--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/src/plane.cpp	Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,138 @@
+/*************************************************************************
+ *                                                                       *
+ * 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"
+
+//****************************************************************************
+// plane public API
+
+static void make_sure_plane_normal_has_unit_length (dxPlane *g)
+{
+  dReal l = dMUL(g->p[0],g->p[0]) + dMUL(g->p[1],g->p[1]) + dMUL(g->p[2],g->p[2]);
+  if (l > 0) {
+    l = dRecipSqrt(l);
+    g->p[0] = dMUL(g->p[0],l);
+    g->p[1] = dMUL(g->p[1],l);
+    g->p[2] = dMUL(g->p[2],l);
+    g->p[3] = dMUL(g->p[3],l);
+  }
+  else {
+    g->p[0] = REAL(1.0);
+    g->p[1] = 0;
+    g->p[2] = 0;
+    g->p[3] = 0;
+  }
+}
+
+
+dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) :
+  dxGeom (space,0)
+{
+  type = dPlaneClass;
+  p[0] = a;
+  p[1] = b;
+  p[2] = c;
+  p[3] = d;
+  make_sure_plane_normal_has_unit_length (this);
+}
+
+
+void dxPlane::computeAABB()
+{
+	aabb[0] = -dInfinity;
+	aabb[1] = dInfinity;
+	aabb[2] = -dInfinity;
+	aabb[3] = dInfinity;
+	aabb[4] = -dInfinity;
+	aabb[5] = dInfinity;
+
+	// Planes that have normal vectors aligned along an axis can use a
+	// less comprehensive (half space) bounding box.
+
+	if ( p[1] == REAL(0.0f) && p[2] == REAL(0.0f) ) {
+		// normal aligned with x-axis
+		aabb[0] = (p[0] > 0) ? -dInfinity : -p[3];
+		aabb[1] = (p[0] > 0) ? p[3] : dInfinity;
+	} else
+	if ( p[0] == REAL(0.0f) && p[2] == REAL(0.0f) ) {
+		// normal aligned with y-axis
+		aabb[2] = (p[1] > 0) ? -dInfinity : -p[3];
+		aabb[3] = (p[1] > 0) ? p[3] : dInfinity;
+	} else
+	if ( p[0] == REAL(0.0f) && p[1] == REAL(0.0f) ) {
+		// normal aligned with z-axis
+		aabb[4] = (p[2] > 0) ? -dInfinity : -p[3];
+		aabb[5] = (p[2] > 0) ? p[3] : dInfinity;
+	}
+}
+
+
+EXPORT_C dGeomID dCreatePlane (dSpaceID space,
+		      dReal a, dReal b, dReal c, dReal d)
+{
+  return new dxPlane (space,a,b,c,d);
+}
+
+
+EXPORT_C void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
+{
+  dxPlane *p = (dxPlane*) g;
+  p->p[0] = a;
+  p->p[1] = b;
+  p->p[2] = c;
+  p->p[3] = d;
+  make_sure_plane_normal_has_unit_length (p);
+  dGeomMoved (g);
+}
+
+
+EXPORT_C void dGeomPlaneGetParams (dGeomID g, dVector4 result)
+{
+  dxPlane *p = (dxPlane*) g;
+  result[0] = p->p[0];
+  result[1] = p->p[1];
+  result[2] = p->p[2];
+  result[3] = p->p[3];
+}
+
+
+EXPORT_C dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  dxPlane *p = (dxPlane*) g;
+  return p->p[3] - dMUL(p->p[0],x) - dMUL(p->p[1],y) - dMUL(p->p[2],z);
+}