel3, vel); - std::cout<<"Velocity = "<' : { - dReal vel = joint->getParam (dParamVel3) + VEL_INC; - joint->setParam (dParamVel3, vel); - std::cout<<"Velocity = "<getParam (dParamFMax) ) { - aLimit = dInfinity; - lLimit = dInfinity; - fmax = 0; - } - else { - aLimit = 0.25*PI; - lLimit = 0.5*axDim[LENGTH]; - fmax = 0.02; - } - - joint->setParam (dParamFMax1, fmax); - joint->setParam (dParamFMax2, fmax); - joint->setParam (dParamFMax3, fmax); - - switch (joint->getType() ) { - case dJointTypePR : { - dPRJoint *pr = reinterpret_cast (joint); - pr->setParam (dParamLoStop, -lLimit); - pr->setParam (dParamHiStop, -lLimit); - pr->setParam (dParamLoStop2, aLimit); - pr->setParam (dParamHiStop2, -aLimit); - } - break; - case dJointTypePU : { - dPUJoint *pu = reinterpret_cast (joint); - pu->setParam (dParamLoStop1, -aLimit); - pu->setParam (dParamHiStop1, aLimit); - pu->setParam (dParamLoStop2, -aLimit); - pu->setParam (dParamHiStop2, aLimit); - pu->setParam (dParamLoStop3, -lLimit); - pu->setParam (dParamHiStop3, lLimit); - } - break; - default: {} // keep the compiler happy - } - } - - break; - - case 'g': case 'G' : { - dVector3 g; - world.getGravity(g); - if ( g[2]< -0.1 ) - world.setGravity(0, 0, 0); - else - world.setGravity(0, 0, -0.5); - - } - -case 'p' :case 'P' : { - switch (joint->getType() ) { - case dJointTypeSlider : { - dSliderJoint *sj = reinterpret_cast (joint); - std::cout<<"Position ="<getPosition() <<"\n"; - } - break; - case dJointTypePU : { - dPUJoint *pu = reinterpret_cast (joint); - std::cout<<"Position ="<getPosition() <<"\n"; - std::cout<<"Position Rate="<getPositionRate() <<"\n"; - std::cout<<"Angle1 ="<getAngle1() <<"\n"; - std::cout<<"Angle1 Rate="<getAngle1Rate() <<"\n"; - std::cout<<"Angle2 ="<getAngle2() <<"\n"; - std::cout<<"Angle2 Rate="<getAngle2Rate() <<"\n"; - } - break; - default: {} // keep the compiler happy - } - } - break; - } -} - -static void drawBox (dGeomID id, int R, int G, int B) -{ - if (!id) - return; - - const dReal *pos = dGeomGetPosition (id); - const dReal *rot = dGeomGetRotation (id); - dsSetColor (R,G,B); - - dVector3 l; - dGeomBoxGetLengths (id, l); - dsDrawBox (pos, rot, l); -} - - -// simulation loop -static void simLoop (int pause) -{ - static bool todo = false; - if ( todo ) { // DEBUG - static int cnt = 0; - ++cnt; - - if (cnt == 5) - command ( 'q' ); - if (cnt == 10) - dsStop(); - } - - - - - if (!pause) { - double simstep = 0.01; // 10ms simulation steps - double dt = dsElapsedTime(); - - int nrofsteps = (int) ceilf (dt/simstep); - if (!nrofsteps) - nrofsteps = 1; - - for (int i=0; i (joint); - ang1 = pu->getAngle1(); - ang2 = pu->getAngle2(); - pu->getAxis1 (axisR1); - pu->getAxis2 (axisR2); - pu->getAxisP (axisP); - - dJointGetPUAnchor (pu->id(), anchorPos); - } - else if ( dJointTypePR == type ) { - dPRJoint *pr = dynamic_cast (joint); - pr->getAxis1 (axisP); - pr->getAxis2 (axisR1); - - dJointGetPRAnchor (pr->id(), anchorPos); - } - - - // Draw the axisR - if ( geom[INT] ) { - dsSetColor (1,0,1); - dVector3 l; - dGeomBoxGetLengths (geom[INT], l); - - const dReal *rotBox = dGeomGetRotation (geom[W]); - - dVector3 pos; - for (int i=0; i<3; ++i) - pos[i] = anchorPos[i] - 0.5*extDim[Z]*axisP[i]; - dsDrawBox (pos, rotBox, l); - } - - dsSetTexture (DS_CHECKERED); - if ( geom[AXIS1] ) { - dQuaternion q, qAng; - dQFromAxisAndAngle (qAng,axisR1[X], axisR1[Y], axisR1[Z], ang1); - dGeomGetQuaternion (geom[AXIS1], q); - - dQuaternion qq; - dQMultiply1 (qq, qAng, q); - dMatrix3 R; - dQtoR (qq,R); - - - dGeomCylinderGetParams (dGeomTransformGetGeom (geom[AXIS1]), &radius, &length); - dsSetColor (1,0,0); - dsDrawCylinder (anchorPos, R, length, radius); - } - - if ( dJointTypePU == type && geom[AXIS2] ) { - //dPUJoint *pu = dynamic_cast (joint); - - dQuaternion q, qAng, qq, qq1; - dGeomGetQuaternion (geom[AXIS2], q); - - dQFromAxisAndAngle (qAng, 0, 1, 0, ang2); - dQMultiply1 (qq, qAng, q); - - - dQFromAxisAndAngle (qAng,axisR1[X], axisR1[Y], axisR1[Z], ang1); - - dQMultiply1 (qq1, qAng, qq); - - - dMatrix3 R; - dQtoR (qq1,R); - - - dGeomCylinderGetParams (dGeomTransformGetGeom (geom[AXIS2]), &radius, &length); - dsSetColor (0,0,1); - dsDrawCylinder (anchorPos, R, length, radius); - } - - dsSetTexture (DS_WOOD); - - // Draw the anchor - if ( geom[ANCHOR] ) { - dsSetColor (1,1,1); - dVector3 l; - dGeomBoxGetLengths (geom[ANCHOR], l); - - const dReal *rotBox = dGeomGetRotation (geom[D]); - const dReal *posBox = dGeomGetPosition (geom[D]); - - dVector3 e; - for (int i=0; i<3; ++i) - e[i] = posBox[i] - anchorPos[i]; - dNormalize3 (e); - - dVector3 pos; - for (int i=0; i<3; ++i) - pos[i] = anchorPos[i] + 0.5 * l[Z]*e[i]; - dsDrawBox (pos, rotBox, l); - } - - drawBox (geom[D], 1,1,0); - } -} - - -void Help (char **argv) -{ - printf ("%s ", argv[0]); - printf (" -h | --help : print this help\n"); - printf (" -p | --PRJoint : Use a PR joint instead of PU joint\n"); - printf (" -t | --texture-path path : Path to the texture.\n"); - printf (" Default = %s\n", DRAWSTUFF_TEXTURE_PATH); - printf ("--------------------------------------------------\n"); - printf ("Hit any key to continue:"); - getchar(); - - exit (0); -} - -int main (int argc, char **argv) -{ - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - - if (argc >= 2 ) { - for (int i=1; i < argc; ++i) { - if ( 0 == strcmp ("-h", argv[i]) || 0 == strcmp ("--help", argv[i]) ) - Help (argv); - - if ( 0 == strcmp ("-p", argv[i]) || 0 == strcmp ("--PRJoint", argv[i]) ) - type = dJointTypePR; - - if (0 == strcmp ("-t", argv[i]) || 0 == strcmp ("--texture-path", argv[i]) ) { - int j = i+1; - if ( j+1 > argc || // Check if we have enough arguments - argv[j] == '\0' || // We should have a path here - argv[j][0] == '-' ) // We should have a path not a command line - Help (argv); - else - fn.path_to_textures = argv[++i]; // Increase i since we use this argument - } - } - } - - dInitODE2(0); - - world.setERP (0.8); - - space = dSimpleSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - geom[GROUND] = dCreatePlane (space, 0,0,1,0); - dGeomSetCategoryBits (geom[GROUND], catBits[GROUND]); - dGeomSetCollideBits (geom[GROUND], catBits[ALL]); - - dMass m; - - // Create the body attached to the World - body[W].create (world); - // Main axis of cylinder is along X=1 - m.setBox (1, boxDim[X], boxDim[Y], boxDim[Z]); - m.adjust (Mass1); - geom[W] = dCreateBox (space, boxDim[X], boxDim[Y], boxDim[Z]); - dGeomSetBody (geom[W], body[W]); - dGeomSetCategoryBits (geom[W], catBits[W]); - dGeomSetCollideBits (geom[W], catBits[ALL] & (~catBits[W]) & (~catBits[JOINT]) ); - body[W].setMass(m); - - - - - - // Create the dandling body - body[D].create(world); - // Main axis of capsule is along X=1 - m.setBox (1, boxDim[X], boxDim[Y], boxDim[Z]); - m.adjust (Mass1); - geom[D] = dCreateBox (space, boxDim[X], boxDim[Y], boxDim[Z]); - dGeomSetBody (geom[D], body[D]); - dGeomSetCategoryBits (geom[D], catBits[D]); - dGeomSetCollideBits (geom[D], catBits[ALL] & (~catBits[D]) & (~catBits[JOINT]) ); - body[D].setMass(&m); - - - // Create the external part of the slider joint - geom[EXT] = dCreateBox (space, extDim[X], extDim[Y], extDim[Z]); - dGeomSetCategoryBits (geom[EXT], catBits[EXT]); - dGeomSetCollideBits (geom[EXT], - catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) ); - - // Create the internal part of the slider joint - geom[INT] = dCreateBox (space, INT_EXT_RATIO*extDim[X], - INT_EXT_RATIO*extDim[Y], - INT_EXT_RATIO*extDim[Z]); - dGeomSetCategoryBits (geom[INT], catBits[INT]); - dGeomSetCollideBits (geom[INT], - catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) ); - - - dMatrix3 R; - dGeomID id; - // Create the first axis of the universal joi9nt - geom[AXIS1] = dCreateGeomTransform (space); - //Rotation of 90deg around y - dRFromAxisAndAngle (R, 0,1,0, 0.5*PI); - dGeomSetRotation (geom[AXIS1], R); - dGeomSetCategoryBits (geom[AXIS1], catBits[AXIS1]); - dGeomSetCollideBits (geom[AXIS1], - catBits[ALL] & ~catBits[JOINT] & ~catBits[W] & ~catBits[D]); - id = geom[AXIS1]; - dGeomTransformSetGeom (geom[AXIS1], dCreateCylinder (0, axDim[RADIUS], axDim[LENGTH]) ); - - - // Create the second axis of the universal joint - geom[AXIS2] = dCreateGeomTransform (space); - //Rotation of 90deg around y - dRFromAxisAndAngle (R, 1,0,0, 0.5*PI); - dGeomSetRotation (geom[AXIS2], R); - dGeomSetCategoryBits (geom[AXIS2], catBits[AXIS2]); - dGeomSetCollideBits (geom[AXIS2], - catBits[ALL] & ~catBits[JOINT] & ~catBits[W] & ~catBits[D]); - id = geom[AXIS2]; - dGeomTransformSetGeom (geom[AXIS2], dCreateCylinder (0, axDim[RADIUS], axDim[LENGTH]) ); - - - // Create the anchor - geom[ANCHOR] = dCreateBox (space, ancDim[X], ancDim[Y], ancDim[Z]); - dGeomSetCategoryBits (geom[ANCHOR], catBits[ANCHOR]); - dGeomSetCollideBits (geom[ANCHOR], - catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) ); - - - - if (body[W]) { - body[W].setPosition(0, 0, 5); - } - - - if (geom[EXT]) { - dGeomSetPosition (geom[EXT], 0,0,3.8); - } - if (geom[INT]) { - dGeomSetPosition (geom[INT], 0,0,2.6); - } - if (geom[AXIS1]) { - dGeomSetPosition (geom[AXIS1], 0,0,2.5); - } - if (geom[AXIS2]) { - dGeomSetPosition (geom[AXIS2], 0,0,2.5); - } - - if (geom[ANCHOR]) { - dGeomSetPosition (geom[ANCHOR], 0,0,2.25); - } - - if (body[D]) { - body[D].setPosition(0,0,1.5); - } - - - - // Attache the upper box to the world - dJointID fixed = dJointCreateFixed (world,0); - dJointAttach (fixed , NULL, body[W]); - dJointSetFixed (fixed ); - - if (type == dJointTypePR) { - dPRJoint *pr = new dPRJoint (world, 0); - pr->attach (body[W], body[D]); - pr->setAxis1 (0, 0, -1); - pr->setAxis2 (1, 0, 0); - joint = pr; - - dJointSetPRAnchor (pr->id(), 0, 0, 2.5); - } - else { - dPUJoint *pu = new dPUJoint (world, 0); - pu->attach (body[W], body[D]); - pu->setAxis1 (1, 0, 0); - pu->setAxis2 (0, 1, 0); - pu->setAxisP (0, 0, -1); - joint = pu; - - dJointSetPUAnchor (pu->id(), 0, 0, 2.5); - } - - - // run simulation - dsSimulationLoop (argc,argv,400,300,&fn); - - delete joint; - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 0; -} - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_joints.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_joints.cpp deleted file mode 100644 index 494b0f95..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_joints.cpp +++ /dev/null @@ -1,1088 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -perform tests on all the joint types. -this should be done using the double precision version of the library. - -usage: - test_joints [-nXXX] [-g] [-i] [-e] [path_to_textures] - -if a test number is given then that specific test is performed, otherwise -all the tests are performed. the tests are numbered `xxyy', where xx -corresponds to the joint type and yy is the sub-test number. not every -number maps to an actual test. - -flags: - i: the test is interactive. - g: turn off graphical display (can't use this with `i'). - e: turn on occasional error perturbations - n: performe test XXX -some tests compute and display error values. these values are scaled so -<1 is good and >1 is bad. other tests just show graphical results which -you must verify visually. - -*/ - -#include -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#endif - - -// some constants -#define NUM_JOINTS 10 // number of joints to test (the `xx' value) -#define SIDE (0.5f) // side length of a box - don't change this -#define MASS (1.0) // mass of a box -#define STEPSIZE 0.05 - - -// dynamics objects -static dWorldID world; -static dBodyID body[2]; -static dJointID joint; - - -// data from the command line arguments -static int cmd_test_num = -1; -static int cmd_interactive = 0; -static int cmd_graphics = 1; -static char *cmd_path_to_textures = NULL; -static int cmd_occasional_error = 0; // perturb occasionally - - -// info about the current test -struct TestInfo; -static int test_num = 0; // number of the current test -static int iteration = 0; -static int max_iterations = 0; -static dReal max_error = 0; - -//**************************************************************************** -// utility stuff - -static dReal length (dVector3 a) -{ - return dSqrt (a[0]*a[0] + a[1]*a[1] + a[2]*a[2]); -} - - -// get the max difference between a 3x3 matrix and the identity - -dReal cmpIdentity (const dMatrix3 A) -{ - dMatrix3 I; - dSetZero (I,12); - I[0] = 1; - I[5] = 1; - I[10] = 1; - return dMaxDifference (A,I,3,3); -} - -//**************************************************************************** -// test world construction and utilities - -void constructWorldForTest (dReal gravity, int bodycount, - /* body 1 pos */ dReal pos1x, dReal pos1y, dReal pos1z, - /* body 2 pos */ dReal pos2x, dReal pos2y, dReal pos2z, - /* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z, - /* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z, - /* rotation angles */ dReal a1, dReal a2) -{ - // create world - world = dWorldCreate(); - dWorldSetERP (world,0.2); - dWorldSetCFM (world,1e-6); - dWorldSetGravity (world,0,0,gravity); - - dMass m; - dMassSetBox (&m,1,SIDE,SIDE,SIDE); - dMassAdjust (&m,MASS); - - body[0] = dBodyCreate (world); - dBodySetMass (body[0],&m); - dBodySetPosition (body[0], pos1x, pos1y, pos1z); - dQuaternion q; - dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1); - dBodySetQuaternion (body[0],q); - - if (bodycount==2) { - body[1] = dBodyCreate (world); - dBodySetMass (body[1],&m); - dBodySetPosition (body[1], pos2x, pos2y, pos2z); - dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2); - dBodySetQuaternion (body[1],q); - } - else body[1] = 0; -} - - -// add an oscillating torque to body 0 - -void addOscillatingTorque (dReal tscale) -{ - static dReal a=0; - dBodyAddTorque (body[0],tscale*cos(2*a),tscale*cos(2.7183*a), - tscale*cos(1.5708*a)); - a += 0.01; -} - - -void addOscillatingTorqueAbout(dReal tscale, dReal x, dReal y, dReal z) -{ - static dReal a=0; - dBodyAddTorque (body[0], tscale*cos(a) * x, tscale*cos(a) * y, - tscale * cos(a) * z); - a += 0.02; -} - - -// damp the rotational motion of body 0 a bit - -void dampRotationalMotion (dReal kd) -{ - const dReal *w = dBodyGetAngularVel (body[0]); - dBodyAddTorque (body[0],-kd*w[0],-kd*w[1],-kd*w[2]); -} - - -// add a spring force to keep the bodies together, otherwise they may fly -// apart with some joints. - -void addSpringForce (dReal ks) -{ - const dReal *p1 = dBodyGetPosition (body[0]); - const dReal *p2 = dBodyGetPosition (body[1]); - dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),ks*(p2[2]-p1[2])); - dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),ks*(p1[2]-p2[2])); -} - - -// add an oscillating Force to body 0 - -void addOscillatingForce (dReal fscale) -{ - static dReal a=0; - dBodyAddForce (body[0],fscale*cos(2*a),fscale*cos(2.7183*a), - fscale*cos(1.5708*a)); - a += 0.01; -} - -//**************************************************************************** -// stuff specific to the tests -// -// 0xx : fixed -// 1xx : ball and socket -// 2xx : hinge -// 3xx : slider -// 4xx : hinge 2 -// 5xx : contact -// 6xx : amotor -// 7xx : universal joint -// 8xx : PR joint (Prismatic and Rotoide) - -// setup for the given test. return 0 if there is no such test - -int setupTest (int n) -{ - switch (n) { - - // ********** fixed joint - - case 0: { // 2 body - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,1,0, 1,1,0, - 0.25*M_PI,0.25*M_PI); - joint = dJointCreateFixed (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetFixed (joint); - return 1; - } - - case 1: { // 1 body to static env - constructWorldForTest (0,1, - 0.5*SIDE,0.5*SIDE,1, 0,0,0, - 1,0,0, 1,0,0, - 0,0); - joint = dJointCreateFixed (world,0); - dJointAttach (joint,body[0],0); - dJointSetFixed (joint); - return 1; - } - - case 2: { // 2 body with relative rotation - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,1,0, 1,1,0, - 0.25*M_PI,-0.25*M_PI); - joint = dJointCreateFixed (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetFixed (joint); - return 1; - } - - case 3: { // 1 body to static env with relative rotation - constructWorldForTest (0,1, - 0.5*SIDE,0.5*SIDE,1, 0,0,0, - 1,0,0, 1,0,0, - 0.25*M_PI,0); - joint = dJointCreateFixed (world,0); - dJointAttach (joint,body[0],0); - dJointSetFixed (joint); - return 1; - } - - // ********** hinge joint - - case 200: // 2 body - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); - joint = dJointCreateHinge (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetHingeAnchor (joint,0,0,1); - dJointSetHingeAxis (joint,1,-1,1.41421356); - return 1; - - case 220: // hinge angle polarity test - case 221: // hinge angle rate test - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateHinge (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetHingeAnchor (joint,0,0,1); - dJointSetHingeAxis (joint,0,0,1); - max_iterations = 50; - return 1; - - case 230: // hinge motor rate (and polarity) test - case 231: // ...with stops - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateHinge (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetHingeAnchor (joint,0,0,1); - dJointSetHingeAxis (joint,0,0,1); - dJointSetHingeParam (joint,dParamFMax,1); - if (n==231) { - dJointSetHingeParam (joint,dParamLoStop,-0.5); - dJointSetHingeParam (joint,dParamHiStop,0.5); - } - return 1; - - case 250: // limit bounce test (gravity down) - case 251: { // ...gravity up - constructWorldForTest ((n==251) ? 0.1 : -0.1, 2, - 0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateHinge (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetHingeAnchor (joint,0,0,1); - dJointSetHingeAxis (joint,0,1,0); - dJointSetHingeParam (joint,dParamLoStop,-0.9); - dJointSetHingeParam (joint,dParamHiStop,0.7854); - dJointSetHingeParam (joint,dParamBounce,0.5); - // anchor 2nd body with a fixed joint - dJointID j = dJointCreateFixed (world,0); - dJointAttach (j,body[1],0); - dJointSetFixed (j); - return 1; - } - - // ********** slider - - case 300: // 2 body - constructWorldForTest (0,2, - 0,0,1, 0.2,0.2,1.2, - 0,0,1, -1,1,0, 0,0.25*M_PI); - joint = dJointCreateSlider (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetSliderAxis (joint,1,1,1); - return 1; - - case 320: // slider angle polarity test - case 321: // slider angle rate test - constructWorldForTest (0,2, - 0,0,1, 0,0,1.2, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateSlider (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetSliderAxis (joint,0,0,1); - max_iterations = 50; - return 1; - - case 330: // slider motor rate (and polarity) test - case 331: // ...with stops - constructWorldForTest (0, 2, - 0,0,1, 0,0,1.2, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateSlider (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetSliderAxis (joint,0,0,1); - dJointSetSliderParam (joint,dParamFMax,100); - if (n==331) { - dJointSetSliderParam (joint,dParamLoStop,-0.4); - dJointSetSliderParam (joint,dParamHiStop,0.4); - } - return 1; - - case 350: // limit bounce tests - case 351: { - constructWorldForTest ((n==351) ? 0.1 : -0.1, 2, - 0,0,1, 0,0,1.2, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateSlider (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetSliderAxis (joint,0,0,1); - dJointSetSliderParam (joint,dParamLoStop,-0.5); - dJointSetSliderParam (joint,dParamHiStop,0.5); - dJointSetSliderParam (joint,dParamBounce,0.5); - // anchor 2nd body with a fixed joint - dJointID j = dJointCreateFixed (world,0); - dJointAttach (j,body[1],0); - dJointSetFixed (j); - return 1; - } - - // ********** hinge-2 joint - - case 420: // hinge-2 steering angle polarity test - case 421: // hinge-2 steering angle rate test - constructWorldForTest (0,2, - 0.5*SIDE,0,1, -0.5*SIDE,0,1, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateHinge2 (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1); - dJointSetHinge2Axis1 (joint,0,0,1); - dJointSetHinge2Axis2 (joint,1,0,0); - max_iterations = 50; - return 1; - - case 430: // hinge 2 steering motor rate (+polarity) test - case 431: // ...with stops - case 432: // hinge 2 wheel motor rate (+polarity) test - constructWorldForTest (0,2, - 0.5*SIDE,0,1, -0.5*SIDE,0,1, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateHinge2 (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1); - dJointSetHinge2Axis1 (joint,0,0,1); - dJointSetHinge2Axis2 (joint,1,0,0); - dJointSetHinge2Param (joint,dParamFMax,1); - dJointSetHinge2Param (joint,dParamFMax2,1); - if (n==431) { - dJointSetHinge2Param (joint,dParamLoStop,-0.5); - dJointSetHinge2Param (joint,dParamHiStop,0.5); - } - return 1; - - // ********** angular motor joint - - case 600: // test euler angle calculations - constructWorldForTest (0,2, - -SIDE*0.5,0,1, SIDE*0.5,0,1, - 0,0,1, 0,0,1, 0,0); - joint = dJointCreateAMotor (world,0); - dJointAttach (joint,body[0],body[1]); - - dJointSetAMotorNumAxes (joint,3); - dJointSetAMotorAxis (joint,0,1, 0,0,1); - dJointSetAMotorAxis (joint,2,2, 1,0,0); - dJointSetAMotorMode (joint,dAMotorEuler); - max_iterations = 200; - return 1; - - // ********** universal joint - - case 700: // 2 body - case 701: - case 702: - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI); - joint = dJointCreateUniversal (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetUniversalAnchor (joint,0,0,1); - dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356); - dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356); - return 1; - - case 720: // universal transmit torque test - case 721: - case 722: - case 730: // universal torque about axis 1 - case 731: - case 732: - case 740: // universal torque about axis 2 - case 741: - case 742: - constructWorldForTest (0,2, - 0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1, - 1,0,0, 1,0,0, 0,0); - joint = dJointCreateUniversal (world,0); - dJointAttach (joint,body[0],body[1]); - dJointSetUniversalAnchor (joint,0,0,1); - dJointSetUniversalAxis1 (joint,0,0,1); - dJointSetUniversalAxis2 (joint, 1, -1,0); - max_iterations = 100; - return 1; - - // Joint PR (Prismatic and Rotoide) - case 800: // 2 body - case 801: // 2 bodies with spring force and prismatic fixed - case 802: // 2 bodies with torque on body1 and prismatic fixed - constructWorldForTest (0, 2, - -1.0, 0.0, 1.0, - 1.0, 0.0, 1.0, - 1,0,0, 1,0,0, - 0, 0); - joint = dJointCreatePR (world, 0); - dJointAttach (joint, body[0], body[1]); - dJointSetPRAnchor (joint,-0.5, 0.0, 1.0); - dJointSetPRAxis1 (joint, 0, 1, 0); - dJointSetPRAxis2 (joint, 1, 0, 0); - dJointSetPRParam (joint,dParamLoStop,-0.5); - dJointSetPRParam (joint,dParamHiStop,0.5); - dJointSetPRParam (joint,dParamLoStop2,0); - dJointSetPRParam (joint,dParamHiStop2,0); - return 1; - case 803: // 2 bodies with spring force and prismatic NOT fixed - case 804: // 2 bodies with torque force and prismatic NOT fixed - case 805: // 2 bodies with force only on first body - constructWorldForTest (0, 2, - -1.0, 0.0, 1.0, - 1.0, 0.0, 1.0, - 1,0,0, 1,0,0, - 0, 0); - joint = dJointCreatePR (world, 0); - dJointAttach (joint, body[0], body[1]); - dJointSetPRAnchor (joint,-0.5, 0.0, 1.0); - dJointSetPRAxis1 (joint, 0, 1, 0); - dJointSetPRAxis2 (joint, 1, 0, 0); - dJointSetPRParam (joint,dParamLoStop,-0.5); - dJointSetPRParam (joint,dParamHiStop,0.5); - dJointSetPRParam (joint,dParamLoStop2,-0.5); - dJointSetPRParam (joint,dParamHiStop2,0.5); - return 1; - } - return 0; -} - - -// do stuff specific to this test each iteration. you can check some -// invariants for the test -- the return value is some scaled error measurement -// that must be less than 1. -// return a dInfinity if error is not measured for this n. - -dReal doStuffAndGetError (int n) -{ - switch (n) { - - // ********** fixed joint - - case 0: { // 2 body - addOscillatingTorque (0.1); - dampRotationalMotion (0.1); - // check the orientations are the same - const dReal *R1 = dBodyGetRotation (body[0]); - const dReal *R2 = dBodyGetRotation (body[1]); - dReal err1 = dMaxDifference (R1,R2,3,3); - // check the body offset is correct - dVector3 p,pp; - const dReal *p1 = dBodyGetPosition (body[0]); - const dReal *p2 = dBodyGetPosition (body[1]); - for (int i=0; i<3; i++) p[i] = p2[i] - p1[i]; - dMULTIPLY1_331 (pp,R1,p); - pp[0] += 0.5; - pp[1] += 0.5; - return (err1 + length (pp)) * 300; - } - - case 1: { // 1 body to static env - addOscillatingTorque (0.1); - - // check the orientation is the identity - dReal err1 = cmpIdentity (dBodyGetRotation (body[0])); - - // check the body offset is correct - dVector3 p; - const dReal *p1 = dBodyGetPosition (body[0]); - for (int i=0; i<3; i++) p[i] = p1[i]; - p[0] -= 0.25; - p[1] -= 0.25; - p[2] -= 1; - return (err1 + length (p)) * 1e6; - } - - case 2: { // 2 body - addOscillatingTorque (0.1); - dampRotationalMotion (0.1); - // check the body offset is correct - // Should really check body rotation too. Oh well. - const dReal *R1 = dBodyGetRotation (body[0]); - dVector3 p,pp; - const dReal *p1 = dBodyGetPosition (body[0]); - const dReal *p2 = dBodyGetPosition (body[1]); - for (int i=0; i<3; i++) p[i] = p2[i] - p1[i]; - dMULTIPLY1_331 (pp,R1,p); - pp[0] += 0.5; - pp[1] += 0.5; - return length(pp) * 300; - } - - case 3: { // 1 body to static env with relative rotation - addOscillatingTorque (0.1); - - // check the body offset is correct - dVector3 p; - const dReal *p1 = dBodyGetPosition (body[0]); - for (int i=0; i<3; i++) p[i] = p1[i]; - p[0] -= 0.25; - p[1] -= 0.25; - p[2] -= 1; - return length (p) * 1e6; - } - - - // ********** hinge joint - - case 200: // 2 body - addOscillatingTorque (0.1); - dampRotationalMotion (0.1); - return dInfinity; - - case 220: // hinge angle polarity test - dBodyAddTorque (body[0],0,0,0.01); - dBodyAddTorque (body[1],0,0,-0.01); - if (iteration == 40) { - dReal a = dJointGetHingeAngle (joint); - if (a > 0.5 && a < 1) return 0; else return 10; - } - return 0; - - case 221: { // hinge angle rate test - static dReal last_angle = 0; - dBodyAddTorque (body[0],0,0,0.01); - dBodyAddTorque (body[1],0,0,-0.01); - dReal a = dJointGetHingeAngle (joint); - dReal r = dJointGetHingeAngleRate (joint); - dReal er = (a-last_angle)/STEPSIZE; // estimated rate - last_angle = a; - return fabs(r-er) * 4e4; - } - - case 230: // hinge motor rate (and polarity) test - case 231: { // ...with stops - static dReal a = 0; - dReal r = dJointGetHingeAngleRate (joint); - dReal err = fabs (cos(a) - r); - if (a==0) err = 0; - a += 0.03; - dJointSetHingeParam (joint,dParamVel,cos(a)); - if (n==231) return dInfinity; - return err * 1e6; - } - - // ********** slider joint - - case 300: // 2 body - addOscillatingTorque (0.05); - dampRotationalMotion (0.1); - addSpringForce (0.5); - return dInfinity; - - case 320: // slider angle polarity test - dBodyAddForce (body[0],0,0,0.1); - dBodyAddForce (body[1],0,0,-0.1); - if (iteration == 40) { - dReal a = dJointGetSliderPosition (joint); - if (a > 0.2 && a < 0.5) return 0; else return 10; - return a; - } - return 0; - - case 321: { // slider angle rate test - static dReal last_pos = 0; - dBodyAddForce (body[0],0,0,0.1); - dBodyAddForce (body[1],0,0,-0.1); - dReal p = dJointGetSliderPosition (joint); - dReal r = dJointGetSliderPositionRate (joint); - dReal er = (p-last_pos)/STEPSIZE; // estimated rate (almost exact) - last_pos = p; - return fabs(r-er) * 1e9; - } - - case 330: // slider motor rate (and polarity) test - case 331: { // ...with stops - static dReal a = 0; - dReal r = dJointGetSliderPositionRate (joint); - dReal err = fabs (0.7*cos(a) - r); - if (a < 0.04) err = 0; - a += 0.03; - dJointSetSliderParam (joint,dParamVel,0.7*cos(a)); - if (n==331) return dInfinity; - return err * 1e6; - } - - // ********** hinge-2 joint - - case 420: // hinge-2 steering angle polarity test - dBodyAddTorque (body[0],0,0,0.01); - dBodyAddTorque (body[1],0,0,-0.01); - if (iteration == 40) { - dReal a = dJointGetHinge2Angle1 (joint); - if (a > 0.5 && a < 0.6) return 0; else return 10; - } - return 0; - - case 421: { // hinge-2 steering angle rate test - static dReal last_angle = 0; - dBodyAddTorque (body[0],0,0,0.01); - dBodyAddTorque (body[1],0,0,-0.01); - dReal a = dJointGetHinge2Angle1 (joint); - dReal r = dJointGetHinge2Angle1Rate (joint); - dReal er = (a-last_angle)/STEPSIZE; // estimated rate - last_angle = a; - return fabs(r-er)*2e4; - } - - case 430: // hinge 2 steering motor rate (+polarity) test - case 431: { // ...with stops - static dReal a = 0; - dReal r = dJointGetHinge2Angle1Rate (joint); - dReal err = fabs (cos(a) - r); - if (a==0) err = 0; - a += 0.03; - dJointSetHinge2Param (joint,dParamVel,cos(a)); - if (n==431) return dInfinity; - return err * 1e6; - } - - case 432: { // hinge 2 wheel motor rate (+polarity) test - static dReal a = 0; - dReal r = dJointGetHinge2Angle2Rate (joint); - dReal err = fabs (cos(a) - r); - if (a==0) err = 0; - a += 0.03; - dJointSetHinge2Param (joint,dParamVel2,cos(a)); - return err * 1e6; - } - - // ********** angular motor joint - - case 600: { // test euler angle calculations - // desired euler angles from last iteration - static dReal a1,a2,a3; - - // find actual euler angles - dReal aa1 = dJointGetAMotorAngle (joint,0); - dReal aa2 = dJointGetAMotorAngle (joint,1); - dReal aa3 = dJointGetAMotorAngle (joint,2); - // printf ("actual = %.4f %.4f %.4f\n\n",aa1,aa2,aa3); - - dReal err = dInfinity; - if (iteration > 0) { - err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3); - err *= 1e10; - } - - // get random base rotation for both bodies - dMatrix3 Rbase; - dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5), - 3*(dRandReal()-0.5), 3*(dRandReal()-0.5)); - dBodySetRotation (body[0],Rbase); - - // rotate body 2 by random euler angles w.r.t. body 1 - a1 = 3.14 * 2 * (dRandReal()-0.5); - a2 = 1.57 * 2 * (dRandReal()-0.5); - a3 = 3.14 * 2 * (dRandReal()-0.5); - dMatrix3 R1,R2,R3,Rtmp1,Rtmp2; - dRFromAxisAndAngle (R1,0,0,1,-a1); - dRFromAxisAndAngle (R2,0,1,0,a2); - dRFromAxisAndAngle (R3,1,0,0,-a3); - dMultiply0 (Rtmp1,R2,R3,3,3,3); - dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3); - dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3); - dBodySetRotation (body[1],Rtmp1); - // printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3); - - return err; - } - - // ********** universal joint - - case 700: { // 2 body: joint constraint - dVector3 ax1, ax2; - - addOscillatingTorque (0.1); - dampRotationalMotion (0.1); - dJointGetUniversalAxis1(joint, ax1); - dJointGetUniversalAxis2(joint, ax2); - return fabs(10*dDOT(ax1, ax2)); - } - - case 701: { // 2 body: angle 1 rate - static dReal last_angle = 0; - addOscillatingTorque (0.1); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle1(joint); - dReal r = dJointGetUniversalAngle1Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - // I'm not sure why the error is so large here. - return fabs(r - er) * 1e1; - } - - case 702: { // 2 body: angle 2 rate - static dReal last_angle = 0; - addOscillatingTorque (0.1); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle2(joint); - dReal r = dJointGetUniversalAngle2Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - // I'm not sure why the error is so large here. - return fabs(r - er) * 1e1; - } - - case 720: { // universal transmit torque test: constraint error - dVector3 ax1, ax2; - addOscillatingTorqueAbout (0.1, 1, 1, 0); - dampRotationalMotion (0.1); - dJointGetUniversalAxis1(joint, ax1); - dJointGetUniversalAxis2(joint, ax2); - return fabs(10*dDOT(ax1, ax2)); - } - - case 721: { // universal transmit torque test: angle1 rate - static dReal last_angle = 0; - addOscillatingTorqueAbout (0.1, 1, 1, 0); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle1(joint); - dReal r = dJointGetUniversalAngle1Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - return fabs(r - er) * 1e10; - } - - case 722: { // universal transmit torque test: angle2 rate - static dReal last_angle = 0; - addOscillatingTorqueAbout (0.1, 1, 1, 0); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle2(joint); - dReal r = dJointGetUniversalAngle2Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - return fabs(r - er) * 1e10; - } - - case 730:{ - dVector3 ax1, ax2; - dJointGetUniversalAxis1(joint, ax1); - dJointGetUniversalAxis2(joint, ax2); - addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); - dampRotationalMotion (0.1); - return fabs(10*dDOT(ax1, ax2)); - } - - case 731:{ - dVector3 ax1; - static dReal last_angle = 0; - dJointGetUniversalAxis1(joint, ax1); - addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle1(joint); - dReal r = dJointGetUniversalAngle1Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - return fabs(r - er) * 2e3; - } - - case 732:{ - dVector3 ax1; - static dReal last_angle = 0; - dJointGetUniversalAxis1(joint, ax1); - addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle2(joint); - dReal r = dJointGetUniversalAngle2Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - return fabs(r - er) * 1e10; - } - - case 740:{ - dVector3 ax1, ax2; - dJointGetUniversalAxis1(joint, ax1); - dJointGetUniversalAxis2(joint, ax2); - addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); - dampRotationalMotion (0.1); - return fabs(10*dDOT(ax1, ax2)); - } - - case 741:{ - dVector3 ax2; - static dReal last_angle = 0; - dJointGetUniversalAxis2(joint, ax2); - addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle1(joint); - dReal r = dJointGetUniversalAngle1Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - return fabs(r - er) * 1e10; - } - - case 742:{ - dVector3 ax2; - static dReal last_angle = 0; - dJointGetUniversalAxis2(joint, ax2); - addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]); - dampRotationalMotion (0.1); - dReal a = dJointGetUniversalAngle2(joint); - dReal r = dJointGetUniversalAngle2Rate(joint); - dReal diff = a - last_angle; - if (diff > M_PI) diff -= 2*M_PI; - if (diff < -M_PI) diff += 2*M_PI; - dReal er = diff / STEPSIZE; // estimated rate - last_angle = a; - return fabs(r - er) * 1e4; - } - - // ********** slider joint - case 801: - case 803: - addSpringForce (0.25); - return dInfinity; - - case 802: - case 804: { - static dReal a = 0; - dBodyAddTorque (body[0], 0, 0.01*cos(1.5708*a), 0); - a += 0.01; - return dInfinity; - } - - case 805: - addOscillatingForce (0.1); - return dInfinity; - } - - - return dInfinity; -} - -//**************************************************************************** -// simulation stuff common to all the tests - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; - static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; - dsSetViewpoint (xyz,hpr); -} - - -// simulation loop - -static void simLoop (int pause) -{ - // stop after a given number of iterations, as long as we are not in - // interactive mode - if (cmd_graphics && !cmd_interactive && - (iteration >= max_iterations)) { - dsStop(); - return; - } - iteration++; - - if (!pause) { - // do stuff for this test and check to see if the joint is behaving well - dReal error = doStuffAndGetError (test_num); - if (error > max_error) max_error = error; - if (cmd_interactive && error < dInfinity) { - printf ("scaled error = %.4e\n",error); - } - - // take a step - dWorldStep (world,STEPSIZE); - - // occasionally re-orient the first body to create a deliberate error. - if (cmd_occasional_error) { - static int count = 0; - if ((count % 20)==0) { - // randomly adjust orientation of body[0] - const dReal *R1; - dMatrix3 R2,R3; - R1 = dBodyGetRotation (body[0]); - dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, - dRandReal()-0.5,dRandReal()-0.5); - dMultiply0 (R3,R1,R2,3,3,3); - dBodySetRotation (body[0],R3); - - // randomly adjust position of body[0] - const dReal *pos = dBodyGetPosition (body[0]); - dBodySetPosition (body[0], - pos[0]+0.2*(dRandReal()-0.5), - pos[1]+0.2*(dRandReal()-0.5), - pos[2]+0.2*(dRandReal()-0.5)); - } - count++; - } - } - - if (cmd_graphics) { - dReal sides1[3] = {SIDE,SIDE,SIDE}; - dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f}; - dsSetTexture (DS_WOOD); - dsSetColor (1,1,0); - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); - if (body[1]) { - dsSetColor (0,1,1); - dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); - } - } -} - -//**************************************************************************** -// conduct a specific test, and report the results - -void doTest (int argc, char **argv, int n, int fatal_if_bad_n) -{ - test_num = n; - iteration = 0; - max_iterations = 300; - max_error = 0; - - if (! setupTest (n)) { - if (fatal_if_bad_n) dError (0,"bad test number"); - return; - } - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = 0; - fn.stop = 0; - if (cmd_path_to_textures) - fn.path_to_textures = cmd_path_to_textures; - else - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - - // run simulation - if (cmd_graphics) { - dsSimulationLoop (argc,argv,352,288,&fn); - } - else { - for (int i=0; i < max_iterations; i++) simLoop (0); - } - dWorldDestroy (world); - body[0] = 0; - body[1] = 0; - joint = 0; - - // print results - printf ("test %d: ",n); - if (max_error == dInfinity) printf ("error not computed\n"); - else { - printf ("max scaled error = %.4e",max_error); - if (max_error < 1) printf (" - passed\n"); - else printf (" - FAILED\n"); - } -} - -//**************************************************************************** -// main - -int main (int argc, char **argv) -{ - int i; - dInitODE2(0); - - // process the command line args. anything that starts with `-' is assumed - // to be a drawstuff argument. - for (i=1; i // for usleep() -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#endif - - -// some constants - -#define NUM 100 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 8 // maximum number of contact points per body -#define USE_GEOM_OFFSET 1 - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? -static int write_world = 0; -static int show_body = 0; - -static dGeomID platform, ground; - -dVector3 platpos = {0, 0, 0}; -int mov_type = 2; -dReal mov_time = 0; - - -const dReal mov1_speed = 0.2; - -dVector3 mov2_vel = { 0.2, 0.1, 0.25}; - - - - -/**************************************************************** - * Movement 1: move platform up, reset every 80 units of time. * - * This is the simplest case * - ****************************************************************/ -static void moveplat_1(dReal stepsize) -{ - mov_time += stepsize; - if (mov_time > 80) - mov_time = 0; - - platpos[0] = platpos[1] = 0; - // the platform moves up (Z) at constant speed: mov1_speed - platpos[2] = mov1_speed * mov_time; -} - -// Generate contact info for movement 1 -static void contactplat_1(dContact &contact) -{ - contact.surface.mode |= dContactMotionN; - contact.surface.motionN = mov1_speed; -} - - - -/**************************************************************** - * Movement 2: move platform along direction mov2_vel, reset * - * every 80 units of time. * - * This is the most general case: the geom moves along * - * an arbitrary direction. * - ****************************************************************/ -static void moveplat_2(dReal stepsize) -{ - mov_time += stepsize; - if (mov_time > 80) - mov_time = 0; - - // the platform moves at constant speed: mov2_speed - platpos[0] = mov2_vel[0] * mov_time; - platpos[1] = mov2_vel[1] * mov_time; - platpos[2] = mov2_vel[2] * mov_time; -} - -// Generate contact info for movement 1 -static void contactplat_2(dContact &contact) -{ - /* - For arbitrary contact directions we need to project the moving - geom's velocity against the contact normal and fdir1, fdir2 - (obtained with dPlaneSpace()). Assuming moving geom=g2 - (so the contact joint is in the moving geom's reference frame): - motion1 = dDOT(fdir1, vel); - motion2 = dDOT(fdir2, vel); - motionN = dDOT(normal, vel); - - For geom=g1 just negate motionN and motion2. fdir1 is an arbitrary - vector, so there's no need to negate motion1. - - */ - contact.surface.mode |= - dContactMotionN | // velocity along normal - dContactMotion1 | dContactMotion2 | // and along the contact plane - dContactFDir1; // don't forget to set the direction 1 - - - // This is a convenience function: given a vector, it finds other 2 perpendicular vectors - dVector3 motiondir1, motiondir2; - dPlaneSpace(contact.geom.normal, motiondir1, motiondir2); - for (int i=0; i<3; ++i) - contact.fdir1[i] = motiondir1[i]; - - - dReal inv = 1; - if (contact.geom.g1 == platform) - inv = -1; - - contact.surface.motion1 = dDOT(mov2_vel, motiondir1); - contact.surface.motion2 = inv * dDOT(mov2_vel, motiondir2); - contact.surface.motionN = inv * dDOT(mov2_vel, contact.geom.normal); - -} - - - - - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - dMatrix3 RI; - static const dReal ss[3] = {0.02,0.02,0.02}; - - dContact contact[MAX_CONTACTS]; - int numc = dCollide (o1, o2, MAX_CONTACTS, - &contact[0].geom, sizeof(dContact)); - - if (numc) - dRSetIdentity(RI); - - bool isplatform = (o1 == platform) || (o2 == platform); - - for (int i=0; i< numc; i++) { - contact[i].surface.mode = dContactBounce; - contact[i].surface.mu = 1; - contact[i].surface.bounce = 0.25; - contact[i].surface.bounce_vel = 0.01; - - if (isplatform) { - switch (mov_type) { - case 1: - contactplat_1(contact[i]); - break; - case 2: - contactplat_2(contact[i]); - break; - } - } - - dJointID c = dJointCreateContact (world,contactgroup,contact+i); - dJointAttach (c, dGeomGetBody(o1), dGeomGetBody(o2)); - if (show_contacts) - dsDrawBox (contact[i].geom.pos, RI, ss); - } -} - - -// start simulation - set viewpoint - -static float xyz[3] = {2.1106f,-1.3007,2.f}; -static float hpr[3] = {150.f,-13.5000f,0.0000f}; - -static void start() -{ - //dAllocateODEDataForThread(dAllocateMaskAll); - dsSetViewpoint (xyz,hpr); - printf ("To drop another object, press:\n"); - printf (" b for box.\n"); - printf (" s for sphere.\n"); - printf (" c for capsule.\n"); - printf (" y for cylinder.\n"); - printf ("Press m to change the movement type\n"); - printf ("Press space to reset the platform\n"); - printf ("To toggle showing the geom AABBs, press a.\n"); - printf ("To toggle showing the contact points, press t.\n"); - printf ("To toggle dropping from random position/orientation, press r.\n"); - printf ("To save the current state to 'state.dif', press 1.\n"); -} - - -char locase (char c) -{ - if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - size_t i; - int k; - dReal sides[3]; - dMass m; - int setBody; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'y') - { - setBody = 0; - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) - { - dBodySetPosition (obj[i].body, - dRandReal()*2-1 + platpos[0], - dRandReal()*2-1 + platpos[1], - dRandReal()+2 + platpos[2]); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else - { - dBodySetPosition (obj[i].body, - platpos[0], - platpos[1], - platpos[2]+2); - dRSetIdentity (R); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*) i); - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - else if (cmd == 'y') { - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - - if (!setBody) - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); - } - - dBodySetMass (obj[i].body,&m); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == '1') { - write_world = 1; - } - else if (cmd == ' ') { - mov_time = 0; - } - else if (cmd == 'm') { - mov_type = mov_type==1 ? 2 : 1; - mov_time = 0; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - int i; - - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - if (show_body) { - dBodyID body = dGeomGetBody(g); - if (body) { - const dReal *bodypos = dBodyGetPosition (body); - const dReal *bodyr = dBodyGetRotation (body); - dReal bodySides[3] = { 0.1, 0.1, 0.1 }; - dsSetColorAlpha(0,1,0,1); - dsDrawBox(bodypos,bodyr,bodySides); - } - } - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } -} - - -// simulation loop - -static void updatecam() -{ - xyz[0] = platpos[0] + 3.3; - xyz[1] = platpos[1] - 1.8; - xyz[2] = platpos[2] + 2; - dsSetViewpoint (xyz, hpr); -} - -static void simLoop (int pause) -{ - const dReal stepsize = 0.02; - - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - if (!pause) { - - if (mov_type == 1) - moveplat_1(stepsize); - else - moveplat_2(stepsize); - - dGeomSetPosition(platform, platpos[0], platpos[1], platpos[2]); - updatecam(); - dWorldQuickStep (world,stepsize); - //dWorldStep (world,stepsize); - } - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (world,f,"X"); - fclose (f); - } - write_world = 0; - } - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (int i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#endif - - -// some constants -#define SIDE (0.5f) // side length of a box -#define MASS (1.0) // mass of a box - - -// dynamics and collision objects -static dWorldID world; -static dBodyID body[2]; -static dGeomID geom[2]; -static dJointID lmotor[2]; -static dJointID amotor[2]; -static dSpaceID space; -static dJointGroupID contactgroup; - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; - static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; - dsSetViewpoint (xyz,hpr); - printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n"); - printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n"); -} - - -// called when a key pressed - -static void command (int cmd) -{ - if (cmd == 'q' || cmd == 'Q') { - dJointSetLMotorParam(lmotor[0],dParamVel,0); - dJointSetLMotorParam(lmotor[0],dParamVel2,0); - dJointSetLMotorParam(lmotor[0],dParamVel3,0.1); - } else if (cmd == 'a' || cmd == 'A') { - dJointSetLMotorParam(lmotor[0],dParamVel,0); - dJointSetLMotorParam(lmotor[0],dParamVel2,0); - dJointSetLMotorParam(lmotor[0],dParamVel3,0); - } else if (cmd == 'z' || cmd == 'Z') { - dJointSetLMotorParam(lmotor[0],dParamVel,0); - dJointSetLMotorParam(lmotor[0],dParamVel2,0); - dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1); - } else if (cmd == 'w' || cmd == 'W') { - dJointSetLMotorParam(lmotor[1],dParamVel,0.1); - dJointSetLMotorParam(lmotor[1],dParamVel2,0); - dJointSetLMotorParam(lmotor[1],dParamVel3,0); - } else if (cmd == 'e' || cmd == 'E') { - dJointSetLMotorParam(lmotor[1],dParamVel,0); - dJointSetLMotorParam(lmotor[1],dParamVel2,0); - dJointSetLMotorParam(lmotor[1],dParamVel3,0); - } else if (cmd == 'r' || cmd == 'R') { - dJointSetLMotorParam(lmotor[1],dParamVel,-0.1); - dJointSetLMotorParam(lmotor[1],dParamVel2,0); - dJointSetLMotorParam(lmotor[1],dParamVel3,0); - } - -} - - - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - - dContact contact; - contact.surface.mode = 0; - contact.surface.mu = dInfinity; - if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) { - dJointID c = dJointCreateContact (world,contactgroup,&contact); - dJointAttach (c,b1,b2); - } -} - -// simulation loop - -static void simLoop (int pause) -{ - if (!pause) { - dSpaceCollide(space,0,&nearCallback); - dWorldQuickStep (world,0.05); - dJointGroupEmpty(contactgroup); - } - - dReal sides1[3]; - dGeomBoxGetLengths(geom[0], sides1); - dReal sides2[3]; - dGeomBoxGetLengths(geom[1], sides2); - dsSetTexture (DS_WOOD); - dsSetColor (1,1,0); - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); - dsSetColor (0,1,1); - dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); -} - - -int main (int argc, char **argv) -{ - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc>=2) - { - fn.path_to_textures = argv[1]; - } - - // create world - dInitODE2(0); - contactgroup = dJointGroupCreate(0); - world = dWorldCreate(); - space = dSimpleSpaceCreate(0); - dMass m; - dMassSetBox (&m,1,SIDE,SIDE,SIDE); - dMassAdjust (&m,MASS); - - body[0] = dBodyCreate (world); - dBodySetMass (body[0],&m); - dBodySetPosition (body[0],0,0,1); - geom[0] = dCreateBox(space,SIDE,SIDE,SIDE); - body[1] = dBodyCreate (world); - dBodySetMass (body[1],&m); - dBodySetPosition (body[1],0,0,2); - geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); - - dGeomSetBody(geom[0],body[0]); - dGeomSetBody(geom[1],body[1]); - - lmotor[0] = dJointCreateLMotor (world,0); - dJointAttach (lmotor[0],body[0],body[1]); - lmotor[1] = dJointCreateLMotor (world,0); - dJointAttach (lmotor[1],body[0],0); - amotor[0] = dJointCreateAMotor(world,0); - dJointAttach(amotor[0], body[0],body[1]); - amotor[1] = dJointCreateAMotor(world,0); - dJointAttach(amotor[1], body[0], 0); - - for (int i=0; i<2; i++) { - dJointSetAMotorNumAxes(amotor[i], 3); - dJointSetAMotorAxis(amotor[i],0,1,1,0,0); - dJointSetAMotorAxis(amotor[i],1,1,0,1,0); - dJointSetAMotorAxis(amotor[i],2,1,0,0,1); - dJointSetAMotorParam(amotor[i],dParamFMax,0.00001); - dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001); - dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001); - - dJointSetAMotorParam(amotor[i],dParamVel,0); - dJointSetAMotorParam(amotor[i],dParamVel2,0); - dJointSetAMotorParam(amotor[i],dParamVel3,0); - - dJointSetLMotorNumAxes(lmotor[i],3); - dJointSetLMotorAxis(lmotor[i],0,1,1,0,0); - dJointSetLMotorAxis(lmotor[i],1,1,0,1,0); - dJointSetLMotorAxis(lmotor[i],2,1,0,0,1); - - dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001); - dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001); - dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001); - } - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dJointGroupDestroy(contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_moving_trimesh.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_moving_trimesh.cpp deleted file mode 100644 index 55082473..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_moving_trimesh.cpp +++ /dev/null @@ -1,583 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -#include -#include -#include "texturepath.h" -#include "bunny_geom.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawLine dsDrawLineD -#define dsDrawTriangle dsDrawTriangleD -#endif - - -// some constants - -#define NUM 200 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 64 // maximum number of contact points per body - - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body - - // Trimesh only - double buffered matrices for 'last transform' setup - dReal matrix_dblbuff[ 16 * 2 ]; - int last_matrix_index; -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? - -typedef dReal dVector3R[3]; - -dGeomID TriMesh1; -dGeomID TriMesh2; -static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - int i,j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*)(size_t)i); - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - else if (cmd == 'y') { - sides[1] *= 0.5; - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'm') { - dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); - dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, - (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); - - obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); - - // remember the mesh's dTriMeshDataID on its userdata for convenience. - dGeomSetData(obj[i].geom[0], new_tmdata); - - dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); - printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); - dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); - dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); - } - else if (cmd == 'x') { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } -} - - -// set previous transformation matrix for trimesh -void setCurrentTransform(dGeomID geom) -{ - const dReal* Pos = dGeomGetPosition(geom); - const dReal* Rot = dGeomGetRotation(geom); - - const dReal Transform[16] = - { - Rot[0], Rot[4], Rot[8], 0, - Rot[1], Rot[5], Rot[9], 0, - Rot[2], Rot[6], Rot[10], 0, - Pos[0], Pos[1], Pos[2], 1 - }; - - dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) ); - -} - - -// simulation loop - -static void simLoop (int pause) -{ - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - - -#if 1 - // What is this for??? - Bram - if (!pause) - { - for (int i=0; i -#include - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -//**************************************************************************** -// matrix accessors - -#define _A(i,j) A[(i)*4+(j)] -#define _I(i,j) I[(i)*4+(j)] -#define _R(i,j) R[(i)*4+(j)] - -//**************************************************************************** -// tolerances - -#ifdef dDOUBLE -const double tol = 1e-10; -#endif - -#ifdef dSINGLE -const double tol = 1e-5; -#endif - -//**************************************************************************** -// misc messages and error handling - -#ifdef __GNUC__ -#define HEADER printf ("%s()\n", __FUNCTION__); -#else -#define HEADER printf ("%s:%d\n",__FILE__,__LINE__); -#endif - -static jmp_buf jump_buffer; - - -void myMessageFunction (int num, const char *msg, va_list ap) -{ - printf ("(Message %d: ",num); - vprintf (msg,ap); - printf (")"); - dSetMessageHandler (0); - longjmp (jump_buffer,1); -} - - -#define TRAP_MESSAGE(do,ifnomsg,ifmsg) \ - dSetMessageHandler (&myMessageFunction); \ - if (setjmp (jump_buffer)) { \ - dSetMessageHandler (0); \ - ifmsg ; \ - } \ - else { \ - dSetMessageHandler (&myMessageFunction); \ - do ; \ - ifnomsg ; \ - } \ - dSetMessageHandler (0); - -//**************************************************************************** -// utility stuff - -// compare two numbers, within a threshhold, return 1 if approx equal - -int cmp (dReal a, dReal b) -{ - return (fabs(a-b) < tol); -} - -//**************************************************************************** -// matrix utility stuff - -// compare a 3x3 matrix with the identity - -int cmpIdentityMat3 (dMatrix3 A) -{ - return - (cmp(_A(0,0),1.0) && cmp(_A(0,1),0.0) && cmp(_A(0,2),0.0) && - cmp(_A(1,0),0.0) && cmp(_A(1,1),1.0) && cmp(_A(1,2),0.0) && - cmp(_A(2,0),0.0) && cmp(_A(2,1),0.0) && cmp(_A(2,2),1.0)); -} - - -// transpose a 3x3 matrix in-line - -void transpose3x3 (dMatrix3 A) -{ - dReal tmp; - tmp=A[4]; A[4]=A[1]; A[1]=tmp; - tmp=A[8]; A[8]=A[2]; A[2]=tmp; - tmp=A[9]; A[9]=A[6]; A[6]=tmp; -} - -//**************************************************************************** -// test miscellaneous math functions - -void testRandomNumberGenerator() -{ - HEADER; - if (dTestRand()) printf ("\tpassed\n"); - else printf ("\tFAILED\n"); -} - - -void testInfinity() -{ - HEADER; - if (1e10 < dInfinity && -1e10 > -dInfinity && -dInfinity < dInfinity) - printf ("\tpassed\n"); - else printf ("\tFAILED\n"); -} - - -void testPad() -{ - HEADER; - char s[100]; - s[0]=0; - for (int i=0; i<=16; i++) sprintf (s+strlen(s),"%d ",dPAD(i)); - printf ("\t%s\n", strcmp(s,"0 1 4 4 4 8 8 8 8 12 12 12 12 16 16 16 16 ") ? - "FAILED" : "passed"); -} - - -void testCrossProduct() -{ - HEADER; - - dVector3 a1,a2,b,c; - dMatrix3 B; - dMakeRandomVector (b,3,1.0); - dMakeRandomVector (c,3,1.0); - - dCROSS (a1,=,b,c); - - dSetZero (B,12); - dCROSSMAT (B,b,4,+,-); - dMultiply0 (a2,B,c,3,3,1); - - dReal diff = dMaxDifference(a1,a2,3,1); - printf ("\t%s\n", diff > tol ? "FAILED" : "passed"); -} - - -void testSetZero() -{ - HEADER; - dReal a[100]; - dMakeRandomVector (a,100,1.0); - dSetZero (a,100); - for (int i=0; i<100; i++) if (a[i] != 0.0) { - printf ("\tFAILED\n"); - return; - } - printf ("\tpassed\n"); -} - - -void testNormalize3() -{ - HEADER; - int i,j,bad=0; - dVector3 n1,n2; - for (i=0; i<1000; i++) { - dMakeRandomVector (n1,3,1.0); - for (j=0; j<3; j++) n2[j]=n1[j]; - dNormalize3 (n2); - if (dFabs(dDOT(n2,n2) - 1.0) > tol) bad |= 1; - if (dFabs(n2[0]/n1[0] - n2[1]/n1[1]) > tol) bad |= 2; - if (dFabs(n2[0]/n1[0] - n2[2]/n1[2]) > tol) bad |= 4; - if (dFabs(n2[1]/n1[1] - n2[2]/n1[2]) > tol) bad |= 8; - if (dFabs(dDOT(n2,n1) - dSqrt(dDOT(n1,n1))) > tol) bad |= 16; - if (bad) { - printf ("\tFAILED (code=%x)\n",bad); - return; - } - } - printf ("\tpassed\n"); -} - - -/* -void testReorthonormalize() -{ - HEADER; - dMatrix3 R,I; - dMakeRandomMatrix (R,3,3,1.0); - for (int i=0; i<30; i++) dReorthonormalize (R); - dMultiply2 (I,R,R,3,3,3); - printf ("\t%s\n",cmpIdentityMat3 (I) ? "passed" : "FAILED"); -} -*/ - - -void testPlaneSpace() -{ - HEADER; - dVector3 n,p,q; - int bad = 0; - for (int i=0; i<1000; i++) { - dMakeRandomVector (n,3,1.0); - dNormalize3 (n); - dPlaneSpace (n,p,q); - if (fabs(dDOT(n,p)) > tol) bad = 1; - if (fabs(dDOT(n,q)) > tol) bad = 1; - if (fabs(dDOT(p,q)) > tol) bad = 1; - if (fabs(dDOT(p,p)-1) > tol) bad = 1; - if (fabs(dDOT(q,q)-1) > tol) bad = 1; - } - printf ("\t%s\n", bad ? "FAILED" : "passed"); -} - -//**************************************************************************** -// test matrix functions - -#define MSIZE 21 -#define MSIZE4 24 // MSIZE rounded up to 4 - - -void testMatrixMultiply() -{ - // A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4 - dReal A[8],B[12],A2[12],B2[16],C[8]; - int i; - - HEADER; - dSetZero (A,8); - for (i=0; i<3; i++) A[i] = i+2; - for (i=0; i<3; i++) A[i+4] = i+3+2; - for (i=0; i<12; i++) B[i] = i+8; - dSetZero (A2,12); - for (i=0; i<6; i++) A2[i+2*(i/2)] = A[i+i/3]; - dSetZero (B2,16); - for (i=0; i<12; i++) B2[i+i/3] = B[i]; - - dMultiply0 (C,A,B,2,3,4); - if (C[0] != 116 || C[1] != 125 || C[2] != 134 || C[3] != 143 || - C[4] != 224 || C[5] != 242 || C[6] != 260 || C[7] != 278) - printf ("\tFAILED (1)\n"); else printf ("\tpassed (1)\n"); - - dMultiply1 (C,A2,B,2,3,4); - if (C[0] != 160 || C[1] != 172 || C[2] != 184 || C[3] != 196 || - C[4] != 196 || C[5] != 211 || C[6] != 226 || C[7] != 241) - printf ("\tFAILED (2)\n"); else printf ("\tpassed (2)\n"); - - dMultiply2 (C,A,B2,2,3,4); - if (C[0] != 83 || C[1] != 110 || C[2] != 137 || C[3] != 164 || - C[4] != 164 || C[5] != 218 || C[6] != 272 || C[7] != 326) - printf ("\tFAILED (3)\n"); else printf ("\tpassed (3)\n"); -} - - -void testSmallMatrixMultiply() -{ - dMatrix3 A,B,C,A2; - dVector3 a,a2,x; - - HEADER; - dMakeRandomMatrix (A,3,3,1.0); - dMakeRandomMatrix (B,3,3,1.0); - dMakeRandomMatrix (C,3,3,1.0); - dMakeRandomMatrix (x,3,1,1.0); - - // dMULTIPLY0_331() - dMULTIPLY0_331 (a,B,x); - dMultiply0 (a2,B,x,3,3,1); - printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : - "passed"); - - // dMULTIPLY1_331() - dMULTIPLY1_331 (a,B,x); - dMultiply1 (a2,B,x,3,3,1); - printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : - "passed"); - - // dMULTIPLY0_133 - dMULTIPLY0_133 (a,x,B); - dMultiply0 (a2,x,B,1,3,3); - printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" : - "passed"); - - // dMULTIPLY0_333() - dMULTIPLY0_333 (A,B,C); - dMultiply0 (A2,B,C,3,3,3); - printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : - "passed"); - - // dMULTIPLY1_333() - dMULTIPLY1_333 (A,B,C); - dMultiply1 (A2,B,C,3,3,3); - printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : - "passed"); - - // dMULTIPLY2_333() - dMULTIPLY2_333 (A,B,C); - dMultiply2 (A2,B,C,3,3,3); - printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : - "passed"); -} - - -void testCholeskyFactorization() -{ - dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE], C[MSIZE4*MSIZE], diff; - HEADER; - dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); - dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE); - memcpy (A,B,MSIZE4*MSIZE*sizeof(dReal)); - if (dFactorCholesky (B,MSIZE)) printf ("\tpassed (1)\n"); - else printf ("\tFAILED (1)\n"); - dClearUpperTriangle (B,MSIZE); - dMultiply2 (C,B,B,MSIZE,MSIZE,MSIZE); - diff = dMaxDifference(A,C,MSIZE,MSIZE); - printf ("\tmaximum difference = %.6e - %s (2)\n",diff, - diff > tol ? "FAILED" : "passed"); -} - - -void testCholeskySolve() -{ - dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], b[MSIZE],x[MSIZE],btest[MSIZE],diff; - HEADER; - - // get A,L = PD matrix - dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); - dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); - memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); - - // get b,x = right hand side - dMakeRandomMatrix (b,MSIZE,1,1.0); - memcpy (x,b,MSIZE*sizeof(dReal)); - - // factor L - if (dFactorCholesky (L,MSIZE)) printf ("\tpassed (1)\n"); - else printf ("\tFAILED (1)\n"); - dClearUpperTriangle (L,MSIZE); - - // solve A*x = b - dSolveCholesky (L,x,MSIZE); - - // compute A*x and compare it with b - dMultiply2 (btest,A,x,MSIZE,MSIZE,1); - diff = dMaxDifference(b,btest,MSIZE,1); - printf ("\tmaximum difference = %.6e - %s (2)\n",diff, - diff > tol ? "FAILED" : "passed"); -} - - -void testInvertPDMatrix() -{ - int i,j,ok; - dReal A[MSIZE4*MSIZE], Ainv[MSIZE4*MSIZE], I[MSIZE4*MSIZE]; - HEADER; - - dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); - dMultiply2 (Ainv,A,A,MSIZE,MSIZE,MSIZE); - memcpy (A,Ainv,MSIZE4*MSIZE*sizeof(dReal)); - dSetZero (Ainv,MSIZE4*MSIZE); - - if (dInvertPDMatrix (A,Ainv,MSIZE)) - printf ("\tpassed (1)\n"); else printf ("\tFAILED (1)\n"); - dMultiply0 (I,A,Ainv,MSIZE,MSIZE,MSIZE); - - // compare with identity - ok = 1; - for (i=0; i tol ? "FAILED" : "passed"); -} - - -void testSolveLDLT() -{ - dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], x[MSIZE], - b[MSIZE], btest[MSIZE], diff; - HEADER; - dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); - dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); - memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); - - dMakeRandomMatrix (b,MSIZE,1,1.0); - memcpy (x,b,MSIZE*sizeof(dReal)); - - dFactorLDLT (L,d,MSIZE,MSIZE4); - dSolveLDLT (L,d,x,MSIZE,MSIZE4); - - dMultiply2 (btest,A,x,MSIZE,MSIZE,1); - diff = dMaxDifference(b,btest,MSIZE,1); - printf ("\tmaximum difference = %.6e - %s\n",diff, - diff > tol ? "FAILED" : "passed"); -} - - -void testLDLTAddTL() -{ - int i,j; - dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], a[MSIZE], - DL[MSIZE4*MSIZE], ATEST[MSIZE4*MSIZE], diff; - HEADER; - - dMakeRandomMatrix (A,MSIZE,MSIZE,1.0); - dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE); - memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal)); - dFactorLDLT (L,d,MSIZE,MSIZE4); - - // delete first row and column of factorization - for (i=0; i tol ? "FAILED" : "passed"); -} - - -void testLDLTRemove() -{ - int i,j,r,p[MSIZE]; - dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], - L2[MSIZE4*MSIZE], d2[MSIZE], DL2[MSIZE4*MSIZE], - Atest1[MSIZE4*MSIZE], Atest2[MSIZE4*MSIZE], diff, maxdiff; - HEADER; - - // make array of A row pointers - dReal *Arows[MSIZE]; - for (i=0; i= r) ii--; - if (jj >= r) jj--; - if (A[i*MSIZE4+j] != Atest1[ii*MSIZE4+jj]) bad = 1; - } - } - } - if (bad) printf ("\trow/col removal FAILED for row %d\n",r); - - // zero out last row/column of Atest1 - for (i=0; i tol ? "FAILED" : "passed"); -} - -//**************************************************************************** -// test mass stuff - -#define NUMP 10 // number of particles - - -void printMassParams (dMass *m) -{ - printf ("mass = %.4f\n",m->mass); - printf ("com = (%.4f,%.4f,%.4f)\n",m->c[0],m->c[1],m->c[2]); - printf ("I = [ %10.4f %10.4f %10.4f ]\n" - " [ %10.4f %10.4f %10.4f ]\n" - " [ %10.4f %10.4f %10.4f ]\n", - m->_I(0,0),m->_I(0,1),m->_I(0,2), - m->_I(1,0),m->_I(1,1),m->_I(1,2), - m->_I(2,0),m->_I(2,1),m->_I(2,2)); -} - - -void compareMassParams (dMass *m1, dMass *m2, const char *msg) -{ - int i,j,ok = 1; - if (!(cmp(m1->mass,m2->mass) && cmp(m1->c[0],m2->c[0]) && - cmp(m1->c[1],m2->c[1]) && cmp(m1->c[2],m2->c[2]))) - ok = 0; - for (i=0; i<3; i++) for (j=0; j<3; j++) - if (cmp (m1->_I(i,j),m2->_I(i,j))==0) ok = 0; - if (ok) printf ("\tpassed (%s)\n",msg); else printf ("\tFAILED (%s)\n",msg); -} - - -// compute the mass parameters of a particle set - -void computeMassParams (dMass *m, dReal q[NUMP][3], dReal pm[NUMP]) -{ - int i,j; - dMassSetZero (m); - for (i=0; imass += pm[i]; - for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j]; - m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]); - m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]); - m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]); - m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]); - m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]); - m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]); - } - for (j=0; j<3; j++) m->c[j] /= m->mass; - m->_I(1,0) = m->_I(0,1); - m->_I(2,0) = m->_I(0,2); - m->_I(2,1) = m->_I(1,2); -} - - -void testMassFunctions() -{ - dMass m; - int i,j; - dReal q[NUMP][3]; // particle positions - dReal pm[NUMP]; // particle masses - dMass m1,m2; - dMatrix3 R; - - HEADER; - - printf ("\t"); - dMassSetZero (&m); - TRAP_MESSAGE (dMassSetParameters (&m,10, 0,0,0, 1,2,3, 4,5,6), - printf (" FAILED (1)\n"), printf (" passed (1)\n")); - - printf ("\t"); - dMassSetZero (&m); - TRAP_MESSAGE (dMassSetParameters (&m,10, 0.1,0.2,0.15, 3,5,14, 3.1,3.2,4), - printf (" passed (2)\n") , printf (" FAILED (2)\n")); - if (m.mass==10 && m.c[0]==REAL(0.1) && m.c[1]==REAL(0.2) && - m.c[2]==REAL(0.15) && m._I(0,0)==3 && m._I(1,1)==5 && m._I(2,2)==14 && - m._I(0,1)==REAL(3.1) && m._I(0,2)==REAL(3.2) && m._I(1,2)==4 && - m._I(1,0)==REAL(3.1) && m._I(2,0)==REAL(3.2) && m._I(2,1)==4) - printf ("\tpassed (3)\n"); else printf ("\tFAILED (3)\n"); - - dMassSetZero (&m); - dMassSetSphere (&m,1.4, 0.86); - if (cmp(m.mass,3.73002719949386) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && - cmp(m._I(0,0),1.10349124669826) && - cmp(m._I(1,1),1.10349124669826) && - cmp(m._I(2,2),1.10349124669826) && - m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && - m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) - printf ("\tpassed (4)\n"); else printf ("\tFAILED (4)\n"); - - dMassSetZero (&m); - dMassSetCapsule (&m,1.3,1,0.76,1.53); - if (cmp(m.mass,5.99961928996029) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && - cmp(m._I(0,0),1.59461986077384) && - cmp(m._I(1,1),4.57537403079093) && - cmp(m._I(2,2),4.57537403079093) && - m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && - m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) - printf ("\tpassed (5)\n"); else printf ("\tFAILED (5)\n"); - - dMassSetZero (&m); - dMassSetBox (&m,0.27,3,4,5); - if (cmp(m.mass,16.2) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 && - cmp(m._I(0,0),55.35) && cmp(m._I(1,1),45.9) && cmp(m._I(2,2),33.75) && - m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 && - m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0) - printf ("\tpassed (6)\n"); else printf ("\tFAILED (6)\n"); - - // test dMassAdjust? - - // make random particles and compute the mass, COM and inertia, then - // translate and repeat. - for (i=0; i Q -> R works - dReal maxdiff=0; - for (i=0; i<100; i++) { - makeRandomRotation (R); - dRtoQ (R,q); - dQtoR (q,R2); - dReal diff = dMaxDifference (R,R2,3,3); - if (diff > maxdiff) maxdiff = diff; - } - printf ("\tmaximum difference = %e - %s (3)\n",maxdiff, - (maxdiff > tol) ? "FAILED" : "passed"); -} - - -void testQuaternionMultiply() -{ - HEADER; - dMatrix3 RA,RB,RC,Rtest; - dQuaternion qa,qb,qc; - dReal diff,maxdiff=0; - - for (int i=0; i<100; i++) { - makeRandomRotation (RB); - makeRandomRotation (RC); - dRtoQ (RB,qb); - dRtoQ (RC,qc); - - dMultiply0 (RA,RB,RC,3,3,3); - dQMultiply0 (qa,qb,qc); - dQtoR (qa,Rtest); - diff = dMaxDifference (Rtest,RA,3,3); - if (diff > maxdiff) maxdiff = diff; - - dMultiply1 (RA,RB,RC,3,3,3); - dQMultiply1 (qa,qb,qc); - dQtoR (qa,Rtest); - diff = dMaxDifference (Rtest,RA,3,3); - if (diff > maxdiff) maxdiff = diff; - - dMultiply2 (RA,RB,RC,3,3,3); - dQMultiply2 (qa,qb,qc); - dQtoR (qa,Rtest); - diff = dMaxDifference (Rtest,RA,3,3); - if (diff > maxdiff) maxdiff = diff; - - dMultiply0 (RA,RC,RB,3,3,3); - transpose3x3 (RA); - dQMultiply3 (qa,qb,qc); - dQtoR (qa,Rtest); - diff = dMaxDifference (Rtest,RA,3,3); - if (diff > maxdiff) maxdiff = diff; - } - printf ("\tmaximum difference = %e - %s\n",maxdiff, - (maxdiff > tol) ? "FAILED" : "passed"); -} - - -void testRotationFunctions() -{ - dMatrix3 R1; - HEADER; - - printf ("\tdRSetIdentity - "); - dMakeRandomMatrix (R1,3,3,1.0); - dRSetIdentity (R1); - if (cmpIdentityMat3(R1)) printf ("passed\n"); else printf ("FAILED\n"); - - printf ("\tdRFromAxisAndAngle - "); - - printf ("\n"); - printf ("\tdRFromEulerAngles - "); - - printf ("\n"); - printf ("\tdRFrom2Axes - "); - - printf ("\n"); -} - -//**************************************************************************** - -#include "../src/array.h" -#include "../src/array.cpp" - -// matrix header on the stack - -class dMatrixComparison { - struct dMatInfo; - dArray mat; - int afterfirst,index; - -public: - dMatrixComparison(); - ~dMatrixComparison(); - - dReal nextMatrix (dReal *A, int n, int m, int lower_tri, const char *name, ...); - // add a new n*m matrix A to the sequence. the name of the matrix is given - // by the printf-style arguments (name,...). if this is the first sequence - // then this object will simply record the matrices and return 0. - // if this the second or subsequent sequence then this object will compare - // the matrices with the first sequence, and report any differences. - // the matrix error will be returned. if `lower_tri' is 1 then only the - // lower triangle of the matrix (including the diagonal) will be compared - // (the matrix must be square). - - void end(); - // end a sequence. - - void reset(); - // restarts the object, so the next sequence will be the first sequence. - - void dump(); - // print out info about all the matrices in the sequence -}; - -struct dMatrixComparison::dMatInfo { - int n,m; // size of matrix - char name[128]; // name of the matrix - dReal *data; // matrix data - int size; // size of `data' -}; - - - -dMatrixComparison::dMatrixComparison() -{ - afterfirst = 0; - index = 0; -} - - -dMatrixComparison::~dMatrixComparison() -{ - reset(); -} - - -dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri, - const char *name, ...) -{ - if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix"); - int num = n*dPAD(m); - - if (afterfirst==0) { - dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo)); - mi->n = n; - mi->m = m; - mi->size = num * sizeof(dReal); - mi->data = (dReal*) dAlloc (mi->size); - memcpy (mi->data,A,mi->size); - - va_list ap; - va_start (ap,name); - vsprintf (mi->name,name,ap); - if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long"); - - mat.push (mi); - return 0; - } - else { - if (lower_tri && n != m) - dDebug (0,"dMatrixComparison, lower triangular matrix must be square"); - if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices"); - dMatInfo *mp = mat[index]; - index++; - - dMatInfo mi; - va_list ap; - va_start (ap,name); - vsprintf (mi.name,name,ap); - if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long"); - - if (strcmp(mp->name,mi.name) != 0) - dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")", - mp->name,mi.name); - if (mp->n != n || mp->m != m) - dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)", - mp->n,mp->m,n,m); - - dReal maxdiff; - if (lower_tri) { - maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n); - } - else { - maxdiff = dMaxDifference (A,mp->data,n,m); - } - if (maxdiff > tol) - dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", " - "error=%.4e)",n,m,mi.name,maxdiff); - return maxdiff; - } -} - - -void dMatrixComparison::end() -{ - if (mat.size() <= 0) dDebug (0,"no matrices in sequence"); - afterfirst = 1; - index = 0; -} - - -void dMatrixComparison::reset() -{ - for (int i=0; idata,mat[i]->size); - dFree (mat[i],sizeof(dMatInfo)); - } - mat.setSize (0); - afterfirst = 0; - index = 0; -} - - -void dMatrixComparison::dump() -{ - for (int i=0; iname,mat[i]->n,mat[i]->m); -} - -//**************************************************************************** -// unit test - -#include - -// static jmp_buf jump_buffer; - -static void myDebug (int num, const char *msg, va_list ap) -{ - // printf ("(Error %d: ",num); - // vprintf (msg,ap); - // printf (")\n"); - longjmp (jump_buffer,1); -} - - -extern "C" void dTestMatrixComparison() -{ - volatile int i; - printf ("dTestMatrixComparison()\n"); - dMessageFunction *orig_debug = dGetDebugHandler(); - - dMatrixComparison mc; - dReal A[50*50]; - - // make first sequence - unsigned long seed = dRandGetSeed(); - for (i=1; i<49; i++) { - dMakeRandomMatrix (A,i,i+1,1.0); - mc.nextMatrix (A,i,i+1,0,"A%d",i); - } - mc.end(); - - //mc.dump(); - - // test identical sequence - dSetDebugHandler (&myDebug); - dRandSetSeed (seed); - if (setjmp (jump_buffer)) { - printf ("\tFAILED (1)\n"); - } - else { - for (i=1; i<49; i++) { - dMakeRandomMatrix (A,i,i+1,1.0); - mc.nextMatrix (A,i,i+1,0,"A%d",i); - } - mc.end(); - printf ("\tpassed (1)\n"); - } - dSetDebugHandler (orig_debug); - - // test broken sequences (with matrix error) - dRandSetSeed (seed); - volatile int passcount = 0; - for (i=1; i<49; i++) { - if (setjmp (jump_buffer)) { - passcount++; - } - else { - dSetDebugHandler (&myDebug); - dMakeRandomMatrix (A,i,i+1,1.0); - A[(i-1)*dPAD(i+1)+i] += REAL(0.01); - mc.nextMatrix (A,i,i+1,0,"A%d",i); - dSetDebugHandler (orig_debug); - } - } - mc.end(); - printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED"); - - // test broken sequences (with name error) - dRandSetSeed (seed); - passcount = 0; - for (i=1; i<49; i++) { - if (setjmp (jump_buffer)) { - passcount++; - } - else { - dSetDebugHandler (&myDebug); - dMakeRandomMatrix (A,i,i+1,1.0); - mc.nextMatrix (A,i,i+1,0,"B%d",i); - dSetDebugHandler (orig_debug); - } - } - mc.end(); - printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED"); - - // test identical sequence again - dSetDebugHandler (&myDebug); - dRandSetSeed (seed); - if (setjmp (jump_buffer)) { - printf ("\tFAILED (4)\n"); - } - else { - for (i=1; i<49; i++) { - dMakeRandomMatrix (A,i,i+1,1.0); - mc.nextMatrix (A,i,i+1,0,"A%d",i); - } - mc.end(); - printf ("\tpassed (4)\n"); - } - dSetDebugHandler (orig_debug); -} - -//**************************************************************************** - -// internal unit tests -extern "C" void dTestDataStructures(); -extern "C" void dTestMatrixComparison(); -extern "C" void dTestSolveLCP(); - - -int main() -{ - dInitODE(); - testRandomNumberGenerator(); - testInfinity(); - testPad(); - testCrossProduct(); - testSetZero(); - testNormalize3(); - //testReorthonormalize(); ... not any more - testPlaneSpace(); - testMatrixMultiply(); - testSmallMatrixMultiply(); - testCholeskyFactorization(); - testCholeskySolve(); - testInvertPDMatrix(); - testIsPositiveDefinite(); - testFastLDLTFactorization(); - testSolveLDLT(); - testLDLTAddTL(); - testLDLTRemove(); - testMassFunctions(); - testRtoQandQtoR(); - testQuaternionMultiply(); - testRotationFunctions(); - dTestMatrixComparison(); - dTestSolveLCP(); - // dTestDataStructures(); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_piston.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_piston.cpp deleted file mode 100644 index 61a3e71f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_piston.cpp +++ /dev/null @@ -1,734 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - * Created by: Remi Ricard * - * (remi.ricard@simlog.com or papaDoc@videotron.ca) * - * Creation date: 2007/05/04 * - *************************************************************************/ - -/* - This program demonstrates how the Piston joint works. - - A Piston joint enables the sliding of a body with respect to another body - and the 2 bodies are free to rotate about the sliding axis. - - - The yellow body is fixed to the world. - - The yellow body and the blue body are attached by a Piston joint with - the axis along the x direction. - - The purple object is a geometry obstacle. - - The red line is the representation of the prismatic axis - - The orange line is the representation of the rotoide axis - - The light blue ball is the anchor position - - N.B. Many command options are available type -h to print them. -*/ - -#include -#include -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawSphere dsDrawSphereD -#endif - -//using namespace ode; - -const dReal VEL_INC = 0.01; // Velocity increment - -// physics parameters -const dReal PI = 3.14159265358979323846264338327950288419716939937510; -const dReal BODY1_LENGTH = 1.5; // Size along the X axis - -const dReal RADIUS = 0.2; -const dReal AXIS_RADIUS = 0.01; - - -#define X 0 -#define Y 1 -#define Z 2 - -enum INDEX -{ - BODY1 = 0, - BODY2, - RECT, - BOX, - OBS, - GROUND, - NUM_PARTS, - ALL = NUM_PARTS -}; - -const int catBits[NUM_PARTS+1] = - { - 0x0001, ///< Ext Cylinder category - 0x0002, ///< Int Cylinder category - 0x0004, ///< Int_Rect Cylinder category - 0x0008, ///< Box category - 0x0010, ///< Obstacle category - 0x0020, ///< Ground category - ~0L ///< All categories - }; - -#define Mass1 10 -#define Mass2 8 - - -//camera view -static float xyz[3] = {2.0f,-3.5f,2.0000f}; -static float hpr[3] = {90.000f,-25.5000f,0.0000f}; - - -//world,space,body & geom -static dWorld world; -static dSpaceID space; -static dJointGroupID contactgroup; -static dBody body[NUM_PARTS]; -static dGeomID geom[NUM_PARTS]; - -// Default Positions and anchor of the 2 bodies -dVector3 pos1; -dVector3 pos2; -dVector3 anchor; - -static dJoint *joint; - - -const dReal BODY2_SIDES[3] = {0.4, 0.4, 0.4}; -const dReal OBS_SIDES[3] = {1,1,1}; -const dReal RECT_SIDES[3] = {0.3, 0.1, 0.2}; - - -int type = dJointTypePiston; - -//#pragma message("tc to be changed to 0") - -int tc = 0; // The test case choice; - - -//collision detection -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - dBodyID b1 = dGeomGetBody (o1); - dBodyID b2 = dGeomGetBody (o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact) ) return; - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof (dContact) ); - if (n > 0) { - for (i=0; iattach (body[BODY1], body[BODY2]); - if (joint->getType() == dJointTypePiston) - dJointSetPistonAnchor(joint->id(), anchor[X], anchor[Y], anchor[Z]); - } - -} - - -// function to update camera position at each step. -void update() -{ -// static FILE *file = fopen("x:/sim/src/libode/tstsrcSF/export.dat", "w"); - -// static int cnt = 0; -// char str[24]; -// sprintf(str, "%06d",cnt++); - -// dWorldExportDIF(world, file, str); -} - - -// called when a key pressed -static void command (int cmd) -{ - switch (cmd) { -case 'h' : case 'H' : case '?' : - printKeyBoardShortCut(); - break; - - // Force - case 'q' : case 'Q' : - dBodyAddForce (body[BODY1],4,0,0); - break; - case 'w' : case 'W' : - dBodyAddForce (body[BODY1],-4,0,0); - break; - - case 'a' : case 'A' : - dBodyAddForce (body[BODY1],0,40,0); - break; - case 's' : case 'S' : - dBodyAddForce (body[BODY1],0,-40,0); - break; - - case 'z' : case 'Z' : - dBodyAddForce (body[BODY1],0,0,4); - break; - case 'x' : case 'X' : - dBodyAddForce (body[BODY1],0,0,-4); - break; - - // Torque - case 'e': case 'E': - dBodyAddTorque (body[BODY1],0.1,0,0); - break; - case 'r': case 'R': - dBodyAddTorque (body[BODY1],-0.1,0,0); - break; - - case 'd': case 'D': - dBodyAddTorque (body[BODY1],0, 0.1,0); - break; - case 'f': case 'F': - dBodyAddTorque (body[BODY1],0,-0.1,0); - break; - - case 'c': case 'C': - dBodyAddTorque (body[BODY1],0.1,0,0); - break; - case 'v': case 'V': - dBodyAddTorque (body[BODY1],-0.1,0,0); - break; - - case 't': case 'T': - if (joint->getType() == dJointTypePiston) - dJointAddPistonForce (joint->id(),1); - else - dJointAddSliderForce (joint->id(),1); - break; - case 'y': case 'Y': - if (joint->getType() == dJointTypePiston) - dJointAddPistonForce (joint->id(),-1); - else - dJointAddSliderForce (joint->id(),-1); - break; - - - case 'k': case 'K': - if (joint->getType() == dJointTypePiston) { - dJointSetPistonParam (joint->id(),dParamLoStop2, -45.0*3.14159267/180.0); - dJointSetPistonParam (joint->id(),dParamHiStop2, 45.0*3.14159267/180.0); - } - break; - case 'l': case 'L': - if (joint->getType() == dJointTypePiston) { - dJointSetPistonParam (joint->id(),dParamLoStop2, -dInfinity); - dJointSetPistonParam (joint->id(),dParamHiStop2, dInfinity); - } - break; - - // Velocity of joint - case ',': case '<' : { - dReal vel = joint->getParam (dParamVel) - VEL_INC; - joint->setParam (dParamVel, vel); - std::cout<<"Velocity = "<' : { - dReal vel = joint->getParam (dParamVel) + VEL_INC; - joint->setParam (dParamVel, vel); - std::cout<<"Velocity = "<getType() ) { - case dJointTypeSlider : { - dSliderJoint *sj = reinterpret_cast (joint); - std::cout<<"Position ="<getPosition() <<"\n"; - } - break; - case dJointTypePiston : { - dPistonJoint *rj = reinterpret_cast (joint); - std::cout<<"Position ="<getPosition() <<"\n"; - } - break; - default: {} // keep the compiler happy - } - } - break; - - case '+' : - (++tc) %= 4; - setPositionBodies (tc); - break; - case '-' : - (--tc) %= 4; - setPositionBodies (tc); - break; - - - } -} - -static void drawBox (dGeomID id, int R, int G, int B) -{ - if (!id) - return; - - const dReal *pos = dGeomGetPosition (id); - const dReal *rot = dGeomGetRotation (id); - dsSetColor (R,G,B); - - dVector3 l; - dGeomBoxGetLengths (id, l); - dsDrawBox (pos, rot, l); -} - - -// simulation loop -static void simLoop (int pause) -{ - const dReal *rot; - dVector3 ax; - dReal l=0; - - switch (joint->getType() ) { - case dJointTypeSlider : - ( (dSliderJoint *) joint)->getAxis (ax); - l = ( (dSliderJoint *) joint)->getPosition(); - break; - case dJointTypePiston : - ( (dPistonJoint *) joint)->getAxis (ax); - l = ( (dPistonJoint *) joint)->getPosition(); - break; - default: {} // keep the compiler happy - } - - - if (!pause) { - double simstep = 0.01; // 1ms simulation steps - double dt = dsElapsedTime(); - - int nrofsteps = (int) ceilf (dt/simstep); - if (!nrofsteps) - nrofsteps = 1; - - for (int i=0; igetType() == dJointTypePiston ) { - dVector3 anchor; - dJointGetPistonAnchor(joint->id(), anchor); - - // Draw the rotoide axis - rot = dGeomGetRotation (geom[BODY2]); - dsSetColor (1,0.5,0); - dsDrawCylinder (anchor, rot, 4, AXIS_RADIUS); - - - dsSetColor (0,1,1); - rot = dGeomGetRotation (geom[BODY1]); - dsDrawSphere (anchor, rot, 1.5*RADIUS); - } - - } -} - - -void Help (char **argv) -{ - printf ("%s ", argv[0]); - printf (" -h | --help : print this help\n"); - printf (" -s | --slider : Set the joint as a slider\n"); - printf (" -p | --piston : Set the joint as a Piston. (Default joint)\n"); - printf (" -1 | --offset1 : Create an offset between the 2 bodies\n"); - printf (" Offset one of the body by z=-0.5 and keep the anchor\n"); - printf (" point in the middle of the fixed body\n"); - printf (" -2 | --offset2 : Create an offset between the 2 bodies\n"); - printf (" Offset one of the body by z=-0.5 and set the anchor\n"); - printf (" point in the middle of the movable body\n"); - printf (" -3 | --offset3 : Create an offset between the 2 bodies\n"); - printf (" Offset one of the body by z=-0.5 and set the anchor\n"); - printf (" point in the middle of the 2 bodies\n"); - printf (" -t | --texture-path path : Path to the texture.\n"); - printf (" Default = %s\n", DRAWSTUFF_TEXTURE_PATH); - printf (" -n | --notFixed : In free space with no gravity mode"); - printf ("-notex : Don't use texture\n"); - printf ("-noshadow : No shadow\n"); - printf ("-noshadows : No shadows\n"); - printf ("-pause : Initial pause\n"); - printf ("--------------------------------------------------\n"); - printf ("Hit any key to continue:"); - getchar(); - - exit (0); -} - -int main (int argc, char **argv) -{ - dInitODE2(0); - bool fixed = true; - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - - dVector3 offset; - dSetZero (offset, 4); - - // Default test case - - if (argc >= 2 ) { - for (int i=1; i < argc; ++i) { - //static int tata = 0; - - if (0) { - if ( 0 == strcmp ("-h", argv[i]) || 0 == strcmp ("--help", argv[i]) ) - Help (argv); - - if ( 0 == strcmp ("-s", argv[i]) || 0 == strcmp ("--slider", argv[i]) ) - type = dJointTypeSlider; - - if ( 0 == strcmp ("-t", argv[i]) || 0 == strcmp ("--texture-path", argv[i]) ) { - int j = i+1; - if ( j+1 > argc || // Check if we have enough arguments - argv[j] == '\0' || // We should have a path here - argv[j][0] == '-' ) // We should have a path not a command line - Help (argv); - else - fn.path_to_textures = argv[++i]; // Increase i since we use this argument - } - } - - - if ( 0 == strcmp ("-1", argv[i]) || 0 == strcmp ("--offset1", argv[i]) ) - tc = 1; - - if ( 0 == strcmp ("-2", argv[i]) || 0 == strcmp ("--offset2", argv[i]) ) - tc = 2; - - if ( 0 == strcmp ("-3", argv[i]) || 0 == strcmp ("--offset3", argv[i]) ) - tc = 3; - - if (0 == strcmp ("-n", argv[i]) || 0 == strcmp ("--notFixed", argv[i]) ) - fixed = false; - } - } - - world.setERP (0.8); - - space = dSimpleSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - geom[GROUND] = dCreatePlane (space, 0,0,1,0); - dGeomSetCategoryBits (geom[GROUND], catBits[GROUND]); - dGeomSetCollideBits (geom[GROUND], catBits[ALL]); - - dMass m; - dMatrix3 R; - - - // Create the Obstacle - geom[OBS] = dCreateBox (space, OBS_SIDES[0], OBS_SIDES[1], OBS_SIDES[2]); - dGeomSetCategoryBits (geom[OBS], catBits[OBS]); - dGeomSetCollideBits (geom[OBS], catBits[ALL]); - //Rotation of 45deg around y - dRFromAxisAndAngle (R, 1,1,0, -0.25*PI); - dGeomSetRotation (geom[OBS], R); - dGeomSetPosition (geom[OBS], 1.95, -0.2, 0.5); - - - //Rotation of 90deg around y - // Will orient the Z axis along X - dRFromAxisAndAngle (R, 0,1,0, -0.5*PI); - - - // Create Body2 (Wiil be attached to the world) - body[BODY2].create (world); - // Main axis of cylinder is along X=1 - m.setBox (1, BODY2_SIDES[0], BODY2_SIDES[1], BODY2_SIDES[2]); - m.adjust (Mass1); - geom[BODY2] = dCreateBox (space, BODY2_SIDES[0], BODY2_SIDES[1], BODY2_SIDES[2]); - dGeomSetBody (geom[BODY2], body[BODY2]); - dGeomSetOffsetRotation (geom[BODY2], R); - dGeomSetCategoryBits (geom[BODY2], catBits[BODY2]); - dGeomSetCollideBits (geom[BODY2], catBits[ALL] & (~catBits[BODY1]) ); - body[BODY2].setMass(&m); - - - // Create Body 1 (Slider on the prismatic axis) - body[BODY1].create (world); - // Main axis of capsule is along X=1 - m.setCapsule (1, 1, RADIUS, BODY1_LENGTH); - m.adjust(Mass1); - geom[BODY1] = dCreateCapsule (space, RADIUS, BODY1_LENGTH); - dGeomSetBody (geom[BODY1], body[BODY1]); - dGeomSetOffsetRotation (geom[BODY1], R); - dGeomSetCategoryBits (geom[BODY1], catBits[BODY1]); - dGeomSetCollideBits (geom[BODY1], catBits[ALL] & ~catBits[BODY2] & ~catBits[RECT]); - - dMass mRect; - mRect.setBox(1, RECT_SIDES[0], RECT_SIDES[1], RECT_SIDES[2]); - m.add(&mRect); - // TODO: translate m? - geom[RECT] = dCreateBox (space, RECT_SIDES[0], RECT_SIDES[1], RECT_SIDES[2]); - dGeomSetBody (geom[RECT], body[BODY1]); - dGeomSetOffsetPosition (geom[RECT], - (BODY1_LENGTH-RECT_SIDES[0]) /2.0, - 0.0, - -RADIUS -RECT_SIDES[2]/2.0); - dGeomSetCategoryBits (geom[RECT], catBits[RECT]); - dGeomSetCollideBits (geom[RECT], catBits[ALL] & (~catBits[BODY1]) ); - - body[BODY1].setMass(&m); - - - - setPositionBodies (tc); - - - if ( fixed ) { - // Attache external cylinder to the world - dJointID fixed = dJointCreateFixed (world,0); - dJointAttach (fixed , NULL, body[BODY2]); - dJointSetFixed (fixed ); - dWorldSetGravity (world,0,0,-0.8); - } - else { - dWorldSetGravity (world,0,0,0); - } - - - - - // The static is here only to help debugging - switch (type) { - case dJointTypeSlider : { - dSliderJoint *sj = new dSliderJoint (world, 0); - sj->attach (body[BODY1], body[BODY2]); - sj->setAxis (1, 0, 0); - joint = sj; - } - break; - - case dJointTypePiston : // fall through default - default: { - dPistonJoint *pj = new dPistonJoint (world, 0); - pj->attach (body[BODY1], body[BODY2]); - pj->setAxis (1, 0, 0); - - dJointSetPistonAnchor(pj->id(), anchor[X], anchor[Y], anchor[Z]); - - joint = pj; - } - break; - }; - - - // run simulation - dsSimulationLoop (argc,argv,400,300,&fn); - - delete joint; - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 0; -} - - - - diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_plane2d.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_plane2d.cpp deleted file mode 100644 index 97609a16..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_plane2d.cpp +++ /dev/null @@ -1,273 +0,0 @@ -// Test my Plane2D constraint. -// Uses ode-0.35 collision API. - -# include -# include -# include -# include -# include -#include "texturepath.h" - - -# define drand48() ((double) (((double) rand()) / ((double) RAND_MAX))) - -# define N_BODIES 40 -# define STAGE_SIZE 8.0 // in m - -# define TIME_STEP 0.01 -# define K_SPRING 10.0 -# define K_DAMP 10.0 - -//using namespace ode; - -static dWorld dyn_world; -static dBody dyn_bodies[N_BODIES]; -static dReal bodies_sides[N_BODIES][3]; - -static dSpaceID coll_space_id; -static dJointID plane2d_joint_ids[N_BODIES]; -static dJointGroup - coll_contacts; - - - -static void cb_start () -/*************************/ -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = { 0.5f*STAGE_SIZE, 0.5f*STAGE_SIZE, 0.65f*STAGE_SIZE}; - static float hpr[3] = { 90.0f, -90.0f, 0 }; - - dsSetViewpoint (xyz, hpr); -} - - - -static void cb_near_collision (void *data, dGeomID o1, dGeomID o2) -/********************************************************************/ -{ - dBodyID b1 = dGeomGetBody (o1); - dBodyID b2 = dGeomGetBody (o2); - dContact contact; - - - // exit without doing anything if the two bodies are static - if (b1 == 0 && b2 == 0) - return; - - // exit without doing anything if the two bodies are connected by a joint - if (b1 && b2 && dAreConnected (b1, b2)) - { - /* MTRAP; */ - return; - } - - contact.surface.mode = 0; - contact.surface.mu = 0; // frictionless - - if (dCollide (o1, o2, 1, &contact.geom, sizeof (dContactGeom))) - { - dJointID c = dJointCreateContact (dyn_world.id(), - coll_contacts.id (), &contact); - dJointAttach (c, b1, b2); - } -} - - -static void track_to_pos (dBody &body, dJointID joint_id, - dReal target_x, dReal target_y) -/************************************************************************/ -{ - dReal curr_x = body.getPosition()[0]; - dReal curr_y = body.getPosition()[1]; - - dJointSetPlane2DXParam (joint_id, dParamVel, 1 * (target_x - curr_x)); - dJointSetPlane2DYParam (joint_id, dParamVel, 1 * (target_y - curr_y)); -} - - - -static void cb_sim_step (int pause) -/*************************************/ -{ - if (! pause) - { - static dReal angle = 0; - - angle += REAL( 0.01 ); - - track_to_pos (dyn_bodies[0], plane2d_joint_ids[0], - dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * cos (angle) ), - dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * sin (angle) )); - - /* double f0 = 0.001; */ - /* for (int b = 0; b < N_BODIES; b ++) */ - /* { */ - /* double p = 1 + b / (double) N_BODIES; */ - /* double q = 2 - b / (double) N_BODIES; */ - /* dyn_bodies[b].addForce (f0 * cos (p*angle), f0 * sin (q*angle), 0); */ - /* } */ - /* dyn_bodies[0].addTorque (0, 0, 0.1); */ - - const int n = 10; - for (int i = 0; i < n; i ++) - { - dSpaceCollide (coll_space_id, 0, &cb_near_collision); - dyn_world.step (dReal(TIME_STEP/n)); - coll_contacts.empty (); - } - } - -# if 1 /* [ */ - { - // @@@ hack Plane2D constraint error reduction here: - for (int b = 0; b < N_BODIES; b ++) - { - const dReal *rot = dBodyGetAngularVel (dyn_bodies[b].id()); - const dReal *quat_ptr; - dReal quat[4], - quat_len; - - - quat_ptr = dBodyGetQuaternion (dyn_bodies[b].id()); - quat[0] = quat_ptr[0]; - quat[1] = 0; - quat[2] = 0; - quat[3] = quat_ptr[3]; - quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]); - quat[0] /= quat_len; - quat[3] /= quat_len; - dBodySetQuaternion (dyn_bodies[b].id(), quat); - dBodySetAngularVel (dyn_bodies[b].id(), 0, 0, rot[2]); - } - } -# endif /* ] */ - - -# if 0 /* [ */ - { - // @@@ friction - for (int b = 0; b < N_BODIES; b ++) - { - const dReal *vel = dBodyGetLinearVel (dyn_bodies[b].id()), - *rot = dBodyGetAngularVel (dyn_bodies[b].id()); - dReal s = 1.00; - dReal t = 0.99; - - dBodySetLinearVel (dyn_bodies[b].id(), s*vel[0],s*vel[1],s*vel[2]); - dBodySetAngularVel (dyn_bodies[b].id(),t*rot[0],t*rot[1],t*rot[2]); - } - } -# endif /* ] */ - - - { - // ode drawstuff - - dsSetTexture (DS_WOOD); - for (int b = 0; b < N_BODIES; b ++) - { - if (b == 0) - dsSetColor (1.0, 0.5, 1.0); - else - dsSetColor (0, 0.5, 1.0); -#ifdef dDOUBLE - dsDrawBoxD (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]); -#else - dsDrawBox (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]); -#endif - } - } -} - - - -extern int main -/******************/ -( - int argc, - char **argv -) -{ - int b; - dsFunctions drawstuff_functions; - - - dInitODE2(0); - - // dynamic world - - dReal cf_mixing;// = 1 / TIME_STEP * K_SPRING + K_DAMP; - dReal err_reduct;// = TIME_STEP * K_SPRING * cf_mixing; - err_reduct = REAL( 0.5 ); - cf_mixing = REAL( 0.001 ); - dWorldSetERP (dyn_world.id (), err_reduct); - dWorldSetCFM (dyn_world.id (), cf_mixing); - dyn_world.setGravity (0, 0.0, -1.0); - - coll_space_id = dSimpleSpaceCreate (0); - - // dynamic bodies - for (b = 0; b < N_BODIES; b ++) - { - int l = (int) (1 + sqrt ((double) N_BODIES)); - dReal x = dReal( (0.5 + (b / l)) / l * STAGE_SIZE ); - dReal y = dReal( (0.5 + (b % l)) / l * STAGE_SIZE ); - dReal z = REAL( 1.0 ) + REAL( 0.1 ) * (dReal)drand48(); - - bodies_sides[b][0] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); - bodies_sides[b][1] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); - bodies_sides[b][2] = z; - - dyn_bodies[b].create (dyn_world); - dyn_bodies[b].setPosition (x, y, z/2); - dyn_bodies[b].setData ((void*) (size_t)b); - dBodySetLinearVel (dyn_bodies[b].id (), - dReal( 3 * (drand48 () - 0.5) ), - dReal( 3 * (drand48 () - 0.5) ), 0); - - dMass m; - m.setBox (1, bodies_sides[b][0],bodies_sides[b][1],bodies_sides[b][2]); - m.adjust (REAL(0.1) * bodies_sides[b][0] * bodies_sides[b][1]); - dyn_bodies[b].setMass (&m); - - plane2d_joint_ids[b] = dJointCreatePlane2D (dyn_world.id (), 0); - dJointAttach (plane2d_joint_ids[b], dyn_bodies[b].id (), 0); - } - - dJointSetPlane2DXParam (plane2d_joint_ids[0], dParamFMax, 10); - dJointSetPlane2DYParam (plane2d_joint_ids[0], dParamFMax, 10); - - - // collision geoms and joints - dCreatePlane (coll_space_id, 1, 0, 0, 0); - dCreatePlane (coll_space_id, -1, 0, 0, -STAGE_SIZE); - dCreatePlane (coll_space_id, 0, 1, 0, 0); - dCreatePlane (coll_space_id, 0, -1, 0, -STAGE_SIZE); - - for (b = 0; b < N_BODIES; b ++) - { - dGeomID coll_box_id; - coll_box_id = dCreateBox (coll_space_id, - bodies_sides[b][0], bodies_sides[b][1], bodies_sides[b][2]); - dGeomSetBody (coll_box_id, dyn_bodies[b].id ()); - } - - coll_contacts.create (0); - - { - // simulation loop (by drawstuff lib) - drawstuff_functions.version = DS_VERSION; - drawstuff_functions.start = &cb_start; - drawstuff_functions.step = &cb_sim_step; - drawstuff_functions.command = 0; - drawstuff_functions.stop = 0; - drawstuff_functions.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - - dsSimulationLoop (argc, argv, 352,288,&drawstuff_functions); - } - - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_slider.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_slider.cpp deleted file mode 100644 index a0d9f9b3..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_slider.cpp +++ /dev/null @@ -1,175 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#endif - - -// some constants -#define SIDE (0.5f) // side length of a box -#define MASS (1.0) // mass of a box - - -// dynamics and collision objects -static dWorldID world; -static dBodyID body[2]; -static dJointID slider; - - -// state set by keyboard commands -static int occasional_error = 0; - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {1.0382f,-1.0811f,1.4700f}; - static float hpr[3] = {135.0000f,-19.5000f,0.0000f}; - dsSetViewpoint (xyz,hpr); - printf ("Press 'e' to start/stop occasional error.\n"); -} - - -// called when a key pressed - -static void command (int cmd) -{ - if (cmd == 'e' || cmd == 'E') { - occasional_error ^= 1; - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - const dReal kd = -0.3; // angular damping constant - const dReal ks = 0.5; // spring constant - if (!pause) { - // add an oscillating torque to body 0, and also damp its rotational motion - static dReal a=0; - const dReal *w = dBodyGetAngularVel (body[0]); - dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a)); - a += 0.01; - - // add a spring force to keep the bodies together, otherwise they will - // fly apart along the slider axis. - const dReal *p1 = dBodyGetPosition (body[0]); - const dReal *p2 = dBodyGetPosition (body[1]); - dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]), - ks*(p2[2]-p1[2])); - dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]), - ks*(p1[2]-p2[2])); - - // occasionally re-orient one of the bodies to create a deliberate error. - if (occasional_error) { - static int count = 0; - if ((count % 20)==0) { - // randomly adjust orientation of body[0] - const dReal *R1; - dMatrix3 R2,R3; - R1 = dBodyGetRotation (body[0]); - dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5, - dRandReal()-0.5,dRandReal()-0.5); - dMultiply0 (R3,R1,R2,3,3,3); - dBodySetRotation (body[0],R3); - - // randomly adjust position of body[0] - const dReal *pos = dBodyGetPosition (body[0]); - dBodySetPosition (body[0], - pos[0]+0.2*(dRandReal()-0.5), - pos[1]+0.2*(dRandReal()-0.5), - pos[2]+0.2*(dRandReal()-0.5)); - } - count++; - } - - dWorldStep (world,0.05); - } - - dReal sides1[3] = {SIDE,SIDE,SIDE}; - dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f}; - dsSetTexture (DS_WOOD); - dsSetColor (1,1,0); - dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1); - dsSetColor (0,1,1); - dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2); -} - - -int main (int argc, char **argv) -{ - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - // create world - dInitODE2(0); - world = dWorldCreate(); - dMass m; - dMassSetBox (&m,1,SIDE,SIDE,SIDE); - dMassAdjust (&m,MASS); - - body[0] = dBodyCreate (world); - dBodySetMass (body[0],&m); - dBodySetPosition (body[0],0,0,1); - body[1] = dBodyCreate (world); - dBodySetMass (body[1],&m); - dQuaternion q; - dQFromAxisAndAngle (q,-1,1,0,0.25*M_PI); - dBodySetPosition (body[1],0.2,0.2,1.2); - dBodySetQuaternion (body[1],q); - - slider = dJointCreateSlider (world,0); - dJointAttach (slider,body[0],body[1]); - dJointSetSliderAxis (slider,1,1,1); - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dWorldDestroy (world); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_space.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_space.cpp deleted file mode 100644 index 4baad89f..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_space.cpp +++ /dev/null @@ -1,236 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -testing procedure: - * create a bunch of random boxes - * test for intersections directly, put results in n^2 array - * get space to report collisions: - - all correct collisions reported - - no pair reported more than once - - no incorrect collisions reported - -*/ - - -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define NUM 20 // number of boxes to test - - -// collision objects and globals - -static dSpaceID space; -static dGeomID geom[NUM]; -static dReal bounds[NUM][6]; -static size_t good_matrix[NUM][NUM]; // correct collision matrix -static size_t test_matrix[NUM][NUM]; // testing collision matrix -static size_t hits[NUM]; // number of collisions a box has -static unsigned long seed=37; - - -static void init_test() -{ - int i,j; - const dReal scale = 0.5; - - // set random boxes - dRandSetSeed (seed); - for (i=0; i < NUM; i++) { - bounds[i][0] = dRandReal()*2-1; - bounds[i][1] = bounds[i][0] + dRandReal()*scale; - bounds[i][2] = dRandReal()*2-1; - bounds[i][3] = bounds[i][2] + dRandReal()*scale; - bounds[i][4] = dRandReal()*2; - bounds[i][5] = bounds[i][4] + dRandReal()*scale; - - if (geom[i]) dGeomDestroy (geom[i]); - geom[i] = dCreateBox (space, - bounds[i][1] - bounds[i][0], - bounds[i][3] - bounds[i][2], - bounds[i][5] - bounds[i][4]); - dGeomSetPosition (geom[i], - (bounds[i][0] + bounds[i][1])*0.5, - (bounds[i][2] + bounds[i][3])*0.5, - (bounds[i][4] + bounds[i][5])*0.5); - dGeomSetData (geom[i],(void*)(size_t)(i)); - } - - // compute all intersections and put the results in "good_matrix" - for (i=0; i < NUM; i++) { - for (j=0; j < NUM; j++) good_matrix[i][j] = 0; - } - for (i=0; i < NUM; i++) hits[i] = 0; - - for (i=0; i < NUM; i++) { - for (j=i+1; j < NUM; j++) { - dReal *bounds1 = &bounds[i][0]; - dReal *bounds2 = &bounds[j][0]; - 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]) continue; - good_matrix[i][j] = 1; - good_matrix[j][i] = 1; - hits[i]++; - hits[j]++; - } - } -} - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - size_t i,j; - i = (size_t) dGeomGetData (o1); - j = (size_t) dGeomGetData (o2); - if (i==j) - printf ("collision (%d,%d) is between the same object\n",(int)i,(int)j); - if (!good_matrix[i][j] || !good_matrix[j][i]) - printf ("collision (%d,%d) is incorrect\n",(int)i,(int)j); - if (test_matrix[i][j] || test_matrix[j][i]) - printf ("collision (%d,%d) reported more than once\n",(int)i,(int)j); - test_matrix[i][j] = 1; - test_matrix[j][i] = 1; -} - - -// start simulation - set viewpoint - -static void start() -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; - static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; - dsSetViewpoint (xyz,hpr); -} - - -static void command (int cmd) -{ - if (cmd == ' ') { - seed++; - init_test(); - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - int i,j; - - for (i=0; i < NUM; i++) { - for (j=0; j < NUM; j++) test_matrix[i][j] = 0; - } - dSpaceCollide (space,0,&nearCallback); - for (i=0; i < NUM; i++) { - for (j=i+1; j < NUM; j++) { - if (good_matrix[i][j] && !test_matrix[i][j]) { - printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed); - } - } - } - - seed++; - init_test(); - - for (i=0; i 0) dsSetColor (1,0,0); - else dsSetColor (1,1,0); - dsDrawBox (pos,R,side); - } -} - - -int main (int argc, char **argv) -{ - int i; - - // setup pointers to drawstuff callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = &command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - if(argc==2) - { - fn.path_to_textures = argv[1]; - } - - dInitODE2(0); - - // test the simple space: - // space = dSimpleSpaceCreate(); - - // test the hash space: - // space = dHashSpaceCreate (0); - // dHashSpaceSetLevels (space,-10,10); - - // test the quadtree space - dVector3 Center = {0, 0, 0, 0}; - dVector3 Extents = {10, 0, 10, 0}; - space = dQuadTreeSpaceCreate(0, Center, Extents, 7); - - for (i=0; i < NUM; i++) geom[i] = 0; - init_test(); - - // run simulation - dsSimulationLoop (argc,argv,352,288,&fn); - - dSpaceDestroy (space); - dCloseODE(); - return 0; -} diff --git a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_space_stress.cpp b/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_space_stress.cpp deleted file mode 100644 index 65a044b2..00000000 --- a/trunk/unmanaged/OpenDynamicsEngine-0.10.1/ode/demo/demo_space_stress.cpp +++ /dev/null @@ -1,438 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define NUM 10000 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 4 // maximum number of contact points per body -#define WORLD_SIZE 100 - - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? -static int draw_geom = 1; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - int i,j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' - /* || cmd == 'l' */) { - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()+1); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*)(size_t)i); - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } -/* - // cylinder option not yet implemented - else if (cmd == 'l') { - sides[1] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } -*/ - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'x') { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == 'o') { - draw_geom ^= 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - if (!draw_geom){ - return; - } - - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } -/* - // cylinder option not yet implemented - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } -*/ - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - //if (!pause) dWorldStep (world,0.05); - //if (!pause) dWorldStepFast (world,0.05, 1); - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (int i=0; i -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#endif - - -// some constants - -#define NUM 10 // number of bodies -#define NUMJ 9 // number of joints -#define SIDE (0.2) // side length of a box -#define MASS (1.0) // mass of a box -#define RADIUS (0.1732f) // sphere radius - - - -// dynamics and collision objects - -static dWorldID world=0; -static dBodyID body[NUM]; -static dJointID joint[NUMJ]; - - -// create the test system - -void createTest() -{ - int i,j; - if (world) dWorldDestroy (world); - - world = dWorldCreate(); - - // create random bodies - for (i=0; i -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawLine dsDrawLineD -#define dsDrawTriangle dsDrawTriangleD -#endif - - -// some constants - -#define NUM 200 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 40 // maximum number of contact points per body - - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? - -#define VertexCount 5 -#define IndexCount 12 - -static dVector3 Size; -static float Vertices[VertexCount][3]; -static dTriIndex Indices[IndexCount]; - -static dGeomID TriMesh; -static dGeomID Ray; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - int i,j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' - /* || cmd == 'l' */) { - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*)(size_t)i); - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } -/* - // cylinder option not yet implemented - else if (cmd == 'l') { - sides[1] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } -*/ - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'x') { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } -/* - // cylinder option not yet implemented - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } -*/ - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - if (!pause) dWorldStep (world,0.05); - //if (!pause) dWorldStepFast (world,0.05, 1); - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (int i=0; i