add ode

1 files changed, 340 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/libccd/src/ccd/vec3.h b/libs/ode-0.16.1/libccd/src/ccd/vec3.h
new file mode 100644
index 0000000..d9175ed
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/ccd/vec3.h
@@ -0,0 +1,340 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_VEC3_H__
+#define __CCD_VEC3_H__
+
+#include <math.h>
+#include <float.h>
+#include <stdlib.h>
+
+#include <ccd/precision.h>
+#include <ccd/compiler.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+
+#ifndef CCD_SINGLE
+# ifndef CCD_DOUBLE
+#  error You must define CCD_SINGLE or CCD_DOUBLE
+# endif /* CCD_DOUBLE */
+#endif /* CCD_SINGLE */
+
+
+#if defined(_MSC_VER) && _MSC_VER < 1700
+/* Define fmin, fmax, fminf, fmaxf which are missing from MSVC (up to VS2005 at least) */
+static __inline double fmin(double x, double y) { return __min(x, y); }
+static __inline double fmax(double x, double y) { return __max(x, y); }
+static __inline float fminf(float x, float y) { return __min(x, y); }
+static __inline float fmaxf(float x, float y) { return __max(x, y); }
+
+#endif /* #if defined(_MSC_VER) */
+
+
+#ifdef CCD_SINGLE
+# ifdef CCD_DOUBLE
+#  error You can define either CCD_SINGLE or CCD_DOUBLE, not both!
+# endif /* CCD_DOUBLE */
+
+typedef float ccd_real_t;
+
+/*# define CCD_EPS 1E-6*/
+# define CCD_EPS FLT_EPSILON
+
+# define CCD_REAL_MAX FLT_MAX
+
+# define CCD_REAL(x) (x ## f)   /*!< form a constant */
+# define CCD_SQRT(x) (sqrtf(x)) /*!< square root */
+# define CCD_FABS(x) (fabsf(x)) /*!< absolute value */
+# define CCD_FMAX(x, y) (fmaxf((x), (y))) /*!< maximum of two floats */
+# define CCD_FMIN(x, y) (fminf((x), (y))) /*!< minimum of two floats */
+#endif /* CCD_SINGLE */
+
+#ifdef CCD_DOUBLE
+typedef double ccd_real_t;
+
+/*# define CCD_EPS 1E-10*/
+# define CCD_EPS DBL_EPSILON
+
+# define CCD_REAL_MAX DBL_MAX
+
+# define CCD_REAL(x) (x)       /*!< form a constant */
+# define CCD_SQRT(x) (sqrt(x)) /*!< square root */
+# define CCD_FABS(x) (fabs(x)) /*!< absolute value */
+# define CCD_FMAX(x, y) (fmax((x), (y))) /*!< maximum of two floats */
+# define CCD_FMIN(x, y) (fmin((x), (y))) /*!< minimum of two floats */
+#endif /* CCD_DOUBLE */
+
+#define CCD_ONE CCD_REAL(1.)
+#define CCD_ZERO CCD_REAL(0.)
+
+struct _ccd_vec3_t {
+    ccd_real_t v[3];
+};
+typedef struct _ccd_vec3_t ccd_vec3_t;
+
+
+/**
+ * Holds origin (0,0,0) - this variable is meant to be read-only!
+ */
+extern ccd_vec3_t *ccd_vec3_origin;
+
+/**
+ * Array of points uniformly distributed on unit sphere.
+ */
+extern ccd_vec3_t *ccd_points_on_sphere;
+extern size_t ccd_points_on_sphere_len;
+
+/** Returns sign of value. */
+_ccd_inline int ccdSign(ccd_real_t val);
+/** Returns true if val is zero. **/
+_ccd_inline int ccdIsZero(ccd_real_t val);
+/** Returns true if a and b equal. **/
+_ccd_inline int ccdEq(ccd_real_t a, ccd_real_t b);
+
+
+#define CCD_VEC3_STATIC(x, y, z) \
+    { { (x), (y), (z) } }
+
+#define CCD_VEC3(name, x, y, z) \
+    ccd_vec3_t name = CCD_VEC3_STATIC((x), (y), (z))
+
+_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v);
+_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v);
+_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v);
+
+/**
+ * Returns true if a and b equal.
+ */
+_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+/**
+ * Returns squared length of vector.
+ */
+_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v);
+
+/**
+ * Returns distance between a and b.
+ */
+_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+
+_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z);
+
+/**
+ * v = w
+ */
+_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * Subtracts coordinates of vector w from vector v. v = v - w
+ */
+_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * Adds coordinates of vector w to vector v. v = v + w
+ */
+_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * d = v - w
+ */
+_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w);
+
+/**
+ * d = d * k;
+ */
+_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k);
+
+
+/**
+ * Normalizes given vector to unit length.
+ */
+_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d);
+
+
+/**
+ * Dot product of two vectors.
+ */
+_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+/**
+ * Cross product: d = a x b.
+ */
+_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b);
+
+
+/**
+ * Returns distance2 of point P to segment ab.
+ * If witness is non-NULL it is filled with coordinates of point from which
+ * was computed distance to point P.
+ */
+ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
+                                const ccd_vec3_t *a, const ccd_vec3_t *b,
+                                ccd_vec3_t *witness);
+
+/**
+ * Returns distance2 of point P from triangle formed by triplet a, b, c.
+ * If witness vector is provided it is filled with coordinates of point
+ * from which was computed distance to point P.
+ */
+ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P,
+                            const ccd_vec3_t *a, const ccd_vec3_t *b,
+                            const ccd_vec3_t *c,
+                            ccd_vec3_t *witness);
+
+
+/**** INLINES ****/
+_ccd_inline int ccdSign(ccd_real_t val)
+{
+    if (ccdIsZero(val)){
+        return 0;
+    }else if (val < CCD_ZERO){
+        return -1;
+    }
+    return 1;
+}
+
+_ccd_inline int ccdIsZero(ccd_real_t val)
+{
+    return CCD_FABS(val) < CCD_EPS;
+}
+
+_ccd_inline int ccdEq(ccd_real_t _a, ccd_real_t _b)
+{
+    ccd_real_t ab;
+	ccd_real_t a, b;
+
+    ab = CCD_FABS(_a - _b);
+    if (CCD_FABS(ab) < CCD_EPS)
+        return 1;
+
+    a = CCD_FABS(_a);
+    b = CCD_FABS(_b);
+    if (b > a){
+        return ab < CCD_EPS * b;
+    }else{
+        return ab < CCD_EPS * a;
+    }
+}
+
+
+_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v)
+{
+    return v->v[0];
+}
+
+_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v)
+{
+    return v->v[1];
+}
+
+_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v)
+{
+    return v->v[2];
+}
+
+_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    return ccdEq(ccdVec3X(a), ccdVec3X(b))
+            && ccdEq(ccdVec3Y(a), ccdVec3Y(b))
+            && ccdEq(ccdVec3Z(a), ccdVec3Z(b));
+}
+
+_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v)
+{
+    return ccdVec3Dot(v, v);
+}
+
+_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    ccd_vec3_t ab;
+    ccdVec3Sub2(&ab, a, b);
+    return ccdVec3Len2(&ab);
+}
+
+_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z)
+{
+    v->v[0] = x;
+    v->v[1] = y;
+    v->v[2] = z;
+}
+
+_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    *v = *w;
+}
+
+_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    v->v[0] -= w->v[0];
+    v->v[1] -= w->v[1];
+    v->v[2] -= w->v[2];
+}
+
+_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    d->v[0] = v->v[0] - w->v[0];
+    d->v[1] = v->v[1] - w->v[1];
+    d->v[2] = v->v[2] - w->v[2];
+}
+
+_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w)
+{
+    v->v[0] += w->v[0];
+    v->v[1] += w->v[1];
+    v->v[2] += w->v[2];
+}
+
+_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k)
+{
+    d->v[0] *= k;
+    d->v[1] *= k;
+    d->v[2] *= k;
+}
+
+_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d)
+{
+    ccd_real_t k = CCD_ONE / CCD_SQRT(ccdVec3Len2(d));
+    ccdVec3Scale(d, k);
+}
+
+_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    ccd_real_t dot;
+
+    dot  = a->v[0] * b->v[0];
+    dot += a->v[1] * b->v[1];
+    dot += a->v[2] * b->v[2];
+    return dot;
+}
+
+_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b)
+{
+    d->v[0] = (a->v[1] * b->v[2]) - (a->v[2] * b->v[1]);
+    d->v[1] = (a->v[2] * b->v[0]) - (a->v[0] * b->v[2]);
+    d->v[2] = (a->v[0] * b->v[1]) - (a->v[1] * b->v[0]);
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_VEC3_H__ */