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- /*************************************************************************
- * *
- * 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/config.h>
- #include <ode/error.h>
- #include <math.h>
- #ifdef __cplusplus
- extern "C" {
- #endif
- /* configuration stuff */
- /* the efficient alignment. most platforms align data structures to some
- * number of bytes, but this is not always the most efficient alignment.
- * for example, many x86 compilers align to 4 bytes, but on a pentium it
- * is important to align doubles to 8 byte boundaries (for speed), and
- * the 4 floats in a SIMD register to 16 byte boundaries. many other
- * platforms have similar behavior. setting a larger alignment can waste
- * a (very) small amount of memory. NOTE: this number must be a power of
- * two. this is set to 16 by default.
- */
- #define EFFICIENT_ALIGNMENT 16
- /* 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
- */
- #ifndef dNODEBUG
- #ifdef __GNUC__
- #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
- #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
- msg " in %s()", __FUNCTION__);
- #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
- msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
- #else
- #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
- #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
- msg " (%s:%d)", __FILE__,__LINE__);
- #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
- msg " (%s:%d)", __FILE__,__LINE__);
- #endif
- #else
- #define dIASSERT(a) ;
- #define dUASSERT(a,msg) ;
- #define dDEBUGMSG(msg) ;
- #endif
- #define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
- // Macro used to suppress unused variable warning
- #define dVARIABLEUSED(a) ((void)a)
- /* 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
- /* 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 */
- #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
- #define dCopySign(a,b) ((dReal)copysignf(a,b))
- #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)
- #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
- #define dCopySign(a,b) (copysign((a),(b)))
- #else
- #error You must #define dSINGLE or dDOUBLE
- #endif
- /* utility */
- /* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
- #define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
- /* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
- * up to 15 bytes per allocation, depending on what alloca() returns.
- */
- #define dALLOCA16(n) \
- ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
- // Use the error-checking memory allocation system. Because this system uses heap
- // (malloc) instead of stack (alloca), it is slower. However, it allows you to
- // simulate larger scenes, as well as handle out-of-memory errors in a somewhat
- // graceful manner
- // #define dUSE_MALLOC_FOR_ALLOCA
- #ifdef dUSE_MALLOC_FOR_ALLOCA
- enum {
- d_MEMORY_OK = 0, /* no memory errors */
- d_MEMORY_OUT_OF_MEMORY /* malloc failed due to out of memory error */
- };
- #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;
- typedef struct dxWorld *dWorldID;
- typedef struct dxSpace *dSpaceID;
- typedef struct dxBody *dBodyID;
- typedef struct dxGeom *dGeomID;
- typedef struct dxJoint *dJointID;
- typedef struct dxJointGroup *dJointGroupID;
- /* 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 */
- enum {
- dJointTypeNone = 0, /* or "unknown" */
- dJointTypeBall,
- dJointTypeHinge,
- dJointTypeSlider,
- dJointTypeContact,
- dJointTypeUniversal,
- dJointTypeHinge2,
- dJointTypeFixed,
- dJointTypeNull,
- dJointTypeAMotor,
- dJointTypeLMotor,
- dJointTypePlane2D,
- dJointTypePR
- };
- /* 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, \
- #define D_ALL_PARAM_NAMES_X(start,x) \
- /* 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)
- 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);
- #ifdef __cplusplus
- }
- #endif
- #endif
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