add ode

1 files changed, 107 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/odeou.cpp b/libs/ode-0.16.1/ode/src/odeou.cpp
new file mode 100644
index 0000000..e784c41
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/odeou.cpp
@@ -0,0 +1,107 @@
+/*************************************************************************
+ *                                                                       *
+ * OU library interface file for Open Dynamics Engine,                   *
+ * Copyright (C) 2008-2019 Oleh Derevenko. All rights reserved.          *
+ * Email: odar@eleks.com (change all "a" to "e")                         *
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+ODE interface to OU library implementation.
+
+*/
+
+
+#include <ode/common.h>
+#include <ode/memory.h>
+#include "config.h"
+#include "odeou.h"
+
+
+
+#if dOU_ENABLED
+
+
+using _OU_NAMESPACE::EASSERTIONFAILURESEVERITY;
+using _OU_NAMESPACE::AFS__MAX;
+using _OU_NAMESPACE::CMemoryManagerCustomization;
+using _OU_NAMESPACE::CAssertionCheckCustomization;
+
+
+BEGIN_NAMESPACE_OU();
+template<>
+const char *const CEnumUnsortedElementArray<EASSERTIONFAILURESEVERITY, AFS__MAX, const char *>::m_aetElementArray[] =
+{
+    "assert", // AFS_ASSERT,
+    "check", // AFS_CHECK,
+};
+END_NAMESPACE_OU();
+
+static const CEnumUnsortedElementArray<EASSERTIONFAILURESEVERITY, AFS__MAX, const char *> g_aszAssertionFailureSeverityNames;
+
+
+static void _OU_CONVENTION_CALLBACK ForwardOUAssertionFailure(EASSERTIONFAILURESEVERITY fsFailureSeverity, 
+                                                              const char *szAssertionExpression, const char *szAssertionFileName, unsigned int uiAssertionSourceLine)
+{
+    dDebug(d_ERR_IASSERT, "Assertion failure in OU Library. Kind: %s, expression: \"%s\", file: \"%s\", line: %u",
+        g_aszAssertionFailureSeverityNames.Encode(fsFailureSeverity), 
+        szAssertionExpression, szAssertionFileName, uiAssertionSourceLine);
+}
+
+
+static void *_OU_CONVENTION_CALLBACK ForwardOUMemoryAlloc(size_t nBlockSize)
+{
+    return dAlloc(nBlockSize);
+}
+
+static void *_OU_CONVENTION_CALLBACK ForwardOUMemoryRealloc(void *pv_ExistingBlock, size_t nBlockNewSize)
+{
+    return dRealloc(pv_ExistingBlock, 0, nBlockNewSize);
+}
+
+static void _OU_CONVENTION_CALLBACK ForwardOUMemoryFree(void *pv_ExistingBlock)
+{
+    return dFree(pv_ExistingBlock, 0);
+}
+
+
+bool COdeOu::DoOUCustomizations()
+{
+    CMemoryManagerCustomization::CustomizeMemoryManager(&ForwardOUMemoryAlloc, 
+        &ForwardOUMemoryRealloc, &ForwardOUMemoryFree);
+
+    CAssertionCheckCustomization::CustomizeAssertionChecks(&ForwardOUAssertionFailure);
+
+    return true;
+}
+
+void COdeOu::UndoOUCustomizations()
+{
+    CAssertionCheckCustomization::CustomizeAssertionChecks(NULL);
+
+    CMemoryManagerCustomization::CustomizeMemoryManager(NULL, NULL, NULL);
+}
+
+
+#endif // dOU_ENABLED
+