389 lines
11 KiB
C
389 lines
11 KiB
C
|
/*************************************************************************
|
||
|
|
* *
|
||
|
|
* 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
|