add ode

1 files changed, 568 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/include/ode/common.h b/libs/ode-0.16.1/include/ode/common.h
new file mode 100644
index 0000000..b0a5793
--- /dev/null
+++ b/libs/ode-0.16.1/include/ode/common.h
@@ -0,0 +1,568 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 <ode/odeconfig.h>
+#include <ode/error.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* configuration stuff */
+
+/* constants */
+
+/* pi and 1/sqrt(2) are defined here if necessary because they don't get
+ * defined in <math.h> on some platforms (like MS-Windows)
+ */
+
+#ifndef M_PI
+#define M_PI REAL(3.1415926535897932384626433832795029)
+#endif
+#ifndef M_PI_2
+#define M_PI_2 REAL(1.5707963267948966192313216916398)
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
+#endif
+
+
+/* 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 duint32 dTriIndex;
+#else /* dTRIMESH_GIMPACT */
+typedef duint16 dTriIndex;
+#endif /* dTRIMESH_GIMPACT */
+#else /* dTRIMESH_16BIT_INDICES */
+typedef duint32 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) + 3) & (int)(~3)) : (a))
+
+typedef enum {
+    dSA__MIN,
+
+    dSA_X = dSA__MIN,
+    dSA_Y,
+    dSA_Z,
+
+    dSA__MAX,
+} dSpaceAxis;
+
+typedef enum {
+    dMD__MIN,
+
+    dMD_LINEAR = dMD__MIN,
+    dMD_ANGULAR,
+
+    dMD__MAX,
+} dMotionDynamics;
+
+typedef enum {
+    dDA__MIN,
+
+    dDA__L_MIN = dDA__MIN + dMD_LINEAR * dSA__MAX,
+
+    dDA_LX = dDA__L_MIN + dSA_X,
+    dDA_LY = dDA__L_MIN + dSA_Y,
+    dDA_LZ = dDA__L_MIN + dSA_Z,
+
+    dDA__L_MAX = dDA__L_MIN + dSA__MAX,
+
+    dDA__A_MIN = dDA__MIN + dMD_ANGULAR * dSA__MAX,
+
+    dDA_AX = dDA__A_MIN + dSA_X,
+    dDA_AY = dDA__A_MIN + dSA_Y,
+    dDA_AZ = dDA__A_MIN + dSA_Z,
+
+    dDA__A_MAX = dDA__A_MIN + dSA__MAX,
+
+    dDA__MAX = dDA__MIN + dMD__MAX * dSA__MAX,
+} dDynamicsAxis;
+
+typedef enum {
+    dV3E__MIN,
+
+    dV3E__AXES_MIN = dV3E__MIN,
+
+    dV3E_X = dV3E__AXES_MIN + dSA_X,
+    dV3E_Y = dV3E__AXES_MIN + dSA_Y,
+    dV3E_Z = dV3E__AXES_MIN + dSA_Z,
+
+    dV3E__AXES_MAX = dV3E__AXES_MIN + dSA__MAX,
+
+    dV3E_PAD = dV3E__AXES_MAX,
+
+    dV3E__MAX,
+
+    dV3E__AXES_COUNT = dV3E__AXES_MAX - dV3E__AXES_MIN,
+} dVec3Element;
+
+typedef enum {
+    dV4E__MIN,
+
+    dV4E_X = dV4E__MIN + dSA_X,
+    dV4E_Y = dV4E__MIN + dSA_Y,
+    dV4E_Z = dV4E__MIN + dSA_Z,
+    dV4E_O = dV4E__MIN + dSA__MAX,
+
+    dV4E__MAX,
+} dVec4Element;
+
+typedef enum {
+    dM3E__MIN,
+
+    dM3E__X_MIN = dM3E__MIN + dSA_X * dV3E__MAX,
+    
+    dM3E__X_AXES_MIN = dM3E__X_MIN + dV3E__AXES_MIN,
+
+    dM3E_XX = dM3E__X_MIN + dV3E_X,
+    dM3E_XY = dM3E__X_MIN + dV3E_Y,
+    dM3E_XZ = dM3E__X_MIN + dV3E_Z,
+
+    dM3E__X_AXES_MAX = dM3E__X_MIN + dV3E__AXES_MAX,
+
+    dM3E_XPAD = dM3E__X_MIN + dV3E_PAD,
+
+    dM3E__X_MAX = dM3E__X_MIN + dV3E__MAX,
+
+    dM3E__Y_MIN = dM3E__MIN + dSA_Y * dV3E__MAX,
+
+    dM3E__Y_AXES_MIN = dM3E__Y_MIN + dV3E__AXES_MIN,
+
+    dM3E_YX = dM3E__Y_MIN + dV3E_X,
+    dM3E_YY = dM3E__Y_MIN + dV3E_Y,
+    dM3E_YZ = dM3E__Y_MIN + dV3E_Z,
+
+    dM3E__Y_AXES_MAX = dM3E__Y_MIN + dV3E__AXES_MAX,
+
+    dM3E_YPAD = dM3E__Y_MIN + dV3E_PAD,
+
+    dM3E__Y_MAX = dM3E__Y_MIN + dV3E__MAX,
+
+    dM3E__Z_MIN = dM3E__MIN + dSA_Z * dV3E__MAX,
+
+    dM3E__Z_AXES_MIN = dM3E__Z_MIN + dV3E__AXES_MIN,
+
+    dM3E_ZX = dM3E__Z_MIN + dV3E_X,
+    dM3E_ZY = dM3E__Z_MIN + dV3E_Y,
+    dM3E_ZZ = dM3E__Z_MIN + dV3E_Z,
+
+    dM3E__Z_AXES_MAX = dM3E__Z_MIN + dV3E__AXES_MAX,
+
+    dM3E_ZPAD = dM3E__Z_MIN + dV3E_PAD,
+
+    dM3E__Z_MAX = dM3E__Z_MIN + dV3E__MAX,
+
+    dM3E__MAX = dM3E__MIN + dSA__MAX * dV3E__MAX,
+} dMat3Element;
+
+typedef enum {
+    dM4E__MIN,
+
+    dM4E__X_MIN = dM4E__MIN + dV4E_X * dV4E__MAX,
+
+    dM4E_XX = dM4E__X_MIN + dV4E_X,
+    dM4E_XY = dM4E__X_MIN + dV4E_Y,
+    dM4E_XZ = dM4E__X_MIN + dV4E_Z,
+    dM4E_XO = dM4E__X_MIN + dV4E_O,
+
+    dM4E__X_MAX = dM4E__X_MIN + dV4E__MAX,
+
+    dM4E__Y_MIN = dM4E__MIN + dV4E_Y * dV4E__MAX,
+
+    dM4E_YX = dM4E__Y_MIN + dV4E_X,
+    dM4E_YY = dM4E__Y_MIN + dV4E_Y,
+    dM4E_YZ = dM4E__Y_MIN + dV4E_Z,
+    dM4E_YO = dM4E__Y_MIN + dV4E_O,
+
+    dM4E__Y_MAX = dM4E__Y_MIN + dV4E__MAX,
+
+    dM4E__Z_MIN = dM4E__MIN + dV4E_Z * dV4E__MAX,
+
+    dM4E_ZX = dM4E__Z_MIN + dV4E_X,
+    dM4E_ZY = dM4E__Z_MIN + dV4E_Y,
+    dM4E_ZZ = dM4E__Z_MIN + dV4E_Z,
+    dM4E_ZO = dM4E__Z_MIN + dV4E_O,
+
+    dM4E__Z_MAX = dM4E__Z_MIN + dV4E__MAX,
+
+    dM4E__O_MIN = dM4E__MIN + dV4E_O * dV4E__MAX,
+
+    dM4E_OX = dM4E__O_MIN + dV4E_X,
+    dM4E_OY = dM4E__O_MIN + dV4E_Y,
+    dM4E_OZ = dM4E__O_MIN + dV4E_Z,
+    dM4E_OO = dM4E__O_MIN + dV4E_O,
+
+    dM4E__O_MAX = dM4E__O_MIN + dV4E__MAX,
+
+    dM4E__MAX = dM4E__MIN + dV4E__MAX * dV4E__MAX,
+} dMat4Element;
+
+typedef enum {
+    dQUE__MIN,
+
+    dQUE_R = dQUE__MIN,
+
+    dQUE__AXIS_MIN,
+
+    dQUE_I = dQUE__AXIS_MIN + dSA_X,
+    dQUE_J = dQUE__AXIS_MIN + dSA_Y,
+    dQUE_K = dQUE__AXIS_MIN + dSA_Z,
+
+    dQUE__AXIS_MAX = dQUE__AXIS_MIN + dSA__MAX,
+
+    dQUE__MAX = dQUE__AXIS_MAX,
+} dQuatElement;
+
+/* these types are mainly just used in headers */
+typedef dReal dVector3[dV3E__MAX];
+typedef dReal dVector4[dV4E__MAX];
+typedef dReal dMatrix3[dM3E__MAX];
+typedef dReal dMatrix4[dM4E__MAX];
+typedef dReal dMatrix6[(dMD__MAX * dV3E__MAX) * (dMD__MAX * dSA__MAX)];
+typedef dReal dQuaternion[dQUE__MAX];
+
+
+/* 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 dAsin(x) (asinf(x))
+#define dAcos(x) (acosf(x))
+#define dFMod(a,b) (fmodf(a,b))		/* modulo */
+#define dFloor(x) floorf(x)			/* floor */
+#define dCeil(x) ceilf(x)			/* ceil */
+#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */
+#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */
+
+#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 dAsin(x) asin(x)
+#define dAcos(x) acos(x)
+#define dFMod(a,b) (fmod((a),(b)))
+#define dFloor(x) floor(x)
+#define dCeil(x) ceil(x)
+#define dCopySign(a,b) _ode_copysign(a, b)
+#define dNextAfter(x, y) _ode_nextafter(x, y)
+
+#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
+
+ODE_PURE_INLINE dReal dMin(dReal x, dReal y) { return x <= y ? x : y; }
+ODE_PURE_INLINE dReal dMax(dReal x, dReal y) { return x <= y ? y : x; }
+
+
+/* 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;     /* joint */
+struct dxJointGroup;/* joint group */
+
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+
+
+/* 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,
+  dJointTypeSlider,
+  dJointTypeContact,
+  dJointTypeUniversal,
+  dJointTypeHinge2,
+  dJointTypeFixed,
+  dJointTypeNull,
+  dJointTypeAMotor,
+  dJointTypeLMotor,
+  dJointTypePlane2D,
+  dJointTypePR,
+  dJointTypePU,
+  dJointTypePiston,
+  dJointTypeDBall,
+  dJointTypeDHinge,
+  dJointTypeTransmission,
+} 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, \
+  dParamLoVel, \
+  dParamHiVel, \
+  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, \
+  dParamLoVel ## x, \
+  dParamHiVel ## 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
+};
+
+/* transmission joint mode numbers */
+
+enum {
+  dTransmissionParallelAxes = 0,
+  dTransmissionIntersectingAxes = 1,
+  dTransmissionChainDrive = 2
+};
+
+
+/* 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_OPC_16bit_indices
+ * ODE_OPC_new_collider
+ * ODE_EXT_mt_collisions
+ * ODE_EXT_threading
+ * ODE_THR_builtin_impl
+ */
+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