add ode

1 files changed, 218 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/include/ode/odeconfig.h b/libs/ode-0.16.1/include/ode/odeconfig.h
new file mode 100644
index 0000000..1a0c747
--- /dev/null
+++ b/libs/ode-0.16.1/include/ode/odeconfig.h
@@ -0,0 +1,218 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_ODECONFIG_H_
+#define _ODE_ODECONFIG_H_
+
+/* Pull in the standard headers */
+#include <stddef.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <math.h>
+#include <string.h>
+#include <float.h>
+
+
+#include <ode/precision.h>
+
+
+#if defined(ODE_DLL) || defined(ODE_LIB)
+#define __ODE__
+#endif
+
+/* Define a DLL export symbol for those platforms that need it */
+#if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32))
+  #if defined(ODE_DLL)
+    #define ODE_API __declspec(dllexport)
+  #else
+    #define ODE_API
+  #endif
+#endif
+
+#if !defined(ODE_API)
+  #define ODE_API
+#endif
+
+#if defined(_MSC_VER)
+#  define ODE_API_DEPRECATED __declspec(deprecated)
+#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) )
+#  define ODE_API_DEPRECATED __attribute__((__deprecated__))
+#else
+#  define ODE_API_DEPRECATED
+#endif
+
+#define ODE_PURE_INLINE static __inline
+#define ODE_INLINE __inline
+
+#if defined(__cplusplus)
+  #define ODE_EXTERN_C extern "C"
+#else
+  #define ODE_EXTERN_C
+#endif
+
+#if defined(__GNUC__)
+#define ODE_NORETURN __attribute__((noreturn))
+#elif defined(_MSC_VER)
+#define ODE_NORETURN __declspec(noreturn)
+#else // #if !defined(_MSC_VER)
+#define ODE_NORETURN
+#endif // #if !defined(__GNUC__)
+
+
+/* Well-defined common data types...need to be defined for 64 bit systems */
+#if defined(__aarch64__) || defined(__alpha__) || defined(__ppc64__) \
+    || defined(__s390__) || defined(__s390x__) || defined(__zarch__) \
+    || defined(__mips__) || defined(__powerpc64__) || defined(__riscv) \
+    || (defined(__sparc__) && defined(__arch64__))
+    #include <stdint.h>
+    typedef int64_t         dint64;
+    typedef uint64_t        duint64;
+    typedef int32_t         dint32;
+    typedef uint32_t        duint32;
+    typedef int16_t         dint16;
+    typedef uint16_t        duint16;
+    typedef int8_t          dint8;
+    typedef uint8_t         duint8;
+
+    typedef intptr_t        dintptr;
+    typedef uintptr_t       duintptr;
+    typedef ptrdiff_t       ddiffint;
+    typedef size_t          dsizeint;
+
+#elif (defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)) && !defined(__ILP32__) && !defined(_ILP32)
+  #define X86_64_SYSTEM   1
+#if defined(_MSC_VER)
+  typedef __int64         dint64;
+  typedef unsigned __int64 duint64;
+#else
+#if defined(_LP64) || defined(__LP64__)
+typedef long              dint64;
+typedef unsigned long     duint64;
+#else
+  typedef long long       dint64;
+  typedef unsigned long long duint64;
+#endif
+#endif
+  typedef int             dint32;
+  typedef unsigned int    duint32;
+  typedef short           dint16;
+  typedef unsigned short  duint16;
+  typedef signed char     dint8;
+  typedef unsigned char   duint8;
+
+  typedef dint64          dintptr;
+  typedef duint64         duintptr;
+  typedef dint64          ddiffint;
+  typedef duint64         dsizeint;
+
+#else
+#if defined(_MSC_VER)
+  typedef __int64         dint64;
+  typedef unsigned __int64 duint64;
+#else
+  typedef long long       dint64;
+  typedef unsigned long long duint64;
+#endif
+  typedef int             dint32;
+  typedef unsigned int    duint32;
+  typedef short           dint16;
+  typedef unsigned short  duint16;
+  typedef signed char     dint8;
+  typedef unsigned char   duint8;
+
+  typedef dint32          dintptr;
+  typedef duint32         duintptr;
+  typedef dint32          ddiffint;
+  typedef duint32         dsizeint;
+
+#endif
+
+
+/* Define the dInfinity macro */
+#ifdef INFINITY
+  #ifdef dSINGLE
+    #define dInfinity ((float)INFINITY)
+  #else
+    #define dInfinity ((double)INFINITY)
+  #endif
+#elif defined(HUGE_VAL)
+  #ifdef dSINGLE
+    #ifdef HUGE_VALF
+      #define dInfinity HUGE_VALF
+    #else
+      #define dInfinity ((float)HUGE_VAL)
+    #endif
+  #else
+    #define dInfinity HUGE_VAL
+  #endif
+#else
+  #ifdef dSINGLE
+    #define dInfinity ((float)(1.0/0.0))
+  #else
+    #define dInfinity (1.0/0.0)
+  #endif
+#endif
+
+
+/* Define the dNaN macro */
+#if defined(NAN)
+  #define dNaN NAN
+#elif defined(__GNUC__)
+  #define dNaN ({ union { duint32 m_ui; float m_f; } un; un.m_ui = 0x7FC00000; un.m_f; })
+#elif defined(__cplusplus)
+  union _dNaNUnion
+  {
+      _dNaNUnion(): m_ui(0x7FC00000) {}
+      duint32 m_ui; 
+      float m_f;
+  };
+  #define dNaN (_dNaNUnion().m_f)
+#else
+  #ifdef dSINGLE
+    #define dNaN ((float)(dInfinity - dInfinity))
+  #else
+    #define dNaN (dInfinity - dInfinity)
+  #endif
+#endif
+
+
+  /* Visual C does not define these functions */
+#if defined(_MSC_VER)
+  #define _ode_copysignf(x, y) ((float)_copysign(x, y))
+  #define _ode_copysign(x, y) _copysign(x, y)
+  #define _ode_nextafterf(x, y) _nextafterf(x, y)
+  #define _ode_nextafter(x, y) _nextafter(x, y)
+  #if !defined(_WIN64) && defined(dSINGLE)
+    #define _ODE__NEXTAFTERF_REQUIRED
+    ODE_EXTERN_C float _nextafterf(float x, float y);
+  #endif
+#else
+  #define _ode_copysignf(x, y) copysignf(x, y)
+  #define _ode_copysign(x, y) copysign(x, y)
+  #define _ode_nextafterf(x, y) nextafterf(x, y)
+  #define _ode_nextafter(x, y) nextafter(x, y)
+#endif
+
+
+#endif