/************************************************************************* * * * 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 #include #include //Add by zenglei@2018-11-21 //#ifndef USE_TPROW //#define USE_TPROW //#endif #ifdef __cplusplus extern "C" { #endif #define dDOUBLE 1 #define __ODE__ 1 #define PURE_INLINE static __inline /* configuration stuff */ /* constants */ /* pi and 1/sqrt(2) are defined here if necessary because they don't get * defined in 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 # if defined(__STDC__) && __STDC_VERSION__ >= 199901L # define __FUNCTION__ __func__ # endif # 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 /* not __GNUC__*/ # 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 */ /* Define a type for indices, either 16 or 32 bit, based on build option TODO: Currently GIMPACT only supports 32 bit indices.*/ #if dTRIMESH_16BIT_INDICES #if dTRIMESH_GIMPACT typedef uint32 dTriIndex; #else /* dTRIMESH_GIMPACT*/ typedef uint16 dTriIndex; #endif /* dTRIMESH_GIMPACT*/ #else /* dTRIMESH_16BIT_INDICES*/ typedef uint32 dTriIndex; #endif /* dTRIMESH_16BIT_INDICES*/ /* 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 */ #define dCeil(x) ceilf(x) /* floor */ #define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */ #define dNextAfter(x, y) nextafterf(x, y) /* next value after */ #if defined(_ODE__NEXTAFTERF_REQUIRED) float _nextafterf(float x, float y); #endif #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 #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) #define dCeil(x) ceil(x) #define dCopySign(a,b) (copysign((a),(b))) #define dNextAfter(x, y) nextafter(x, y) #undef _ODE__NEXTAFTERF_REQUIRED #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 #else #error You must #define dSINGLE or dDOUBLE #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; struct dxWorldProcessThreadingManager; struct dxWorldProcessContext; typedef struct dxWorld *dWorldID; typedef struct dxSpace *dSpaceID; typedef struct dxBody *dBodyID; typedef struct dxGeom *dGeomID; typedef struct dxJoint *dJointID; typedef struct dxJointGroup *dJointGroupID; typedef struct dxWorldProcessThreadingManager *dWorldStepThreadingManagerID; typedef struct dxWorldProcessContext *dWorldStepContextID; /* 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 */ typedef enum { dJointTypeNone = 0, /* or "unknown" */ dJointTypeBall, dJointTypeHinge, dJointTypeScrew, dJointTypeSlider, dJointTypeContact, dJointTypeUniversal, dJointTypeHinge2, dJointTypeFixed, dJointTypeNull, dJointTypeAMotor, dJointTypeLMotor, dJointTypePlane2D, dJointTypePR, dJointTypePU, dJointTypePiston, dJointTypeDBall, dJointTypeDHinge, dJointTypeGearbox } dJointType; /* 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, \ /* \enum D_ALL_PARAM_NAMES_X \var dParamGroup This is the starting value of the different group (i.e. dParamGroup1, dParamGroup2, dParamGroup3) It also helps in the use of parameter (dParamGroup2 | dParamFMax) == dParamFMax2 */ #define D_ALL_PARAM_NAMES_X(start,x) \ dParamGroup ## x = start, \ /* 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) dParamsInGroup, /*< Number of parameter in a group*/ D_ALL_PARAM_NAMES_X(0x000,1) 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); /** * dGetConfiguration returns the specific ODE build configuration as * a string of tokens. The string can be parsed in a similar way to * the OpenGL extension mechanism, the naming convention should be * familiar too. The following extensions are reported: * * ODE * ODE_single_precision * ODE_double_precision * ODE_EXT_no_debug * ODE_EXT_trimesh * ODE_EXT_opcode * ODE_EXT_gimpact * ODE_EXT_malloc_not_alloca * ODE_EXT_gyroscopic * ODE_OPC_16bit_indices * ODE_OPC_new_collider */ ODE_API const char* dGetConfiguration (void); /** * Helper to check for a token in the ODE configuration string. * Caution, this function is case sensitive. * * @param token A configuration token, see dGetConfiguration for details * * @return 1 if exact token is present, 0 if not present */ ODE_API int dCheckConfiguration( const char* token ); #ifdef __cplusplus } #endif #endif