It comes with .a files, so we can just embed them statically.
+++ /dev/null
-/* jconfig.h. Generated from jconfig.cfg by configure. */
-/* jconfig.cfg --- source file edited by configure script */
-/* see jconfig.txt for explanations */
-
-#define HAVE_PROTOTYPES 1
-#define HAVE_UNSIGNED_CHAR 1
-#define HAVE_UNSIGNED_SHORT 1
-/* #undef void */
-/* #undef const */
-/* #undef CHAR_IS_UNSIGNED */
-#define HAVE_STDDEF_H 1
-#define HAVE_STDLIB_H 1
-#define HAVE_LOCALE_H 1
-/* #undef NEED_BSD_STRINGS */
-/* #undef NEED_SYS_TYPES_H */
-/* #undef NEED_FAR_POINTERS */
-/* #undef NEED_SHORT_EXTERNAL_NAMES */
-/* Define this if you get warnings about undefined structures. */
-/* #undef INCOMPLETE_TYPES_BROKEN */
-
-/* Define "boolean" as unsigned char, not int, on Windows systems. */
-#ifdef _WIN32
-#ifndef __RPCNDR_H__ /* don't conflict if rpcndr.h already read */
-typedef unsigned char boolean;
-#endif
-#define HAVE_BOOLEAN /* prevent jmorecfg.h from redefining it */
-#endif
-
-#ifdef JPEG_INTERNALS
-
-/* #undef RIGHT_SHIFT_IS_UNSIGNED */
-#define INLINE __inline__
-/* These are for configuring the JPEG memory manager. */
-/* #undef DEFAULT_MAX_MEM */
-/* #undef NO_MKTEMP */
-
-#endif /* JPEG_INTERNALS */
-
-#ifdef JPEG_CJPEG_DJPEG
-
-#define BMP_SUPPORTED /* BMP image file format */
-#define GIF_SUPPORTED /* GIF image file format */
-#define PPM_SUPPORTED /* PBMPLUS PPM/PGM image file format */
-/* #undef RLE_SUPPORTED */
-#define TARGA_SUPPORTED /* Targa image file format */
-
-/* #undef TWO_FILE_COMMANDLINE */
-/* #undef NEED_SIGNAL_CATCHER */
-/* #undef DONT_USE_B_MODE */
-
-/* Define this if you want percent-done progress reports from cjpeg/djpeg. */
-/* #undef PROGRESS_REPORT */
-
-#endif /* JPEG_CJPEG_DJPEG */
+++ /dev/null
-/*
- * jerror.h
- *
- * Copyright (C) 1994-1997, Thomas G. Lane.
- * Modified 1997-2009 by Guido Vollbeding.
- * This file is part of the Independent JPEG Group's software.
- * For conditions of distribution and use, see the accompanying README file.
- *
- * This file defines the error and message codes for the JPEG library.
- * Edit this file to add new codes, or to translate the message strings to
- * some other language.
- * A set of error-reporting macros are defined too. Some applications using
- * the JPEG library may wish to include this file to get the error codes
- * and/or the macros.
- */
-
-/*
- * To define the enum list of message codes, include this file without
- * defining macro JMESSAGE. To create a message string table, include it
- * again with a suitable JMESSAGE definition (see jerror.c for an example).
- */
-#ifndef JMESSAGE
-#ifndef JERROR_H
-/* First time through, define the enum list */
-#define JMAKE_ENUM_LIST
-#else
-/* Repeated inclusions of this file are no-ops unless JMESSAGE is defined */
-#define JMESSAGE(code,string)
-#endif /* JERROR_H */
-#endif /* JMESSAGE */
-
-#ifdef JMAKE_ENUM_LIST
-
-typedef enum {
-
-#define JMESSAGE(code,string) code ,
-
-#endif /* JMAKE_ENUM_LIST */
-
-JMESSAGE(JMSG_NOMESSAGE, "Bogus message code %d") /* Must be first entry! */
-
-/* For maintenance convenience, list is alphabetical by message code name */
-JMESSAGE(JERR_BAD_ALIGN_TYPE, "ALIGN_TYPE is wrong, please fix")
-JMESSAGE(JERR_BAD_ALLOC_CHUNK, "MAX_ALLOC_CHUNK is wrong, please fix")
-JMESSAGE(JERR_BAD_BUFFER_MODE, "Bogus buffer control mode")
-JMESSAGE(JERR_BAD_COMPONENT_ID, "Invalid component ID %d in SOS")
-JMESSAGE(JERR_BAD_CROP_SPEC, "Invalid crop request")
-JMESSAGE(JERR_BAD_DCT_COEF, "DCT coefficient out of range")
-JMESSAGE(JERR_BAD_DCTSIZE, "DCT scaled block size %dx%d not supported")
-JMESSAGE(JERR_BAD_DROP_SAMPLING,
- "Component index %d: mismatching sampling ratio %d:%d, %d:%d, %c")
-JMESSAGE(JERR_BAD_HUFF_TABLE, "Bogus Huffman table definition")
-JMESSAGE(JERR_BAD_IN_COLORSPACE, "Bogus input colorspace")
-JMESSAGE(JERR_BAD_J_COLORSPACE, "Bogus JPEG colorspace")
-JMESSAGE(JERR_BAD_LENGTH, "Bogus marker length")
-JMESSAGE(JERR_BAD_LIB_VERSION,
- "Wrong JPEG library version: library is %d, caller expects %d")
-JMESSAGE(JERR_BAD_MCU_SIZE, "Sampling factors too large for interleaved scan")
-JMESSAGE(JERR_BAD_POOL_ID, "Invalid memory pool code %d")
-JMESSAGE(JERR_BAD_PRECISION, "Unsupported JPEG data precision %d")
-JMESSAGE(JERR_BAD_PROGRESSION,
- "Invalid progressive parameters Ss=%d Se=%d Ah=%d Al=%d")
-JMESSAGE(JERR_BAD_PROG_SCRIPT,
- "Invalid progressive parameters at scan script entry %d")
-JMESSAGE(JERR_BAD_SAMPLING, "Bogus sampling factors")
-JMESSAGE(JERR_BAD_SCAN_SCRIPT, "Invalid scan script at entry %d")
-JMESSAGE(JERR_BAD_STATE, "Improper call to JPEG library in state %d")
-JMESSAGE(JERR_BAD_STRUCT_SIZE,
- "JPEG parameter struct mismatch: library thinks size is %u, caller expects %u")
-JMESSAGE(JERR_BAD_VIRTUAL_ACCESS, "Bogus virtual array access")
-JMESSAGE(JERR_BUFFER_SIZE, "Buffer passed to JPEG library is too small")
-JMESSAGE(JERR_CANT_SUSPEND, "Suspension not allowed here")
-JMESSAGE(JERR_CCIR601_NOTIMPL, "CCIR601 sampling not implemented yet")
-JMESSAGE(JERR_COMPONENT_COUNT, "Too many color components: %d, max %d")
-JMESSAGE(JERR_CONVERSION_NOTIMPL, "Unsupported color conversion request")
-JMESSAGE(JERR_DAC_INDEX, "Bogus DAC index %d")
-JMESSAGE(JERR_DAC_VALUE, "Bogus DAC value 0x%x")
-JMESSAGE(JERR_DHT_INDEX, "Bogus DHT index %d")
-JMESSAGE(JERR_DQT_INDEX, "Bogus DQT index %d")
-JMESSAGE(JERR_EMPTY_IMAGE, "Empty JPEG image (DNL not supported)")
-JMESSAGE(JERR_EMS_READ, "Read from EMS failed")
-JMESSAGE(JERR_EMS_WRITE, "Write to EMS failed")
-JMESSAGE(JERR_EOI_EXPECTED, "Didn't expect more than one scan")
-JMESSAGE(JERR_FILE_READ, "Input file read error")
-JMESSAGE(JERR_FILE_WRITE, "Output file write error --- out of disk space?")
-JMESSAGE(JERR_FRACT_SAMPLE_NOTIMPL, "Fractional sampling not implemented yet")
-JMESSAGE(JERR_HUFF_CLEN_OVERFLOW, "Huffman code size table overflow")
-JMESSAGE(JERR_HUFF_MISSING_CODE, "Missing Huffman code table entry")
-JMESSAGE(JERR_IMAGE_TOO_BIG, "Maximum supported image dimension is %u pixels")
-JMESSAGE(JERR_INPUT_EMPTY, "Empty input file")
-JMESSAGE(JERR_INPUT_EOF, "Premature end of input file")
-JMESSAGE(JERR_MISMATCHED_QUANT_TABLE,
- "Cannot transcode due to multiple use of quantization table %d")
-JMESSAGE(JERR_MISSING_DATA, "Scan script does not transmit all data")
-JMESSAGE(JERR_MODE_CHANGE, "Invalid color quantization mode change")
-JMESSAGE(JERR_NOTIMPL, "Not implemented yet")
-JMESSAGE(JERR_NOT_COMPILED, "Requested feature was omitted at compile time")
-JMESSAGE(JERR_NO_ARITH_TABLE, "Arithmetic table 0x%02x was not defined")
-JMESSAGE(JERR_NO_BACKING_STORE, "Backing store not supported")
-JMESSAGE(JERR_NO_HUFF_TABLE, "Huffman table 0x%02x was not defined")
-JMESSAGE(JERR_NO_IMAGE, "JPEG datastream contains no image")
-JMESSAGE(JERR_NO_QUANT_TABLE, "Quantization table 0x%02x was not defined")
-JMESSAGE(JERR_NO_SOI, "Not a JPEG file: starts with 0x%02x 0x%02x")
-JMESSAGE(JERR_OUT_OF_MEMORY, "Insufficient memory (case %d)")
-JMESSAGE(JERR_QUANT_COMPONENTS,
- "Cannot quantize more than %d color components")
-JMESSAGE(JERR_QUANT_FEW_COLORS, "Cannot quantize to fewer than %d colors")
-JMESSAGE(JERR_QUANT_MANY_COLORS, "Cannot quantize to more than %d colors")
-JMESSAGE(JERR_SOF_DUPLICATE, "Invalid JPEG file structure: two SOF markers")
-JMESSAGE(JERR_SOF_NO_SOS, "Invalid JPEG file structure: missing SOS marker")
-JMESSAGE(JERR_SOF_UNSUPPORTED, "Unsupported JPEG process: SOF type 0x%02x")
-JMESSAGE(JERR_SOI_DUPLICATE, "Invalid JPEG file structure: two SOI markers")
-JMESSAGE(JERR_SOS_NO_SOF, "Invalid JPEG file structure: SOS before SOF")
-JMESSAGE(JERR_TFILE_CREATE, "Failed to create temporary file %s")
-JMESSAGE(JERR_TFILE_READ, "Read failed on temporary file")
-JMESSAGE(JERR_TFILE_SEEK, "Seek failed on temporary file")
-JMESSAGE(JERR_TFILE_WRITE,
- "Write failed on temporary file --- out of disk space?")
-JMESSAGE(JERR_TOO_LITTLE_DATA, "Application transferred too few scanlines")
-JMESSAGE(JERR_UNKNOWN_MARKER, "Unsupported marker type 0x%02x")
-JMESSAGE(JERR_VIRTUAL_BUG, "Virtual array controller messed up")
-JMESSAGE(JERR_WIDTH_OVERFLOW, "Image too wide for this implementation")
-JMESSAGE(JERR_XMS_READ, "Read from XMS failed")
-JMESSAGE(JERR_XMS_WRITE, "Write to XMS failed")
-JMESSAGE(JMSG_COPYRIGHT, JCOPYRIGHT)
-JMESSAGE(JMSG_VERSION, JVERSION)
-JMESSAGE(JTRC_16BIT_TABLES,
- "Caution: quantization tables are too coarse for baseline JPEG")
-JMESSAGE(JTRC_ADOBE,
- "Adobe APP14 marker: version %d, flags 0x%04x 0x%04x, transform %d")
-JMESSAGE(JTRC_APP0, "Unknown APP0 marker (not JFIF), length %u")
-JMESSAGE(JTRC_APP14, "Unknown APP14 marker (not Adobe), length %u")
-JMESSAGE(JTRC_DAC, "Define Arithmetic Table 0x%02x: 0x%02x")
-JMESSAGE(JTRC_DHT, "Define Huffman Table 0x%02x")
-JMESSAGE(JTRC_DQT, "Define Quantization Table %d precision %d")
-JMESSAGE(JTRC_DRI, "Define Restart Interval %u")
-JMESSAGE(JTRC_EMS_CLOSE, "Freed EMS handle %u")
-JMESSAGE(JTRC_EMS_OPEN, "Obtained EMS handle %u")
-JMESSAGE(JTRC_EOI, "End Of Image")
-JMESSAGE(JTRC_HUFFBITS, " %3d %3d %3d %3d %3d %3d %3d %3d")
-JMESSAGE(JTRC_JFIF, "JFIF APP0 marker: version %d.%02d, density %dx%d %d")
-JMESSAGE(JTRC_JFIF_BADTHUMBNAILSIZE,
- "Warning: thumbnail image size does not match data length %u")
-JMESSAGE(JTRC_JFIF_EXTENSION,
- "JFIF extension marker: type 0x%02x, length %u")
-JMESSAGE(JTRC_JFIF_THUMBNAIL, " with %d x %d thumbnail image")
-JMESSAGE(JTRC_MISC_MARKER, "Miscellaneous marker 0x%02x, length %u")
-JMESSAGE(JTRC_PARMLESS_MARKER, "Unexpected marker 0x%02x")
-JMESSAGE(JTRC_QUANTVALS, " %4u %4u %4u %4u %4u %4u %4u %4u")
-JMESSAGE(JTRC_QUANT_3_NCOLORS, "Quantizing to %d = %d*%d*%d colors")
-JMESSAGE(JTRC_QUANT_NCOLORS, "Quantizing to %d colors")
-JMESSAGE(JTRC_QUANT_SELECTED, "Selected %d colors for quantization")
-JMESSAGE(JTRC_RECOVERY_ACTION, "At marker 0x%02x, recovery action %d")
-JMESSAGE(JTRC_RST, "RST%d")
-JMESSAGE(JTRC_SMOOTH_NOTIMPL,
- "Smoothing not supported with nonstandard sampling ratios")
-JMESSAGE(JTRC_SOF, "Start Of Frame 0x%02x: width=%u, height=%u, components=%d")
-JMESSAGE(JTRC_SOF_COMPONENT, " Component %d: %dhx%dv q=%d")
-JMESSAGE(JTRC_SOI, "Start of Image")
-JMESSAGE(JTRC_SOS, "Start Of Scan: %d components")
-JMESSAGE(JTRC_SOS_COMPONENT, " Component %d: dc=%d ac=%d")
-JMESSAGE(JTRC_SOS_PARAMS, " Ss=%d, Se=%d, Ah=%d, Al=%d")
-JMESSAGE(JTRC_TFILE_CLOSE, "Closed temporary file %s")
-JMESSAGE(JTRC_TFILE_OPEN, "Opened temporary file %s")
-JMESSAGE(JTRC_THUMB_JPEG,
- "JFIF extension marker: JPEG-compressed thumbnail image, length %u")
-JMESSAGE(JTRC_THUMB_PALETTE,
- "JFIF extension marker: palette thumbnail image, length %u")
-JMESSAGE(JTRC_THUMB_RGB,
- "JFIF extension marker: RGB thumbnail image, length %u")
-JMESSAGE(JTRC_UNKNOWN_IDS,
- "Unrecognized component IDs %d %d %d, assuming YCbCr")
-JMESSAGE(JTRC_XMS_CLOSE, "Freed XMS handle %u")
-JMESSAGE(JTRC_XMS_OPEN, "Obtained XMS handle %u")
-JMESSAGE(JWRN_ADOBE_XFORM, "Unknown Adobe color transform code %d")
-JMESSAGE(JWRN_ARITH_BAD_CODE, "Corrupt JPEG data: bad arithmetic code")
-JMESSAGE(JWRN_BOGUS_PROGRESSION,
- "Inconsistent progression sequence for component %d coefficient %d")
-JMESSAGE(JWRN_EXTRANEOUS_DATA,
- "Corrupt JPEG data: %u extraneous bytes before marker 0x%02x")
-JMESSAGE(JWRN_HIT_MARKER, "Corrupt JPEG data: premature end of data segment")
-JMESSAGE(JWRN_HUFF_BAD_CODE, "Corrupt JPEG data: bad Huffman code")
-JMESSAGE(JWRN_JFIF_MAJOR, "Warning: unknown JFIF revision number %d.%02d")
-JMESSAGE(JWRN_JPEG_EOF, "Premature end of JPEG file")
-JMESSAGE(JWRN_MUST_RESYNC,
- "Corrupt JPEG data: found marker 0x%02x instead of RST%d")
-JMESSAGE(JWRN_NOT_SEQUENTIAL, "Invalid SOS parameters for sequential JPEG")
-JMESSAGE(JWRN_TOO_MUCH_DATA, "Application transferred too many scanlines")
-
-#ifdef JMAKE_ENUM_LIST
-
- JMSG_LASTMSGCODE
-} J_MESSAGE_CODE;
-
-#undef JMAKE_ENUM_LIST
-#endif /* JMAKE_ENUM_LIST */
-
-/* Zap JMESSAGE macro so that future re-inclusions do nothing by default */
-#undef JMESSAGE
-
-
-#ifndef JERROR_H
-#define JERROR_H
-
-/* Macros to simplify using the error and trace message stuff */
-/* The first parameter is either type of cinfo pointer */
-
-/* Fatal errors (print message and exit) */
-#define ERREXIT(cinfo,code) \
- ((cinfo)->err->msg_code = (code), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-#define ERREXIT1(cinfo,code,p1) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-#define ERREXIT2(cinfo,code,p1,p2) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (cinfo)->err->msg_parm.i[1] = (p2), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-#define ERREXIT3(cinfo,code,p1,p2,p3) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (cinfo)->err->msg_parm.i[1] = (p2), \
- (cinfo)->err->msg_parm.i[2] = (p3), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-#define ERREXIT4(cinfo,code,p1,p2,p3,p4) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (cinfo)->err->msg_parm.i[1] = (p2), \
- (cinfo)->err->msg_parm.i[2] = (p3), \
- (cinfo)->err->msg_parm.i[3] = (p4), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-#define ERREXIT6(cinfo,code,p1,p2,p3,p4,p5,p6) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (cinfo)->err->msg_parm.i[1] = (p2), \
- (cinfo)->err->msg_parm.i[2] = (p3), \
- (cinfo)->err->msg_parm.i[3] = (p4), \
- (cinfo)->err->msg_parm.i[4] = (p5), \
- (cinfo)->err->msg_parm.i[5] = (p6), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-#define ERREXITS(cinfo,code,str) \
- ((cinfo)->err->msg_code = (code), \
- strncpy((cinfo)->err->msg_parm.s, (str), JMSG_STR_PARM_MAX), \
- (*(cinfo)->err->error_exit) ((j_common_ptr) (cinfo)))
-
-#define MAKESTMT(stuff) do { stuff } while (0)
-
-/* Nonfatal errors (we can keep going, but the data is probably corrupt) */
-#define WARNMS(cinfo,code) \
- ((cinfo)->err->msg_code = (code), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), -1))
-#define WARNMS1(cinfo,code,p1) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), -1))
-#define WARNMS2(cinfo,code,p1,p2) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (cinfo)->err->msg_parm.i[1] = (p2), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), -1))
-
-/* Informational/debugging messages */
-#define TRACEMS(cinfo,lvl,code) \
- ((cinfo)->err->msg_code = (code), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)))
-#define TRACEMS1(cinfo,lvl,code,p1) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)))
-#define TRACEMS2(cinfo,lvl,code,p1,p2) \
- ((cinfo)->err->msg_code = (code), \
- (cinfo)->err->msg_parm.i[0] = (p1), \
- (cinfo)->err->msg_parm.i[1] = (p2), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)))
-#define TRACEMS3(cinfo,lvl,code,p1,p2,p3) \
- MAKESTMT(int * _mp = (cinfo)->err->msg_parm.i; \
- _mp[0] = (p1); _mp[1] = (p2); _mp[2] = (p3); \
- (cinfo)->err->msg_code = (code); \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)); )
-#define TRACEMS4(cinfo,lvl,code,p1,p2,p3,p4) \
- MAKESTMT(int * _mp = (cinfo)->err->msg_parm.i; \
- _mp[0] = (p1); _mp[1] = (p2); _mp[2] = (p3); _mp[3] = (p4); \
- (cinfo)->err->msg_code = (code); \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)); )
-#define TRACEMS5(cinfo,lvl,code,p1,p2,p3,p4,p5) \
- MAKESTMT(int * _mp = (cinfo)->err->msg_parm.i; \
- _mp[0] = (p1); _mp[1] = (p2); _mp[2] = (p3); _mp[3] = (p4); \
- _mp[4] = (p5); \
- (cinfo)->err->msg_code = (code); \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)); )
-#define TRACEMS8(cinfo,lvl,code,p1,p2,p3,p4,p5,p6,p7,p8) \
- MAKESTMT(int * _mp = (cinfo)->err->msg_parm.i; \
- _mp[0] = (p1); _mp[1] = (p2); _mp[2] = (p3); _mp[3] = (p4); \
- _mp[4] = (p5); _mp[5] = (p6); _mp[6] = (p7); _mp[7] = (p8); \
- (cinfo)->err->msg_code = (code); \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)); )
-#define TRACEMSS(cinfo,lvl,code,str) \
- ((cinfo)->err->msg_code = (code), \
- strncpy((cinfo)->err->msg_parm.s, (str), JMSG_STR_PARM_MAX), \
- (*(cinfo)->err->emit_message) ((j_common_ptr) (cinfo), (lvl)))
-
-#endif /* JERROR_H */
+++ /dev/null
-/*
- * jmorecfg.h
- *
- * Copyright (C) 1991-1997, Thomas G. Lane.
- * Modified 1997-2009 by Guido Vollbeding.
- * This file is part of the Independent JPEG Group's software.
- * For conditions of distribution and use, see the accompanying README file.
- *
- * This file contains additional configuration options that customize the
- * JPEG software for special applications or support machine-dependent
- * optimizations. Most users will not need to touch this file.
- */
-
-
-/*
- * Define BITS_IN_JSAMPLE as either
- * 8 for 8-bit sample values (the usual setting)
- * 12 for 12-bit sample values
- * Only 8 and 12 are legal data precisions for lossy JPEG according to the
- * JPEG standard, and the IJG code does not support anything else!
- * We do not support run-time selection of data precision, sorry.
- */
-
-#define BITS_IN_JSAMPLE 8 /* use 8 or 12 */
-
-
-/*
- * Maximum number of components (color channels) allowed in JPEG image.
- * To meet the letter of the JPEG spec, set this to 255. However, darn
- * few applications need more than 4 channels (maybe 5 for CMYK + alpha
- * mask). We recommend 10 as a reasonable compromise; use 4 if you are
- * really short on memory. (Each allowed component costs a hundred or so
- * bytes of storage, whether actually used in an image or not.)
- */
-
-#define MAX_COMPONENTS 10 /* maximum number of image components */
-
-
-/*
- * Basic data types.
- * You may need to change these if you have a machine with unusual data
- * type sizes; for example, "char" not 8 bits, "short" not 16 bits,
- * or "long" not 32 bits. We don't care whether "int" is 16 or 32 bits,
- * but it had better be at least 16.
- */
-
-/* Representation of a single sample (pixel element value).
- * We frequently allocate large arrays of these, so it's important to keep
- * them small. But if you have memory to burn and access to char or short
- * arrays is very slow on your hardware, you might want to change these.
- */
-
-#if BITS_IN_JSAMPLE == 8
-/* JSAMPLE should be the smallest type that will hold the values 0..255.
- * You can use a signed char by having GETJSAMPLE mask it with 0xFF.
- */
-
-#ifdef HAVE_UNSIGNED_CHAR
-
-typedef unsigned char JSAMPLE;
-#define GETJSAMPLE(value) ((int) (value))
-
-#else /* not HAVE_UNSIGNED_CHAR */
-
-typedef char JSAMPLE;
-#ifdef CHAR_IS_UNSIGNED
-#define GETJSAMPLE(value) ((int) (value))
-#else
-#define GETJSAMPLE(value) ((int) (value) & 0xFF)
-#endif /* CHAR_IS_UNSIGNED */
-
-#endif /* HAVE_UNSIGNED_CHAR */
-
-#define MAXJSAMPLE 255
-#define CENTERJSAMPLE 128
-
-#endif /* BITS_IN_JSAMPLE == 8 */
-
-
-#if BITS_IN_JSAMPLE == 12
-/* JSAMPLE should be the smallest type that will hold the values 0..4095.
- * On nearly all machines "short" will do nicely.
- */
-
-typedef short JSAMPLE;
-#define GETJSAMPLE(value) ((int) (value))
-
-#define MAXJSAMPLE 4095
-#define CENTERJSAMPLE 2048
-
-#endif /* BITS_IN_JSAMPLE == 12 */
-
-
-/* Representation of a DCT frequency coefficient.
- * This should be a signed value of at least 16 bits; "short" is usually OK.
- * Again, we allocate large arrays of these, but you can change to int
- * if you have memory to burn and "short" is really slow.
- */
-
-typedef short JCOEF;
-
-
-/* Compressed datastreams are represented as arrays of JOCTET.
- * These must be EXACTLY 8 bits wide, at least once they are written to
- * external storage. Note that when using the stdio data source/destination
- * managers, this is also the data type passed to fread/fwrite.
- */
-
-#ifdef HAVE_UNSIGNED_CHAR
-
-typedef unsigned char JOCTET;
-#define GETJOCTET(value) (value)
-
-#else /* not HAVE_UNSIGNED_CHAR */
-
-typedef char JOCTET;
-#ifdef CHAR_IS_UNSIGNED
-#define GETJOCTET(value) (value)
-#else
-#define GETJOCTET(value) ((value) & 0xFF)
-#endif /* CHAR_IS_UNSIGNED */
-
-#endif /* HAVE_UNSIGNED_CHAR */
-
-
-/* These typedefs are used for various table entries and so forth.
- * They must be at least as wide as specified; but making them too big
- * won't cost a huge amount of memory, so we don't provide special
- * extraction code like we did for JSAMPLE. (In other words, these
- * typedefs live at a different point on the speed/space tradeoff curve.)
- */
-
-/* UINT8 must hold at least the values 0..255. */
-
-#ifdef HAVE_UNSIGNED_CHAR
-typedef unsigned char UINT8;
-#else /* not HAVE_UNSIGNED_CHAR */
-#ifdef CHAR_IS_UNSIGNED
-typedef char UINT8;
-#else /* not CHAR_IS_UNSIGNED */
-typedef short UINT8;
-#endif /* CHAR_IS_UNSIGNED */
-#endif /* HAVE_UNSIGNED_CHAR */
-
-/* UINT16 must hold at least the values 0..65535. */
-
-#ifdef HAVE_UNSIGNED_SHORT
-typedef unsigned short UINT16;
-#else /* not HAVE_UNSIGNED_SHORT */
-typedef unsigned int UINT16;
-#endif /* HAVE_UNSIGNED_SHORT */
-
-/* INT16 must hold at least the values -32768..32767. */
-
-#ifndef XMD_H /* X11/xmd.h correctly defines INT16 */
-typedef short INT16;
-#endif
-
-/* INT32 must hold at least signed 32-bit values. */
-
-#ifndef XMD_H /* X11/xmd.h correctly defines INT32 */
-#ifndef _BASETSD_H_ /* Microsoft defines it in basetsd.h */
-#ifndef _BASETSD_H /* MinGW is slightly different */
-#ifndef QGLOBAL_H /* Qt defines it in qglobal.h */
-typedef long INT32;
-#endif
-#endif
-#endif
-#endif
-
-/* Datatype used for image dimensions. The JPEG standard only supports
- * images up to 64K*64K due to 16-bit fields in SOF markers. Therefore
- * "unsigned int" is sufficient on all machines. However, if you need to
- * handle larger images and you don't mind deviating from the spec, you
- * can change this datatype.
- */
-
-typedef unsigned int JDIMENSION;
-
-#define JPEG_MAX_DIMENSION 65500L /* a tad under 64K to prevent overflows */
-
-
-/* These macros are used in all function definitions and extern declarations.
- * You could modify them if you need to change function linkage conventions;
- * in particular, you'll need to do that to make the library a Windows DLL.
- * Another application is to make all functions global for use with debuggers
- * or code profilers that require it.
- */
-
-/* a function called through method pointers: */
-#define METHODDEF(type) static type
-/* a function used only in its module: */
-#define LOCAL(type) static type
-/* a function referenced thru EXTERNs: */
-#define GLOBAL(type) type
-/* a reference to a GLOBAL function: */
-#define EXTERN(type) extern type
-
-
-/* This macro is used to declare a "method", that is, a function pointer.
- * We want to supply prototype parameters if the compiler can cope.
- * Note that the arglist parameter must be parenthesized!
- * Again, you can customize this if you need special linkage keywords.
- */
-
-#ifdef HAVE_PROTOTYPES
-#define JMETHOD(type,methodname,arglist) type (*methodname) arglist
-#else
-#define JMETHOD(type,methodname,arglist) type (*methodname) ()
-#endif
-
-
-/* Here is the pseudo-keyword for declaring pointers that must be "far"
- * on 80x86 machines. Most of the specialized coding for 80x86 is handled
- * by just saying "FAR *" where such a pointer is needed. In a few places
- * explicit coding is needed; see uses of the NEED_FAR_POINTERS symbol.
- */
-
-#ifndef FAR
-#ifdef NEED_FAR_POINTERS
-#define FAR far
-#else
-#define FAR
-#endif
-#endif
-
-
-/*
- * On a few systems, type boolean and/or its values FALSE, TRUE may appear
- * in standard header files. Or you may have conflicts with application-
- * specific header files that you want to include together with these files.
- * Defining HAVE_BOOLEAN before including jpeglib.h should make it work.
- */
-
-#ifndef HAVE_BOOLEAN
-typedef int boolean;
-#endif
-#ifndef FALSE /* in case these macros already exist */
-#define FALSE 0 /* values of boolean */
-#endif
-#ifndef TRUE
-#define TRUE 1
-#endif
-
-
-/*
- * The remaining options affect code selection within the JPEG library,
- * but they don't need to be visible to most applications using the library.
- * To minimize application namespace pollution, the symbols won't be
- * defined unless JPEG_INTERNALS or JPEG_INTERNAL_OPTIONS has been defined.
- */
-
-#ifdef JPEG_INTERNALS
-#define JPEG_INTERNAL_OPTIONS
-#endif
-
-#ifdef JPEG_INTERNAL_OPTIONS
-
-
-/*
- * These defines indicate whether to include various optional functions.
- * Undefining some of these symbols will produce a smaller but less capable
- * library. Note that you can leave certain source files out of the
- * compilation/linking process if you've #undef'd the corresponding symbols.
- * (You may HAVE to do that if your compiler doesn't like null source files.)
- */
-
-/* Capability options common to encoder and decoder: */
-
-#define DCT_ISLOW_SUPPORTED /* slow but accurate integer algorithm */
-#define DCT_IFAST_SUPPORTED /* faster, less accurate integer method */
-#define DCT_FLOAT_SUPPORTED /* floating-point: accurate, fast on fast HW */
-
-/* Encoder capability options: */
-
-#define C_ARITH_CODING_SUPPORTED /* Arithmetic coding back end? */
-#define C_MULTISCAN_FILES_SUPPORTED /* Multiple-scan JPEG files? */
-#define C_PROGRESSIVE_SUPPORTED /* Progressive JPEG? (Requires MULTISCAN)*/
-#define DCT_SCALING_SUPPORTED /* Input rescaling via DCT? (Requires DCT_ISLOW)*/
-#define ENTROPY_OPT_SUPPORTED /* Optimization of entropy coding parms? */
-/* Note: if you selected 12-bit data precision, it is dangerous to turn off
- * ENTROPY_OPT_SUPPORTED. The standard Huffman tables are only good for 8-bit
- * precision, so jchuff.c normally uses entropy optimization to compute
- * usable tables for higher precision. If you don't want to do optimization,
- * you'll have to supply different default Huffman tables.
- * The exact same statements apply for progressive JPEG: the default tables
- * don't work for progressive mode. (This may get fixed, however.)
- */
-#define INPUT_SMOOTHING_SUPPORTED /* Input image smoothing option? */
-
-/* Decoder capability options: */
-
-#define D_ARITH_CODING_SUPPORTED /* Arithmetic coding back end? */
-#define D_MULTISCAN_FILES_SUPPORTED /* Multiple-scan JPEG files? */
-#define D_PROGRESSIVE_SUPPORTED /* Progressive JPEG? (Requires MULTISCAN)*/
-#define IDCT_SCALING_SUPPORTED /* Output rescaling via IDCT? */
-#define SAVE_MARKERS_SUPPORTED /* jpeg_save_markers() needed? */
-#define BLOCK_SMOOTHING_SUPPORTED /* Block smoothing? (Progressive only) */
-#undef UPSAMPLE_SCALING_SUPPORTED /* Output rescaling at upsample stage? */
-#define UPSAMPLE_MERGING_SUPPORTED /* Fast path for sloppy upsampling? */
-#define QUANT_1PASS_SUPPORTED /* 1-pass color quantization? */
-#define QUANT_2PASS_SUPPORTED /* 2-pass color quantization? */
-
-/* more capability options later, no doubt */
-
-
-/*
- * Ordering of RGB data in scanlines passed to or from the application.
- * If your application wants to deal with data in the order B,G,R, just
- * change these macros. You can also deal with formats such as R,G,B,X
- * (one extra byte per pixel) by changing RGB_PIXELSIZE. Note that changing
- * the offsets will also change the order in which colormap data is organized.
- * RESTRICTIONS:
- * 1. The sample applications cjpeg,djpeg do NOT support modified RGB formats.
- * 2. These macros only affect RGB<=>YCbCr color conversion, so they are not
- * useful if you are using JPEG color spaces other than YCbCr or grayscale.
- * 3. The color quantizer modules will not behave desirably if RGB_PIXELSIZE
- * is not 3 (they don't understand about dummy color components!). So you
- * can't use color quantization if you change that value.
- */
-
-#define RGB_RED 0 /* Offset of Red in an RGB scanline element */
-#define RGB_GREEN 1 /* Offset of Green */
-#define RGB_BLUE 2 /* Offset of Blue */
-#define RGB_PIXELSIZE 3 /* JSAMPLEs per RGB scanline element */
-
-
-/* Definitions for speed-related optimizations. */
-
-
-/* If your compiler supports inline functions, define INLINE
- * as the inline keyword; otherwise define it as empty.
- */
-
-#ifndef INLINE
-#ifdef __GNUC__ /* for instance, GNU C knows about inline */
-#define INLINE __inline__
-#endif
-#ifndef INLINE
-#define INLINE /* default is to define it as empty */
-#endif
-#endif
-
-
-/* On some machines (notably 68000 series) "int" is 32 bits, but multiplying
- * two 16-bit shorts is faster than multiplying two ints. Define MULTIPLIER
- * as short on such a machine. MULTIPLIER must be at least 16 bits wide.
- */
-
-#ifndef MULTIPLIER
-#define MULTIPLIER int /* type for fastest integer multiply */
-#endif
-
-
-/* FAST_FLOAT should be either float or double, whichever is done faster
- * by your compiler. (Note that this type is only used in the floating point
- * DCT routines, so it only matters if you've defined DCT_FLOAT_SUPPORTED.)
- * Typically, float is faster in ANSI C compilers, while double is faster in
- * pre-ANSI compilers (because they insist on converting to double anyway).
- * The code below therefore chooses float if we have ANSI-style prototypes.
- */
-
-#ifndef FAST_FLOAT
-#ifdef HAVE_PROTOTYPES
-#define FAST_FLOAT float
-#else
-#define FAST_FLOAT double
-#endif
-#endif
-
-#endif /* JPEG_INTERNAL_OPTIONS */
+++ /dev/null
-/*
- * jpeglib.h
- *
- * Copyright (C) 1991-1998, Thomas G. Lane.
- * Modified 2002-2009 by Guido Vollbeding.
- * This file is part of the Independent JPEG Group's software.
- * For conditions of distribution and use, see the accompanying README file.
- *
- * This file defines the application interface for the JPEG library.
- * Most applications using the library need only include this file,
- * and perhaps jerror.h if they want to know the exact error codes.
- */
-
-#ifndef JPEGLIB_H
-#define JPEGLIB_H
-
-/*
- * First we include the configuration files that record how this
- * installation of the JPEG library is set up. jconfig.h can be
- * generated automatically for many systems. jmorecfg.h contains
- * manual configuration options that most people need not worry about.
- */
-
-#ifndef JCONFIG_INCLUDED /* in case jinclude.h already did */
-#include "jconfig.h" /* widely used configuration options */
-#endif
-#include "jmorecfg.h" /* seldom changed options */
-
-
-#ifdef __cplusplus
-#ifndef DONT_USE_EXTERN_C
-extern "C" {
-#endif
-#endif
-
-/* Version ID for the JPEG library.
- * Might be useful for tests like "#if JPEG_LIB_VERSION >= 80".
- */
-
-#define JPEG_LIB_VERSION 80 /* Version 8.0 */
-
-
-/* Various constants determining the sizes of things.
- * All of these are specified by the JPEG standard, so don't change them
- * if you want to be compatible.
- */
-
-#define DCTSIZE 8 /* The basic DCT block is 8x8 samples */
-#define DCTSIZE2 64 /* DCTSIZE squared; # of elements in a block */
-#define NUM_QUANT_TBLS 4 /* Quantization tables are numbered 0..3 */
-#define NUM_HUFF_TBLS 4 /* Huffman tables are numbered 0..3 */
-#define NUM_ARITH_TBLS 16 /* Arith-coding tables are numbered 0..15 */
-#define MAX_COMPS_IN_SCAN 4 /* JPEG limit on # of components in one scan */
-#define MAX_SAMP_FACTOR 4 /* JPEG limit on sampling factors */
-/* Unfortunately, some bozo at Adobe saw no reason to be bound by the standard;
- * the PostScript DCT filter can emit files with many more than 10 blocks/MCU.
- * If you happen to run across such a file, you can up D_MAX_BLOCKS_IN_MCU
- * to handle it. We even let you do this from the jconfig.h file. However,
- * we strongly discourage changing C_MAX_BLOCKS_IN_MCU; just because Adobe
- * sometimes emits noncompliant files doesn't mean you should too.
- */
-#define C_MAX_BLOCKS_IN_MCU 10 /* compressor's limit on blocks per MCU */
-#ifndef D_MAX_BLOCKS_IN_MCU
-#define D_MAX_BLOCKS_IN_MCU 10 /* decompressor's limit on blocks per MCU */
-#endif
-
-
-/* Data structures for images (arrays of samples and of DCT coefficients).
- * On 80x86 machines, the image arrays are too big for near pointers,
- * but the pointer arrays can fit in near memory.
- */
-
-typedef JSAMPLE FAR *JSAMPROW; /* ptr to one image row of pixel samples. */
-typedef JSAMPROW *JSAMPARRAY; /* ptr to some rows (a 2-D sample array) */
-typedef JSAMPARRAY *JSAMPIMAGE; /* a 3-D sample array: top index is color */
-
-typedef JCOEF JBLOCK[DCTSIZE2]; /* one block of coefficients */
-typedef JBLOCK FAR *JBLOCKROW; /* pointer to one row of coefficient blocks */
-typedef JBLOCKROW *JBLOCKARRAY; /* a 2-D array of coefficient blocks */
-typedef JBLOCKARRAY *JBLOCKIMAGE; /* a 3-D array of coefficient blocks */
-
-typedef JCOEF FAR *JCOEFPTR; /* useful in a couple of places */
-
-
-/* Types for JPEG compression parameters and working tables. */
-
-
-/* DCT coefficient quantization tables. */
-
-typedef struct {
- /* This array gives the coefficient quantizers in natural array order
- * (not the zigzag order in which they are stored in a JPEG DQT marker).
- * CAUTION: IJG versions prior to v6a kept this array in zigzag order.
- */
- UINT16 quantval[DCTSIZE2]; /* quantization step for each coefficient */
- /* This field is used only during compression. It's initialized FALSE when
- * the table is created, and set TRUE when it's been output to the file.
- * You could suppress output of a table by setting this to TRUE.
- * (See jpeg_suppress_tables for an example.)
- */
- boolean sent_table; /* TRUE when table has been output */
-} JQUANT_TBL;
-
-
-/* Huffman coding tables. */
-
-typedef struct {
- /* These two fields directly represent the contents of a JPEG DHT marker */
- UINT8 bits[17]; /* bits[k] = # of symbols with codes of */
- /* length k bits; bits[0] is unused */
- UINT8 huffval[256]; /* The symbols, in order of incr code length */
- /* This field is used only during compression. It's initialized FALSE when
- * the table is created, and set TRUE when it's been output to the file.
- * You could suppress output of a table by setting this to TRUE.
- * (See jpeg_suppress_tables for an example.)
- */
- boolean sent_table; /* TRUE when table has been output */
-} JHUFF_TBL;
-
-
-/* Basic info about one component (color channel). */
-
-typedef struct {
- /* These values are fixed over the whole image. */
- /* For compression, they must be supplied by parameter setup; */
- /* for decompression, they are read from the SOF marker. */
- int component_id; /* identifier for this component (0..255) */
- int component_index; /* its index in SOF or cinfo->comp_info[] */
- int h_samp_factor; /* horizontal sampling factor (1..4) */
- int v_samp_factor; /* vertical sampling factor (1..4) */
- int quant_tbl_no; /* quantization table selector (0..3) */
- /* These values may vary between scans. */
- /* For compression, they must be supplied by parameter setup; */
- /* for decompression, they are read from the SOS marker. */
- /* The decompressor output side may not use these variables. */
- int dc_tbl_no; /* DC entropy table selector (0..3) */
- int ac_tbl_no; /* AC entropy table selector (0..3) */
-
- /* Remaining fields should be treated as private by applications. */
-
- /* These values are computed during compression or decompression startup: */
- /* Component's size in DCT blocks.
- * Any dummy blocks added to complete an MCU are not counted; therefore
- * these values do not depend on whether a scan is interleaved or not.
- */
- JDIMENSION width_in_blocks;
- JDIMENSION height_in_blocks;
- /* Size of a DCT block in samples,
- * reflecting any scaling we choose to apply during the DCT step.
- * Values from 1 to 16 are supported.
- * Note that different components may receive different DCT scalings.
- */
- int DCT_h_scaled_size;
- int DCT_v_scaled_size;
- /* The downsampled dimensions are the component's actual, unpadded number
- * of samples at the main buffer (preprocessing/compression interface);
- * DCT scaling is included, so
- * downsampled_width = ceil(image_width * Hi/Hmax * DCT_h_scaled_size/DCTSIZE)
- * and similarly for height.
- */
- JDIMENSION downsampled_width; /* actual width in samples */
- JDIMENSION downsampled_height; /* actual height in samples */
- /* This flag is used only for decompression. In cases where some of the
- * components will be ignored (eg grayscale output from YCbCr image),
- * we can skip most computations for the unused components.
- */
- boolean component_needed; /* do we need the value of this component? */
-
- /* These values are computed before starting a scan of the component. */
- /* The decompressor output side may not use these variables. */
- int MCU_width; /* number of blocks per MCU, horizontally */
- int MCU_height; /* number of blocks per MCU, vertically */
- int MCU_blocks; /* MCU_width * MCU_height */
- int MCU_sample_width; /* MCU width in samples: MCU_width * DCT_h_scaled_size */
- int last_col_width; /* # of non-dummy blocks across in last MCU */
- int last_row_height; /* # of non-dummy blocks down in last MCU */
-
- /* Saved quantization table for component; NULL if none yet saved.
- * See jdinput.c comments about the need for this information.
- * This field is currently used only for decompression.
- */
- JQUANT_TBL * quant_table;
-
- /* Private per-component storage for DCT or IDCT subsystem. */
- void * dct_table;
-} jpeg_component_info;
-
-
-/* The script for encoding a multiple-scan file is an array of these: */
-
-typedef struct {
- int comps_in_scan; /* number of components encoded in this scan */
- int component_index[MAX_COMPS_IN_SCAN]; /* their SOF/comp_info[] indexes */
- int Ss, Se; /* progressive JPEG spectral selection parms */
- int Ah, Al; /* progressive JPEG successive approx. parms */
-} jpeg_scan_info;
-
-/* The decompressor can save APPn and COM markers in a list of these: */
-
-typedef struct jpeg_marker_struct FAR * jpeg_saved_marker_ptr;
-
-struct jpeg_marker_struct {
- jpeg_saved_marker_ptr next; /* next in list, or NULL */
- UINT8 marker; /* marker code: JPEG_COM, or JPEG_APP0+n */
- unsigned int original_length; /* # bytes of data in the file */
- unsigned int data_length; /* # bytes of data saved at data[] */
- JOCTET FAR * data; /* the data contained in the marker */
- /* the marker length word is not counted in data_length or original_length */
-};
-
-/* Known color spaces. */
-
-typedef enum {
- JCS_UNKNOWN, /* error/unspecified */
- JCS_GRAYSCALE, /* monochrome */
- JCS_RGB, /* red/green/blue */
- JCS_YCbCr, /* Y/Cb/Cr (also known as YUV) */
- JCS_CMYK, /* C/M/Y/K */
- JCS_YCCK /* Y/Cb/Cr/K */
-} J_COLOR_SPACE;
-
-/* DCT/IDCT algorithm options. */
-
-typedef enum {
- JDCT_ISLOW, /* slow but accurate integer algorithm */
- JDCT_IFAST, /* faster, less accurate integer method */
- JDCT_FLOAT /* floating-point: accurate, fast on fast HW */
-} J_DCT_METHOD;
-
-#ifndef JDCT_DEFAULT /* may be overridden in jconfig.h */
-#define JDCT_DEFAULT JDCT_ISLOW
-#endif
-#ifndef JDCT_FASTEST /* may be overridden in jconfig.h */
-#define JDCT_FASTEST JDCT_IFAST
-#endif
-
-/* Dithering options for decompression. */
-
-typedef enum {
- JDITHER_NONE, /* no dithering */
- JDITHER_ORDERED, /* simple ordered dither */
- JDITHER_FS /* Floyd-Steinberg error diffusion dither */
-} J_DITHER_MODE;
-
-
-/* Common fields between JPEG compression and decompression master structs. */
-
-#define jpeg_common_fields \
- struct jpeg_error_mgr * err; /* Error handler module */\
- struct jpeg_memory_mgr * mem; /* Memory manager module */\
- struct jpeg_progress_mgr * progress; /* Progress monitor, or NULL if none */\
- void * client_data; /* Available for use by application */\
- boolean is_decompressor; /* So common code can tell which is which */\
- int global_state /* For checking call sequence validity */
-
-/* Routines that are to be used by both halves of the library are declared
- * to receive a pointer to this structure. There are no actual instances of
- * jpeg_common_struct, only of jpeg_compress_struct and jpeg_decompress_struct.
- */
-struct jpeg_common_struct {
- jpeg_common_fields; /* Fields common to both master struct types */
- /* Additional fields follow in an actual jpeg_compress_struct or
- * jpeg_decompress_struct. All three structs must agree on these
- * initial fields! (This would be a lot cleaner in C++.)
- */
-};
-
-typedef struct jpeg_common_struct * j_common_ptr;
-typedef struct jpeg_compress_struct * j_compress_ptr;
-typedef struct jpeg_decompress_struct * j_decompress_ptr;
-
-
-/* Master record for a compression instance */
-
-struct jpeg_compress_struct {
- jpeg_common_fields; /* Fields shared with jpeg_decompress_struct */
-
- /* Destination for compressed data */
- struct jpeg_destination_mgr * dest;
-
- /* Description of source image --- these fields must be filled in by
- * outer application before starting compression. in_color_space must
- * be correct before you can even call jpeg_set_defaults().
- */
-
- JDIMENSION image_width; /* input image width */
- JDIMENSION image_height; /* input image height */
- int input_components; /* # of color components in input image */
- J_COLOR_SPACE in_color_space; /* colorspace of input image */
-
- double input_gamma; /* image gamma of input image */
-
- /* Compression parameters --- these fields must be set before calling
- * jpeg_start_compress(). We recommend calling jpeg_set_defaults() to
- * initialize everything to reasonable defaults, then changing anything
- * the application specifically wants to change. That way you won't get
- * burnt when new parameters are added. Also note that there are several
- * helper routines to simplify changing parameters.
- */
-
- unsigned int scale_num, scale_denom; /* fraction by which to scale image */
-
- JDIMENSION jpeg_width; /* scaled JPEG image width */
- JDIMENSION jpeg_height; /* scaled JPEG image height */
- /* Dimensions of actual JPEG image that will be written to file,
- * derived from input dimensions by scaling factors above.
- * These fields are computed by jpeg_start_compress().
- * You can also use jpeg_calc_jpeg_dimensions() to determine these values
- * in advance of calling jpeg_start_compress().
- */
-
- int data_precision; /* bits of precision in image data */
-
- int num_components; /* # of color components in JPEG image */
- J_COLOR_SPACE jpeg_color_space; /* colorspace of JPEG image */
-
- jpeg_component_info * comp_info;
- /* comp_info[i] describes component that appears i'th in SOF */
-
- JQUANT_TBL * quant_tbl_ptrs[NUM_QUANT_TBLS];
- int q_scale_factor[NUM_QUANT_TBLS];
- /* ptrs to coefficient quantization tables, or NULL if not defined,
- * and corresponding scale factors (percentage, initialized 100).
- */
-
- JHUFF_TBL * dc_huff_tbl_ptrs[NUM_HUFF_TBLS];
- JHUFF_TBL * ac_huff_tbl_ptrs[NUM_HUFF_TBLS];
- /* ptrs to Huffman coding tables, or NULL if not defined */
-
- UINT8 arith_dc_L[NUM_ARITH_TBLS]; /* L values for DC arith-coding tables */
- UINT8 arith_dc_U[NUM_ARITH_TBLS]; /* U values for DC arith-coding tables */
- UINT8 arith_ac_K[NUM_ARITH_TBLS]; /* Kx values for AC arith-coding tables */
-
- int num_scans; /* # of entries in scan_info array */
- const jpeg_scan_info * scan_info; /* script for multi-scan file, or NULL */
- /* The default value of scan_info is NULL, which causes a single-scan
- * sequential JPEG file to be emitted. To create a multi-scan file,
- * set num_scans and scan_info to point to an array of scan definitions.
- */
-
- boolean raw_data_in; /* TRUE=caller supplies downsampled data */
- boolean arith_code; /* TRUE=arithmetic coding, FALSE=Huffman */
- boolean optimize_coding; /* TRUE=optimize entropy encoding parms */
- boolean CCIR601_sampling; /* TRUE=first samples are cosited */
- boolean do_fancy_downsampling; /* TRUE=apply fancy downsampling */
- int smoothing_factor; /* 1..100, or 0 for no input smoothing */
- J_DCT_METHOD dct_method; /* DCT algorithm selector */
-
- /* The restart interval can be specified in absolute MCUs by setting
- * restart_interval, or in MCU rows by setting restart_in_rows
- * (in which case the correct restart_interval will be figured
- * for each scan).
- */
- unsigned int restart_interval; /* MCUs per restart, or 0 for no restart */
- int restart_in_rows; /* if > 0, MCU rows per restart interval */
-
- /* Parameters controlling emission of special markers. */
-
- boolean write_JFIF_header; /* should a JFIF marker be written? */
- UINT8 JFIF_major_version; /* What to write for the JFIF version number */
- UINT8 JFIF_minor_version;
- /* These three values are not used by the JPEG code, merely copied */
- /* into the JFIF APP0 marker. density_unit can be 0 for unknown, */
- /* 1 for dots/inch, or 2 for dots/cm. Note that the pixel aspect */
- /* ratio is defined by X_density/Y_density even when density_unit=0. */
- UINT8 density_unit; /* JFIF code for pixel size units */
- UINT16 X_density; /* Horizontal pixel density */
- UINT16 Y_density; /* Vertical pixel density */
- boolean write_Adobe_marker; /* should an Adobe marker be written? */
-
- /* State variable: index of next scanline to be written to
- * jpeg_write_scanlines(). Application may use this to control its
- * processing loop, e.g., "while (next_scanline < image_height)".
- */
-
- JDIMENSION next_scanline; /* 0 .. image_height-1 */
-
- /* Remaining fields are known throughout compressor, but generally
- * should not be touched by a surrounding application.
- */
-
- /*
- * These fields are computed during compression startup
- */
- boolean progressive_mode; /* TRUE if scan script uses progressive mode */
- int max_h_samp_factor; /* largest h_samp_factor */
- int max_v_samp_factor; /* largest v_samp_factor */
-
- int min_DCT_h_scaled_size; /* smallest DCT_h_scaled_size of any component */
- int min_DCT_v_scaled_size; /* smallest DCT_v_scaled_size of any component */
-
- JDIMENSION total_iMCU_rows; /* # of iMCU rows to be input to coef ctlr */
- /* The coefficient controller receives data in units of MCU rows as defined
- * for fully interleaved scans (whether the JPEG file is interleaved or not).
- * There are v_samp_factor * DCTSIZE sample rows of each component in an
- * "iMCU" (interleaved MCU) row.
- */
-
- /*
- * These fields are valid during any one scan.
- * They describe the components and MCUs actually appearing in the scan.
- */
- int comps_in_scan; /* # of JPEG components in this scan */
- jpeg_component_info * cur_comp_info[MAX_COMPS_IN_SCAN];
- /* *cur_comp_info[i] describes component that appears i'th in SOS */
-
- JDIMENSION MCUs_per_row; /* # of MCUs across the image */
- JDIMENSION MCU_rows_in_scan; /* # of MCU rows in the image */
-
- int blocks_in_MCU; /* # of DCT blocks per MCU */
- int MCU_membership[C_MAX_BLOCKS_IN_MCU];
- /* MCU_membership[i] is index in cur_comp_info of component owning */
- /* i'th block in an MCU */
-
- int Ss, Se, Ah, Al; /* progressive JPEG parameters for scan */
-
- int block_size; /* the basic DCT block size: 1..16 */
- const int * natural_order; /* natural-order position array */
- int lim_Se; /* min( Se, DCTSIZE2-1 ) */
-
- /*
- * Links to compression subobjects (methods and private variables of modules)
- */
- struct jpeg_comp_master * master;
- struct jpeg_c_main_controller * main;
- struct jpeg_c_prep_controller * prep;
- struct jpeg_c_coef_controller * coef;
- struct jpeg_marker_writer * marker;
- struct jpeg_color_converter * cconvert;
- struct jpeg_downsampler * downsample;
- struct jpeg_forward_dct * fdct;
- struct jpeg_entropy_encoder * entropy;
- jpeg_scan_info * script_space; /* workspace for jpeg_simple_progression */
- int script_space_size;
-};
-
-
-/* Master record for a decompression instance */
-
-struct jpeg_decompress_struct {
- jpeg_common_fields; /* Fields shared with jpeg_compress_struct */
-
- /* Source of compressed data */
- struct jpeg_source_mgr * src;
-
- /* Basic description of image --- filled in by jpeg_read_header(). */
- /* Application may inspect these values to decide how to process image. */
-
- JDIMENSION image_width; /* nominal image width (from SOF marker) */
- JDIMENSION image_height; /* nominal image height */
- int num_components; /* # of color components in JPEG image */
- J_COLOR_SPACE jpeg_color_space; /* colorspace of JPEG image */
-
- /* Decompression processing parameters --- these fields must be set before
- * calling jpeg_start_decompress(). Note that jpeg_read_header() initializes
- * them to default values.
- */
-
- J_COLOR_SPACE out_color_space; /* colorspace for output */
-
- unsigned int scale_num, scale_denom; /* fraction by which to scale image */
-
- double output_gamma; /* image gamma wanted in output */
-
- boolean buffered_image; /* TRUE=multiple output passes */
- boolean raw_data_out; /* TRUE=downsampled data wanted */
-
- J_DCT_METHOD dct_method; /* IDCT algorithm selector */
- boolean do_fancy_upsampling; /* TRUE=apply fancy upsampling */
- boolean do_block_smoothing; /* TRUE=apply interblock smoothing */
-
- boolean quantize_colors; /* TRUE=colormapped output wanted */
- /* the following are ignored if not quantize_colors: */
- J_DITHER_MODE dither_mode; /* type of color dithering to use */
- boolean two_pass_quantize; /* TRUE=use two-pass color quantization */
- int desired_number_of_colors; /* max # colors to use in created colormap */
- /* these are significant only in buffered-image mode: */
- boolean enable_1pass_quant; /* enable future use of 1-pass quantizer */
- boolean enable_external_quant;/* enable future use of external colormap */
- boolean enable_2pass_quant; /* enable future use of 2-pass quantizer */
-
- /* Description of actual output image that will be returned to application.
- * These fields are computed by jpeg_start_decompress().
- * You can also use jpeg_calc_output_dimensions() to determine these values
- * in advance of calling jpeg_start_decompress().
- */
-
- JDIMENSION output_width; /* scaled image width */
- JDIMENSION output_height; /* scaled image height */
- int out_color_components; /* # of color components in out_color_space */
- int output_components; /* # of color components returned */
- /* output_components is 1 (a colormap index) when quantizing colors;
- * otherwise it equals out_color_components.
- */
- int rec_outbuf_height; /* min recommended height of scanline buffer */
- /* If the buffer passed to jpeg_read_scanlines() is less than this many rows
- * high, space and time will be wasted due to unnecessary data copying.
- * Usually rec_outbuf_height will be 1 or 2, at most 4.
- */
-
- /* When quantizing colors, the output colormap is described by these fields.
- * The application can supply a colormap by setting colormap non-NULL before
- * calling jpeg_start_decompress; otherwise a colormap is created during
- * jpeg_start_decompress or jpeg_start_output.
- * The map has out_color_components rows and actual_number_of_colors columns.
- */
- int actual_number_of_colors; /* number of entries in use */
- JSAMPARRAY colormap; /* The color map as a 2-D pixel array */
-
- /* State variables: these variables indicate the progress of decompression.
- * The application may examine these but must not modify them.
- */
-
- /* Row index of next scanline to be read from jpeg_read_scanlines().
- * Application may use this to control its processing loop, e.g.,
- * "while (output_scanline < output_height)".
- */
- JDIMENSION output_scanline; /* 0 .. output_height-1 */
-
- /* Current input scan number and number of iMCU rows completed in scan.
- * These indicate the progress of the decompressor input side.
- */
- int input_scan_number; /* Number of SOS markers seen so far */
- JDIMENSION input_iMCU_row; /* Number of iMCU rows completed */
-
- /* The "output scan number" is the notional scan being displayed by the
- * output side. The decompressor will not allow output scan/row number
- * to get ahead of input scan/row, but it can fall arbitrarily far behind.
- */
- int output_scan_number; /* Nominal scan number being displayed */
- JDIMENSION output_iMCU_row; /* Number of iMCU rows read */
-
- /* Current progression status. coef_bits[c][i] indicates the precision
- * with which component c's DCT coefficient i (in zigzag order) is known.
- * It is -1 when no data has yet been received, otherwise it is the point
- * transform (shift) value for the most recent scan of the coefficient
- * (thus, 0 at completion of the progression).
- * This pointer is NULL when reading a non-progressive file.
- */
- int (*coef_bits)[DCTSIZE2]; /* -1 or current Al value for each coef */
-
- /* Internal JPEG parameters --- the application usually need not look at
- * these fields. Note that the decompressor output side may not use
- * any parameters that can change between scans.
- */
-
- /* Quantization and Huffman tables are carried forward across input
- * datastreams when processing abbreviated JPEG datastreams.
- */
-
- JQUANT_TBL * quant_tbl_ptrs[NUM_QUANT_TBLS];
- /* ptrs to coefficient quantization tables, or NULL if not defined */
-
- JHUFF_TBL * dc_huff_tbl_ptrs[NUM_HUFF_TBLS];
- JHUFF_TBL * ac_huff_tbl_ptrs[NUM_HUFF_TBLS];
- /* ptrs to Huffman coding tables, or NULL if not defined */
-
- /* These parameters are never carried across datastreams, since they
- * are given in SOF/SOS markers or defined to be reset by SOI.
- */
-
- int data_precision; /* bits of precision in image data */
-
- jpeg_component_info * comp_info;
- /* comp_info[i] describes component that appears i'th in SOF */
-
- boolean is_baseline; /* TRUE if Baseline SOF0 encountered */
- boolean progressive_mode; /* TRUE if SOFn specifies progressive mode */
- boolean arith_code; /* TRUE=arithmetic coding, FALSE=Huffman */
-
- UINT8 arith_dc_L[NUM_ARITH_TBLS]; /* L values for DC arith-coding tables */
- UINT8 arith_dc_U[NUM_ARITH_TBLS]; /* U values for DC arith-coding tables */
- UINT8 arith_ac_K[NUM_ARITH_TBLS]; /* Kx values for AC arith-coding tables */
-
- unsigned int restart_interval; /* MCUs per restart interval, or 0 for no restart */
-
- /* These fields record data obtained from optional markers recognized by
- * the JPEG library.
- */
- boolean saw_JFIF_marker; /* TRUE iff a JFIF APP0 marker was found */
- /* Data copied from JFIF marker; only valid if saw_JFIF_marker is TRUE: */
- UINT8 JFIF_major_version; /* JFIF version number */
- UINT8 JFIF_minor_version;
- UINT8 density_unit; /* JFIF code for pixel size units */
- UINT16 X_density; /* Horizontal pixel density */
- UINT16 Y_density; /* Vertical pixel density */
- boolean saw_Adobe_marker; /* TRUE iff an Adobe APP14 marker was found */
- UINT8 Adobe_transform; /* Color transform code from Adobe marker */
-
- boolean CCIR601_sampling; /* TRUE=first samples are cosited */
-
- /* Aside from the specific data retained from APPn markers known to the
- * library, the uninterpreted contents of any or all APPn and COM markers
- * can be saved in a list for examination by the application.
- */
- jpeg_saved_marker_ptr marker_list; /* Head of list of saved markers */
-
- /* Remaining fields are known throughout decompressor, but generally
- * should not be touched by a surrounding application.
- */
-
- /*
- * These fields are computed during decompression startup
- */
- int max_h_samp_factor; /* largest h_samp_factor */
- int max_v_samp_factor; /* largest v_samp_factor */
-
- int min_DCT_h_scaled_size; /* smallest DCT_h_scaled_size of any component */
- int min_DCT_v_scaled_size; /* smallest DCT_v_scaled_size of any component */
-
- JDIMENSION total_iMCU_rows; /* # of iMCU rows in image */
- /* The coefficient controller's input and output progress is measured in
- * units of "iMCU" (interleaved MCU) rows. These are the same as MCU rows
- * in fully interleaved JPEG scans, but are used whether the scan is
- * interleaved or not. We define an iMCU row as v_samp_factor DCT block
- * rows of each component. Therefore, the IDCT output contains
- * v_samp_factor*DCT_v_scaled_size sample rows of a component per iMCU row.
- */
-
- JSAMPLE * sample_range_limit; /* table for fast range-limiting */
-
- /*
- * These fields are valid during any one scan.
- * They describe the components and MCUs actually appearing in the scan.
- * Note that the decompressor output side must not use these fields.
- */
- int comps_in_scan; /* # of JPEG components in this scan */
- jpeg_component_info * cur_comp_info[MAX_COMPS_IN_SCAN];
- /* *cur_comp_info[i] describes component that appears i'th in SOS */
-
- JDIMENSION MCUs_per_row; /* # of MCUs across the image */
- JDIMENSION MCU_rows_in_scan; /* # of MCU rows in the image */
-
- int blocks_in_MCU; /* # of DCT blocks per MCU */
- int MCU_membership[D_MAX_BLOCKS_IN_MCU];
- /* MCU_membership[i] is index in cur_comp_info of component owning */
- /* i'th block in an MCU */
-
- int Ss, Se, Ah, Al; /* progressive JPEG parameters for scan */
-
- /* These fields are derived from Se of first SOS marker.
- */
- int block_size; /* the basic DCT block size: 1..16 */
- const int * natural_order; /* natural-order position array for entropy decode */
- int lim_Se; /* min( Se, DCTSIZE2-1 ) for entropy decode */
-
- /* This field is shared between entropy decoder and marker parser.
- * It is either zero or the code of a JPEG marker that has been
- * read from the data source, but has not yet been processed.
- */
- int unread_marker;
-
- /*
- * Links to decompression subobjects (methods, private variables of modules)
- */
- struct jpeg_decomp_master * master;
- struct jpeg_d_main_controller * main;
- struct jpeg_d_coef_controller * coef;
- struct jpeg_d_post_controller * post;
- struct jpeg_input_controller * inputctl;
- struct jpeg_marker_reader * marker;
- struct jpeg_entropy_decoder * entropy;
- struct jpeg_inverse_dct * idct;
- struct jpeg_upsampler * upsample;
- struct jpeg_color_deconverter * cconvert;
- struct jpeg_color_quantizer * cquantize;
-};
-
-
-/* "Object" declarations for JPEG modules that may be supplied or called
- * directly by the surrounding application.
- * As with all objects in the JPEG library, these structs only define the
- * publicly visible methods and state variables of a module. Additional
- * private fields may exist after the public ones.
- */
-
-
-/* Error handler object */
-
-struct jpeg_error_mgr {
- /* Error exit handler: does not return to caller */
- JMETHOD(void, error_exit, (j_common_ptr cinfo));
- /* Conditionally emit a trace or warning message */
- JMETHOD(void, emit_message, (j_common_ptr cinfo, int msg_level));
- /* Routine that actually outputs a trace or error message */
- JMETHOD(void, output_message, (j_common_ptr cinfo));
- /* Format a message string for the most recent JPEG error or message */
- JMETHOD(void, format_message, (j_common_ptr cinfo, char * buffer));
-#define JMSG_LENGTH_MAX 200 /* recommended size of format_message buffer */
- /* Reset error state variables at start of a new image */
- JMETHOD(void, reset_error_mgr, (j_common_ptr cinfo));
-
- /* The message ID code and any parameters are saved here.
- * A message can have one string parameter or up to 8 int parameters.
- */
- int msg_code;
-#define JMSG_STR_PARM_MAX 80
- union {
- int i[8];
- char s[JMSG_STR_PARM_MAX];
- } msg_parm;
-
- /* Standard state variables for error facility */
-
- int trace_level; /* max msg_level that will be displayed */
-
- /* For recoverable corrupt-data errors, we emit a warning message,
- * but keep going unless emit_message chooses to abort. emit_message
- * should count warnings in num_warnings. The surrounding application
- * can check for bad data by seeing if num_warnings is nonzero at the
- * end of processing.
- */
- long num_warnings; /* number of corrupt-data warnings */
-
- /* These fields point to the table(s) of error message strings.
- * An application can change the table pointer to switch to a different
- * message list (typically, to change the language in which errors are
- * reported). Some applications may wish to add additional error codes
- * that will be handled by the JPEG library error mechanism; the second
- * table pointer is used for this purpose.
- *
- * First table includes all errors generated by JPEG library itself.
- * Error code 0 is reserved for a "no such error string" message.
- */
- const char * const * jpeg_message_table; /* Library errors */
- int last_jpeg_message; /* Table contains strings 0..last_jpeg_message */
- /* Second table can be added by application (see cjpeg/djpeg for example).
- * It contains strings numbered first_addon_message..last_addon_message.
- */
- const char * const * addon_message_table; /* Non-library errors */
- int first_addon_message; /* code for first string in addon table */
- int last_addon_message; /* code for last string in addon table */
-};
-
-
-/* Progress monitor object */
-
-struct jpeg_progress_mgr {
- JMETHOD(void, progress_monitor, (j_common_ptr cinfo));
-
- long pass_counter; /* work units completed in this pass */
- long pass_limit; /* total number of work units in this pass */
- int completed_passes; /* passes completed so far */
- int total_passes; /* total number of passes expected */
-};
-
-
-/* Data destination object for compression */
-
-struct jpeg_destination_mgr {
- JOCTET * next_output_byte; /* => next byte to write in buffer */
- size_t free_in_buffer; /* # of byte spaces remaining in buffer */
-
- JMETHOD(void, init_destination, (j_compress_ptr cinfo));
- JMETHOD(boolean, empty_output_buffer, (j_compress_ptr cinfo));
- JMETHOD(void, term_destination, (j_compress_ptr cinfo));
-};
-
-
-/* Data source object for decompression */
-
-struct jpeg_source_mgr {
- const JOCTET * next_input_byte; /* => next byte to read from buffer */
- size_t bytes_in_buffer; /* # of bytes remaining in buffer */
-
- JMETHOD(void, init_source, (j_decompress_ptr cinfo));
- JMETHOD(boolean, fill_input_buffer, (j_decompress_ptr cinfo));
- JMETHOD(void, skip_input_data, (j_decompress_ptr cinfo, long num_bytes));
- JMETHOD(boolean, resync_to_restart, (j_decompress_ptr cinfo, int desired));
- JMETHOD(void, term_source, (j_decompress_ptr cinfo));
-};
-
-
-/* Memory manager object.
- * Allocates "small" objects (a few K total), "large" objects (tens of K),
- * and "really big" objects (virtual arrays with backing store if needed).
- * The memory manager does not allow individual objects to be freed; rather,
- * each created object is assigned to a pool, and whole pools can be freed
- * at once. This is faster and more convenient than remembering exactly what
- * to free, especially where malloc()/free() are not too speedy.
- * NB: alloc routines never return NULL. They exit to error_exit if not
- * successful.
- */
-
-#define JPOOL_PERMANENT 0 /* lasts until master record is destroyed */
-#define JPOOL_IMAGE 1 /* lasts until done with image/datastream */
-#define JPOOL_NUMPOOLS 2
-
-typedef struct jvirt_sarray_control * jvirt_sarray_ptr;
-typedef struct jvirt_barray_control * jvirt_barray_ptr;
-
-
-struct jpeg_memory_mgr {
- /* Method pointers */
- JMETHOD(void *, alloc_small, (j_common_ptr cinfo, int pool_id,
- size_t sizeofobject));
- JMETHOD(void FAR *, alloc_large, (j_common_ptr cinfo, int pool_id,
- size_t sizeofobject));
- JMETHOD(JSAMPARRAY, alloc_sarray, (j_common_ptr cinfo, int pool_id,
- JDIMENSION samplesperrow,
- JDIMENSION numrows));
- JMETHOD(JBLOCKARRAY, alloc_barray, (j_common_ptr cinfo, int pool_id,
- JDIMENSION blocksperrow,
- JDIMENSION numrows));
- JMETHOD(jvirt_sarray_ptr, request_virt_sarray, (j_common_ptr cinfo,
- int pool_id,
- boolean pre_zero,
- JDIMENSION samplesperrow,
- JDIMENSION numrows,
- JDIMENSION maxaccess));
- JMETHOD(jvirt_barray_ptr, request_virt_barray, (j_common_ptr cinfo,
- int pool_id,
- boolean pre_zero,
- JDIMENSION blocksperrow,
- JDIMENSION numrows,
- JDIMENSION maxaccess));
- JMETHOD(void, realize_virt_arrays, (j_common_ptr cinfo));
- JMETHOD(JSAMPARRAY, access_virt_sarray, (j_common_ptr cinfo,
- jvirt_sarray_ptr ptr,
- JDIMENSION start_row,
- JDIMENSION num_rows,
- boolean writable));
- JMETHOD(JBLOCKARRAY, access_virt_barray, (j_common_ptr cinfo,
- jvirt_barray_ptr ptr,
- JDIMENSION start_row,
- JDIMENSION num_rows,
- boolean writable));
- JMETHOD(void, free_pool, (j_common_ptr cinfo, int pool_id));
- JMETHOD(void, self_destruct, (j_common_ptr cinfo));
-
- /* Limit on memory allocation for this JPEG object. (Note that this is
- * merely advisory, not a guaranteed maximum; it only affects the space
- * used for virtual-array buffers.) May be changed by outer application
- * after creating the JPEG object.
- */
- long max_memory_to_use;
-
- /* Maximum allocation request accepted by alloc_large. */
- long max_alloc_chunk;
-};
-
-
-/* Routine signature for application-supplied marker processing methods.
- * Need not pass marker code since it is stored in cinfo->unread_marker.
- */
-typedef JMETHOD(boolean, jpeg_marker_parser_method, (j_decompress_ptr cinfo));
-
-
-/* Declarations for routines called by application.
- * The JPP macro hides prototype parameters from compilers that can't cope.
- * Note JPP requires double parentheses.
- */
-
-#ifdef HAVE_PROTOTYPES
-#define JPP(arglist) arglist
-#else
-#define JPP(arglist) ()
-#endif
-
-
-/* Short forms of external names for systems with brain-damaged linkers.
- * We shorten external names to be unique in the first six letters, which
- * is good enough for all known systems.
- * (If your compiler itself needs names to be unique in less than 15
- * characters, you are out of luck. Get a better compiler.)
- */
-
-#ifdef NEED_SHORT_EXTERNAL_NAMES
-#define jpeg_std_error jStdError
-#define jpeg_CreateCompress jCreaCompress
-#define jpeg_CreateDecompress jCreaDecompress
-#define jpeg_destroy_compress jDestCompress
-#define jpeg_destroy_decompress jDestDecompress
-#define jpeg_stdio_dest jStdDest
-#define jpeg_stdio_src jStdSrc
-#define jpeg_mem_dest jMemDest
-#define jpeg_mem_src jMemSrc
-#define jpeg_set_defaults jSetDefaults
-#define jpeg_set_colorspace jSetColorspace
-#define jpeg_default_colorspace jDefColorspace
-#define jpeg_set_quality jSetQuality
-#define jpeg_set_linear_quality jSetLQuality
-#define jpeg_default_qtables jDefQTables
-#define jpeg_add_quant_table jAddQuantTable
-#define jpeg_quality_scaling jQualityScaling
-#define jpeg_simple_progression jSimProgress
-#define jpeg_suppress_tables jSuppressTables
-#define jpeg_alloc_quant_table jAlcQTable
-#define jpeg_alloc_huff_table jAlcHTable
-#define jpeg_start_compress jStrtCompress
-#define jpeg_write_scanlines jWrtScanlines
-#define jpeg_finish_compress jFinCompress
-#define jpeg_calc_jpeg_dimensions jCjpegDimensions
-#define jpeg_write_raw_data jWrtRawData
-#define jpeg_write_marker jWrtMarker
-#define jpeg_write_m_header jWrtMHeader
-#define jpeg_write_m_byte jWrtMByte
-#define jpeg_write_tables jWrtTables
-#define jpeg_read_header jReadHeader
-#define jpeg_start_decompress jStrtDecompress
-#define jpeg_read_scanlines jReadScanlines
-#define jpeg_finish_decompress jFinDecompress
-#define jpeg_read_raw_data jReadRawData
-#define jpeg_has_multiple_scans jHasMultScn
-#define jpeg_start_output jStrtOutput
-#define jpeg_finish_output jFinOutput
-#define jpeg_input_complete jInComplete
-#define jpeg_new_colormap jNewCMap
-#define jpeg_consume_input jConsumeInput
-#define jpeg_core_output_dimensions jCoreDimensions
-#define jpeg_calc_output_dimensions jCalcDimensions
-#define jpeg_save_markers jSaveMarkers
-#define jpeg_set_marker_processor jSetMarker
-#define jpeg_read_coefficients jReadCoefs
-#define jpeg_write_coefficients jWrtCoefs
-#define jpeg_copy_critical_parameters jCopyCrit
-#define jpeg_abort_compress jAbrtCompress
-#define jpeg_abort_decompress jAbrtDecompress
-#define jpeg_abort jAbort
-#define jpeg_destroy jDestroy
-#define jpeg_resync_to_restart jResyncRestart
-#endif /* NEED_SHORT_EXTERNAL_NAMES */
-
-
-/* Default error-management setup */
-EXTERN(struct jpeg_error_mgr *) jpeg_std_error
- JPP((struct jpeg_error_mgr * err));
-
-/* Initialization of JPEG compression objects.
- * jpeg_create_compress() and jpeg_create_decompress() are the exported
- * names that applications should call. These expand to calls on
- * jpeg_CreateCompress and jpeg_CreateDecompress with additional information
- * passed for version mismatch checking.
- * NB: you must set up the error-manager BEFORE calling jpeg_create_xxx.
- */
-#define jpeg_create_compress(cinfo) \
- jpeg_CreateCompress((cinfo), JPEG_LIB_VERSION, \
- (size_t) sizeof(struct jpeg_compress_struct))
-#define jpeg_create_decompress(cinfo) \
- jpeg_CreateDecompress((cinfo), JPEG_LIB_VERSION, \
- (size_t) sizeof(struct jpeg_decompress_struct))
-EXTERN(void) jpeg_CreateCompress JPP((j_compress_ptr cinfo,
- int version, size_t structsize));
-EXTERN(void) jpeg_CreateDecompress JPP((j_decompress_ptr cinfo,
- int version, size_t structsize));
-/* Destruction of JPEG compression objects */
-EXTERN(void) jpeg_destroy_compress JPP((j_compress_ptr cinfo));
-EXTERN(void) jpeg_destroy_decompress JPP((j_decompress_ptr cinfo));
-
-/* Standard data source and destination managers: stdio streams. */
-/* Caller is responsible for opening the file before and closing after. */
-EXTERN(void) jpeg_stdio_dest JPP((j_compress_ptr cinfo, FILE * outfile));
-EXTERN(void) jpeg_stdio_src JPP((j_decompress_ptr cinfo, FILE * infile));
-
-/* Data source and destination managers: memory buffers. */
-EXTERN(void) jpeg_mem_dest JPP((j_compress_ptr cinfo,
- unsigned char ** outbuffer,
- unsigned long * outsize));
-EXTERN(void) jpeg_mem_src JPP((j_decompress_ptr cinfo,
- unsigned char * inbuffer,
- unsigned long insize));
-
-/* Default parameter setup for compression */
-EXTERN(void) jpeg_set_defaults JPP((j_compress_ptr cinfo));
-/* Compression parameter setup aids */
-EXTERN(void) jpeg_set_colorspace JPP((j_compress_ptr cinfo,
- J_COLOR_SPACE colorspace));
-EXTERN(void) jpeg_default_colorspace JPP((j_compress_ptr cinfo));
-EXTERN(void) jpeg_set_quality JPP((j_compress_ptr cinfo, int quality,
- boolean force_baseline));
-EXTERN(void) jpeg_set_linear_quality JPP((j_compress_ptr cinfo,
- int scale_factor,
- boolean force_baseline));
-EXTERN(void) jpeg_default_qtables JPP((j_compress_ptr cinfo,
- boolean force_baseline));
-EXTERN(void) jpeg_add_quant_table JPP((j_compress_ptr cinfo, int which_tbl,
- const unsigned int *basic_table,
- int scale_factor,
- boolean force_baseline));
-EXTERN(int) jpeg_quality_scaling JPP((int quality));
-EXTERN(void) jpeg_simple_progression JPP((j_compress_ptr cinfo));
-EXTERN(void) jpeg_suppress_tables JPP((j_compress_ptr cinfo,
- boolean suppress));
-EXTERN(JQUANT_TBL *) jpeg_alloc_quant_table JPP((j_common_ptr cinfo));
-EXTERN(JHUFF_TBL *) jpeg_alloc_huff_table JPP((j_common_ptr cinfo));
-
-/* Main entry points for compression */
-EXTERN(void) jpeg_start_compress JPP((j_compress_ptr cinfo,
- boolean write_all_tables));
-EXTERN(JDIMENSION) jpeg_write_scanlines JPP((j_compress_ptr cinfo,
- JSAMPARRAY scanlines,
- JDIMENSION num_lines));
-EXTERN(void) jpeg_finish_compress JPP((j_compress_ptr cinfo));
-
-/* Precalculate JPEG dimensions for current compression parameters. */
-EXTERN(void) jpeg_calc_jpeg_dimensions JPP((j_compress_ptr cinfo));
-
-/* Replaces jpeg_write_scanlines when writing raw downsampled data. */
-EXTERN(JDIMENSION) jpeg_write_raw_data JPP((j_compress_ptr cinfo,
- JSAMPIMAGE data,
- JDIMENSION num_lines));
-
-/* Write a special marker. See libjpeg.txt concerning safe usage. */
-EXTERN(void) jpeg_write_marker
- JPP((j_compress_ptr cinfo, int marker,
- const JOCTET * dataptr, unsigned int datalen));
-/* Same, but piecemeal. */
-EXTERN(void) jpeg_write_m_header
- JPP((j_compress_ptr cinfo, int marker, unsigned int datalen));
-EXTERN(void) jpeg_write_m_byte
- JPP((j_compress_ptr cinfo, int val));
-
-/* Alternate compression function: just write an abbreviated table file */
-EXTERN(void) jpeg_write_tables JPP((j_compress_ptr cinfo));
-
-/* Decompression startup: read start of JPEG datastream to see what's there */
-EXTERN(int) jpeg_read_header JPP((j_decompress_ptr cinfo,
- boolean require_image));
-/* Return value is one of: */
-#define JPEG_SUSPENDED 0 /* Suspended due to lack of input data */
-#define JPEG_HEADER_OK 1 /* Found valid image datastream */
-#define JPEG_HEADER_TABLES_ONLY 2 /* Found valid table-specs-only datastream */
-/* If you pass require_image = TRUE (normal case), you need not check for
- * a TABLES_ONLY return code; an abbreviated file will cause an error exit.
- * JPEG_SUSPENDED is only possible if you use a data source module that can
- * give a suspension return (the stdio source module doesn't).
- */
-
-/* Main entry points for decompression */
-EXTERN(boolean) jpeg_start_decompress JPP((j_decompress_ptr cinfo));
-EXTERN(JDIMENSION) jpeg_read_scanlines JPP((j_decompress_ptr cinfo,
- JSAMPARRAY scanlines,
- JDIMENSION max_lines));
-EXTERN(boolean) jpeg_finish_decompress JPP((j_decompress_ptr cinfo));
-
-/* Replaces jpeg_read_scanlines when reading raw downsampled data. */
-EXTERN(JDIMENSION) jpeg_read_raw_data JPP((j_decompress_ptr cinfo,
- JSAMPIMAGE data,
- JDIMENSION max_lines));
-
-/* Additional entry points for buffered-image mode. */
-EXTERN(boolean) jpeg_has_multiple_scans JPP((j_decompress_ptr cinfo));
-EXTERN(boolean) jpeg_start_output JPP((j_decompress_ptr cinfo,
- int scan_number));
-EXTERN(boolean) jpeg_finish_output JPP((j_decompress_ptr cinfo));
-EXTERN(boolean) jpeg_input_complete JPP((j_decompress_ptr cinfo));
-EXTERN(void) jpeg_new_colormap JPP((j_decompress_ptr cinfo));
-EXTERN(int) jpeg_consume_input JPP((j_decompress_ptr cinfo));
-/* Return value is one of: */
-/* #define JPEG_SUSPENDED 0 Suspended due to lack of input data */
-#define JPEG_REACHED_SOS 1 /* Reached start of new scan */
-#define JPEG_REACHED_EOI 2 /* Reached end of image */
-#define JPEG_ROW_COMPLETED 3 /* Completed one iMCU row */
-#define JPEG_SCAN_COMPLETED 4 /* Completed last iMCU row of a scan */
-
-/* Precalculate output dimensions for current decompression parameters. */
-EXTERN(void) jpeg_core_output_dimensions JPP((j_decompress_ptr cinfo));
-EXTERN(void) jpeg_calc_output_dimensions JPP((j_decompress_ptr cinfo));
-
-/* Control saving of COM and APPn markers into marker_list. */
-EXTERN(void) jpeg_save_markers
- JPP((j_decompress_ptr cinfo, int marker_code,
- unsigned int length_limit));
-
-/* Install a special processing method for COM or APPn markers. */
-EXTERN(void) jpeg_set_marker_processor
- JPP((j_decompress_ptr cinfo, int marker_code,
- jpeg_marker_parser_method routine));
-
-/* Read or write raw DCT coefficients --- useful for lossless transcoding. */
-EXTERN(jvirt_barray_ptr *) jpeg_read_coefficients JPP((j_decompress_ptr cinfo));
-EXTERN(void) jpeg_write_coefficients JPP((j_compress_ptr cinfo,
- jvirt_barray_ptr * coef_arrays));
-EXTERN(void) jpeg_copy_critical_parameters JPP((j_decompress_ptr srcinfo,
- j_compress_ptr dstinfo));
-
-/* If you choose to abort compression or decompression before completing
- * jpeg_finish_(de)compress, then you need to clean up to release memory,
- * temporary files, etc. You can just call jpeg_destroy_(de)compress
- * if you're done with the JPEG object, but if you want to clean it up and
- * reuse it, call this:
- */
-EXTERN(void) jpeg_abort_compress JPP((j_compress_ptr cinfo));
-EXTERN(void) jpeg_abort_decompress JPP((j_decompress_ptr cinfo));
-
-/* Generic versions of jpeg_abort and jpeg_destroy that work on either
- * flavor of JPEG object. These may be more convenient in some places.
- */
-EXTERN(void) jpeg_abort JPP((j_common_ptr cinfo));
-EXTERN(void) jpeg_destroy JPP((j_common_ptr cinfo));
-
-/* Default restart-marker-resync procedure for use by data source modules */
-EXTERN(boolean) jpeg_resync_to_restart JPP((j_decompress_ptr cinfo,
- int desired));
-
-
-/* These marker codes are exported since applications and data source modules
- * are likely to want to use them.
- */
-
-#define JPEG_RST0 0xD0 /* RST0 marker code */
-#define JPEG_EOI 0xD9 /* EOI marker code */
-#define JPEG_APP0 0xE0 /* APP0 marker code */
-#define JPEG_COM 0xFE /* COM marker code */
-
-
-/* If we have a brain-damaged compiler that emits warnings (or worse, errors)
- * for structure definitions that are never filled in, keep it quiet by
- * supplying dummy definitions for the various substructures.
- */
-
-#ifdef INCOMPLETE_TYPES_BROKEN
-#ifndef JPEG_INTERNALS /* will be defined in jpegint.h */
-struct jvirt_sarray_control { long dummy; };
-struct jvirt_barray_control { long dummy; };
-struct jpeg_comp_master { long dummy; };
-struct jpeg_c_main_controller { long dummy; };
-struct jpeg_c_prep_controller { long dummy; };
-struct jpeg_c_coef_controller { long dummy; };
-struct jpeg_marker_writer { long dummy; };
-struct jpeg_color_converter { long dummy; };
-struct jpeg_downsampler { long dummy; };
-struct jpeg_forward_dct { long dummy; };
-struct jpeg_entropy_encoder { long dummy; };
-struct jpeg_decomp_master { long dummy; };
-struct jpeg_d_main_controller { long dummy; };
-struct jpeg_d_coef_controller { long dummy; };
-struct jpeg_d_post_controller { long dummy; };
-struct jpeg_input_controller { long dummy; };
-struct jpeg_marker_reader { long dummy; };
-struct jpeg_entropy_decoder { long dummy; };
-struct jpeg_inverse_dct { long dummy; };
-struct jpeg_upsampler { long dummy; };
-struct jpeg_color_deconverter { long dummy; };
-struct jpeg_color_quantizer { long dummy; };
-#endif /* JPEG_INTERNALS */
-#endif /* INCOMPLETE_TYPES_BROKEN */
-
-
-/*
- * The JPEG library modules define JPEG_INTERNALS before including this file.
- * The internal structure declarations are read only when that is true.
- * Applications using the library should not include jpegint.h, but may wish
- * to include jerror.h.
- */
-
-#ifdef JPEG_INTERNALS
-#include "jpegint.h" /* fetch private declarations */
-#include "jerror.h" /* fetch error codes too */
-#endif
-
-#ifdef __cplusplus
-#ifndef DONT_USE_EXTERN_C
-}
-#endif
-#endif
-
-#endif /* JPEGLIB_H */
+++ /dev/null
-# libjpeg.la - a libtool library file
-# Generated by ltmain.sh (GNU libtool) 2.2.6b
-#
-# Please DO NOT delete this file!
-# It is necessary for linking the library.
-
-# The name that we can dlopen(3).
-dlname=''
-
-# Names of this library.
-library_names=''
-
-# The name of the static archive.
-old_library='libjpeg.a'
-
-# Linker flags that can not go in dependency_libs.
-inherited_linker_flags=''
-
-# Libraries that this one depends upon.
-dependency_libs=''
-
-# Names of additional weak libraries provided by this library
-weak_library_names=''
-
-# Version information for libjpeg.
-current=8
-age=0
-revision=2
-
-# Is this an already installed library?
-installed=yes
-
-# Should we warn about portability when linking against -modules?
-shouldnotlink=no
-
-# Files to dlopen/dlpreopen
-dlopen=''
-dlpreopen=''
-
-# Directory that this library needs to be installed in:
-libdir='/tmp/j/lib'
+++ /dev/null
-.TH CJPEG 1 "30 December 2009"
-.SH NAME
-cjpeg \- compress an image file to a JPEG file
-.SH SYNOPSIS
-.B cjpeg
-[
-.I options
-]
-[
-.I filename
-]
-.LP
-.SH DESCRIPTION
-.LP
-.B cjpeg
-compresses the named image file, or the standard input if no file is
-named, and produces a JPEG/JFIF file on the standard output.
-The currently supported input file formats are: PPM (PBMPLUS color
-format), PGM (PBMPLUS gray-scale format), BMP, Targa, and RLE (Utah Raster
-Toolkit format). (RLE is supported only if the URT library is available.)
-.SH OPTIONS
-All switch names may be abbreviated; for example,
-.B \-grayscale
-may be written
-.B \-gray
-or
-.BR \-gr .
-Most of the "basic" switches can be abbreviated to as little as one letter.
-Upper and lower case are equivalent (thus
-.B \-BMP
-is the same as
-.BR \-bmp ).
-British spellings are also accepted (e.g.,
-.BR \-greyscale ),
-though for brevity these are not mentioned below.
-.PP
-The basic switches are:
-.TP
-.BI \-quality " N[,...]"
-Scale quantization tables to adjust image quality. Quality is 0 (worst) to
-100 (best); default is 75. (See below for more info.)
-.TP
-.B \-grayscale
-Create monochrome JPEG file from color input. Be sure to use this switch when
-compressing a grayscale BMP file, because
-.B cjpeg
-isn't bright enough to notice whether a BMP file uses only shades of gray.
-By saying
-.BR \-grayscale ,
-you'll get a smaller JPEG file that takes less time to process.
-.TP
-.B \-optimize
-Perform optimization of entropy encoding parameters. Without this, default
-encoding parameters are used.
-.B \-optimize
-usually makes the JPEG file a little smaller, but
-.B cjpeg
-runs somewhat slower and needs much more memory. Image quality and speed of
-decompression are unaffected by
-.BR \-optimize .
-.TP
-.B \-progressive
-Create progressive JPEG file (see below).
-.TP
-.BI \-scale " M/N"
-Scale the output image by a factor M/N. Currently supported scale factors are
-8/N with all N from 1 to 16.
-.TP
-.B \-targa
-Input file is Targa format. Targa files that contain an "identification"
-field will not be automatically recognized by
-.BR cjpeg ;
-for such files you must specify
-.B \-targa
-to make
-.B cjpeg
-treat the input as Targa format.
-For most Targa files, you won't need this switch.
-.PP
-The
-.B \-quality
-switch lets you trade off compressed file size against quality of the
-reconstructed image: the higher the quality setting, the larger the JPEG file,
-and the closer the output image will be to the original input. Normally you
-want to use the lowest quality setting (smallest file) that decompresses into
-something visually indistinguishable from the original image. For this
-purpose the quality setting should be between 50 and 95; the default of 75 is
-often about right. If you see defects at
-.B \-quality
-75, then go up 5 or 10 counts at a time until you are happy with the output
-image. (The optimal setting will vary from one image to another.)
-.PP
-.B \-quality
-100 will generate a quantization table of all 1's, minimizing loss in the
-quantization step (but there is still information loss in subsampling, as well
-as roundoff error). This setting is mainly of interest for experimental
-purposes. Quality values above about 95 are
-.B not
-recommended for normal use; the compressed file size goes up dramatically for
-hardly any gain in output image quality.
-.PP
-In the other direction, quality values below 50 will produce very small files
-of low image quality. Settings around 5 to 10 might be useful in preparing an
-index of a large image library, for example. Try
-.B \-quality
-2 (or so) for some amusing Cubist effects. (Note: quality
-values below about 25 generate 2-byte quantization tables, which are
-considered optional in the JPEG standard.
-.B cjpeg
-emits a warning message when you give such a quality value, because some
-other JPEG programs may be unable to decode the resulting file. Use
-.B \-baseline
-if you need to ensure compatibility at low quality values.)
-.PP
-The
-.B \-quality
-option has been extended in IJG version 7 for support of separate quality
-settings for luminance and chrominance (or in general, for every provided
-quantization table slot). This feature is useful for high-quality
-applications which cannot accept the damage of color data by coarse
-subsampling settings. You can now easily reduce the color data amount more
-smoothly with finer control without separate subsampling. The resulting file
-is fully compliant with standard JPEG decoders.
-Note that the
-.B \-quality
-ratings refer to the quantization table slots, and that the last value is
-replicated if there are more q-table slots than parameters. The default
-q-table slots are 0 for luminance and 1 for chrominance with default tables as
-given in the JPEG standard. This is compatible with the old behaviour in case
-that only one parameter is given, which is then used for both luminance and
-chrominance (slots 0 and 1). More or custom quantization tables can be set
-with
-.B \-qtables
-and assigned to components with
-.B \-qslots
-parameter (see the "wizard" switches below).
-.B Caution:
-You must explicitly add
-.BI \-sample " 1x1"
-for efficient separate color
-quality selection, since the default value used by library is 2x2!
-.PP
-The
-.B \-progressive
-switch creates a "progressive JPEG" file. In this type of JPEG file, the data
-is stored in multiple scans of increasing quality. If the file is being
-transmitted over a slow communications link, the decoder can use the first
-scan to display a low-quality image very quickly, and can then improve the
-display with each subsequent scan. The final image is exactly equivalent to a
-standard JPEG file of the same quality setting, and the total file size is
-about the same --- often a little smaller.
-.PP
-Switches for advanced users:
-.TP
-.B \-dct int
-Use integer DCT method (default).
-.TP
-.B \-dct fast
-Use fast integer DCT (less accurate).
-.TP
-.B \-dct float
-Use floating-point DCT method.
-The float method is very slightly more accurate than the int method, but is
-much slower unless your machine has very fast floating-point hardware. Also
-note that results of the floating-point method may vary slightly across
-machines, while the integer methods should give the same results everywhere.
-The fast integer method is much less accurate than the other two.
-.TP
-.B \-nosmooth
-Don't use high-quality downsampling.
-.TP
-.BI \-restart " N"
-Emit a JPEG restart marker every N MCU rows, or every N MCU blocks if "B" is
-attached to the number.
-.B \-restart 0
-(the default) means no restart markers.
-.TP
-.BI \-smooth " N"
-Smooth the input image to eliminate dithering noise. N, ranging from 1 to
-100, indicates the strength of smoothing. 0 (the default) means no smoothing.
-.TP
-.BI \-maxmemory " N"
-Set limit for amount of memory to use in processing large images. Value is
-in thousands of bytes, or millions of bytes if "M" is attached to the
-number. For example,
-.B \-max 4m
-selects 4000000 bytes. If more space is needed, temporary files will be used.
-.TP
-.BI \-outfile " name"
-Send output image to the named file, not to standard output.
-.TP
-.B \-verbose
-Enable debug printout. More
-.BR \-v 's
-give more output. Also, version information is printed at startup.
-.TP
-.B \-debug
-Same as
-.BR \-verbose .
-.PP
-The
-.B \-restart
-option inserts extra markers that allow a JPEG decoder to resynchronize after
-a transmission error. Without restart markers, any damage to a compressed
-file will usually ruin the image from the point of the error to the end of the
-image; with restart markers, the damage is usually confined to the portion of
-the image up to the next restart marker. Of course, the restart markers
-occupy extra space. We recommend
-.B \-restart 1
-for images that will be transmitted across unreliable networks such as Usenet.
-.PP
-The
-.B \-smooth
-option filters the input to eliminate fine-scale noise. This is often useful
-when converting dithered images to JPEG: a moderate smoothing factor of 10 to
-50 gets rid of dithering patterns in the input file, resulting in a smaller
-JPEG file and a better-looking image. Too large a smoothing factor will
-visibly blur the image, however.
-.PP
-Switches for wizards:
-.TP
-.B \-arithmetic
-Use arithmetic coding.
-.B Caution:
-arithmetic coded JPEG is not yet widely implemented, so many decoders will be
-unable to view an arithmetic coded JPEG file at all.
-.TP
-.B \-baseline
-Force baseline-compatible quantization tables to be generated. This clamps
-quantization values to 8 bits even at low quality settings. (This switch is
-poorly named, since it does not ensure that the output is actually baseline
-JPEG. For example, you can use
-.B \-baseline
-and
-.B \-progressive
-together.)
-.TP
-.BI \-qtables " file"
-Use the quantization tables given in the specified text file.
-.TP
-.BI \-qslots " N[,...]"
-Select which quantization table to use for each color component.
-.TP
-.BI \-sample " HxV[,...]"
-Set JPEG sampling factors for each color component.
-.TP
-.BI \-scans " file"
-Use the scan script given in the specified text file.
-.PP
-The "wizard" switches are intended for experimentation with JPEG. If you
-don't know what you are doing, \fBdon't use them\fR. These switches are
-documented further in the file wizard.txt.
-.SH EXAMPLES
-.LP
-This example compresses the PPM file foo.ppm with a quality factor of
-60 and saves the output as foo.jpg:
-.IP
-.B cjpeg \-quality
-.I 60 foo.ppm
-.B >
-.I foo.jpg
-.SH HINTS
-Color GIF files are not the ideal input for JPEG; JPEG is really intended for
-compressing full-color (24-bit) images. In particular, don't try to convert
-cartoons, line drawings, and other images that have only a few distinct
-colors. GIF works great on these, JPEG does not. If you want to convert a
-GIF to JPEG, you should experiment with
-.BR cjpeg 's
-.B \-quality
-and
-.B \-smooth
-options to get a satisfactory conversion.
-.B \-smooth 10
-or so is often helpful.
-.PP
-Avoid running an image through a series of JPEG compression/decompression
-cycles. Image quality loss will accumulate; after ten or so cycles the image
-may be noticeably worse than it was after one cycle. It's best to use a
-lossless format while manipulating an image, then convert to JPEG format when
-you are ready to file the image away.
-.PP
-The
-.B \-optimize
-option to
-.B cjpeg
-is worth using when you are making a "final" version for posting or archiving.
-It's also a win when you are using low quality settings to make very small
-JPEG files; the percentage improvement is often a lot more than it is on
-larger files. (At present,
-.B \-optimize
-mode is always selected when generating progressive JPEG files.)
-.SH ENVIRONMENT
-.TP
-.B JPEGMEM
-If this environment variable is set, its value is the default memory limit.
-The value is specified as described for the
-.B \-maxmemory
-switch.
-.B JPEGMEM
-overrides the default value specified when the program was compiled, and
-itself is overridden by an explicit
-.BR \-maxmemory .
-.SH SEE ALSO
-.BR djpeg (1),
-.BR jpegtran (1),
-.BR rdjpgcom (1),
-.BR wrjpgcom (1)
-.br
-.BR ppm (5),
-.BR pgm (5)
-.br
-Wallace, Gregory K. "The JPEG Still Picture Compression Standard",
-Communications of the ACM, April 1991 (vol. 34, no. 4), pp. 30-44.
-.SH AUTHOR
-Independent JPEG Group
-.SH BUGS
-GIF input files are no longer supported, to avoid the Unisys LZW patent.
-(Conversion of GIF files to JPEG is usually a bad idea anyway.)
-.PP
-Not all variants of BMP and Targa file formats are supported.
-.PP
-The
-.B \-targa
-switch is not a bug, it's a feature. (It would be a bug if the Targa format
-designers had not been clueless.)
+++ /dev/null
-.TH DJPEG 1 "3 October 2009"
-.SH NAME
-djpeg \- decompress a JPEG file to an image file
-.SH SYNOPSIS
-.B djpeg
-[
-.I options
-]
-[
-.I filename
-]
-.LP
-.SH DESCRIPTION
-.LP
-.B djpeg
-decompresses the named JPEG file, or the standard input if no file is named,
-and produces an image file on the standard output. PBMPLUS (PPM/PGM), BMP,
-GIF, Targa, or RLE (Utah Raster Toolkit) output format can be selected.
-(RLE is supported only if the URT library is available.)
-.SH OPTIONS
-All switch names may be abbreviated; for example,
-.B \-grayscale
-may be written
-.B \-gray
-or
-.BR \-gr .
-Most of the "basic" switches can be abbreviated to as little as one letter.
-Upper and lower case are equivalent (thus
-.B \-BMP
-is the same as
-.BR \-bmp ).
-British spellings are also accepted (e.g.,
-.BR \-greyscale ),
-though for brevity these are not mentioned below.
-.PP
-The basic switches are:
-.TP
-.BI \-colors " N"
-Reduce image to at most N colors. This reduces the number of colors used in
-the output image, so that it can be displayed on a colormapped display or
-stored in a colormapped file format. For example, if you have an 8-bit
-display, you'd need to reduce to 256 or fewer colors.
-.TP
-.BI \-quantize " N"
-Same as
-.BR \-colors .
-.B \-colors
-is the recommended name,
-.B \-quantize
-is provided only for backwards compatibility.
-.TP
-.B \-fast
-Select recommended processing options for fast, low quality output. (The
-default options are chosen for highest quality output.) Currently, this is
-equivalent to \fB\-dct fast \-nosmooth \-onepass \-dither ordered\fR.
-.TP
-.B \-grayscale
-Force gray-scale output even if JPEG file is color. Useful for viewing on
-monochrome displays; also,
-.B djpeg
-runs noticeably faster in this mode.
-.TP
-.BI \-scale " M/N"
-Scale the output image by a factor M/N. Currently supported scale factors are
-M/N with all M from 1 to 16, where N is the source DCT size, which is 8 for
-baseline JPEG. If the /N part is omitted, then M specifies the DCT scaled
-size to be applied on the given input. For baseline JPEG this is equivalent
-to M/8 scaling, since the source DCT size for baseline JPEG is 8.
-Scaling is handy if the image is larger than your screen; also,
-.B djpeg
-runs much faster when scaling down the output.
-.TP
-.B \-bmp
-Select BMP output format (Windows flavor). 8-bit colormapped format is
-emitted if
-.B \-colors
-or
-.B \-grayscale
-is specified, or if the JPEG file is gray-scale; otherwise, 24-bit full-color
-format is emitted.
-.TP
-.B \-gif
-Select GIF output format. Since GIF does not support more than 256 colors,
-.B \-colors 256
-is assumed (unless you specify a smaller number of colors).
-.TP
-.B \-os2
-Select BMP output format (OS/2 1.x flavor). 8-bit colormapped format is
-emitted if
-.B \-colors
-or
-.B \-grayscale
-is specified, or if the JPEG file is gray-scale; otherwise, 24-bit full-color
-format is emitted.
-.TP
-.B \-pnm
-Select PBMPLUS (PPM/PGM) output format (this is the default format).
-PGM is emitted if the JPEG file is gray-scale or if
-.B \-grayscale
-is specified; otherwise PPM is emitted.
-.TP
-.B \-rle
-Select RLE output format. (Requires URT library.)
-.TP
-.B \-targa
-Select Targa output format. Gray-scale format is emitted if the JPEG file is
-gray-scale or if
-.B \-grayscale
-is specified; otherwise, colormapped format is emitted if
-.B \-colors
-is specified; otherwise, 24-bit full-color format is emitted.
-.PP
-Switches for advanced users:
-.TP
-.B \-dct int
-Use integer DCT method (default).
-.TP
-.B \-dct fast
-Use fast integer DCT (less accurate).
-.TP
-.B \-dct float
-Use floating-point DCT method.
-The float method is very slightly more accurate than the int method, but is
-much slower unless your machine has very fast floating-point hardware. Also
-note that results of the floating-point method may vary slightly across
-machines, while the integer methods should give the same results everywhere.
-The fast integer method is much less accurate than the other two.
-.TP
-.B \-dither fs
-Use Floyd-Steinberg dithering in color quantization.
-.TP
-.B \-dither ordered
-Use ordered dithering in color quantization.
-.TP
-.B \-dither none
-Do not use dithering in color quantization.
-By default, Floyd-Steinberg dithering is applied when quantizing colors; this
-is slow but usually produces the best results. Ordered dither is a compromise
-between speed and quality; no dithering is fast but usually looks awful. Note
-that these switches have no effect unless color quantization is being done.
-Ordered dither is only available in
-.B \-onepass
-mode.
-.TP
-.BI \-map " file"
-Quantize to the colors used in the specified image file. This is useful for
-producing multiple files with identical color maps, or for forcing a
-predefined set of colors to be used. The
-.I file
-must be a GIF or PPM file. This option overrides
-.B \-colors
-and
-.BR \-onepass .
-.TP
-.B \-nosmooth
-Don't use high-quality upsampling.
-.TP
-.B \-onepass
-Use one-pass instead of two-pass color quantization. The one-pass method is
-faster and needs less memory, but it produces a lower-quality image.
-.B \-onepass
-is ignored unless you also say
-.B \-colors
-.IR N .
-Also, the one-pass method is always used for gray-scale output (the two-pass
-method is no improvement then).
-.TP
-.BI \-maxmemory " N"
-Set limit for amount of memory to use in processing large images. Value is
-in thousands of bytes, or millions of bytes if "M" is attached to the
-number. For example,
-.B \-max 4m
-selects 4000000 bytes. If more space is needed, temporary files will be used.
-.TP
-.BI \-outfile " name"
-Send output image to the named file, not to standard output.
-.TP
-.B \-verbose
-Enable debug printout. More
-.BR \-v 's
-give more output. Also, version information is printed at startup.
-.TP
-.B \-debug
-Same as
-.BR \-verbose .
-.SH EXAMPLES
-.LP
-This example decompresses the JPEG file foo.jpg, quantizes it to
-256 colors, and saves the output in 8-bit BMP format in foo.bmp:
-.IP
-.B djpeg \-colors 256 \-bmp
-.I foo.jpg
-.B >
-.I foo.bmp
-.SH HINTS
-To get a quick preview of an image, use the
-.B \-grayscale
-and/or
-.B \-scale
-switches.
-.B \-grayscale \-scale 1/8
-is the fastest case.
-.PP
-Several options are available that trade off image quality to gain speed.
-.B \-fast
-turns on the recommended settings.
-.PP
-.B \-dct fast
-and/or
-.B \-nosmooth
-gain speed at a small sacrifice in quality.
-When producing a color-quantized image,
-.B \-onepass \-dither ordered
-is fast but much lower quality than the default behavior.
-.B \-dither none
-may give acceptable results in two-pass mode, but is seldom tolerable in
-one-pass mode.
-.PP
-If you are fortunate enough to have very fast floating point hardware,
-\fB\-dct float\fR may be even faster than \fB\-dct fast\fR. But on most
-machines \fB\-dct float\fR is slower than \fB\-dct int\fR; in this case it is
-not worth using, because its theoretical accuracy advantage is too small to be
-significant in practice.
-.SH ENVIRONMENT
-.TP
-.B JPEGMEM
-If this environment variable is set, its value is the default memory limit.
-The value is specified as described for the
-.B \-maxmemory
-switch.
-.B JPEGMEM
-overrides the default value specified when the program was compiled, and
-itself is overridden by an explicit
-.BR \-maxmemory .
-.SH SEE ALSO
-.BR cjpeg (1),
-.BR jpegtran (1),
-.BR rdjpgcom (1),
-.BR wrjpgcom (1)
-.br
-.BR ppm (5),
-.BR pgm (5)
-.br
-Wallace, Gregory K. "The JPEG Still Picture Compression Standard",
-Communications of the ACM, April 1991 (vol. 34, no. 4), pp. 30-44.
-.SH AUTHOR
-Independent JPEG Group
-.SH BUGS
-To avoid the Unisys LZW patent,
-.B djpeg
-produces uncompressed GIF files. These are larger than they should be, but
-are readable by standard GIF decoders.
+++ /dev/null
-.TH JPEGTRAN 1 "28 December 2009"
-.SH NAME
-jpegtran \- lossless transformation of JPEG files
-.SH SYNOPSIS
-.B jpegtran
-[
-.I options
-]
-[
-.I filename
-]
-.LP
-.SH DESCRIPTION
-.LP
-.B jpegtran
-performs various useful transformations of JPEG files.
-It can translate the coded representation from one variant of JPEG to another,
-for example from baseline JPEG to progressive JPEG or vice versa. It can also
-perform some rearrangements of the image data, for example turning an image
-from landscape to portrait format by rotation.
-.PP
-.B jpegtran
-works by rearranging the compressed data (DCT coefficients), without
-ever fully decoding the image. Therefore, its transformations are lossless:
-there is no image degradation at all, which would not be true if you used
-.B djpeg
-followed by
-.B cjpeg
-to accomplish the same conversion. But by the same token,
-.B jpegtran
-cannot perform lossy operations such as changing the image quality.
-.PP
-.B jpegtran
-reads the named JPEG/JFIF file, or the standard input if no file is
-named, and produces a JPEG/JFIF file on the standard output.
-.SH OPTIONS
-All switch names may be abbreviated; for example,
-.B \-optimize
-may be written
-.B \-opt
-or
-.BR \-o .
-Upper and lower case are equivalent.
-British spellings are also accepted (e.g.,
-.BR \-optimise ),
-though for brevity these are not mentioned below.
-.PP
-To specify the coded JPEG representation used in the output file,
-.B jpegtran
-accepts a subset of the switches recognized by
-.BR cjpeg :
-.TP
-.B \-optimize
-Perform optimization of entropy encoding parameters.
-.TP
-.B \-progressive
-Create progressive JPEG file.
-.TP
-.BI \-restart " N"
-Emit a JPEG restart marker every N MCU rows, or every N MCU blocks if "B" is
-attached to the number.
-.TP
-.B \-arithmetic
-Use arithmetic coding.
-.TP
-.BI \-scans " file"
-Use the scan script given in the specified text file.
-.PP
-See
-.BR cjpeg (1)
-for more details about these switches.
-If you specify none of these switches, you get a plain baseline-JPEG output
-file. The quality setting and so forth are determined by the input file.
-.PP
-The image can be losslessly transformed by giving one of these switches:
-.TP
-.B \-flip horizontal
-Mirror image horizontally (left-right).
-.TP
-.B \-flip vertical
-Mirror image vertically (top-bottom).
-.TP
-.B \-rotate 90
-Rotate image 90 degrees clockwise.
-.TP
-.B \-rotate 180
-Rotate image 180 degrees.
-.TP
-.B \-rotate 270
-Rotate image 270 degrees clockwise (or 90 ccw).
-.TP
-.B \-transpose
-Transpose image (across UL-to-LR axis).
-.TP
-.B \-transverse
-Transverse transpose (across UR-to-LL axis).
-.IP
-The transpose transformation has no restrictions regarding image dimensions.
-The other transformations operate rather oddly if the image dimensions are not
-a multiple of the iMCU size (usually 8 or 16 pixels), because they can only
-transform complete blocks of DCT coefficient data in the desired way.
-.IP
-.BR jpegtran 's
-default behavior when transforming an odd-size image is designed
-to preserve exact reversibility and mathematical consistency of the
-transformation set. As stated, transpose is able to flip the entire image
-area. Horizontal mirroring leaves any partial iMCU column at the right edge
-untouched, but is able to flip all rows of the image. Similarly, vertical
-mirroring leaves any partial iMCU row at the bottom edge untouched, but is
-able to flip all columns. The other transforms can be built up as sequences
-of transpose and flip operations; for consistency, their actions on edge
-pixels are defined to be the same as the end result of the corresponding
-transpose-and-flip sequence.
-.IP
-For practical use, you may prefer to discard any untransformable edge pixels
-rather than having a strange-looking strip along the right and/or bottom edges
-of a transformed image. To do this, add the
-.B \-trim
-switch:
-.TP
-.B \-trim
-Drop non-transformable edge blocks.
-.IP
-Obviously, a transformation with
-.B \-trim
-is not reversible, so strictly speaking
-.B jpegtran
-with this switch is not lossless. Also, the expected mathematical
-equivalences between the transformations no longer hold. For example,
-.B \-rot 270 -trim
-trims only the bottom edge, but
-.B \-rot 90 -trim
-followed by
-.B \-rot 180 -trim
-trims both edges.
-.IP
-If you are only interested in perfect transformation, add the
-.B \-perfect
-switch:
-.TP
-.B \-perfect
-Fails with an error if the transformation is not perfect.
-.IP
-For example you may want to do
-.IP
-.B (jpegtran \-rot 90 -perfect
-.I foo.jpg
-.B || djpeg
-.I foo.jpg
-.B | pnmflip \-r90 | cjpeg)
-.IP
-to do a perfect rotation if available or an approximated one if not.
-.PP
-We also offer a lossless-crop option, which discards data outside a given
-image region but losslessly preserves what is inside. Like the rotate and
-flip transforms, lossless crop is restricted by the current JPEG format: the
-upper left corner of the selected region must fall on an iMCU boundary. If
-this does not hold for the given crop parameters, we silently move the upper
-left corner up and/or left to make it so, simultaneously increasing the region
-dimensions to keep the lower right crop corner unchanged. (Thus, the output
-image covers at least the requested region, but may cover more.)
-
-The image can be losslessly cropped by giving the switch:
-.TP
-.B \-crop WxH+X+Y
-Crop to a rectangular subarea of width W, height H starting at point X,Y.
-.PP
-Other not-strictly-lossless transformation switches are:
-.TP
-.B \-grayscale
-Force grayscale output.
-.IP
-This option discards the chrominance channels if the input image is YCbCr
-(ie, a standard color JPEG), resulting in a grayscale JPEG file. The
-luminance channel is preserved exactly, so this is a better method of reducing
-to grayscale than decompression, conversion, and recompression. This switch
-is particularly handy for fixing a monochrome picture that was mistakenly
-encoded as a color JPEG. (In such a case, the space savings from getting rid
-of the near-empty chroma channels won't be large; but the decoding time for
-a grayscale JPEG is substantially less than that for a color JPEG.)
-.TP
-.BI \-scale " M/N"
-Scale the output image by a factor M/N.
-.IP
-Currently supported scale factors are M/N with all M from 1 to 16, where N is
-the source DCT size, which is 8 for baseline JPEG. If the /N part is omitted,
-then M specifies the DCT scaled size to be applied on the given input. For
-baseline JPEG this is equivalent to M/8 scaling, since the source DCT size
-for baseline JPEG is 8.
-.B Caution:
-An implementation of the JPEG SmartScale extension is required for this
-feature. SmartScale enabled JPEG is not yet widely implemented, so many
-decoders will be unable to view a SmartScale extended JPEG file at all.
-.PP
-.B jpegtran
-also recognizes these switches that control what to do with "extra" markers,
-such as comment blocks:
-.TP
-.B \-copy none
-Copy no extra markers from source file. This setting suppresses all
-comments and other excess baggage present in the source file.
-.TP
-.B \-copy comments
-Copy only comment markers. This setting copies comments from the source file,
-but discards any other inessential (for image display) data.
-.TP
-.B \-copy all
-Copy all extra markers. This setting preserves miscellaneous markers
-found in the source file, such as JFIF thumbnails, Exif data, and Photoshop
-settings. In some files these extra markers can be sizable.
-.IP
-The default behavior is
-.BR "\-copy comments" .
-(Note: in IJG releases v6 and v6a,
-.B jpegtran
-always did the equivalent of
-.BR "\-copy none" .)
-.PP
-Additional switches recognized by jpegtran are:
-.TP
-.BI \-maxmemory " N"
-Set limit for amount of memory to use in processing large images. Value is
-in thousands of bytes, or millions of bytes if "M" is attached to the
-number. For example,
-.B \-max 4m
-selects 4000000 bytes. If more space is needed, temporary files will be used.
-.TP
-.BI \-outfile " name"
-Send output image to the named file, not to standard output.
-.TP
-.B \-verbose
-Enable debug printout. More
-.BR \-v 's
-give more output. Also, version information is printed at startup.
-.TP
-.B \-debug
-Same as
-.BR \-verbose .
-.SH EXAMPLES
-.LP
-This example converts a baseline JPEG file to progressive form:
-.IP
-.B jpegtran \-progressive
-.I foo.jpg
-.B >
-.I fooprog.jpg
-.PP
-This example rotates an image 90 degrees clockwise, discarding any
-unrotatable edge pixels:
-.IP
-.B jpegtran \-rot 90 -trim
-.I foo.jpg
-.B >
-.I foo90.jpg
-.SH ENVIRONMENT
-.TP
-.B JPEGMEM
-If this environment variable is set, its value is the default memory limit.
-The value is specified as described for the
-.B \-maxmemory
-switch.
-.B JPEGMEM
-overrides the default value specified when the program was compiled, and
-itself is overridden by an explicit
-.BR \-maxmemory .
-.SH SEE ALSO
-.BR cjpeg (1),
-.BR djpeg (1),
-.BR rdjpgcom (1),
-.BR wrjpgcom (1)
-.br
-Wallace, Gregory K. "The JPEG Still Picture Compression Standard",
-Communications of the ACM, April 1991 (vol. 34, no. 4), pp. 30-44.
-.SH AUTHOR
-Independent JPEG Group
-.SH BUGS
-The transform options can't transform odd-size images perfectly. Use
-.B \-trim
-or
-.B \-perfect
-if you don't like the results.
-.PP
-The entire image is read into memory and then written out again, even in
-cases where this isn't really necessary. Expect swapping on large images,
-especially when using the more complex transform options.
+++ /dev/null
-.TH RDJPGCOM 1 "02 April 2009"
-.SH NAME
-rdjpgcom \- display text comments from a JPEG file
-.SH SYNOPSIS
-.B rdjpgcom
-[
-.B \-raw
-]
-[
-.B \-verbose
-]
-[
-.I filename
-]
-.LP
-.SH DESCRIPTION
-.LP
-.B rdjpgcom
-reads the named JPEG/JFIF file, or the standard input if no file is named,
-and prints any text comments found in the file on the standard output.
-.PP
-The JPEG standard allows "comment" (COM) blocks to occur within a JPEG file.
-Although the standard doesn't actually define what COM blocks are for, they
-are widely used to hold user-supplied text strings. This lets you add
-annotations, titles, index terms, etc to your JPEG files, and later retrieve
-them as text. COM blocks do not interfere with the image stored in the JPEG
-file. The maximum size of a COM block is 64K, but you can have as many of
-them as you like in one JPEG file.
-.SH OPTIONS
-.TP
-.B \-raw
-Normally
-.B rdjpgcom
-escapes non-printable characters in comments, for security reasons.
-This option avoids that.
-.PP
-.B \-verbose
-Causes
-.B rdjpgcom
-to also display the JPEG image dimensions.
-.PP
-Switch names may be abbreviated, and are not case sensitive.
-.SH HINTS
-.B rdjpgcom
-does not depend on the IJG JPEG library. Its source code is intended as an
-illustration of the minimum amount of code required to parse a JPEG file
-header correctly.
-.PP
-In
-.B \-verbose
-mode,
-.B rdjpgcom
-will also attempt to print the contents of any "APP12" markers as text.
-Some digital cameras produce APP12 markers containing useful textual
-information. If you like, you can modify the source code to print
-other APPn marker types as well.
-.SH SEE ALSO
-.BR cjpeg (1),
-.BR djpeg (1),
-.BR jpegtran (1),
-.BR wrjpgcom (1)
-.SH AUTHOR
-Independent JPEG Group
+++ /dev/null
-.TH WRJPGCOM 1 "15 June 1995"
-.SH NAME
-wrjpgcom \- insert text comments into a JPEG file
-.SH SYNOPSIS
-.B wrjpgcom
-[
-.B \-replace
-]
-[
-.BI \-comment " text"
-]
-[
-.BI \-cfile " name"
-]
-[
-.I filename
-]
-.LP
-.SH DESCRIPTION
-.LP
-.B wrjpgcom
-reads the named JPEG/JFIF file, or the standard input if no file is named,
-and generates a new JPEG/JFIF file on standard output. A comment block is
-added to the file.
-.PP
-The JPEG standard allows "comment" (COM) blocks to occur within a JPEG file.
-Although the standard doesn't actually define what COM blocks are for, they
-are widely used to hold user-supplied text strings. This lets you add
-annotations, titles, index terms, etc to your JPEG files, and later retrieve
-them as text. COM blocks do not interfere with the image stored in the JPEG
-file. The maximum size of a COM block is 64K, but you can have as many of
-them as you like in one JPEG file.
-.PP
-.B wrjpgcom
-adds a COM block, containing text you provide, to a JPEG file.
-Ordinarily, the COM block is added after any existing COM blocks; but you
-can delete the old COM blocks if you wish.
-.SH OPTIONS
-Switch names may be abbreviated, and are not case sensitive.
-.TP
-.B \-replace
-Delete any existing COM blocks from the file.
-.TP
-.BI \-comment " text"
-Supply text for new COM block on command line.
-.TP
-.BI \-cfile " name"
-Read text for new COM block from named file.
-.PP
-If you have only one line of comment text to add, you can provide it on the
-command line with
-.BR \-comment .
-The comment text must be surrounded with quotes so that it is treated as a
-single argument. Longer comments can be read from a text file.
-.PP
-If you give neither
-.B \-comment
-nor
-.BR \-cfile ,
-then
-.B wrjpgcom
-will read the comment text from standard input. (In this case an input image
-file name MUST be supplied, so that the source JPEG file comes from somewhere
-else.) You can enter multiple lines, up to 64KB worth. Type an end-of-file
-indicator (usually control-D) to terminate the comment text entry.
-.PP
-.B wrjpgcom
-will not add a COM block if the provided comment string is empty. Therefore
-\fB\-replace \-comment ""\fR can be used to delete all COM blocks from a file.
-.SH EXAMPLES
-.LP
-Add a short comment to in.jpg, producing out.jpg:
-.IP
-.B wrjpgcom \-c
-\fI"View of my back yard" in.jpg
-.B >
-.I out.jpg
-.PP
-Attach a long comment previously stored in comment.txt:
-.IP
-.B wrjpgcom
-.I in.jpg
-.B <
-.I comment.txt
-.B >
-.I out.jpg
-.PP
-or equivalently
-.IP
-.B wrjpgcom
-.B -cfile
-.I comment.txt
-.B <
-.I in.jpg
-.B >
-.I out.jpg
-.SH SEE ALSO
-.BR cjpeg (1),
-.BR djpeg (1),
-.BR jpegtran (1),
-.BR rdjpgcom (1)
-.SH AUTHOR
-Independent JPEG Group
+++ /dev/null
-#!/bin/sh
-
-prefix=/usr/local
-exec_prefix=${prefix}
-exec_prefix_set=no
-
-usage="\
-Usage: ode-config [--prefix[=DIR]] [--exec-prefix[=DIR]] [--version] [--cflags] [--libs]"
-
-if test $# -eq 0; then
- echo "${usage}" 1>&2
- exit 1
-fi
-
-while test $# -gt 0; do
- case "$1" in
- -*=*) optarg=`echo "$1" | sed 's/[-_a-zA-Z0-9]*=//'` ;;
- *) optarg= ;;
- esac
-
- case $1 in
- --prefix=*)
- prefix=$optarg
- if test $exec_prefix_set = no ; then
- exec_prefix=$optarg
- fi
- ;;
- --prefix)
- echo $prefix
- ;;
- --exec-prefix=*)
- exec_prefix=$optarg
- exec_prefix_set=yes
- ;;
- --exec-prefix)
- echo $exec_prefix
- ;;
- --version)
- echo 0.12
- ;;
- --cflags)
- echo -I${prefix}/include -DdDOUBLE
- ;;
- --libs)
- echo -L${exec_prefix}/lib -lode
- ;;
- *)
- echo "${usage}" 1>&2
- exit 1
- ;;
- esac
- shift
-done
+++ /dev/null
-/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
-
-#ifndef _ODE_COLLISION_H_
-#define _ODE_COLLISION_H_
-
-#include <ode/common.h>
-#include <ode/collision_space.h>
-#include <ode/contact.h>
-// Include odeinit.h for backward compatibility as some of initialization APIs
-// were initally declared in current header.
-#include <ode/odeinit.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @defgroup collide Collision Detection
- *
- * ODE has two main components: a dynamics simulation engine and a collision
- * detection engine. The collision engine is given information about the
- * shape of each body. At each time step it figures out which bodies touch
- * each other and passes the resulting contact point information to the user.
- * The user in turn creates contact joints between bodies.
- *
- * Using ODE's collision detection is optional - an alternative collision
- * detection system can be used as long as it can supply the right kinds of
- * contact information.
- */
-
-
-/* ************************************************************************ */
-/* general functions */
-
-/**
- * @brief Destroy a geom, removing it from any space.
- *
- * Destroy a geom, removing it from any space it is in first. This one
- * function destroys a geom of any type, but to create a geom you must call
- * a creation function for that type.
- *
- * When a space is destroyed, if its cleanup mode is 1 (the default) then all
- * the geoms in that space are automatically destroyed as well.
- *
- * @param geom the geom to be destroyed.
- * @ingroup collide
- */
-ODE_API void dGeomDestroy (dGeomID geom);
-
-
-/**
- * @brief Set the user-defined data pointer stored in the geom.
- *
- * @param geom the geom to hold the data
- * @param data the data pointer to be stored
- * @ingroup collide
- */
-ODE_API void dGeomSetData (dGeomID geom, void* data);
-
-
-/**
- * @brief Get the user-defined data pointer stored in the geom.
- *
- * @param geom the geom containing the data
- * @ingroup collide
- */
-ODE_API void *dGeomGetData (dGeomID geom);
-
-
-/**
- * @brief Set the body associated with a placeable geom.
- *
- * Setting a body on a geom automatically combines the position vector and
- * rotation matrix of the body and geom, so that setting the position or
- * orientation of one will set the value for both objects. Setting a body
- * ID of zero gives the geom its own position and rotation, independent
- * from any body. If the geom was previously connected to a body then its
- * new independent position/rotation is set to the current position/rotation
- * of the body.
- *
- * Calling these functions on a non-placeable geom results in a runtime
- * error in the debug build of ODE.
- *
- * @param geom the geom to connect
- * @param body the body to attach to the geom
- * @ingroup collide
- */
-ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
-
-
-/**
- * @brief Get the body associated with a placeable geom.
- * @param geom the geom to query.
- * @sa dGeomSetBody
- * @ingroup collide
- */
-ODE_API dBodyID dGeomGetBody (dGeomID geom);
-
-
-/**
- * @brief Set the position vector of a placeable geom.
- *
- * If the geom is attached to a body, the body's position will also be changed.
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to set.
- * @param x the new X coordinate.
- * @param y the new Y coordinate.
- * @param z the new Z coordinate.
- * @sa dBodySetPosition
- * @ingroup collide
- */
-ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
-
-
-/**
- * @brief Set the rotation matrix of a placeable geom.
- *
- * If the geom is attached to a body, the body's rotation will also be changed.
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to set.
- * @param R the new rotation matrix.
- * @sa dBodySetRotation
- * @ingroup collide
- */
-ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
-
-
-/**
- * @brief Set the rotation of a placeable geom.
- *
- * If the geom is attached to a body, the body's rotation will also be changed.
- *
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to set.
- * @param Q the new rotation.
- * @sa dBodySetQuaternion
- * @ingroup collide
- */
-ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
-
-
-/**
- * @brief Get the position vector of a placeable geom.
- *
- * If the geom is attached to a body, the body's position will be returned.
- *
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to query.
- * @returns A pointer to the geom's position vector.
- * @remarks The returned value is a pointer to the geom's internal
- * data structure. It is valid until any changes are made
- * to the geom.
- * @sa dBodyGetPosition
- * @ingroup collide
- */
-ODE_API const dReal * dGeomGetPosition (dGeomID geom);
-
-
-/**
- * @brief Copy the position of a geom into a vector.
- * @ingroup collide
- * @param geom the geom to query
- * @param pos a copy of the geom position
- * @sa dGeomGetPosition
- */
-ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
-
-
-/**
- * @brief Get the rotation matrix of a placeable geom.
- *
- * If the geom is attached to a body, the body's rotation will be returned.
- *
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to query.
- * @returns A pointer to the geom's rotation matrix.
- * @remarks The returned value is a pointer to the geom's internal
- * data structure. It is valid until any changes are made
- * to the geom.
- * @sa dBodyGetRotation
- * @ingroup collide
- */
-ODE_API const dReal * dGeomGetRotation (dGeomID geom);
-
-
-/**
- * @brief Get the rotation matrix of a placeable geom.
- *
- * If the geom is attached to a body, the body's rotation will be returned.
- *
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to query.
- * @param R a copy of the geom rotation
- * @sa dGeomGetRotation
- * @ingroup collide
- */
-ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
-
-
-/**
- * @brief Get the rotation quaternion of a placeable geom.
- *
- * If the geom is attached to a body, the body's quaternion will be returned.
- *
- * Calling this function on a non-placeable geom results in a runtime error in
- * the debug build of ODE.
- *
- * @param geom the geom to query.
- * @param result a copy of the rotation quaternion.
- * @sa dBodyGetQuaternion
- * @ingroup collide
- */
-ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
-
-
-/**
- * @brief Return the axis-aligned bounding box.
- *
- * Return in aabb an axis aligned bounding box that surrounds the given geom.
- * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the
- * geom is a space, a bounding box that surrounds all contained geoms is
- * returned.
- *
- * This function may return a pre-computed cached bounding box, if it can
- * determine that the geom has not moved since the last time the bounding
- * box was computed.
- *
- * @param geom the geom to query
- * @param aabb the returned bounding box
- * @ingroup collide
- */
-ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
-
-
-/**
- * @brief Determing if a geom is a space.
- * @param geom the geom to query
- * @returns Non-zero if the geom is a space, zero otherwise.
- * @ingroup collide
- */
-ODE_API int dGeomIsSpace (dGeomID geom);
-
-
-/**
- * @brief Query for the space containing a particular geom.
- * @param geom the geom to query
- * @returns The space that contains the geom, or NULL if the geom is
- * not contained by a space.
- * @ingroup collide
- */
-ODE_API dSpaceID dGeomGetSpace (dGeomID);
-
-
-/**
- * @brief Given a geom, this returns its class.
- *
- * The ODE classes are:
- * @li dSphereClass
- * @li dBoxClass
- * @li dCylinderClass
- * @li dPlaneClass
- * @li dRayClass
- * @li dConvexClass
- * @li dGeomTransformClass
- * @li dTriMeshClass
- * @li dSimpleSpaceClass
- * @li dHashSpaceClass
- * @li dQuadTreeSpaceClass
- * @li dFirstUserClass
- * @li dLastUserClass
- *
- * User-defined class will return their own number.
- *
- * @param geom the geom to query
- * @returns The geom class ID.
- * @ingroup collide
- */
-ODE_API int dGeomGetClass (dGeomID geom);
-
-
-/**
- * @brief Set the "category" bitfield for the given geom.
- *
- * The category bitfield is used by spaces to govern which geoms will
- * interact with each other. The bitfield is guaranteed to be at least
- * 32 bits wide. The default category values for newly created geoms
- * have all bits set.
- *
- * @param geom the geom to set
- * @param bits the new bitfield value
- * @ingroup collide
- */
-ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
-
-
-/**
- * @brief Set the "collide" bitfield for the given geom.
- *
- * The collide bitfield is used by spaces to govern which geoms will
- * interact with each other. The bitfield is guaranteed to be at least
- * 32 bits wide. The default category values for newly created geoms
- * have all bits set.
- *
- * @param geom the geom to set
- * @param bits the new bitfield value
- * @ingroup collide
- */
-ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
-
-
-/**
- * @brief Get the "category" bitfield for the given geom.
- *
- * @param geom the geom to set
- * @param bits the new bitfield value
- * @sa dGeomSetCategoryBits
- * @ingroup collide
- */
-ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
-
-
-/**
- * @brief Get the "collide" bitfield for the given geom.
- *
- * @param geom the geom to set
- * @param bits the new bitfield value
- * @sa dGeomSetCollideBits
- * @ingroup collide
- */
-ODE_API unsigned long dGeomGetCollideBits (dGeomID);
-
-
-/**
- * @brief Enable a geom.
- *
- * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
- * although they can still be members of a space. New geoms are created in
- * the enabled state.
- *
- * @param geom the geom to enable
- * @sa dGeomDisable
- * @sa dGeomIsEnabled
- * @ingroup collide
- */
-ODE_API void dGeomEnable (dGeomID geom);
-
-
-/**
- * @brief Disable a geom.
- *
- * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
- * although they can still be members of a space. New geoms are created in
- * the enabled state.
- *
- * @param geom the geom to disable
- * @sa dGeomDisable
- * @sa dGeomIsEnabled
- * @ingroup collide
- */
-ODE_API void dGeomDisable (dGeomID geom);
-
-
-/**
- * @brief Check to see if a geom is enabled.
- *
- * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
- * although they can still be members of a space. New geoms are created in
- * the enabled state.
- *
- * @param geom the geom to query
- * @returns Non-zero if the geom is enabled, zero otherwise.
- * @sa dGeomDisable
- * @sa dGeomIsEnabled
- * @ingroup collide
- */
-ODE_API int dGeomIsEnabled (dGeomID geom);
-
-
-enum
-{
- dGeomCommonControlClass = 0,
- dGeomColliderControlClass = 1
-};
-
-enum
-{
- dGeomCommonAnyControlCode = 0,
-
- dGeomColliderSetMergeSphereContactsControlCode = 1,
- dGeomColliderGetMergeSphereContactsControlCode = 2
-};
-
-enum
-{
- dGeomColliderMergeContactsValue__Default = 0, // Used with Set... to restore default value
- dGeomColliderMergeContactsValue_None = 1,
- dGeomColliderMergeContactsValue_Normals = 2,
- dGeomColliderMergeContactsValue_Full = 3
-};
-
-/**
- * @brief Execute low level control operation for geometry.
- *
- * The variable the dataSize points to must be initialized before the call.
- * If the size does not match the one expected for the control class/code function
- * changes it to the size expected and returns failure. This implies the function
- * can be called with NULL data and zero size to test if control class/code is supported
- * and obtain required data size for it.
- *
- * dGeomCommonAnyControlCode applies to any control class and returns success if
- * at least one control code is available for the given class with given geom.
- *
- * Currently there are the folliwing control classes supported:
- * @li dGeomColliderControlClass
- *
- * For dGeomColliderControlClass there are the following codes available:
- * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*)
- * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*)
- *
- * @param geom the geom to control
- * @param controlClass the control class
- * @param controlCode the control code for the class
- * @param dataValue the control argument pointer
- * @param dataSize the control argument size provided or expected
- * @returns Boolean execution status
- * @ingroup collide
- */
-ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize);
-
-
-/**
- * @brief Get world position of a relative point on geom.
- *
- * Calling this function on a non-placeable geom results in the same point being
- * returned.
- *
- * @ingroup collide
- * @param result will contain the result.
- */
-ODE_API void dGeomGetRelPointPos
-(
- dGeomID geom, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief takes a point in global coordinates and returns
- * the point's position in geom-relative coordinates.
- *
- * Calling this function on a non-placeable geom results in the same point being
- * returned.
- *
- * @remarks
- * This is the inverse of dGeomGetRelPointPos()
- * @ingroup collide
- * @param result will contain the result.
- */
-ODE_API void dGeomGetPosRelPoint
-(
- dGeomID geom, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief Convert from geom-local to world coordinates.
- *
- * Calling this function on a non-placeable geom results in the same vector being
- * returned.
- *
- * @ingroup collide
- * @param result will contain the result.
- */
-ODE_API void dGeomVectorToWorld
-(
- dGeomID geom, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief Convert from world to geom-local coordinates.
- *
- * Calling this function on a non-placeable geom results in the same vector being
- * returned.
- *
- * @ingroup collide
- * @param result will contain the result.
- */
-ODE_API void dGeomVectorFromWorld
-(
- dGeomID geom, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-
-/* ************************************************************************ */
-/* geom offset from body */
-
-/**
- * @brief Set the local offset position of a geom from its body.
- *
- * Sets the geom's positional offset in local coordinates.
- * After this call, the geom will be at a new position determined from the
- * body's position and the offset.
- * The geom must be attached to a body.
- * If the geom did not have an offset, it is automatically created.
- *
- * @param geom the geom to set.
- * @param x the new X coordinate.
- * @param y the new Y coordinate.
- * @param z the new Z coordinate.
- * @ingroup collide
- */
-ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
-
-
-/**
- * @brief Set the local offset rotation matrix of a geom from its body.
- *
- * Sets the geom's rotational offset in local coordinates.
- * After this call, the geom will be at a new position determined from the
- * body's position and the offset.
- * The geom must be attached to a body.
- * If the geom did not have an offset, it is automatically created.
- *
- * @param geom the geom to set.
- * @param R the new rotation matrix.
- * @ingroup collide
- */
-ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
-
-
-/**
- * @brief Set the local offset rotation of a geom from its body.
- *
- * Sets the geom's rotational offset in local coordinates.
- * After this call, the geom will be at a new position determined from the
- * body's position and the offset.
- * The geom must be attached to a body.
- * If the geom did not have an offset, it is automatically created.
- *
- * @param geom the geom to set.
- * @param Q the new rotation.
- * @ingroup collide
- */
-ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
-
-
-/**
- * @brief Set the offset position of a geom from its body.
- *
- * Sets the geom's positional offset to move it to the new world
- * coordinates.
- * After this call, the geom will be at the world position passed in,
- * and the offset will be the difference from the current body position.
- * The geom must be attached to a body.
- * If the geom did not have an offset, it is automatically created.
- *
- * @param geom the geom to set.
- * @param x the new X coordinate.
- * @param y the new Y coordinate.
- * @param z the new Z coordinate.
- * @ingroup collide
- */
-ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
-
-
-/**
- * @brief Set the offset rotation of a geom from its body.
- *
- * Sets the geom's rotational offset to orient it to the new world
- * rotation matrix.
- * After this call, the geom will be at the world orientation passed in,
- * and the offset will be the difference from the current body orientation.
- * The geom must be attached to a body.
- * If the geom did not have an offset, it is automatically created.
- *
- * @param geom the geom to set.
- * @param R the new rotation matrix.
- * @ingroup collide
- */
-ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
-
-
-/**
- * @brief Set the offset rotation of a geom from its body.
- *
- * Sets the geom's rotational offset to orient it to the new world
- * rotation matrix.
- * After this call, the geom will be at the world orientation passed in,
- * and the offset will be the difference from the current body orientation.
- * The geom must be attached to a body.
- * If the geom did not have an offset, it is automatically created.
- *
- * @param geom the geom to set.
- * @param Q the new rotation.
- * @ingroup collide
- */
-ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
-
-
-/**
- * @brief Clear any offset from the geom.
- *
- * If the geom has an offset, it is eliminated and the geom is
- * repositioned at the body's position. If the geom has no offset,
- * this function does nothing.
- * This is more efficient than calling dGeomSetOffsetPosition(zero)
- * and dGeomSetOffsetRotation(identiy), because this function actually
- * eliminates the offset, rather than leaving it as the identity transform.
- *
- * @param geom the geom to have its offset destroyed.
- * @ingroup collide
- */
-ODE_API void dGeomClearOffset(dGeomID geom);
-
-
-/**
- * @brief Check to see whether the geom has an offset.
- *
- * This function will return non-zero if the offset has been created.
- * Note that there is a difference between a geom with no offset,
- * and a geom with an offset that is the identity transform.
- * In the latter case, although the observed behaviour is identical,
- * there is a unnecessary computation involved because the geom will
- * be applying the transform whenever it needs to recalculate its world
- * position.
- *
- * @param geom the geom to query.
- * @returns Non-zero if the geom has an offset, zero otherwise.
- * @ingroup collide
- */
-ODE_API int dGeomIsOffset(dGeomID geom);
-
-
-/**
- * @brief Get the offset position vector of a geom.
- *
- * Returns the positional offset of the geom in local coordinates.
- * If the geom has no offset, this function returns the zero vector.
- *
- * @param geom the geom to query.
- * @returns A pointer to the geom's offset vector.
- * @remarks The returned value is a pointer to the geom's internal
- * data structure. It is valid until any changes are made
- * to the geom.
- * @ingroup collide
- */
-ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
-
-
-/**
- * @brief Copy the offset position vector of a geom.
- *
- * Returns the positional offset of the geom in local coordinates.
- * If the geom has no offset, this function returns the zero vector.
- *
- * @param geom the geom to query.
- * @param pos returns the offset position
- * @ingroup collide
- */
-ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
-
-
-/**
- * @brief Get the offset rotation matrix of a geom.
- *
- * Returns the rotational offset of the geom in local coordinates.
- * If the geom has no offset, this function returns the identity
- * matrix.
- *
- * @param geom the geom to query.
- * @returns A pointer to the geom's offset rotation matrix.
- * @remarks The returned value is a pointer to the geom's internal
- * data structure. It is valid until any changes are made
- * to the geom.
- * @ingroup collide
- */
-ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
-
-
-/**
- * @brief Copy the offset rotation matrix of a geom.
- *
- * Returns the rotational offset of the geom in local coordinates.
- * If the geom has no offset, this function returns the identity
- * matrix.
- *
- * @param geom the geom to query.
- * @param R returns the rotation matrix.
- * @ingroup collide
- */
-ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
-
-
-/**
- * @brief Get the offset rotation quaternion of a geom.
- *
- * Returns the rotation offset of the geom as a quaternion.
- * If the geom has no offset, the identity quaternion is returned.
- *
- * @param geom the geom to query.
- * @param result a copy of the rotation quaternion.
- * @ingroup collide
- */
-ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
-
-
-/* ************************************************************************ */
-/* collision detection */
-
-/*
- * Just generate any contacts (disables any contact refining).
- */
-#define CONTACTS_UNIMPORTANT 0x80000000
-
-/**
- *
- * @brief Given two geoms o1 and o2 that potentially intersect,
- * generate contact information for them.
- *
- * Internally, this just calls the correct class-specific collision
- * functions for o1 and o2.
- *
- * @param o1 The first geom to test.
- * @param o2 The second geom to test.
- *
- * @param flags The flags specify how contacts should be generated if
- * the geoms touch. The lower 16 bits of flags is an integer that
- * specifies the maximum number of contact points to generate. You must
- * ask for at least one contact.
- * Additionally, following bits may be set:
- * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining).
- * All other bits in flags must be set to zero. In the future the other bits
- * may be used to select from different contact generation strategies.
- *
- * @param contact Points to an array of dContactGeom structures. The array
- * must be able to hold at least the maximum number of contacts. These
- * dContactGeom structures may be embedded within larger structures in the
- * array -- the skip parameter is the byte offset from one dContactGeom to
- * the next in the array. If skip is sizeof(dContactGeom) then contact
- * points to a normal (C-style) array. It is an error for skip to be smaller
- * than sizeof(dContactGeom).
- *
- * @returns If the geoms intersect, this function returns the number of contact
- * points generated (and updates the contact array), otherwise it returns 0
- * (and the contact array is not touched).
- *
- * @remarks If a space is passed as o1 or o2 then this function will collide
- * all objects contained in o1 with all objects contained in o2, and return
- * the resulting contact points. This method for colliding spaces with geoms
- * (or spaces with spaces) provides no user control over the individual
- * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead.
- *
- * @remarks If o1 and o2 are the same geom then this function will do nothing
- * and return 0. Technically speaking an object intersects with itself, but it
- * is not useful to find contact points in this case.
- *
- * @remarks This function does not care if o1 and o2 are in the same space or not
- * (or indeed if they are in any space at all).
- *
- * @ingroup collide
- */
-ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
- int skip);
-
-/**
- * @brief Determines which pairs of geoms in a space may potentially intersect,
- * and calls the callback function for each candidate pair.
- *
- * @param space The space to test.
- *
- * @param data Passed from dSpaceCollide directly to the callback
- * function. Its meaning is user defined. The o1 and o2 arguments are the
- * geoms that may be near each other.
- *
- * @param callback A callback function is of type @ref dNearCallback.
- *
- * @remarks Other spaces that are contained within the colliding space are
- * not treated specially, i.e. they are not recursed into. The callback
- * function may be passed these contained spaces as one or both geom
- * arguments.
- *
- * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom
- * pairs to the callback function, but may also pass close but
- * non-intersecting pairs. The number of these calls depends on the
- * internal algorithms used by the space. Thus you should not expect
- * that dCollide will return contacts for every pair passed to the
- * callback.
- *
- * @sa dSpaceCollide2
- * @ingroup collide
- */
-ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
-
-
-/**
- * @brief Determines which geoms from one space may potentially intersect with
- * geoms from another space, and calls the callback function for each candidate
- * pair.
- *
- * @param space1 The first space to test.
- *
- * @param space2 The second space to test.
- *
- * @param data Passed from dSpaceCollide directly to the callback
- * function. Its meaning is user defined. The o1 and o2 arguments are the
- * geoms that may be near each other.
- *
- * @param callback A callback function is of type @ref dNearCallback.
- *
- * @remarks This function can also test a single non-space geom against a
- * space. This function is useful when there is a collision hierarchy, i.e.
- * when there are spaces that contain other spaces.
- *
- * @remarks Other spaces that are contained within the colliding space are
- * not treated specially, i.e. they are not recursed into. The callback
- * function may be passed these contained spaces as one or both geom
- * arguments.
- *
- * @remarks Sublevel value of space affects how the spaces are iterated.
- * Both spaces are recursed only if their sublevels match. Otherwise, only
- * the space with greater sublevel is recursed and the one with lesser sublevel
- * is used as a geom itself.
- *
- * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom
- * pairs to the callback function, but may also pass close but
- * non-intersecting pairs. The number of these calls depends on the
- * internal algorithms used by the space. Thus you should not expect
- * that dCollide will return contacts for every pair passed to the
- * callback.
- *
- * @sa dSpaceCollide
- * @sa dSpaceSetSublevel
- * @ingroup collide
- */
-ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
-
-
-/* ************************************************************************ */
-/* standard classes */
-
-/* the maximum number of user classes that are supported */
-enum {
- dMaxUserClasses = 4
-};
-
-/* class numbers - each geometry object needs a unique number */
-enum {
- dSphereClass = 0,
- dBoxClass,
- dCapsuleClass,
- dCylinderClass,
- dPlaneClass,
- dRayClass,
- dConvexClass,
- dGeomTransformClass,
- dTriMeshClass,
- dHeightfieldClass,
-
- dFirstSpaceClass,
- dSimpleSpaceClass = dFirstSpaceClass,
- dHashSpaceClass,
- dSweepAndPruneSpaceClass, // SAP
- dQuadTreeSpaceClass,
- dLastSpaceClass = dQuadTreeSpaceClass,
-
- dFirstUserClass,
- dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
- dGeomNumClasses
-};
-
-
-/**
- * @defgroup collide_sphere Sphere Class
- * @ingroup collide
- */
-
-/**
- * @brief Create a sphere geom of the given radius, and return its ID.
- *
- * @param space a space to contain the new geom. May be null.
- * @param radius the radius of the sphere.
- *
- * @returns A new sphere geom.
- *
- * @remarks The point of reference for a sphere is its center.
- *
- * @sa dGeomDestroy
- * @sa dGeomSphereSetRadius
- * @ingroup collide_sphere
- */
-ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
-
-
-/**
- * @brief Set the radius of a sphere geom.
- *
- * @param sphere the sphere to set.
- * @param radius the new radius.
- *
- * @sa dGeomSphereGetRadius
- * @ingroup collide_sphere
- */
-ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
-
-
-/**
- * @brief Retrieves the radius of a sphere geom.
- *
- * @param sphere the sphere to query.
- *
- * @sa dGeomSphereSetRadius
- * @ingroup collide_sphere
- */
-ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
-
-
-/**
- * @brief Calculate the depth of the a given point within a sphere.
- *
- * @param sphere the sphere to query.
- * @param x the X coordinate of the point.
- * @param y the Y coordinate of the point.
- * @param z the Z coordinate of the point.
- *
- * @returns The depth of the point. Points inside the sphere will have a
- * positive depth, points outside it will have a negative depth, and points
- * on the surface will have a depth of zero.
- *
- * @ingroup collide_sphere
- */
-ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
-
-
-//--> Convex Functions
-ODE_API dGeomID dCreateConvex (dSpaceID space,
- dReal *_planes,
- unsigned int _planecount,
- dReal *_points,
- unsigned int _pointcount,unsigned int *_polygons);
-
-ODE_API void dGeomSetConvex (dGeomID g,
- dReal *_planes,
- unsigned int _count,
- dReal *_points,
- unsigned int _pointcount,unsigned int *_polygons);
-//<-- Convex Functions
-
-/**
- * @defgroup collide_box Box Class
- * @ingroup collide
- */
-
-/**
- * @brief Create a box geom with the provided side lengths.
- *
- * @param space a space to contain the new geom. May be null.
- * @param lx the length of the box along the X axis
- * @param ly the length of the box along the Y axis
- * @param lz the length of the box along the Z axis
- *
- * @returns A new box geom.
- *
- * @remarks The point of reference for a box is its center.
- *
- * @sa dGeomDestroy
- * @sa dGeomBoxSetLengths
- * @ingroup collide_box
- */
-ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
-
-
-/**
- * @brief Set the side lengths of the given box.
- *
- * @param box the box to set
- * @param lx the length of the box along the X axis
- * @param ly the length of the box along the Y axis
- * @param lz the length of the box along the Z axis
- *
- * @sa dGeomBoxGetLengths
- * @ingroup collide_box
- */
-ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
-
-
-/**
- * @brief Get the side lengths of a box.
- *
- * @param box the box to query
- * @param result the returned side lengths
- *
- * @sa dGeomBoxSetLengths
- * @ingroup collide_box
- */
-ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
-
-
-/**
- * @brief Return the depth of a point in a box.
- *
- * @param box the box to query
- * @param x the X coordinate of the point to test.
- * @param y the Y coordinate of the point to test.
- * @param z the Z coordinate of the point to test.
- *
- * @returns The depth of the point. Points inside the box will have a
- * positive depth, points outside it will have a negative depth, and points
- * on the surface will have a depth of zero.
- */
-ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
-
-
-ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
-ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
-ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
-ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
-
-ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
-ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
-ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
-ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
-
-// For now we want to have a backwards compatible C-API, note: C++ API is not.
-#define dCreateCCylinder dCreateCapsule
-#define dGeomCCylinderSetParams dGeomCapsuleSetParams
-#define dGeomCCylinderGetParams dGeomCapsuleGetParams
-#define dGeomCCylinderPointDepth dGeomCapsulePointDepth
-#define dCCylinderClass dCapsuleClass
-
-ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
-ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
-ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
-
-ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
-ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
-ODE_API dReal dGeomRayGetLength (dGeomID ray);
-ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
- dReal dx, dReal dy, dReal dz);
-ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
-
-/*
- * Set/get ray flags that influence ray collision detection.
- * These flags are currently only noticed by the trimesh collider, because
- * they can make a major differences there.
- */
-ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
-ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
-ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
-ODE_API int dGeomRayGetClosestHit (dGeomID g);
-
-#include "collision_trimesh.h"
-
-ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
-ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
-ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
-ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
-ODE_API int dGeomTransformGetCleanup (dGeomID g);
-ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
-ODE_API int dGeomTransformGetInfo (dGeomID g);
-
-
-/* ************************************************************************ */
-/* heightfield functions */
-
-
-// Data storage for heightfield data.
-struct dxHeightfieldData;
-typedef struct dxHeightfieldData* dHeightfieldDataID;
-
-
-/**
- * @brief Callback prototype
- *
- * Used by the callback heightfield data type to sample a height for a
- * given cell position.
- *
- * @param p_user_data User data specified when creating the dHeightfieldDataID
- * @param x The index of a sample in the local x axis. It is a value
- * in the range zero to ( nWidthSamples - 1 ).
- * @param x The index of a sample in the local z axis. It is a value
- * in the range zero to ( nDepthSamples - 1 ).
- *
- * @return The sample height which is then scaled and offset using the
- * values specified when the heightfield data was created.
- *
- * @ingroup collide
- */
-typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
-
-
-
-/**
- * @brief Creates a heightfield geom.
- *
- * Uses the information in the given dHeightfieldDataID to construct
- * a geom representing a heightfield in a collision space.
- *
- * @param space The space to add the geom to.
- * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and
- * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte,
- * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat.
- * @param bPlaceable If non-zero this geom can be transformed in the world using the
- * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is
- * not set as placeable, then it uses a fixed orientation where the global y axis
- * represents the dynamic 'height' of the heightfield.
- *
- * @return A geom id to reference this geom in other calls.
- *
- * @ingroup collide
- */
-ODE_API dGeomID dCreateHeightfield( dSpaceID space,
- dHeightfieldDataID data, int bPlaceable );
-
-
-/**
- * @brief Creates a new empty dHeightfieldDataID.
- *
- * Allocates a new dHeightfieldDataID and returns it. You must call
- * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed.
- * The dHeightfieldDataID value is used when specifying a data format type.
- *
- * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback,
- * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or
- * dGeomHeightfieldDataBuildFloat.
- * @ingroup collide
- */
-ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void);
-
-
-/**
- * @brief Destroys a dHeightfieldDataID.
- *
- * Deallocates a given dHeightfieldDataID and all managed resources.
- *
- * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
-
-
-
-/**
- * @brief Configures a dHeightfieldDataID to use a callback to
- * retrieve height data.
- *
- * Before a dHeightfieldDataID can be used by a geom it must be
- * configured to specify the format of the height data.
- * This call specifies that the heightfield data is computed by
- * the user and it should use the given callback when determining
- * the height of a given element of it's shape.
- *
- * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
- *
- * @param width Specifies the total 'width' of the heightfield along
- * the geom's local x axis.
- * @param depth Specifies the total 'depth' of the heightfield along
- * the geom's local z axis.
- *
- * @param widthSamples Specifies the number of vertices to sample
- * along the width of the heightfield. Each vertex has a corresponding
- * height value which forms the overall shape.
- * Naturally this value must be at least two or more.
- * @param depthSamples Specifies the number of vertices to sample
- * along the depth of the heightfield.
- *
- * @param scale A uniform scale applied to all raw height data.
- * @param offset An offset applied to the scaled height data.
- *
- * @param thickness A value subtracted from the lowest height
- * value which in effect adds an additional cuboid to the base of the
- * heightfield. This is used to prevent geoms from looping under the
- * desired terrain and not registering as a collision. Note that the
- * thickness is not affected by the scale or offset parameters.
- *
- * @param bWrap If non-zero the heightfield will infinitely tile in both
- * directions along the local x and z axes. If zero the heightfield is
- * bounded from zero to width in the local x axis, and zero to depth in
- * the local z axis.
- *
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
- void* pUserData, dHeightfieldGetHeight* pCallback,
- dReal width, dReal depth, int widthSamples, int depthSamples,
- dReal scale, dReal offset, dReal thickness, int bWrap );
-
-/**
- * @brief Configures a dHeightfieldDataID to use height data in byte format.
- *
- * Before a dHeightfieldDataID can be used by a geom it must be
- * configured to specify the format of the height data.
- * This call specifies that the heightfield data is stored as a rectangular
- * array of bytes (8 bit unsigned) representing the height at each sample point.
- *
- * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
- *
- * @param pHeightData A pointer to the height data.
- * @param bCopyHeightData When non-zero the height data is copied to an
- * internal store. When zero the height data is accessed by reference and
- * so must persist throughout the lifetime of the heightfield.
- *
- * @param width Specifies the total 'width' of the heightfield along
- * the geom's local x axis.
- * @param depth Specifies the total 'depth' of the heightfield along
- * the geom's local z axis.
- *
- * @param widthSamples Specifies the number of vertices to sample
- * along the width of the heightfield. Each vertex has a corresponding
- * height value which forms the overall shape.
- * Naturally this value must be at least two or more.
- * @param depthSamples Specifies the number of vertices to sample
- * along the depth of the heightfield.
- *
- * @param scale A uniform scale applied to all raw height data.
- * @param offset An offset applied to the scaled height data.
- *
- * @param thickness A value subtracted from the lowest height
- * value which in effect adds an additional cuboid to the base of the
- * heightfield. This is used to prevent geoms from looping under the
- * desired terrain and not registering as a collision. Note that the
- * thickness is not affected by the scale or offset parameters.
- *
- * @param bWrap If non-zero the heightfield will infinitely tile in both
- * directions along the local x and z axes. If zero the heightfield is
- * bounded from zero to width in the local x axis, and zero to depth in
- * the local z axis.
- *
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
- const unsigned char* pHeightData, int bCopyHeightData,
- dReal width, dReal depth, int widthSamples, int depthSamples,
- dReal scale, dReal offset, dReal thickness, int bWrap );
-
-/**
- * @brief Configures a dHeightfieldDataID to use height data in short format.
- *
- * Before a dHeightfieldDataID can be used by a geom it must be
- * configured to specify the format of the height data.
- * This call specifies that the heightfield data is stored as a rectangular
- * array of shorts (16 bit signed) representing the height at each sample point.
- *
- * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
- *
- * @param pHeightData A pointer to the height data.
- * @param bCopyHeightData When non-zero the height data is copied to an
- * internal store. When zero the height data is accessed by reference and
- * so must persist throughout the lifetime of the heightfield.
- *
- * @param width Specifies the total 'width' of the heightfield along
- * the geom's local x axis.
- * @param depth Specifies the total 'depth' of the heightfield along
- * the geom's local z axis.
- *
- * @param widthSamples Specifies the number of vertices to sample
- * along the width of the heightfield. Each vertex has a corresponding
- * height value which forms the overall shape.
- * Naturally this value must be at least two or more.
- * @param depthSamples Specifies the number of vertices to sample
- * along the depth of the heightfield.
- *
- * @param scale A uniform scale applied to all raw height data.
- * @param offset An offset applied to the scaled height data.
- *
- * @param thickness A value subtracted from the lowest height
- * value which in effect adds an additional cuboid to the base of the
- * heightfield. This is used to prevent geoms from looping under the
- * desired terrain and not registering as a collision. Note that the
- * thickness is not affected by the scale or offset parameters.
- *
- * @param bWrap If non-zero the heightfield will infinitely tile in both
- * directions along the local x and z axes. If zero the heightfield is
- * bounded from zero to width in the local x axis, and zero to depth in
- * the local z axis.
- *
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
- const short* pHeightData, int bCopyHeightData,
- dReal width, dReal depth, int widthSamples, int depthSamples,
- dReal scale, dReal offset, dReal thickness, int bWrap );
-
-/**
- * @brief Configures a dHeightfieldDataID to use height data in
- * single precision floating point format.
- *
- * Before a dHeightfieldDataID can be used by a geom it must be
- * configured to specify the format of the height data.
- * This call specifies that the heightfield data is stored as a rectangular
- * array of single precision floats representing the height at each
- * sample point.
- *
- * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
- *
- * @param pHeightData A pointer to the height data.
- * @param bCopyHeightData When non-zero the height data is copied to an
- * internal store. When zero the height data is accessed by reference and
- * so must persist throughout the lifetime of the heightfield.
- *
- * @param width Specifies the total 'width' of the heightfield along
- * the geom's local x axis.
- * @param depth Specifies the total 'depth' of the heightfield along
- * the geom's local z axis.
- *
- * @param widthSamples Specifies the number of vertices to sample
- * along the width of the heightfield. Each vertex has a corresponding
- * height value which forms the overall shape.
- * Naturally this value must be at least two or more.
- * @param depthSamples Specifies the number of vertices to sample
- * along the depth of the heightfield.
- *
- * @param scale A uniform scale applied to all raw height data.
- * @param offset An offset applied to the scaled height data.
- *
- * @param thickness A value subtracted from the lowest height
- * value which in effect adds an additional cuboid to the base of the
- * heightfield. This is used to prevent geoms from looping under the
- * desired terrain and not registering as a collision. Note that the
- * thickness is not affected by the scale or offset parameters.
- *
- * @param bWrap If non-zero the heightfield will infinitely tile in both
- * directions along the local x and z axes. If zero the heightfield is
- * bounded from zero to width in the local x axis, and zero to depth in
- * the local z axis.
- *
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
- const float* pHeightData, int bCopyHeightData,
- dReal width, dReal depth, int widthSamples, int depthSamples,
- dReal scale, dReal offset, dReal thickness, int bWrap );
-
-/**
- * @brief Configures a dHeightfieldDataID to use height data in
- * double precision floating point format.
- *
- * Before a dHeightfieldDataID can be used by a geom it must be
- * configured to specify the format of the height data.
- * This call specifies that the heightfield data is stored as a rectangular
- * array of double precision floats representing the height at each
- * sample point.
- *
- * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
- *
- * @param pHeightData A pointer to the height data.
- * @param bCopyHeightData When non-zero the height data is copied to an
- * internal store. When zero the height data is accessed by reference and
- * so must persist throughout the lifetime of the heightfield.
- *
- * @param width Specifies the total 'width' of the heightfield along
- * the geom's local x axis.
- * @param depth Specifies the total 'depth' of the heightfield along
- * the geom's local z axis.
- *
- * @param widthSamples Specifies the number of vertices to sample
- * along the width of the heightfield. Each vertex has a corresponding
- * height value which forms the overall shape.
- * Naturally this value must be at least two or more.
- * @param depthSamples Specifies the number of vertices to sample
- * along the depth of the heightfield.
- *
- * @param scale A uniform scale applied to all raw height data.
- * @param offset An offset applied to the scaled height data.
- *
- * @param thickness A value subtracted from the lowest height
- * value which in effect adds an additional cuboid to the base of the
- * heightfield. This is used to prevent geoms from looping under the
- * desired terrain and not registering as a collision. Note that the
- * thickness is not affected by the scale or offset parameters.
- *
- * @param bWrap If non-zero the heightfield will infinitely tile in both
- * directions along the local x and z axes. If zero the heightfield is
- * bounded from zero to width in the local x axis, and zero to depth in
- * the local z axis.
- *
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
- const double* pHeightData, int bCopyHeightData,
- dReal width, dReal depth, int widthSamples, int depthSamples,
- dReal scale, dReal offset, dReal thickness, int bWrap );
-
-/**
- * @brief Manually set the minimum and maximum height bounds.
- *
- * This call allows you to set explicit min / max values after initial
- * creation typically for callback heightfields which default to +/- infinity,
- * or those whose data has changed. This must be set prior to binding with a
- * geom, as the the AABB is not recomputed after it's first generation.
- *
- * @remarks The minimum and maximum values are used to compute the AABB
- * for the heightfield which is used for early rejection of collisions.
- * A close fit will yield a more efficient collision check.
- *
- * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
- * @param min_height The new minimum height value. Scale, offset and thickness is then applied.
- * @param max_height The new maximum height value. Scale and offset is then applied.
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
- dReal minHeight, dReal maxHeight );
-
-
-/**
- * @brief Assigns a dHeightfieldDataID to a heightfield geom.
- *
- * Associates the given dHeightfieldDataID with a heightfield geom.
- * This is done without affecting the GEOM_PLACEABLE flag.
- *
- * @param g A geom created by dCreateHeightfield
- * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
- * @ingroup collide
- */
-ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
-
-
-/**
- * @brief Gets the dHeightfieldDataID bound to a heightfield geom.
- *
- * Returns the dHeightfieldDataID associated with a heightfield geom.
- *
- * @param g A geom created by dCreateHeightfield
- * @return The dHeightfieldDataID which may be NULL if none was assigned.
- * @ingroup collide
- */
-ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
-
-
-
-/* ************************************************************************ */
-/* utility functions */
-
-ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
- const dVector3 b1, const dVector3 b2,
- dVector3 cp1, dVector3 cp2);
-
-ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
- const dVector3 side1, const dVector3 _p2,
- const dMatrix3 R2, const dVector3 side2);
-
-// The meaning of flags parameter is the same as in dCollide()
-ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
- const dVector3 side1, const dVector3 p2,
- const dMatrix3 R2, const dVector3 side2,
- dVector3 normal, dReal *depth, int *return_code,
- int flags, dContactGeom *contact, int skip);
-
-ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
-
-
-/* ************************************************************************ */
-/* custom classes */
-
-typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
-typedef int dColliderFn (dGeomID o1, dGeomID o2,
- int flags, dContactGeom *contact, int skip);
-typedef dColliderFn * dGetColliderFnFn (int num);
-typedef void dGeomDtorFn (dGeomID o);
-typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
-
-typedef struct dGeomClass {
- int bytes;
- dGetColliderFnFn *collider;
- dGetAABBFn *aabb;
- dAABBTestFn *aabb_test;
- dGeomDtorFn *dtor;
-} dGeomClass;
-
-ODE_API int dCreateGeomClass (const dGeomClass *classptr);
-ODE_API void * dGeomGetClassData (dGeomID);
-ODE_API dGeomID dCreateGeom (int classnum);
-
-/**
- * @brief Sets a custom collider function for two geom classes.
- *
- * @param i The first geom class handled by this collider
- * @param j The second geom class handled by this collider
- * @param fn The collider function to use to determine collisions.
- * @ingroup collide
- */
-ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn);
-
-
-/* ************************************************************************ */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /dev/null
-/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
-
-#ifndef _ODE_COLLISION_SPACE_H_
-#define _ODE_COLLISION_SPACE_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct dContactGeom;
-
-/**
- * @brief User callback for geom-geom collision testing.
- *
- * @param data The user data object, as passed to dSpaceCollide.
- * @param o1 The first geom being tested.
- * @param o2 The second geom being test.
- *
- * @remarks The callback function can call dCollide on o1 and o2 to generate
- * contact points between each pair. Then these contact points may be added
- * to the simulation as contact joints. The user's callback function can of
- * course chose not to call dCollide for any pair, e.g. if the user decides
- * that those pairs should not interact.
- *
- * @ingroup collide
- */
-typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
-
-
-ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
-ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
-ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth);
-
-
-// SAP
-// Order XZY or ZXY usually works best, if your Y is up.
-#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4))
-#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4))
-#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4))
-#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4))
-#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4))
-#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4))
-
-ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder );
-
-
-
-ODE_API void dSpaceDestroy (dSpaceID);
-
-ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
-ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
-
-ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
-ODE_API int dSpaceGetCleanup (dSpaceID space);
-
-/**
-* @brief Sets sublevel value for a space.
-*
-* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided
-* with another space. If sublevels of both spaces match, the function iterates
-* geometries of both spaces and collides them with each other. If sublevel of one
-* space is greater than the sublevel of another one, only the geometries of the
-* space with greater sublevel are iterated, another space is passed into
-* collision callback as a geometry itself. By default all the spaces are assigned
-* zero sublevel.
-*
-* @note
-* The space sublevel @e IS @e NOT automatically updated when one space is inserted
-* into another or removed from one. It is a client's responsibility to update sublevel
-* value if necessary.
-*
-* @param space the space to modify
-* @param sublevel the sublevel value to be assigned
-* @ingroup collide
-* @see dSpaceGetSublevel
-* @see dSpaceCollide2
-*/
-ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel);
-
-/**
-* @brief Gets sublevel value of a space.
-*
-* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided
-* with another space. See @c dSpaceSetSublevel for more details.
-*
-* @param space the space to query
-* @returns the sublevel value of the space
-* @ingroup collide
-* @see dSpaceSetSublevel
-* @see dSpaceCollide2
-*/
-ODE_API int dSpaceGetSublevel (dSpaceID space);
-
-
-/**
-* @brief Sets manual cleanup flag for a space.
-*
-* Manual cleanup flag marks a space as eligible for manual thread data cleanup.
-* This function should be called for every space object right after creation in
-* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag.
-*
-* Failure to set manual cleanup flag for a space may lead to some resources
-* remaining leaked until the program exit.
-*
-* @param space the space to modify
-* @param mode 1 for manual cleanup mode and 0 for default cleanup mode
-* @ingroup collide
-* @see dSpaceGetManualCleanup
-* @see dInitODE2
-*/
-ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode);
-
-/**
-* @brief Get manual cleanup flag of a space.
-*
-* Manual cleanup flag marks a space space as eligible for manual thread data cleanup.
-* See @c dSpaceSetManualCleanup for more details.
-*
-* @param space the space to query
-* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space
-* @ingroup collide
-* @see dSpaceSetManualCleanup
-* @see dInitODE2
-*/
-ODE_API int dSpaceGetManualCleanup (dSpaceID space);
-
-ODE_API void dSpaceAdd (dSpaceID, dGeomID);
-ODE_API void dSpaceRemove (dSpaceID, dGeomID);
-ODE_API int dSpaceQuery (dSpaceID, dGeomID);
-ODE_API void dSpaceClean (dSpaceID);
-ODE_API int dSpaceGetNumGeoms (dSpaceID);
-ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);
-
-/**
- * @brief Given a space, this returns its class.
- *
- * The ODE classes are:
- * @li dSimpleSpaceClass
- * @li dHashSpaceClass
- * @li dSweepAndPruneSpaceClass
- * @li dQuadTreeSpaceClass
- * @li dFirstUserClass
- * @li dLastUserClass
- *
- * The class id not defined by the user should be between
- * dFirstSpaceClass and dLastSpaceClass.
- *
- * User-defined class will return their own number.
- *
- * @param space the space to query
- * @returns The space class ID.
- * @ingroup collide
- */
-ODE_API int dSpaceGetClass(dSpaceID space);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /dev/null
-/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
-
-/*
- * TriMesh code by Erwin de Vries.
- *
- * Trimesh data.
- * This is where the actual vertexdata (pointers), and BV tree is stored.
- * Vertices should be single precision!
- * This should be more sophisticated, so that the user can easyly implement
- * another collision library, but this is a lot of work, and also costs some
- * performance because some data has to be copied.
- */
-
-#ifndef _ODE_COLLISION_TRIMESH_H_
-#define _ODE_COLLISION_TRIMESH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*
- * Data storage for triangle meshes.
- */
-struct dxTriMeshData;
-typedef struct dxTriMeshData* dTriMeshDataID;
-
-/*
- * These dont make much sense now, but they will later when we add more
- * features.
- */
-ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
-ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
-
-
-
-enum { TRIMESH_FACE_NORMALS };
-ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
-ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
-
-
-
-/**
- * We need to set the last transform after each time step for
- * accurate collision response. These functions get and set that transform.
- * It is stored per geom instance, rather than per dTriMeshDataID.
- */
-ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
-ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
-
-/*
- * Build a TriMesh data object with single precision vertex data.
- */
-ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride);
-/* same again with a normals array (used as trimesh-trimesh optimization) */
-ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride,
- const void* Normals);
-/*
-* Build a TriMesh data object with double precision vertex data.
-*/
-ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride);
-/* same again with a normals array (used as trimesh-trimesh optimization) */
-ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride,
- const void* Normals);
-
-/*
- * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
- */
-ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
- const dReal* Vertices, int VertexCount,
- const dTriIndex* Indices, int IndexCount);
-/* same again with a normals array (used as trimesh-trimesh optimization) */
-ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
- const dReal* Vertices, int VertexCount,
- const dTriIndex* Indices, int IndexCount,
- const int* Normals);
-
-/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
-ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
-/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
-ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
-ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
-
-
-/*
- * Per triangle callback. Allows the user to say if he wants a collision with
- * a particular triangle.
- */
-typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
-ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
-ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
-
-/*
- * Per object callback. Allows the user to get the list of triangles in 1
- * shot. Maybe we should remove this one.
- */
-typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
-ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
-ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
-
-/*
- * Ray callback.
- * Allows the user to say if a ray collides with a triangle on barycentric
- * coords. The user can for example sample a texture with alpha transparency
- * to determine if a collision should occur.
- */
-typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
-ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
-ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
-
-/*
- * Triangle merging callback.
- * Allows the user to generate a fake triangle index for a new contact generated
- * from merging of two other contacts. That index could later be used by the
- * user to determine attributes of original triangles used as sources for a
- * merged contact.
- */
-typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
-ODE_API void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback);
-ODE_API dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g);
-
-/*
- * Trimesh class
- * Construction. Callbacks are optional.
- */
-ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
-
-ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
-ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
-
-
-// enable/disable/check temporal coherence
-ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
-ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
-
-/*
- * Clears the internal temporal coherence caches. When a geom has its
- * collision checked with a trimesh once, data is stored inside the trimesh.
- * With large worlds with lots of seperate objects this list could get huge.
- * We should be able to do this automagically.
- */
-ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
-
-
-/*
- * returns the TriMeshDataID
- */
-ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
-
-/*
- * Gets a triangle.
- */
-ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
-
-/*
- * Gets the point on the requested triangle and the given barycentric
- * coordinates.
- */
-ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
-
-/*
-
-This is how the strided data works:
-
-struct StridedVertex{
- dVector3 Vertex;
- // Userdata
-};
-int VertexStride = sizeof(StridedVertex);
-
-struct StridedTri{
- int Indices[3];
- // Userdata
-};
-int TriStride = sizeof(StridedTri);
-
-*/
-
-
-ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
-
-ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _ODE_COLLISION_TRIMESH_H_ */
-
+++ /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
+++ /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_COMPATIBILITY_H_
-#define _ODE_COMPATIBILITY_H_
-
-/*
- * ODE's backward compatibility system ensures that as ODE's API
- * evolves, user code will not break.
- */
-
-/*
- * These new rotation function names are more consistent with the
- * rest of the API.
- */
-#define dQtoR(q,R) dRfromQ((R),(q))
-#define dRtoQ(R,q) dQfromR((q),(R))
-#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
-
-
-#endif
+++ /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_CONTACT_H_
-#define _ODE_CONTACT_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-enum {
- dContactMu2 = 0x001,
- dContactFDir1 = 0x002,
- dContactBounce = 0x004,
- dContactSoftERP = 0x008,
- dContactSoftCFM = 0x010,
- dContactMotion1 = 0x020,
- dContactMotion2 = 0x040,
- dContactMotionN = 0x080,
- dContactSlip1 = 0x100,
- dContactSlip2 = 0x200,
-
- dContactApprox0 = 0x0000,
- dContactApprox1_1 = 0x1000,
- dContactApprox1_2 = 0x2000,
- dContactApprox1 = 0x3000
-};
-
-
-typedef struct dSurfaceParameters {
- /* must always be defined */
- int mode;
- dReal mu;
-
- /* only defined if the corresponding flag is set in mode */
- dReal mu2;
- dReal bounce;
- dReal bounce_vel;
- dReal soft_erp;
- dReal soft_cfm;
- dReal motion1,motion2,motionN;
- dReal slip1,slip2;
-} dSurfaceParameters;
-
-
-/**
- * @brief Describe the contact point between two geoms.
- *
- * If two bodies touch, or if a body touches a static feature in its
- * environment, the contact is represented by one or more "contact
- * points", described by dContactGeom.
- *
- * The convention is that if body 1 is moved along the normal vector by
- * a distance depth (or equivalently if body 2 is moved the same distance
- * in the opposite direction) then the contact depth will be reduced to
- * zero. This means that the normal vector points "in" to body 1.
- *
- * @ingroup collide
- */
-typedef struct dContactGeom {
- dVector3 pos; ///< contact position
- dVector3 normal; ///< normal vector
- dReal depth; ///< penetration depth
- dGeomID g1,g2; ///< the colliding geoms
- int side1,side2; ///< (to be documented)
-} dContactGeom;
-
-
-/* contact info used by contact joint */
-
-typedef struct dContact {
- dSurfaceParameters surface;
- dContactGeom geom;
- dVector3 fdir1;
-} dContact;
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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. *
- * *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source */
-
-#ifndef _ODE_ERROR_H_
-#define _ODE_ERROR_H_
-
-#include <ode/odeconfig.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* all user defined error functions have this type. error and debug functions
- * should not return.
- */
-typedef void dMessageFunction (int errnum, const char *msg, va_list ap);
-
-/* set a new error, debug or warning handler. if fn is 0, the default handlers
- * are used.
- */
-ODE_API void dSetErrorHandler (dMessageFunction *fn);
-ODE_API void dSetDebugHandler (dMessageFunction *fn);
-ODE_API void dSetMessageHandler (dMessageFunction *fn);
-
-/* return the current error, debug or warning handler. if the return value is
- * 0, the default handlers are in place.
- */
-ODE_API dMessageFunction *dGetErrorHandler(void);
-ODE_API dMessageFunction *dGetDebugHandler(void);
-ODE_API dMessageFunction *dGetMessageHandler(void);
-
-/* generate a fatal error, debug trap or a message. */
-ODE_API void dError (int num, const char *msg, ...);
-ODE_API void dDebug (int num, const char *msg, ...);
-ODE_API void dMessage (int num, const char *msg, ...);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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_EXPORT_DIF_
-#define _ODE_EXPORT_DIF_
-
-#include <ode/common.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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_MASS_H_
-#define _ODE_MASS_H_
-
-#include <ode/common.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-struct dMass;
-typedef struct dMass dMass;
-
-/**
- * Check if a mass structure has valid value.
- * The function check if the mass and innertia matrix are positive definits
- *
- * @param m A mass structure to check
- *
- * @return 1 if both codition are met
- */
-ODE_API int dMassCheck(const dMass *m);
-
-ODE_API void dMassSetZero (dMass *);
-
-ODE_API void dMassSetParameters (dMass *, dReal themass,
- dReal cgx, dReal cgy, dReal cgz,
- dReal I11, dReal I22, dReal I33,
- dReal I12, dReal I13, dReal I23);
-
-ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
-ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
-
-ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
- dReal radius, dReal length);
-ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
- dReal radius, dReal length);
-
-ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
- dReal radius, dReal length);
-ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
- dReal radius, dReal length);
-
-ODE_API void dMassSetBox (dMass *, dReal density,
- dReal lx, dReal ly, dReal lz);
-ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
- dReal lx, dReal ly, dReal lz);
-
-ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);
-
-ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g);
-
-ODE_API void dMassAdjust (dMass *, dReal newmass);
-
-ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
-
-ODE_API void dMassRotate (dMass *, const dMatrix3 R);
-
-ODE_API void dMassAdd (dMass *a, const dMass *b);
-
-
-// Backwards compatible API
-ODE_API ODE_API_DEPRECATED void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e);
-ODE_API ODE_API_DEPRECATED void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e);
-
-
-struct dMass {
- dReal mass;
- dVector3 c;
- dMatrix3 I;
-
-#ifdef __cplusplus
- dMass()
- { dMassSetZero (this); }
- void setZero()
- { dMassSetZero (this); }
- void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
- dReal I11, dReal I22, dReal I33,
- dReal I12, dReal I13, dReal I23)
- { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
-
- void setSphere (dReal density, dReal radius)
- { dMassSetSphere (this,density,radius); }
- void setSphereTotal (dReal total, dReal radius)
- { dMassSetSphereTotal (this,total,radius); }
-
- void setCapsule (dReal density, int direction, dReal radius, dReal length)
- { dMassSetCapsule (this,density,direction,radius,length); }
- void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length)
- { dMassSetCapsule (this,total,direction,radius,length); }
-
- void setCylinder(dReal density, int direction, dReal radius, dReal length)
- { dMassSetCylinder (this,density,direction,radius,length); }
- void setCylinderTotal(dReal total, int direction, dReal radius, dReal length)
- { dMassSetCylinderTotal (this,total,direction,radius,length); }
-
- void setBox (dReal density, dReal lx, dReal ly, dReal lz)
- { dMassSetBox (this,density,lx,ly,lz); }
- void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz)
- { dMassSetBoxTotal (this,total,lx,ly,lz); }
-
- void setTrimesh(dReal density, dGeomID g)
- { dMassSetTrimesh (this, density, g); }
- void setTrimeshTotal(dReal total, dGeomID g)
- { dMassSetTrimeshTotal (this, total, g); }
-
- void adjust (dReal newmass)
- { dMassAdjust (this,newmass); }
- void translate (dReal x, dReal y, dReal z)
- { dMassTranslate (this,x,y,z); }
- void rotate (const dMatrix3 R)
- { dMassRotate (this,R); }
- void add (const dMass *b)
- { dMassAdd (this,b); }
-#endif
-};
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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. *
- * *
- *************************************************************************/
-
-/* optimized and unoptimized vector and matrix functions */
-
-#ifndef _ODE_MATRIX_H_
-#define _ODE_MATRIX_H_
-
-#include <ode/common.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* set a vector/matrix of size n to all zeros, or to a specific value. */
-
-ODE_API void dSetZero (dReal *a, int n);
-ODE_API void dSetValue (dReal *a, int n, dReal value);
-
-
-/* get the dot product of two n*1 vectors. if n <= 0 then
- * zero will be returned (in which case a and b need not be valid).
- */
-
-ODE_API dReal dDot (const dReal *a, const dReal *b, int n);
-
-
-/* get the dot products of (a0,b), (a1,b), etc and return them in outsum.
- * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case
- * the input vectors need not be valid). this function is somewhat faster
- * than calling dDot() for all of the combinations separately.
- */
-
-/* NOT INCLUDED in the library for now.
-void dMultidot2 (const dReal *a0, const dReal *a1,
- const dReal *b, dReal *outsum, int n);
-*/
-
-
-/* matrix multiplication. all matrices are stored in standard row format.
- * the digit refers to the argument that is transposed:
- * 0: A = B * C (sizes: A:p*r B:p*q C:q*r)
- * 1: A = B' * C (sizes: A:p*r B:q*p C:q*r)
- * 2: A = B * C' (sizes: A:p*r B:p*q C:r*q)
- * case 1,2 are equivalent to saying that the operation is A=B*C but
- * B or C are stored in standard column format.
- */
-
-ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-
-
-/* do an in-place cholesky decomposition on the lower triangle of the n*n
- * symmetric matrix A (which is stored by rows). the resulting lower triangle
- * will be such that L*L'=A. return 1 on success and 0 on failure (on failure
- * the matrix is not positive definite).
- */
-
-ODE_API int dFactorCholesky (dReal *A, int n);
-
-
-/* solve for x: L*L'*x = b, and put the result back into x.
- * L is size n*n, b is size n*1. only the lower triangle of L is considered.
- */
-
-ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n);
-
-
-/* compute the inverse of the n*n positive definite matrix A and put it in
- * Ainv. this is not especially fast. this returns 1 on success (A was
- * positive definite) or 0 on failure (not PD).
- */
-
-ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n);
-
-
-/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no).
- * positive definite means that x'*A*x > 0 for any x. this performs a
- * cholesky decomposition of A. if the decomposition fails then the matrix
- * is not positive definite. A is stored by rows. A is not altered.
- */
-
-ODE_API int dIsPositiveDefinite (const dReal *A, int n);
-
-
-/* factorize a matrix A into L*D*L', where L is lower triangular with ones on
- * the diagonal, and D is diagonal.
- * A is an n*n matrix stored by rows, with a leading dimension of n rounded
- * up to 4. L is written into the strict lower triangle of A (the ones are not
- * written) and the reciprocal of the diagonal elements of D are written into
- * d.
- */
-ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
-
-
-/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal,
- * and x,b are n*1. b is overwritten with x.
- * the leading dimension of L is `nskip'.
- */
-ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
-
-
-/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal,
- * and x,b are n*1. b is overwritten with x.
- * the leading dimension of L is `nskip'.
- */
-ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
-
-
-/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
-
-ODE_API void dVectorScale (dReal *a, const dReal *d, int n);
-
-
-/* given `L', a n*n lower triangular matrix with ones on the diagonal,
- * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix
- * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b.
- * the leading dimension of L is `nskip'.
- */
-
-ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
-
-
-/* given an L*D*L' factorization of an n*n matrix A, return the updated
- * factorization L2*D2*L2' of A plus the following "top left" matrix:
- *
- * [ b a' ] <-- b is a[0]
- * [ a 0 ] <-- a is a[1..n-1]
- *
- * - L has size n*n, its leading dimension is nskip. L is lower triangular
- * with ones on the diagonal. only the lower triangle of L is referenced.
- * - d has size n. d contains the reciprocal diagonal elements of D.
- * - a has size n.
- * the result is written into L, except that the left column of L and d[0]
- * are not actually modified. see ldltaddTL.m for further comments.
- */
-ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip);
-
-
-/* given an L*D*L' factorization of a permuted matrix A, produce a new
- * factorization for row and column `r' removed.
- * - A has size n1*n1, its leading dimension in nskip. A is symmetric and
- * positive definite. only the lower triangle of A is referenced.
- * A itself may actually be an array of row pointers.
- * - L has size n2*n2, its leading dimension in nskip. L is lower triangular
- * with ones on the diagonal. only the lower triangle of L is referenced.
- * - d has size n2. d contains the reciprocal diagonal elements of D.
- * - p is a permutation vector. it contains n2 indexes into A. each index
- * must be in the range 0..n1-1.
- * - r is the row/column of L to remove.
- * the new L will be written within the old L, i.e. will have the same leading
- * dimension. the last row and column of L, and the last element of d, are
- * undefined on exit.
- *
- * a fast O(n^2) algorithm is used. see ldltremove.m for further comments.
- */
-ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
- int n1, int n2, int r, int nskip);
-
-
-/* given an n*n matrix A (with leading dimension nskip), remove the r'th row
- * and column by moving elements. the new matrix will have the same leading
- * dimension. the last row and column of A are untouched on exit.
- */
-ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r);
-
-
-#if defined(__ODE__)
-
-void _dSetZero (dReal *a, size_t n);
-void _dSetValue (dReal *a, size_t n, dReal value);
-dReal _dDot (const dReal *a, const dReal *b, int n);
-void _dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-void _dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-void _dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-int _dFactorCholesky (dReal *A, int n, void *tmpbuf);
-void _dSolveCholesky (const dReal *L, dReal *b, int n, void *tmpbuf);
-int _dInvertPDMatrix (const dReal *A, dReal *Ainv, int n, void *tmpbuf);
-int _dIsPositiveDefinite (const dReal *A, int n, void *tmpbuf);
-void _dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
-void _dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
-void _dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
-void _dVectorScale (dReal *a, const dReal *d, int n);
-void _dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
-void _dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip, void *tmpbuf);
-void _dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, int n1, int n2, int r, int nskip, void *tmpbuf);
-void _dRemoveRowCol (dReal *A, int n, int nskip, int r);
-
-PURE_INLINE size_t _dEstimateFactorCholeskyTmpbufSize(int n)
-{
- return dPAD(n) * sizeof(dReal);
-}
-
-PURE_INLINE size_t _dEstimateSolveCholeskyTmpbufSize(int n)
-{
- return dPAD(n) * sizeof(dReal);
-}
-
-PURE_INLINE size_t _dEstimateInvertPDMatrixTmpbufSize(int n)
-{
- size_t FactorCholesky_size = _dEstimateFactorCholeskyTmpbufSize(n);
- size_t SolveCholesky_size = _dEstimateSolveCholeskyTmpbufSize(n);
- size_t MaxCholesky_size = FactorCholesky_size > SolveCholesky_size ? FactorCholesky_size : SolveCholesky_size;
- return dPAD(n) * (n + 1) * sizeof(dReal) + MaxCholesky_size;
-}
-
-PURE_INLINE size_t _dEstimateIsPositiveDefiniteTmpbufSize(int n)
-{
- return dPAD(n) * n * sizeof(dReal) + _dEstimateFactorCholeskyTmpbufSize(n);
-}
-
-PURE_INLINE size_t _dEstimateLDLTAddTLTmpbufSize(int nskip)
-{
- return nskip * 2 * sizeof(dReal);
-}
-
-PURE_INLINE size_t _dEstimateLDLTRemoveTmpbufSize(int n2, int nskip)
-{
- return n2 * sizeof(dReal) + _dEstimateLDLTAddTLTmpbufSize(nskip);
-}
-
-// For internal use
-#define dSetZero(a, n) _dSetZero(a, n)
-#define dSetValue(a, n, value) _dSetValue(a, n, value)
-#define dDot(a, b, n) _dDot(a, b, n)
-#define dMultiply0(A, B, C, p, q, r) _dMultiply0(A, B, C, p, q, r)
-#define dMultiply1(A, B, C, p, q, r) _dMultiply1(A, B, C, p, q, r)
-#define dMultiply2(A, B, C, p, q, r) _dMultiply2(A, B, C, p, q, r)
-#define dFactorCholesky(A, n, tmpbuf) _dFactorCholesky(A, n, tmpbuf)
-#define dSolveCholesky(L, b, n, tmpbuf) _dSolveCholesky(L, b, n, tmpbuf)
-#define dInvertPDMatrix(A, Ainv, n, tmpbuf) _dInvertPDMatrix(A, Ainv, n, tmpbuf)
-#define dIsPositiveDefinite(A, n, tmpbuf) _dIsPositiveDefinite(A, n, tmpbuf)
-#define dFactorLDLT(A, d, n, nskip) _dFactorLDLT(A, d, n, nskip)
-#define dSolveL1(L, b, n, nskip) _dSolveL1(L, b, n, nskip)
-#define dSolveL1T(L, b, n, nskip) _dSolveL1T(L, b, n, nskip)
-#define dVectorScale(a, d, n) _dVectorScale(a, d, n)
-#define dSolveLDLT(L, d, b, n, nskip) _dSolveLDLT(L, d, b, n, nskip)
-#define dLDLTAddTL(L, d, a, n, nskip, tmpbuf) _dLDLTAddTL(L, d, a, n, nskip, tmpbuf)
-#define dLDLTRemove(A, p, L, d, n1, n2, r, nskip, tmpbuf) _dLDLTRemove(A, p, L, d, n1, n2, r, nskip, tmpbuf)
-#define dRemoveRowCol(A, n, nskip, r) _dRemoveRowCol(A, n, nskip, r)
-
-
-#define dEstimateFactorCholeskyTmpbufSize(n) _dEstimateFactorCholeskyTmpbufSize(n)
-#define dEstimateSolveCholeskyTmpbufSize(n) _dEstimateSolveCholeskyTmpbufSize(n)
-#define dEstimateInvertPDMatrixTmpbufSize(n) _dEstimateInvertPDMatrixTmpbufSize(n)
-#define dEstimateIsPositiveDefiniteTmpbufSize(n) _dEstimateIsPositiveDefiniteTmpbufSize(n)
-#define dEstimateLDLTAddTLTmpbufSize(nskip) _dEstimateLDLTAddTLTmpbufSize(nskip)
-#define dEstimateLDLTRemoveTmpbufSize(n2, nskip) _dEstimateLDLTRemoveTmpbufSize(n2, nskip)
-
-
-#endif // defined(__ODE__)
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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. *
- * *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source */
-
-#ifndef _ODE_MEMORY_H_
-#define _ODE_MEMORY_H_
-
-#include <ode/odeconfig.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* function types to allocate and free memory */
-typedef void * dAllocFunction (size_t size);
-typedef void * dReallocFunction (void *ptr, size_t oldsize, size_t newsize);
-typedef void dFreeFunction (void *ptr, size_t size);
-
-/* set new memory management functions. if fn is 0, the default handlers are
- * used. */
-ODE_API void dSetAllocHandler (dAllocFunction *fn);
-ODE_API void dSetReallocHandler (dReallocFunction *fn);
-ODE_API void dSetFreeHandler (dFreeFunction *fn);
-
-/* get current memory management functions */
-ODE_API dAllocFunction *dGetAllocHandler (void);
-ODE_API dReallocFunction *dGetReallocHandler (void);
-ODE_API dFreeFunction *dGetFreeHandler (void);
-
-/* allocate and free memory. */
-ODE_API void * dAlloc (size_t size);
-ODE_API void * dRealloc (void *ptr, size_t oldsize, size_t newsize);
-ODE_API void dFree (void *ptr, size_t size);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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. *
- * *
- *************************************************************************/
-
-/* miscellaneous math functions. these are mostly useful for testing */
-
-#ifndef _ODE_MISC_H_
-#define _ODE_MISC_H_
-
-#include <ode/common.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* return 1 if the random number generator is working. */
-ODE_API int dTestRand(void);
-
-/* return next 32 bit random number. this uses a not-very-random linear
- * congruential method.
- */
-ODE_API unsigned long dRand(void);
-
-/* get and set the current random number seed. */
-ODE_API unsigned long dRandGetSeed(void);
-ODE_API void dRandSetSeed (unsigned long s);
-
-/* return a random integer between 0..n-1. the distribution will get worse
- * as n approaches 2^32.
- */
-ODE_API int dRandInt (int n);
-
-/* return a random real number between 0..1 */
-ODE_API dReal dRandReal(void);
-
-/* print out a matrix */
-#ifdef __cplusplus
-ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
- FILE *f=stdout);
-#else
-ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
-#endif
-
-/* make a random vector with entries between +/- range. A has n elements. */
-ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
-
-/* make a random matrix with entries between +/- range. A has size n*m. */
-ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
-
-/* clear the upper triangle of a square matrix */
-ODE_API void dClearUpperTriangle (dReal *A, int n);
-
-/* return the maximum element difference between the two n*m matrices */
-ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
-
-/* return the maximum element difference between the lower triangle of two
- * n*n matrices */
-ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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_OBJECTS_H_
-#define _ODE_OBJECTS_H_
-
-#include <ode/common.h>
-#include <ode/mass.h>
-#include <ode/contact.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * @defgroup world World
- *
- * The world object is a container for rigid bodies and joints. Objects in
- * different worlds can not interact, for example rigid bodies from two
- * different worlds can not collide.
- *
- * All the objects in a world exist at the same point in time, thus one
- * reason to use separate worlds is to simulate systems at different rates.
- * Most applications will only need one world.
- */
-
-
-/**
- * @brief Create a new, empty world and return its ID number.
- * @return an identifier
- * @ingroup world
- */
-ODE_API dWorldID dWorldCreate(void);
-
-
-/**
- * @brief Destroy a world and everything in it.
- *
- * This includes all bodies, and all joints that are not part of a joint
- * group. Joints that are part of a joint group will be deactivated, and
- * can be destroyed by calling, for example, dJointGroupEmpty().
- * @ingroup world
- * @param world the identifier for the world the be destroyed.
- */
-ODE_API void dWorldDestroy (dWorldID world);
-
-
-/**
- * @brief Set the world's global gravity vector.
- *
- * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81),
- * assuming that +z is up. The default is no gravity, i.e. (0,0,0).
- *
- * @ingroup world
- */
-ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
-
-
-/**
- * @brief Get the gravity vector for a given world.
- * @ingroup world
- */
-ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity);
-
-
-/**
- * @brief Set the global ERP value, that controls how much error
- * correction is performed in each time step.
- * @ingroup world
- * @param dWorldID the identifier of the world.
- * @param erp Typical values are in the range 0.1--0.8. The default is 0.2.
- */
-ODE_API void dWorldSetERP (dWorldID, dReal erp);
-
-/**
- * @brief Get the error reduction parameter.
- * @ingroup world
- * @return ERP value
- */
-ODE_API dReal dWorldGetERP (dWorldID);
-
-
-/**
- * @brief Set the global CFM (constraint force mixing) value.
- * @ingroup world
- * @param cfm Typical values are in the range @m{10^{-9}} -- 1.
- * The default is 10^-5 if single precision is being used, or 10^-10
- * if double precision is being used.
- */
-ODE_API void dWorldSetCFM (dWorldID, dReal cfm);
-
-/**
- * @brief Get the constraint force mixing value.
- * @ingroup world
- * @return CFM value
- */
-ODE_API dReal dWorldGetCFM (dWorldID);
-
-
-/**
- * @brief Set the world to use shared working memory along with another world.
- *
- * The worlds allocate working memory internally for simulation stepping. This
- * memory is cached among the calls to @c dWordStep and @c dWorldQuickStep.
- * Similarly, several worlds can be set up to share this memory caches thus
- * reducing overall memory usage by cost of making worlds inappropriate for
- * simultaneous simulation in multiple threads.
- *
- * If null value is passed for @a from_world parameter the world is detached from
- * sharing and returns to defaults for working memory, reservation policy and
- * memory manager as if just created. This can also be used to enable use of shared
- * memory for a world that has already had working memory allocated privately.
- * Normally using shared memory after a world has its private working memory allocated
- * is prohibited.
- *
- * Allocation policy used can only increase world's internal reserved memory size
- * and never decreases it. @c dWorldCleanupWorkingMemory can be used to release
- * working memory for a world in case if number of objects/joint decreases
- * significantly in it.
- *
- * With sharing working memory worlds also automatically share memory reservation
- * policy and memory manager. Thus, these parameters need to be customized for
- * initial world to be used as sharing source only.
- *
- * Failure result status means a memory allocation failure.
- *
- * @param w The world to use the shared memory with.
- * @param from_world Null or the world the shared memory is to be used from.
- * @returns 1 for success and 0 for failure.
- *
- * @ingroup world
- * @see dWorldCleanupWorkingMemory
- * @see dWorldSetStepMemoryReservationPolicy
- * @see dWorldSetStepMemoryManager
- */
-ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/);
-
-/**
- * @brief Release internal working memory allocated for world
- *
- * The worlds allocate working memory internally for simulation stepping. This
- * function can be used to free world's internal memory cache in case if number of
- * objects/joints in the world decreases significantly. By default, internal
- * allocation policy is used to only increase cache size as necessary and never
- * decrease it.
- *
- * If a world shares its working memory with other worlds the cache deletion
- * affects all the linked worlds. However the shared status itself remains intact.
- *
- * The function call does affect neither memory reservation policy nor memory manager.
- *
- * @param w The world to release working memory for.
- *
- * @ingroup world
- * @see dWorldUseSharedWorkingMemory
- * @see dWorldSetStepMemoryReservationPolicy
- * @see dWorldSetStepMemoryManager
- */
-ODE_API void dWorldCleanupWorkingMemory(dWorldID w);
-
-#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f
-#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U
-
-/**
- * @struct dWorldStepReserveInfo
- * @brief Memory reservation policy descriptor structure for world stepping functions.
- *
- * @c struct_size should be assigned the size of the structure.
- *
- * @c reserve_factor is a quotient that is multiplied by required memory size
- * to allocate extra reserve whenever reallocation is needed.
- *
- * @c reserve_minimum is a minimum size that is checked against whenever reallocation
- * is needed to allocate expected working memory minimum at once without extra
- * reallocations as number of bodies/joints grows.
- *
- * @ingroup world
- * @see dWorldSetStepMemoryReservationPolicy
- */
-typedef struct
-{
- unsigned struct_size;
- float reserve_factor; // Use float as precision does not matter here
- unsigned reserve_minimum;
-
-} dWorldStepReserveInfo;
-
-/**
- * @brief Set memory reservation policy for world to be used with simulation stepping functions
- *
- * The function allows to customize reservation policy to be used for internal
- * memory which is allocated to aid simulation for a world. By default, values
- * of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT
- * are used.
- *
- * Passing @a policyinfo argument as NULL results in reservation policy being
- * reset to defaults as if the world has been just created. The content of
- * @a policyinfo structure is copied internally and does not need to remain valid
- * after the call returns.
- *
- * If the world uses working memory sharing, changing memory reservation policy
- * affects all the worlds linked together.
- *
- * Failure result status means a memory allocation failure.
- *
- * @param w The world to change memory reservation policy for.
- * @param policyinfo Null or a pointer to policy descriptor structure.
- * @returns 1 for success and 0 for failure.
- *
- * @ingroup world
- * @see dWorldUseSharedWorkingMemory
- */
-ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/);
-
-/**
-* @struct dWorldStepMemoryFunctionsInfo
-* @brief World stepping memory manager descriptor structure
-*
-* This structure is intended to define the functions of memory manager to be used
-* with world stepping functions.
-*
-* @c struct_size should be assigned the size of the structure
-*
-* @c alloc_block is a function to allocate memory block of given size.
-*
-* @c shrink_block is a function to shrink existing memory block to a smaller size.
-* It must preserve the contents of block head while shrinking. The new block size
-* is guaranteed to be always less than the existing one.
-*
-* @c free_block is a function to delete existing memory block.
-*
-* @ingroup init
-* @see dWorldSetStepMemoryManager
-*/
-typedef struct
-{
- unsigned struct_size;
- void *(*alloc_block)(size_t block_size);
- void *(*shrink_block)(void *block_pointer, size_t block_current_size, size_t block_smaller_size);
- void (*free_block)(void *block_pointer, size_t block_current_size);
-
-} dWorldStepMemoryFunctionsInfo;
-
-/**
-* @brief Set memory manager for world to be used with simulation stepping functions
-*
-* The function allows to customize memory manager to be used for internal
-* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree
-* based memory manager is used.
-*
-* Passing @a memfuncs argument as NULL results in memory manager being
-* reset to default one as if the world has been just created. The content of
-* @a memfuncs structure is copied internally and does not need to remain valid
-* after the call returns.
-*
-* If the world uses working memory sharing, changing memory manager
-* affects all the worlds linked together.
-*
-* Failure result status means a memory allocation failure.
-*
-* @param w The world to change memory reservation policy for.
-* @param memfuncs Null or a pointer to memory manager descriptor structure.
-* @returns 1 for success and 0 for failure.
-*
-* @ingroup world
-* @see dWorldUseSharedWorkingMemory
-*/
-ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs);
-
-/**
- * @brief Step the world.
- *
- * This uses a "big matrix" method that takes time on the order of m^3
- * and memory on the order of m^2, where m is the total number of constraint
- * rows. For large systems this will use a lot of memory and can be very slow,
- * but this is currently the most accurate method.
- *
- * Failure result status means that the memory allocation has failed for operation.
- * In such a case all the objects remain in unchanged state and simulation can be
- * retried as soon as more memory is available.
- *
- * @param w The world to be stepped
- * @param stepsize The number of seconds that the simulation has to advance.
- * @returns 1 for success and 0 for failure
- *
- * @ingroup world
- */
-ODE_API int dWorldStep (dWorldID w, dReal stepsize);
-
-/**
- * @brief Quick-step the world.
- *
- * This uses an iterative method that takes time on the order of m*N
- * and memory on the order of m, where m is the total number of constraint
- * rows N is the number of iterations.
- * For large systems this is a lot faster than dWorldStep(),
- * but it is less accurate.
- *
- * QuickStep is great for stacks of objects especially when the
- * auto-disable feature is used as well.
- * However, it has poor accuracy for near-singular systems.
- * Near-singular systems can occur when using high-friction contacts, motors,
- * or certain articulated structures. For example, a robot with multiple legs
- * sitting on the ground may be near-singular.
- *
- * There are ways to help overcome QuickStep's inaccuracy problems:
- *
- * \li Increase CFM.
- * \li Reduce the number of contacts in your system (e.g. use the minimum
- * number of contacts for the feet of a robot or creature).
- * \li Don't use excessive friction in the contacts.
- * \li Use contact slip if appropriate
- * \li Avoid kinematic loops (however, kinematic loops are inevitable in
- * legged creatures).
- * \li Don't use excessive motor strength.
- * \liUse force-based motors instead of velocity-based motors.
- *
- * Increasing the number of QuickStep iterations may help a little bit, but
- * it is not going to help much if your system is really near singular.
- *
- * Failure result status means that the memory allocation has failed for operation.
- * In such a case all the objects remain in unchanged state and simulation can be
- * retried as soon as more memory is available.
- *
- * @param w The world to be stepped
- * @param stepsize The number of seconds that the simulation has to advance.
- * @returns 1 for success and 0 for failure
- *
- * @ingroup world
- */
-ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize);
-
-
-/**
-* @brief Converts an impulse to a force.
-* @ingroup world
-* @remarks
-* If you want to apply a linear or angular impulse to a rigid body,
-* instead of a force or a torque, then you can use this function to convert
-* the desired impulse into a force/torque vector before calling the
-* BodyAdd... function.
-* The current algorithm simply scales the impulse by 1/stepsize,
-* where stepsize is the step size for the next step that will be taken.
-* This function is given a dWorldID because, in the future, the force
-* computation may depend on integrator parameters that are set as
-* properties of the world.
-*/
-ODE_API void dWorldImpulseToForce
-(
- dWorldID, dReal stepsize,
- dReal ix, dReal iy, dReal iz, dVector3 force
- );
-
-
-/**
- * @brief Set the number of iterations that the QuickStep method performs per
- * step.
- * @ingroup world
- * @remarks
- * More iterations will give a more accurate solution, but will take
- * longer to compute.
- * @param num The default is 20 iterations.
- */
-ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num);
-
-
-/**
- * @brief Get the number of iterations that the QuickStep method performs per
- * step.
- * @ingroup world
- * @return nr of iterations
- */
-ODE_API int dWorldGetQuickStepNumIterations (dWorldID);
-
-/**
- * @brief Set the SOR over-relaxation parameter
- * @ingroup world
- * @param over_relaxation value to use by SOR
- */
-ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation);
-
-/**
- * @brief Get the SOR over-relaxation parameter
- * @ingroup world
- * @returns the over-relaxation setting
- */
-ODE_API dReal dWorldGetQuickStepW (dWorldID);
-
-/* World contact parameter functions */
-
-/**
- * @brief Set the maximum correcting velocity that contacts are allowed
- * to generate.
- * @ingroup world
- * @param vel The default value is infinity (i.e. no limit).
- * @remarks
- * Reducing this value can help prevent "popping" of deeply embedded objects.
- */
-ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
-
-/**
- * @brief Get the maximum correcting velocity that contacts are allowed
- * to generated.
- * @ingroup world
- */
-ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID);
-
-/**
- * @brief Set the depth of the surface layer around all geometry objects.
- * @ingroup world
- * @remarks
- * Contacts are allowed to sink into the surface layer up to the given
- * depth before coming to rest.
- * @param depth The default value is zero.
- * @remarks
- * Increasing this to some small value (e.g. 0.001) can help prevent
- * jittering problems due to contacts being repeatedly made and broken.
- */
-ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
-
-/**
- * @brief Get the depth of the surface layer around all geometry objects.
- * @ingroup world
- * @returns the depth
- */
-ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID);
-
-
-/**
- * @defgroup disable Automatic Enabling and Disabling
- * @ingroup world bodies
- *
- * Every body can be enabled or disabled. Enabled bodies participate in the
- * simulation, while disabled bodies are turned off and do not get updated
- * during a simulation step. New bodies are always created in the enabled state.
- *
- * A disabled body that is connected through a joint to an enabled body will be
- * automatically re-enabled at the next simulation step.
- *
- * Disabled bodies do not consume CPU time, therefore to speed up the simulation
- * bodies should be disabled when they come to rest. This can be done automatically
- * with the auto-disable feature.
- *
- * If a body has its auto-disable flag turned on, it will automatically disable
- * itself when
- * @li It has been idle for a given number of simulation steps.
- * @li It has also been idle for a given amount of simulation time.
- *
- * A body is considered to be idle when the magnitudes of both its
- * linear average velocity and angular average velocity are below given thresholds.
- * The sample size for the average defaults to one and can be disabled by setting
- * to zero with
- *
- * Thus, every body has six auto-disable parameters: an enabled flag, a idle step
- * count, an idle time, linear/angular average velocity thresholds, and the
- * average samples count.
- *
- * Newly created bodies get these parameters from world.
- */
-
-/**
- * @brief Get auto disable linear threshold for newly created bodies.
- * @ingroup disable
- * @return the threshold
- */
-ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID);
-
-/**
- * @brief Set auto disable linear threshold for newly created bodies.
- * @param linear_threshold default is 0.01
- * @ingroup disable
- */
-ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold);
-
-/**
- * @brief Get auto disable angular threshold for newly created bodies.
- * @ingroup disable
- * @return the threshold
- */
-ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID);
-
-/**
- * @brief Set auto disable angular threshold for newly created bodies.
- * @param linear_threshold default is 0.01
- * @ingroup disable
- */
-ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold);
-
-/**
- * @brief Get auto disable linear average threshold for newly created bodies.
- * @ingroup disable
- * @return the threshold
- */
-ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold (dWorldID);
-
-/**
- * @brief Set auto disable linear average threshold for newly created bodies.
- * @param linear_average_threshold default is 0.01
- * @ingroup disable
- */
-ODE_API void dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold);
-
-/**
- * @brief Get auto disable angular average threshold for newly created bodies.
- * @ingroup disable
- * @return the threshold
- */
-ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold (dWorldID);
-
-/**
- * @brief Set auto disable angular average threshold for newly created bodies.
- * @param linear_average_threshold default is 0.01
- * @ingroup disable
- */
-ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold);
-
-/**
- * @brief Get auto disable sample count for newly created bodies.
- * @ingroup disable
- * @return number of samples used
- */
-ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID);
-
-/**
- * @brief Set auto disable average sample count for newly created bodies.
- * @ingroup disable
- * @param average_samples_count Default is 1, meaning only instantaneous velocity is used.
- * Set to zero to disable sampling and thus prevent any body from auto-disabling.
- */
-ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count );
-
-/**
- * @brief Get auto disable steps for newly created bodies.
- * @ingroup disable
- * @return nr of steps
- */
-ODE_API int dWorldGetAutoDisableSteps (dWorldID);
-
-/**
- * @brief Set auto disable steps for newly created bodies.
- * @ingroup disable
- * @param steps default is 10
- */
-ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps);
-
-/**
- * @brief Get auto disable time for newly created bodies.
- * @ingroup disable
- * @return nr of seconds
- */
-ODE_API dReal dWorldGetAutoDisableTime (dWorldID);
-
-/**
- * @brief Set auto disable time for newly created bodies.
- * @ingroup disable
- * @param time default is 0 seconds
- */
-ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time);
-
-/**
- * @brief Get auto disable flag for newly created bodies.
- * @ingroup disable
- * @return 0 or 1
- */
-ODE_API int dWorldGetAutoDisableFlag (dWorldID);
-
-/**
- * @brief Set auto disable flag for newly created bodies.
- * @ingroup disable
- * @param do_auto_disable default is false.
- */
-ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
-
-
-/**
- * @defgroup damping Damping
- * @ingroup bodies world
- *
- * Damping serves two purposes: reduce simulation instability, and to allow
- * the bodies to come to rest (and possibly auto-disabling them).
- *
- * Bodies are constructed using the world's current damping parameters. Setting
- * the scales to 0 disables the damping.
- *
- * Here is how it is done: after every time step linear and angular
- * velocities are tested against the corresponding thresholds. If they
- * are above, they are multiplied by (1 - scale). So a negative scale value
- * will actually increase the speed, and values greater than one will
- * make the object oscillate every step; both can make the simulation unstable.
- *
- * To disable damping just set the damping scale to zero.
- *
- * You can also limit the maximum angular velocity. In contrast to the damping
- * functions, the angular velocity is affected before the body is moved.
- * This means that it will introduce errors in joints that are forcing the body
- * to rotate too fast. Some bodies have naturally high angular velocities
- * (like cars' wheels), so you may want to give them a very high (like the default,
- * dInfinity) limit.
- *
- * @note The velocities are damped after the stepper function has moved the
- * object. Otherwise the damping could introduce errors in joints. First the
- * joint constraints are processed by the stepper (moving the body), then
- * the damping is applied.
- *
- * @note The damping happens right after the moved callback is called; this way
- * it still possible use the exact velocities the body has acquired during the
- * step. You can even use the callback to create your own customized damping.
- */
-
-/**
- * @brief Get the world's linear damping threshold.
- * @ingroup damping
- */
-ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w);
-
-/**
- * @brief Set the world's linear damping threshold.
- * @param threshold The damping won't be applied if the linear speed is
- * below this threshold. Default is 0.01.
- * @ingroup damping
- */
-ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold);
-
-/**
- * @brief Get the world's angular damping threshold.
- * @ingroup damping
- */
-ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w);
-
-/**
- * @brief Set the world's angular damping threshold.
- * @param threshold The damping won't be applied if the angular speed is
- * below this threshold. Default is 0.01.
- * @ingroup damping
- */
-ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold);
-
-/**
- * @brief Get the world's linear damping scale.
- * @ingroup damping
- */
-ODE_API dReal dWorldGetLinearDamping (dWorldID w);
-
-/**
- * @brief Set the world's linear damping scale.
- * @param scale The linear damping scale that is to be applied to bodies.
- * Default is 0 (no damping). Should be in the interval [0, 1].
- * @ingroup damping
- */
-ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale);
-
-/**
- * @brief Get the world's angular damping scale.
- * @ingroup damping
- */
-ODE_API dReal dWorldGetAngularDamping (dWorldID w);
-
-/**
- * @brief Set the world's angular damping scale.
- * @param scale The angular damping scale that is to be applied to bodies.
- * Default is 0 (no damping). Should be in the interval [0, 1].
- * @ingroup damping
- */
-ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale);
-
-/**
- * @brief Convenience function to set body linear and angular scales.
- * @param linear_scale The linear damping scale that is to be applied to bodies.
- * @param angular_scale The angular damping scale that is to be applied to bodies.
- * @ingroup damping
- */
-ODE_API void dWorldSetDamping(dWorldID w,
- dReal linear_scale,
- dReal angular_scale);
-
-/**
- * @brief Get the default maximum angular speed.
- * @ingroup damping
- * @sa dBodyGetMaxAngularSpeed()
- */
-ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w);
-
-
-/**
- * @brief Set the default maximum angular speed for new bodies.
- * @ingroup damping
- * @sa dBodySetMaxAngularSpeed()
- */
-ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed);
-
-
-
-/**
- * @defgroup bodies Rigid Bodies
- *
- * A rigid body has various properties from the point of view of the
- * simulation. Some properties change over time:
- *
- * @li Position vector (x,y,z) of the body's point of reference.
- * Currently the point of reference must correspond to the body's center of mass.
- * @li Linear velocity of the point of reference, a vector (vx,vy,vz).
- * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or
- * a 3x3 rotation matrix.
- * @li Angular velocity vector (wx,wy,wz) which describes how the orientation
- * changes over time.
- *
- * Other body properties are usually constant over time:
- *
- * @li Mass of the body.
- * @li Position of the center of mass with respect to the point of reference.
- * In the current implementation the center of mass and the point of
- * reference must coincide.
- * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass
- * is distributed around the center of mass. Conceptually each body has an
- * x-y-z coordinate frame embedded in it that moves and rotates with the body.
- *
- * The origin of this coordinate frame is the body's point of reference. Some values
- * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others
- * are relative to the global coordinate frame.
- *
- * Note that the shape of a rigid body is not a dynamical property (except insofar as
- * it influences the various mass properties). It is only collision detection that cares
- * about the detailed shape of the body.
- */
-
-
-/**
- * @brief Get auto disable linear average threshold.
- * @ingroup bodies disable
- * @return the threshold
- */
-ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID);
-
-/**
- * @brief Set auto disable linear average threshold.
- * @ingroup bodies disable
- * @return the threshold
- */
-ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold);
-
-/**
- * @brief Get auto disable angular average threshold.
- * @ingroup bodies disable
- * @return the threshold
- */
-ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID);
-
-/**
- * @brief Set auto disable angular average threshold.
- * @ingroup bodies disable
- * @return the threshold
- */
-ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold);
-
-/**
- * @brief Get auto disable average size (samples count).
- * @ingroup bodies disable
- * @return the nr of steps/size.
- */
-ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID);
-
-/**
- * @brief Set auto disable average buffer size (average steps).
- * @ingroup bodies disable
- * @param average_samples_count the nr of samples to review.
- */
-ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count);
-
-
-/**
- * @brief Get auto steps a body must be thought of as idle to disable
- * @ingroup bodies disable
- * @return the nr of steps
- */
-ODE_API int dBodyGetAutoDisableSteps (dBodyID);
-
-/**
- * @brief Set auto disable steps.
- * @ingroup bodies disable
- * @param steps the nr of steps.
- */
-ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps);
-
-/**
- * @brief Get auto disable time.
- * @ingroup bodies disable
- * @return nr of seconds
- */
-ODE_API dReal dBodyGetAutoDisableTime (dBodyID);
-
-/**
- * @brief Set auto disable time.
- * @ingroup bodies disable
- * @param time nr of seconds.
- */
-ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time);
-
-/**
- * @brief Get auto disable flag.
- * @ingroup bodies disable
- * @return 0 or 1
- */
-ODE_API int dBodyGetAutoDisableFlag (dBodyID);
-
-/**
- * @brief Set auto disable flag.
- * @ingroup bodies disable
- * @param do_auto_disable 0 or 1
- */
-ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable);
-
-/**
- * @brief Set auto disable defaults.
- * @remarks
- * Set the values for the body to those set as default for the world.
- * @ingroup bodies disable
- */
-ODE_API void dBodySetAutoDisableDefaults (dBodyID);
-
-
-/**
- * @brief Retrieves the world attached to te given body.
- * @remarks
- *
- * @ingroup bodies
- */
-ODE_API dWorldID dBodyGetWorld (dBodyID);
-
-/**
- * @brief Create a body in given world.
- * @remarks
- * Default mass parameters are at position (0,0,0).
- * @ingroup bodies
- */
-ODE_API dBodyID dBodyCreate (dWorldID);
-
-/**
- * @brief Destroy a body.
- * @remarks
- * All joints that are attached to this body will be put into limbo:
- * i.e. unattached and not affecting the simulation, but they will NOT be
- * deleted.
- * @ingroup bodies
- */
-ODE_API void dBodyDestroy (dBodyID);
-
-/**
- * @brief Set the body's user-data pointer.
- * @ingroup bodies
- * @param data arbitraty pointer
- */
-ODE_API void dBodySetData (dBodyID, void *data);
-
-/**
- * @brief Get the body's user-data pointer.
- * @ingroup bodies
- * @return a pointer to the user's data.
- */
-ODE_API void *dBodyGetData (dBodyID);
-
-/**
- * @brief Set position of a body.
- * @remarks
- * After setting, the outcome of the simulation is undefined
- * if the new configuration is inconsistent with the joints/constraints
- * that are present.
- * @ingroup bodies
- */
-ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the orientation of a body.
- * @ingroup bodies
- * @remarks
- * After setting, the outcome of the simulation is undefined
- * if the new configuration is inconsistent with the joints/constraints
- * that are present.
- */
-ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R);
-
-/**
- * @brief Set the orientation of a body.
- * @ingroup bodies
- * @remarks
- * After setting, the outcome of the simulation is undefined
- * if the new configuration is inconsistent with the joints/constraints
- * that are present.
- */
-ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q);
-
-/**
- * @brief Set the linear velocity of a body.
- * @ingroup bodies
- */
-ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the angular velocity of a body.
- * @ingroup bodies
- */
-ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Get the position of a body.
- * @ingroup bodies
- * @remarks
- * When getting, the returned values are pointers to internal data structures,
- * so the vectors are valid until any changes are made to the rigid body
- * system structure.
- * @sa dBodyCopyPosition
- */
-ODE_API const dReal * dBodyGetPosition (dBodyID);
-
-
-/**
- * @brief Copy the position of a body into a vector.
- * @ingroup bodies
- * @param body the body to query
- * @param pos a copy of the body position
- * @sa dBodyGetPosition
- */
-ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos);
-
-
-/**
- * @brief Get the rotation of a body.
- * @ingroup bodies
- * @return pointer to a 4x3 rotation matrix.
- */
-ODE_API const dReal * dBodyGetRotation (dBodyID);
-
-
-/**
- * @brief Copy the rotation of a body.
- * @ingroup bodies
- * @param body the body to query
- * @param R a copy of the rotation matrix
- * @sa dBodyGetRotation
- */
-ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R);
-
-
-/**
- * @brief Get the rotation of a body.
- * @ingroup bodies
- * @return pointer to 4 scalars that represent the quaternion.
- */
-ODE_API const dReal * dBodyGetQuaternion (dBodyID);
-
-
-/**
- * @brief Copy the orientation of a body into a quaternion.
- * @ingroup bodies
- * @param body the body to query
- * @param quat a copy of the orientation quaternion
- * @sa dBodyGetQuaternion
- */
-ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat);
-
-
-/**
- * @brief Get the linear velocity of a body.
- * @ingroup bodies
- */
-ODE_API const dReal * dBodyGetLinearVel (dBodyID);
-
-/**
- * @brief Get the angular velocity of a body.
- * @ingroup bodies
- */
-ODE_API const dReal * dBodyGetAngularVel (dBodyID);
-
-/**
- * @brief Set the mass of a body.
- * @ingroup bodies
- */
-ODE_API void dBodySetMass (dBodyID, const dMass *mass);
-
-/**
- * @brief Get the mass of a body.
- * @ingroup bodies
- */
-ODE_API void dBodyGetMass (dBodyID, dMass *mass);
-
-/**
- * @brief Add force at centre of mass of body in absolute coordinates.
- * @ingroup bodies
- */
-ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
-
-/**
- * @brief Add torque at centre of mass of body in absolute coordinates.
- * @ingroup bodies
- */
-ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
-
-/**
- * @brief Add force at centre of mass of body in coordinates relative to body.
- * @ingroup bodies
- */
-ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz);
-
-/**
- * @brief Add torque at centre of mass of body in coordinates relative to body.
- * @ingroup bodies
- */
-ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz);
-
-/**
- * @brief Add force at specified point in body in global coordinates.
- * @ingroup bodies
- */
-ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz);
-/**
- * @brief Add force at specified point in body in local coordinates.
- * @ingroup bodies
- */
-ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz);
-/**
- * @brief Add force at specified point in body in global coordinates.
- * @ingroup bodies
- */
-ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz);
-/**
- * @brief Add force at specified point in body in local coordinates.
- * @ingroup bodies
- */
-ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz);
-
-/**
- * @brief Return the current accumulated force vector.
- * @return points to an array of 3 reals.
- * @remarks
- * The returned values are pointers to internal data structures, so
- * the vectors are only valid until any changes are made to the rigid
- * body system.
- * @ingroup bodies
- */
-ODE_API const dReal * dBodyGetForce (dBodyID);
-
-/**
- * @brief Return the current accumulated torque vector.
- * @return points to an array of 3 reals.
- * @remarks
- * The returned values are pointers to internal data structures, so
- * the vectors are only valid until any changes are made to the rigid
- * body system.
- * @ingroup bodies
- */
-ODE_API const dReal * dBodyGetTorque (dBodyID);
-
-/**
- * @brief Set the body force accumulation vector.
- * @remarks
- * This is mostly useful to zero the force and torque for deactivated bodies
- * before they are reactivated, in the case where the force-adding functions
- * were called on them while they were deactivated.
- * @ingroup bodies
- */
-ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the body torque accumulation vector.
- * @remarks
- * This is mostly useful to zero the force and torque for deactivated bodies
- * before they are reactivated, in the case where the force-adding functions
- * were called on them while they were deactivated.
- * @ingroup bodies
- */
-ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
-
-/**
- * @brief Get world position of a relative point on body.
- * @ingroup bodies
- * @param result will contain the result.
- */
-ODE_API void dBodyGetRelPointPos
-(
- dBodyID, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief Get velocity vector in global coords of a relative point on body.
- * @ingroup bodies
- * @param result will contain the result.
- */
-ODE_API void dBodyGetRelPointVel
-(
- dBodyID, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief Get velocity vector in global coords of a globally
- * specified point on a body.
- * @ingroup bodies
- * @param result will contain the result.
- */
-ODE_API void dBodyGetPointVel
-(
- dBodyID, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief takes a point in global coordinates and returns
- * the point's position in body-relative coordinates.
- * @remarks
- * This is the inverse of dBodyGetRelPointPos()
- * @ingroup bodies
- * @param result will contain the result.
- */
-ODE_API void dBodyGetPosRelPoint
-(
- dBodyID, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief Convert from local to world coordinates.
- * @ingroup bodies
- * @param result will contain the result.
- */
-ODE_API void dBodyVectorToWorld
-(
- dBodyID, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief Convert from world to local coordinates.
- * @ingroup bodies
- * @param result will contain the result.
- */
-ODE_API void dBodyVectorFromWorld
-(
- dBodyID, dReal px, dReal py, dReal pz,
- dVector3 result
-);
-
-/**
- * @brief controls the way a body's orientation is updated at each timestep.
- * @ingroup bodies
- * @param mode can be 0 or 1:
- * \li 0: An ``infinitesimal'' orientation update is used.
- * This is fast to compute, but it can occasionally cause inaccuracies
- * for bodies that are rotating at high speed, especially when those
- * bodies are joined to other bodies.
- * This is the default for every new body that is created.
- * \li 1: A ``finite'' orientation update is used.
- * This is more costly to compute, but will be more accurate for high
- * speed rotations.
- * @remarks
- * Note however that high speed rotations can result in many types of
- * error in a simulation, and the finite mode will only fix one of those
- * sources of error.
- */
-ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode);
-
-/**
- * @brief sets the finite rotation axis for a body.
- * @ingroup bodies
- * @remarks
- * This is axis only has meaning when the finite rotation mode is set
- * If this axis is zero (0,0,0), full finite rotations are performed on
- * the body.
- * If this axis is nonzero, the body is rotated by performing a partial finite
- * rotation along the axis direction followed by an infinitesimal rotation
- * along an orthogonal direction.
- * @remarks
- * This can be useful to alleviate certain sources of error caused by quickly
- * spinning bodies. For example, if a car wheel is rotating at high speed
- * you can call this function with the wheel's hinge axis as the argument to
- * try and improve its behavior.
- */
-ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Get the way a body's orientation is updated each timestep.
- * @ingroup bodies
- * @return the mode 0 (infitesimal) or 1 (finite).
- */
-ODE_API int dBodyGetFiniteRotationMode (dBodyID);
-
-/**
- * @brief Get the finite rotation axis.
- * @param result will contain the axis.
- * @ingroup bodies
- */
-ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
-
-/**
- * @brief Get the number of joints that are attached to this body.
- * @ingroup bodies
- * @return nr of joints
- */
-ODE_API int dBodyGetNumJoints (dBodyID b);
-
-/**
- * @brief Return a joint attached to this body, given by index.
- * @ingroup bodies
- * @param index valid range is 0 to n-1 where n is the value returned by
- * dBodyGetNumJoints().
- */
-ODE_API dJointID dBodyGetJoint (dBodyID, int index);
-
-
-
-
-/**
- * @brief Set rigid body to dynamic state (default).
- * @param dBodyID identification of body.
- * @ingroup bodies
- */
-ODE_API void dBodySetDynamic (dBodyID);
-
-/**
- * @brief Set rigid body to kinematic state.
- * When in kinematic state the body isn't simulated as a dynamic
- * body (it's "unstoppable", doesn't respond to forces),
- * but can still affect dynamic bodies (e.g. in joints).
- * Kinematic bodies can be controlled by position and velocity.
- * @note A kinematic body has infinite mass. If you set its mass
- * to something else, it loses the kinematic state and behaves
- * as a normal dynamic body.
- * @param dBodyID identification of body.
- * @ingroup bodies
- */
-ODE_API void dBodySetKinematic (dBodyID);
-
-/**
- * @brief Check wether a body is in kinematic state.
- * @ingroup bodies
- * @return 1 if a body is kinematic or 0 if it is dynamic.
- */
-ODE_API int dBodyIsKinematic (dBodyID);
-
-/**
- * @brief Manually enable a body.
- * @param dBodyID identification of body.
- * @ingroup bodies
- */
-ODE_API void dBodyEnable (dBodyID);
-
-/**
- * @brief Manually disable a body.
- * @ingroup bodies
- * @remarks
- * A disabled body that is connected through a joint to an enabled body will
- * be automatically re-enabled at the next simulation step.
- */
-ODE_API void dBodyDisable (dBodyID);
-
-/**
- * @brief Check wether a body is enabled.
- * @ingroup bodies
- * @return 1 if a body is currently enabled or 0 if it is disabled.
- */
-ODE_API int dBodyIsEnabled (dBodyID);
-
-/**
- * @brief Set whether the body is influenced by the world's gravity or not.
- * @ingroup bodies
- * @param mode when nonzero gravity affects this body.
- * @remarks
- * Newly created bodies are always influenced by the world's gravity.
- */
-ODE_API void dBodySetGravityMode (dBodyID b, int mode);
-
-/**
- * @brief Get whether the body is influenced by the world's gravity or not.
- * @ingroup bodies
- * @return nonzero means gravity affects this body.
- */
-ODE_API int dBodyGetGravityMode (dBodyID b);
-
-/**
- * @brief Set the 'moved' callback of a body.
- *
- * Whenever a body has its position or rotation changed during the
- * timestep, the callback will be called (with body as the argument).
- * Use it to know which body may need an update in an external
- * structure (like a 3D engine).
- *
- * @param b the body that needs to be watched.
- * @param callback the callback to be invoked when the body moves. Set to zero
- * to disable.
- * @ingroup bodies
- */
-ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID));
-
-
-/**
- * @brief Return the first geom associated with the body.
- *
- * You can traverse through the geoms by repeatedly calling
- * dBodyGetNextGeom().
- *
- * @return the first geom attached to this body, or 0.
- * @ingroup bodies
- */
-ODE_API dGeomID dBodyGetFirstGeom (dBodyID b);
-
-
-/**
- * @brief returns the next geom associated with the same body.
- * @param g a geom attached to some body.
- * @return the next geom attached to the same body, or 0.
- * @sa dBodyGetFirstGeom
- * @ingroup bodies
- */
-ODE_API dGeomID dBodyGetNextGeom (dGeomID g);
-
-
-/**
- * @brief Resets the damping settings to the current world's settings.
- * @ingroup bodies damping
- */
-ODE_API void dBodySetDampingDefaults(dBodyID b);
-
-/**
- * @brief Get the body's linear damping scale.
- * @ingroup bodies damping
- */
-ODE_API dReal dBodyGetLinearDamping (dBodyID b);
-
-/**
- * @brief Set the body's linear damping scale.
- * @param scale The linear damping scale. Should be in the interval [0, 1].
- * @ingroup bodies damping
- * @remarks From now on the body will not use the world's linear damping
- * scale until dBodySetDampingDefaults() is called.
- * @sa dBodySetDampingDefaults()
- */
-ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale);
-
-/**
- * @brief Get the body's angular damping scale.
- * @ingroup bodies damping
- * @remarks If the body's angular damping scale was not set, this function
- * returns the world's angular damping scale.
- */
-ODE_API dReal dBodyGetAngularDamping (dBodyID b);
-
-/**
- * @brief Set the body's angular damping scale.
- * @param scale The angular damping scale. Should be in the interval [0, 1].
- * @ingroup bodies damping
- * @remarks From now on the body will not use the world's angular damping
- * scale until dBodyResetAngularDamping() is called.
- * @sa dBodyResetAngularDamping()
- */
-ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale);
-
-/**
- * @brief Convenience function to set linear and angular scales at once.
- * @param linear_scale The linear damping scale. Should be in the interval [0, 1].
- * @param angular_scale The angular damping scale. Should be in the interval [0, 1].
- * @ingroup bodies damping
- * @sa dBodySetLinearDamping() dBodySetAngularDamping()
- */
-ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale);
-
-/**
- * @brief Get the body's linear damping threshold.
- * @ingroup bodies damping
- */
-ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b);
-
-/**
- * @brief Set the body's linear damping threshold.
- * @param threshold The linear threshold to be used. Damping
- * is only applied if the linear speed is above this limit.
- * @ingroup bodies damping
- */
-ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold);
-
-/**
- * @brief Get the body's angular damping threshold.
- * @ingroup bodies damping
- */
-ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b);
-
-/**
- * @brief Set the body's angular damping threshold.
- * @param threshold The angular threshold to be used. Damping is
- * only used if the angular speed is above this limit.
- * @ingroup bodies damping
- */
-ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold);
-
-/**
- * @brief Get the body's maximum angular speed.
- * @ingroup damping bodies
- * @sa dWorldGetMaxAngularSpeed()
- */
-ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b);
-
-/**
- * @brief Set the body's maximum angular speed.
- * @ingroup damping bodies
- * @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed()
- * The default value is dInfinity, but it's a good idea to limit
- * it at less than 500 if the body has the gyroscopic term
- * enabled.
- */
-ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed);
-
-
-
-/**
- * @brief Get the body's gyroscopic state.
- *
- * @return nonzero if gyroscopic term computation is enabled (default),
- * zero otherwise.
- * @ingroup bodies
- */
-ODE_API int dBodyGetGyroscopicMode(dBodyID b);
-
-
-/**
- * @brief Enable/disable the body's gyroscopic term.
- *
- * Disabling the gyroscopic term of a body usually improves
- * stability. It also helps turning spining objects, like cars'
- * wheels.
- *
- * @param enabled nonzero (default) to enable gyroscopic term, 0
- * to disable.
- * @ingroup bodies
- */
-ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled);
-
-
-
-
-/**
- * @defgroup joints Joints
- *
- * In real life a joint is something like a hinge, that is used to connect two
- * objects.
- * In ODE a joint is very similar: It is a relationship that is enforced between
- * two bodies so that they can only have certain positions and orientations
- * relative to each other.
- * This relationship is called a constraint -- the words joint and
- * constraint are often used interchangeably.
- *
- * A joint has a set of parameters that can be set. These include:
- *
- *
- * \li dParamLoStop Low stop angle or position. Setting this to
- * -dInfinity (the default value) turns off the low stop.
- * For rotational joints, this stop must be greater than -pi to be
- * effective.
- * \li dParamHiStop High stop angle or position. Setting this to
- * dInfinity (the default value) turns off the high stop.
- * For rotational joints, this stop must be less than pi to be
- * effective.
- * If the high stop is less than the low stop then both stops will
- * be ineffective.
- * \li dParamVel Desired motor velocity (this will be an angular or
- * linear velocity).
- * \li dParamFMax The maximum force or torque that the motor will use to
- * achieve the desired velocity.
- * This must always be greater than or equal to zero.
- * Setting this to zero (the default value) turns off the motor.
- * \li dParamFudgeFactor The current joint stop/motor implementation has
- * a small problem:
- * when the joint is at one stop and the motor is set to move it away
- * from the stop, too much force may be applied for one time step,
- * causing a ``jumping'' motion.
- * This fudge factor is used to scale this excess force.
- * It should have a value between zero and one (the default value).
- * If the jumping motion is too visible in a joint, the value can be
- * reduced.
- * Making this value too small can prevent the motor from being able to
- * move the joint away from a stop.
- * \li dParamBounce The bouncyness of the stops.
- * This is a restitution parameter in the range 0..1.
- * 0 means the stops are not bouncy at all, 1 means maximum bouncyness.
- * \li dParamCFM The constraint force mixing (CFM) value used when not
- * at a stop.
- * \li dParamStopERP The error reduction parameter (ERP) used by the
- * stops.
- * \li dParamStopCFM The constraint force mixing (CFM) value used by the
- * stops. Together with the ERP value this can be used to get spongy or
- * soft stops.
- * Note that this is intended for unpowered joints, it does not really
- * work as expected when a powered joint reaches its limit.
- * \li dParamSuspensionERP Suspension error reduction parameter (ERP).
- * Currently this is only implemented on the hinge-2 joint.
- * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value.
- * Currently this is only implemented on the hinge-2 joint.
- *
- * If a particular parameter is not implemented by a given joint, setting it
- * will have no effect.
- * These parameter names can be optionally followed by a digit (2 or 3)
- * to indicate the second or third set of parameters, e.g. for the second axis
- * in a hinge-2 joint, or the third axis in an AMotor joint.
- */
-
-
-/**
- * @brief Create a new joint of the ball type.
- * @ingroup joints
- * @remarks
- * The joint is initially in "limbo" (i.e. it has no effect on the simulation)
- * because it does not connect to any bodies.
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the hinge type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the slider type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the contact type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
-
-/**
- * @brief Create a new joint of the hinge2 type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the universal type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the PR (Prismatic and Rotoide) type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID);
-
- /**
- * @brief Create a new joint of the PU (Prismatic and Universal) type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
- ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID);
-
- /**
- * @brief Create a new joint of the Piston type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given
- * joint group.
- */
- ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the fixed type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID);
-
-ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the A-motor type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the L-motor type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID);
-
-/**
- * @brief Create a new joint of the plane-2d type.
- * @ingroup joints
- * @param dJointGroupID set to 0 to allocate the joint normally.
- * If it is nonzero the joint is allocated in the given joint group.
- */
-ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID);
-
-/**
- * @brief Destroy a joint.
- * @ingroup joints
- *
- * disconnects it from its attached bodies and removing it from the world.
- * However, if the joint is a member of a group then this function has no
- * effect - to destroy that joint the group must be emptied or destroyed.
- */
-ODE_API void dJointDestroy (dJointID);
-
-
-/**
- * @brief Create a joint group
- * @ingroup joints
- * @param max_size deprecated. Set to 0.
- */
-ODE_API dJointGroupID dJointGroupCreate (int max_size);
-
-/**
- * @brief Destroy a joint group.
- * @ingroup joints
- *
- * All joints in the joint group will be destroyed.
- */
-ODE_API void dJointGroupDestroy (dJointGroupID);
-
-/**
- * @brief Empty a joint group.
- * @ingroup joints
- *
- * All joints in the joint group will be destroyed,
- * but the joint group itself will not be destroyed.
- */
-ODE_API void dJointGroupEmpty (dJointGroupID);
-
-/**
- * @brief Return the number of bodies attached to the joint
- * @ingroup joints
- */
-ODE_API int dJointGetNumBodies(dJointID);
-
-/**
- * @brief Attach the joint to some new bodies.
- * @ingroup joints
- *
- * If the joint is already attached, it will be detached from the old bodies
- * first.
- * To attach this joint to only one body, set body1 or body2 to zero - a zero
- * body refers to the static environment.
- * Setting both bodies to zero puts the joint into "limbo", i.e. it will
- * have no effect on the simulation.
- * @remarks
- * Some joints, like hinge-2 need to be attached to two bodies to work.
- */
-ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
-
-/**
- * @brief Manually enable a joint.
- * @param dJointID identification of joint.
- * @ingroup joints
- */
-ODE_API void dJointEnable (dJointID);
-
-/**
- * @brief Manually disable a joint.
- * @ingroup joints
- * @remarks
- * A disabled joint will not affect the simulation, but will maintain the anchors and
- * axes so it can be enabled later.
- */
-ODE_API void dJointDisable (dJointID);
-
-/**
- * @brief Check wether a joint is enabled.
- * @ingroup joints
- * @return 1 if a joint is currently enabled or 0 if it is disabled.
- */
-ODE_API int dJointIsEnabled (dJointID);
-
-/**
- * @brief Set the user-data pointer
- * @ingroup joints
- */
-ODE_API void dJointSetData (dJointID, void *data);
-
-/**
- * @brief Get the user-data pointer
- * @ingroup joints
- */
-ODE_API void *dJointGetData (dJointID);
-
-/**
- * @brief Get the type of the joint
- * @ingroup joints
- * @return the type, being one of these:
- * \li dJointTypeBall
- * \li dJointTypeHinge
- * \li dJointTypeSlider
- * \li dJointTypeContact
- * \li dJointTypeUniversal
- * \li dJointTypeHinge2
- * \li dJointTypeFixed
- * \li dJointTypeNull
- * \li dJointTypeAMotor
- * \li dJointTypeLMotor
- * \li dJointTypePlane2D
- * \li dJointTypePR
- * \li dJointTypePU
- * \li dJointTypePiston
- */
-ODE_API dJointType dJointGetType (dJointID);
-
-/**
- * @brief Return the bodies that this joint connects.
- * @ingroup joints
- * @param index return the first (0) or second (1) body.
- * @remarks
- * If one of these returned body IDs is zero, the joint connects the other body
- * to the static environment.
- * If both body IDs are zero, the joint is in ``limbo'' and has no effect on
- * the simulation.
- */
-ODE_API dBodyID dJointGetBody (dJointID, int index);
-
-/**
- * @brief Sets the datastructure that is to receive the feedback.
- *
- * The feedback can be used by the user, so that it is known how
- * much force an individual joint exerts.
- * @ingroup joints
- */
-ODE_API void dJointSetFeedback (dJointID, dJointFeedback *);
-
-/**
- * @brief Gets the datastructure that is to receive the feedback.
- * @ingroup joints
- */
-ODE_API dJointFeedback *dJointGetFeedback (dJointID);
-
-/**
- * @brief Set the joint anchor point.
- * @ingroup joints
- *
- * The joint will try to keep this point on each body
- * together. The input is specified in world coordinates.
- */
-ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the joint anchor point.
- * @ingroup joints
- */
-ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Param setting for Ball joints
- * @ingroup joints
- */
-ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief Set hinge anchor parameter.
- * @ingroup joints
- */
-ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
-
-ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-
-/**
- * @brief Set hinge axis.
- * @ingroup joints
- */
-ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the Hinge axis as if the 2 bodies were already at angle appart.
- * @ingroup joints
- *
- * This function initialize the Axis and the relative orientation of each body
- * as if body1 was rotated around the axis by the angle value. \br
- * Ex:
- * <PRE>
- * dJointSetHingeAxis(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0
- * dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
- * </PRE>
-
- * @param j The Hinge joint ID for which the axis will be set
- * @param x The X component of the axis in world frame
- * @param y The Y component of the axis in world frame
- * @param z The Z component of the axis in world frame
- * @param angle The angle for the offset of the relative orientation.
- * As if body1 was rotated by angle when the Axis was set (see below).
- * The rotation is around the new Hinge axis.
- *
- * @note Usually the function dJointSetHingeAxis set the current position of body1
- * and body2 as the zero angle position. This function set the current position
- * as the if the 2 bodies where \b angle appart.
- * @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero"
- * angle position.
- */
-ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- */
-ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief Applies the torque about the hinge axis.
- *
- * That is, it applies a torque with specified magnitude in the direction
- * of the hinge axis, to body 1, and with the same magnitude but in opposite
- * direction to body 2. This function is just a wrapper for dBodyAddTorque()}
- * @ingroup joints
- */
-ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque);
-
-/**
- * @brief set the joint axis
- * @ingroup joints
- */
-ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @ingroup joints
- */
-ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- */
-ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief Applies the given force in the slider's direction.
- *
- * That is, it applies a force with specified magnitude, in the direction of
- * slider's axis, to body1, and with the same magnitude but opposite
- * direction to body2. This function is just a wrapper for dBodyAddForce().
- * @ingroup joints
- */
-ODE_API void dJointAddSliderForce(dJointID joint, dReal force);
-
-/**
- * @brief set anchor
- * @ingroup joints
- */
-ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set axis
- * @ingroup joints
- */
-ODE_API void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set axis
- * @ingroup joints
- */
-ODE_API void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- */
-ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value);
-
-/**
- * @brief Applies torque1 about the hinge2's axis 1, torque2 about the
- * hinge2's axis 2.
- * @remarks This function is just a wrapper for dBodyAddTorque().
- * @ingroup joints
- */
-ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
-
-/**
- * @brief set anchor
- * @ingroup joints
- */
-ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set axis
- * @ingroup joints
- */
-ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the Universal axis1 as if the 2 bodies were already at
- * offset1 and offset2 appart with respect to axis1 and axis2.
- * @ingroup joints
- *
- * This function initialize the axis1 and the relative orientation of
- * each body as if body1 was rotated around the new axis1 by the offset1
- * value and as if body2 was rotated around the axis2 by offset2. \br
- * Ex:
-* <PRE>
- * dJointSetHuniversalAxis1(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- * </PRE>
- *
- * @param j The Hinge joint ID for which the axis will be set
- * @param x The X component of the axis in world frame
- * @param y The Y component of the axis in world frame
- * @param z The Z component of the axis in world frame
- * @param angle The angle for the offset of the relative orientation.
- * As if body1 was rotated by angle when the Axis was set (see below).
- * The rotation is around the new Hinge axis.
- *
- * @note Usually the function dJointSetHingeAxis set the current position of body1
- * and body2 as the zero angle position. This function set the current position
- * as the if the 2 bodies where \b offsets appart.
- *
- * @note Any previous offsets are erased.
- *
- * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1,
- * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset
- * will reset the "zero" angle position.
- */
-ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z,
- dReal offset1, dReal offset2);
-
-/**
- * @brief set axis
- * @ingroup joints
- */
-ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief Set the Universal axis2 as if the 2 bodies were already at
- * offset1 and offset2 appart with respect to axis1 and axis2.
- * @ingroup joints
- *
- * This function initialize the axis2 and the relative orientation of
- * each body as if body1 was rotated around the axis1 by the offset1
- * value and as if body2 was rotated around the new axis2 by offset2. \br
- * Ex:
- * <PRE>
- * dJointSetHuniversalAxis2(jId, 0, 1, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- * </PRE>
-
- * @param j The Hinge joint ID for which the axis will be set
- * @param x The X component of the axis in world frame
- * @param y The Y component of the axis in world frame
- * @param z The Z component of the axis in world frame
- * @param angle The angle for the offset of the relative orientation.
- * As if body1 was rotated by angle when the Axis was set (see below).
- * The rotation is around the new Hinge axis.
- *
- * @note Usually the function dJointSetHingeAxis set the current position of body1
- * and body2 as the zero angle position. This function set the current position
- * as the if the 2 bodies where \b offsets appart.
- *
- * @note Any previous offsets are erased.
- *
- * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1,
- * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset
- * will reset the "zero" angle position.
- */
-
-
-ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z,
- dReal offset1, dReal offset2);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- */
-ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief Applies torque1 about the universal's axis 1, torque2 about the
- * universal's axis 2.
- * @remarks This function is just a wrapper for dBodyAddTorque().
- * @ingroup joints
- */
-ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
-
-
-/**
- * @brief set anchor
- * @ingroup joints
- */
-ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set the axis for the prismatic articulation
- * @ingroup joints
- */
-ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set the axis for the rotoide articulation
- * @ingroup joints
- */
-ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- *
- * @note parameterX where X equal 2 refer to parameter for the rotoide articulation
- */
-ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief Applies the torque about the rotoide axis of the PR joint
- *
- * That is, it applies a torque with specified magnitude in the direction
- * of the rotoide axis, to body 1, and with the same magnitude but in opposite
- * direction to body 2. This function is just a wrapper for dBodyAddTorque()}
- * @ingroup joints
- */
-ODE_API void dJointAddPRTorque (dJointID j, dReal torque);
-
-
- /**
- * @brief set anchor
- * @ingroup joints
- */
- ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z);
-
- /**
- * @brief set anchor
- * @ingroup joints
- */
- ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z,
- dReal dx, dReal dy, dReal dz);
-
- /**
- * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart.
- * @ingroup joints
- *
- * This function initialize the anchor and the relative position of each body
- * as if the position between body1 and body2 was already the projection of [dx, dy, dz]
- * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the
- * axis is set).
- * Ex:
- * <PRE>
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPUAxis(jId, axis);
- * dJointSetPUAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPUPosition(jId) == 0
- * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPUPosition(jId) == offset
- * </PRE>
- * @param j The PU joint for which the anchor point will be set
- * @param x The X position of the anchor point in world frame
- * @param y The Y position of the anchor point in world frame
- * @param z The Z position of the anchor point in world frame
- * @param dx A delta to be substracted to the X position as if the anchor was set
- * when body1 was at current_position[X] - dx
- * @param dx A delta to be substracted to the Y position as if the anchor was set
- * when body1 was at current_position[Y] - dy
- * @param dx A delta to be substracted to the Z position as if the anchor was set
- * when body1 was at current_position[Z] - dz
- */
- ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z,
- dReal dx, dReal dy, dReal dz);
-
- /**
- * @brief set the axis for the first axis or the universal articulation
- * @ingroup joints
- */
- ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z);
-
- /**
- * @brief set the axis for the second axis or the universal articulation
- * @ingroup joints
- */
- ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z);
-
- /**
- * @brief set the axis for the prismatic articulation
- * @ingroup joints
- */
- ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z);
-
- /**
- * @brief set the axis for the prismatic articulation
- * @ingroup joints
- * @note This function was added for convenience it is the same as
- * dJointSetPUAxis3
- */
- ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z);
-
-
-
- /**
- * @brief set joint parameter
- * @ingroup joints
- *
- * @note parameterX where X equal 2 refer to parameter for second axis of the
- * universal articulation
- * @note parameterX where X equal 3 refer to parameter for prismatic
- * articulation
- */
- ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value);
-
- /**
- * @brief Applies the torque about the rotoide axis of the PU joint
- *
- * That is, it applies a torque with specified magnitude in the direction
- * of the rotoide axis, to body 1, and with the same magnitude but in opposite
- * direction to body 2. This function is just a wrapper for dBodyAddTorque()}
- * @ingroup joints
- */
- ODE_API void dJointAddPUTorque (dJointID j, dReal torque);
-
-
-
-
- /**
- * @brief set the joint anchor
- * @ingroup joints
- */
- ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z);
-
- /**
- * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart.
- * @ingroup joints
- *
- * This function initialize the anchor and the relative position of each body
- * as if the position between body1 and body2 was already the projection of [dx, dy, dz]
- * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the
- * axis is set).
- * Ex:
- * <PRE>
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPistonAxis(jId, axis);
- * dJointSetPistonAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
- * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
- * </PRE>
- * @param j The Piston joint for which the anchor point will be set
- * @param x The X position of the anchor point in world frame
- * @param y The Y position of the anchor point in world frame
- * @param z The Z position of the anchor point in world frame
- * @param dx A delta to be substracted to the X position as if the anchor was set
- * when body1 was at current_position[X] - dx
- * @param dx A delta to be substracted to the Y position as if the anchor was set
- * when body1 was at current_position[Y] - dy
- * @param dx A delta to be substracted to the Z position as if the anchor was set
- * when body1 was at current_position[Z] - dz
- */
- ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z,
- dReal dx, dReal dy, dReal dz);
-
- /**
- * @brief set the joint axis
- * @ingroup joints
- */
- ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z);
-
- /**
- * This function set prismatic axis of the joint and also set the position
- * of the joint.
- *
- * @ingroup joints
- * @param j The joint affected by this function
- * @param x The x component of the axis
- * @param y The y component of the axis
- * @param z The z component of the axis
- * @param dx The Initial position of the prismatic join in the x direction
- * @param dy The Initial position of the prismatic join in the y direction
- * @param dz The Initial position of the prismatic join in the z direction
- */
- ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
-
- /**
- * @brief set joint parameter
- * @ingroup joints
- */
- ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value);
-
- /**
- * @brief Applies the given force in the slider's direction.
- *
- * That is, it applies a force with specified magnitude, in the direction of
- * prismatic's axis, to body1, and with the same magnitude but opposite
- * direction to body2. This function is just a wrapper for dBodyAddForce().
- * @ingroup joints
- */
- ODE_API void dJointAddPistonForce (dJointID joint, dReal force);
-
-
-/**
- * @brief Call this on the fixed joint after it has been attached to
- * remember the current desired relative offset and desired relative
- * rotation between the bodies.
- * @ingroup joints
- */
-ODE_API void dJointSetFixed (dJointID);
-
-/*
- * @brief Sets joint parameter
- *
- * @ingroup joints
- */
-ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief set the nr of axes
- * @param num 0..3
- * @ingroup joints
- */
-ODE_API void dJointSetAMotorNumAxes (dJointID, int num);
-
-/**
- * @brief set axis
- * @ingroup joints
- */
-ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel,
- dReal x, dReal y, dReal z);
-
-/**
- * @brief Tell the AMotor what the current angle is along axis anum.
- *
- * This function should only be called in dAMotorUser mode, because in this
- * mode the AMotor has no other way of knowing the joint angles.
- * The angle information is needed if stops have been set along the axis,
- * but it is not needed for axis motors.
- * @ingroup joints
- */
-ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- */
-ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief set mode
- * @ingroup joints
- */
-ODE_API void dJointSetAMotorMode (dJointID, int mode);
-
-/**
- * @brief Applies torque0 about the AMotor's axis 0, torque1 about the
- * AMotor's axis 1, and torque2 about the AMotor's axis 2.
- * @remarks
- * If the motor has fewer than three axes, the higher torques are ignored.
- * This function is just a wrapper for dBodyAddTorque().
- * @ingroup joints
- */
-ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
-
-/**
- * @brief Set the number of axes that will be controlled by the LMotor.
- * @param num can range from 0 (which effectively deactivates the joint) to 3.
- * @ingroup joints
- */
-ODE_API void dJointSetLMotorNumAxes (dJointID, int num);
-
-/**
- * @brief Set the AMotor axes.
- * @param anum selects the axis to change (0,1 or 2).
- * @param rel Each axis can have one of three ``relative orientation'' modes
- * \li 0: The axis is anchored to the global frame.
- * \li 1: The axis is anchored to the first body.
- * \li 2: The axis is anchored to the second body.
- * @remarks The axis vector is always specified in global coordinates
- * regardless of the setting of rel.
- * @ingroup joints
- */
-ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z);
-
-/**
- * @brief set joint parameter
- * @ingroup joints
- */
-ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value);
-
-/**
- * @ingroup joints
- */
-ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value);
-
-/**
- * @ingroup joints
- */
-
-ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value);
-
-/**
- * @ingroup joints
- */
-ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- *
- * This returns the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2.
- */
-ODE_API void dJointGetBallAnchor (dJointID, dVector3 result);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- *
- * This returns the point on body 2. You can think of a ball and socket
- * joint as trying to keep the result of dJointGetBallAnchor() and
- * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied,
- * this function will return the same value as dJointGetBallAnchor() to
- * within roundoff errors. dJointGetBallAnchor2() can be used, along with
- * dJointGetBallAnchor(), to see how far the joint has come apart.
- */
-ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetBallParam (dJointID, int parameter);
-
-/**
- * @brief Get the hinge anchor point, in world coordinates.
- *
- * This returns the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2.
- * @ingroup joints
- */
-ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- * @return The point on body 2. If the joint is perfectly satisfied,
- * this will return the same value as dJointGetHingeAnchor().
- * If not, this value will be slightly different.
- * This can be used, for example, to see how far the joint has come apart.
- * @ingroup joints
- */
-ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result);
-
-/**
- * @brief get axis
- * @ingroup joints
- */
-ODE_API void dJointGetHingeAxis (dJointID, dVector3 result);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetHingeParam (dJointID, int parameter);
-
-/**
- * @brief Get the hinge angle.
- *
- * The angle is measured between the two bodies, or between the body and
- * the static environment.
- * The angle will be between -pi..pi.
- * Give the relative rotation with respect to the Hinge axis of Body 1 with
- * respect to Body 2.
- * When the hinge anchor or axis is set, the current position of the attached
- * bodies is examined and that position will be the zero angle.
- * @ingroup joints
- */
-ODE_API dReal dJointGetHingeAngle (dJointID);
-
-/**
- * @brief Get the hinge angle time derivative.
- * @ingroup joints
- */
-ODE_API dReal dJointGetHingeAngleRate (dJointID);
-
-/**
- * @brief Get the slider linear position (i.e. the slider's extension)
- *
- * When the axis is set, the current position of the attached bodies is
- * examined and that position will be the zero position.
-
- * The position is the distance, with respect to the zero position,
- * along the slider axis of body 1 with respect to
- * body 2. (A NULL body is replaced by the world).
- * @ingroup joints
- */
-ODE_API dReal dJointGetSliderPosition (dJointID);
-
-/**
- * @brief Get the slider linear position's time derivative.
- * @ingroup joints
- */
-ODE_API dReal dJointGetSliderPositionRate (dJointID);
-
-/**
- * @brief Get the slider axis
- * @ingroup joints
- */
-ODE_API void dJointGetSliderAxis (dJointID, dVector3 result);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetSliderParam (dJointID, int parameter);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- * @return the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2.
- * @ingroup joints
- */
-ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- * This returns the point on body 2. If the joint is perfectly satisfied,
- * this will return the same value as dJointGetHinge2Anchor.
- * If not, this value will be slightly different.
- * This can be used, for example, to see how far the joint has come apart.
- * @ingroup joints
- */
-ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
-
-/**
- * @brief Get joint axis
- * @ingroup joints
- */
-ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result);
-
-/**
- * @brief Get joint axis
- * @ingroup joints
- */
-ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetHinge2Param (dJointID, int parameter);
-
-/**
- * @brief Get angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetHinge2Angle1 (dJointID);
-
-/**
- * @brief Get time derivative of angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetHinge2Angle1Rate (dJointID);
-
-/**
- * @brief Get time derivative of angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetHinge2Angle2Rate (dJointID);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- * @return the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2.
- * @ingroup joints
- */
-ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result);
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- * @return This returns the point on body 2.
- * @remarks
- * You can think of the ball and socket part of a universal joint as
- * trying to keep the result of dJointGetBallAnchor() and
- * dJointGetBallAnchor2() the same. If the joint is
- * perfectly satisfied, this function will return the same value
- * as dJointGetUniversalAnchor() to within roundoff errors.
- * dJointGetUniversalAnchor2() can be used, along with
- * dJointGetUniversalAnchor(), to see how far the joint has come apart.
- * @ingroup joints
- */
-ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
-
-/**
- * @brief Get axis
- * @ingroup joints
- */
-ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result);
-
-/**
- * @brief Get axis
- * @ingroup joints
- */
-ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result);
-
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetUniversalParam (dJointID, int parameter);
-
-/**
- * @brief Get both angles at the same time.
- * @ingroup joints
- *
- * @param joint The universal joint for which we want to calculate the angles
- * @param angle1 The angle between the body1 and the axis 1
- * @param angle2 The angle between the body2 and the axis 2
- *
- * @note This function combine getUniversalAngle1 and getUniversalAngle2 together
- * and try to avoid redundant calculation
- */
-ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2);
-
-/**
- * @brief Get angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetUniversalAngle1 (dJointID);
-
-/**
- * @brief Get angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetUniversalAngle2 (dJointID);
-
-/**
- * @brief Get time derivative of angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetUniversalAngle1Rate (dJointID);
-
-/**
- * @brief Get time derivative of angle
- * @ingroup joints
- */
-ODE_API dReal dJointGetUniversalAngle2Rate (dJointID);
-
-
-
-/**
- * @brief Get the joint anchor point, in world coordinates.
- * @return the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2.
- * @ingroup joints
- */
-ODE_API void dJointGetPRAnchor (dJointID, dVector3 result);
-
-/**
- * @brief Get the PR linear position (i.e. the prismatic's extension)
- *
- * When the axis is set, the current position of the attached bodies is
- * examined and that position will be the zero position.
- *
- * The position is the "oriented" length between the
- * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]
- *
- * @ingroup joints
- */
-ODE_API dReal dJointGetPRPosition (dJointID);
-
-/**
- * @brief Get the PR linear position's time derivative
- *
- * @ingroup joints
- */
-ODE_API dReal dJointGetPRPositionRate (dJointID);
-
-
-/**
- * @brief Get the PR angular position (i.e. the twist between the 2 bodies)
- *
- * When the axis is set, the current position of the attached bodies is
- * examined and that position will be the zero position.
- * @ingroup joints
- */
-ODE_API dReal dJointGetPRAngle (dJointID);
-
-/**
- * @brief Get the PR angular position's time derivative
- *
- * @ingroup joints
- */
-ODE_API dReal dJointGetPRAngleRate (dJointID);
-
-
-/**
- * @brief Get the prismatic axis
- * @ingroup joints
- */
-ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result);
-
-/**
- * @brief Get the Rotoide axis
- * @ingroup joints
- */
-ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetPRParam (dJointID, int parameter);
-
-
-
- /**
- * @brief Get the joint anchor point, in world coordinates.
- * @return the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2.
- * @ingroup joints
- */
- ODE_API void dJointGetPUAnchor (dJointID, dVector3 result);
-
- /**
- * @brief Get the PU linear position (i.e. the prismatic's extension)
- *
- * When the axis is set, the current position of the attached bodies is
- * examined and that position will be the zero position.
- *
- * The position is the "oriented" length between the
- * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]
- *
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUPosition (dJointID);
-
- /**
- * @brief Get the PR linear position's time derivative
- *
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUPositionRate (dJointID);
-
- /**
- * @brief Get the first axis of the universal component of the joint
- * @ingroup joints
- */
- ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result);
-
- /**
- * @brief Get the second axis of the Universal component of the joint
- * @ingroup joints
- */
- ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result);
-
- /**
- * @brief Get the prismatic axis
- * @ingroup joints
- */
- ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result);
-
- /**
- * @brief Get the prismatic axis
- * @ingroup joints
- *
- * @note This function was added for convenience it is the same as
- * dJointGetPUAxis3
- */
- ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result);
-
-
-
-
- /**
- * @brief Get both angles at the same time.
- * @ingroup joints
- *
- * @param joint The Prismatic universal joint for which we want to calculate the angles
- * @param angle1 The angle between the body1 and the axis 1
- * @param angle2 The angle between the body2 and the axis 2
- *
- * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together
- * and try to avoid redundant calculation
- */
- ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2);
-
- /**
- * @brief Get angle
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUAngle1 (dJointID);
-
- /**
- * @brief * @brief Get time derivative of angle1
- *
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUAngle1Rate (dJointID);
-
-
- /**
- * @brief Get angle
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUAngle2 (dJointID);
-
- /**
- * @brief * @brief Get time derivative of angle2
- *
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUAngle2Rate (dJointID);
-
- /**
- * @brief get joint parameter
- * @ingroup joints
- */
- ODE_API dReal dJointGetPUParam (dJointID, int parameter);
-
-
-
-
-
-/**
- * @brief Get the Piston linear position (i.e. the piston's extension)
- *
- * When the axis is set, the current position of the attached bodies is
- * examined and that position will be the zero position.
- * @ingroup joints
- */
- ODE_API dReal dJointGetPistonPosition (dJointID);
-
- /**
- * @brief Get the piston linear position's time derivative.
- * @ingroup joints
- */
- ODE_API dReal dJointGetPistonPositionRate (dJointID);
-
-/**
- * @brief Get the Piston angular position (i.e. the twist between the 2 bodies)
- *
- * When the axis is set, the current position of the attached bodies is
- * examined and that position will be the zero position.
- * @ingroup joints
- */
- ODE_API dReal dJointGetPistonAngle (dJointID);
-
- /**
- * @brief Get the piston angular position's time derivative.
- * @ingroup joints
- */
- ODE_API dReal dJointGetPistonAngleRate (dJointID);
-
-
- /**
- * @brief Get the joint anchor
- *
- * This returns the point on body 1. If the joint is perfectly satisfied,
- * this will be the same as the point on body 2 in direction perpendicular
- * to the prismatic axis.
- *
- * @ingroup joints
- */
- ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result);
-
- /**
- * @brief Get the joint anchor w.r.t. body 2
- *
- * This returns the point on body 2. You can think of a Piston
- * joint as trying to keep the result of dJointGetPistonAnchor() and
- * dJointGetPistonAnchor2() the same in the direction perpendicular to the
- * pirsmatic axis. If the joint is perfectly satisfied,
- * this function will return the same value as dJointGetPistonAnchor() to
- * within roundoff errors. dJointGetPistonAnchor2() can be used, along with
- * dJointGetPistonAnchor(), to see how far the joint has come apart.
- *
- * @ingroup joints
- */
- ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result);
-
- /**
- * @brief Get the prismatic axis (This is also the rotoide axis.
- * @ingroup joints
- */
- ODE_API void dJointGetPistonAxis (dJointID, dVector3 result);
-
- /**
- * @brief get joint parameter
- * @ingroup joints
- */
- ODE_API dReal dJointGetPistonParam (dJointID, int parameter);
-
-
- /**
- * @brief Get the number of angular axes that will be controlled by the
- * AMotor.
- * @param num can range from 0 (which effectively deactivates the
- * joint) to 3.
- * This is automatically set to 3 in dAMotorEuler mode.
- * @ingroup joints
- */
-ODE_API int dJointGetAMotorNumAxes (dJointID);
-
-/**
- * @brief Get the AMotor axes.
- * @param anum selects the axis to change (0,1 or 2).
- * @param rel Each axis can have one of three ``relative orientation'' modes.
- * \li 0: The axis is anchored to the global frame.
- * \li 1: The axis is anchored to the first body.
- * \li 2: The axis is anchored to the second body.
- * @ingroup joints
- */
-ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
-
-/**
- * @brief Get axis
- * @remarks
- * The axis vector is always specified in global coordinates regardless
- * of the setting of rel.
- * There are two GetAMotorAxis functions, one to return the axis and one to
- * return the relative mode.
- *
- * For dAMotorEuler mode:
- * \li Only axes 0 and 2 need to be set. Axis 1 will be determined
- automatically at each time step.
- * \li Axes 0 and 2 must be perpendicular to each other.
- * \li Axis 0 must be anchored to the first body, axis 2 must be anchored
- to the second body.
- * @ingroup joints
- */
-ODE_API int dJointGetAMotorAxisRel (dJointID, int anum);
-
-/**
- * @brief Get the current angle for axis.
- * @remarks
- * In dAMotorUser mode this is simply the value that was set with
- * dJointSetAMotorAngle().
- * In dAMotorEuler mode this is the corresponding euler angle.
- * @ingroup joints
- */
-ODE_API dReal dJointGetAMotorAngle (dJointID, int anum);
-
-/**
- * @brief Get the current angle rate for axis anum.
- * @remarks
- * In dAMotorUser mode this is always zero, as not enough information is
- * available.
- * In dAMotorEuler mode this is the corresponding euler angle rate.
- * @ingroup joints
- */
-ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetAMotorParam (dJointID, int parameter);
-
-/**
- * @brief Get the angular motor mode.
- * @param mode must be one of the following constants:
- * \li dAMotorUser The AMotor axes and joint angle settings are entirely
- * controlled by the user. This is the default mode.
- * \li dAMotorEuler Euler angles are automatically computed.
- * The axis a1 is also automatically computed.
- * The AMotor axes must be set correctly when in this mode,
- * as described below.
- * When this mode is initially set the current relative orientations
- * of the bodies will correspond to all euler angles at zero.
- * @ingroup joints
- */
-ODE_API int dJointGetAMotorMode (dJointID);
-
-/**
- * @brief Get nr of axes.
- * @ingroup joints
- */
-ODE_API int dJointGetLMotorNumAxes (dJointID);
-
-/**
- * @brief Get axis.
- * @ingroup joints
- */
-ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetLMotorParam (dJointID, int parameter);
-
-/**
- * @brief get joint parameter
- * @ingroup joints
- */
-ODE_API dReal dJointGetFixedParam (dJointID, int parameter);
-
-
-/**
- * @ingroup joints
- */
-ODE_API dJointID dConnectingJoint (dBodyID, dBodyID);
-
-/**
- * @ingroup joints
- */
-ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*);
-
-/**
- * @brief Utility function
- * @return 1 if the two bodies are connected together by
- * a joint, otherwise return 0.
- * @ingroup joints
- */
-ODE_API int dAreConnected (dBodyID, dBodyID);
-
-/**
- * @brief Utility function
- * @return 1 if the two bodies are connected together by
- * a joint that does not have type @arg{joint_type}, otherwise return 0.
- * @param body1 A body to check.
- * @param body2 A body to check.
- * @param joint_type is a dJointTypeXXX constant.
- * This is useful for deciding whether to add contact joints between two bodies:
- * if they are already connected by non-contact joints then it may not be
- * appropriate to add contacts, however it is okay to add more contact between-
- * bodies that already have contacts.
- * @ingroup joints
- */
-ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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_ODE_H_
-#define _ODE_ODE_H_
-
-/* include *everything* here */
-
-#include <ode/odeconfig.h>
-#include <ode/compatibility.h>
-#include <ode/common.h>
-#include <ode/odeinit.h>
-#include <ode/contact.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include <ode/odemath.h>
-#include <ode/matrix.h>
-#include <ode/timer.h>
-#include <ode/rotation.h>
-#include <ode/mass.h>
-#include <ode/misc.h>
-#include <ode/objects.h>
-#include <ode/odecpp.h>
-#include <ode/collision_space.h>
-#include <ode/collision.h>
-#include <ode/odecpp_collision.h>
-#include <ode/export-dif.h>
-
-#endif
+++ /dev/null
-#ifndef ODECONFIG_H
-#define ODECONFIG_H
-
-/* Pull in the standard headers */
-#include <stddef.h>
-#include <limits.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdarg.h>
-#include <math.h>
-#include <string.h>
-#include <float.h>
-
-
-#if defined(ODE_DLL) || defined(ODE_LIB)
-#define __ODE__
-#endif
-
-/* Define a DLL export symbol for those platforms that need it */
-#if defined(_MSC_VER)
- #if defined(ODE_DLL)
- #define ODE_API __declspec(dllexport)
- #elif !defined(ODE_LIB)
- #define ODE_DLL_API __declspec(dllimport)
- #endif
-#endif
-
-#if !defined(ODE_API)
- #define ODE_API
-#endif
-
-#if defined(_MSC_VER)
-# define ODE_API_DEPRECATED __declspec(deprecated)
-#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) )
-# define ODE_API_DEPRECATED __attribute__((__deprecated__))
-#else
-# define ODE_API_DEPRECATED
-#endif
-
-/* Well-defined common data types...need to define for 64 bit systems */
-#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
- #define X86_64_SYSTEM 1
- typedef int int32;
- typedef unsigned int uint32;
- typedef short int16;
- typedef unsigned short uint16;
- typedef signed char int8;
- typedef unsigned char uint8;
-#else
- typedef int int32;
- typedef unsigned int uint32;
- typedef short int16;
- typedef unsigned short uint16;
- typedef signed char int8;
- typedef unsigned char uint8;
-#endif
-
-/* Visual C does not define these functions */
-#if defined(_MSC_VER)
- #define copysignf(x, y) ((float)_copysign(x, y))
- #define copysign(x, y) _copysign(x, y)
- #define nextafterf(x, y) _nextafterf(x, y)
- #define nextafter(x, y) _nextafter(x, y)
- #if !defined(_WIN64)
- #define _ODE__NEXTAFTERF_REQUIRED
- #endif
-#endif
-
-
-
-/* Define the dInfinity macro */
-#ifdef INFINITY
- #define dInfinity INFINITY
-#elif defined(HUGE_VAL)
- #ifdef dSINGLE
- #ifdef HUGE_VALF
- #define dInfinity HUGE_VALF
- #else
- #define dInfinity ((float)HUGE_VAL)
- #endif
- #else
- #define dInfinity HUGE_VAL
- #endif
-#else
- #ifdef dSINGLE
- #define dInfinity ((float)(1.0/0.0))
- #else
- #define dInfinity (1.0/0.0)
- #endif
-#endif
-
-
-#endif
+++ /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. *
- * *
- *************************************************************************/
-
-/* C++ interface for non-collision stuff */
-
-
-#ifndef _ODE_ODECPP_H_
-#define _ODE_ODECPP_H_
-#ifdef __cplusplus
-
-
-
-
-//namespace ode {
-
-
-class dWorldSimpleIDContainer {
-protected:
- dWorldID _id;
-
- dWorldSimpleIDContainer(): _id(0) {}
- ~dWorldSimpleIDContainer() { destroy(); }
-
- void destroy() {
- if (_id) {
- dWorldDestroy(_id);
- _id = 0;
- }
- }
-};
-
-class dWorldDynamicIDContainer: public dWorldSimpleIDContainer {
-protected:
- virtual ~dWorldDynamicIDContainer() {}
-};
-
-template <class dWorldTemplateBase>
-class dWorldTemplate: public dWorldTemplateBase {
- // intentionally undefined, don't use these
- dWorldTemplate (const dWorldTemplate<dWorldTemplateBase> &);
- void operator= (const dWorldTemplate<dWorldTemplateBase> &);
-
-protected:
- dWorldID get_id() const { return dWorldTemplateBase::_id; }
- void set_id(dWorldID value) { dWorldTemplateBase::_id = value; }
-
-public:
- dWorldTemplate()
- { set_id(dWorldCreate()); }
-
- dWorldID id() const
- { return get_id(); }
- operator dWorldID() const
- { return get_id(); }
-
- void setGravity (dReal x, dReal y, dReal z)
- { dWorldSetGravity (get_id(), x, y, z); }
- void setGravity (const dVector3 g)
- { setGravity (g[0], g[1], g[2]); }
- void getGravity (dVector3 g) const
- { dWorldGetGravity (get_id(), g); }
-
- void setERP (dReal erp)
- { dWorldSetERP(get_id(), erp); }
- dReal getERP() const
- { return dWorldGetERP(get_id()); }
-
- void setCFM (dReal cfm)
- { dWorldSetCFM(get_id(), cfm); }
- dReal getCFM() const
- { return dWorldGetCFM(get_id()); }
-
- void step (dReal stepsize)
- { dWorldStep (get_id(), stepsize); }
-
- void quickStep(dReal stepsize)
- { dWorldQuickStep (get_id(), stepsize); }
- void setQuickStepNumIterations(int num)
- { dWorldSetQuickStepNumIterations (get_id(), num); }
- int getQuickStepNumIterations() const
- { return dWorldGetQuickStepNumIterations (get_id()); }
- void setQuickStepW(dReal over_relaxation)
- { dWorldSetQuickStepW (get_id(), over_relaxation); }
- dReal getQuickStepW() const
- { return dWorldGetQuickStepW (get_id()); }
-
- void setAutoDisableLinearThreshold (dReal threshold)
- { dWorldSetAutoDisableLinearThreshold (get_id(), threshold); }
- dReal getAutoDisableLinearThreshold() const
- { return dWorldGetAutoDisableLinearThreshold (get_id()); }
- void setAutoDisableAngularThreshold (dReal threshold)
- { dWorldSetAutoDisableAngularThreshold (get_id(), threshold); }
- dReal getAutoDisableAngularThreshold() const
- { return dWorldGetAutoDisableAngularThreshold (get_id()); }
- void setAutoDisableSteps (int steps)
- { dWorldSetAutoDisableSteps (get_id(), steps); }
- int getAutoDisableSteps() const
- { return dWorldGetAutoDisableSteps (get_id()); }
- void setAutoDisableTime (dReal time)
- { dWorldSetAutoDisableTime (get_id(), time); }
- dReal getAutoDisableTime() const
- { return dWorldGetAutoDisableTime (get_id()); }
- void setAutoDisableFlag (int do_auto_disable)
- { dWorldSetAutoDisableFlag (get_id(), do_auto_disable); }
- int getAutoDisableFlag() const
- { return dWorldGetAutoDisableFlag (get_id()); }
-
- dReal getLinearDampingThreshold() const
- { return dWorldGetLinearDampingThreshold(get_id()); }
- void setLinearDampingThreshold(dReal threshold)
- { dWorldSetLinearDampingThreshold(get_id(), threshold); }
- dReal getAngularDampingThreshold() const
- { return dWorldGetAngularDampingThreshold(get_id()); }
- void setAngularDampingThreshold(dReal threshold)
- { dWorldSetAngularDampingThreshold(get_id(), threshold); }
- dReal getLinearDamping() const
- { return dWorldGetLinearDamping(get_id()); }
- void setLinearDamping(dReal scale)
- { dWorldSetLinearDamping(get_id(), scale); }
- dReal getAngularDamping() const
- { return dWorldGetAngularDamping(get_id()); }
- void setAngularDamping(dReal scale)
- { dWorldSetAngularDamping(get_id(), scale); }
- void setDamping(dReal linear_scale, dReal angular_scale)
- { dWorldSetDamping(get_id(), linear_scale, angular_scale); }
-
- dReal getMaxAngularSpeed() const
- { return dWorldGetMaxAngularSpeed(get_id()); }
- void setMaxAngularSpeed(dReal max_speed)
- { dWorldSetMaxAngularSpeed(get_id(), max_speed); }
-
- void setContactSurfaceLayer(dReal depth)
- { dWorldSetContactSurfaceLayer (get_id(), depth); }
- dReal getContactSurfaceLayer() const
- { return dWorldGetContactSurfaceLayer (get_id()); }
-
- void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
- dVector3 force)
- { dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); }
-};
-
-
-class dBodySimpleIDContainer {
-protected:
- dBodyID _id;
-
- dBodySimpleIDContainer(): _id(0) {}
- ~dBodySimpleIDContainer() { destroy(); }
-
- void destroy() {
- if (_id) {
- dBodyDestroy(_id);
- _id = 0;
- }
- }
-};
-
-class dBodyDynamicIDContainer: public dBodySimpleIDContainer {
-protected:
- virtual ~dBodyDynamicIDContainer() {}
-};
-
-template <class dBodyTemplateBase, class dWorldTemplateBase>
-class dBodyTemplate: public dBodyTemplateBase {
- // intentionally undefined, don't use these
- dBodyTemplate (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &);
- void operator= (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &);
-
-protected:
- dBodyID get_id() const { return dBodyTemplateBase::_id; }
- void set_id(dBodyID value) { dBodyTemplateBase::_id = value; }
-
- void destroy() { dBodyTemplateBase::destroy(); }
-
-public:
- dBodyTemplate()
- { }
- dBodyTemplate (dWorldID world)
- { set_id(dBodyCreate(world)); }
- dBodyTemplate (dWorldTemplate<dWorldTemplateBase>& world)
- { set_id(dBodyCreate(world.id())); }
-
- void create (dWorldID world) {
- destroy();
- set_id(dBodyCreate(world));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world) {
- create(world.id());
- }
-
- dBodyID id() const
- { return get_id(); }
- operator dBodyID() const
- { return get_id(); }
-
- void setData (void *data)
- { dBodySetData (get_id(), data); }
- void *getData() const
- { return dBodyGetData (get_id()); }
-
- void setPosition (dReal x, dReal y, dReal z)
- { dBodySetPosition (get_id(), x, y, z); }
- void setPosition (const dVector3 p)
- { setPosition(p[0], p[1], p[2]); }
-
- void setRotation (const dMatrix3 R)
- { dBodySetRotation (get_id(), R); }
- void setQuaternion (const dQuaternion q)
- { dBodySetQuaternion (get_id(), q); }
- void setLinearVel (dReal x, dReal y, dReal z)
- { dBodySetLinearVel (get_id(), x, y, z); }
- void setLinearVel (const dVector3 v)
- { setLinearVel(v[0], v[1], v[2]); }
- void setAngularVel (dReal x, dReal y, dReal z)
- { dBodySetAngularVel (get_id(), x, y, z); }
- void setAngularVel (const dVector3 v)
- { setAngularVel (v[0], v[1], v[2]); }
-
- const dReal * getPosition() const
- { return dBodyGetPosition (get_id()); }
- const dReal * getRotation() const
- { return dBodyGetRotation (get_id()); }
- const dReal * getQuaternion() const
- { return dBodyGetQuaternion (get_id()); }
- const dReal * getLinearVel() const
- { return dBodyGetLinearVel (get_id()); }
- const dReal * getAngularVel() const
- { return dBodyGetAngularVel (get_id()); }
-
- void setMass (const dMass *mass)
- { dBodySetMass (get_id(), mass); }
- void setMass (const dMass &mass)
- { setMass (&mass); }
- dMass getMass () const
- { dMass mass; dBodyGetMass (get_id(), &mass); return mass; }
-
- void addForce (dReal fx, dReal fy, dReal fz)
- { dBodyAddForce (get_id(), fx, fy, fz); }
- void addForce (const dVector3 f)
- { addForce (f[0], f[1], f[2]); }
- void addTorque (dReal fx, dReal fy, dReal fz)
- { dBodyAddTorque (get_id(), fx, fy, fz); }
- void addTorque (const dVector3 t)
- { addTorque(t[0], t[1], t[2]); }
-
- void addRelForce (dReal fx, dReal fy, dReal fz)
- { dBodyAddRelForce (get_id(), fx, fy, fz); }
- void addRelForce (const dVector3 f)
- { addRelForce (f[0], f[1], f[2]); }
- void addRelTorque (dReal fx, dReal fy, dReal fz)
- { dBodyAddRelTorque (get_id(), fx, fy, fz); }
- void addRelTorque (const dVector3 t)
- { addRelTorque (t[0], t[1], t[2]); }
-
- void addForceAtPos (dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
- { dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); }
- void addForceAtPos (const dVector3 f, const dVector3 p)
- { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
-
- void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
- { dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); }
- void addForceAtRelPos (const dVector3 f, const dVector3 p)
- { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
-
- void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
- { dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); }
- void addRelForceAtPos (const dVector3 f, const dVector3 p)
- { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
-
- void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
- { dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); }
- void addRelForceAtRelPos (const dVector3 f, const dVector3 p)
- { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); }
-
- const dReal * getForce() const
- { return dBodyGetForce(get_id()); }
- const dReal * getTorque() const
- { return dBodyGetTorque(get_id()); }
- void setForce (dReal x, dReal y, dReal z)
- { dBodySetForce (get_id(), x, y, z); }
- void setForce (const dVector3 f)
- { setForce (f[0], f[1], f[2]); }
- void setTorque (dReal x, dReal y, dReal z)
- { dBodySetTorque (get_id(), x, y, z); }
- void setTorque (const dVector3 t)
- { setTorque (t[0], t[1], t[2]); }
-
- void setDynamic()
- { dBodySetDynamic (get_id()); }
- void setKinematic()
- { dBodySetKinematic (get_id()); }
- bool isKinematic() const
- { return dBodyIsKinematic (get_id()) != 0; }
-
- void enable()
- { dBodyEnable (get_id()); }
- void disable()
- { dBodyDisable (get_id()); }
- bool isEnabled() const
- { return dBodyIsEnabled (get_id()) != 0; }
-
- void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
- { dBodyGetRelPointPos (get_id(), px, py, pz, result); }
- void getRelPointPos (const dVector3 p, dVector3 result) const
- { getRelPointPos (p[0], p[1], p[2], result); }
-
- void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
- { dBodyGetRelPointVel (get_id(), px, py, pz, result); }
- void getRelPointVel (const dVector3 p, dVector3 result) const
- { getRelPointVel (p[0], p[1], p[2], result); }
-
- void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
- { dBodyGetPointVel (get_id(), px, py, pz, result); }
- void getPointVel (const dVector3 p, dVector3 result) const
- { getPointVel (p[0], p[1], p[2], result); }
-
- void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
- { dBodyGetPosRelPoint (get_id(), px, py, pz, result); }
- void getPosRelPoint (const dVector3 p, dVector3 result) const
- { getPosRelPoint (p[0], p[1], p[2], result); }
-
- void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
- { dBodyVectorToWorld (get_id(), px, py, pz, result); }
- void vectorToWorld (const dVector3 p, dVector3 result) const
- { vectorToWorld (p[0], p[1], p[2], result); }
-
- void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
- { dBodyVectorFromWorld (get_id(), px, py, pz, result); }
- void vectorFromWorld (const dVector3 p, dVector3 result) const
- { vectorFromWorld (p[0], p[1], p[2], result); }
-
- void setFiniteRotationMode (bool mode)
- { dBodySetFiniteRotationMode (get_id(), mode); }
-
- void setFiniteRotationAxis (dReal x, dReal y, dReal z)
- { dBodySetFiniteRotationAxis (get_id(), x, y, z); }
- void setFiniteRotationAxis (const dVector3 a)
- { setFiniteRotationAxis (a[0], a[1], a[2]); }
-
- bool getFiniteRotationMode() const
- { return dBodyGetFiniteRotationMode (get_id()) != 0; }
- void getFiniteRotationAxis (dVector3 result) const
- { dBodyGetFiniteRotationAxis (get_id(), result); }
-
- int getNumJoints() const
- { return dBodyGetNumJoints (get_id()); }
- dJointID getJoint (int index) const
- { return dBodyGetJoint (get_id(), index); }
-
- void setGravityMode (bool mode)
- { dBodySetGravityMode (get_id(), mode); }
- bool getGravityMode() const
- { return dBodyGetGravityMode (get_id()) != 0; }
-
- bool isConnectedTo (dBodyID body) const
- { return dAreConnected (get_id(), body) != 0; }
-
- void setAutoDisableLinearThreshold (dReal threshold)
- { dBodySetAutoDisableLinearThreshold (get_id(), threshold); }
- dReal getAutoDisableLinearThreshold() const
- { return dBodyGetAutoDisableLinearThreshold (get_id()); }
- void setAutoDisableAngularThreshold (dReal threshold)
- { dBodySetAutoDisableAngularThreshold (get_id(), threshold); }
- dReal getAutoDisableAngularThreshold() const
- { return dBodyGetAutoDisableAngularThreshold (get_id()); }
- void setAutoDisableSteps (int steps)
- { dBodySetAutoDisableSteps (get_id(), steps); }
- int getAutoDisableSteps() const
- { return dBodyGetAutoDisableSteps (get_id()); }
- void setAutoDisableTime (dReal time)
- { dBodySetAutoDisableTime (get_id(), time); }
- dReal getAutoDisableTime() const
- { return dBodyGetAutoDisableTime (get_id()); }
- void setAutoDisableFlag (bool do_auto_disable)
- { dBodySetAutoDisableFlag (get_id(), do_auto_disable); }
- bool getAutoDisableFlag() const
- { return dBodyGetAutoDisableFlag (get_id()) != 0; }
-
- dReal getLinearDamping() const
- { return dBodyGetLinearDamping(get_id()); }
- void setLinearDamping(dReal scale)
- { dBodySetLinearDamping(get_id(), scale); }
- dReal getAngularDamping() const
- { return dBodyGetAngularDamping(get_id()); }
- void setAngularDamping(dReal scale)
- { dBodySetAngularDamping(get_id(), scale); }
- void setDamping(dReal linear_scale, dReal angular_scale)
- { dBodySetDamping(get_id(), linear_scale, angular_scale); }
- dReal getLinearDampingThreshold() const
- { return dBodyGetLinearDampingThreshold(get_id()); }
- void setLinearDampingThreshold(dReal threshold) const
- { dBodySetLinearDampingThreshold(get_id(), threshold); }
- dReal getAngularDampingThreshold() const
- { return dBodyGetAngularDampingThreshold(get_id()); }
- void setAngularDampingThreshold(dReal threshold)
- { dBodySetAngularDampingThreshold(get_id(), threshold); }
- void setDampingDefaults()
- { dBodySetDampingDefaults(get_id()); }
-
- dReal getMaxAngularSpeed() const
- { return dBodyGetMaxAngularSpeed(get_id()); }
- void setMaxAngularSpeed(dReal max_speed)
- { dBodySetMaxAngularSpeed(get_id(), max_speed); }
-
- bool getGyroscopicMode() const
- { return dBodyGetGyroscopicMode(get_id()) != 0; }
- void setGyroscopicMode(bool mode)
- { dBodySetGyroscopicMode(get_id(), mode); }
-
-};
-
-
-class dJointGroupSimpleIDContainer {
-protected:
- dJointGroupID _id;
-
- dJointGroupSimpleIDContainer(): _id(0) {}
- ~dJointGroupSimpleIDContainer() { destroy(); }
-
- void destroy() {
- if (_id) {
- dJointGroupDestroy(_id);
- _id = 0;
- }
- }
-};
-
-class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer {
-protected:
- virtual ~dJointGroupDynamicIDContainer() {}
-};
-
-template <class dJointGroupTemplateBase>
-class dJointGroupTemplate: public dJointGroupTemplateBase {
- // intentionally undefined, don't use these
- dJointGroupTemplate (const dJointGroupTemplate<dJointGroupTemplateBase> &);
- void operator= (const dJointGroupTemplate<dJointGroupTemplateBase> &);
-
-protected:
- dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; }
- void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; }
-
- void destroy() { dJointGroupTemplateBase::destroy(); }
-
-public:
- dJointGroupTemplate ()
- { set_id(dJointGroupCreate(0)); }
-
- void create () {
- destroy();
- set_id(dJointGroupCreate(0));
- }
-
- dJointGroupID id() const
- { return get_id(); }
- operator dJointGroupID() const
- { return get_id(); }
-
- void empty()
- { dJointGroupEmpty (get_id()); }
- void clear()
- { empty(); }
-};
-
-
-class dJointSimpleIDContainer {
-protected:
- dJointID _id;
-
- dJointSimpleIDContainer(): _id(0) {}
- ~dJointSimpleIDContainer() { destroy(); }
-
- void destroy() {
- if (_id) {
- dJointDestroy (_id);
- _id = 0;
- }
- }
-};
-
-class dJointDynamicIDContainer: public dJointSimpleIDContainer {
-protected:
- virtual ~dJointDynamicIDContainer() {}
-};
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dJointTemplate: public dJointTemplateBase {
-private:
- // intentionally undefined, don't use these
- dJointTemplate (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &) ;
- void operator= (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- dJointID get_id() const { return dJointTemplateBase::_id; }
- void set_id(dJointID value) { dJointTemplateBase::_id = value; }
-
- void destroy() { dJointTemplateBase::destroy(); }
-
-protected:
- dJointTemplate() // don't let user construct pure dJointTemplate objects
- { }
-
-public:
- dJointID id() const
- { return get_id(); }
- operator dJointID() const
- { return get_id(); }
-
- int getNumBodies() const
- { return dJointGetNumBodies(get_id()); }
-
- void attach (dBodyID body1, dBodyID body2)
- { dJointAttach (get_id(), body1, body2); }
- void attach (dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body1, dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body2)
- { attach(body1.id(), body2.id()); }
-
- void enable()
- { dJointEnable (get_id()); }
- void disable()
- { dJointDisable (get_id()); }
- bool isEnabled() const
- { return dJointIsEnabled (get_id()) != 0; }
-
- void setData (void *data)
- { dJointSetData (get_id(), data); }
- void *getData() const
- { return dJointGetData (get_id()); }
-
- dJointType getType() const
- { return dJointGetType (get_id()); }
-
- dBodyID getBody (int index) const
- { return dJointGetBody (get_id(), index); }
-
- void setFeedback(dJointFeedback *fb)
- { dJointSetFeedback(get_id(), fb); }
- dJointFeedback *getFeedback() const
- { return dJointGetFeedback(get_id()); }
-
- // If not implemented it will do nothing as describe in the doc
- virtual void setParam (int, dReal) {};
- virtual dReal getParam (int) const { return 0; }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dBallJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dBallJointTemplate (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator= (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dBallJointTemplate() { }
- dBallJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateBall(world, group)); }
- dBallJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateBall(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateBall(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetBallAnchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor (a[0], a[1], a[2]); }
- void getAnchor (dVector3 result) const
- { dJointGetBallAnchor (get_id(), result); }
- void getAnchor2 (dVector3 result) const
- { dJointGetBallAnchor2 (get_id(), result); }
- virtual void setParam (int parameter, dReal value)
- { dJointSetBallParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetBallParam (get_id(), parameter); }
- // TODO: expose params through methods
-} ;
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dHingeJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dHingeJointTemplate (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dHingeJointTemplate() { }
- dHingeJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateHinge(world, group)); }
- dHingeJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateHinge(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateHinge (world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetHingeAnchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor (a[0], a[1], a[2]); }
- void getAnchor (dVector3 result) const
- { dJointGetHingeAnchor (get_id(), result); }
- void getAnchor2 (dVector3 result) const
- { dJointGetHingeAnchor2 (get_id(), result); }
-
- void setAxis (dReal x, dReal y, dReal z)
- { dJointSetHingeAxis (get_id(), x, y, z); }
- void setAxis (const dVector3 a)
- { setAxis(a[0], a[1], a[2]); }
- void getAxis (dVector3 result) const
- { dJointGetHingeAxis (get_id(), result); }
-
- dReal getAngle() const
- { return dJointGetHingeAngle (get_id()); }
- dReal getAngleRate() const
- { return dJointGetHingeAngleRate (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetHingeParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetHingeParam (get_id(), parameter); }
- // TODO: expose params through methods
-
- void addTorque (dReal torque)
- { dJointAddHingeTorque(get_id(), torque); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dSliderJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dSliderJointTemplate (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dSliderJointTemplate() { }
- dSliderJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateSlider(world, group)); }
- dSliderJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateSlider(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateSlider(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAxis (dReal x, dReal y, dReal z)
- { dJointSetSliderAxis (get_id(), x, y, z); }
- void setAxis (const dVector3 a)
- { setAxis (a[0], a[1], a[2]); }
- void getAxis (dVector3 result) const
- { dJointGetSliderAxis (get_id(), result); }
-
- dReal getPosition() const
- { return dJointGetSliderPosition (get_id()); }
- dReal getPositionRate() const
- { return dJointGetSliderPositionRate (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetSliderParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetSliderParam (get_id(), parameter); }
- // TODO: expose params through methods
-
- void addForce (dReal force)
- { dJointAddSliderForce(get_id(), force); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dUniversalJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dUniversalJointTemplate (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dUniversalJointTemplate() { }
- dUniversalJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateUniversal(world, group)); }
- dUniversalJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateUniversal(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateUniversal(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetUniversalAnchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor(a[0], a[1], a[2]); }
- void setAxis1 (dReal x, dReal y, dReal z)
- { dJointSetUniversalAxis1 (get_id(), x, y, z); }
- void setAxis1 (const dVector3 a)
- { setAxis1 (a[0], a[1], a[2]); }
- void setAxis2 (dReal x, dReal y, dReal z)
- { dJointSetUniversalAxis2 (get_id(), x, y, z); }
- void setAxis2 (const dVector3 a)
- { setAxis2 (a[0], a[1], a[2]); }
-
- void getAnchor (dVector3 result) const
- { dJointGetUniversalAnchor (get_id(), result); }
- void getAnchor2 (dVector3 result) const
- { dJointGetUniversalAnchor2 (get_id(), result); }
- void getAxis1 (dVector3 result) const
- { dJointGetUniversalAxis1 (get_id(), result); }
- void getAxis2 (dVector3 result) const
- { dJointGetUniversalAxis2 (get_id(), result); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetUniversalParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetUniversalParam (get_id(), parameter); }
- // TODO: expose params through methods
-
- void getAngles(dReal *angle1, dReal *angle2) const
- { dJointGetUniversalAngles (get_id(), angle1, angle2); }
-
- dReal getAngle1() const
- { return dJointGetUniversalAngle1 (get_id()); }
- dReal getAngle1Rate() const
- { return dJointGetUniversalAngle1Rate (get_id()); }
- dReal getAngle2() const
- { return dJointGetUniversalAngle2 (get_id()); }
- dReal getAngle2Rate() const
- { return dJointGetUniversalAngle2Rate (get_id()); }
-
- void addTorques (dReal torque1, dReal torque2)
- { dJointAddUniversalTorques(get_id(), torque1, torque2); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dHinge2JointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dHinge2JointTemplate (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dHinge2JointTemplate() { }
- dHinge2JointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateHinge2(world, group)); }
- dHinge2JointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateHinge2(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateHinge2(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetHinge2Anchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor(a[0], a[1], a[2]); }
- void setAxis1 (dReal x, dReal y, dReal z)
- { dJointSetHinge2Axis1 (get_id(), x, y, z); }
- void setAxis1 (const dVector3 a)
- { setAxis1 (a[0], a[1], a[2]); }
- void setAxis2 (dReal x, dReal y, dReal z)
- { dJointSetHinge2Axis2 (get_id(), x, y, z); }
- void setAxis2 (const dVector3 a)
- { setAxis2 (a[0], a[1], a[2]); }
-
- void getAnchor (dVector3 result) const
- { dJointGetHinge2Anchor (get_id(), result); }
- void getAnchor2 (dVector3 result) const
- { dJointGetHinge2Anchor2 (get_id(), result); }
- void getAxis1 (dVector3 result) const
- { dJointGetHinge2Axis1 (get_id(), result); }
- void getAxis2 (dVector3 result) const
- { dJointGetHinge2Axis2 (get_id(), result); }
-
- dReal getAngle1() const
- { return dJointGetHinge2Angle1 (get_id()); }
- dReal getAngle1Rate() const
- { return dJointGetHinge2Angle1Rate (get_id()); }
- dReal getAngle2Rate() const
- { return dJointGetHinge2Angle2Rate (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetHinge2Param (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetHinge2Param (get_id(), parameter); }
- // TODO: expose params through methods
-
- void addTorques(dReal torque1, dReal torque2)
- { dJointAddHinge2Torques(get_id(), torque1, torque2); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dPRJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dPRJointTemplate (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dPRJointTemplate() { }
- dPRJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreatePR(world, group)); }
- dPRJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreatePR(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreatePR(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetPRAnchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor (a[0], a[1], a[2]); }
- void setAxis1 (dReal x, dReal y, dReal z)
- { dJointSetPRAxis1 (get_id(), x, y, z); }
- void setAxis1 (const dVector3 a)
- { setAxis1(a[0], a[1], a[2]); }
- void setAxis2 (dReal x, dReal y, dReal z)
- { dJointSetPRAxis2 (get_id(), x, y, z); }
- void setAxis2 (const dVector3 a)
- { setAxis2(a[0], a[1], a[2]); }
-
- void getAnchor (dVector3 result) const
- { dJointGetPRAnchor (get_id(), result); }
- void getAxis1 (dVector3 result) const
- { dJointGetPRAxis1 (get_id(), result); }
- void getAxis2 (dVector3 result) const
- { dJointGetPRAxis2 (get_id(), result); }
-
- dReal getPosition() const
- { return dJointGetPRPosition (get_id()); }
- dReal getPositionRate() const
- { return dJointGetPRPositionRate (get_id()); }
-
- dReal getAngle() const
- { return dJointGetPRAngle (get_id()); }
- dReal getAngleRate() const
- { return dJointGetPRAngleRate (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetPRParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetPRParam (get_id(), parameter); }
-};
-
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dPUJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
-{
-private:
- // intentionally undefined, don't use these
- dPUJointTemplate (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dPUJointTemplate() { }
- dPUJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreatePU(world, group)); }
- dPUJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreatePU(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0)
- {
- destroy();
- set_id(dJointCreatePU(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetPUAnchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor (a[0], a[1], a[2]); }
- void setAxis1 (dReal x, dReal y, dReal z)
- { dJointSetPUAxis1 (get_id(), x, y, z); }
- void setAxis1 (const dVector3 a)
- { setAxis1(a[0], a[1], a[2]); }
- void setAxis2 (dReal x, dReal y, dReal z)
- { dJointSetPUAxis2 (get_id(), x, y, z); }
- void setAxis3 (dReal x, dReal y, dReal z)
- { dJointSetPUAxis3 (get_id(), x, y, z); }
- void setAxis3 (const dVector3 a)
- { setAxis3(a[0], a[1], a[2]); }
- void setAxisP (dReal x, dReal y, dReal z)
- { dJointSetPUAxis3 (get_id(), x, y, z); }
- void setAxisP (const dVector3 a)
- { setAxisP(a[0], a[1], a[2]); }
-
- virtual void getAnchor (dVector3 result) const
- { dJointGetPUAnchor (get_id(), result); }
- void getAxis1 (dVector3 result) const
- { dJointGetPUAxis1 (get_id(), result); }
- void getAxis2 (dVector3 result) const
- { dJointGetPUAxis2 (get_id(), result); }
- void getAxis3 (dVector3 result) const
- { dJointGetPUAxis3 (get_id(), result); }
- void getAxisP (dVector3 result) const
- { dJointGetPUAxis3 (get_id(), result); }
-
- dReal getAngle1() const
- { return dJointGetPUAngle1 (get_id()); }
- dReal getAngle1Rate() const
- { return dJointGetPUAngle1Rate (get_id()); }
- dReal getAngle2() const
- { return dJointGetPUAngle2 (get_id()); }
- dReal getAngle2Rate() const
- { return dJointGetPUAngle2Rate (get_id()); }
-
- dReal getPosition() const
- { return dJointGetPUPosition (get_id()); }
- dReal getPositionRate() const
- { return dJointGetPUPositionRate (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetPUParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetPUParam (get_id(), parameter); }
- // TODO: expose params through methods
-};
-
-
-
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dPistonJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
-{
-private:
- // intentionally undefined, don't use these
- dPistonJointTemplate (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dPistonJointTemplate() { }
- dPistonJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreatePiston(world, group)); }
- dPistonJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreatePiston(world, group)); }
-
- void create (dWorldID world, dJointGroupID group=0)
- {
- destroy();
- set_id(dJointCreatePiston(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setAnchor (dReal x, dReal y, dReal z)
- { dJointSetPistonAnchor (get_id(), x, y, z); }
- void setAnchor (const dVector3 a)
- { setAnchor (a[0], a[1], a[2]); }
- void getAnchor (dVector3 result) const
- { dJointGetPistonAnchor (get_id(), result); }
- void getAnchor2 (dVector3 result) const
- { dJointGetPistonAnchor2 (get_id(), result); }
-
- void setAxis (dReal x, dReal y, dReal z)
- { dJointSetPistonAxis (get_id(), x, y, z); }
- void setAxis (const dVector3 a)
- { setAxis(a[0], a[1], a[2]); }
- void getAxis (dVector3 result) const
- { dJointGetPistonAxis (get_id(), result); }
-
- dReal getPosition() const
- { return dJointGetPistonPosition (get_id()); }
- dReal getPositionRate() const
- { return dJointGetPistonPositionRate (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetPistonParam (get_id(), parameter, value); }
- virtual dReal getParam (int parameter) const
- { return dJointGetPistonParam (get_id(), parameter); }
- // TODO: expose params through methods
-
- void addForce (dReal force)
- { dJointAddPistonForce (get_id(), force); }
-};
-
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dFixedJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase>
-{
-private:
- // intentionally undefined, don't use these
- dFixedJointTemplate (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dFixedJointTemplate() { }
- dFixedJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateFixed(world, group)); }
- dFixedJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateFixed(world, group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateFixed(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void set()
- { dJointSetFixed (get_id()); }
-
- virtual void setParam (int parameter, dReal value)
- { dJointSetFixedParam (get_id(), parameter, value); }
-
- virtual dReal getParam (int parameter) const
- { return dJointGetFixedParam (get_id(), parameter); }
- // TODO: expose params through methods
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dContactJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dContactJointTemplate (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dContactJointTemplate() { }
- dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact)
- { set_id(dJointCreateContact(world, group, contact)); }
- dContactJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact)
- { set_id(dJointCreateContact(world.id(), group, contact)); }
-
- void create (dWorldID world, dJointGroupID group, dContact *contact) {
- destroy();
- set_id(dJointCreateContact(world, group, contact));
- }
-
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact)
- { create(world.id(), group, contact); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dNullJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dNullJointTemplate (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dNullJointTemplate() { }
- dNullJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateNull(world, group)); }
- dNullJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateNull (world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateNull(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dAMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dAMotorJointTemplate (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dAMotorJointTemplate() { }
- dAMotorJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateAMotor(world, group)); }
- dAMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateAMotor(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateAMotor(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setMode (int mode)
- { dJointSetAMotorMode (get_id(), mode); }
- int getMode() const
- { return dJointGetAMotorMode (get_id()); }
-
- void setNumAxes (int num)
- { dJointSetAMotorNumAxes (get_id(), num); }
- int getNumAxes() const
- { return dJointGetAMotorNumAxes (get_id()); }
-
- void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
- { dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); }
- void setAxis (int anum, int rel, const dVector3 a)
- { setAxis(anum, rel, a[0], a[1], a[2]); }
- void getAxis (int anum, dVector3 result) const
- { dJointGetAMotorAxis (get_id(), anum, result); }
- int getAxisRel (int anum) const
- { return dJointGetAMotorAxisRel (get_id(), anum); }
-
- void setAngle (int anum, dReal angle)
- { dJointSetAMotorAngle (get_id(), anum, angle); }
- dReal getAngle (int anum) const
- { return dJointGetAMotorAngle (get_id(), anum); }
- dReal getAngleRate (int anum)
- { return dJointGetAMotorAngleRate (get_id(), anum); }
-
- void setParam (int parameter, dReal value)
- { dJointSetAMotorParam (get_id(), parameter, value); }
- dReal getParam (int parameter) const
- { return dJointGetAMotorParam (get_id(), parameter); }
- // TODO: expose params through methods
-
- void addTorques(dReal torque1, dReal torque2, dReal torque3)
- { dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); }
-};
-
-
-template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase>
-class dLMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> {
-private:
- // intentionally undefined, don't use these
- dLMotorJointTemplate (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
- void operator = (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &);
-
-protected:
- typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate;
-
- dJointID get_id() const { return dBaseTemplate::get_id(); }
- void set_id(dJointID value) { dBaseTemplate::set_id(value); }
-
- void destroy() { dBaseTemplate::destroy(); }
-
-public:
- dLMotorJointTemplate() { }
- dLMotorJointTemplate (dWorldID world, dJointGroupID group=0)
- { set_id(dJointCreateLMotor(world, group)); }
- dLMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { set_id(dJointCreateLMotor(world.id(), group)); }
-
- void create (dWorldID world, dJointGroupID group=0) {
- destroy();
- set_id(dJointCreateLMotor(world, group));
- }
- void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0)
- { create(world.id(), group); }
-
- void setNumAxes (int num)
- { dJointSetLMotorNumAxes (get_id(), num); }
- int getNumAxes() const
- { return dJointGetLMotorNumAxes (get_id()); }
-
- void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
- { dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); }
- void setAxis (int anum, int rel, const dVector3 a)
- { setAxis(anum, rel, a[0], a[1], a[2]); }
- void getAxis (int anum, dVector3 result) const
- { dJointGetLMotorAxis (get_id(), anum, result); }
-
- void setParam (int parameter, dReal value)
- { dJointSetLMotorParam (get_id(), parameter, value); }
- dReal getParam (int parameter) const
- { return dJointGetLMotorParam (get_id(), parameter); }
- // TODO: expose params through methods
-};
-
-//}
-
-#if !defined(dODECPP_WORLD_TEMPLATE_BASE)
-
-#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE)
-#error All the odecpp template bases must be defined or not defined together
-#endif
-
-#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer
-#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer
-#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer
-#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer
-
-#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE)
-
-#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE)
-#error All the odecpp template bases must be defined or not defined together
-#endif
-
-#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE)
-
-
-typedef dWorldTemplate<dODECPP_WORLD_TEMPLATE_BASE> dWorld;
-typedef dBodyTemplate<dODECPP_BODY_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE> dBody;
-typedef dJointGroupTemplate<dODECPP_JOINTGROUP_TEMPLATE_BASE> dJointGroup;
-typedef dJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dJoint;
-typedef dBallJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dBallJoint;
-typedef dHingeJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHingeJoint;
-typedef dSliderJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dSliderJoint;
-typedef dUniversalJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dUniversalJoint;
-typedef dHinge2JointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHinge2Joint;
-typedef dPRJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPRJoint;
-typedef dPUJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPUJoint;
-typedef dPistonJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPistonJoint;
-typedef dFixedJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dFixedJoint;
-typedef dContactJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dContactJoint;
-typedef dNullJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dNullJoint;
-typedef dAMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dAMotorJoint;
-typedef dLMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dLMotorJoint;
-
-
-#endif
-#endif
-
-// Local variables:
-// mode:c++
-// c-basic-offset:2
-// End:
+++ /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. *
- * *
- *************************************************************************/
-
-/* C++ interface for new collision API */
-
-
-#ifndef _ODE_ODECPP_COLLISION_H_
-#define _ODE_ODECPP_COLLISION_H_
-#ifdef __cplusplus
-
-//#include <ode/error.h>
-
-//namespace ode {
-
-class dGeom {
- // intentionally undefined, don't use these
- dGeom (dGeom &);
- void operator= (dGeom &);
-
-protected:
- dGeomID _id;
-
- dGeom()
- { _id = 0; }
-public:
- ~dGeom()
- { if (_id) dGeomDestroy (_id); }
-
- dGeomID id() const
- { return _id; }
- operator dGeomID() const
- { return _id; }
-
- void destroy() {
- if (_id) dGeomDestroy (_id);
- _id = 0;
- }
-
- int getClass() const
- { return dGeomGetClass (_id); }
-
- dSpaceID getSpace() const
- { return dGeomGetSpace (_id); }
-
- void setData (void *data)
- { dGeomSetData (_id,data); }
- void *getData() const
- { return dGeomGetData (_id); }
-
- void setBody (dBodyID b)
- { dGeomSetBody (_id,b); }
- dBodyID getBody() const
- { return dGeomGetBody (_id); }
-
- void setPosition (dReal x, dReal y, dReal z)
- { dGeomSetPosition (_id,x,y,z); }
- const dReal * getPosition() const
- { return dGeomGetPosition (_id); }
-
- void setRotation (const dMatrix3 R)
- { dGeomSetRotation (_id,R); }
- const dReal * getRotation() const
- { return dGeomGetRotation (_id); }
-
- void setQuaternion (const dQuaternion quat)
- { dGeomSetQuaternion (_id,quat); }
- void getQuaternion (dQuaternion quat) const
- { dGeomGetQuaternion (_id,quat); }
-
- void getAABB (dReal aabb[6]) const
- { dGeomGetAABB (_id, aabb); }
-
- int isSpace()
- { return dGeomIsSpace (_id); }
-
- void setCategoryBits (unsigned long bits)
- { dGeomSetCategoryBits (_id, bits); }
- void setCollideBits (unsigned long bits)
- { dGeomSetCollideBits (_id, bits); }
- unsigned long getCategoryBits()
- { return dGeomGetCategoryBits (_id); }
- unsigned long getCollideBits()
- { return dGeomGetCollideBits (_id); }
-
- void enable()
- { dGeomEnable (_id); }
- void disable()
- { dGeomDisable (_id); }
- int isEnabled()
- { return dGeomIsEnabled (_id); }
-
- void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
- { dGeomGetRelPointPos (_id, px, py, pz, result); }
- void getRelPointPos (const dVector3 p, dVector3 result) const
- { getRelPointPos (p[0], p[1], p[2], result); }
-
- void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
- { dGeomGetPosRelPoint (_id, px, py, pz, result); }
- void getPosRelPoint (const dVector3 p, dVector3 result) const
- { getPosRelPoint (p[0], p[1], p[2], result); }
-
- void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
- { dGeomVectorToWorld (_id, px, py, pz, result); }
- void vectorToWorld (const dVector3 p, dVector3 result) const
- { vectorToWorld (p[0], p[1], p[2], result); }
-
- void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
- { dGeomVectorFromWorld (_id, px, py, pz, result); }
- void vectorFromWorld (const dVector3 p, dVector3 result) const
- { vectorFromWorld (p[0], p[1], p[2], result); }
-
- void collide2 (dGeomID g, void *data, dNearCallback *callback)
- { dSpaceCollide2 (_id,g,data,callback); }
-};
-
-
-class dSpace : public dGeom {
- // intentionally undefined, don't use these
- dSpace (dSpace &);
- void operator= (dSpace &);
-
-protected:
- // the default constructor is protected so that you
- // can't instance this class. you must instance one
- // of its subclasses instead.
- dSpace () { _id = 0; }
-
-public:
- dSpaceID id() const
- { return (dSpaceID) _id; }
- operator dSpaceID() const
- { return (dSpaceID) _id; }
-
- void setCleanup (int mode)
- { dSpaceSetCleanup (id(), mode); }
- int getCleanup()
- { return dSpaceGetCleanup (id()); }
-
- void add (dGeomID x)
- { dSpaceAdd (id(), x); }
- void remove (dGeomID x)
- { dSpaceRemove (id(), x); }
- int query (dGeomID x)
- { return dSpaceQuery (id(),x); }
-
- int getNumGeoms()
- { return dSpaceGetNumGeoms (id()); }
- dGeomID getGeom (int i)
- { return dSpaceGetGeom (id(),i); }
-
- void collide (void *data, dNearCallback *callback)
- { dSpaceCollide (id(),data,callback); }
-};
-
-
-class dSimpleSpace : public dSpace {
- // intentionally undefined, don't use these
- dSimpleSpace (dSimpleSpace &);
- void operator= (dSimpleSpace &);
-
-public:
- dSimpleSpace ()
- { _id = (dGeomID) dSimpleSpaceCreate (0); }
- dSimpleSpace (dSpace &space)
- { _id = (dGeomID) dSimpleSpaceCreate (space.id()); }
- dSimpleSpace (dSpaceID space)
- { _id = (dGeomID) dSimpleSpaceCreate (space); }
-};
-
-
-class dHashSpace : public dSpace {
- // intentionally undefined, don't use these
- dHashSpace (dHashSpace &);
- void operator= (dHashSpace &);
-
-public:
- dHashSpace ()
- { _id = (dGeomID) dHashSpaceCreate (0); }
- dHashSpace (dSpace &space)
- { _id = (dGeomID) dHashSpaceCreate (space.id()); }
- dHashSpace (dSpaceID space)
- { _id = (dGeomID) dHashSpaceCreate (space); }
-
- void setLevels (int minlevel, int maxlevel)
- { dHashSpaceSetLevels (id(),minlevel,maxlevel); }
-};
-
-
-class dQuadTreeSpace : public dSpace {
- // intentionally undefined, don't use these
- dQuadTreeSpace (dQuadTreeSpace &);
- void operator= (dQuadTreeSpace &);
-
-public:
- dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth)
- { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); }
- dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth)
- { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); }
- dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth)
- { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
-};
-
-
-class dSphere : public dGeom {
- // intentionally undefined, don't use these
- dSphere (dSphere &);
- void operator= (dSphere &);
-
-public:
- dSphere () { }
- dSphere (dReal radius)
- { _id = dCreateSphere (0, radius); }
- dSphere (dSpace &space, dReal radius)
- { _id = dCreateSphere (space.id(), radius); }
- dSphere (dSpaceID space, dReal radius)
- { _id = dCreateSphere (space, radius); }
-
- void create (dSpaceID space, dReal radius) {
- if (_id) dGeomDestroy (_id);
- _id = dCreateSphere (space, radius);
- }
-
- void setRadius (dReal radius)
- { dGeomSphereSetRadius (_id, radius); }
- dReal getRadius() const
- { return dGeomSphereGetRadius (_id); }
-};
-
-
-class dBox : public dGeom {
- // intentionally undefined, don't use these
- dBox (dBox &);
- void operator= (dBox &);
-
-public:
- dBox () { }
- dBox (dReal lx, dReal ly, dReal lz)
- { _id = dCreateBox (0,lx,ly,lz); }
- dBox (dSpace &space, dReal lx, dReal ly, dReal lz)
- { _id = dCreateBox (space,lx,ly,lz); }
- dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
- { _id = dCreateBox (space,lx,ly,lz); }
-
- void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
- if (_id) dGeomDestroy (_id);
- _id = dCreateBox (space,lx,ly,lz);
- }
-
- void setLengths (dReal lx, dReal ly, dReal lz)
- { dGeomBoxSetLengths (_id, lx, ly, lz); }
- void getLengths (dVector3 result) const
- { dGeomBoxGetLengths (_id,result); }
-};
-
-
-class dPlane : public dGeom {
- // intentionally undefined, don't use these
- dPlane (dPlane &);
- void operator= (dPlane &);
-
-public:
- dPlane() { }
- dPlane (dReal a, dReal b, dReal c, dReal d)
- { _id = dCreatePlane (0,a,b,c,d); }
- dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d)
- { _id = dCreatePlane (space.id(),a,b,c,d); }
- dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
- { _id = dCreatePlane (space,a,b,c,d); }
-
- void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
- if (_id) dGeomDestroy (_id);
- _id = dCreatePlane (space,a,b,c,d);
- }
-
- void setParams (dReal a, dReal b, dReal c, dReal d)
- { dGeomPlaneSetParams (_id, a, b, c, d); }
- void getParams (dVector4 result) const
- { dGeomPlaneGetParams (_id,result); }
-};
-
-
-class dCapsule : public dGeom {
- // intentionally undefined, don't use these
- dCapsule (dCapsule &);
- void operator= (dCapsule &);
-
-public:
- dCapsule() { }
- dCapsule (dReal radius, dReal length)
- { _id = dCreateCapsule (0,radius,length); }
- dCapsule (dSpace &space, dReal radius, dReal length)
- { _id = dCreateCapsule (space.id(),radius,length); }
- dCapsule (dSpaceID space, dReal radius, dReal length)
- { _id = dCreateCapsule (space,radius,length); }
-
- void create (dSpaceID space, dReal radius, dReal length) {
- if (_id) dGeomDestroy (_id);
- _id = dCreateCapsule (space,radius,length);
- }
-
- void setParams (dReal radius, dReal length)
- { dGeomCapsuleSetParams (_id, radius, length); }
- void getParams (dReal *radius, dReal *length) const
- { dGeomCapsuleGetParams (_id,radius,length); }
-};
-
-
-class dCylinder : public dGeom {
- // intentionally undefined, don't use these
- dCylinder (dCylinder &);
- void operator= (dCylinder &);
-
-public:
- dCylinder() { }
- dCylinder (dReal radius, dReal length)
- { _id = dCreateCylinder (0,radius,length); }
- dCylinder (dSpace &space, dReal radius, dReal length)
- { _id = dCreateCylinder (space.id(),radius,length); }
- dCylinder (dSpaceID space, dReal radius, dReal length)
- { _id = dCreateCylinder (space,radius,length); }
-
- void create (dSpaceID space, dReal radius, dReal length) {
- if (_id) dGeomDestroy (_id);
- _id = dCreateCylinder (space,radius,length);
- }
-
- void setParams (dReal radius, dReal length)
- { dGeomCylinderSetParams (_id, radius, length); }
- void getParams (dReal *radius, dReal *length) const
- { dGeomCylinderGetParams (_id,radius,length); }
-};
-
-
-class dRay : public dGeom {
- // intentionally undefined, don't use these
- dRay (dRay &);
- void operator= (dRay &);
-
-public:
- dRay() { }
- dRay (dReal length)
- { _id = dCreateRay (0,length); }
- dRay (dSpace &space, dReal length)
- { _id = dCreateRay (space.id(),length); }
- dRay (dSpaceID space, dReal length)
- { _id = dCreateRay (space,length); }
-
- void create (dSpaceID space, dReal length) {
- if (_id) dGeomDestroy (_id);
- _id = dCreateRay (space,length);
- }
-
- void setLength (dReal length)
- { dGeomRaySetLength (_id, length); }
- dReal getLength()
- { return dGeomRayGetLength (_id); }
-
- void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
- { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
- void get (dVector3 start, dVector3 dir)
- { dGeomRayGet (_id, start, dir); }
-
- void setParams (int firstContact, int backfaceCull)
- { dGeomRaySetParams (_id, firstContact, backfaceCull); }
- void getParams (int *firstContact, int *backfaceCull)
- { dGeomRayGetParams (_id, firstContact, backfaceCull); }
- void setClosestHit (int closestHit)
- { dGeomRaySetClosestHit (_id, closestHit); }
- int getClosestHit()
- { return dGeomRayGetClosestHit (_id); }
-};
-
-
-class dGeomTransform : public dGeom {
- // intentionally undefined, don't use these
- dGeomTransform (dGeomTransform &);
- void operator= (dGeomTransform &);
-
-public:
- dGeomTransform() { }
- dGeomTransform (dSpace &space)
- { _id = dCreateGeomTransform (space.id()); }
- dGeomTransform (dSpaceID space)
- { _id = dCreateGeomTransform (space); }
-
- void create (dSpaceID space=0) {
- if (_id) dGeomDestroy (_id);
- _id = dCreateGeomTransform (space);
- }
-
- void setGeom (dGeomID geom)
- { dGeomTransformSetGeom (_id, geom); }
- dGeomID getGeom() const
- { return dGeomTransformGetGeom (_id); }
-
- void setCleanup (int mode)
- { dGeomTransformSetCleanup (_id,mode); }
- int getCleanup ()
- { return dGeomTransformGetCleanup (_id); }
-
- void setInfo (int mode)
- { dGeomTransformSetInfo (_id,mode); }
- int getInfo()
- { return dGeomTransformGetInfo (_id); }
-};
-
-//}
-
-#endif
-#endif
+++ /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. *
-* *
-*************************************************************************/
-
-/* Library initialization/finalization functions. */
-
-#ifndef _ODE_ODEINIT_H_
-#define _ODE_ODEINIT_H_
-
-#include <ode/common.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* ************************************************************************ */
-/* Library initialization */
-
-/**
- * @defgroup init Library Initialization
- *
- * Library initialization functions prepare ODE internal data structures for use
- * and release allocated resources after ODE is not needed any more.
- */
-
-
-/**
- * @brief Library initialization flags.
- *
- * These flags define ODE library initialization options.
- *
- * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads
- * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread.
- * If this flag is not specified the automatic resource tracking algorithm is used.
- *
- * With automatic resource tracking, On Windows, memory allocated for a thread may
- * remain not freed for some time after the thread exits. The resources may be
- * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately,
- * the resources are released when library is closed with @c dCloseODE. On other
- * operating systems resources are always released by the thread itself on its exit
- * or on library closure with @c dCloseODE.
- *
- * With manual thread data cleanup mode every collision space object must be
- * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup
- * after creation. See description of the function for more details.
- *
- * If @c dInitFlagManualThreadCleanup was not specified during initialization,
- * calls to @c dCleanupODEAllDataForThread are not allowed.
- *
- * @see dInitODE2
- * @see dAllocateODEDataForThread
- * @see dSpaceSetManualCleanup
- * @see dCloseODE
- * @ingroup init
- */
-enum dInitODEFlags {
- dInitFlagManualThreadCleanup = 0x00000001 //@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call
-};
-
-/**
- * @brief Initializes ODE library.
- *
- * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization.
- *
- * A call to @c dInitODE is equal to the following initialization sequence
- * @code
- * dInitODE2(0);
- * dAllocateODEDataForThread(dAllocateMaskAll);
- * @endcode
- *
- * @see dInitODE2
- * @see dAllocateODEDataForThread
- * @ingroup init
- */
-ODE_API void dInitODE(void);
-
-/**
- * @brief Initializes ODE library.
- * @param uiInitFlags Initialization options bitmask
- * @return A nonzero if initialization succeeded and zero otherwise.
- *
- * This function must be called to initialize ODE library before first use. If
- * initialization succeeds the function may not be called again until library is
- * closed with a call to @c dCloseODE.
- *
- * The @a uiInitFlags parameter specifies initialization options to be used. These
- * can be combination of zero or more @c dInitODEFlags flags.
- *
- * @note
- * If @c dInitFlagManualThreadCleanup flag is used for initialization,
- * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every
- * space object right after creation. Failure to do so may lead to resource leaks.
- *
- * @see dInitODEFlags
- * @see dCloseODE
- * @see dSpaceSetManualCleanup
- * @ingroup init
- */
-ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/);
-
-
-/**
- * @brief ODE data allocation flags.
- *
- * These flags are used to indicate which data is to be pre-allocated in call to
- * @c dAllocateODEDataForThread.
- *
- * @c dAllocateFlagBasicData tells to allocate the basic data set required for
- * normal library operation. This flag is equal to zero and is always implicitly
- * included.
- *
- * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated.
- * Collision detection functions may not be called if the data has not be allocated
- * in advance. If collision detection is not going to be used, it is not necessary
- * to specify this flag.
- *
- * @c dAllocateMaskAll is a mask that can be used for for allocating all possible
- * data in cases when it is not known what exactly features of ODE will be used.
- * The mask may not be used in combination with other flags. It is guaranteed to
- * include all the current and future legal allocation flags. However, mature
- * applications should use explicit flags they need rather than allocating everything.
- *
- * @see dAllocateODEDataForThread
- * @ingroup init
- */
-enum dAllocateODEDataFlags {
- dAllocateFlagBasicData = 0, //@< Allocate basic data required for library to operate
-
- dAllocateFlagCollisionData = 0x00000001, //@< Allocate data for collision detection
-
- dAllocateMaskAll = ~0U //@< Allocate all the possible data that is currently defined or will be defined in the future.
-};
-
-/**
- * @brief Allocate thread local data to allow the thread calling ODE.
- * @param uiAllocateFlags Allocation options bitmask.
- * @return A nonzero if allocation succeeded and zero otherwise.
- *
- * The function is required to be called for every thread that is going to use
- * ODE. This function allocates the data that is required for accessing ODE from
- * current thread along with optional data required for particular ODE subsystems.
- *
- * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags
- * enumerated type. Multiple calls with different allocation flags are allowed.
- * The flags that are already allocated are ignored in subsequent calls. If zero
- * is passed as the parameter, it means to only allocate the set of most important
- * data the library can not operate without.
- *
- * If the function returns failure status it means that none of the requested
- * data has been allocated. The client may retry allocation attempt with the same
- * flags when more system resources are available.
- *
- * @see dAllocateODEDataFlags
- * @see dCleanupODEAllDataForThread
- * @ingroup init
- */
-ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags);
-
-/**
- * @brief Free thread local data that was allocated for current thread.
- *
- * If library was initialized with @c dInitFlagManualThreadCleanup flag the function
- * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread.
- * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining
- * not freed until program exit. The function may also be called when ODE is still
- * being used to release resources allocated for all the current subsystems and
- * possibly proceed with data pre-allocation for other subsystems.
- *
- * The function can safely be called several times in a row. The function can be
- * called without prior invocation of @c dAllocateODEDataForThread. The function
- * may not be called before ODE is initialized with @c dInitODE2 or after library
- * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases
- * all the thread local resources that might be allocated for all the threads that
- * were using ODE.
- *
- * If library was initialized without @c dInitFlagManualThreadCleanup flag
- * @c dCleanupODEAllDataForThread must not be called.
- *
- * @see dAllocateODEDataForThread
- * @see dInitODE2
- * @see dCloseODE
- * @ingroup init
- */
-ODE_API void dCleanupODEAllDataForThread();
-
-
-/**
- * @brief Close ODE after it is not needed any more.
- *
- * The function is required to be called when program does not need ODE features any more.
- * The call to @c dCloseODE releases all the resources allocated for library
- * including all the thread local data that might be allocated for all the threads
- * that were using ODE.
- *
- * @c dCloseODE is a paired function for @c dInitODE2 and must only be called
- * after successful library initialization.
- *
- * @note Important!
- * Make sure that all the threads that were using ODE have already terminated
- * before calling @c dCloseODE. In particular it is not allowed to call
- * @c dCleanupODEAllDataForThread after @c dCloseODE.
- *
- * @see dInitODE2
- * @see dCleanupODEAllDataForThread
- * @ingroup init
- */
-ODE_API void dCloseODE(void);
-
-
-
-#ifdef __cplusplus
-} // extern "C"
-#endif
-
-
-#endif // _ODE_ODEINIT_H_
+++ /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_H_
-#define _ODE_ODEMATH_H_
-
-#include <ode/common.h>
-
-/*
- * macro to access elements i,j in an NxM matrix A, independent of the
- * matrix storage convention.
- */
-#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
-
-/*
- * Macro to test for valid floating point values
- */
-#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
-#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3])))
-#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11])))
-#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) ))
-
-
-
-// Some vector math
-PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b)
-{
- dReal res_0, res_1, res_2;
- res_0 = a[0] + b[0];
- res_1 = a[1] + b[1];
- res_2 = a[2] + b[2];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b)
-{
- dReal res_0, res_1, res_2;
- res_0 = a[0] - b[0];
- res_1 = a[1] - b[1];
- res_2 = a[2] - b[2];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale)
-{
- dReal res_0, res_1, res_2;
- res_0 = a_scale * a[0] + b_scale * b[0];
- res_1 = a_scale * a[1] + b_scale * b[1];
- res_2 = a_scale * a[2] + b_scale * b[2];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dScaleVector3(dReal *res, dReal nScale)
-{
- res[0] *= nScale ;
- res[1] *= nScale ;
- res[2] *= nScale ;
-}
-
-PURE_INLINE void dNegateVector3(dReal *res)
-{
- res[0] = -res[0];
- res[1] = -res[1];
- res[2] = -res[2];
-}
-
-PURE_INLINE void dCopyVector3(dReal *res, const dReal *a)
-{
- dReal res_0, res_1, res_2;
- res_0 = a[0];
- res_1 = a[1];
- res_2 = a[2];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale)
-{
- dReal res_0, res_1, res_2;
- res_0 = a[0] * nScale;
- res_1 = a[1] * nScale;
- res_2 = a[2] * nScale;
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a)
-{
- dReal res_0, res_1, res_2;
- res_0 = -a[0];
- res_1 = -a[1];
- res_2 = -a[2];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dCopyVector4(dReal *res, const dReal *a)
-{
- dReal res_0, res_1, res_2, res_3;
- res_0 = a[0];
- res_1 = a[1];
- res_2 = a[2];
- res_3 = a[3];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3;
-}
-
-PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a)
-{
- dCopyVector4(res + 0, a + 0);
- dCopyVector4(res + 4, a + 4);
- dCopyVector4(res + 8, a + 8);
-}
-
-PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a)
-{
- dCopyVector3(res + 0, a + 0);
- dCopyVector3(res + 4, a + 4);
- dCopyVector3(res + 8, a + 8);
-}
-
-PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n)
-{
- dReal res_0, res_1, res_2;
- res_0 = a[n + 0];
- res_1 = a[n + 4];
- res_2 = a[n + 8];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE dReal dCalcVectorLength3(const dReal *a)
-{
- return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
-}
-
-PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a)
-{
- return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
-}
-
-PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n)
-{
- return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2];
-}
-
-
-/*
-* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced
-* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311.
-*/
-
-PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b)
-{
- return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b];
-}
-
-
-PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); }
-PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); }
-PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); }
-PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); }
-PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); }
-PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); }
-PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); }
-
-
-/*
- * cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a'
- * and `b' are spaced step_res, step_a and step_b indexes apart respectively.
- * dCalcVectorCross3() means dCross3111.
- */
-
-PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b)
-{
- dReal res_0, res_1, res_2;
- res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b];
- res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b];
- res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0];
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[ 0] = res_0;
- res[ step_res] = res_1;
- res[2*step_res] = res_2;
-}
-
-PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); }
-PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); }
-PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); }
-PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); }
-PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); }
-PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); }
-PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); }
-PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); }
-
-PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dCalcVectorCross3(tmp, a, b);
- dAddVectors3(res, res, tmp);
-}
-
-PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dCalcVectorCross3(tmp, a, b);
- dSubtractVectors3(res, res, tmp);
-}
-
-
-/*
- * 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.
- */
-
-PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip)
-{
- const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2];
- res[1] = -a_2;
- res[2] = +a_1;
- res[skip+0] = +a_2;
- res[skip+2] = -a_0;
- res[2*skip+0] = -a_1;
- res[2*skip+1] = +a_0;
-}
-
-PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip)
-{
- const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2];
- res[1] = +a_2;
- res[2] = -a_1;
- res[skip+0] = -a_2;
- res[skip+2] = +a_0;
- res[2*skip+0] = +a_1;
- res[2*skip+1] = -a_0;
-}
-
-
-/*
- * compute the distance between two 3D-vectors
- */
-
-PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b)
-{
- dReal res;
- dReal tmp[3];
- dSubtractVectors3(tmp, a, b);
- res = dCalcVectorLength3(tmp);
- return res;
-}
-
-/*
- * special case matrix multiplication, with operator selection
- */
-
-PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b)
-{
- dReal res_0, res_1, res_2;
- res_0 = dCalcVectorDot3(a, b);
- res_1 = dCalcVectorDot3(a + 4, b);
- res_2 = dCalcVectorDot3(a + 8, b);
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b)
-{
- dReal res_0, res_1, res_2;
- res_0 = dCalcVectorDot3_41(a, b);
- res_1 = dCalcVectorDot3_41(a + 1, b);
- res_2 = dCalcVectorDot3_41(a + 2, b);
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper1_331(res, b, a);
-}
-
-PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b)
-{
- dReal res_0, res_1, res_2;
- res_0 = dCalcVectorDot3_44(a, b);
- res_1 = dCalcVectorDot3_44(a + 1, b);
- res_2 = dCalcVectorDot3_44(a + 2, b);
- // Only assign after all the calculations are over to avoid incurring memory aliasing
- res[0] = res_0; res[1] = res_1; res[2] = res_2;
-}
-
-/*
-Note: NEVER call any of these functions/macros with the same variable for A and C,
-it is not equivalent to A*=B.
-*/
-
-PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper0_331(res, a, b);
-}
-
-PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper1_331(res, a, b);
-}
-
-PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper0_133(res, a, b);
-}
-
-PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper0_133(res + 0, a + 0, b);
- dMultiplyHelper0_133(res + 4, a + 4, b);
- dMultiplyHelper0_133(res + 8, a + 8, b);
-}
-
-PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper1_133(res + 0, b, a + 0);
- dMultiplyHelper1_133(res + 4, b, a + 1);
- dMultiplyHelper1_133(res + 8, b, a + 2);
-}
-
-PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b)
-{
- dMultiplyHelper0_331(res + 0, b, a + 0);
- dMultiplyHelper0_331(res + 4, b, a + 4);
- dMultiplyHelper0_331(res + 8, b, a + 8);
-}
-
-PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dMultiplyHelper0_331(tmp, a, b);
- dAddVectors3(res, res, tmp);
-}
-
-PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dMultiplyHelper1_331(tmp, a, b);
- dAddVectors3(res, res, tmp);
-}
-
-PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dMultiplyHelper0_133(tmp, a, b);
- dAddVectors3(res, res, tmp);
-}
-
-PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dMultiplyHelper0_133(tmp, a + 0, b);
- dAddVectors3(res+ 0, res + 0, tmp);
- dMultiplyHelper0_133(tmp, a + 4, b);
- dAddVectors3(res + 4, res + 4, tmp);
- dMultiplyHelper0_133(tmp, a + 8, b);
- dAddVectors3(res + 8, res + 8, tmp);
-}
-
-PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dMultiplyHelper1_133(tmp, b, a + 0);
- dAddVectors3(res + 0, res + 0, tmp);
- dMultiplyHelper1_133(tmp, b, a + 1);
- dAddVectors3(res + 4, res + 4, tmp);
- dMultiplyHelper1_133(tmp, b, a + 2);
- dAddVectors3(res + 8, res + 8, tmp);
-}
-
-PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b)
-{
- dReal tmp[3];
- dMultiplyHelper0_331(tmp, b, a + 0);
- dAddVectors3(res + 0, res + 0, tmp);
- dMultiplyHelper0_331(tmp, b, a + 4);
- dAddVectors3(res + 4, res + 4, tmp);
- dMultiplyHelper0_331(tmp, b, a + 8);
- dAddVectors3(res + 8, res + 8, tmp);
-}
-
-
-// Include legacy macros here
-#include <ode/odemath_legacy.h>
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*
- * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
- */
-
-// For DLL export
-ODE_API int dSafeNormalize3 (dVector3 a);
-ODE_API int dSafeNormalize4 (dVector4 a);
-ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec
-ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec
-
-#if defined(__ODE__)
-
-int _dSafeNormalize3 (dVector3 a);
-int _dSafeNormalize4 (dVector4 a);
-
-PURE_INLINE void _dNormalize3(dVector3 a)
-{
- int bNormalizationResult = _dSafeNormalize3(a);
- dIVERIFY(bNormalizationResult);
-}
-
-PURE_INLINE void _dNormalize4(dVector4 a)
-{
- int bNormalizationResult = _dSafeNormalize4(a);
- dIVERIFY(bNormalizationResult);
-}
-
-// For internal use
-#define dSafeNormalize3(a) _dSafeNormalize3(a)
-#define dSafeNormalize4(a) _dSafeNormalize4(a)
-#define dNormalize3(a) _dNormalize3(a)
-#define dNormalize4(a) _dNormalize4(a)
-
-#endif // defined(__ODE__)
-
-/*
- * given a unit length "normal" vector n, generate vectors p and q vectors
- * that are an orthonormal basis for the plane space perpendicular to n.
- * i.e. this makes p,q such that n,p,q are all perpendicular to each other.
- * q will equal n x p. if n is not unit length then p will be unit length but
- * q wont be.
- */
-
-ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
-/* Makes sure the matrix is a proper rotation */
-ODE_API void dOrthogonalizeR(dMatrix3 m);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif
+++ /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_
+++ /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_ROTATION_H_
-#define _ODE_ROTATION_H_
-
-#include <ode/common.h>
-#include <ode/compatibility.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-ODE_API void dRSetIdentity (dMatrix3 R);
-
-ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
- dReal angle);
-
-ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
-
-ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
- dReal bx, dReal by, dReal bz);
-
-ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
-
-ODE_API void dQSetIdentity (dQuaternion q);
-
-ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
- dReal angle);
-
-/* Quaternion multiplication, analogous to the matrix multiplication routines. */
-/* qa = rotate by qc, then qb */
-ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-/* qa = rotate by qc, then by inverse of qb */
-ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-/* qa = rotate by inverse of qc, then by qb */
-ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-/* qa = rotate by inverse of qc, then by inverse of qb */
-ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
-
-ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
-ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
-ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /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_TIMER_H_
-#define _ODE_TIMER_H_
-
-#include <ode/odeconfig.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* stop watch objects */
-
-typedef struct dStopwatch {
- double time; /* total clock count */
- unsigned long cc[2]; /* clock count since last `start' */
-} dStopwatch;
-
-ODE_API void dStopwatchReset (dStopwatch *);
-ODE_API void dStopwatchStart (dStopwatch *);
-ODE_API void dStopwatchStop (dStopwatch *);
-ODE_API double dStopwatchTime (dStopwatch *); /* returns total time in secs */
-
-
-/* code timers */
-
-ODE_API void dTimerStart (const char *description); /* pass a static string here */
-ODE_API void dTimerNow (const char *description); /* pass a static string here */
-ODE_API void dTimerEnd(void);
-
-/* print out a timer report. if `average' is nonzero, print out the average
- * time for each slot (this is only meaningful if the same start-now-end
- * calls are being made repeatedly.
- */
-ODE_API void dTimerReport (FILE *fout, int average);
-
-
-/* resolution */
-
-/* returns the timer ticks per second implied by the timing hardware or API.
- * the actual timer resolution may not be this great.
- */
-ODE_API double dTimerTicksPerSecond(void);
-
-/* returns an estimate of the actual timer resolution, in seconds. this may
- * be greater than 1/ticks_per_second.
- */
-ODE_API double dTimerResolution(void);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+++ /dev/null
-# libode.la - a libtool library file
-# Generated by libtool (GNU libtool) 2.4
-#
-# Please DO NOT delete this file!
-# It is necessary for linking the library.
-
-# The name that we can dlopen(3).
-dlname=''
-
-# Names of this library.
-library_names=''
-
-# The name of the static archive.
-old_library='libode.a'
-
-# Linker flags that can not go in dependency_libs.
-inherited_linker_flags=''
-
-# Libraries that this one depends upon.
-dependency_libs=' -L/tmp/ode-0.12.deps/lib/ -lpthread'
-
-# Names of additional weak libraries provided by this library
-weak_library_names=''
-
-# Version information for libode.
-current=3
-age=0
-revision=0
-
-# Is this an already installed library?
-installed=yes
-
-# Should we warn about portability when linking against -modules?
-shouldnotlink=no
-
-# Files to dlopen/dlpreopen
-dlopen=''
-dlpreopen=''
-
-# Directory that this library needs to be installed in:
-libdir='/usr/local/lib'
+++ /dev/null
-prefix=/usr/local
-exec_prefix=${prefix}
-libdir=${exec_prefix}/lib
-includedir=${prefix}/include
-
-Name: ode
-Description: Open Dynamics Engine
-Version: 0.12
-Libs: -L${libdir} -lode
-Libs.private: -lstdc++ -lm
-Cflags: -I${includedir} -DdDOUBLE
#verbose "$SELF" release-getbinary Xonotic/xonotic-linux64-dedicated || good=false
#$good
verbose "$SELF" release-compile linux64 \
- 'STRIP=: CC="gcc -m64 -g1 -I../../../.deps/include -L../../../.deps/lib -DSUPPORTIPV6" DP_LINK_CRYPTO=shared LIB_CRYPTO="../../../.deps/lib/libd0_blind_id.a ../../../.deps/lib/libgmp.a" DP_LINK_CRYPTO_RIJNDAEL=dlopen DP_LINK_JPEG=shared LIB_JPEG=../../../.deps/lib/libjpeg.a DP_LINK_ODE=shared CFLAGS_ODE="-DUSEODE -DLINK_TO_LIBODE -DdDOUBLE" LIB_ODE="../../../.deps/lib/libode.a -lstdc++" DP_LINK_ZLIB=shared' \
+ 'STRIP=: CC="gcc -m64 -g1 -I../../../.deps/include -L../../../.deps/lib -DSUPPORTIPV6" DP_LINK_CRYPTO=shared LIB_CRYPTO="../../../.deps/lib/libd0_blind_id.a ../../../.deps/lib/libgmp.a" DP_LINK_CRYPTO_RIJNDAEL=dlopen DP_LINK_JPEG=shared LIB_JPEG=/usr/lib/x86_64-linux-gnu/libjpeg.a DP_LINK_ODE=shared CFLAGS_ODE="-DUSEODE -DLINK_TO_LIBODE -DdDOUBLE" LIB_ODE="/usr/lib/x86_64-linux-gnu/libode.a -lstdc++" DP_LINK_ZLIB=shared' \
release 'darkplaces-glx:Xonotic/xonotic-linux64-glx darkplaces-sdl:Xonotic/xonotic-linux64-sdl darkplaces-dedicated:Xonotic/xonotic-linux64-dedicated'
;;
release-engine)
projects / xonotic / xonotic.git / commitdiff