--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/inc/collision_space_internal.h	Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,81 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+stuff common to all spaces
+
+*/
+
+#ifndef _ODE_COLLISION_SPACE_INTERNAL_H_
+#define _ODE_COLLISION_SPACE_INTERNAL_H_
+
+#define ALLOCA(x) dALLOCA16(x)
+
+
+
+
+// collide two geoms together. for the hash table space, this is
+// called if the two AABBs inhabit the same hash table cells.
+// this only calls the callback function if the AABBs actually
+// intersect. if a geom has an AABB test function, that is called to
+// provide a further refinement of the intersection.
+//
+// NOTE: this assumes that the geom AABBs are valid on entry
+// and that both geoms are enabled.
+
+static void collideAABBs (dxGeom *g1, dxGeom *g2,
+			  void *data, dNearCallback *callback)
+{
+
+
+  // no contacts if both geoms on the same body, and the body is not 0
+  if (g1->body == g2->body && g1->body) return;
+
+  // test if the category and collide bitfields match
+  if ( ((g1->category_bits & g2->collide_bits) ||
+	(g2->category_bits & g1->collide_bits)) == 0) {
+    return;
+  }
+
+  // if the bounding boxes are disjoint then don't do anything
+  dReal *bounds1 = g1->aabb;
+  dReal *bounds2 = g2->aabb;
+  if (bounds1[0] > bounds2[1] ||
+      bounds1[1] < bounds2[0] ||
+      bounds1[2] > bounds2[3] ||
+      bounds1[3] < bounds2[2] ||
+      bounds1[4] > bounds2[5] ||
+      bounds1[5] < bounds2[4]) {
+    return;
+  }
+
+  // check if either object is able to prove that it doesn't intersect the
+  // AABB of the other
+  if (g1->AABBTest (g2,bounds2) == 0) return;
+  if (g2->AABBTest (g1,bounds1) == 0) return;
+
+  // the objects might actually intersect - call the space callback function
+  callback (data,g1,g2);
+}
+
+#endif