427 lines
12 KiB
C
427 lines
12 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_COMMON_H_
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#define _ODE_COMMON_H_
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#include <ode/odeconfig.h>
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#include <ode/error.h>
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#include <math.h>
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//Add by zenglei@2018-11-21
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//#ifndef USE_TPROW
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//#define USE_TPROW
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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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#define dDOUBLE 1
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#define __ODE__ 1
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#define PURE_INLINE static __inline
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/* configuration stuff */
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/* constants */
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/* pi and 1/sqrt(2) are defined here if necessary because they don't get
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* defined in <math.h> on some platforms (like MS-Windows)
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*/
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#ifndef M_PI
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#define M_PI REAL(3.1415926535897932384626433832795029)
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#endif
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#ifndef M_SQRT1_2
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#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
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#endif
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/* debugging:
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* IASSERT is an internal assertion, i.e. a consistency check. if it fails
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* we want to know where.
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* UASSERT is a user assertion, i.e. if it fails a nice error message
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* should be printed for the user.
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* AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"
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* is printed.
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* DEBUGMSG just prints out a message
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*/
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#ifndef dNODEBUG
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# if defined(__STDC__) && __STDC_VERSION__ >= 199901L
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# define __FUNCTION__ __func__
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# endif
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# ifdef __GNUC__
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# define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
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"assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
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# define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
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msg " in %s()", __FUNCTION__);
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# define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
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msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
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# else /* not __GNUC__*/
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# define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
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"assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
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# define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
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msg " (%s:%d)", __FILE__,__LINE__);
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# define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
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msg " (%s:%d)", __FILE__,__LINE__);
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# endif
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#else
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# define dIASSERT(a) ;
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# define dUASSERT(a,msg) ;
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# define dDEBUGMSG(msg) ;
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#endif
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#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
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/* Macro used to suppress unused variable warning*/
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#define dVARIABLEUSED(a) ((void)a)
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/* floating point data type, vector, matrix and quaternion types */
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#if defined(dSINGLE)
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typedef float dReal;
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#ifdef dDOUBLE
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#error You can only #define dSINGLE or dDOUBLE, not both.
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#endif /* dDOUBLE */
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#elif defined(dDOUBLE)
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typedef double dReal;
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#else
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#error You must #define dSINGLE or dDOUBLE
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#endif
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/* Detect if we've got both trimesh engines enabled. */
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#if dTRIMESH_ENABLED
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#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
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#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
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#endif
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#endif /* dTRIMESH_ENABLED */
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/* Define a type for indices, either 16 or 32 bit, based on build option
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TODO: Currently GIMPACT only supports 32 bit indices.*/
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#if dTRIMESH_16BIT_INDICES
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#if dTRIMESH_GIMPACT
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typedef uint32 dTriIndex;
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#else /* dTRIMESH_GIMPACT*/
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typedef uint16 dTriIndex;
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#endif /* dTRIMESH_GIMPACT*/
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#else /* dTRIMESH_16BIT_INDICES*/
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typedef uint32 dTriIndex;
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#endif /* dTRIMESH_16BIT_INDICES*/
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/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
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* (used to compute matrix leading dimensions)
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*/
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#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
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/* these types are mainly just used in headers */
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typedef dReal dVector3[4];
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typedef dReal dVector4[4];
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typedef dReal dMatrix3[4*3];
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typedef dReal dMatrix4[4*4];
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typedef dReal dMatrix6[8*6];
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typedef dReal dQuaternion[4];
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/* precision dependent scalar math functions */
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#if defined(dSINGLE)
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#define REAL(x) (x ## f) /* form a constant */
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#define dRecip(x) ((1.0f/(x))) /* reciprocal */
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#define dSqrt(x) (sqrtf(x)) /* square root */
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#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */
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#define dSin(x) (sinf(x)) /* sine */
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#define dCos(x) (cosf(x)) /* cosine */
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#define dFabs(x) (fabsf(x)) /* absolute value */
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#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */
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#define dFMod(a,b) (fmodf(a,b)) /* modulo */
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#define dFloor(x) floorf(x) /* floor */
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#define dCeil(x) ceilf(x) /* floor */
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#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
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#define dNextAfter(x, y) nextafterf(x, y) /* next value after */
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#if defined(_ODE__NEXTAFTERF_REQUIRED)
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float _nextafterf(float x, float y);
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#endif
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#ifdef HAVE___ISNANF
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#define dIsNan(x) (__isnanf(x))
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#elif defined(HAVE__ISNANF)
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#define dIsNan(x) (_isnanf(x))
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#elif defined(HAVE_ISNANF)
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#define dIsNan(x) (isnanf(x))
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#else
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/*
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fall back to _isnan which is the VC way,
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this may seem redundant since we already checked
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for _isnan before, but if isnan is detected by
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configure but is not found during compilation
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we should always make sure we check for __isnanf,
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_isnanf and isnanf in that order before falling
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back to a default
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*/
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#define dIsNan(x) (_isnan(x))
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#endif
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#elif defined(dDOUBLE)
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#define REAL(x) (x)
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#define dRecip(x) (1.0/(x))
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#define dSqrt(x) sqrt(x)
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#define dRecipSqrt(x) (1.0/sqrt(x))
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#define dSin(x) sin(x)
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#define dCos(x) cos(x)
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#define dFabs(x) fabs(x)
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#define dAtan2(y,x) atan2((y),(x))
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#define dFMod(a,b) (fmod((a),(b)))
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#define dFloor(x) floor(x)
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#define dCeil(x) ceil(x)
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#define dCopySign(a,b) (copysign((a),(b)))
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#define dNextAfter(x, y) nextafter(x, y)
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#undef _ODE__NEXTAFTERF_REQUIRED
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#ifdef HAVE___ISNAN
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#define dIsNan(x) (__isnan(x))
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#elif defined(HAVE__ISNAN)
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#define dIsNan(x) (_isnan(x))
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#elif defined(HAVE_ISNAN)
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#define dIsNan(x) (isnan(x))
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#else
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#define dIsNan(x) (_isnan(x))
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#endif
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#else
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#error You must #define dSINGLE or dDOUBLE
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#endif
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/* internal object types (all prefixed with `dx') */
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struct dxWorld; /* dynamics world */
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struct dxSpace; /* collision space */
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struct dxBody; /* rigid body (dynamics object) */
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struct dxGeom; /* geometry (collision object) */
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struct dxJoint;
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struct dxJointNode;
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struct dxJointGroup;
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struct dxWorldProcessThreadingManager;
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struct dxWorldProcessContext;
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typedef struct dxWorld *dWorldID;
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typedef struct dxSpace *dSpaceID;
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typedef struct dxBody *dBodyID;
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typedef struct dxGeom *dGeomID;
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typedef struct dxJoint *dJointID;
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typedef struct dxJointGroup *dJointGroupID;
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typedef struct dxWorldProcessThreadingManager *dWorldStepThreadingManagerID;
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typedef struct dxWorldProcessContext *dWorldStepContextID;
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/* error numbers */
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enum {
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d_ERR_UNKNOWN = 0, /* unknown error */
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d_ERR_IASSERT, /* internal assertion failed */
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d_ERR_UASSERT, /* user assertion failed */
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d_ERR_LCP /* user assertion failed */
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};
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/* joint type numbers */
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typedef enum {
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dJointTypeNone = 0, /* or "unknown" */
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dJointTypeBall,
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dJointTypeHinge,
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dJointTypeScrew,
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dJointTypeSlider,
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dJointTypeContact,
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dJointTypeUniversal,
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dJointTypeHinge2,
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dJointTypeFixed,
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dJointTypeNull,
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dJointTypeAMotor,
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dJointTypeLMotor,
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dJointTypePlane2D,
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dJointTypePR,
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dJointTypePU,
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dJointTypePiston,
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dJointTypeDBall,
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dJointTypeDHinge,
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dJointTypeGearbox
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} dJointType;
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/* an alternative way of setting joint parameters, using joint parameter
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* structures and member constants. we don't actually do this yet.
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*/
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/*
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typedef struct dLimot {
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int mode;
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dReal lostop, histop;
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dReal vel, fmax;
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dReal fudge_factor;
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dReal bounce, soft;
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dReal suspension_erp, suspension_cfm;
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} dLimot;
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enum {
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dLimotLoStop = 0x0001,
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dLimotHiStop = 0x0002,
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dLimotVel = 0x0004,
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dLimotFMax = 0x0008,
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dLimotFudgeFactor = 0x0010,
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dLimotBounce = 0x0020,
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dLimotSoft = 0x0040
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};
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*/
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/* standard joint parameter names. why are these here? - because we don't want
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* to include all the joint function definitions in joint.cpp. hmmmm.
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* MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
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* which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
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* paste between these two.
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*/
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#define D_ALL_PARAM_NAMES(start) \
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/* parameters for limits and motors */ \
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dParamLoStop = start, \
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dParamHiStop, \
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dParamVel, \
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dParamFMax, \
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dParamFudgeFactor, \
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dParamBounce, \
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dParamCFM, \
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dParamStopERP, \
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dParamStopCFM, \
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/* parameters for suspension */ \
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dParamSuspensionERP, \
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dParamSuspensionCFM, \
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dParamERP, \
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/*
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\enum D_ALL_PARAM_NAMES_X
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\var dParamGroup This is the starting value of the different group
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(i.e. dParamGroup1, dParamGroup2, dParamGroup3)
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It also helps in the use of parameter
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(dParamGroup2 | dParamFMax) == dParamFMax2
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*/
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#define D_ALL_PARAM_NAMES_X(start,x) \
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dParamGroup ## x = start, \
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/* parameters for limits and motors */ \
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dParamLoStop ## x = start, \
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dParamHiStop ## x, \
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dParamVel ## x, \
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dParamFMax ## x, \
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dParamFudgeFactor ## x, \
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dParamBounce ## x, \
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dParamCFM ## x, \
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dParamStopERP ## x, \
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dParamStopCFM ## x, \
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/* parameters for suspension */ \
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dParamSuspensionERP ## x, \
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dParamSuspensionCFM ## x, \
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dParamERP ## x,
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enum {
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D_ALL_PARAM_NAMES(0)
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dParamsInGroup, /*< Number of parameter in a group*/
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D_ALL_PARAM_NAMES_X(0x000,1)
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D_ALL_PARAM_NAMES_X(0x100,2)
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D_ALL_PARAM_NAMES_X(0x200,3)
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/* add a multiple of this constant to the basic parameter numbers to get
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* the parameters for the second, third etc axes.
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*/
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dParamGroup=0x100
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};
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/* angular motor mode numbers */
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enum {
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dAMotorUser = 0,
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dAMotorEuler = 1
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};
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/* joint force feedback information */
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typedef struct dJointFeedback {
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dVector3 f1; /* force applied to body 1 */
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dVector3 t1; /* torque applied to body 1 */
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dVector3 f2; /* force applied to body 2 */
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dVector3 t2; /* torque applied to body 2 */
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} dJointFeedback;
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/* private functions that must be implemented by the collision library:
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* (1) indicate that a geom has moved, (2) get the next geom in a body list.
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* these functions are called whenever the position of geoms connected to a
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* body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
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* when the ODE step function updates the body state.
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*/
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void dGeomMoved (dGeomID);
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dGeomID dGeomGetBodyNext (dGeomID);
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/**
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* dGetConfiguration returns the specific ODE build configuration as
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* a string of tokens. The string can be parsed in a similar way to
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* the OpenGL extension mechanism, the naming convention should be
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* familiar too. The following extensions are reported:
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*
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* ODE
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* ODE_single_precision
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* ODE_double_precision
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* ODE_EXT_no_debug
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* ODE_EXT_trimesh
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* ODE_EXT_opcode
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* ODE_EXT_gimpact
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* ODE_EXT_malloc_not_alloca
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* ODE_EXT_gyroscopic
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* ODE_OPC_16bit_indices
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* ODE_OPC_new_collider
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*/
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ODE_API const char* dGetConfiguration (void);
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/**
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* Helper to check for a token in the ODE configuration string.
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* Caution, this function is case sensitive.
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*
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* @param token A configuration token, see dGetConfiguration for details
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*
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* @return 1 if exact token is present, 0 if not present
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*/
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ODE_API int dCheckConfiguration( const char* token );
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#ifdef __cplusplus
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}
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#endif
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#endif
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