add ode

1 files changed, 101 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/error.h b/libs/ode-0.16.1/ode/src/error.h
new file mode 100644
index 0000000..4f561f8
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/error.h
@@ -0,0 +1,101 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 private error handling functions and macros */
+
+#ifndef _ODE__PRIVATE_ERROR_H_
+#define _ODE__PRIVATE_ERROR_H_
+
+#include <ode/error.h>
+#include <ode/common.h>
+
+
+
+/* debugging:
+ *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
+ *            we want to know where.
+ *   UASSERT  is a user assertion, i.e. if it fails a nice error message
+ *            should be printed for the user.
+ *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
+ *            is printed.
+ *   DEBUGMSG just prints out a message
+ */
+
+#  if defined(__STDC__) && __STDC_VERSION__ >= 199901L
+#    define __FUNCTION__ __func__
+#  endif
+#ifndef dNODEBUG
+#  ifdef __GNUC__
+#    define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+      "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); } }
+#    define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
+      msg " in %s()", __FUNCTION__); } }
+#    define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT,				\
+  msg " in %s() [%s:%u]", __FUNCTION__,__FILE__,__LINE__); }
+#  else // not __GNUC__
+#    define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+      "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); } }
+#    define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
+      msg " (%s:%u)", __FILE__,__LINE__); } }
+#    define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
+      msg " (%s:%u)", __FILE__,__LINE__); }
+#  endif
+#  define dIVERIFY(a) dIASSERT(a)
+#  define dUVERIFY(a, msg) dUASSERT(a, msg)
+#else
+#  define dIASSERT(a) ((void)0)
+#  define dUASSERT(a,msg) ((void)0)
+#  define dDEBUGMSG(msg) ((void)0)
+#  define dIVERIFY(a) ((void)(a))
+#  define dUVERIFY(a, msg) ((void)(a))
+#endif
+
+#ifdef __GNUC__
+#define dUNUSED(Name) Name __attribute__((unused))
+#else // not __GNUC__
+#define dUNUSED(Name) Name
+#endif
+
+#if __cplusplus >= 201103L 
+#define dSASSERT(e)  static_assert(e, #e)
+#define dSMSGASSERT(e, message)  static_assert(e, message)
+#else
+#define d_SASSERT_INNER_TOKENPASTE(x, y) x ## y
+#define d_SASSERT_TOKENPASTE(x, y) d_SASSERT_INNER_TOKENPASTE(x, y)
+#define dSASSERT(e) typedef char dUNUSED(d_SASSERT_TOKENPASTE(d_StaticAssertionFailed_, __LINE__)[(e)?1:-1])
+#define dSMSGASSERT(e, message)  dSASSERT(e)
+#endif
+
+#  ifdef __GNUC__
+#    define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+      "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); *(int *)0 = 0; } }
+#  else // not __GNUC__
+#    define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+      "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); *(int *)0 = 0; } }
+#  endif
+
+// Argument assert is a special case of user assert
+#define dAASSERT(a) dUASSERT(a, "Bad argument(s)")
+#define dAVERIFY(a) dUVERIFY(a, "Bad argument(s)")
+
+
+#endif