+++ /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_ODEMATH_LEGACY_H_
-#define _ODE_ODEMATH_LEGACY_H_
-
-
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-/*
-* These macros are not used any more inside of ODE
-* They are kept for backward compatibility with external code that
-* might still be using them.
-*/
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-
-/*
-* General purpose vector operations with other vectors or constants.
-*/
-
-#define dOP(a,op,b,c) do { \
- (a)[0] = ((b)[0]) op ((c)[0]); \
- (a)[1] = ((b)[1]) op ((c)[1]); \
- (a)[2] = ((b)[2]) op ((c)[2]); \
-} while (0)
-#define dOPC(a,op,b,c) do { \
- (a)[0] = ((b)[0]) op (c); \
- (a)[1] = ((b)[1]) op (c); \
- (a)[2] = ((b)[2]) op (c); \
-} while (0)
-#define dOPE(a,op,b) do {\
- (a)[0] op ((b)[0]); \
- (a)[1] op ((b)[1]); \
- (a)[2] op ((b)[2]); \
-} while (0)
-#define dOPEC(a,op,c) do { \
- (a)[0] op (c); \
- (a)[1] op (c); \
- (a)[2] op (c); \
-} while (0)
-
-/// Define an equation with operators
-/// For example this function can be used to replace
-/// <PRE>
-/// for (int i=0; i<3; ++i)
-/// a[i] += b[i] + c[i];
-/// </PRE>
-#define dOPE2(a,op1,b,op2,c) do { \
- (a)[0] op1 ((b)[0]) op2 ((c)[0]); \
- (a)[1] op1 ((b)[1]) op2 ((c)[1]); \
- (a)[2] op1 ((b)[2]) op2 ((c)[2]); \
-} while (0)
-
-
-#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a)
-#define dLENGTH(a) dCalcVectorLength3(a)
-#define dDISTANCE(a, b) dCalcPointsDistance3(a, b)
-
-
-#define dDOT(a, b) dCalcVectorDot3(a, b)
-#define dDOT13(a, b) dCalcVectorDot3_13(a, b)
-#define dDOT31(a, b) dCalcVectorDot3_31(a, b)
-#define dDOT33(a, b) dCalcVectorDot3_33(a, b)
-#define dDOT14(a, b) dCalcVectorDot3_14(a, b)
-#define dDOT41(a, b) dCalcVectorDot3_41(a, b)
-#define dDOT44(a, b) dCalcVectorDot3_44(a, b)
-
-
-/*
-* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
-* and `c' are spaced p, q and r indexes apart respectively.
-* dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
-* +=, -= etc to get other effects.
-*/
-
-#define dCROSS(a,op,b,c) \
- do { \
- (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
- (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
- (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
- } while(0)
-#define dCROSSpqr(a,op,b,c,p,q,r) \
- do { \
- (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
- (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
- (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
- } while(0)
-#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
-#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
-#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
-#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
-#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
-#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
-#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
-
-
-/*
-* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
-* A is stored by rows, and has `skip' elements per row. the matrix is
-* assumed to be already zero, so this does not write zero elements!
-* if (plus,minus) is (+,-) then a positive version will be written.
-* if (plus,minus) is (-,+) then a negative version will be written.
-*/
-
-#define dCROSSMAT(A,a,skip,plus,minus) \
- do { \
- (A)[1] = minus (a)[2]; \
- (A)[2] = plus (a)[1]; \
- (A)[(skip)+0] = plus (a)[2]; \
- (A)[(skip)+2] = minus (a)[0]; \
- (A)[2*(skip)+0] = minus (a)[1]; \
- (A)[2*(skip)+1] = plus (a)[0]; \
- } while(0)
-
-
-
-
-/*
-Note: NEVER call any of these functions/macros with the same variable for A and C,
-it is not equivalent to A*=B.
-*/
-
-#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C)
-#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C)
-#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C)
-#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C)
-#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C)
-#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C)
-
-#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C)
-#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C)
-#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C)
-#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C)
-#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C)
-#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C)
-
-
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-/*
-* These macros are not used any more inside of ODE
-* They are kept for backward compatibility with external code that
-* might still be using them.
-*/
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-///////////////////////////////////////////////////////////////////////////////
-
-
-#endif // #ifndef _ODE_ODEMATH_LEGACY_H_
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