331 lines
11 KiB
C
331 lines
11 KiB
C
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_ODEMATH_H_
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#define _ODE_ODEMATH_H_
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#include <ode/common.h>
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#ifdef __GNUC__
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#define PURE_INLINE extern inline
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#else
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#define PURE_INLINE inline
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#endif
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/*
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* macro to access elements i,j in an NxM matrix A, independent of the
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* matrix storage convention.
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*/
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#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
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/*
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* Macro to test for valid floating point values
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*/
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#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
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#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3])))
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#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])))
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#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]) ))
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/*
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* General purpose vector operations with other vectors or constants.
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*/
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#define dOP(a,op,b,c) \
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(a)[0] = ((b)[0]) op ((c)[0]); \
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(a)[1] = ((b)[1]) op ((c)[1]); \
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(a)[2] = ((b)[2]) op ((c)[2]);
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#define dOPC(a,op,b,c) \
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(a)[0] = ((b)[0]) op (c); \
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(a)[1] = ((b)[1]) op (c); \
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(a)[2] = ((b)[2]) op (c);
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#define dOPE(a,op,b) \
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(a)[0] op ((b)[0]); \
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(a)[1] op ((b)[1]); \
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(a)[2] op ((b)[2]);
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#define dOPEC(a,op,c) \
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(a)[0] op (c); \
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(a)[1] op (c); \
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(a)[2] op (c);
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/*
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* Length, and squared length helpers. dLENGTH returns the length of a dVector3.
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* dLENGTHSQUARED return the squared length of a dVector3.
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*/
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#define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]))
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#ifdef __cplusplus
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PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); }
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#else
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#define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) )
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#endif /* __cplusplus */
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/*
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* 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
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* p and q indexes apart respectively. dDOT() means dDOT11.
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* in C++ we could use function templates to get all the versions of these
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* functions - but on some compilers this will result in sub-optimal code.
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*/
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#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
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#ifdef __cplusplus
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PURE_INLINE dReal dDOT (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
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PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
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PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
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PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
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PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
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PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
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PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
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#else
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#define dDOT(a,b) dDOTpq(a,b,1,1)
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#define dDOT13(a,b) dDOTpq(a,b,1,3)
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#define dDOT31(a,b) dDOTpq(a,b,3,1)
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#define dDOT33(a,b) dDOTpq(a,b,3,3)
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#define dDOT14(a,b) dDOTpq(a,b,1,4)
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#define dDOT41(a,b) dDOTpq(a,b,4,1)
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#define dDOT44(a,b) dDOTpq(a,b,4,4)
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#endif /* __cplusplus */
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/*
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* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
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* and `c' are spaced p, q and r indexes apart respectively.
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* dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
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* +=, -= etc to get other effects.
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*/
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#define dCROSS(a,op,b,c) \
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do { \
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(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
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(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
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(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
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} while(0)
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#define dCROSSpqr(a,op,b,c,p,q,r) \
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do { \
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(a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
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(a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
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(a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
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} while(0)
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#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
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#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
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#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
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#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
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#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
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#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
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#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
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/*
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* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
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* A is stored by rows, and has `skip' elements per row. the matrix is
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* assumed to be already zero, so this does not write zero elements!
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* if (plus,minus) is (+,-) then a positive version will be written.
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* if (plus,minus) is (-,+) then a negative version will be written.
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*/
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#define dCROSSMAT(A,a,skip,plus,minus) \
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do { \
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(A)[1] = minus (a)[2]; \
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(A)[2] = plus (a)[1]; \
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(A)[(skip)+0] = plus (a)[2]; \
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(A)[(skip)+2] = minus (a)[0]; \
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(A)[2*(skip)+0] = minus (a)[1]; \
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(A)[2*(skip)+1] = plus (a)[0]; \
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} while(0)
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/*
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* compute the distance between two 3D-vectors
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*/
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#ifdef __cplusplus
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PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b)
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{ return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
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#else
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#define dDISTANCE(a,b) \
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(dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
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#endif
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/*
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* special case matrix multipication, with operator selection
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*/
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#define dMULTIPLYOP0_331(A,op,B,C) \
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do { \
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(A)[0] op dDOT((B),(C)); \
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(A)[1] op dDOT((B+4),(C)); \
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(A)[2] op dDOT((B+8),(C)); \
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} while(0)
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#define dMULTIPLYOP1_331(A,op,B,C) \
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do { \
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(A)[0] op dDOT41((B),(C)); \
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(A)[1] op dDOT41((B+1),(C)); \
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(A)[2] op dDOT41((B+2),(C)); \
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} while(0)
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#define dMULTIPLYOP0_133(A,op,B,C) \
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do { \
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(A)[0] op dDOT14((B),(C)); \
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(A)[1] op dDOT14((B),(C+1)); \
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(A)[2] op dDOT14((B),(C+2)); \
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} while(0)
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#define dMULTIPLYOP0_333(A,op,B,C) \
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do { \
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(A)[0] op dDOT14((B),(C)); \
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(A)[1] op dDOT14((B),(C+1)); \
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(A)[2] op dDOT14((B),(C+2)); \
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(A)[4] op dDOT14((B+4),(C)); \
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(A)[5] op dDOT14((B+4),(C+1)); \
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(A)[6] op dDOT14((B+4),(C+2)); \
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(A)[8] op dDOT14((B+8),(C)); \
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(A)[9] op dDOT14((B+8),(C+1)); \
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(A)[10] op dDOT14((B+8),(C+2)); \
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} while(0)
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#define dMULTIPLYOP1_333(A,op,B,C) \
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do { \
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(A)[0] op dDOT44((B),(C)); \
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(A)[1] op dDOT44((B),(C+1)); \
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(A)[2] op dDOT44((B),(C+2)); \
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(A)[4] op dDOT44((B+1),(C)); \
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(A)[5] op dDOT44((B+1),(C+1)); \
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(A)[6] op dDOT44((B+1),(C+2)); \
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(A)[8] op dDOT44((B+2),(C)); \
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(A)[9] op dDOT44((B+2),(C+1)); \
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(A)[10] op dDOT44((B+2),(C+2)); \
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} while(0)
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#define dMULTIPLYOP2_333(A,op,B,C) \
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do { \
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(A)[0] op dDOT((B),(C)); \
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(A)[1] op dDOT((B),(C+4)); \
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(A)[2] op dDOT((B),(C+8)); \
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(A)[4] op dDOT((B+4),(C)); \
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(A)[5] op dDOT((B+4),(C+4)); \
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(A)[6] op dDOT((B+4),(C+8)); \
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(A)[8] op dDOT((B+8),(C)); \
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(A)[9] op dDOT((B+8),(C+4)); \
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(A)[10] op dDOT((B+8),(C+8)); \
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} while(0)
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#ifdef __cplusplus
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#define DECL template <class TA, class TB, class TC> PURE_INLINE void
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DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); }
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DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); }
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DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); }
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DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); }
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DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); }
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DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); }
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DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); }
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DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); }
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DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); }
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DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); }
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DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); }
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DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); }
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#undef DECL
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#else
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#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
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#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
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#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
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#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
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#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
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#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
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#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
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#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
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#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
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#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
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#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
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#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*
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* normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
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*/
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ODE_API int dSafeNormalize3 (dVector3 a);
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ODE_API int dSafeNormalize4 (dVector4 a);
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// For some reason demo_chain1.c does not understand "inline" keyword.
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static __inline void _dNormalize3(dVector3 a)
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{
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int bNormalizationResult = dSafeNormalize3(a);
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dIASSERT(bNormalizationResult);
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dVARIABLEUSED(bNormalizationResult);
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}
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static __inline void _dNormalize4(dVector4 a)
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{
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int bNormalizationResult = dSafeNormalize4(a);
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dIASSERT(bNormalizationResult);
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dVARIABLEUSED(bNormalizationResult);
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}
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// For DLL export
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ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec
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ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec
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// For internal use
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#define dNormalize3(a) _dNormalize3(a)
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#define dNormalize4(a) _dNormalize4(a)
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/*
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* given a unit length "normal" vector n, generate vectors p and q vectors
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* that are an orthonormal basis for the plane space perpendicular to n.
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* i.e. this makes p,q such that n,p,q are all perpendicular to each other.
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* q will equal n x p. if n is not unit length then p will be unit length but
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* q wont be.
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*/
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ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
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#ifdef __cplusplus
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}
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#endif
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#endif
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