add ode

1 files changed, 236 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/include/ode/odeinit.h b/libs/ode-0.16.1/include/ode/odeinit.h
new file mode 100644
index 0000000..645ca42
--- /dev/null
+++ b/libs/ode-0.16.1/include/ode/odeinit.h
@@ -0,0 +1,236 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* Library initialization/finalization functions. */
+
+#ifndef _ODE_ODEINIT_H_
+#define _ODE_ODEINIT_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* ************************************************************************ */
+/* Library initialization */
+
+/**
+ * @defgroup init Library Initialization
+ *
+ * Library initialization functions prepare ODE internal data structures for use
+ * and release allocated resources after ODE is not needed any more.
+ */
+
+
+/**
+ * @brief Library initialization flags.
+ *
+ * These flags define ODE library initialization options.
+ *
+ * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads
+ * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread.
+ * If this flag is not specified the automatic resource tracking algorithm is used.
+ *
+ * With automatic resource tracking, On Windows, memory allocated for a thread may 
+ * remain not freed for some time after the thread exits. The resources may be 
+ * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately,
+ * the resources are released when library is closed with @c dCloseODE. On other 
+ * operating systems resources are always released by the thread itself on its exit
+ * or on library closure with @c dCloseODE.
+ *
+ * With manual thread data cleanup mode every collision space object must be 
+ * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup
+ * after creation. See description of the function for more details.
+ *
+ * If @c dInitFlagManualThreadCleanup was not specified during initialization,
+ * calls to @c dCleanupODEAllDataForThread are not allowed.
+ *
+ * @see dInitODE2
+ * @see dAllocateODEDataForThread
+ * @see dSpaceSetManualCleanup
+ * @see dCloseODE
+ * @ingroup init
+ */
+enum dInitODEFlags {
+    dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/
+};
+
+/**
+ * @brief Initializes ODE library.
+ *
+ * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization.
+ *
+ * A call to @c dInitODE is equal to the following initialization sequence
+ * @code
+ *     dInitODE2(0);
+ *     dAllocateODEDataForThread(dAllocateMaskAll);
+ * @endcode
+ *
+ * @see dInitODE2
+ * @see dAllocateODEDataForThread
+ * @ingroup init
+ */
+ODE_API void dInitODE(void);
+
+/**
+ * @brief Initializes ODE library.
+ * @param uiInitFlags Initialization options bitmask
+ * @return A nonzero if initialization succeeded and zero otherwise.
+ *
+ * This function must be called to initialize ODE library before first use. If 
+ * initialization succeeds the function may not be called again until library is 
+ * closed with a call to @c dCloseODE.
+ *
+ * The @a uiInitFlags parameter specifies initialization options to be used. These
+ * can be combination of zero or more @c dInitODEFlags flags.
+ *
+ * @note
+ * If @c dInitFlagManualThreadCleanup flag is used for initialization, 
+ * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every
+ * space object right after creation. Failure to do so may lead to resource leaks.
+ *
+ * @see dInitODEFlags
+ * @see dCloseODE
+ * @see dSpaceSetManualCleanup
+ * @ingroup init
+ */
+ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/);
+
+
+/**
+ * @brief ODE data allocation flags.
+ *
+ * These flags are used to indicate which data is to be pre-allocated in call to
+ * @c dAllocateODEDataForThread.
+ *
+ * @c dAllocateFlagBasicData tells to allocate the basic data set required for
+ * normal library operation. This flag is equal to zero and is always implicitly 
+ * included.
+ *
+ * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated.
+ * Collision detection functions may not be called if the data has not be allocated 
+ * in advance. If collision detection is not going to be used, it is not necessary
+ * to specify this flag.
+ *
+ * @c dAllocateMaskAll is a mask that can be used for for allocating all possible 
+ * data in cases when it is not known what exactly features of ODE will be used.
+ * The mask may not be used in combination with other flags. It is guaranteed to
+ * include all the current and future legal allocation flags. However, mature 
+ * applications should use explicit flags they need rather than allocating everything.
+ *
+ * @see dAllocateODEDataForThread
+ * @ingroup init
+ */
+enum dAllocateODEDataFlags {
+    dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/
+
+    dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/
+
+    dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/
+};
+
+/**
+ * @brief Allocate thread local data to allow the thread calling ODE.
+ * @param uiAllocateFlags Allocation options bitmask.
+ * @return A nonzero if allocation succeeded and zero otherwise.
+ * 
+ * The function is required to be called for every thread that is going to use
+ * ODE. This function allocates the data that is required for accessing ODE from 
+ * current thread along with optional data required for particular ODE subsystems.
+ *
+ * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags
+ * enumerated type. Multiple calls with different allocation flags are allowed.
+ * The flags that are already allocated are ignored in subsequent calls. If zero
+ * is passed as the parameter, it means to only allocate the set of most important
+ * data the library can not operate without.
+ *
+ * If the function returns failure status it means that none of the requested 
+ * data has been allocated. The client may retry allocation attempt with the same 
+ * flags when more system resources are available.
+ *
+ * @see dAllocateODEDataFlags
+ * @see dCleanupODEAllDataForThread
+ * @ingroup init
+ */
+ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags);
+
+/**
+ * @brief Free thread local data that was allocated for current thread.
+ *
+ * If library was initialized with @c dInitFlagManualThreadCleanup flag the function 
+ * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread.
+ * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining 
+ * not freed until program exit. The function may also be called when ODE is still 
+ * being used to release resources allocated for all the current subsystems and 
+ * possibly proceed with data pre-allocation for other subsystems.
+ *
+ * The function can safely be called several times in a row. The function can be 
+ * called without prior invocation of @c dAllocateODEDataForThread. The function 
+ * may not be called before ODE is initialized with @c dInitODE2 or after library 
+ * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases 
+ * all the thread local resources that might be allocated for all the threads that 
+ * were using ODE.
+ *
+ * If library was initialized without @c dInitFlagManualThreadCleanup flag 
+ * @c dCleanupODEAllDataForThread must not be called.
+ *
+ * @see dAllocateODEDataForThread
+ * @see dInitODE2
+ * @see dCloseODE
+ * @ingroup init
+ */
+ODE_API void dCleanupODEAllDataForThread();
+
+
+/**
+ * @brief Close ODE after it is not needed any more.
+ *
+ * The function is required to be called when program does not need ODE features any more.
+ * The call to @c dCloseODE releases all the resources allocated for library
+ * including all the thread local data that might be allocated for all the threads
+ * that were using ODE.
+ *
+ * @c dCloseODE is a paired function for @c dInitODE2 and must only be called
+ * after successful library initialization.
+ *
+ * @note Important!
+ * Make sure that all the threads that were using ODE have already terminated 
+ * before calling @c dCloseODE. In particular it is not allowed to call
+ * @c dCleanupODEAllDataForThread after @c dCloseODE.
+ *
+ * @see dInitODE2
+ * @see dCleanupODEAllDataForThread
+ * @ingroup init
+ */
+ODE_API void dCloseODE(void);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+#endif /* _ODE_ODEINIT_H_ */