ode/src/cylinder.cpp

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 /*
  24
  25 standard ODE geometry primitives: public API and pairwise collision functions.
  26
  27 the rule is that only the low level primitive collision functions should set
  28 dContactGeom::g1 and dContactGeom::g2.
  29
  30 */
  31
  32 #include <ode/common.h>
  33 #include <ode/collision.h>
  34 #include <ode/matrix.h>
  35 #include <ode/rotation.h>
  36 #include <ode/odemath.h>
  37 #include "config.h"
  38 #include "collision_kernel.h"
  39 #include "collision_std.h"
  40 #include "collision_util.h"
  41
  42 #ifdef _MSC_VER
  43 #pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
  44 #endif
  45
  46 // flat cylinder public API
  47
  48 dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
  49 dxGeom (space,1)
  50 {
  51         dAASSERT (_radius >= 0 && _length >= 0);
  52         type = dCylinderClass;
  53         radius = _radius;
  54         lz = _length;
  55         updateZeroSizedFlag(!_radius || !_length);
  56 }
  57
  58
  59 void dxCylinder::computeAABB()
  60 {
  61     const dMatrix3& R = final_posr->R;
  62     const dVector3& pos = final_posr->pos;
  63
  64         dReal xrange = dFabs (R[0] * radius) +   dFabs (R[1] * radius) + REAL(0.5)* dFabs (R[2] *
  65                 lz);
  66         dReal yrange = dFabs (R[4] * radius) +   dFabs (R[5] * radius) + REAL(0.5)* dFabs (R[6] *
  67                 lz);
  68         dReal zrange = dFabs (R[8] * radius) +   dFabs (R[9] * radius) + REAL(0.5)* dFabs (R[10] *
  69                 lz);
  70         aabb[0] = pos[0] - xrange;
  71         aabb[1] = pos[0] + xrange;
  72         aabb[2] = pos[1] - yrange;
  73         aabb[3] = pos[1] + yrange;
  74         aabb[4] = pos[2] - zrange;
  75         aabb[5] = pos[2] + zrange;
  76 }
  77
  78
  79 dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
  80 {
  81         return new dxCylinder (space,radius,length);
  82 }
  83
  84 void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
  85 {
  86         dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
  87         dAASSERT (radius >= 0 && length >= 0);
  88         dxCylinder *c = (dxCylinder*) cylinder;
  89         c->radius = radius;
  90         c->lz = length;
  91         c->updateZeroSizedFlag(!radius || !length);
  92         dGeomMoved (cylinder);
  93 }
  94
  95 void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
  96 {
  97         dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
  98         dxCylinder *c = (dxCylinder*) cylinder;
  99         *radius = c->radius;
 100         *length = c->lz;
 101 }
 102
 103