+++ /dev/null
-/*************************************************************************
- * *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
- * All rights reserved. Email: russ@q12.org Web: www.q12.org *
- * *
- * This library is free software; you can redistribute it and/or *
- * modify it under the terms of EITHER: *
- * (1) The GNU Lesser General Public License as published by the Free *
- * Software Foundation; either version 2.1 of the License, or (at *
- * your option) any later version. The text of the GNU Lesser *
- * General Public License is included with this library in the *
- * file LICENSE.TXT. *
- * (2) The BSD-style license that is included with this library in *
- * the file LICENSE-BSD.TXT. *
- * *
- * This library is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
- * *
- *************************************************************************/
-
-#ifndef _ODE_COMMON_H_
-#define _ODE_COMMON_H_
-#include <ode/odeconfig.h>
-#include <ode/error.h>
-#include <math.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-#define PURE_INLINE static __inline
-
-
-/* configuration stuff */
-
-/* constants */
-
-/* pi and 1/sqrt(2) are defined here if necessary because they don't get
- * defined in <math.h> on some platforms (like MS-Windows)
- */
-
-#ifndef M_PI
-#define M_PI REAL(3.1415926535897932384626433832795029)
-#endif
-#ifndef M_SQRT1_2
-#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
-#endif
-
-
-/* debugging:
- * IASSERT is an internal assertion, i.e. a consistency check. if it fails
- * we want to know where.
- * UASSERT is a user assertion, i.e. if it fails a nice error message
- * should be printed for the user.
- * AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"
- * is printed.
- * DEBUGMSG just prints out a message
- */
-
-# if defined(__STDC__) && __STDC_VERSION__ >= 199901L
-# define __FUNCTION__ __func__
-# endif
-#ifndef dNODEBUG
-# ifdef __GNUC__
-# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); } }
-# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
- msg " in %s()", __FUNCTION__); } }
-# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
- msg " in %s() [%s:%u]", __FUNCTION__,__FILE__,__LINE__); }
-# else // not __GNUC__
-# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); } }
-# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
- msg " (%s:%u)", __FILE__,__LINE__); } }
-# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
- msg " (%s:%u)", __FILE__,__LINE__); }
-# endif
-# define dIVERIFY(a) dIASSERT(a)
-#else
-# define dIASSERT(a) ((void)0)
-# define dUASSERT(a,msg) ((void)0)
-# define dDEBUGMSG(msg) ((void)0)
-# define dIVERIFY(a) ((void)(a))
-#endif
-
-# ifdef __GNUC__
-# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); *(int *)0 = 0; } }
-# else // not __GNUC__
-# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); *(int *)0 = 0; } }
-# endif
-
-// Argument assert is a special case of user assert
-#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
-
-/* floating point data type, vector, matrix and quaternion types */
-
-#if defined(dSINGLE)
-typedef float dReal;
-#ifdef dDOUBLE
-#error You can only #define dSINGLE or dDOUBLE, not both.
-#endif // dDOUBLE
-#elif defined(dDOUBLE)
-typedef double dReal;
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-// Detect if we've got both trimesh engines enabled.
-#if dTRIMESH_ENABLED
-#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
-#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
-#endif
-#endif // dTRIMESH_ENABLED
-
-// Define a type for indices, either 16 or 32 bit, based on build option
-// TODO: Currently GIMPACT only supports 32 bit indices.
-#if dTRIMESH_16BIT_INDICES
-#if dTRIMESH_GIMPACT
-typedef uint32 dTriIndex;
-#else // dTRIMESH_GIMPACT
-typedef uint16 dTriIndex;
-#endif // dTRIMESH_GIMPACT
-#else // dTRIMESH_16BIT_INDICES
-typedef uint32 dTriIndex;
-#endif // dTRIMESH_16BIT_INDICES
-
-/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
- * (used to compute matrix leading dimensions)
- */
-#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
-
-/* these types are mainly just used in headers */
-typedef dReal dVector3[4];
-typedef dReal dVector4[4];
-typedef dReal dMatrix3[4*3];
-typedef dReal dMatrix4[4*4];
-typedef dReal dMatrix6[8*6];
-typedef dReal dQuaternion[4];
-
-
-/* precision dependent scalar math functions */
-
-#if defined(dSINGLE)
-
-#define REAL(x) (x ## f) /* form a constant */
-#define dRecip(x) ((1.0f/(x))) /* reciprocal */
-#define dSqrt(x) (sqrtf(x)) /* square root */
-#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */
-#define dSin(x) (sinf(x)) /* sine */
-#define dCos(x) (cosf(x)) /* cosine */
-#define dFabs(x) (fabsf(x)) /* absolute value */
-#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */
-#define dFMod(a,b) (fmodf(a,b)) /* modulo */
-#define dFloor(x) floorf(x) /* floor */
-#define dCeil(x) ceilf(x) /* floor */
-#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
-#define dNextAfter(x, y) nextafterf(x, y) /* next value after */
-
-#if defined(_ODE__NEXTAFTERF_REQUIRED)
-float _nextafterf(float x, float y);
-#endif
-
-#ifdef HAVE___ISNANF
-#define dIsNan(x) (__isnanf(x))
-#elif defined(HAVE__ISNANF)
-#define dIsNan(x) (_isnanf(x))
-#elif defined(HAVE_ISNANF)
-#define dIsNan(x) (isnanf(x))
-#else
- /*
- fall back to _isnan which is the VC way,
- this may seem redundant since we already checked
- for _isnan before, but if isnan is detected by
- configure but is not found during compilation
- we should always make sure we check for __isnanf,
- _isnanf and isnanf in that order before falling
- back to a default
- */
-#define dIsNan(x) (_isnan(x))
-#endif
-
-#elif defined(dDOUBLE)
-
-#define REAL(x) (x)
-#define dRecip(x) (1.0/(x))
-#define dSqrt(x) sqrt(x)
-#define dRecipSqrt(x) (1.0/sqrt(x))
-#define dSin(x) sin(x)
-#define dCos(x) cos(x)
-#define dFabs(x) fabs(x)
-#define dAtan2(y,x) atan2((y),(x))
-#define dFMod(a,b) (fmod((a),(b)))
-#define dFloor(x) floor(x)
-#define dCeil(x) ceil(x)
-#define dCopySign(a,b) (copysign((a),(b)))
-#define dNextAfter(x, y) nextafter(x, y)
-
-#undef _ODE__NEXTAFTERF_REQUIRED
-
-#ifdef HAVE___ISNAN
-#define dIsNan(x) (__isnan(x))
-#elif defined(HAVE__ISNAN)
-#define dIsNan(x) (_isnan(x))
-#elif defined(HAVE_ISNAN)
-#define dIsNan(x) (isnan(x))
-#else
-#define dIsNan(x) (_isnan(x))
-#endif
-
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-/* internal object types (all prefixed with `dx') */
-
-struct dxWorld; /* dynamics world */
-struct dxSpace; /* collision space */
-struct dxBody; /* rigid body (dynamics object) */
-struct dxGeom; /* geometry (collision object) */
-struct dxJoint;
-struct dxJointNode;
-struct dxJointGroup;
-struct dxWorldProcessThreadingManager;
-
-typedef struct dxWorld *dWorldID;
-typedef struct dxSpace *dSpaceID;
-typedef struct dxBody *dBodyID;
-typedef struct dxGeom *dGeomID;
-typedef struct dxJoint *dJointID;
-typedef struct dxJointGroup *dJointGroupID;
-typedef struct dxWorldProcessThreadingManager *dWorldStepThreadingManagerID;
-
-/* error numbers */
-
-enum {
- d_ERR_UNKNOWN = 0, /* unknown error */
- d_ERR_IASSERT, /* internal assertion failed */
- d_ERR_UASSERT, /* user assertion failed */
- d_ERR_LCP /* user assertion failed */
-};
-
-
-/* joint type numbers */
-
-typedef enum {
- dJointTypeNone = 0, /* or "unknown" */
- dJointTypeBall,
- dJointTypeHinge,
- dJointTypeSlider,
- dJointTypeContact,
- dJointTypeUniversal,
- dJointTypeHinge2,
- dJointTypeFixed,
- dJointTypeNull,
- dJointTypeAMotor,
- dJointTypeLMotor,
- dJointTypePlane2D,
- dJointTypePR,
- dJointTypePU,
- dJointTypePiston
-} dJointType;
-
-
-/* an alternative way of setting joint parameters, using joint parameter
- * structures and member constants. we don't actually do this yet.
- */
-
-/*
-typedef struct dLimot {
- int mode;
- dReal lostop, histop;
- dReal vel, fmax;
- dReal fudge_factor;
- dReal bounce, soft;
- dReal suspension_erp, suspension_cfm;
-} dLimot;
-
-enum {
- dLimotLoStop = 0x0001,
- dLimotHiStop = 0x0002,
- dLimotVel = 0x0004,
- dLimotFMax = 0x0008,
- dLimotFudgeFactor = 0x0010,
- dLimotBounce = 0x0020,
- dLimotSoft = 0x0040
-};
-*/
-
-
-/* standard joint parameter names. why are these here? - because we don't want
- * to include all the joint function definitions in joint.cpp. hmmmm.
- * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
- * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
- * paste between these two.
- */
-
-#define D_ALL_PARAM_NAMES(start) \
- /* parameters for limits and motors */ \
- dParamLoStop = start, \
- dParamHiStop, \
- dParamVel, \
- dParamFMax, \
- dParamFudgeFactor, \
- dParamBounce, \
- dParamCFM, \
- dParamStopERP, \
- dParamStopCFM, \
- /* parameters for suspension */ \
- dParamSuspensionERP, \
- dParamSuspensionCFM, \
- dParamERP, \
-
- //////////////////////////////////////////////////////////////////////////////
- /// \enum D_ALL_PARAM_NAMES_X
- ///
- /// \var dParamGroup This is the starting value of the different group
- /// (i.e. dParamGroup1, dParamGroup2, dParamGroup3)
- /// It also helps in the use of parameter
- /// (dParamGroup2 | dParamFMax) == dParamFMax2
- //////////////////////////////////////////////////////////////////////////////
-#define D_ALL_PARAM_NAMES_X(start,x) \
- dParamGroup ## x = start, \
- /* parameters for limits and motors */ \
- dParamLoStop ## x = start, \
- dParamHiStop ## x, \
- dParamVel ## x, \
- dParamFMax ## x, \
- dParamFudgeFactor ## x, \
- dParamBounce ## x, \
- dParamCFM ## x, \
- dParamStopERP ## x, \
- dParamStopCFM ## x, \
- /* parameters for suspension */ \
- dParamSuspensionERP ## x, \
- dParamSuspensionCFM ## x, \
- dParamERP ## x,
-
-enum {
- D_ALL_PARAM_NAMES(0)
- dParamsInGroup, ///< Number of parameter in a group
- D_ALL_PARAM_NAMES_X(0x000,1)
- D_ALL_PARAM_NAMES_X(0x100,2)
- D_ALL_PARAM_NAMES_X(0x200,3)
-
- /* add a multiple of this constant to the basic parameter numbers to get
- * the parameters for the second, third etc axes.
- */
- dParamGroup=0x100
-};
-
-
-/* angular motor mode numbers */
-
-enum {
- dAMotorUser = 0,
- dAMotorEuler = 1
-};
-
-
-/* joint force feedback information */
-
-typedef struct dJointFeedback {
- dVector3 f1; /* force applied to body 1 */
- dVector3 t1; /* torque applied to body 1 */
- dVector3 f2; /* force applied to body 2 */
- dVector3 t2; /* torque applied to body 2 */
-} dJointFeedback;
-
-
-/* private functions that must be implemented by the collision library:
- * (1) indicate that a geom has moved, (2) get the next geom in a body list.
- * these functions are called whenever the position of geoms connected to a
- * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
- * when the ODE step function updates the body state.
- */
-
-void dGeomMoved (dGeomID);
-dGeomID dGeomGetBodyNext (dGeomID);
-
-/**
- * dGetConfiguration returns the specific ODE build configuration as
- * a string of tokens. The string can be parsed in a similar way to
- * the OpenGL extension mechanism, the naming convention should be
- * familiar too. The following extensions are reported:
- *
- * ODE
- * ODE_single_precision
- * ODE_double_precision
- * ODE_EXT_no_debug
- * ODE_EXT_trimesh
- * ODE_EXT_opcode
- * ODE_EXT_gimpact
- * ODE_EXT_malloc_not_alloca
- * ODE_EXT_gyroscopic
- * ODE_OPC_16bit_indices
- * ODE_OPC_new_collider
-*/
-ODE_API const char* dGetConfiguration (void);
-
-/**
- * Helper to check for a token in the ODE configuration string.
- * Caution, this function is case sensitive.
- *
- * @param token A configuration token, see dGetConfiguration for details
- *
- * @return 1 if exact token is present, 0 if not present
- */
-ODE_API int dCheckConfiguration( const char* token );
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
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