add ode

1 files changed, 86 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/include/ode/misc.h b/libs/ode-0.16.1/include/ode/misc.h
new file mode 100644
index 0000000..01655ea
--- /dev/null
+++ b/libs/ode-0.16.1/include/ode/misc.h
@@ -0,0 +1,86 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* miscellaneous math functions. these are mostly useful for testing */
+
+#ifndef _ODE_MISC_H_
+#define _ODE_MISC_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* return 1 if the random number generator is working. */
+ODE_API int dTestRand(void);
+
+/* return next 32 bit random number. this uses a not-very-random linear
+ * congruential method.
+ */
+ODE_API unsigned long dRand(void);
+
+/* get and set the current random number seed. */
+ODE_API unsigned long  dRandGetSeed(void);
+ODE_API void dRandSetSeed (unsigned long s);
+
+/* return a random integer between 0..n-1. the distribution will get worse
+ * as n approaches 2^32.
+ */
+ODE_API int dRandInt (int n);
+
+/* return a random real number between 0..1 */
+ODE_API dReal dRandReal(void);
+
+/* print out a matrix */
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f);
+
+/* make a random vector with entries between +/- range. A has n elements. */
+ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
+
+/* make a random matrix with entries between +/- range. A has size n*m. */
+ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
+
+/* clear the upper triangle of a square matrix */
+ODE_API void dClearUpperTriangle (dReal *A, int n);
+
+/* return the maximum element difference between the two n*m matrices */
+ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
+
+/* return the maximum element difference between the lower triangle of two
+ * n*n matrices */
+ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#ifdef __cplusplus
+static inline void dPrintMatrix (const dReal *A, int n, int m, const char *fmt="%10.4f ") { dPrintMatrix(A, n, m, fmt, stdout); }
+#endif
+
+
+#endif