1 /*************************************************************************
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
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 *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
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. *
21 *************************************************************************/
23 /* miscellaneous math functions. these are mostly useful for testing */
28 #include <ode/common.h>
36 /* return 1 if the random number generator is working. */
37 ODE_API int dTestRand(void);
39 /* return next 32 bit random number. this uses a not-very-random linear
40 * congruential method.
42 ODE_API unsigned long dRand(void);
44 /* get and set the current random number seed. */
45 ODE_API unsigned long dRandGetSeed(void);
46 ODE_API void dRandSetSeed (unsigned long s);
48 /* return a random integer between 0..n-1. the distribution will get worse
49 * as n approaches 2^32.
51 ODE_API int dRandInt (int n);
53 /* return a random real number between 0..1 */
54 ODE_API dReal dRandReal(void);
56 /* print out a matrix */
58 ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
61 ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
64 /* make a random vector with entries between +/- range. A has n elements. */
65 ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
67 /* make a random matrix with entries between +/- range. A has size n*m. */
68 ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
70 /* clear the upper triangle of a square matrix */
71 ODE_API void dClearUpperTriangle (dReal *A, int n);
73 /* return the maximum element difference between the two n*m matrices */
74 ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
76 /* return the maximum element difference between the lower triangle of two
78 ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);