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00023 #ifndef _ODE_COMMON_H_
00024 #define _ODE_COMMON_H_
00025 #include <ode/config.h>
00026 #include <ode/error.h>
00027 #include <math.h>
00028
00029 #ifdef __cplusplus
00030 extern "C" {
00031 #endif
00032
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00044
00045 #define EFFICIENT_ALIGNMENT 16
00046
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00052
00053
00054 #ifndef M_PI
00055 #define M_PI REAL(3.1415926535897932384626433832795029)
00056 #endif
00057 #ifndef M_SQRT1_2
00058 #define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
00059 #endif
00060
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00071
00072 #ifndef dNODEBUG
00073 #ifdef __GNUC__
00074 #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
00075 "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
00076 #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
00077 msg " in %s()", __FUNCTION__);
00078 #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
00079 msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
00080 #else
00081 #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
00082 "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
00083 #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
00084 msg " (%s:%d)", __FILE__,__LINE__);
00085 #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
00086 msg " (%s:%d)", __FILE__,__LINE__);
00087 #endif
00088 #else
00089 #define dIASSERT(a) ;
00090 #define dUASSERT(a,msg) ;
00091 #define dDEBUGMSG(msg) ;
00092 #endif
00093 #define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
00094
00095
00096
00097 #if defined(dSINGLE)
00098 typedef float dReal;
00099 #elif defined(dDOUBLE)
00100 typedef double dReal;
00101 #else
00102 #error You must #define dSINGLE or dDOUBLE
00103 #endif
00104
00105
00106
00107
00108
00109 #define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
00110
00111
00112 typedef dReal dVector3[4];
00113 typedef dReal dVector4[4];
00114 typedef dReal dMatrix3[4*3];
00115 typedef dReal dMatrix4[4*4];
00116 typedef dReal dMatrix6[8*6];
00117 typedef dReal dQuaternion[4];
00118
00119
00120
00121
00122 #if defined(dSINGLE)
00123
00124 #define REAL(x) (x ## f)
00125 #define dRecip(x) ((1.0f/(x)))
00126 #define dSqrt(x) (sqrtf(x))
00127 #define dRecipSqrt(x) ((1.0f/sqrtf(x)))
00128 #define dSin(x) (sinf(x))
00129 #define dCos(x) (cosf(x))
00130 #define dFabs(x) (fabsf(x))
00131 #define dAtan2(y,x) (atan2f(y,x))
00132 #define dFMod(a,b) (fmodf(a,b))
00133
00134 #ifdef HAVE___ISNANF
00135 #define dIsNan(x) (__isnanf(x))
00136 #elif defined(HAVE__ISNANF)
00137 #define dIsNan(x) (_isnanf(x))
00138 #elif defined(HAVE_ISNANF)
00139 #define dIsNan(x) (isnanf(x))
00140 #else
00141
00142
00143
00144
00145
00146
00147
00148
00149
00150 #define dIsNan(x) (_isnan(x))
00151 #endif
00152
00153 #define dCopySign(a,b) ((dReal)copysignf(a,b))
00154
00155 #elif defined(dDOUBLE)
00156
00157 #define REAL(x) (x)
00158 #define dRecip(x) (1.0/(x))
00159 #define dSqrt(x) sqrt(x)
00160 #define dRecipSqrt(x) (1.0/sqrt(x))
00161 #define dSin(x) sin(x)
00162 #define dCos(x) cos(x)
00163 #define dFabs(x) fabs(x)
00164 #define dAtan2(y,x) atan2((y),(x))
00165 #define dFMod(a,b) (fmod((a),(b)))
00166 #ifdef HAVE___ISNAN
00167 #define dIsNan(x) (__isnan(x))
00168 #elif defined(HAVE__ISNAN)
00169 #define dIsNan(x) (_isnan(x))
00170 #elif defined(HAVE_ISNAN)
00171 #define dIsNan(x) (isnan(x))
00172 #else
00173 #define dIsNan(x) (_isnan(x))
00174 #endif
00175
00176 #define dCopySign(a,b) (copysign((a),(b)))
00177
00178 #else
00179 #error You must #define dSINGLE or dDOUBLE
00180 #endif
00181
00182
00183
00184
00185
00186
00187
00188 #define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
00189
00190
00191
00192
00193
00194
00195 #define dALLOCA16(n) \
00196 ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
00197
00198
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00200
00201
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00204
00205
00206 #ifdef dUSE_MALLOC_FOR_ALLOCA
00207 enum {
00208 d_MEMORY_OK = 0,
00209 d_MEMORY_OUT_OF_MEMORY
00210 };
00211
00212 #endif
00213
00214
00215
00216
00217
00218 struct dxWorld;
00219 struct dxSpace;
00220 struct dxBody;
00221 struct dxGeom;
00222 struct dxJoint;
00223 struct dxJointNode;
00224 struct dxJointGroup;
00225
00226 typedef struct dxWorld *dWorldID;
00227 typedef struct dxSpace *dSpaceID;
00228 typedef struct dxBody *dBodyID;
00229 typedef struct dxGeom *dGeomID;
00230 typedef struct dxJoint *dJointID;
00231 typedef struct dxJointGroup *dJointGroupID;
00232
00233
00234
00235
00236 enum {
00237 d_ERR_UNKNOWN = 0,
00238 d_ERR_IASSERT,
00239 d_ERR_UASSERT,
00240 d_ERR_LCP
00241 };
00242
00243
00244
00245
00246 enum {
00247 dJointTypeNone = 0,
00248 dJointTypeBall,
00249 dJointTypeHinge,
00250 dJointTypeSlider,
00251 dJointTypeContact,
00252 dJointTypeUniversal,
00253 dJointTypeHinge2,
00254 dJointTypeFixed,
00255 dJointTypeNull,
00256 dJointTypeAMotor,
00257 dJointTypeLMotor,
00258 dJointTypePlane2D
00259 };
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00294
00295 #define D_ALL_PARAM_NAMES(start) \
00296 \
00297 dParamLoStop = start, \
00298 dParamHiStop, \
00299 dParamVel, \
00300 dParamFMax, \
00301 dParamFudgeFactor, \
00302 dParamBounce, \
00303 dParamCFM, \
00304 dParamStopERP, \
00305 dParamStopCFM, \
00306 \
00307 dParamSuspensionERP, \
00308 dParamSuspensionCFM,
00309
00310 #define D_ALL_PARAM_NAMES_X(start,x) \
00311 \
00312 dParamLoStop ## x = start, \
00313 dParamHiStop ## x, \
00314 dParamVel ## x, \
00315 dParamFMax ## x, \
00316 dParamFudgeFactor ## x, \
00317 dParamBounce ## x, \
00318 dParamCFM ## x, \
00319 dParamStopERP ## x, \
00320 dParamStopCFM ## x, \
00321 \
00322 dParamSuspensionERP ## x, \
00323 dParamSuspensionCFM ## x,
00324
00325 enum {
00326 D_ALL_PARAM_NAMES(0)
00327 D_ALL_PARAM_NAMES_X(0x100,2)
00328 D_ALL_PARAM_NAMES_X(0x200,3)
00329
00330
00331
00332
00333 dParamGroup=0x100
00334 };
00335
00336
00337
00338
00339 enum{
00340 dAMotorUser = 0,
00341 dAMotorEuler = 1
00342 };
00343
00344
00345
00346
00347 typedef struct dJointFeedback {
00348 dVector3 f1;
00349 dVector3 t1;
00350 dVector3 f2;
00351 dVector3 t2;
00352 } dJointFeedback;
00353
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00361
00362 void dGeomMoved (dGeomID);
00363 dGeomID dGeomGetBodyNext (dGeomID);
00364
00365
00366 #ifdef __cplusplus
00367 }
00368 #endif
00369
00370 #endif