add ode

1 files changed, 72 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/odemath.h b/libs/ode-0.16.1/ode/src/odemath.h
new file mode 100644
index 0000000..becf284
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/odemath.h
@@ -0,0 +1,72 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE__PRIVATE_ODEMATH_H_
+#define _ODE__PRIVATE_ODEMATH_H_
+
+#include <ode/odemath.h>
+#include "error.h"
+
+
+bool dxCouldBeNormalized3(const dVector3 a);
+bool dxSafeNormalize3 (dVector3 a);
+bool dxCouldBeNormalized4(const dVector4 a);
+bool dxSafeNormalize4 (dVector4 a);
+
+ODE_PURE_INLINE 
+void dxNormalize3(dVector3 a)
+{
+    bool bSafeNormalize3Fault;
+    if ((bSafeNormalize3Fault = !dxSafeNormalize3(a)))
+    {
+        dIVERIFY(!bSafeNormalize3Fault);
+
+        a[0] = REAL(1.0); a[2] = a[1] = REAL(0.0);
+    }
+}
+
+ODE_PURE_INLINE 
+void dxNormalize4(dVector4 a)
+{
+    bool bSafeNormalize4Fault;
+    if ((bSafeNormalize4Fault = !dxSafeNormalize4(a)))
+    {
+        dIVERIFY(!bSafeNormalize4Fault);
+
+        a[0] = REAL(1.0); a[3] = a[2] = a[1] = REAL(0.0);
+    }
+}
+
+void dxPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
+bool dxOrthogonalizeR(dMatrix3 m);
+
+// For internal use
+#define dSafeNormalize3(a) dxSafeNormalize3(a)
+#define dSafeNormalize4(a) dxSafeNormalize4(a)
+#define dNormalize3(a) dxNormalize3(a)
+#define dNormalize4(a) dxNormalize4(a)
+
+#define dPlaneSpace(n, p, q) dxPlaneSpace(n, p, q)
+#define dOrthogonalizeR(m) dxOrthogonalizeR(m)
+
+
+#endif