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 "collision_kernel.h"

    38 #include "collision_std.h"

    39 #include "collision_util.h"

    40 

    41 // flat cylinder public API

    42 

    43 dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :

    44 dxGeom (space,1)

    45 {

    46 

    47 	type = dCylinderClass;

    48 	radius = _radius;

    49 	lz = _length;

    50 }

    51 

    52 

    53 void dxCylinder::computeAABB()

    54 {

    55     const dMatrix3& R = final_posr->R;

    56     const dVector3& pos = final_posr->pos;

    57 

    58 	dReal xrange = dFabs (dMUL(R[0],radius)) +	 dFabs (dMUL(R[1],radius)) + dMUL(REAL(0.5),dFabs (dMUL(R[2],lz)));

    59 	dReal yrange = dFabs (dMUL(R[4],radius)) +   dFabs (dMUL(R[5],radius)) + dMUL(REAL(0.5),dFabs (dMUL(R[6],lz)));

    60 	dReal zrange = dFabs (dMUL(R[8],radius)) +	 dFabs (dMUL(R[9],radius)) + dMUL(REAL(0.5),dFabs (dMUL(R[10],lz)));

    61 	aabb[0] = pos[0] - xrange;

    62 	aabb[1] = pos[0] + xrange;

    63 	aabb[2] = pos[1] - yrange;

    64 	aabb[3] = pos[1] + yrange;

    65 	aabb[4] = pos[2] - zrange;

    66 	aabb[5] = pos[2] + zrange;

    67 }

    68 

    69 

    70 EXPORT_C dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)

    71 {

    72 	return new dxCylinder (space,radius,length);

    73 }

    74 

    75 EXPORT_C void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)

    76 {

    77 

    78 	dxCylinder *c = (dxCylinder*) cylinder;

    79 	c->radius = radius;

    80 	c->lz = length;

    81 	dGeomMoved (cylinder);

    82 }

    83 

    84 EXPORT_C void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)

    85 {

    86 

    87 	dxCylinder *c = (dxCylinder*) cylinder;

    88 	*radius = c->radius;

    89 	*length = c->lz;

    90 }

    91 

    92