add ode

1 files changed, 138 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/objects.cpp b/libs/ode-0.16.1/ode/src/objects.cpp
new file mode 100644
index 0000000..e024aca
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/objects.cpp
@@ -0,0 +1,138 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Object, body, and world methods.
+
+
+#include <ode/common.h>
+#include <ode/threading_impl.h>
+#include <ode/objects.h>
+#include "config.h"
+#include "objects.h"
+#include "default_threading.h"
+#include "threading_impl.h"
+#include "matrix.h"
+#include "util.h"
+
+
+#define dWORLD_DEFAULT_GLOBAL_ERP REAL(0.2)
+
+#if defined(dSINGLE)
+#define dWORLD_DEFAULT_GLOBAL_CFM REAL(1e-5)
+#elif defined(dDOUBLE)
+#define dWORLD_DEFAULT_GLOBAL_CFM REAL(1e-10)
+#else
+#error dSINGLE or dDOUBLE must be defined
+#endif
+
+
+dObject::~dObject()
+{
+    // Do nothing - a virtual destructor
+}
+
+
+dxAutoDisable::dxAutoDisable(void *):
+    idle_time(REAL(0.0)),
+    idle_steps(10),
+    average_samples(1), // Default is 1 sample => Instantaneous velocity
+    linear_average_threshold(REAL(0.01)*REAL(0.01)), // (magnitude squared)
+    angular_average_threshold(REAL(0.01)*REAL(0.01)) // (magnitude squared)
+{
+}
+
+dxDampingParameters::dxDampingParameters(void *):
+    linear_scale(REAL(0.0)),
+    angular_scale(REAL(0.0)),
+    linear_threshold(REAL(0.01) * REAL(0.01)),
+    angular_threshold(REAL(0.01) * REAL(0.01))
+{
+}
+
+dxQuickStepParameters::dxQuickStepParameters(void *):
+    num_iterations(20),
+    w(REAL(1.3))
+{
+}
+
+dxContactParameters::dxContactParameters(void *):
+    max_vel(dInfinity),
+    min_depth(REAL(0.0))
+{
+}
+
+dxWorld::dxWorld():
+    dBase(),
+    dxThreadingBase(),
+    firstbody(NULL),
+    firstjoint(NULL),
+    nb(0),
+    nj(0),
+    global_erp(dWORLD_DEFAULT_GLOBAL_ERP),
+    global_cfm(dWORLD_DEFAULT_GLOBAL_CFM),
+    adis(NULL),
+    body_flags(0),
+    islands_max_threads(dWORLDSTEP_THREADCOUNT_UNLIMITED),
+    wmem(NULL),
+    qs(NULL),
+    contactp(NULL),
+    dampingp(NULL),
+    max_angular_speed(dInfinity),
+    userdata(0)
+{
+    dxThreadingBase::setThreadingDefaultImplProvider(this);
+
+    dSetZero (gravity, 4);
+}
+
+dxWorld::~dxWorld()
+{
+    if (wmem)
+    {
+        wmem->CleanupWorldReferences(this);
+        wmem->Release();
+    }
+}
+
+
+void dxWorld::assignThreadingImpl(const dxThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl)
+{
+    if (wmem != NULL)
+    {
+        // Free objects allocated with old threading
+        wmem->CleanupWorldReferences(this);
+    }
+
+    dxThreadingBase::assignThreadingImpl(functions_info, threading_impl);
+}
+
+dxWorldProcessContext *dxWorld::unsafeGetWorldProcessingContext() const
+{
+    return wmem->GetWorldProcessingContext();
+}
+
+const dxThreadingFunctionsInfo *dxWorld::retrieveThreadingDefaultImpl(dThreadingImplementationID &out_defaultImpl)
+{
+    out_defaultImpl = DefaultThreadingHolder::getDefaultThreadingImpl();
+    return DefaultThreadingHolder::getDefaultThreadingFunctions();
+}
+