add ode

1 files changed, 115 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/nextafterf.c b/libs/ode-0.16.1/ode/src/nextafterf.c
new file mode 100644
index 0000000..78fbe31
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/nextafterf.c
@@ -0,0 +1,115 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* _nextafterf() implementation for MSVC */
+
+#include <ode/common.h>
+#include "config.h"
+
+
+#if defined(_ODE__NEXTAFTERF_REQUIRED)
+
+/*
+ * ====================================================
+ * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved.
+ *
+ * Developed at SunPro, a Sun Microsystems, Inc. business.
+ * Permission to use, copy, modify, and distribute this
+ * software is freely granted, provided that this notice 
+ * is preserved.
+ * ====================================================
+ */
+
+/* A union which permits us to convert between a float and a 32 bit int. */
+
+typedef union
+{
+    float value;
+    uint32 word;
+} ieee_float_shape_type;
+
+/* Get a 32 bit int from a float.  */
+
+#define GET_FLOAT_WORD(i,d)					\
+    do {								\
+        volatile ieee_float_shape_type gf_u;					\
+        gf_u.value = (d);						\
+        (i) = gf_u.word;						\
+    } while (0)
+
+/* Set a float from a 32 bit int.  */
+
+#define SET_FLOAT_WORD(d,i)					\
+    do {								\
+        volatile ieee_float_shape_type sf_u;					\
+        sf_u.word = (i);						\
+        (d) = sf_u.value;						\
+    } while (0)
+
+
+#undef nextafterf
+float _nextafterf(float x, float y)
+{
+    int32 hx,hy,ix,iy;
+
+    GET_FLOAT_WORD(hx,x);
+    GET_FLOAT_WORD(hy,y);
+    ix = hx&0x7fffffff;		/* |x| */
+    iy = hy&0x7fffffff;		/* |y| */
+
+    if((ix>0x7f800000) ||   /* x is nan */ 
+        (iy>0x7f800000))     /* y is nan */ 
+        return x+y;				
+    if(x==y) return x;		/* x=y, return x */
+    if(ix==0) {				/* x == 0 */
+        SET_FLOAT_WORD(x,(hy&0x80000000)|1);/* return +-minsubnormal */
+        y = x*x;
+        if(y==x) return y; else return x;	/* raise underflow flag */
+    } 
+    if(hx>=0) {				/* x > 0 */
+        if(hx>hy) {				/* x > y, x -= ulp */
+            hx -= 1;
+        } else {				/* x < y, x += ulp */
+            hx += 1;
+        }
+    } else {				/* x < 0 */
+        if(hy>=0||hx>hy){			/* x < y, x -= ulp */
+            hx -= 1;
+        } else {				/* x > y, x += ulp */
+            hx += 1;
+        }
+    }
+    hy = hx&0x7f800000;
+    if(hy>=0x7f800000) return x+x;	/* overflow  */
+    if(hy<0x00800000) {		/* underflow */
+        y = x*x;
+        if(y!=x) {		/* raise underflow flag */
+            SET_FLOAT_WORD(y,hx);
+            return y;
+        }
+    }
+    SET_FLOAT_WORD(x,hx);
+    return x;
+}
+
+
+#endif /* #if defined(_ODE__NEXTAFTERF_REQUIRED) */