1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | /* |
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24 | |
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25 | standard ODE geometry primitives: public API and pairwise collision functions. |
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26 | |
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27 | the rule is that only the low level primitive collision functions should set |
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28 | dContactGeom::g1 and dContactGeom::g2. |
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29 | |
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30 | */ |
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31 | |
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32 | #include <ode/common.h> |
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33 | #include <ode/collision.h> |
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34 | #include <ode/matrix.h> |
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35 | #include <ode/rotation.h> |
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36 | #include <ode/odemath.h> |
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37 | #include "collision_kernel.h" |
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38 | #include "collision_std.h" |
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39 | #include "collision_util.h" |
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40 | |
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41 | #ifdef _MSC_VER |
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42 | #pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" |
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43 | #endif |
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44 | |
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45 | // flat cylinder public API |
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46 | |
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47 | dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) : |
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48 | dxGeom (space,1) |
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49 | { |
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50 | dAASSERT (_radius > 0 && _length > 0); |
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51 | type = dCylinderClass; |
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52 | radius = _radius; |
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53 | lz = _length; |
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54 | } |
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55 | |
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56 | |
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57 | void dxCylinder::computeAABB() |
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58 | { |
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59 | const dMatrix3& R = final_posr->R; |
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60 | const dVector3& pos = final_posr->pos; |
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61 | |
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62 | dReal xrange = dFabs (R[0] * radius) + dFabs (R[1] * radius) + REAL(0.5)* dFabs (R[2] * |
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63 | lz); |
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64 | dReal yrange = dFabs (R[4] * radius) + dFabs (R[5] * radius) + REAL(0.5)* dFabs (R[6] * |
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65 | lz); |
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66 | dReal zrange = dFabs (R[8] * radius) + dFabs (R[9] * radius) + REAL(0.5)* dFabs (R[10] * |
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67 | lz); |
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68 | aabb[0] = pos[0] - xrange; |
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69 | aabb[1] = pos[0] + xrange; |
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70 | aabb[2] = pos[1] - yrange; |
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71 | aabb[3] = pos[1] + yrange; |
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72 | aabb[4] = pos[2] - zrange; |
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73 | aabb[5] = pos[2] + zrange; |
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74 | } |
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75 | |
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76 | |
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77 | dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length) |
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78 | { |
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79 | return new dxCylinder (space,radius,length); |
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80 | } |
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81 | |
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82 | void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length) |
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83 | { |
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84 | dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder"); |
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85 | dAASSERT (radius > 0 && length > 0); |
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86 | dxCylinder *c = (dxCylinder*) cylinder; |
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87 | c->radius = radius; |
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88 | c->lz = length; |
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89 | dGeomMoved (cylinder); |
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90 | } |
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91 | |
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92 | void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length) |
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93 | { |
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94 | dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder"); |
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95 | dxCylinder *c = (dxCylinder*) cylinder; |
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96 | *radius = c->radius; |
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97 | *length = c->lz; |
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98 | } |
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99 | |
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100 | |
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