/*************************************************************************

 *                                                                       *

 * 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"

// flat cylinder public API

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

dxGeom (space,1)

{

	type = dCylinderClass;

	radius = _radius;

	lz = _length;

}

void dxCylinder::computeAABB()

{

    const dMatrix3& R = final_posr->R;

    const dVector3& pos = final_posr->pos;

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

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

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

	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 dCreateCylinder (dSpaceID space, dReal radius, dReal length)

{

	return new dxCylinder (space,radius,length);

}

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

{

	dxCylinder *c = (dxCylinder*) cylinder;

	c->radius = radius;

	c->lz = length;

	dGeomMoved (cylinder);

}

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

{

	dxCylinder *c = (dxCylinder*) cylinder;

	*radius = c->radius;

	*length = c->lz;

}