diff -r 000000000000 -r 2f259fa3e83a ode/src/capsule.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/src/capsule.cpp	Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,340 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+standard ODE geometry primitives: public API and pairwise collision functions.
+
+the rule is that only the low level primitive collision functions should set
+dContactGeom::g1 and dContactGeom::g2.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include "collision_kernel.h"
+#include "collision_std.h"
+#include "collision_util.h"
+
+//****************************************************************************
+// capped cylinder public API
+
+dxCapsule::dxCapsule (dSpaceID space, dReal _radius, dReal _length) :
+  dxGeom (space,1)
+{
+  type = dCapsuleClass;
+  radius = _radius;
+  lz = _length;
+}
+
+
+void dxCapsule::computeAABB()
+{
+  const dMatrix3& R = final_posr->R;
+  const dVector3& pos = final_posr->pos;
+  
+  dReal xrange = dMUL(dFabs(dMUL(R[2],lz)),REAL(0.5)) + radius;
+  dReal yrange = dMUL(dFabs(dMUL(R[6],lz)),REAL(0.5)) + radius;
+  dReal zrange = dMUL(dFabs(dMUL(R[10],lz)),REAL(0.5)) + 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;
+}
+
+
+EXPORT_C dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length)
+{
+  return new dxCapsule (space,radius,length);
+}
+
+
+EXPORT_C void dGeomCapsuleSetParams (dGeomID g, dReal radius, dReal length)
+{
+  dxCapsule *c = (dxCapsule*) g;
+  c->radius = radius;
+  c->lz = length;
+  dGeomMoved (g);
+}
+
+
+EXPORT_C void dGeomCapsuleGetParams (dGeomID g, dReal *radius, dReal *length)
+{
+  dxCapsule *c = (dxCapsule*) g;
+  *radius = c->radius;
+  *length = c->lz;
+}
+
+
+EXPORT_C dReal dGeomCapsulePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  g->recomputePosr();
+  dxCapsule *c = (dxCapsule*) g;
+
+  const dReal* R = g->final_posr->R;
+  const dReal* pos = g->final_posr->pos;
+  
+  dVector3 a;
+  a[0] = x - pos[0];
+  a[1] = y - pos[1];
+  a[2] = z - pos[2];
+  dReal beta = dDOT14(a,R+2);
+  dReal lz2 = dMUL(c->lz,REAL(0.5));
+  if (beta < -lz2) beta = -lz2;
+  else if (beta > lz2) beta = lz2;
+  a[0] = c->final_posr->pos[0] + dMUL(beta,R[0*4+2]);
+  a[1] = c->final_posr->pos[1] + dMUL(beta,R[1*4+2]);
+  a[2] = c->final_posr->pos[2] + dMUL(beta,R[2*4+2]);
+  return c->radius -
+    dSqrt (dMUL((x-a[0]),(x-a[0])) + dMUL((y-a[1]),(y-a[1])) + dMUL((z-a[2]),(z-a[2])));
+}
+
+
+
+int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int /*flags*/,
+			     dContactGeom *contact, int /*skip*/)
+{
+  dxCapsule *ccyl = (dxCapsule*) o1;
+  dxSphere *sphere = (dxSphere*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  // find the point on the cylinder axis that is closest to the sphere
+  dReal alpha = 
+    dMUL(o1->final_posr->R[2],(o2->final_posr->pos[0] - o1->final_posr->pos[0])) +
+    dMUL(o1->final_posr->R[6],(o2->final_posr->pos[1] - o1->final_posr->pos[1])) +
+    dMUL(o1->final_posr->R[10],(o2->final_posr->pos[2] - o1->final_posr->pos[2]));
+  dReal lz2 = dMUL(ccyl->lz,REAL(0.5));
+  if (alpha > lz2) alpha = lz2;
+  if (alpha < -lz2) alpha = -lz2;
+
+  // collide the spheres
+  dVector3 p;
+  p[0] = o1->final_posr->pos[0] + dMUL(alpha,o1->final_posr->R[2]);
+  p[1] = o1->final_posr->pos[1] + dMUL(alpha,o1->final_posr->R[6]);
+  p[2] = o1->final_posr->pos[2] + dMUL(alpha,o1->final_posr->R[10]);
+  return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact);
+}
+
+
+int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int /*flags*/,
+			  dContactGeom *contact, int /*skip*/)
+{
+  dxCapsule *cyl = (dxCapsule*) o1;
+  dxBox *box = (dxBox*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  // get p1,p2 = cylinder axis endpoints, get radius
+  dVector3 p1,p2;
+  dReal clen = dMUL(cyl->lz,REAL(0.5));
+  p1[0] = o1->final_posr->pos[0] + dMUL(clen,o1->final_posr->R[2]);
+  p1[1] = o1->final_posr->pos[1] + dMUL(clen,o1->final_posr->R[6]);
+  p1[2] = o1->final_posr->pos[2] + dMUL(clen,o1->final_posr->R[10]);
+  p2[0] = o1->final_posr->pos[0] - dMUL(clen,o1->final_posr->R[2]);
+  p2[1] = o1->final_posr->pos[1] - dMUL(clen,o1->final_posr->R[6]);
+  p2[2] = o1->final_posr->pos[2] - dMUL(clen,o1->final_posr->R[10]);
+  dReal radius = cyl->radius;
+
+  // copy out box center, rotation matrix, and side array
+  dReal *c = o2->final_posr->pos;
+  dReal *R = o2->final_posr->R;
+  const dReal *side = box->side;
+
+  // get the closest point between the cylinder axis and the box
+  dVector3 pl,pb;
+  dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
+
+  // generate contact point
+  return dCollideSpheres (pl,radius,pb,0,contact);
+}
+
+
+int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
+				int flags, dContactGeom *contact, int skip)
+{
+  int i;
+  const dReal tolerance = REAL(2e-5);
+
+  dxCapsule *cyl1 = (dxCapsule*) o1;
+  dxCapsule *cyl2 = (dxCapsule*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  // copy out some variables, for convenience
+  dReal lz1 = dMUL(cyl1->lz,REAL(0.5));
+  dReal lz2 = dMUL(cyl2->lz,REAL(0.5));
+  dReal *pos1 = o1->final_posr->pos;
+  dReal *pos2 = o2->final_posr->pos;
+  dReal axis1[3],axis2[3];
+  axis1[0] = o1->final_posr->R[2];
+  axis1[1] = o1->final_posr->R[6];
+  axis1[2] = o1->final_posr->R[10];
+  axis2[0] = o2->final_posr->R[2];
+  axis2[1] = o2->final_posr->R[6];
+  axis2[2] = o2->final_posr->R[10];
+
+  // if the cylinder axes are close to parallel, we'll try to detect up to
+  // two contact points along the body of the cylinder. if we can't find any
+  // points then we'll fall back to the closest-points algorithm. note that
+  // we are not treating this special case for reasons of degeneracy, but
+  // because we want two contact points in some situations. the closet-points
+  // algorithm is robust in all casts, but it can return only one contact.
+
+  dVector3 sphere1,sphere2;
+  dReal a1a2 = dDOT (axis1,axis2);
+  dReal det = REAL(1.0)-dMUL(a1a2,a1a2);
+  if (det < tolerance) {
+    // the cylinder axes (almost) parallel, so we will generate up to two
+    // contacts. alpha1 and alpha2 (line position parameters) are related by:
+    //       alpha2 =   alpha1 + (pos1-pos2)'*axis1   (if axis1==axis2)
+    //    or alpha2 = -(alpha1 + (pos1-pos2)'*axis1)  (if axis1==-axis2)
+    // first compute where the two cylinders overlap in alpha1 space:
+    if (a1a2 < 0) {
+      axis2[0] = -axis2[0];
+      axis2[1] = -axis2[1];
+      axis2[2] = -axis2[2];
+    }
+    dReal q[3];
+    for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
+    dReal k = dDOT (axis1,q);
+    dReal a1lo = -lz1;
+    dReal a1hi = lz1;
+    dReal a2lo = -lz2 - k;
+    dReal a2hi = lz2 - k;
+    dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
+    dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
+    if (lo <= hi) {
+      int num_contacts = flags & NUMC_MASK;
+      if (num_contacts >= 2 && lo < hi) {
+	// generate up to two contacts. if one of those contacts is
+	// not made, fall back on the one-contact strategy.
+	for (i=0; i<3; i++) sphere1[i] = pos1[i] + dMUL(lo,axis1[i]);
+	for (i=0; i<3; i++) sphere2[i] = pos2[i] + dMUL((lo+k),axis2[i]);
+	int n1 = dCollideSpheres (sphere1,cyl1->radius,
+				  sphere2,cyl2->radius,contact);
+	if (n1) {
+	  for (i=0; i<3; i++) sphere1[i] = pos1[i] + dMUL(hi,axis1[i]);
+	  for (i=0; i<3; i++) sphere2[i] = pos2[i] + dMUL((hi+k),axis2[i]);
+	  dContactGeom *c2 = CONTACT(contact,skip);
+	  int n2 = dCollideSpheres (sphere1,cyl1->radius,
+				    sphere2,cyl2->radius, c2);
+	  if (n2) {
+	    c2->g1 = o1;
+	    c2->g2 = o2;
+	    return 2;
+	  }
+	}
+      }
+
+      // just one contact to generate, so put it in the middle of
+      // the range
+      dReal alpha1 = dMUL((lo + hi),REAL(0.5));
+      dReal alpha2 = alpha1 + k;
+      for (i=0; i<3; i++) sphere1[i] = pos1[i] + dMUL(alpha1,axis1[i]);
+      for (i=0; i<3; i++) sphere2[i] = pos2[i] + dMUL(alpha2,axis2[i]);
+      return dCollideSpheres (sphere1,cyl1->radius,
+			      sphere2,cyl2->radius,contact);
+    }
+  }
+	  
+  // use the closest point algorithm
+  dVector3 a1,a2,b1,b2;
+  a1[0] = o1->final_posr->pos[0] + dMUL(axis1[0],lz1);
+  a1[1] = o1->final_posr->pos[1] + dMUL(axis1[1],lz1);
+  a1[2] = o1->final_posr->pos[2] + dMUL(axis1[2],lz1);
+  a2[0] = o1->final_posr->pos[0] - dMUL(axis1[0],lz1);
+  a2[1] = o1->final_posr->pos[1] - dMUL(axis1[1],lz1);
+  a2[2] = o1->final_posr->pos[2] - dMUL(axis1[2],lz1);
+  b1[0] = o2->final_posr->pos[0] + dMUL(axis2[0],lz2);
+  b1[1] = o2->final_posr->pos[1] + dMUL(axis2[1],lz2);
+  b1[2] = o2->final_posr->pos[2] + dMUL(axis2[2],lz2);
+  b2[0] = o2->final_posr->pos[0] - dMUL(axis2[0],lz2);
+  b2[1] = o2->final_posr->pos[1] - dMUL(axis2[1],lz2);
+  b2[2] = o2->final_posr->pos[2] - dMUL(axis2[2],lz2);
+
+  dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2);
+  return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
+}
+
+
+int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
+			    dContactGeom *contact, int skip)
+{
+  dxCapsule *ccyl = (dxCapsule*) o1;
+  dxPlane *plane = (dxPlane*) o2;
+
+  // collide the deepest capping sphere with the plane
+  dReal sign = (dDOT14 (plane->p,o1->final_posr->R+2) > 0) ? REAL(-1.0) : REAL(1.0);
+  dVector3 p;
+  p[0] = o1->final_posr->pos[0] + dMUL(o1->final_posr->R[2],dMUL(ccyl->lz,dMUL(REAL(0.5),sign)));
+  p[1] = o1->final_posr->pos[1] + dMUL(o1->final_posr->R[6],dMUL(ccyl->lz,dMUL(REAL(0.5),sign)));
+  p[2] = o1->final_posr->pos[2] + dMUL(o1->final_posr->R[10],dMUL(ccyl->lz,dMUL(REAL(0.5),sign)));
+
+  dReal k = dDOT (p,plane->p);
+  dReal depth = plane->p[3] - k + ccyl->radius;
+  if (depth < 0) return 0;
+  contact->normal[0] = plane->p[0];
+  contact->normal[1] = plane->p[1];
+  contact->normal[2] = plane->p[2];
+  contact->pos[0] = p[0] - dMUL(plane->p[0],ccyl->radius);
+  contact->pos[1] = p[1] - dMUL(plane->p[1],ccyl->radius);
+  contact->pos[2] = p[2] - dMUL(plane->p[2],ccyl->radius);
+  contact->depth = depth;
+
+  int ncontacts = 1;
+  if ((flags & NUMC_MASK) >= 2) {
+    // collide the other capping sphere with the plane
+    p[0] = o1->final_posr->pos[0] - dMUL(o1->final_posr->R[2],dMUL(ccyl->lz,dMUL(REAL(0.5),sign)));
+    p[1] = o1->final_posr->pos[1] - dMUL(o1->final_posr->R[6],dMUL(ccyl->lz,dMUL(REAL(0.5),sign)));
+    p[2] = o1->final_posr->pos[2] - dMUL(o1->final_posr->R[10],dMUL(ccyl->lz,dMUL(REAL(0.5),sign)));
+
+    k = dDOT (p,plane->p);
+    depth = plane->p[3] - k + ccyl->radius;
+    if (depth >= 0) {
+      dContactGeom *c2 = CONTACT(contact,skip);
+      c2->normal[0] = plane->p[0];
+      c2->normal[1] = plane->p[1];
+      c2->normal[2] = plane->p[2];
+      c2->pos[0] = p[0] - dMUL(plane->p[0],ccyl->radius);
+      c2->pos[1] = p[1] - dMUL(plane->p[1],ccyl->radius);
+      c2->pos[2] = p[2] - dMUL(plane->p[2],ccyl->radius);
+      c2->depth = depth;
+      ncontacts = 2;
+    }
+  }
+
+  for (int i=0; i < ncontacts; i++) {
+    CONTACT(contact,i*skip)->g1 = o1;
+    CONTACT(contact,i*skip)->g2 = o2;
+  }
+  return ncontacts;
+}
+