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Diffstat (limited to 'libs/ode-0.16.1/include/ode/common.h')
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1 files changed, 568 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/include/ode/common.h b/libs/ode-0.16.1/include/ode/common.h new file mode 100644 index 0000000..b0a5793 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/common.h @@ -0,0 +1,568 @@ +/************************************************************************* + * * + * 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_COMMON_H_ +#define _ODE_COMMON_H_ + +#include <ode/odeconfig.h> +#include <ode/error.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +/* configuration stuff */ + +/* constants */ + +/* pi and 1/sqrt(2) are defined here if necessary because they don't get + * defined in <math.h> on some platforms (like MS-Windows) + */ + +#ifndef M_PI +#define M_PI REAL(3.1415926535897932384626433832795029) +#endif +#ifndef M_PI_2 +#define M_PI_2 REAL(1.5707963267948966192313216916398) +#endif +#ifndef M_SQRT1_2 +#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490) +#endif + + +/* floating point data type, vector, matrix and quaternion types */ + +#if defined(dSINGLE) +typedef float dReal; +#ifdef dDOUBLE +#error You can only #define dSINGLE or dDOUBLE, not both. +#endif /* dDOUBLE */ +#elif defined(dDOUBLE) +typedef double dReal; +#else +#error You must #define dSINGLE or dDOUBLE +#endif + +/* Detect if we've got both trimesh engines enabled. */ +#if dTRIMESH_ENABLED +#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT +#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both. +#endif +#endif /* dTRIMESH_ENABLED */ + +/* + * Define a type for indices, either 16 or 32 bit, based on build option + * TODO: Currently GIMPACT only supports 32 bit indices. + */ +#if dTRIMESH_16BIT_INDICES +#if dTRIMESH_GIMPACT +typedef duint32 dTriIndex; +#else /* dTRIMESH_GIMPACT */ +typedef duint16 dTriIndex; +#endif /* dTRIMESH_GIMPACT */ +#else /* dTRIMESH_16BIT_INDICES */ +typedef duint32 dTriIndex; +#endif /* dTRIMESH_16BIT_INDICES */ + +/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified + * (used to compute matrix leading dimensions) + */ +#define dPAD(a) (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a)) + +typedef enum { + dSA__MIN, + + dSA_X = dSA__MIN, + dSA_Y, + dSA_Z, + + dSA__MAX, +} dSpaceAxis; + +typedef enum { + dMD__MIN, + + dMD_LINEAR = dMD__MIN, + dMD_ANGULAR, + + dMD__MAX, +} dMotionDynamics; + +typedef enum { + dDA__MIN, + + dDA__L_MIN = dDA__MIN + dMD_LINEAR * dSA__MAX, + + dDA_LX = dDA__L_MIN + dSA_X, + dDA_LY = dDA__L_MIN + dSA_Y, + dDA_LZ = dDA__L_MIN + dSA_Z, + + dDA__L_MAX = dDA__L_MIN + dSA__MAX, + + dDA__A_MIN = dDA__MIN + dMD_ANGULAR * dSA__MAX, + + dDA_AX = dDA__A_MIN + dSA_X, + dDA_AY = dDA__A_MIN + dSA_Y, + dDA_AZ = dDA__A_MIN + dSA_Z, + + dDA__A_MAX = dDA__A_MIN + dSA__MAX, + + dDA__MAX = dDA__MIN + dMD__MAX * dSA__MAX, +} dDynamicsAxis; + +typedef enum { + dV3E__MIN, + + dV3E__AXES_MIN = dV3E__MIN, + + dV3E_X = dV3E__AXES_MIN + dSA_X, + dV3E_Y = dV3E__AXES_MIN + dSA_Y, + dV3E_Z = dV3E__AXES_MIN + dSA_Z, + + dV3E__AXES_MAX = dV3E__AXES_MIN + dSA__MAX, + + dV3E_PAD = dV3E__AXES_MAX, + + dV3E__MAX, + + dV3E__AXES_COUNT = dV3E__AXES_MAX - dV3E__AXES_MIN, +} dVec3Element; + +typedef enum { + dV4E__MIN, + + dV4E_X = dV4E__MIN + dSA_X, + dV4E_Y = dV4E__MIN + dSA_Y, + dV4E_Z = dV4E__MIN + dSA_Z, + dV4E_O = dV4E__MIN + dSA__MAX, + + dV4E__MAX, +} dVec4Element; + +typedef enum { + dM3E__MIN, + + dM3E__X_MIN = dM3E__MIN + dSA_X * dV3E__MAX, + + dM3E__X_AXES_MIN = dM3E__X_MIN + dV3E__AXES_MIN, + + dM3E_XX = dM3E__X_MIN + dV3E_X, + dM3E_XY = dM3E__X_MIN + dV3E_Y, + dM3E_XZ = dM3E__X_MIN + dV3E_Z, + + dM3E__X_AXES_MAX = dM3E__X_MIN + dV3E__AXES_MAX, + + dM3E_XPAD = dM3E__X_MIN + dV3E_PAD, + + dM3E__X_MAX = dM3E__X_MIN + dV3E__MAX, + + dM3E__Y_MIN = dM3E__MIN + dSA_Y * dV3E__MAX, + + dM3E__Y_AXES_MIN = dM3E__Y_MIN + dV3E__AXES_MIN, + + dM3E_YX = dM3E__Y_MIN + dV3E_X, + dM3E_YY = dM3E__Y_MIN + dV3E_Y, + dM3E_YZ = dM3E__Y_MIN + dV3E_Z, + + dM3E__Y_AXES_MAX = dM3E__Y_MIN + dV3E__AXES_MAX, + + dM3E_YPAD = dM3E__Y_MIN + dV3E_PAD, + + dM3E__Y_MAX = dM3E__Y_MIN + dV3E__MAX, + + dM3E__Z_MIN = dM3E__MIN + dSA_Z * dV3E__MAX, + + dM3E__Z_AXES_MIN = dM3E__Z_MIN + dV3E__AXES_MIN, + + dM3E_ZX = dM3E__Z_MIN + dV3E_X, + dM3E_ZY = dM3E__Z_MIN + dV3E_Y, + dM3E_ZZ = dM3E__Z_MIN + dV3E_Z, + + dM3E__Z_AXES_MAX = dM3E__Z_MIN + dV3E__AXES_MAX, + + dM3E_ZPAD = dM3E__Z_MIN + dV3E_PAD, + + dM3E__Z_MAX = dM3E__Z_MIN + dV3E__MAX, + + dM3E__MAX = dM3E__MIN + dSA__MAX * dV3E__MAX, +} dMat3Element; + +typedef enum { + dM4E__MIN, + + dM4E__X_MIN = dM4E__MIN + dV4E_X * dV4E__MAX, + + dM4E_XX = dM4E__X_MIN + dV4E_X, + dM4E_XY = dM4E__X_MIN + dV4E_Y, + dM4E_XZ = dM4E__X_MIN + dV4E_Z, + dM4E_XO = dM4E__X_MIN + dV4E_O, + + dM4E__X_MAX = dM4E__X_MIN + dV4E__MAX, + + dM4E__Y_MIN = dM4E__MIN + dV4E_Y * dV4E__MAX, + + dM4E_YX = dM4E__Y_MIN + dV4E_X, + dM4E_YY = dM4E__Y_MIN + dV4E_Y, + dM4E_YZ = dM4E__Y_MIN + dV4E_Z, + dM4E_YO = dM4E__Y_MIN + dV4E_O, + + dM4E__Y_MAX = dM4E__Y_MIN + dV4E__MAX, + + dM4E__Z_MIN = dM4E__MIN + dV4E_Z * dV4E__MAX, + + dM4E_ZX = dM4E__Z_MIN + dV4E_X, + dM4E_ZY = dM4E__Z_MIN + dV4E_Y, + dM4E_ZZ = dM4E__Z_MIN + dV4E_Z, + dM4E_ZO = dM4E__Z_MIN + dV4E_O, + + dM4E__Z_MAX = dM4E__Z_MIN + dV4E__MAX, + + dM4E__O_MIN = dM4E__MIN + dV4E_O * dV4E__MAX, + + dM4E_OX = dM4E__O_MIN + dV4E_X, + dM4E_OY = dM4E__O_MIN + dV4E_Y, + dM4E_OZ = dM4E__O_MIN + dV4E_Z, + dM4E_OO = dM4E__O_MIN + dV4E_O, + + dM4E__O_MAX = dM4E__O_MIN + dV4E__MAX, + + dM4E__MAX = dM4E__MIN + dV4E__MAX * dV4E__MAX, +} dMat4Element; + +typedef enum { + dQUE__MIN, + + dQUE_R = dQUE__MIN, + + dQUE__AXIS_MIN, + + dQUE_I = dQUE__AXIS_MIN + dSA_X, + dQUE_J = dQUE__AXIS_MIN + dSA_Y, + dQUE_K = dQUE__AXIS_MIN + dSA_Z, + + dQUE__AXIS_MAX = dQUE__AXIS_MIN + dSA__MAX, + + dQUE__MAX = dQUE__AXIS_MAX, +} dQuatElement; + +/* these types are mainly just used in headers */ +typedef dReal dVector3[dV3E__MAX]; +typedef dReal dVector4[dV4E__MAX]; +typedef dReal dMatrix3[dM3E__MAX]; +typedef dReal dMatrix4[dM4E__MAX]; +typedef dReal dMatrix6[(dMD__MAX * dV3E__MAX) * (dMD__MAX * dSA__MAX)]; +typedef dReal dQuaternion[dQUE__MAX]; + + +/* precision dependent scalar math functions */ + +#if defined(dSINGLE) + +#define REAL(x) (x##f) /* form a constant */ +#define dRecip(x) ((1.0f/(x))) /* reciprocal */ +#define dSqrt(x) (sqrtf(x)) /* square root */ +#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */ +#define dSin(x) (sinf(x)) /* sine */ +#define dCos(x) (cosf(x)) /* cosine */ +#define dFabs(x) (fabsf(x)) /* absolute value */ +#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */ +#define dAsin(x) (asinf(x)) +#define dAcos(x) (acosf(x)) +#define dFMod(a,b) (fmodf(a,b)) /* modulo */ +#define dFloor(x) floorf(x) /* floor */ +#define dCeil(x) ceilf(x) /* ceil */ +#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */ +#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */ + +#ifdef HAVE___ISNANF +#define dIsNan(x) (__isnanf(x)) +#elif defined(HAVE__ISNANF) +#define dIsNan(x) (_isnanf(x)) +#elif defined(HAVE_ISNANF) +#define dIsNan(x) (isnanf(x)) +#else + /* + fall back to _isnan which is the VC way, + this may seem redundant since we already checked + for _isnan before, but if isnan is detected by + configure but is not found during compilation + we should always make sure we check for __isnanf, + _isnanf and isnanf in that order before falling + back to a default + */ +#define dIsNan(x) (_isnan(x)) +#endif + +#elif defined(dDOUBLE) + +#define REAL(x) (x) +#define dRecip(x) (1.0/(x)) +#define dSqrt(x) sqrt(x) +#define dRecipSqrt(x) (1.0/sqrt(x)) +#define dSin(x) sin(x) +#define dCos(x) cos(x) +#define dFabs(x) fabs(x) +#define dAtan2(y,x) atan2((y),(x)) +#define dAsin(x) asin(x) +#define dAcos(x) acos(x) +#define dFMod(a,b) (fmod((a),(b))) +#define dFloor(x) floor(x) +#define dCeil(x) ceil(x) +#define dCopySign(a,b) _ode_copysign(a, b) +#define dNextAfter(x, y) _ode_nextafter(x, y) + +#ifdef HAVE___ISNAN +#define dIsNan(x) (__isnan(x)) +#elif defined(HAVE__ISNAN) +#define dIsNan(x) (_isnan(x)) +#elif defined(HAVE_ISNAN) +#define dIsNan(x) (isnan(x)) +#else +#define dIsNan(x) (_isnan(x)) +#endif + +#else +#error You must #define dSINGLE or dDOUBLE +#endif + +ODE_PURE_INLINE dReal dMin(dReal x, dReal y) { return x <= y ? x : y; } +ODE_PURE_INLINE dReal dMax(dReal x, dReal y) { return x <= y ? y : x; } + + +/* internal object types (all prefixed with `dx') */ + +struct dxWorld; /* dynamics world */ +struct dxSpace; /* collision space */ +struct dxBody; /* rigid body (dynamics object) */ +struct dxGeom; /* geometry (collision object) */ +struct dxJoint; /* joint */ +struct dxJointGroup;/* joint group */ + + +typedef struct dxWorld *dWorldID; +typedef struct dxSpace *dSpaceID; +typedef struct dxBody *dBodyID; +typedef struct dxGeom *dGeomID; +typedef struct dxJoint *dJointID; +typedef struct dxJointGroup *dJointGroupID; + + +/* error numbers */ + +enum { + d_ERR_UNKNOWN = 0, /* unknown error */ + d_ERR_IASSERT, /* internal assertion failed */ + d_ERR_UASSERT, /* user assertion failed */ + d_ERR_LCP /* user assertion failed */ +}; + + +/* joint type numbers */ + +typedef enum { + dJointTypeNone = 0, /* or "unknown" */ + dJointTypeBall, + dJointTypeHinge, + dJointTypeSlider, + dJointTypeContact, + dJointTypeUniversal, + dJointTypeHinge2, + dJointTypeFixed, + dJointTypeNull, + dJointTypeAMotor, + dJointTypeLMotor, + dJointTypePlane2D, + dJointTypePR, + dJointTypePU, + dJointTypePiston, + dJointTypeDBall, + dJointTypeDHinge, + dJointTypeTransmission, +} dJointType; + + +/* an alternative way of setting joint parameters, using joint parameter + * structures and member constants. we don't actually do this yet. + */ + +/* +typedef struct dLimot { + int mode; + dReal lostop, histop; + dReal vel, fmax; + dReal fudge_factor; + dReal bounce, soft; + dReal suspension_erp, suspension_cfm; +} dLimot; + +enum { + dLimotLoStop = 0x0001, + dLimotHiStop = 0x0002, + dLimotVel = 0x0004, + dLimotFMax = 0x0008, + dLimotFudgeFactor = 0x0010, + dLimotBounce = 0x0020, + dLimotSoft = 0x0040 +}; +*/ + + +/* standard joint parameter names. why are these here? - because we don't want + * to include all the joint function definitions in joint.cpp. hmmmm. + * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument, + * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and + * paste between these two. + */ + +#define D_ALL_PARAM_NAMES(start) \ + /* parameters for limits and motors */ \ + dParamLoStop = start, \ + dParamHiStop, \ + dParamVel, \ + dParamLoVel, \ + dParamHiVel, \ + dParamFMax, \ + dParamFudgeFactor, \ + dParamBounce, \ + dParamCFM, \ + dParamStopERP, \ + dParamStopCFM, \ + /* parameters for suspension */ \ + dParamSuspensionERP, \ + dParamSuspensionCFM, \ + dParamERP, \ + + /* + * \enum D_ALL_PARAM_NAMES_X + * + * \var dParamGroup This is the starting value of the different group + * (i.e. dParamGroup1, dParamGroup2, dParamGroup3) + * It also helps in the use of parameter + * (dParamGroup2 | dParamFMax) == dParamFMax2 + */ +#define D_ALL_PARAM_NAMES_X(start,x) \ + dParamGroup ## x = start, \ + /* parameters for limits and motors */ \ + dParamLoStop ## x = start, \ + dParamHiStop ## x, \ + dParamVel ## x, \ + dParamLoVel ## x, \ + dParamHiVel ## x, \ + dParamFMax ## x, \ + dParamFudgeFactor ## x, \ + dParamBounce ## x, \ + dParamCFM ## x, \ + dParamStopERP ## x, \ + dParamStopCFM ## x, \ + /* parameters for suspension */ \ + dParamSuspensionERP ## x, \ + dParamSuspensionCFM ## x, \ + dParamERP ## x, + +enum { + D_ALL_PARAM_NAMES(0) + dParamsInGroup, /* < Number of parameter in a group */ + D_ALL_PARAM_NAMES_X(0x000,1) + D_ALL_PARAM_NAMES_X(0x100,2) + D_ALL_PARAM_NAMES_X(0x200,3) + + /* add a multiple of this constant to the basic parameter numbers to get + * the parameters for the second, third etc axes. + */ + dParamGroup=0x100 +}; + + +/* angular motor mode numbers */ + +enum { + dAMotorUser = 0, + dAMotorEuler = 1 +}; + +/* transmission joint mode numbers */ + +enum { + dTransmissionParallelAxes = 0, + dTransmissionIntersectingAxes = 1, + dTransmissionChainDrive = 2 +}; + + +/* joint force feedback information */ + +typedef struct dJointFeedback { + dVector3 f1; /* force applied to body 1 */ + dVector3 t1; /* torque applied to body 1 */ + dVector3 f2; /* force applied to body 2 */ + dVector3 t2; /* torque applied to body 2 */ +} dJointFeedback; + + +/* private functions that must be implemented by the collision library: + * (1) indicate that a geom has moved, (2) get the next geom in a body list. + * these functions are called whenever the position of geoms connected to a + * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or + * when the ODE step function updates the body state. + */ + +void dGeomMoved (dGeomID); +dGeomID dGeomGetBodyNext (dGeomID); + +/** + * dGetConfiguration returns the specific ODE build configuration as + * a string of tokens. The string can be parsed in a similar way to + * the OpenGL extension mechanism, the naming convention should be + * familiar too. The following extensions are reported: + * + * ODE + * ODE_single_precision + * ODE_double_precision + * ODE_EXT_no_debug + * ODE_EXT_trimesh + * ODE_EXT_opcode + * ODE_EXT_gimpact + * ODE_OPC_16bit_indices + * ODE_OPC_new_collider + * ODE_EXT_mt_collisions + * ODE_EXT_threading + * ODE_THR_builtin_impl + */ +ODE_API const char* dGetConfiguration (void); + +/** + * Helper to check for a token in the ODE configuration string. + * Caution, this function is case sensitive. + * + * @param token A configuration token, see dGetConfiguration for details + * + * @return 1 if exact token is present, 0 if not present + */ +ODE_API int dCheckConfiguration( const char* token ); + +#ifdef __cplusplus +} +#endif + +#endif |