409 lines
34 KiB
HTML
409 lines
34 KiB
HTML
|
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
||
|
|
<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
|
||
|
|
<title>Open Dynamics Engine: common.h Source File</title>
|
||
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css">
|
||
|
|
<link href="tabs.css" rel="stylesheet" type="text/css">
|
||
|
|
</head><body>
|
||
|
|
<!-- Generated by Doxygen 1.5.3 -->
|
||
|
|
<div class="tabs">
|
||
|
|
<ul>
|
||
|
|
<li><a href="index.html"><span>Main Page</span></a></li>
|
||
|
|
<li><a href="modules.html"><span>Modules</span></a></li>
|
||
|
|
<li><a href="annotated.html"><span>Data Structures</span></a></li>
|
||
|
|
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
||
|
|
</ul>
|
||
|
|
</div>
|
||
|
|
<h1>common.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
|
||
|
|
<a name="l00002"></a>00002 <span class="comment"> * *</span>
|
||
|
|
<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *</span>
|
||
|
|
<a name="l00004"></a>00004 <span class="comment"> * All rights reserved. Email: russ@q12.org Web: www.q12.org *</span>
|
||
|
|
<a name="l00005"></a>00005 <span class="comment"> * *</span>
|
||
|
|
<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or *</span>
|
||
|
|
<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER: *</span>
|
||
|
|
<a name="l00008"></a>00008 <span class="comment"> * (1) The GNU Lesser General Public License as published by the Free *</span>
|
||
|
|
<a name="l00009"></a>00009 <span class="comment"> * Software Foundation; either version 2.1 of the License, or (at *</span>
|
||
|
|
<a name="l00010"></a>00010 <span class="comment"> * your option) any later version. The text of the GNU Lesser *</span>
|
||
|
|
<a name="l00011"></a>00011 <span class="comment"> * General Public License is included with this library in the *</span>
|
||
|
|
<a name="l00012"></a>00012 <span class="comment"> * file LICENSE.TXT. *</span>
|
||
|
|
<a name="l00013"></a>00013 <span class="comment"> * (2) The BSD-style license that is included with this library in *</span>
|
||
|
|
<a name="l00014"></a>00014 <span class="comment"> * the file LICENSE-BSD.TXT. *</span>
|
||
|
|
<a name="l00015"></a>00015 <span class="comment"> * *</span>
|
||
|
|
<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful, *</span>
|
||
|
|
<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
|
||
|
|
<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *</span>
|
||
|
|
<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details. *</span>
|
||
|
|
<a name="l00020"></a>00020 <span class="comment"> * *</span>
|
||
|
|
<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
|
||
|
|
<a name="l00022"></a>00022
|
||
|
|
<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_COMMON_H_</span>
|
||
|
|
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_COMMON_H_</span>
|
||
|
|
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#include <ode/config.h></span>
|
||
|
|
<a name="l00026"></a>00026 <span class="preprocessor">#include <ode/error.h></span>
|
||
|
|
<a name="l00027"></a>00027 <span class="preprocessor">#include <math.h></span>
|
||
|
|
<a name="l00028"></a>00028
|
||
|
|
<a name="l00029"></a>00029 <span class="preprocessor">#ifdef __cplusplus</span>
|
||
|
|
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
|
||
|
|
<a name="l00031"></a>00031 <span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00032"></a>00032 <span class="preprocessor"></span>
|
||
|
|
<a name="l00033"></a>00033
|
||
|
|
<a name="l00034"></a>00034 <span class="comment">/* configuration stuff */</span>
|
||
|
|
<a name="l00035"></a>00035
|
||
|
|
<a name="l00036"></a>00036 <span class="comment">/* the efficient alignment. most platforms align data structures to some</span>
|
||
|
|
<a name="l00037"></a>00037 <span class="comment"> * number of bytes, but this is not always the most efficient alignment.</span>
|
||
|
|
<a name="l00038"></a>00038 <span class="comment"> * for example, many x86 compilers align to 4 bytes, but on a pentium it</span>
|
||
|
|
<a name="l00039"></a>00039 <span class="comment"> * is important to align doubles to 8 byte boundaries (for speed), and</span>
|
||
|
|
<a name="l00040"></a>00040 <span class="comment"> * the 4 floats in a SIMD register to 16 byte boundaries. many other</span>
|
||
|
|
<a name="l00041"></a>00041 <span class="comment"> * platforms have similar behavior. setting a larger alignment can waste</span>
|
||
|
|
<a name="l00042"></a>00042 <span class="comment"> * a (very) small amount of memory. NOTE: this number must be a power of</span>
|
||
|
|
<a name="l00043"></a>00043 <span class="comment"> * two. this is set to 16 by default.</span>
|
||
|
|
<a name="l00044"></a>00044 <span class="comment"> */</span>
|
||
|
|
<a name="l00045"></a>00045 <span class="preprocessor">#define EFFICIENT_ALIGNMENT 16</span>
|
||
|
|
<a name="l00046"></a>00046 <span class="preprocessor"></span>
|
||
|
|
<a name="l00047"></a>00047
|
||
|
|
<a name="l00048"></a>00048 <span class="comment">/* constants */</span>
|
||
|
|
<a name="l00049"></a>00049
|
||
|
|
<a name="l00050"></a>00050 <span class="comment">/* pi and 1/sqrt(2) are defined here if necessary because they don't get</span>
|
||
|
|
<a name="l00051"></a>00051 <span class="comment"> * defined in <math.h> on some platforms (like MS-Windows)</span>
|
||
|
|
<a name="l00052"></a>00052 <span class="comment"> */</span>
|
||
|
|
<a name="l00053"></a>00053
|
||
|
|
<a name="l00054"></a>00054 <span class="preprocessor">#ifndef M_PI</span>
|
||
|
|
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define M_PI REAL(3.1415926535897932384626433832795029)</span>
|
||
|
|
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#ifndef M_SQRT1_2</span>
|
||
|
|
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)</span>
|
||
|
|
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00060"></a>00060 <span class="preprocessor"></span>
|
||
|
|
<a name="l00061"></a>00061
|
||
|
|
<a name="l00062"></a>00062 <span class="comment">/* debugging:</span>
|
||
|
|
<a name="l00063"></a>00063 <span class="comment"> * IASSERT is an internal assertion, i.e. a consistency check. if it fails</span>
|
||
|
|
<a name="l00064"></a>00064 <span class="comment"> * we want to know where.</span>
|
||
|
|
<a name="l00065"></a>00065 <span class="comment"> * UASSERT is a user assertion, i.e. if it fails a nice error message</span>
|
||
|
|
<a name="l00066"></a>00066 <span class="comment"> * should be printed for the user.</span>
|
||
|
|
<a name="l00067"></a>00067 <span class="comment"> * AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"</span>
|
||
|
|
<a name="l00068"></a>00068 <span class="comment"> * is printed.</span>
|
||
|
|
<a name="l00069"></a>00069 <span class="comment"> * DEBUGMSG just prints out a message</span>
|
||
|
|
<a name="l00070"></a>00070 <span class="comment"> */</span>
|
||
|
|
<a name="l00071"></a>00071
|
||
|
|
<a name="l00072"></a>00072 <span class="preprocessor">#ifndef dNODEBUG</span>
|
||
|
|
<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#ifdef __GNUC__</span>
|
||
|
|
<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \</span>
|
||
|
|
<a name="l00075"></a>00075 <span class="preprocessor"> "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);</span>
|
||
|
|
<a name="l00076"></a>00076 <span class="preprocessor"></span><span class="preprocessor">#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \</span>
|
||
|
|
<a name="l00077"></a>00077 <span class="preprocessor"> msg " in %s()", __FUNCTION__);</span>
|
||
|
|
<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \</span>
|
||
|
|
<a name="l00079"></a>00079 <span class="preprocessor">msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);</span>
|
||
|
|
<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#else</span>
|
||
|
|
<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \</span>
|
||
|
|
<a name="l00082"></a>00082 <span class="preprocessor"> "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);</span>
|
||
|
|
<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \</span>
|
||
|
|
<a name="l00084"></a>00084 <span class="preprocessor"> msg " (%s:%d)", __FILE__,__LINE__);</span>
|
||
|
|
<a name="l00085"></a>00085 <span class="preprocessor"></span><span class="preprocessor">#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \</span>
|
||
|
|
<a name="l00086"></a>00086 <span class="preprocessor"> msg " (%s:%d)", __FILE__,__LINE__);</span>
|
||
|
|
<a name="l00087"></a>00087 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#else</span>
|
||
|
|
<a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor">#define dIASSERT(a) ;</span>
|
||
|
|
<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#define dUASSERT(a,msg) ;</span>
|
||
|
|
<a name="l00091"></a>00091 <span class="preprocessor"></span><span class="preprocessor">#define dDEBUGMSG(msg) ;</span>
|
||
|
|
<a name="l00092"></a>00092 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")</span>
|
||
|
|
<a name="l00094"></a>00094 <span class="preprocessor"></span>
|
||
|
|
<a name="l00095"></a>00095 <span class="comment">// Macro used to suppress unused variable warning</span>
|
||
|
|
<a name="l00096"></a>00096 <span class="preprocessor">#define dVARIABLEUSED(a) ((void)a)</span>
|
||
|
|
<a name="l00097"></a>00097 <span class="preprocessor"></span>
|
||
|
|
<a name="l00098"></a>00098 <span class="comment">/* floating point data type, vector, matrix and quaternion types */</span>
|
||
|
|
<a name="l00099"></a>00099
|
||
|
|
<a name="l00100"></a>00100 <span class="preprocessor">#if defined(dSINGLE)</span>
|
||
|
|
<a name="l00101"></a>00101 <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">float</span> dReal;
|
||
|
|
<a name="l00102"></a>00102 <span class="preprocessor">#ifdef dDOUBLE</span>
|
||
|
|
<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#error You can only #define dSINGLE or dDOUBLE, not both.</span>
|
||
|
|
<a name="l00104"></a>00104 <span class="preprocessor"></span><span class="preprocessor">#endif // dDOUBLE</span>
|
||
|
|
<a name="l00105"></a>00105 <span class="preprocessor"></span><span class="preprocessor">#elif defined(dDOUBLE)</span>
|
||
|
|
<a name="l00106"></a>00106 <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">double</span> dReal;
|
||
|
|
<a name="l00107"></a>00107 <span class="preprocessor">#else</span>
|
||
|
|
<a name="l00108"></a>00108 <span class="preprocessor"></span><span class="preprocessor">#error You must #define dSINGLE or dDOUBLE</span>
|
||
|
|
<a name="l00109"></a>00109 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00110"></a>00110 <span class="preprocessor"></span>
|
||
|
|
<a name="l00111"></a>00111 <span class="comment">// Detect if we've got both trimesh engines enabled.</span>
|
||
|
|
<a name="l00112"></a>00112 <span class="preprocessor">#if dTRIMESH_ENABLED</span>
|
||
|
|
<a name="l00113"></a>00113 <span class="preprocessor"></span><span class="preprocessor">#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT</span>
|
||
|
|
<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.</span>
|
||
|
|
<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00116"></a>00116 <span class="preprocessor"></span><span class="preprocessor">#endif // dTRIMESH_ENABLED</span>
|
||
|
|
<a name="l00117"></a>00117 <span class="preprocessor"></span>
|
||
|
|
<a name="l00118"></a>00118 <span class="comment">/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified</span>
|
||
|
|
<a name="l00119"></a>00119 <span class="comment"> * (used to compute matrix leading dimensions)</span>
|
||
|
|
<a name="l00120"></a>00120 <span class="comment"> */</span>
|
||
|
|
<a name="l00121"></a>00121 <span class="preprocessor">#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))</span>
|
||
|
|
<a name="l00122"></a>00122 <span class="preprocessor"></span>
|
||
|
|
<a name="l00123"></a>00123 <span class="comment">/* these types are mainly just used in headers */</span>
|
||
|
|
<a name="l00124"></a>00124 <span class="keyword">typedef</span> dReal dVector3[4];
|
||
|
|
<a name="l00125"></a>00125 <span class="keyword">typedef</span> dReal dVector4[4];
|
||
|
|
<a name="l00126"></a>00126 <span class="keyword">typedef</span> dReal dMatrix3[4*3];
|
||
|
|
<a name="l00127"></a>00127 <span class="keyword">typedef</span> dReal dMatrix4[4*4];
|
||
|
|
<a name="l00128"></a>00128 <span class="keyword">typedef</span> dReal dMatrix6[8*6];
|
||
|
|
<a name="l00129"></a>00129 <span class="keyword">typedef</span> dReal dQuaternion[4];
|
||
|
|
<a name="l00130"></a>00130
|
||
|
|
<a name="l00131"></a>00131
|
||
|
|
<a name="l00132"></a>00132 <span class="comment">/* precision dependent scalar math functions */</span>
|
||
|
|
<a name="l00133"></a>00133
|
||
|
|
<a name="l00134"></a>00134 <span class="preprocessor">#if defined(dSINGLE)</span>
|
||
|
|
<a name="l00135"></a>00135 <span class="preprocessor"></span>
|
||
|
|
<a name="l00136"></a>00136 <span class="preprocessor">#define REAL(x) (x ## f) </span><span class="comment">/* form a constant */</span>
|
||
|
|
<a name="l00137"></a>00137 <span class="preprocessor">#define dRecip(x) ((1.0f/(x))) </span><span class="comment">/* reciprocal */</span>
|
||
|
|
<a name="l00138"></a>00138 <span class="preprocessor">#define dSqrt(x) (sqrtf(x)) </span><span class="comment">/* square root */</span>
|
||
|
|
<a name="l00139"></a>00139 <span class="preprocessor">#define dRecipSqrt(x) ((1.0f/sqrtf(x))) </span><span class="comment">/* reciprocal square root */</span>
|
||
|
|
<a name="l00140"></a>00140 <span class="preprocessor">#define dSin(x) (sinf(x)) </span><span class="comment">/* sine */</span>
|
||
|
|
<a name="l00141"></a>00141 <span class="preprocessor">#define dCos(x) (cosf(x)) </span><span class="comment">/* cosine */</span>
|
||
|
|
<a name="l00142"></a>00142 <span class="preprocessor">#define dFabs(x) (fabsf(x)) </span><span class="comment">/* absolute value */</span>
|
||
|
|
<a name="l00143"></a>00143 <span class="preprocessor">#define dAtan2(y,x) (atan2f(y,x)) </span><span class="comment">/* arc tangent with 2 args */</span>
|
||
|
|
<a name="l00144"></a>00144 <span class="preprocessor">#define dFMod(a,b) (fmodf(a,b)) </span><span class="comment">/* modulo */</span>
|
||
|
|
<a name="l00145"></a>00145 <span class="preprocessor">#define dFloor(x) floorf(x) </span><span class="comment">/* floor */</span>
|
||
|
|
<a name="l00146"></a>00146
|
||
|
|
<a name="l00147"></a>00147 <span class="preprocessor">#ifdef HAVE___ISNANF</span>
|
||
|
|
<a name="l00148"></a>00148 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (__isnanf(x))</span>
|
||
|
|
<a name="l00149"></a>00149 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE__ISNANF)</span>
|
||
|
|
<a name="l00150"></a>00150 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (_isnanf(x))</span>
|
||
|
|
<a name="l00151"></a>00151 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE_ISNANF)</span>
|
||
|
|
<a name="l00152"></a>00152 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (isnanf(x))</span>
|
||
|
|
<a name="l00153"></a>00153 <span class="preprocessor"></span><span class="preprocessor">#else</span>
|
||
|
|
<a name="l00154"></a>00154 <span class="preprocessor"></span> <span class="comment">/*</span>
|
||
|
|
<a name="l00155"></a>00155 <span class="comment"> fall back to _isnan which is the VC way,</span>
|
||
|
|
<a name="l00156"></a>00156 <span class="comment"> this may seem redundant since we already checked</span>
|
||
|
|
<a name="l00157"></a>00157 <span class="comment"> for _isnan before, but if isnan is detected by</span>
|
||
|
|
<a name="l00158"></a>00158 <span class="comment"> configure but is not found during compilation</span>
|
||
|
|
<a name="l00159"></a>00159 <span class="comment"> we should always make sure we check for __isnanf,</span>
|
||
|
|
<a name="l00160"></a>00160 <span class="comment"> _isnanf and isnanf in that order before falling</span>
|
||
|
|
<a name="l00161"></a>00161 <span class="comment"> back to a default</span>
|
||
|
|
<a name="l00162"></a>00162 <span class="comment"> */</span>
|
||
|
|
<a name="l00163"></a>00163 <span class="preprocessor">#define dIsNan(x) (_isnan(x))</span>
|
||
|
|
<a name="l00164"></a>00164 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00165"></a>00165 <span class="preprocessor"></span>
|
||
|
|
<a name="l00166"></a>00166 <span class="preprocessor">#define dCopySign(a,b) ((dReal)copysignf(a,b))</span>
|
||
|
|
<a name="l00167"></a>00167 <span class="preprocessor"></span>
|
||
|
|
<a name="l00168"></a>00168 <span class="preprocessor">#elif defined(dDOUBLE)</span>
|
||
|
|
<a name="l00169"></a>00169 <span class="preprocessor"></span>
|
||
|
|
<a name="l00170"></a>00170 <span class="preprocessor">#define REAL(x) (x)</span>
|
||
|
|
<a name="l00171"></a>00171 <span class="preprocessor"></span><span class="preprocessor">#define dRecip(x) (1.0/(x))</span>
|
||
|
|
<a name="l00172"></a>00172 <span class="preprocessor"></span><span class="preprocessor">#define dSqrt(x) sqrt(x)</span>
|
||
|
|
<a name="l00173"></a>00173 <span class="preprocessor"></span><span class="preprocessor">#define dRecipSqrt(x) (1.0/sqrt(x))</span>
|
||
|
|
<a name="l00174"></a>00174 <span class="preprocessor"></span><span class="preprocessor">#define dSin(x) sin(x)</span>
|
||
|
|
<a name="l00175"></a>00175 <span class="preprocessor"></span><span class="preprocessor">#define dCos(x) cos(x)</span>
|
||
|
|
<a name="l00176"></a>00176 <span class="preprocessor"></span><span class="preprocessor">#define dFabs(x) fabs(x)</span>
|
||
|
|
<a name="l00177"></a>00177 <span class="preprocessor"></span><span class="preprocessor">#define dAtan2(y,x) atan2((y),(x))</span>
|
||
|
|
<a name="l00178"></a>00178 <span class="preprocessor"></span><span class="preprocessor">#define dFMod(a,b) (fmod((a),(b)))</span>
|
||
|
|
<a name="l00179"></a>00179 <span class="preprocessor"></span><span class="preprocessor">#define dFloor(x) floor(x)</span>
|
||
|
|
<a name="l00180"></a>00180 <span class="preprocessor"></span>
|
||
|
|
<a name="l00181"></a>00181 <span class="preprocessor">#ifdef HAVE___ISNAN</span>
|
||
|
|
<a name="l00182"></a>00182 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (__isnan(x))</span>
|
||
|
|
<a name="l00183"></a>00183 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE__ISNAN)</span>
|
||
|
|
<a name="l00184"></a>00184 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (_isnan(x))</span>
|
||
|
|
<a name="l00185"></a>00185 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE_ISNAN)</span>
|
||
|
|
<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (isnan(x))</span>
|
||
|
|
<a name="l00187"></a>00187 <span class="preprocessor"></span><span class="preprocessor">#else</span>
|
||
|
|
<a name="l00188"></a>00188 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (_isnan(x))</span>
|
||
|
|
<a name="l00189"></a>00189 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00190"></a>00190 <span class="preprocessor"></span>
|
||
|
|
<a name="l00191"></a>00191 <span class="preprocessor">#define dCopySign(a,b) (copysign((a),(b)))</span>
|
||
|
|
<a name="l00192"></a>00192 <span class="preprocessor"></span>
|
||
|
|
<a name="l00193"></a>00193 <span class="preprocessor">#else</span>
|
||
|
|
<a name="l00194"></a>00194 <span class="preprocessor"></span><span class="preprocessor">#error You must #define dSINGLE or dDOUBLE</span>
|
||
|
|
<a name="l00195"></a>00195 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00196"></a>00196 <span class="preprocessor"></span>
|
||
|
|
<a name="l00197"></a>00197
|
||
|
|
<a name="l00198"></a>00198 <span class="comment">/* utility */</span>
|
||
|
|
<a name="l00199"></a>00199
|
||
|
|
<a name="l00200"></a>00200
|
||
|
|
<a name="l00201"></a>00201 <span class="comment">/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */</span>
|
||
|
|
<a name="l00202"></a>00202
|
||
|
|
<a name="l00203"></a>00203 <span class="preprocessor">#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)</span>
|
||
|
|
<a name="l00204"></a>00204 <span class="preprocessor"></span>
|
||
|
|
<a name="l00205"></a>00205
|
||
|
|
<a name="l00206"></a>00206 <span class="comment">/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste</span>
|
||
|
|
<a name="l00207"></a>00207 <span class="comment"> * up to 15 bytes per allocation, depending on what alloca() returns.</span>
|
||
|
|
<a name="l00208"></a>00208 <span class="comment"> */</span>
|
||
|
|
<a name="l00209"></a>00209
|
||
|
|
<a name="l00210"></a>00210 <span class="preprocessor">#define dALLOCA16(n) \</span>
|
||
|
|
<a name="l00211"></a>00211 <span class="preprocessor"> ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))</span>
|
||
|
|
<a name="l00212"></a>00212 <span class="preprocessor"></span>
|
||
|
|
<a name="l00213"></a>00213
|
||
|
|
<a name="l00214"></a>00214 <span class="comment">// Use the error-checking memory allocation system. Because this system uses heap</span>
|
||
|
|
<a name="l00215"></a>00215 <span class="comment">// (malloc) instead of stack (alloca), it is slower. However, it allows you to</span>
|
||
|
|
<a name="l00216"></a>00216 <span class="comment">// simulate larger scenes, as well as handle out-of-memory errors in a somewhat</span>
|
||
|
|
<a name="l00217"></a>00217 <span class="comment">// graceful manner</span>
|
||
|
|
<a name="l00218"></a>00218
|
||
|
|
<a name="l00219"></a>00219 <span class="comment">// #define dUSE_MALLOC_FOR_ALLOCA</span>
|
||
|
|
<a name="l00220"></a>00220
|
||
|
|
<a name="l00221"></a>00221 <span class="preprocessor">#ifdef dUSE_MALLOC_FOR_ALLOCA</span>
|
||
|
|
<a name="l00222"></a>00222 <span class="preprocessor"></span><span class="keyword">enum</span> {
|
||
|
|
<a name="l00223"></a>00223 d_MEMORY_OK = 0, <span class="comment">/* no memory errors */</span>
|
||
|
|
<a name="l00224"></a>00224 d_MEMORY_OUT_OF_MEMORY <span class="comment">/* malloc failed due to out of memory error */</span>
|
||
|
|
<a name="l00225"></a>00225 };
|
||
|
|
<a name="l00226"></a>00226
|
||
|
|
<a name="l00227"></a>00227 <span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00228"></a>00228 <span class="preprocessor"></span>
|
||
|
|
<a name="l00229"></a>00229
|
||
|
|
<a name="l00230"></a>00230
|
||
|
|
<a name="l00231"></a>00231 <span class="comment">/* internal object types (all prefixed with `dx') */</span>
|
||
|
|
<a name="l00232"></a>00232
|
||
|
|
<a name="l00233"></a>00233 <span class="keyword">struct </span>dxWorld; <span class="comment">/* dynamics world */</span>
|
||
|
|
<a name="l00234"></a>00234 <span class="keyword">struct </span>dxSpace; <span class="comment">/* collision space */</span>
|
||
|
|
<a name="l00235"></a>00235 <span class="keyword">struct </span>dxBody; <span class="comment">/* rigid body (dynamics object) */</span>
|
||
|
|
<a name="l00236"></a>00236 <span class="keyword">struct </span>dxGeom; <span class="comment">/* geometry (collision object) */</span>
|
||
|
|
<a name="l00237"></a>00237 <span class="keyword">struct </span>dxJoint;
|
||
|
|
<a name="l00238"></a>00238 <span class="keyword">struct </span>dxJointNode;
|
||
|
|
<a name="l00239"></a>00239 <span class="keyword">struct </span>dxJointGroup;
|
||
|
|
<a name="l00240"></a>00240
|
||
|
|
<a name="l00241"></a>00241 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxWorld *dWorldID;
|
||
|
|
<a name="l00242"></a>00242 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxSpace *dSpaceID;
|
||
|
|
<a name="l00243"></a>00243 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxBody *dBodyID;
|
||
|
|
<a name="l00244"></a>00244 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxGeom *dGeomID;
|
||
|
|
<a name="l00245"></a>00245 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxJoint *dJointID;
|
||
|
|
<a name="l00246"></a>00246 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxJointGroup *dJointGroupID;
|
||
|
|
<a name="l00247"></a>00247
|
||
|
|
<a name="l00248"></a>00248
|
||
|
|
<a name="l00249"></a>00249 <span class="comment">/* error numbers */</span>
|
||
|
|
<a name="l00250"></a>00250
|
||
|
|
<a name="l00251"></a>00251 <span class="keyword">enum</span> {
|
||
|
|
<a name="l00252"></a>00252 d_ERR_UNKNOWN = 0, <span class="comment">/* unknown error */</span>
|
||
|
|
<a name="l00253"></a>00253 d_ERR_IASSERT, <span class="comment">/* internal assertion failed */</span>
|
||
|
|
<a name="l00254"></a>00254 d_ERR_UASSERT, <span class="comment">/* user assertion failed */</span>
|
||
|
|
<a name="l00255"></a>00255 d_ERR_LCP <span class="comment">/* user assertion failed */</span>
|
||
|
|
<a name="l00256"></a>00256 };
|
||
|
|
<a name="l00257"></a>00257
|
||
|
|
<a name="l00258"></a>00258
|
||
|
|
<a name="l00259"></a>00259 <span class="comment">/* joint type numbers */</span>
|
||
|
|
<a name="l00260"></a>00260
|
||
|
|
<a name="l00261"></a>00261 <span class="keyword">enum</span> {
|
||
|
|
<a name="l00262"></a>00262 dJointTypeNone = 0, <span class="comment">/* or "unknown" */</span>
|
||
|
|
<a name="l00263"></a>00263 dJointTypeBall,
|
||
|
|
<a name="l00264"></a>00264 dJointTypeHinge,
|
||
|
|
<a name="l00265"></a>00265 dJointTypeSlider,
|
||
|
|
<a name="l00266"></a>00266 dJointTypeContact,
|
||
|
|
<a name="l00267"></a>00267 dJointTypeUniversal,
|
||
|
|
<a name="l00268"></a>00268 dJointTypeHinge2,
|
||
|
|
<a name="l00269"></a>00269 dJointTypeFixed,
|
||
|
|
<a name="l00270"></a>00270 dJointTypeNull,
|
||
|
|
<a name="l00271"></a>00271 dJointTypeAMotor,
|
||
|
|
<a name="l00272"></a>00272 dJointTypeLMotor,
|
||
|
|
<a name="l00273"></a>00273 dJointTypePlane2D,
|
||
|
|
<a name="l00274"></a>00274 dJointTypePR
|
||
|
|
<a name="l00275"></a>00275 };
|
||
|
|
<a name="l00276"></a>00276
|
||
|
|
<a name="l00277"></a>00277
|
||
|
|
<a name="l00278"></a>00278 <span class="comment">/* an alternative way of setting joint parameters, using joint parameter</span>
|
||
|
|
<a name="l00279"></a>00279 <span class="comment"> * structures and member constants. we don't actually do this yet.</span>
|
||
|
|
<a name="l00280"></a>00280 <span class="comment"> */</span>
|
||
|
|
<a name="l00281"></a>00281
|
||
|
|
<a name="l00282"></a>00282 <span class="comment">/*</span>
|
||
|
|
<a name="l00283"></a>00283 <span class="comment">typedef struct dLimot {</span>
|
||
|
|
<a name="l00284"></a>00284 <span class="comment"> int mode;</span>
|
||
|
|
<a name="l00285"></a>00285 <span class="comment"> dReal lostop, histop;</span>
|
||
|
|
<a name="l00286"></a>00286 <span class="comment"> dReal vel, fmax;</span>
|
||
|
|
<a name="l00287"></a>00287 <span class="comment"> dReal fudge_factor;</span>
|
||
|
|
<a name="l00288"></a>00288 <span class="comment"> dReal bounce, soft;</span>
|
||
|
|
<a name="l00289"></a>00289 <span class="comment"> dReal suspension_erp, suspension_cfm;</span>
|
||
|
|
<a name="l00290"></a>00290 <span class="comment">} dLimot;</span>
|
||
|
|
<a name="l00291"></a>00291 <span class="comment"></span>
|
||
|
|
<a name="l00292"></a>00292 <span class="comment">enum {</span>
|
||
|
|
<a name="l00293"></a>00293 <span class="comment"> dLimotLoStop = 0x0001,</span>
|
||
|
|
<a name="l00294"></a>00294 <span class="comment"> dLimotHiStop = 0x0002,</span>
|
||
|
|
<a name="l00295"></a>00295 <span class="comment"> dLimotVel = 0x0004,</span>
|
||
|
|
<a name="l00296"></a>00296 <span class="comment"> dLimotFMax = 0x0008,</span>
|
||
|
|
<a name="l00297"></a>00297 <span class="comment"> dLimotFudgeFactor = 0x0010,</span>
|
||
|
|
<a name="l00298"></a>00298 <span class="comment"> dLimotBounce = 0x0020,</span>
|
||
|
|
<a name="l00299"></a>00299 <span class="comment"> dLimotSoft = 0x0040</span>
|
||
|
|
<a name="l00300"></a>00300 <span class="comment">};</span>
|
||
|
|
<a name="l00301"></a>00301 <span class="comment">*/</span>
|
||
|
|
<a name="l00302"></a>00302
|
||
|
|
<a name="l00303"></a>00303
|
||
|
|
<a name="l00304"></a>00304 <span class="comment">/* standard joint parameter names. why are these here? - because we don't want</span>
|
||
|
|
<a name="l00305"></a>00305 <span class="comment"> * to include all the joint function definitions in joint.cpp. hmmmm.</span>
|
||
|
|
<a name="l00306"></a>00306 <span class="comment"> * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,</span>
|
||
|
|
<a name="l00307"></a>00307 <span class="comment"> * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and</span>
|
||
|
|
<a name="l00308"></a>00308 <span class="comment"> * paste between these two.</span>
|
||
|
|
<a name="l00309"></a>00309 <span class="comment"> */</span>
|
||
|
|
<a name="l00310"></a>00310
|
||
|
|
<a name="l00311"></a>00311 <span class="preprocessor">#define D_ALL_PARAM_NAMES(start) \</span>
|
||
|
|
<a name="l00312"></a>00312 <span class="preprocessor"> </span><span class="comment">/* parameters for limits and motors */</span> \
|
||
|
|
<a name="l00313"></a>00313 dParamLoStop = start, \
|
||
|
|
<a name="l00314"></a>00314 dParamHiStop, \
|
||
|
|
<a name="l00315"></a>00315 dParamVel, \
|
||
|
|
<a name="l00316"></a>00316 dParamFMax, \
|
||
|
|
<a name="l00317"></a>00317 dParamFudgeFactor, \
|
||
|
|
<a name="l00318"></a>00318 dParamBounce, \
|
||
|
|
<a name="l00319"></a>00319 dParamCFM, \
|
||
|
|
<a name="l00320"></a>00320 dParamStopERP, \
|
||
|
|
<a name="l00321"></a>00321 dParamStopCFM, \
|
||
|
|
<a name="l00322"></a>00322 <span class="comment">/* parameters for suspension */</span> \
|
||
|
|
<a name="l00323"></a>00323 dParamSuspensionERP, \
|
||
|
|
<a name="l00324"></a>00324 dParamSuspensionCFM, \
|
||
|
|
<a name="l00325"></a>00325 dParamERP, \
|
||
|
|
<a name="l00326"></a>00326
|
||
|
|
<a name="l00327"></a>00327 <span class="preprocessor">#define D_ALL_PARAM_NAMES_X(start,x) \</span>
|
||
|
|
<a name="l00328"></a>00328 <span class="preprocessor"> </span><span class="comment">/* parameters for limits and motors */</span> \
|
||
|
|
<a name="l00329"></a>00329 dParamLoStop ## x = start, \
|
||
|
|
<a name="l00330"></a>00330 dParamHiStop ## x, \
|
||
|
|
<a name="l00331"></a>00331 dParamVel ## x, \
|
||
|
|
<a name="l00332"></a>00332 dParamFMax ## x, \
|
||
|
|
<a name="l00333"></a>00333 dParamFudgeFactor ## x, \
|
||
|
|
<a name="l00334"></a>00334 dParamBounce ## x, \
|
||
|
|
<a name="l00335"></a>00335 dParamCFM ## x, \
|
||
|
|
<a name="l00336"></a>00336 dParamStopERP ## x, \
|
||
|
|
<a name="l00337"></a>00337 dParamStopCFM ## x, \
|
||
|
|
<a name="l00338"></a>00338 <span class="comment">/* parameters for suspension */</span> \
|
||
|
|
<a name="l00339"></a>00339 dParamSuspensionERP ## x, \
|
||
|
|
<a name="l00340"></a>00340 dParamSuspensionCFM ## x, \
|
||
|
|
<a name="l00341"></a>00341 dParamERP ## x,
|
||
|
|
<a name="l00342"></a>00342
|
||
|
|
<a name="l00343"></a>00343 <span class="keyword">enum</span> {
|
||
|
|
<a name="l00344"></a>00344 D_ALL_PARAM_NAMES(0)
|
||
|
|
<a name="l00345"></a>00345 D_ALL_PARAM_NAMES_X(0x100,2)
|
||
|
|
<a name="l00346"></a>00346 D_ALL_PARAM_NAMES_X(0x200,3)
|
||
|
|
<a name="l00347"></a>00347
|
||
|
|
<a name="l00348"></a>00348 <span class="comment">/* add a multiple of this constant to the basic parameter numbers to get</span>
|
||
|
|
<a name="l00349"></a>00349 <span class="comment"> * the parameters for the second, third etc axes.</span>
|
||
|
|
<a name="l00350"></a>00350 <span class="comment"> */</span>
|
||
|
|
<a name="l00351"></a>00351 dParamGroup=0x100
|
||
|
|
<a name="l00352"></a>00352 };
|
||
|
|
<a name="l00353"></a>00353
|
||
|
|
<a name="l00354"></a>00354
|
||
|
|
<a name="l00355"></a>00355 <span class="comment">/* angular motor mode numbers */</span>
|
||
|
|
<a name="l00356"></a>00356
|
||
|
|
<a name="l00357"></a>00357 enum{
|
||
|
|
<a name="l00358"></a>00358 dAMotorUser = 0,
|
||
|
|
<a name="l00359"></a>00359 dAMotorEuler = 1
|
||
|
|
<a name="l00360"></a>00360 };
|
||
|
|
<a name="l00361"></a>00361
|
||
|
|
<a name="l00362"></a>00362
|
||
|
|
<a name="l00363"></a>00363 <span class="comment">/* joint force feedback information */</span>
|
||
|
|
<a name="l00364"></a>00364
|
||
|
|
<a name="l00365"></a>00365 <span class="keyword">typedef</span> <span class="keyword">struct </span>dJointFeedback {
|
||
|
|
<a name="l00366"></a>00366 dVector3 f1; <span class="comment">/* force applied to body 1 */</span>
|
||
|
|
<a name="l00367"></a>00367 dVector3 t1; <span class="comment">/* torque applied to body 1 */</span>
|
||
|
|
<a name="l00368"></a>00368 dVector3 f2; <span class="comment">/* force applied to body 2 */</span>
|
||
|
|
<a name="l00369"></a>00369 dVector3 t2; <span class="comment">/* torque applied to body 2 */</span>
|
||
|
|
<a name="l00370"></a>00370 } dJointFeedback;
|
||
|
|
<a name="l00371"></a>00371
|
||
|
|
<a name="l00372"></a>00372
|
||
|
|
<a name="l00373"></a>00373 <span class="comment">/* private functions that must be implemented by the collision library:</span>
|
||
|
|
<a name="l00374"></a>00374 <span class="comment"> * (1) indicate that a geom has moved, (2) get the next geom in a body list.</span>
|
||
|
|
<a name="l00375"></a>00375 <span class="comment"> * these functions are called whenever the position of geoms connected to a</span>
|
||
|
|
<a name="l00376"></a>00376 <span class="comment"> * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or</span>
|
||
|
|
<a name="l00377"></a>00377 <span class="comment"> * when the ODE step function updates the body state.</span>
|
||
|
|
<a name="l00378"></a>00378 <span class="comment"> */</span>
|
||
|
|
<a name="l00379"></a>00379
|
||
|
|
<a name="l00380"></a>00380 <span class="keywordtype">void</span> dGeomMoved (dGeomID);
|
||
|
|
<a name="l00381"></a>00381 dGeomID dGeomGetBodyNext (dGeomID);
|
||
|
|
<a name="l00382"></a>00382
|
||
|
|
<a name="l00383"></a>00383
|
||
|
|
<a name="l00384"></a>00384 <span class="preprocessor">#ifdef __cplusplus</span>
|
||
|
|
<a name="l00385"></a>00385 <span class="preprocessor"></span>}
|
||
|
|
<a name="l00386"></a>00386 <span class="preprocessor">#endif</span>
|
||
|
|
<a name="l00387"></a>00387 <span class="preprocessor"></span>
|
||
|
|
<a name="l00388"></a>00388 <span class="preprocessor">#endif</span>
|
||
|
|
</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by
|
||
|
|
<a href="http://www.doxygen.org/index.html">
|
||
|
|
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
|
||
|
|
</body>
|
||
|
|
</html>
|