101 lines
3.5 KiB
C++
101 lines
3.5 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/*
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standard ODE geometry primitives: public API and pairwise collision functions.
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the rule is that only the low level primitive collision functions should set
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dContactGeom::g1 and dContactGeom::g2.
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*/
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#include <ode/common.h>
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#include <ode/collision.h>
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#include <ode/matrix.h>
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#include <ode/rotation.h>
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#include <ode/odemath.h>
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#include "collision_kernel.h"
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#include "collision_std.h"
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#include "collision_util.h"
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#ifdef _MSC_VER
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#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
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#endif
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// flat cylinder public API
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dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
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dxGeom (space,1)
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{
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dAASSERT (_radius > 0 && _length > 0);
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type = dCylinderClass;
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radius = _radius;
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lz = _length;
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}
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void dxCylinder::computeAABB()
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{
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const dMatrix3& R = final_posr->R;
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const dVector3& pos = final_posr->pos;
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dReal xrange = dFabs (R[0] * radius) + dFabs (R[1] * radius) + REAL(0.5)* dFabs (R[2] *
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lz);
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dReal yrange = dFabs (R[4] * radius) + dFabs (R[5] * radius) + REAL(0.5)* dFabs (R[6] *
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lz);
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dReal zrange = dFabs (R[8] * radius) + dFabs (R[9] * radius) + REAL(0.5)* dFabs (R[10] *
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lz);
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aabb[0] = pos[0] - xrange;
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aabb[1] = pos[0] + xrange;
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aabb[2] = pos[1] - yrange;
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aabb[3] = pos[1] + yrange;
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aabb[4] = pos[2] - zrange;
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aabb[5] = pos[2] + zrange;
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}
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dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
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{
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return new dxCylinder (space,radius,length);
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}
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void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
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{
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dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
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dAASSERT (radius > 0 && length > 0);
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dxCylinder *c = (dxCylinder*) cylinder;
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c->radius = radius;
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c->lz = length;
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dGeomMoved (cylinder);
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}
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void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
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{
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dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
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dxCylinder *c = (dxCylinder*) cylinder;
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*radius = c->radius;
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*length = c->lz;
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}
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