--- /dev/null
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 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. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_COMMON_H_
+#define _ODE_COMMON_H_
+#include <ode/odeconfig.h>
+#include <ode/error.h>
+#include <math.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#define PURE_INLINE static __inline
+
+
+/* configuration stuff */
+
+/* constants */
+
+/* pi and 1/sqrt(2) are defined here if necessary because they don't get
+ * defined in <math.h> on some platforms (like MS-Windows)
+ */
+
+#ifndef M_PI
+#define M_PI REAL(3.1415926535897932384626433832795029)
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
+#endif
+
+
+/* debugging:
+ * IASSERT is an internal assertion, i.e. a consistency check. if it fails
+ * we want to know where.
+ * UASSERT is a user assertion, i.e. if it fails a nice error message
+ * should be printed for the user.
+ * AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"
+ * is printed.
+ * DEBUGMSG just prints out a message
+ */
+
+# if defined(__STDC__) && __STDC_VERSION__ >= 199901L
+# define __FUNCTION__ __func__
+# endif
+#ifndef dNODEBUG
+# ifdef __GNUC__
+# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); } }
+# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
+ msg " in %s()", __FUNCTION__); } }
+# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
+ msg " in %s() [%s:%u]", __FUNCTION__,__FILE__,__LINE__); }
+# else // not __GNUC__
+# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); } }
+# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
+ msg " (%s:%u)", __FILE__,__LINE__); } }
+# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
+ msg " (%s:%u)", __FILE__,__LINE__); }
+# endif
+# define dIVERIFY(a) dIASSERT(a)
+#else
+# define dIASSERT(a) ((void)0)
+# define dUASSERT(a,msg) ((void)0)
+# define dDEBUGMSG(msg) ((void)0)
+# define dIVERIFY(a) ((void)(a))
+#endif
+
+# ifdef __GNUC__
+# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); *(int *)0 = 0; } }
+# else // not __GNUC__
+# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); *(int *)0 = 0; } }
+# endif
+
+// Argument assert is a special case of user assert
+#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
+
+/* floating point data type, vector, matrix and quaternion types */
+
+#if defined(dSINGLE)
+typedef float dReal;
+#ifdef dDOUBLE
+#error You can only #define dSINGLE or dDOUBLE, not both.
+#endif // dDOUBLE
+#elif defined(dDOUBLE)
+typedef double dReal;
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+// Detect if we've got both trimesh engines enabled.
+#if dTRIMESH_ENABLED
+#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
+#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
+#endif
+#endif // dTRIMESH_ENABLED
+
+// Define a type for indices, either 16 or 32 bit, based on build option
+// TODO: Currently GIMPACT only supports 32 bit indices.
+#if dTRIMESH_16BIT_INDICES
+#if dTRIMESH_GIMPACT
+typedef uint32 dTriIndex;
+#else // dTRIMESH_GIMPACT
+typedef uint16 dTriIndex;
+#endif // dTRIMESH_GIMPACT
+#else // dTRIMESH_16BIT_INDICES
+typedef uint32 dTriIndex;
+#endif // dTRIMESH_16BIT_INDICES
+
+/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
+ * (used to compute matrix leading dimensions)
+ */
+#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
+
+/* these types are mainly just used in headers */
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+
+/* precision dependent scalar math functions */
+
+#if defined(dSINGLE)
+
+#define REAL(x) (x ## f) /* form a constant */
+#define dRecip(x) ((1.0f/(x))) /* reciprocal */
+#define dSqrt(x) (sqrtf(x)) /* square root */
+#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */
+#define dSin(x) (sinf(x)) /* sine */
+#define dCos(x) (cosf(x)) /* cosine */
+#define dFabs(x) (fabsf(x)) /* absolute value */
+#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */
+#define dFMod(a,b) (fmodf(a,b)) /* modulo */
+#define dFloor(x) floorf(x) /* floor */
+#define dCeil(x) ceilf(x) /* floor */
+#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
+#define dNextAfter(x, y) nextafterf(x, y) /* next value after */
+
+#if defined(_ODE__NEXTAFTERF_REQUIRED)
+float _nextafterf(float x, float y);
+#endif
+
+#ifdef HAVE___ISNANF
+#define dIsNan(x) (__isnanf(x))
+#elif defined(HAVE__ISNANF)
+#define dIsNan(x) (_isnanf(x))
+#elif defined(HAVE_ISNANF)
+#define dIsNan(x) (isnanf(x))
+#else
+ /*
+ fall back to _isnan which is the VC way,
+ this may seem redundant since we already checked
+ for _isnan before, but if isnan is detected by
+ configure but is not found during compilation
+ we should always make sure we check for __isnanf,
+ _isnanf and isnanf in that order before falling
+ back to a default
+ */
+#define dIsNan(x) (_isnan(x))
+#endif
+
+#elif defined(dDOUBLE)
+
+#define REAL(x) (x)
+#define dRecip(x) (1.0/(x))
+#define dSqrt(x) sqrt(x)
+#define dRecipSqrt(x) (1.0/sqrt(x))
+#define dSin(x) sin(x)
+#define dCos(x) cos(x)
+#define dFabs(x) fabs(x)
+#define dAtan2(y,x) atan2((y),(x))
+#define dFMod(a,b) (fmod((a),(b)))
+#define dFloor(x) floor(x)
+#define dCeil(x) ceil(x)
+#define dCopySign(a,b) (copysign((a),(b)))
+#define dNextAfter(x, y) nextafter(x, y)
+
+#undef _ODE__NEXTAFTERF_REQUIRED
+
+#ifdef HAVE___ISNAN
+#define dIsNan(x) (__isnan(x))
+#elif defined(HAVE__ISNAN)
+#define dIsNan(x) (_isnan(x))
+#elif defined(HAVE_ISNAN)
+#define dIsNan(x) (isnan(x))
+#else
+#define dIsNan(x) (_isnan(x))
+#endif
+
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+/* internal object types (all prefixed with `dx') */
+
+struct dxWorld; /* dynamics world */
+struct dxSpace; /* collision space */
+struct dxBody; /* rigid body (dynamics object) */
+struct dxGeom; /* geometry (collision object) */
+struct dxJoint;
+struct dxJointNode;
+struct dxJointGroup;
+struct dxWorldProcessThreadingManager;
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+typedef struct dxWorldProcessThreadingManager *dWorldStepThreadingManagerID;
+
+/* error numbers */
+
+enum {
+ d_ERR_UNKNOWN = 0, /* unknown error */
+ d_ERR_IASSERT, /* internal assertion failed */
+ d_ERR_UASSERT, /* user assertion failed */
+ d_ERR_LCP /* user assertion failed */
+};
+
+
+/* joint type numbers */
+
+typedef enum {
+ dJointTypeNone = 0, /* or "unknown" */
+ dJointTypeBall,
+ dJointTypeHinge,
+ dJointTypeSlider,
+ dJointTypeContact,
+ dJointTypeUniversal,
+ dJointTypeHinge2,
+ dJointTypeFixed,
+ dJointTypeNull,
+ dJointTypeAMotor,
+ dJointTypeLMotor,
+ dJointTypePlane2D,
+ dJointTypePR,
+ dJointTypePU,
+ dJointTypePiston
+} dJointType;
+
+
+/* an alternative way of setting joint parameters, using joint parameter
+ * structures and member constants. we don't actually do this yet.
+ */
+
+/*
+typedef struct dLimot {
+ int mode;
+ dReal lostop, histop;
+ dReal vel, fmax;
+ dReal fudge_factor;
+ dReal bounce, soft;
+ dReal suspension_erp, suspension_cfm;
+} dLimot;
+
+enum {
+ dLimotLoStop = 0x0001,
+ dLimotHiStop = 0x0002,
+ dLimotVel = 0x0004,
+ dLimotFMax = 0x0008,
+ dLimotFudgeFactor = 0x0010,
+ dLimotBounce = 0x0020,
+ dLimotSoft = 0x0040
+};
+*/
+
+
+/* standard joint parameter names. why are these here? - because we don't want
+ * to include all the joint function definitions in joint.cpp. hmmmm.
+ * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
+ * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
+ * paste between these two.
+ */
+
+#define D_ALL_PARAM_NAMES(start) \
+ /* parameters for limits and motors */ \
+ dParamLoStop = start, \
+ dParamHiStop, \
+ dParamVel, \
+ dParamFMax, \
+ dParamFudgeFactor, \
+ dParamBounce, \
+ dParamCFM, \
+ dParamStopERP, \
+ dParamStopCFM, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP, \
+ dParamSuspensionCFM, \
+ dParamERP, \
+
+ //////////////////////////////////////////////////////////////////////////////
+ /// \enum D_ALL_PARAM_NAMES_X
+ ///
+ /// \var dParamGroup This is the starting value of the different group
+ /// (i.e. dParamGroup1, dParamGroup2, dParamGroup3)
+ /// It also helps in the use of parameter
+ /// (dParamGroup2 | dParamFMax) == dParamFMax2
+ //////////////////////////////////////////////////////////////////////////////
+#define D_ALL_PARAM_NAMES_X(start,x) \
+ dParamGroup ## x = start, \
+ /* parameters for limits and motors */ \
+ dParamLoStop ## x = start, \
+ dParamHiStop ## x, \
+ dParamVel ## x, \
+ dParamFMax ## x, \
+ dParamFudgeFactor ## x, \
+ dParamBounce ## x, \
+ dParamCFM ## x, \
+ dParamStopERP ## x, \
+ dParamStopCFM ## x, \
+ /* parameters for suspension */ \
+ dParamSuspensionERP ## x, \
+ dParamSuspensionCFM ## x, \
+ dParamERP ## x,
+
+enum {
+ D_ALL_PARAM_NAMES(0)
+ dParamsInGroup, ///< Number of parameter in a group
+ D_ALL_PARAM_NAMES_X(0x000,1)
+ D_ALL_PARAM_NAMES_X(0x100,2)
+ D_ALL_PARAM_NAMES_X(0x200,3)
+
+ /* add a multiple of this constant to the basic parameter numbers to get
+ * the parameters for the second, third etc axes.
+ */
+ dParamGroup=0x100
+};
+
+
+/* angular motor mode numbers */
+
+enum {
+ dAMotorUser = 0,
+ dAMotorEuler = 1
+};
+
+
+/* joint force feedback information */
+
+typedef struct dJointFeedback {
+ dVector3 f1; /* force applied to body 1 */
+ dVector3 t1; /* torque applied to body 1 */
+ dVector3 f2; /* force applied to body 2 */
+ dVector3 t2; /* torque applied to body 2 */
+} dJointFeedback;
+
+
+/* private functions that must be implemented by the collision library:
+ * (1) indicate that a geom has moved, (2) get the next geom in a body list.
+ * these functions are called whenever the position of geoms connected to a
+ * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
+ * when the ODE step function updates the body state.
+ */
+
+void dGeomMoved (dGeomID);
+dGeomID dGeomGetBodyNext (dGeomID);
+
+/**
+ * dGetConfiguration returns the specific ODE build configuration as
+ * a string of tokens. The string can be parsed in a similar way to
+ * the OpenGL extension mechanism, the naming convention should be
+ * familiar too. The following extensions are reported:
+ *
+ * ODE
+ * ODE_single_precision
+ * ODE_double_precision
+ * ODE_EXT_no_debug
+ * ODE_EXT_trimesh
+ * ODE_EXT_opcode
+ * ODE_EXT_gimpact
+ * ODE_EXT_malloc_not_alloca
+ * ODE_EXT_gyroscopic
+ * ODE_OPC_16bit_indices
+ * ODE_OPC_new_collider
+*/
+ODE_API const char* dGetConfiguration (void);
+
+/**
+ * Helper to check for a token in the ODE configuration string.
+ * Caution, this function is case sensitive.
+ *
+ * @param token A configuration token, see dGetConfiguration for details
+ *
+ * @return 1 if exact token is present, 0 if not present
+ */
+ODE_API int dCheckConfiguration( const char* token );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
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