diff options
Diffstat (limited to 'libs/ode-0.16.1/include/ode')
33 files changed, 11877 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/include/ode/Makefile.am b/libs/ode-0.16.1/include/ode/Makefile.am new file mode 100644 index 0000000..ad06509 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/Makefile.am @@ -0,0 +1,34 @@ +libode_la_includedir = $(includedir)/ode +libode_la_include_HEADERS = \ + collision.h \ + collision_space.h \ + collision_trimesh.h \ + common.h \ + compatibility.h \ + contact.h \ + cooperative.h \ + error.h \ + export-dif.h \ + mass.h \ + matrix.h matrix_coop.h \ + memory.h \ + misc.h \ + objects.h \ + ode.h \ + odeconfig.h \ + odecpp.h \ + odecpp_collision.h \ + odeinit.h \ + odemath.h \ + odemath_legacy.h \ + rotation.h \ + threading.h \ + threading_impl.h \ + timer.h + + +EXTRA_DIST = README precision.h.in version.h.in + +dist_libode_la_include_HEADERS = precision.h version.h + + diff --git a/libs/ode-0.16.1/include/ode/Makefile.in b/libs/ode-0.16.1/include/ode/Makefile.in new file mode 100644 index 0000000..1dac65e --- /dev/null +++ b/libs/ode-0.16.1/include/ode/Makefile.in @@ -0,0 +1,642 @@ +# Makefile.in generated by automake 1.15 from Makefile.am. +# @configure_input@ + +# Copyright (C) 1994-2014 Free Software Foundation, Inc. + +# This Makefile.in is free software; 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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_COLLISION_H_ +#define _ODE_COLLISION_H_ + +#include <ode/common.h> +#include <ode/collision_space.h> +#include <ode/contact.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @defgroup collide Collision Detection + * + * ODE has two main components: a dynamics simulation engine and a collision + * detection engine. The collision engine is given information about the + * shape of each body. At each time step it figures out which bodies touch + * each other and passes the resulting contact point information to the user. + * The user in turn creates contact joints between bodies. + * + * Using ODE's collision detection is optional - an alternative collision + * detection system can be used as long as it can supply the right kinds of + * contact information. + */ + + +/* ************************************************************************ */ +/* general functions */ + +/** + * @brief Destroy a geom, removing it from any space. + * + * Destroy a geom, removing it from any space it is in first. This one + * function destroys a geom of any type, but to create a geom you must call + * a creation function for that type. + * + * When a space is destroyed, if its cleanup mode is 1 (the default) then all + * the geoms in that space are automatically destroyed as well. + * + * @param geom the geom to be destroyed. + * @ingroup collide + */ +ODE_API void dGeomDestroy (dGeomID geom); + + +/** + * @brief Set the user-defined data pointer stored in the geom. + * + * @param geom the geom to hold the data + * @param data the data pointer to be stored + * @ingroup collide + */ +ODE_API void dGeomSetData (dGeomID geom, void* data); + + +/** + * @brief Get the user-defined data pointer stored in the geom. + * + * @param geom the geom containing the data + * @ingroup collide + */ +ODE_API void *dGeomGetData (dGeomID geom); + + +/** + * @brief Set the body associated with a placeable geom. + * + * Setting a body on a geom automatically combines the position vector and + * rotation matrix of the body and geom, so that setting the position or + * orientation of one will set the value for both objects. Setting a body + * ID of zero gives the geom its own position and rotation, independent + * from any body. If the geom was previously connected to a body then its + * new independent position/rotation is set to the current position/rotation + * of the body. + * + * Calling these functions on a non-placeable geom results in a runtime + * error in the debug build of ODE. + * + * @param geom the geom to connect + * @param body the body to attach to the geom + * @ingroup collide + */ +ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); + + +/** + * @brief Get the body associated with a placeable geom. + * @param geom the geom to query. + * @sa dGeomSetBody + * @ingroup collide + */ +ODE_API dBodyID dGeomGetBody (dGeomID geom); + + +/** + * @brief Set the position vector of a placeable geom. + * + * If the geom is attached to a body, the body's position will also be changed. + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to set. + * @param x the new X coordinate. + * @param y the new Y coordinate. + * @param z the new Z coordinate. + * @sa dBodySetPosition + * @ingroup collide + */ +ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); + + +/** + * @brief Set the rotation matrix of a placeable geom. + * + * If the geom is attached to a body, the body's rotation will also be changed. + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to set. + * @param R the new rotation matrix. + * @sa dBodySetRotation + * @ingroup collide + */ +ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); + + +/** + * @brief Set the rotation of a placeable geom. + * + * If the geom is attached to a body, the body's rotation will also be changed. + * + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to set. + * @param Q the new rotation. + * @sa dBodySetQuaternion + * @ingroup collide + */ +ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); + + +/** + * @brief Get the position vector of a placeable geom. + * + * If the geom is attached to a body, the body's position will be returned. + * + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to query. + * @returns A pointer to the geom's position vector. + * @remarks The returned value is a pointer to the geom's internal + * data structure. It is valid until any changes are made + * to the geom. + * @sa dBodyGetPosition + * @ingroup collide + */ +ODE_API const dReal * dGeomGetPosition (dGeomID geom); + + +/** + * @brief Copy the position of a geom into a vector. + * @ingroup collide + * @param geom the geom to query + * @param pos a copy of the geom position + * @sa dGeomGetPosition + */ +ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); + + +/** + * @brief Get the rotation matrix of a placeable geom. + * + * If the geom is attached to a body, the body's rotation will be returned. + * + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to query. + * @returns A pointer to the geom's rotation matrix. + * @remarks The returned value is a pointer to the geom's internal + * data structure. It is valid until any changes are made + * to the geom. + * @sa dBodyGetRotation + * @ingroup collide + */ +ODE_API const dReal * dGeomGetRotation (dGeomID geom); + + +/** + * @brief Get the rotation matrix of a placeable geom. + * + * If the geom is attached to a body, the body's rotation will be returned. + * + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to query. + * @param R a copy of the geom rotation + * @sa dGeomGetRotation + * @ingroup collide + */ +ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); + + +/** + * @brief Get the rotation quaternion of a placeable geom. + * + * If the geom is attached to a body, the body's quaternion will be returned. + * + * Calling this function on a non-placeable geom results in a runtime error in + * the debug build of ODE. + * + * @param geom the geom to query. + * @param result a copy of the rotation quaternion. + * @sa dBodyGetQuaternion + * @ingroup collide + */ +ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); + + +/** + * @brief Return the axis-aligned bounding box. + * + * Return in aabb an axis aligned bounding box that surrounds the given geom. + * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the + * geom is a space, a bounding box that surrounds all contained geoms is + * returned. + * + * This function may return a pre-computed cached bounding box, if it can + * determine that the geom has not moved since the last time the bounding + * box was computed. + * + * @param geom the geom to query + * @param aabb the returned bounding box + * @ingroup collide + */ +ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); + + +/** + * @brief Determing if a geom is a space. + * @param geom the geom to query + * @returns Non-zero if the geom is a space, zero otherwise. + * @ingroup collide + */ +ODE_API int dGeomIsSpace (dGeomID geom); + + +/** + * @brief Query for the space containing a particular geom. + * @param geom the geom to query + * @returns The space that contains the geom, or NULL if the geom is + * not contained by a space. + * @ingroup collide + */ +ODE_API dSpaceID dGeomGetSpace (dGeomID); + + +/** + * @brief Given a geom, this returns its class. + * + * The ODE classes are: + * @li dSphereClass + * @li dBoxClass + * @li dCylinderClass + * @li dPlaneClass + * @li dRayClass + * @li dConvexClass + * @li dGeomTransformClass + * @li dTriMeshClass + * @li dSimpleSpaceClass + * @li dHashSpaceClass + * @li dQuadTreeSpaceClass + * @li dFirstUserClass + * @li dLastUserClass + * + * User-defined class will return their own number. + * + * @param geom the geom to query + * @returns The geom class ID. + * @ingroup collide + */ +ODE_API int dGeomGetClass (dGeomID geom); + + +/** + * @brief Set the "category" bitfield for the given geom. + * + * The category bitfield is used by spaces to govern which geoms will + * interact with each other. The bitfield is guaranteed to be at least + * 32 bits wide. The default category values for newly created geoms + * have all bits set. + * + * @param geom the geom to set + * @param bits the new bitfield value + * @ingroup collide + */ +ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); + + +/** + * @brief Set the "collide" bitfield for the given geom. + * + * The collide bitfield is used by spaces to govern which geoms will + * interact with each other. The bitfield is guaranteed to be at least + * 32 bits wide. The default category values for newly created geoms + * have all bits set. + * + * @param geom the geom to set + * @param bits the new bitfield value + * @ingroup collide + */ +ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); + + +/** + * @brief Get the "category" bitfield for the given geom. + * + * @param geom the geom to set + * @param bits the new bitfield value + * @sa dGeomSetCategoryBits + * @ingroup collide + */ +ODE_API unsigned long dGeomGetCategoryBits (dGeomID); + + +/** + * @brief Get the "collide" bitfield for the given geom. + * + * @param geom the geom to set + * @param bits the new bitfield value + * @sa dGeomSetCollideBits + * @ingroup collide + */ +ODE_API unsigned long dGeomGetCollideBits (dGeomID); + + +/** + * @brief Enable a geom. + * + * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, + * although they can still be members of a space. New geoms are created in + * the enabled state. + * + * @param geom the geom to enable + * @sa dGeomDisable + * @sa dGeomIsEnabled + * @ingroup collide + */ +ODE_API void dGeomEnable (dGeomID geom); + + +/** + * @brief Disable a geom. + * + * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, + * although they can still be members of a space. New geoms are created in + * the enabled state. + * + * @param geom the geom to disable + * @sa dGeomDisable + * @sa dGeomIsEnabled + * @ingroup collide + */ +ODE_API void dGeomDisable (dGeomID geom); + + +/** + * @brief Check to see if a geom is enabled. + * + * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, + * although they can still be members of a space. New geoms are created in + * the enabled state. + * + * @param geom the geom to query + * @returns Non-zero if the geom is enabled, zero otherwise. + * @sa dGeomDisable + * @sa dGeomIsEnabled + * @ingroup collide + */ +ODE_API int dGeomIsEnabled (dGeomID geom); + + +enum +{ + dGeomCommonControlClass = 0, + dGeomColliderControlClass = 1 +}; + +enum +{ + dGeomCommonAnyControlCode = 0, + + dGeomColliderSetMergeSphereContactsControlCode = 1, + dGeomColliderGetMergeSphereContactsControlCode = 2 +}; + +enum +{ + dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/ + dGeomColliderMergeContactsValue_None = 1, + dGeomColliderMergeContactsValue_Normals = 2, + dGeomColliderMergeContactsValue_Full = 3 +}; + +/** + * @brief Execute low level control operation for geometry. + * + * The variable the dataSize points to must be initialized before the call. + * If the size does not match the one expected for the control class/code function + * changes it to the size expected and returns failure. This implies the function + * can be called with NULL data and zero size to test if control class/code is supported + * and obtain required data size for it. + * + * dGeomCommonAnyControlCode applies to any control class and returns success if + * at least one control code is available for the given class with given geom. + * + * Currently there are the folliwing control classes supported: + * @li dGeomColliderControlClass + * + * For dGeomColliderControlClass there are the following codes available: + * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) + * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) + * + * @param geom the geom to control + * @param controlClass the control class + * @param controlCode the control code for the class + * @param dataValue the control argument pointer + * @param dataSize the control argument size provided or expected + * @returns Boolean execution status + * @ingroup collide + */ +ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize); + + +/** + * @brief Get world position of a relative point on geom. + * + * Calling this function on a non-placeable geom results in the same point being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomGetRelPointPos +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief takes a point in global coordinates and returns + * the point's position in geom-relative coordinates. + * + * Calling this function on a non-placeable geom results in the same point being + * returned. + * + * @remarks + * This is the inverse of dGeomGetRelPointPos() + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomGetPosRelPoint +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from geom-local to world coordinates. + * + * Calling this function on a non-placeable geom results in the same vector being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomVectorToWorld +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from world to geom-local coordinates. + * + * Calling this function on a non-placeable geom results in the same vector being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomVectorFromWorld +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + + +/* ************************************************************************ */ +/* geom offset from body */ + +/** + * @brief Set the local offset position of a geom from its body. + * + * Sets the geom's positional offset in local coordinates. + * After this call, the geom will be at a new position determined from the + * body's position and the offset. + * The geom must be attached to a body. + * If the geom did not have an offset, it is automatically created. + * + * @param geom the geom to set. + * @param x the new X coordinate. + * @param y the new Y coordinate. + * @param z the new Z coordinate. + * @ingroup collide + */ +ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); + + +/** + * @brief Set the local offset rotation matrix of a geom from its body. + * + * Sets the geom's rotational offset in local coordinates. + * After this call, the geom will be at a new position determined from the + * body's position and the offset. + * The geom must be attached to a body. + * If the geom did not have an offset, it is automatically created. + * + * @param geom the geom to set. + * @param R the new rotation matrix. + * @ingroup collide + */ +ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); + + +/** + * @brief Set the local offset rotation of a geom from its body. + * + * Sets the geom's rotational offset in local coordinates. + * After this call, the geom will be at a new position determined from the + * body's position and the offset. + * The geom must be attached to a body. + * If the geom did not have an offset, it is automatically created. + * + * @param geom the geom to set. + * @param Q the new rotation. + * @ingroup collide + */ +ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); + + +/** + * @brief Set the offset position of a geom from its body. + * + * Sets the geom's positional offset to move it to the new world + * coordinates. + * After this call, the geom will be at the world position passed in, + * and the offset will be the difference from the current body position. + * The geom must be attached to a body. + * If the geom did not have an offset, it is automatically created. + * + * @param geom the geom to set. + * @param x the new X coordinate. + * @param y the new Y coordinate. + * @param z the new Z coordinate. + * @ingroup collide + */ +ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); + + +/** + * @brief Set the offset rotation of a geom from its body. + * + * Sets the geom's rotational offset to orient it to the new world + * rotation matrix. + * After this call, the geom will be at the world orientation passed in, + * and the offset will be the difference from the current body orientation. + * The geom must be attached to a body. + * If the geom did not have an offset, it is automatically created. + * + * @param geom the geom to set. + * @param R the new rotation matrix. + * @ingroup collide + */ +ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); + + +/** + * @brief Set the offset rotation of a geom from its body. + * + * Sets the geom's rotational offset to orient it to the new world + * rotation matrix. + * After this call, the geom will be at the world orientation passed in, + * and the offset will be the difference from the current body orientation. + * The geom must be attached to a body. + * If the geom did not have an offset, it is automatically created. + * + * @param geom the geom to set. + * @param Q the new rotation. + * @ingroup collide + */ +ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); + + +/** + * @brief Clear any offset from the geom. + * + * If the geom has an offset, it is eliminated and the geom is + * repositioned at the body's position. If the geom has no offset, + * this function does nothing. + * This is more efficient than calling dGeomSetOffsetPosition(zero) + * and dGeomSetOffsetRotation(identiy), because this function actually + * eliminates the offset, rather than leaving it as the identity transform. + * + * @param geom the geom to have its offset destroyed. + * @ingroup collide + */ +ODE_API void dGeomClearOffset(dGeomID geom); + + +/** + * @brief Check to see whether the geom has an offset. + * + * This function will return non-zero if the offset has been created. + * Note that there is a difference between a geom with no offset, + * and a geom with an offset that is the identity transform. + * In the latter case, although the observed behaviour is identical, + * there is a unnecessary computation involved because the geom will + * be applying the transform whenever it needs to recalculate its world + * position. + * + * @param geom the geom to query. + * @returns Non-zero if the geom has an offset, zero otherwise. + * @ingroup collide + */ +ODE_API int dGeomIsOffset(dGeomID geom); + + +/** + * @brief Get the offset position vector of a geom. + * + * Returns the positional offset of the geom in local coordinates. + * If the geom has no offset, this function returns the zero vector. + * + * @param geom the geom to query. + * @returns A pointer to the geom's offset vector. + * @remarks The returned value is a pointer to the geom's internal + * data structure. It is valid until any changes are made + * to the geom. + * @ingroup collide + */ +ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); + + +/** + * @brief Copy the offset position vector of a geom. + * + * Returns the positional offset of the geom in local coordinates. + * If the geom has no offset, this function returns the zero vector. + * + * @param geom the geom to query. + * @param pos returns the offset position + * @ingroup collide + */ +ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); + + +/** + * @brief Get the offset rotation matrix of a geom. + * + * Returns the rotational offset of the geom in local coordinates. + * If the geom has no offset, this function returns the identity + * matrix. + * + * @param geom the geom to query. + * @returns A pointer to the geom's offset rotation matrix. + * @remarks The returned value is a pointer to the geom's internal + * data structure. It is valid until any changes are made + * to the geom. + * @ingroup collide + */ +ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); + + +/** + * @brief Copy the offset rotation matrix of a geom. + * + * Returns the rotational offset of the geom in local coordinates. + * If the geom has no offset, this function returns the identity + * matrix. + * + * @param geom the geom to query. + * @param R returns the rotation matrix. + * @ingroup collide + */ +ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); + + +/** + * @brief Get the offset rotation quaternion of a geom. + * + * Returns the rotation offset of the geom as a quaternion. + * If the geom has no offset, the identity quaternion is returned. + * + * @param geom the geom to query. + * @param result a copy of the rotation quaternion. + * @ingroup collide + */ +ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); + + +/* ************************************************************************ */ +/* collision detection */ + +/* + * Just generate any contacts (disables any contact refining). + */ +#define CONTACTS_UNIMPORTANT 0x80000000 + +/** + * + * @brief Given two geoms o1 and o2 that potentially intersect, + * generate contact information for them. + * + * Internally, this just calls the correct class-specific collision + * functions for o1 and o2. + * + * @param o1 The first geom to test. + * @param o2 The second geom to test. + * + * @param flags The flags specify how contacts should be generated if + * the geoms touch. The lower 16 bits of flags is an integer that + * specifies the maximum number of contact points to generate. You must + * ask for at least one contact. + * Additionally, following bits may be set: + * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). + * All other bits in flags must be set to zero. In the future the other bits + * may be used to select from different contact generation strategies. + * + * @param contact Points to an array of dContactGeom structures. The array + * must be able to hold at least the maximum number of contacts. These + * dContactGeom structures may be embedded within larger structures in the + * array -- the skip parameter is the byte offset from one dContactGeom to + * the next in the array. If skip is sizeof(dContactGeom) then contact + * points to a normal (C-style) array. It is an error for skip to be smaller + * than sizeof(dContactGeom). + * + * @returns If the geoms intersect, this function returns the number of contact + * points generated (and updates the contact array), otherwise it returns 0 + * (and the contact array is not touched). + * + * @remarks If a space is passed as o1 or o2 then this function will collide + * all objects contained in o1 with all objects contained in o2, and return + * the resulting contact points. This method for colliding spaces with geoms + * (or spaces with spaces) provides no user control over the individual + * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. + * + * @remarks If o1 and o2 are the same geom then this function will do nothing + * and return 0. Technically speaking an object intersects with itself, but it + * is not useful to find contact points in this case. + * + * @remarks This function does not care if o1 and o2 are in the same space or not + * (or indeed if they are in any space at all). + * + * @ingroup collide + */ +ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, + int skip); + +/** + * @brief Determines which pairs of geoms in a space may potentially intersect, + * and calls the callback function for each candidate pair. + * + * @param space The space to test. + * + * @param data Passed from dSpaceCollide directly to the callback + * function. Its meaning is user defined. The o1 and o2 arguments are the + * geoms that may be near each other. + * + * @param callback A callback function is of type @ref dNearCallback. + * + * @remarks Other spaces that are contained within the colliding space are + * not treated specially, i.e. they are not recursed into. The callback + * function may be passed these contained spaces as one or both geom + * arguments. + * + * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom + * pairs to the callback function, but may also pass close but + * non-intersecting pairs. The number of these calls depends on the + * internal algorithms used by the space. Thus you should not expect + * that dCollide will return contacts for every pair passed to the + * callback. + * + * @sa dSpaceCollide2 + * @ingroup collide + */ +ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); + + +/** + * @brief Determines which geoms from one space may potentially intersect with + * geoms from another space, and calls the callback function for each candidate + * pair. + * + * @param space1 The first space to test. + * + * @param space2 The second space to test. + * + * @param data Passed from dSpaceCollide directly to the callback + * function. Its meaning is user defined. The o1 and o2 arguments are the + * geoms that may be near each other. + * + * @param callback A callback function is of type @ref dNearCallback. + * + * @remarks This function can also test a single non-space geom against a + * space. This function is useful when there is a collision hierarchy, i.e. + * when there are spaces that contain other spaces. + * + * @remarks Other spaces that are contained within the colliding space are + * not treated specially, i.e. they are not recursed into. The callback + * function may be passed these contained spaces as one or both geom + * arguments. + * + * @remarks Sublevel value of space affects how the spaces are iterated. + * Both spaces are recursed only if their sublevels match. Otherwise, only + * the space with greater sublevel is recursed and the one with lesser sublevel + * is used as a geom itself. + * + * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom + * pairs to the callback function, but may also pass close but + * non-intersecting pairs. The number of these calls depends on the + * internal algorithms used by the space. Thus you should not expect + * that dCollide will return contacts for every pair passed to the + * callback. + * + * @sa dSpaceCollide + * @sa dSpaceSetSublevel + * @ingroup collide + */ +ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); + + +/* ************************************************************************ */ +/* standard classes */ + +/* the maximum number of user classes that are supported */ +enum { + dMaxUserClasses = 4 +}; + +/* class numbers - each geometry object needs a unique number */ +enum { + dSphereClass = 0, + dBoxClass, + dCapsuleClass, + dCylinderClass, + dPlaneClass, + dRayClass, + dConvexClass, + dGeomTransformClass, + dTriMeshClass, + dHeightfieldClass, + + dFirstSpaceClass, + dSimpleSpaceClass = dFirstSpaceClass, + dHashSpaceClass, + dSweepAndPruneSpaceClass, /* SAP */ + dQuadTreeSpaceClass, + dLastSpaceClass = dQuadTreeSpaceClass, + + dFirstUserClass, + dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, + dGeomNumClasses +}; + + +/** + * @defgroup collide_sphere Sphere Class + * @ingroup collide + */ + +/** + * @brief Create a sphere geom of the given radius, and return its ID. + * + * @param space a space to contain the new geom. May be null. + * @param radius the radius of the sphere. + * + * @returns A new sphere geom. + * + * @remarks The point of reference for a sphere is its center. + * + * @sa dGeomDestroy + * @sa dGeomSphereSetRadius + * @ingroup collide_sphere + */ +ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); + + +/** + * @brief Set the radius of a sphere geom. + * + * @param sphere the sphere to set. + * @param radius the new radius. + * + * @sa dGeomSphereGetRadius + * @ingroup collide_sphere + */ +ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); + + +/** + * @brief Retrieves the radius of a sphere geom. + * + * @param sphere the sphere to query. + * + * @sa dGeomSphereSetRadius + * @ingroup collide_sphere + */ +ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); + + +/** + * @brief Calculate the depth of the a given point within a sphere. + * + * @param sphere the sphere to query. + * @param x the X coordinate of the point. + * @param y the Y coordinate of the point. + * @param z the Z coordinate of the point. + * + * @returns The depth of the point. Points inside the sphere will have a + * positive depth, points outside it will have a negative depth, and points + * on the surface will have a depth of zero. + * + * @ingroup collide_sphere + */ +ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); + + +/*--> Convex Functions*/ +ODE_API dGeomID dCreateConvex (dSpaceID space, + const dReal *_planes, + unsigned int _planecount, + const dReal *_points, + unsigned int _pointcount, + const unsigned int *_polygons); + +ODE_API void dGeomSetConvex (dGeomID g, + const dReal *_planes, + unsigned int _count, + const dReal *_points, + unsigned int _pointcount, + const unsigned int *_polygons); +/*<-- Convex Functions*/ + +/** + * @defgroup collide_box Box Class + * @ingroup collide + */ + +/** + * @brief Create a box geom with the provided side lengths. + * + * @param space a space to contain the new geom. May be null. + * @param lx the length of the box along the X axis + * @param ly the length of the box along the Y axis + * @param lz the length of the box along the Z axis + * + * @returns A new box geom. + * + * @remarks The point of reference for a box is its center. + * + * @sa dGeomDestroy + * @sa dGeomBoxSetLengths + * @ingroup collide_box + */ +ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); + + +/** + * @brief Set the side lengths of the given box. + * + * @param box the box to set + * @param lx the length of the box along the X axis + * @param ly the length of the box along the Y axis + * @param lz the length of the box along the Z axis + * + * @sa dGeomBoxGetLengths + * @ingroup collide_box + */ +ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); + + +/** + * @brief Get the side lengths of a box. + * + * @param box the box to query + * @param result the returned side lengths + * + * @sa dGeomBoxSetLengths + * @ingroup collide_box + */ +ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); + + +/** + * @brief Return the depth of a point in a box. + * + * @param box the box to query + * @param x the X coordinate of the point to test. + * @param y the Y coordinate of the point to test. + * @param z the Z coordinate of the point to test. + * + * @returns The depth of the point. Points inside the box will have a + * positive depth, points outside it will have a negative depth, and points + * on the surface will have a depth of zero. + */ +ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); + + +ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); +ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); +ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); +ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); + +ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); +ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); +ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); +ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); + +/* For now we want to have a backwards compatible C-API, note: C++ API is not.*/ +#define dCreateCCylinder dCreateCapsule +#define dGeomCCylinderSetParams dGeomCapsuleSetParams +#define dGeomCCylinderGetParams dGeomCapsuleGetParams +#define dGeomCCylinderPointDepth dGeomCapsulePointDepth +#define dCCylinderClass dCapsuleClass + +ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); +ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); +ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); + +ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); +ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); +ODE_API dReal dGeomRayGetLength (dGeomID ray); +ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, + dReal dx, dReal dy, dReal dz); +ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir); + +/* + * Set/get ray flags that influence ray collision detection. + * These flags are currently only noticed by the trimesh collider, because + * they can make a major differences there. + */ +ODE_API_DEPRECATED ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); +ODE_API_DEPRECATED ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); +ODE_API void dGeomRaySetFirstContact (dGeomID g, int firstContact); +ODE_API int dGeomRayGetFirstContact (dGeomID g); +ODE_API void dGeomRaySetBackfaceCull (dGeomID g, int backfaceCull); +ODE_API int dGeomRayGetBackfaceCull (dGeomID g); +ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); +ODE_API int dGeomRayGetClosestHit (dGeomID g); + +#include "collision_trimesh.h" + +ODE_API_DEPRECATED ODE_API dGeomID dCreateGeomTransform (dSpaceID space); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); +ODE_API_DEPRECATED ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); +ODE_API_DEPRECATED ODE_API int dGeomTransformGetCleanup (dGeomID g); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); +ODE_API_DEPRECATED ODE_API int dGeomTransformGetInfo (dGeomID g); + + +/* ************************************************************************ */ +/* heightfield functions */ + + +/* Data storage for heightfield data.*/ +struct dxHeightfieldData; +typedef struct dxHeightfieldData* dHeightfieldDataID; + + +/** + * @brief Callback prototype + * + * Used by the callback heightfield data type to sample a height for a + * given cell position. + * + * @param p_user_data User data specified when creating the dHeightfieldDataID + * @param x The index of a sample in the local x axis. It is a value + * in the range zero to ( nWidthSamples - 1 ). + * @param x The index of a sample in the local z axis. It is a value + * in the range zero to ( nDepthSamples - 1 ). + * + * @return The sample height which is then scaled and offset using the + * values specified when the heightfield data was created. + * + * @ingroup collide + */ +typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); + + + +/** + * @brief Creates a heightfield geom. + * + * Uses the information in the given dHeightfieldDataID to construct + * a geom representing a heightfield in a collision space. + * + * @param space The space to add the geom to. + * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and + * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, + * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. + * @param bPlaceable If non-zero this geom can be transformed in the world using the + * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is + * not set as placeable, then it uses a fixed orientation where the global y axis + * represents the dynamic 'height' of the heightfield. + * + * @return A geom id to reference this geom in other calls. + * + * @ingroup collide + */ +ODE_API dGeomID dCreateHeightfield( dSpaceID space, + dHeightfieldDataID data, int bPlaceable ); + + +/** + * @brief Creates a new empty dHeightfieldDataID. + * + * Allocates a new dHeightfieldDataID and returns it. You must call + * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. + * The dHeightfieldDataID value is used when specifying a data format type. + * + * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, + * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or + * dGeomHeightfieldDataBuildFloat. + * @ingroup collide + */ +ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void); + + +/** + * @brief Destroys a dHeightfieldDataID. + * + * Deallocates a given dHeightfieldDataID and all managed resources. + * + * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); + + + +/** + * @brief Configures a dHeightfieldDataID to use a callback to + * retrieve height data. + * + * Before a dHeightfieldDataID can be used by a geom it must be + * configured to specify the format of the height data. + * This call specifies that the heightfield data is computed by + * the user and it should use the given callback when determining + * the height of a given element of it's shape. + * + * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate + * + * @param width Specifies the total 'width' of the heightfield along + * the geom's local x axis. + * @param depth Specifies the total 'depth' of the heightfield along + * the geom's local z axis. + * + * @param widthSamples Specifies the number of vertices to sample + * along the width of the heightfield. Each vertex has a corresponding + * height value which forms the overall shape. + * Naturally this value must be at least two or more. + * @param depthSamples Specifies the number of vertices to sample + * along the depth of the heightfield. + * + * @param scale A uniform scale applied to all raw height data. + * @param offset An offset applied to the scaled height data. + * + * @param thickness A value subtracted from the lowest height + * value which in effect adds an additional cuboid to the base of the + * heightfield. This is used to prevent geoms from looping under the + * desired terrain and not registering as a collision. Note that the + * thickness is not affected by the scale or offset parameters. + * + * @param bWrap If non-zero the heightfield will infinitely tile in both + * directions along the local x and z axes. If zero the heightfield is + * bounded from zero to width in the local x axis, and zero to depth in + * the local z axis. + * + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, + void* pUserData, dHeightfieldGetHeight* pCallback, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap ); + +/** + * @brief Configures a dHeightfieldDataID to use height data in byte format. + * + * Before a dHeightfieldDataID can be used by a geom it must be + * configured to specify the format of the height data. + * This call specifies that the heightfield data is stored as a rectangular + * array of bytes (8 bit unsigned) representing the height at each sample point. + * + * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate + * + * @param pHeightData A pointer to the height data. + * @param bCopyHeightData When non-zero the height data is copied to an + * internal store. When zero the height data is accessed by reference and + * so must persist throughout the lifetime of the heightfield. + * + * @param width Specifies the total 'width' of the heightfield along + * the geom's local x axis. + * @param depth Specifies the total 'depth' of the heightfield along + * the geom's local z axis. + * + * @param widthSamples Specifies the number of vertices to sample + * along the width of the heightfield. Each vertex has a corresponding + * height value which forms the overall shape. + * Naturally this value must be at least two or more. + * @param depthSamples Specifies the number of vertices to sample + * along the depth of the heightfield. + * + * @param scale A uniform scale applied to all raw height data. + * @param offset An offset applied to the scaled height data. + * + * @param thickness A value subtracted from the lowest height + * value which in effect adds an additional cuboid to the base of the + * heightfield. This is used to prevent geoms from looping under the + * desired terrain and not registering as a collision. Note that the + * thickness is not affected by the scale or offset parameters. + * + * @param bWrap If non-zero the heightfield will infinitely tile in both + * directions along the local x and z axes. If zero the heightfield is + * bounded from zero to width in the local x axis, and zero to depth in + * the local z axis. + * + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, + const unsigned char* pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap ); + +/** + * @brief Configures a dHeightfieldDataID to use height data in short format. + * + * Before a dHeightfieldDataID can be used by a geom it must be + * configured to specify the format of the height data. + * This call specifies that the heightfield data is stored as a rectangular + * array of shorts (16 bit signed) representing the height at each sample point. + * + * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate + * + * @param pHeightData A pointer to the height data. + * @param bCopyHeightData When non-zero the height data is copied to an + * internal store. When zero the height data is accessed by reference and + * so must persist throughout the lifetime of the heightfield. + * + * @param width Specifies the total 'width' of the heightfield along + * the geom's local x axis. + * @param depth Specifies the total 'depth' of the heightfield along + * the geom's local z axis. + * + * @param widthSamples Specifies the number of vertices to sample + * along the width of the heightfield. Each vertex has a corresponding + * height value which forms the overall shape. + * Naturally this value must be at least two or more. + * @param depthSamples Specifies the number of vertices to sample + * along the depth of the heightfield. + * + * @param scale A uniform scale applied to all raw height data. + * @param offset An offset applied to the scaled height data. + * + * @param thickness A value subtracted from the lowest height + * value which in effect adds an additional cuboid to the base of the + * heightfield. This is used to prevent geoms from looping under the + * desired terrain and not registering as a collision. Note that the + * thickness is not affected by the scale or offset parameters. + * + * @param bWrap If non-zero the heightfield will infinitely tile in both + * directions along the local x and z axes. If zero the heightfield is + * bounded from zero to width in the local x axis, and zero to depth in + * the local z axis. + * + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, + const short* pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap ); + +/** + * @brief Configures a dHeightfieldDataID to use height data in + * single precision floating point format. + * + * Before a dHeightfieldDataID can be used by a geom it must be + * configured to specify the format of the height data. + * This call specifies that the heightfield data is stored as a rectangular + * array of single precision floats representing the height at each + * sample point. + * + * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate + * + * @param pHeightData A pointer to the height data. + * @param bCopyHeightData When non-zero the height data is copied to an + * internal store. When zero the height data is accessed by reference and + * so must persist throughout the lifetime of the heightfield. + * + * @param width Specifies the total 'width' of the heightfield along + * the geom's local x axis. + * @param depth Specifies the total 'depth' of the heightfield along + * the geom's local z axis. + * + * @param widthSamples Specifies the number of vertices to sample + * along the width of the heightfield. Each vertex has a corresponding + * height value which forms the overall shape. + * Naturally this value must be at least two or more. + * @param depthSamples Specifies the number of vertices to sample + * along the depth of the heightfield. + * + * @param scale A uniform scale applied to all raw height data. + * @param offset An offset applied to the scaled height data. + * + * @param thickness A value subtracted from the lowest height + * value which in effect adds an additional cuboid to the base of the + * heightfield. This is used to prevent geoms from looping under the + * desired terrain and not registering as a collision. Note that the + * thickness is not affected by the scale or offset parameters. + * + * @param bWrap If non-zero the heightfield will infinitely tile in both + * directions along the local x and z axes. If zero the heightfield is + * bounded from zero to width in the local x axis, and zero to depth in + * the local z axis. + * + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, + const float* pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap ); + +/** + * @brief Configures a dHeightfieldDataID to use height data in + * double precision floating point format. + * + * Before a dHeightfieldDataID can be used by a geom it must be + * configured to specify the format of the height data. + * This call specifies that the heightfield data is stored as a rectangular + * array of double precision floats representing the height at each + * sample point. + * + * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate + * + * @param pHeightData A pointer to the height data. + * @param bCopyHeightData When non-zero the height data is copied to an + * internal store. When zero the height data is accessed by reference and + * so must persist throughout the lifetime of the heightfield. + * + * @param width Specifies the total 'width' of the heightfield along + * the geom's local x axis. + * @param depth Specifies the total 'depth' of the heightfield along + * the geom's local z axis. + * + * @param widthSamples Specifies the number of vertices to sample + * along the width of the heightfield. Each vertex has a corresponding + * height value which forms the overall shape. + * Naturally this value must be at least two or more. + * @param depthSamples Specifies the number of vertices to sample + * along the depth of the heightfield. + * + * @param scale A uniform scale applied to all raw height data. + * @param offset An offset applied to the scaled height data. + * + * @param thickness A value subtracted from the lowest height + * value which in effect adds an additional cuboid to the base of the + * heightfield. This is used to prevent geoms from looping under the + * desired terrain and not registering as a collision. Note that the + * thickness is not affected by the scale or offset parameters. + * + * @param bWrap If non-zero the heightfield will infinitely tile in both + * directions along the local x and z axes. If zero the heightfield is + * bounded from zero to width in the local x axis, and zero to depth in + * the local z axis. + * + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, + const double* pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap ); + +/** + * @brief Manually set the minimum and maximum height bounds. + * + * This call allows you to set explicit min / max values after initial + * creation typically for callback heightfields which default to +/- infinity, + * or those whose data has changed. This must be set prior to binding with a + * geom, as the the AABB is not recomputed after it's first generation. + * + * @remarks The minimum and maximum values are used to compute the AABB + * for the heightfield which is used for early rejection of collisions. + * A close fit will yield a more efficient collision check. + * + * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate + * @param min_height The new minimum height value. Scale, offset and thickness is then applied. + * @param max_height The new maximum height value. Scale and offset is then applied. + * @ingroup collide + */ +ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, + dReal minHeight, dReal maxHeight ); + + +/** + * @brief Assigns a dHeightfieldDataID to a heightfield geom. + * + * Associates the given dHeightfieldDataID with a heightfield geom. + * This is done without affecting the GEOM_PLACEABLE flag. + * + * @param g A geom created by dCreateHeightfield + * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate + * @ingroup collide + */ +ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); + + +/** + * @brief Gets the dHeightfieldDataID bound to a heightfield geom. + * + * Returns the dHeightfieldDataID associated with a heightfield geom. + * + * @param g A geom created by dCreateHeightfield + * @return The dHeightfieldDataID which may be NULL if none was assigned. + * @ingroup collide + */ +ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); + + + +/* ************************************************************************ */ +/* utility functions */ + +ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, + const dVector3 b1, const dVector3 b2, + dVector3 cp1, dVector3 cp2); + +ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, + const dVector3 side1, const dVector3 _p2, + const dMatrix3 R2, const dVector3 side2); + +/* The meaning of flags parameter is the same as in dCollide()*/ +ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, + const dVector3 side1, const dVector3 p2, + const dMatrix3 R2, const dVector3 side2, + dVector3 normal, dReal *depth, int *return_code, + int flags, dContactGeom *contact, int skip); + +ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); + + +/* ************************************************************************ */ +/* custom classes */ + +typedef void dGetAABBFn (dGeomID, dReal aabb[6]); +typedef int dColliderFn (dGeomID o1, dGeomID o2, + int flags, dContactGeom *contact, int skip); +typedef dColliderFn * dGetColliderFnFn (int num); +typedef void dGeomDtorFn (dGeomID o); +typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]); + +typedef struct dGeomClass { + int bytes; + dGetColliderFnFn *collider; + dGetAABBFn *aabb; + dAABBTestFn *aabb_test; + dGeomDtorFn *dtor; +} dGeomClass; + +ODE_API int dCreateGeomClass (const dGeomClass *classptr); +ODE_API void * dGeomGetClassData (dGeomID); +ODE_API dGeomID dCreateGeom (int classnum); + +/** + * @brief Sets a custom collider function for two geom classes. + * + * @param i The first geom class handled by this collider + * @param j The second geom class handled by this collider + * @param fn The collider function to use to determine collisions. + * @ingroup collide + */ +ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn); + + +/* ************************************************************************ */ + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/collision_space.h b/libs/ode-0.16.1/include/ode/collision_space.h new file mode 100644 index 0000000..30cc536 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/collision_space.h @@ -0,0 +1,182 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 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_COLLISION_SPACE_H_ +#define _ODE_COLLISION_SPACE_H_ + +#include <ode/common.h> + +#ifdef __cplusplus +extern "C" { +#endif + +struct dContactGeom; + +/** + * @brief User callback for geom-geom collision testing. + * + * @param data The user data object, as passed to dSpaceCollide. + * @param o1 The first geom being tested. + * @param o2 The second geom being test. + * + * @remarks The callback function can call dCollide on o1 and o2 to generate + * contact points between each pair. Then these contact points may be added + * to the simulation as contact joints. The user's callback function can of + * course chose not to call dCollide for any pair, e.g. if the user decides + * that those pairs should not interact. + * + * @ingroup collide + */ +typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); + + +ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); +ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); +ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); + + +/* SAP */ +/* Order XZY or ZXY usually works best, if your Y is up. */ +#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) +#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) +#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) +#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) +#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) +#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) + +ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder ); + + + +ODE_API void dSpaceDestroy (dSpaceID); + +ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); +ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); + +ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); +ODE_API int dSpaceGetCleanup (dSpaceID space); + +/** +* @brief Sets sublevel value for a space. +* +* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided +* with another space. If sublevels of both spaces match, the function iterates +* geometries of both spaces and collides them with each other. If sublevel of one +* space is greater than the sublevel of another one, only the geometries of the +* space with greater sublevel are iterated, another space is passed into +* collision callback as a geometry itself. By default all the spaces are assigned +* zero sublevel. +* +* @note +* The space sublevel @e IS @e NOT automatically updated when one space is inserted +* into another or removed from one. It is a client's responsibility to update sublevel +* value if necessary. +* +* @param space the space to modify +* @param sublevel the sublevel value to be assigned +* @ingroup collide +* @see dSpaceGetSublevel +* @see dSpaceCollide2 +*/ +ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel); + +/** +* @brief Gets sublevel value of a space. +* +* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided +* with another space. See @c dSpaceSetSublevel for more details. +* +* @param space the space to query +* @returns the sublevel value of the space +* @ingroup collide +* @see dSpaceSetSublevel +* @see dSpaceCollide2 +*/ +ODE_API int dSpaceGetSublevel (dSpaceID space); + + +/** +* @brief Sets manual cleanup flag for a space. +* +* Manual cleanup flag marks a space as eligible for manual thread data cleanup. +* This function should be called for every space object right after creation in +* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag. +* +* Failure to set manual cleanup flag for a space may lead to some resources +* remaining leaked until the program exit. +* +* @param space the space to modify +* @param mode 1 for manual cleanup mode and 0 for default cleanup mode +* @ingroup collide +* @see dSpaceGetManualCleanup +* @see dInitODE2 +*/ +ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode); + +/** +* @brief Get manual cleanup flag of a space. +* +* Manual cleanup flag marks a space space as eligible for manual thread data cleanup. +* See @c dSpaceSetManualCleanup for more details. +* +* @param space the space to query +* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space +* @ingroup collide +* @see dSpaceSetManualCleanup +* @see dInitODE2 +*/ +ODE_API int dSpaceGetManualCleanup (dSpaceID space); + +ODE_API void dSpaceAdd (dSpaceID, dGeomID); +ODE_API void dSpaceRemove (dSpaceID, dGeomID); +ODE_API int dSpaceQuery (dSpaceID, dGeomID); +ODE_API void dSpaceClean (dSpaceID); +ODE_API int dSpaceGetNumGeoms (dSpaceID); +ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); + +/** + * @brief Given a space, this returns its class. + * + * The ODE classes are: + * @li dSimpleSpaceClass + * @li dHashSpaceClass + * @li dSweepAndPruneSpaceClass + * @li dQuadTreeSpaceClass + * @li dFirstUserClass + * @li dLastUserClass + * + * The class id not defined by the user should be between + * dFirstSpaceClass and dLastSpaceClass. + * + * User-defined class will return their own number. + * + * @param space the space to query + * @returns The space class ID. + * @ingroup collide + */ +ODE_API int dSpaceGetClass(dSpaceID space); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/collision_trimesh.h b/libs/ode-0.16.1/include/ode/collision_trimesh.h new file mode 100644 index 0000000..aa8f624 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/collision_trimesh.h @@ -0,0 +1,316 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 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. * + * * + *************************************************************************/ + +/* + * TriMesh code by Erwin de Vries. + * + * Trimesh data. + * This is where the actual vertexdata (pointers), and BV tree is stored. + * Vertices should be single precision! + * This should be more sophisticated, so that the user can easyly implement + * another collision library, but this is a lot of work, and also costs some + * performance because some data has to be copied. + */ + +#ifndef _ODE_COLLISION_TRIMESH_H_ +#define _ODE_COLLISION_TRIMESH_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * Data storage for triangle meshes. + */ +struct dxTriMeshData; +typedef struct dxTriMeshData* dTriMeshDataID; + + +typedef enum +{ + dMTV__MIN, + + dMTV_FIRST = dMTV__MIN, + dMTV_SECOND, + dMTV_THIRD, + + dMTV__MAX, + +} dMeshTriangleVertex; + +/* + * These don't make much sense now, but they will later when we add more + * features. + */ +ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); +ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); + + +/* + * The values of data_id that can be used with dGeomTriMeshDataSet/dGeomTriMeshDataGet + */ +enum +{ + dTRIMESHDATA__MIN, + + dTRIMESHDATA_FACE_NORMALS = dTRIMESHDATA__MIN, + dTRIMESHDATA_USE_FLAGS, + + dTRIMESHDATA__MAX, + +#ifndef TRIMESH_FACE_NORMALS // Define this name during the header inclusion if you need it for something else + // Included for backward compatibility -- please use the corrected name above. Sorry. + TRIMESH_FACE_NORMALS = dTRIMESHDATA_FACE_NORMALS, +#endif +}; + +/* + * The flags of the dTRIMESHDATA_USE_FLAGS data elements + */ +enum +{ + dMESHDATAUSE_EDGE1 = 0x01, + dMESHDATAUSE_EDGE2 = 0x02, + dMESHDATAUSE_EDGE3 = 0x04, + dMESHDATAUSE_VERTEX1 = 0x08, + dMESHDATAUSE_VERTEX2 = 0x10, + dMESHDATAUSE_VERTEX3 = 0x20, +}; + +/* + * Set and get the TriMeshData additional data + * Note: The data is NOT COPIED on assignment + */ +ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void *in_data); +ODE_API void *dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); +ODE_API void *dGeomTriMeshDataGet2(dTriMeshDataID g, int data_id, dsizeint *pout_size/*=NULL*/); + + + +/** + * We need to set the last transform after each time step for + * accurate collision response. These functions get and set that transform. + * It is stored per geom instance, rather than per dTriMeshDataID. + */ +ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, const dMatrix4 last_trans ); +ODE_API const dReal* dGeomTriMeshGetLastTransform( dGeomID g ); + +/* + * Build a TriMesh data object with single precision vertex data. + */ +ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g, + const void* Vertices, int VertexStride, int VertexCount, + const void* Indices, int IndexCount, int TriStride); +/* same again with a normals array (used as trimesh-trimesh optimization) */ +ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, + const void* Vertices, int VertexStride, int VertexCount, + const void* Indices, int IndexCount, int TriStride, + const void* Normals); +/* +* Build a TriMesh data object with double precision vertex data. +*/ +ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, + const void* Vertices, int VertexStride, int VertexCount, + const void* Indices, int IndexCount, int TriStride); +/* same again with a normals array (used as trimesh-trimesh optimization) */ +ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, + const void* Vertices, int VertexStride, int VertexCount, + const void* Indices, int IndexCount, int TriStride, + const void* Normals); + +/* + * Simple build. Single/double precision based on dSINGLE/dDOUBLE! + */ +ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, + const dReal* Vertices, int VertexCount, + const dTriIndex* Indices, int IndexCount); +/* same again with a normals array (used as trimesh-trimesh optimization) */ +ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, + const dReal* Vertices, int VertexCount, + const dTriIndex* Indices, int IndexCount, + const int* Normals); + + +/* + * Data preprocessing build request flags. + */ +enum +{ + dTRIDATAPREPROCESS_BUILD__MIN, + + dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES = dTRIDATAPREPROCESS_BUILD__MIN, // Used to optimize OPCODE trimesh-capsule collisions; allocates 1 byte per triangle; no extra data associated + dTRIDATAPREPROCESS_BUILD_FACE_ANGLES, // Used to aid trimesh-convex collisions; memory requirements depend on extra data + + dTRIDATAPREPROCESS_BUILD__MAX, +}; + +/* + * Data preprocessing extra values for dTRIDATAPREPROCESS_BUILD_FACE_ANGLES. + */ +enum +{ + dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, + + dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, // Build angles for convex edges only and store as bytes; allocates 3 bytes per triangle; stores angles (0..180] in 1/254 fractions leaving two values for the flat and all the concaves + dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL, // Build angles for all the edges and store in bytes; allocates 3 bytes per triangle; stores angles [-180..0) and (0..180] in 1/127 fractions plus a value for the flat angle + dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL, // Build angles for all the edges and store in words; allocates 6 bytes per triangle; stores angles [-180..0) and (0..180] in 1/32767 fractions plus a value for the flat angle + + dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MAX, + + dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__DEFAULT = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE, // The default value assumed if the extra data is not provided +}; + + +/* + * Pre-process the trimesh data according to the request flags. + * + * buildRequestFlags is a bitmask of 1U << dTRIDATAPREPROCESS_BUILD_... + * It is allowed to call the function multiple times provided the bitmasks are different each time. + * + * requestExtraData is an optional pointer to array of extra parameters per bitmask bits + * (only the elements indexed by positions of raised bits are examined; + * defaults are assumed if the pointer is NULL) + * + * The function returns a boolean status the only failure reason being insufficient memory. + */ +ODE_API int dGeomTriMeshDataPreprocess2(dTriMeshDataID g, unsigned int buildRequestFlags, const dintptr *requestExtraData/*=NULL | const dintptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/); + +/* + * Obsolete. Equivalent to calling dGeomTriMeshDataPreprocess2(g, (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES), NULL) + */ +ODE_API int dGeomTriMeshDataPreprocess(dTriMeshDataID g); + + + +/* + * Get and set the internal preprocessed trimesh data buffer (see the enumerated type above), for loading and saving + * These functions are deprecated. Use dGeomTriMeshDataSet/dGeomTriMeshDataGet2 with dTRIMESHDATA_USE_FLAGS instead. + */ +ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); +ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf); + + +/* + * Per triangle callback. Allows the user to say if he wants a collision with + * a particular triangle. + */ +typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); +ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback); +ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g); + +/* + * Per object callback. Allows the user to get the list of triangles in 1 + * shot. Maybe we should remove this one. + */ +typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); +ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback); +ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g); + +/* + * Ray callback. + * Allows the user to say if a ray collides with a triangle on barycentric + * coords. The user can for example sample a texture with alpha transparency + * to determine if a collision should occur. + */ +typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); +ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback); +ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g); + +/* + * Triangle merging callback. + * Allows the user to generate a fake triangle index for a new contact generated + * from merging of two other contacts. That index could later be used by the + * user to determine attributes of original triangles used as sources for a + * merged contact. + */ +typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); +ODE_API void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback); +ODE_API dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g); + +/* + * Trimesh class + * Construction. Callbacks are optional. + */ +ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); + +ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data); +ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); + + +/* enable/disable/check temporal coherence*/ +ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); +ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass); + +/* + * Clears the internal temporal coherence caches. When a geom has its + * collision checked with a trimesh once, data is stored inside the trimesh. + * With large worlds with lots of seperate objects this list could get huge. + * We should be able to do this automagically. + */ +ODE_API void dGeomTriMeshClearTCCache(dGeomID g); + + +/* + * returns the TriMeshDataID + */ +ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g); + +/* + * Gets a triangle. + */ +ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); + +/* + * Gets the point on the requested triangle and the given barycentric + * coordinates. + */ +ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); + +/* + +This is how the strided data works: + +struct StridedVertex{ + dVector3 Vertex; + // Userdata +}; +int VertexStride = sizeof(StridedVertex); + +struct StridedTri{ + int Indices[3]; + // Userdata +}; +int TriStride = sizeof(StridedTri); + +*/ + + +ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g); + +ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g); + +#ifdef __cplusplus +} +#endif + +#endif /* _ODE_COLLISION_TRIMESH_H_ */ + 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 diff --git a/libs/ode-0.16.1/include/ode/compatibility.h b/libs/ode-0.16.1/include/ode/compatibility.h new file mode 100644 index 0000000..b370986 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/compatibility.h @@ -0,0 +1,40 @@ +/************************************************************************* + * * + * 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_COMPATIBILITY_H_ +#define _ODE_COMPATIBILITY_H_ + +/* + * ODE's backward compatibility system ensures that as ODE's API + * evolves, user code will not break. + */ + +/* + * These new rotation function names are more consistent with the + * rest of the API. + */ +#define dQtoR(q,R) dRfromQ((R),(q)) +#define dRtoQ(R,q) dQfromR((q),(R)) +#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q)) + + +#endif diff --git a/libs/ode-0.16.1/include/ode/contact.h b/libs/ode-0.16.1/include/ode/contact.h new file mode 100644 index 0000000..9756f26 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/contact.h @@ -0,0 +1,110 @@ +/************************************************************************* + * * + * 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_CONTACT_H_ +#define _ODE_CONTACT_H_ + +#include <ode/common.h> + +#ifdef __cplusplus +extern "C" { +#endif + + +enum { + dContactMu2 = 0x001, /**< Use axis dependent friction */ + dContactAxisDep = 0x001, /**< Same as above */ + dContactFDir1 = 0x002, /**< Use FDir for the first friction value */ + dContactBounce = 0x004, /**< Restore collision energy anti-parallel to the normal */ + dContactSoftERP = 0x008, /**< Don't use global erp for penetration reduction */ + dContactSoftCFM = 0x010, /**< Don't use global cfm for penetration constraint */ + dContactMotion1 = 0x020, /**< Use a non-zero target velocity for the constraint */ + dContactMotion2 = 0x040, + dContactMotionN = 0x080, + dContactSlip1 = 0x100, /**< Force-dependent slip. */ + dContactSlip2 = 0x200, + dContactRolling = 0x400, /**< Rolling/Angular friction */ + + dContactApprox0 = 0x0000, + dContactApprox1_1 = 0x1000, + dContactApprox1_2 = 0x2000, + dContactApprox1_N = 0x4000, /**< For rolling friction */ + dContactApprox1 = 0x7000 +}; + + +typedef struct dSurfaceParameters { + /* must always be defined */ + int mode; + dReal mu; + + /* only defined if the corresponding flag is set in mode */ + dReal mu2; + dReal rho; /**< Rolling friction */ + dReal rho2; + dReal rhoN; /**< Spinning friction */ + dReal bounce; /**< Coefficient of restitution */ + dReal bounce_vel; /**< Bouncing threshold */ + dReal soft_erp; + dReal soft_cfm; + dReal motion1,motion2,motionN; + dReal slip1,slip2; +} dSurfaceParameters; + + +/** + * @brief Describe the contact point between two geoms. + * + * If two bodies touch, or if a body touches a static feature in its + * environment, the contact is represented by one or more "contact + * points", described by dContactGeom. + * + * The convention is that if body 1 is moved along the normal vector by + * a distance depth (or equivalently if body 2 is moved the same distance + * in the opposite direction) then the contact depth will be reduced to + * zero. This means that the normal vector points "in" to body 1. + * + * @ingroup collide + */ +typedef struct dContactGeom { + dVector3 pos; /*< contact position*/ + dVector3 normal; /*< normal vector*/ + dReal depth; /*< penetration depth*/ + dGeomID g1,g2; /*< the colliding geoms*/ + int side1,side2; /*< (to be documented)*/ +} dContactGeom; + + +/* contact info used by contact joint */ + +typedef struct dContact { + dSurfaceParameters surface; + dContactGeom geom; + dVector3 fdir1; +} dContact; + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/cooperative.h b/libs/ode-0.16.1/include/ode/cooperative.h new file mode 100644 index 0000000..879477c --- /dev/null +++ b/libs/ode-0.16.1/include/ode/cooperative.h @@ -0,0 +1,229 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 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_COOPERATIVE_H_ +#define _ODE_COOPERATIVE_H_ + + +#include <ode/common.h> +#include <ode/threading.h> + + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @defgroup coop Cooperative Algorithms + * + * Algorithms implemented as multiple threads doing work cooperatively. + */ + + +struct dxCooperative; +struct dxResourceRequirements; +struct dxResourceContainer; + +/** + * @brief A container for cooperative algorithms shared context + * + * The Cooperative is a container for cooperative algorithms shared context. + * At present it contains threading object (either a real one or a defaulted + * self-threading). + * + * Cooperative use in functions performing computations must be serialized. That is, + * functions referring to a single instance of Cooperative object must not be called in + * parallel. + */ +typedef struct dxCooperative *dCooperativeID; + + +/** + * @brief A container for resource requirements information + * + * The ResourceRequirements object is a container for descriptive information + * regarding what resources (memory, synchronization objects, etc.) need to be + * allocated for particular computations. The object can be used for accumulating + * resource requirement maxima over multiple functions and then allocating resources + * that would suffice for any of those function calls. + * + * ResourceRequirements objects maintain relations to Cooperative objects since + * amounts of resources that could be required can depend on characteristics of + * shared context, e.g. on maximal number of threads in the threading object. + * + * @ingroup coop + * @see dCooperativeID + * @see dResourceContainerID + */ +typedef struct dxResourceRequirements *dResourceRequirementsID; + +/** + * @brief A container for algorithm allocated resources + * + * The ResourceContainer object can contain resources allocated according to information + * in a ResourceRequirements. The resources inherit link to the threading object + * from the requirements they are allocated according to. + * + * @ingroup coop + * @see dResourceRequirementsID + * @see dCooperativeID + */ +typedef struct dxResourceContainer *dResourceContainerID; + + + /** + * @brief Creates a Cooperative object related to the specified threading. + * + * NULL's are allowed for the threading. In this case the default (global) self-threading + * object will be used. + * + * Use @c dCooperativeDestroy to destroy the object. The Cooperative object must exist + * until after all the objects referencing it are destroyed. + * + * @param functionInfo The threading functions to use + * @param threadingImpl The threading implementation object to use + * @returns The Cooperative object instance or NULL if allocation fails. + * @ingroup coop + * @see dCooperativeDestroy + */ +ODE_API dCooperativeID dCooperativeCreate(const dThreadingFunctionsInfo *functionInfo/*=NULL*/, dThreadingImplementationID threadingImpl/*=NULL*/); + + /** + * @brief Destroys Cooperative object. + * + * The Cooperative object can only be destroyed after all the objects referencing it. + * + * @param cooperative A Cooperative object to be deleted (NULL is allowed) + * @ingroup coop + * @see dCooperativeCreate + */ +ODE_API void dCooperativeDestroy(dCooperativeID cooperative); + + + /** + * @brief Creates a ResourceRequirements object related to a Cooperative. + * + * The object is purely descriptive and does not contain any resources by itself. + * The actual resources are allocated by means of ResourceContainer object. + * + * The object is created with empty requirements. It can be then used to accumulate + * requirements for one or more function calls and can be cloned or merged with others. + * The actual requirements information is added to the object by computation related + * functions. + * + * Use @c dResourceRequirementsDestroy to delete the object when it is no longer needed. + * + * @param cooperative A Cooperative object to be used + * @returns The ResourceRequirements object instance or NULL if allocation fails + * @ingroup coop + * @see dResourceRequirementsDestroy + * @see dResourceRequirementsClone + * @see dResourceRequirementsMergeIn + * @see dCooperativeCreate + * @see dResourceContainerAcquire + */ +ODE_API dResourceRequirementsID dResourceRequirementsCreate(dCooperativeID cooperative); + + /** + * @brief Destroys ResourceRequirements object. + * + * The ResourceRequirements object can be destroyed at any time with no regards + * to other objects' lifetime. + * + * @param requirements A ResourceRequirements object to be deleted (NULL is allowed) + * @ingroup coop + * @see dResourceRequirementsCreate + */ +ODE_API void dResourceRequirementsDestroy(dResourceRequirementsID requirements); + + /** + * @brief Clones ResourceRequirements object. + * + * The function creates a copy of the ResourceRequirements object with all the + * contents and the relation to Cooperative matching. The object passed in + * the parameter is not changed. + * + * The object created with the function must later be destroyed with @c dResourceRequirementsDestroy. + * + * @param requirements A ResourceRequirements object to be cloned + * @returns A handle to the new object or NULL if allocation fails + * @ingroup coop + * @see dResourceRequirementsCreate + * @see dResourceRequirementsDestroy + * @see dResourceRequirementsMergeIn + */ +ODE_API dResourceRequirementsID dResourceRequirementsClone(/*const */dResourceRequirementsID requirements); + + /** + * @brief Merges one ResourceRequirements object into another ResourceRequirements object. + * + * The function updates @a summaryRequirements requirements to be also sufficient + * for the purposes @a extraRequirements could be used for. The @a extraRequirements + * object is not changed. The both objects should normally have had been created + * with the same Cooperative object. + * + * @param summaryRequirements A ResourceRequirements object to be changed + * @param extraRequirements A ResourceRequirements the requirements to be taken from + * @ingroup coop + * @see dResourceRequirementsCreate + * @see dResourceRequirementsDestroy + * @see dResourceRequirementsClone + */ +ODE_API void dResourceRequirementsMergeIn(dResourceRequirementsID summaryRequirements, /*const */dResourceRequirementsID extraRequirements); + + + /** + * @brief Allocates resources as specified in ResourceRequirements object. + * + * The ResourceContainer object can be used in cooperative computation algorithms. + * + * The same @a requirements object can be passed to many resource allocations + * (with or without modifications) and can be deleted immediately, without waiting + * for the ResourceContainer object destruction. + * + * Use @c dResourceContainerDestroy to delete the object and release the resources + * when they are no longer needed. + * + * @param requirements The ResourceRequirements object to allocate resources according to + * @returns A ResourceContainer object instance with the resources allocated or NULL if allocation fails + * @ingroup coop + * @see dResourceContainerDestroy + * @see dResourceRequirementsCreate + */ +ODE_API dResourceContainerID dResourceContainerAcquire(/*const */dResourceRequirementsID requirements); + + /** + * @brief Destroys ResourceContainer object and releases resources allocated in it. + * + * @param resources A ResourceContainer object to be deleted (NULL is allowed) + * @ingroup coop + * @see dResourceContainerAcquire + */ +ODE_API void dResourceContainerDestroy(dResourceContainerID resources); + + +#ifdef __cplusplus +} // extern "C" +#endif + + +#endif // #ifndef _ODE_COOPERATIVE_H_ diff --git a/libs/ode-0.16.1/include/ode/error.h b/libs/ode-0.16.1/include/ode/error.h new file mode 100644 index 0000000..ae511e7 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/error.h @@ -0,0 +1,63 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* this comes from the `reuse' library. copy any changes back to the source */ + +#ifndef _ODE_ERROR_H_ +#define _ODE_ERROR_H_ + +#include <ode/odeconfig.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/* all user defined error functions have this type. error and debug functions + * should not return. + */ +typedef void dMessageFunction (int errnum, const char *msg, va_list ap); + +/* set a new error, debug or warning handler. if fn is 0, the default handlers + * are used. + */ +ODE_API void dSetErrorHandler (dMessageFunction *fn); +ODE_API void dSetDebugHandler (dMessageFunction *fn); +ODE_API void dSetMessageHandler (dMessageFunction *fn); + +/* return the current error, debug or warning handler. if the return value is + * 0, the default handlers are in place. + */ +ODE_API dMessageFunction *dGetErrorHandler(void); +ODE_API dMessageFunction *dGetDebugHandler(void); +ODE_API dMessageFunction *dGetMessageHandler(void); + +/* generate a fatal error, debug trap or a message. */ +ODE_API void ODE_NORETURN dError (int num, const char *msg, ...); +ODE_API void ODE_NORETURN dDebug (int num, const char *msg, ...); +ODE_API void dMessage (int num, const char *msg, ...); + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/export-dif.h b/libs/ode-0.16.1/include/ode/export-dif.h new file mode 100644 index 0000000..f6578ac --- /dev/null +++ b/libs/ode-0.16.1/include/ode/export-dif.h @@ -0,0 +1,40 @@ +/************************************************************************* + * * + * 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_EXPORT_DIF_ +#define _ODE_EXPORT_DIF_ + +#include <ode/common.h> + + +#ifdef __cplusplus +extern "C" { +#endif + +ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name); + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/mass.h b/libs/ode-0.16.1/include/ode/mass.h new file mode 100644 index 0000000..af89cb1 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/mass.h @@ -0,0 +1,144 @@ +/************************************************************************* + * * + * 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_MASS_H_ +#define _ODE_MASS_H_ + +#include <ode/common.h> + +#ifdef __cplusplus +extern "C" { +#endif + +struct dMass; +typedef struct dMass dMass; + +/** + * Check if a mass structure has valid value. + * The function check if the mass and innertia matrix are positive definits + * + * @param m A mass structure to check + * + * @return 1 if both codition are met + */ +ODE_API int dMassCheck(const dMass *m); + +ODE_API void dMassSetZero (dMass *); + +ODE_API void dMassSetParameters (dMass *, dReal themass, + dReal cgx, dReal cgy, dReal cgz, + dReal I11, dReal I22, dReal I33, + dReal I12, dReal I13, dReal I23); + +ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius); +ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius); + +ODE_API void dMassSetCapsule (dMass *, dReal density, int direction, + dReal radius, dReal length); +ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, + dReal radius, dReal length); + +ODE_API void dMassSetCylinder (dMass *, dReal density, int direction, + dReal radius, dReal length); +ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, + dReal radius, dReal length); + +ODE_API void dMassSetBox (dMass *, dReal density, + dReal lx, dReal ly, dReal lz); +ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass, + dReal lx, dReal ly, dReal lz); + +ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g); + +ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g); + +ODE_API void dMassAdjust (dMass *, dReal newmass); + +ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z); + +ODE_API void dMassRotate (dMass *, const dMatrix3 R); + +ODE_API void dMassAdd (dMass *a, const dMass *b); + + +/* Backwards compatible API */ +ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); +ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); + + +struct dMass { + dReal mass; + dVector3 c; + dMatrix3 I; + +#ifdef __cplusplus + dMass() + { dMassSetZero (this); } + void setZero() + { dMassSetZero (this); } + void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz, + dReal I11, dReal I22, dReal I33, + dReal I12, dReal I13, dReal I23) + { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); } + + void setSphere (dReal density, dReal radius) + { dMassSetSphere (this,density,radius); } + void setSphereTotal (dReal total, dReal radius) + { dMassSetSphereTotal (this,total,radius); } + + void setCapsule (dReal density, int direction, dReal radius, dReal length) + { dMassSetCapsule (this,density,direction,radius,length); } + void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length) + { dMassSetCapsule (this,total,direction,radius,length); } + + void setCylinder(dReal density, int direction, dReal radius, dReal length) + { dMassSetCylinder (this,density,direction,radius,length); } + void setCylinderTotal(dReal total, int direction, dReal radius, dReal length) + { dMassSetCylinderTotal (this,total,direction,radius,length); } + + void setBox (dReal density, dReal lx, dReal ly, dReal lz) + { dMassSetBox (this,density,lx,ly,lz); } + void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz) + { dMassSetBoxTotal (this,total,lx,ly,lz); } + + void setTrimesh(dReal density, dGeomID g) + { dMassSetTrimesh (this, density, g); } + void setTrimeshTotal(dReal total, dGeomID g) + { dMassSetTrimeshTotal (this, total, g); } + + void adjust (dReal newmass) + { dMassAdjust (this,newmass); } + void translate (dReal x, dReal y, dReal z) + { dMassTranslate (this,x,y,z); } + void rotate (const dMatrix3 R) + { dMassRotate (this,R); } + void add (const dMass *b) + { dMassAdd (this,b); } +#endif +}; + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/matrix.h b/libs/ode-0.16.1/include/ode/matrix.h new file mode 100644 index 0000000..65939b4 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/matrix.h @@ -0,0 +1,200 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* optimized and unoptimized vector and matrix functions */ + +#ifndef _ODE_MATRIX_H_ +#define _ODE_MATRIX_H_ + +#include <ode/common.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +/* set a vector/matrix of size n to all zeros, or to a specific value. */ + +ODE_API void dSetZero (dReal *a, int n); +ODE_API void dSetValue (dReal *a, int n, dReal value); + + +/* get the dot product of two n*1 vectors. if n <= 0 then + * zero will be returned (in which case a and b need not be valid). + */ + +ODE_API dReal dDot (const dReal *a, const dReal *b, int n); + + +/* get the dot products of (a0,b), (a1,b), etc and return them in outsum. + * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case + * the input vectors need not be valid). this function is somewhat faster + * than calling dDot() for all of the combinations separately. + */ + +/* NOT INCLUDED in the library for now. +void dMultidot2 (const dReal *a0, const dReal *a1, + const dReal *b, dReal *outsum, int n); +*/ + + +/* matrix multiplication. all matrices are stored in standard row format. + * the digit refers to the argument that is transposed: + * 0: A = B * C (sizes: A:p*r B:p*q C:q*r) + * 1: A = B' * C (sizes: A:p*r B:q*p C:q*r) + * 2: A = B * C' (sizes: A:p*r B:p*q C:r*q) + * case 1,2 are equivalent to saying that the operation is A=B*C but + * B or C are stored in standard column format. + */ + +ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); +ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); +ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); + + +/* do an in-place cholesky decomposition on the lower triangle of the n*n + * symmetric matrix A (which is stored by rows). the resulting lower triangle + * will be such that L*L'=A. return 1 on success and 0 on failure (on failure + * the matrix is not positive definite). + */ + +ODE_API int dFactorCholesky (dReal *A, int n); + + +/* solve for x: L*L'*x = b, and put the result back into x. + * L is size n*n, b is size n*1. only the lower triangle of L is considered. + */ + +ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n); + + +/* compute the inverse of the n*n positive definite matrix A and put it in + * Ainv. this is not especially fast. this returns 1 on success (A was + * positive definite) or 0 on failure (not PD). + */ + +ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n); + + +/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no). + * positive definite means that x'*A*x > 0 for any x. this performs a + * cholesky decomposition of A. if the decomposition fails then the matrix + * is not positive definite. A is stored by rows. A is not altered. + */ + +ODE_API int dIsPositiveDefinite (const dReal *A, int n); + + +/* factorize a matrix A into L*D*L', where L is lower triangular with ones on + * the diagonal, and D is diagonal. + * A is an n*n matrix stored by rows, with a leading dimension of n rounded + * up to 4. L is written into the strict lower triangle of A (the ones are not + * written) and the reciprocal of the diagonal elements of D are written into + * d. + */ +ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip); + + +/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal, + * and x,b are n*1. b is overwritten with x. + * the leading dimension of L is `nskip'. + */ +ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip); + + +/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal, + * and x,b are n*1. b is overwritten with x. + * the leading dimension of L is `nskip'. + */ +ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip); + + +/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) + */ + +ODE_API void dScaleVector (dReal *a, const dReal *d, int n); + +/* The function is an alias for @c dScaleVector. + * It has been deprecated because of a wrong naming schema used. + */ +ODE_API_DEPRECATED ODE_API void dVectorScale (dReal *a, const dReal *d, int n); + + +/* given `L', a n*n lower triangular matrix with ones on the diagonal, + * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix + * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b. + * the leading dimension of L is `nskip'. + */ + +ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip); + + +/* given an L*D*L' factorization of an n*n matrix A, return the updated + * factorization L2*D2*L2' of A plus the following "top left" matrix: + * + * [ b a' ] <-- b is a[0] + * [ a 0 ] <-- a is a[1..n-1] + * + * - L has size n*n, its leading dimension is nskip. L is lower triangular + * with ones on the diagonal. only the lower triangle of L is referenced. + * - d has size n. d contains the reciprocal diagonal elements of D. + * - a has size n. + * the result is written into L, except that the left column of L and d[0] + * are not actually modified. see ldltaddTL.m for further comments. + */ +ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip); + + +/* given an L*D*L' factorization of a permuted matrix A, produce a new + * factorization for row and column `r' removed. + * - A has size n1*n1, its leading dimension in nskip. A is symmetric and + * positive definite. only the lower triangle of A is referenced. + * A itself may actually be an array of row pointers. + * - L has size n2*n2, its leading dimension in nskip. L is lower triangular + * with ones on the diagonal. only the lower triangle of L is referenced. + * - d has size n2. d contains the reciprocal diagonal elements of D. + * - p is a permutation vector. it contains n2 indexes into A. each index + * must be in the range 0..n1-1. + * - r is the row/column of L to remove. + * the new L will be written within the old L, i.e. will have the same leading + * dimension. the last row and column of L, and the last element of d, are + * undefined on exit. + * + * a fast O(n^2) algorithm is used. see ldltremove.m for further comments. + */ +ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, + int n1, int n2, int r, int nskip); + + +/* given an n*n matrix A (with leading dimension nskip), remove the r'th row + * and column by moving elements. the new matrix will have the same leading + * dimension. the last row and column of A are untouched on exit. + */ +ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r); + +#ifdef __cplusplus +} +#endif + + +#endif diff --git a/libs/ode-0.16.1/include/ode/matrix_coop.h b/libs/ode-0.16.1/include/ode/matrix_coop.h new file mode 100644 index 0000000..b38bf90 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/matrix_coop.h @@ -0,0 +1,291 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001-2003 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_MATRIX_COOP_H_ +#define _ODE_MATRIX_COOP_H_ + + +#include <ode/common.h> +#include <ode/cooperative.h> +#include <ode/threading.h> + + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @defgroup matrix_coop Matrix Cooperative Algorithms + * + * Cooperative algorithms operating on matrices and vectors. + * + * @ingroup coop + */ + + +/** + * @brief Estimates resource requirements for a @c dCooperativelyFactorLDLT call + * + * The function updates the contents of @a requirements to also suffice for calling + * @c dCooperativelyFactorLDLT with the given parameters. + * + * Note: The requirements that could have already been in the @a requirements parameter + * are never decreased. + * + * @param requirements The ResourceRequirements object to update + * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used + * @param maximalRowCount Maximal value of rowCount parameter that is going to be used + * @ingroup matrix_coop + * @see dCooperativelyFactorLDLT + * @see dResourceRequirementsCreate + */ +ODE_API void dEstimateCooperativelyFactorLDLTResourceRequirements(dResourceRequirementsID requirements, + unsigned maximalAllowedThreadCount, unsigned maximalRowCount); + +/** + * @brief Cooperatively factorizes a matrix `A' into L*D*L' + * + * The function factorizes a matrix `A' into L*D*L', where `L' is lower triangular with ones on + * the diagonal, and `D' is diagonal. + * @a A is a rowCount*rowCount matrix stored by rows, with a leading dimension of @a rowCount rounded + * up at least to 4 elements. `L; is written into the strict lower triangle of @a A + * (the ones are not written) and the reciprocal of the diagonal elements of `D' are written into @a d. + * + * The @a resources must have had been allocated from a ResourceRequirements object + * estimated in @c dEstimateCooperativelyFactorLDLTResourceRequirements. + * + * The operation is performed cooperatively by up to @a allowedThreadCount threads + * from thread pool available in @a resources. The threading must must not be simultaneously + * used (via other @c dResourceContainerID instances) in other calls that employ its features. + * + * @param resources The resources allocated for the function + * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) + * @param A The `A' matrix + * @param d The `d' vector + * @param rowCount The row count in @a A and @a d + * @param rowskip The actual number of elements to be added to skip to next row in @a A + * @ingroup matrix_coop + * @see dEstimateCooperativelyFactorLDLTResourceRequirements + * @see dResourceContainerAcquire + * @see dCooperativelySolveLDLT + */ +ODE_API void dCooperativelyFactorLDLT(dResourceContainerID resources, unsigned allowedThreadCount, + dReal *A, dReal *d, unsigned rowCount, unsigned rowSkip); + + +/** + * @brief Estimates resource requirements for a @c dCooperativelySolveLDLT call + * + * The function updates the contents of @a requirements to also suffice for calling + * @c dCooperativelySolveLDLT with the given parameters. + * + * Note: The requirements that could have already been in the @a requirements parameter + * are never decreased. + * + * @param requirements The ResourceRequirements object to update + * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used + * @param maximalRowCount Maximal value of rowCount parameter that is going to be used + * @ingroup matrix_coop + * @see dCooperativelySolveLDLT + * @see dResourceRequirementsCreate + */ +ODE_API void dEstimateCooperativelySolveLDLTResourceRequirements(dResourceRequirementsID requirements, + unsigned maximalAllowedThreadCount, unsigned maximalRowCount); + +/** + * @brief Cooperatively solves L*D*L'*x=b + * + * Given `L', a rowCount*rowCount lower triangular matrix with ones on the diagonal, + * and `d', a rowCount*1 vector of the reciprocal diagonal elements of a rowCount*rowCount matrix + * D, the function solves L*D*L'*x=b where `x' and `b' are rowCount*1. + * The leading dimension of @a L is @a rowSkip. The resulting vector `x' overwrites @a b. + * + * The @a resources must have had been allocated from a ResourceRequirements object + * estimated in @c dEstimateCooperativelySolveLDLTResourceRequirements. + * + * The operation is performed cooperatively by up to @a allowedThreadCount threads + * from thread pool available in @a resources. The threading must must not be simultaneously + * used (via other @c dResourceContainerID instances) in other calls that employ its features. + * + * @param resources The resources allocated for the function + * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) + * @param L The `L' matrix + * @param d The `d' vector + * @param b The `b' vector; also the result is stored here + * @param rowCount The row count in @a L, @a d and @a b + * @param rowskip The actual number of elements to be added to skip to next row in @a L + * @ingroup matrix_coop + * @see dEstimateCooperativelySolveLDLTResourceRequirements + * @see dResourceContainerAcquire + * @see dCooperativelyFactorLDLT + */ +ODE_API void dCooperativelySolveLDLT(dResourceContainerID resources, unsigned allowedThreadCount, + const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip); + + +/** + * @brief Estimates resource requirements for a @c dCooperativelySolveL1Straight call + * + * The function updates the contents of @a requirements to also suffice for calling + * @c dCooperativelySolveL1Straight with the given parameters. + * + * Note: The requirements that could have already been in the @a requirements parameter + * are never decreased. + * + * @param requirements The ResourceRequirements object to update + * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used + * @param maximalRowCount Maximal value of rowCount parameter that is going to be used + * @ingroup matrix_coop + * @see dCooperativelySolveL1Straight + * @see dResourceRequirementsCreate + */ +ODE_API void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements, + unsigned maximalAllowedThreadCount, unsigned maximalRowCount); + +/** + * @brief Cooperatively solves L*x=b + * + * The function solves L*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, + * and `x', `b' are rowCount*1. The leading dimension of @a L is @a rowSkip. + * @a b is overwritten with `x'. + * + * The @a resources must have had been allocated from a ResourceRequirements object + * estimated in @c dEstimateCooperativelySolveL1StraightResourceRequirements. + * + * The operation is performed cooperatively by up to @a allowedThreadCount threads + * from thread pool available in @a resources. The threading must must not be simultaneously + * used (via other @c dResourceContainerID instances) in other calls that employ its features. + * + * @param resources The resources allocated for the function + * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) + * @param L The `L' matrix + * @param b The `b' vector; also the result is stored here + * @param rowCount The row count in @a L and @a b + * @param rowskip The actual number of elements to be added to skip to next row in @a L + * @ingroup matrix_coop + * @see dEstimateCooperativelySolveL1StraightResourceRequirements + * @see dResourceContainerAcquire + * @see dCooperativelyFactorLDLT + */ +ODE_API void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount, + const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); + + +/** + * @brief Estimates resource requirements for a @c dCooperativelySolveL1Transposed call + * + * The function updates the contents of @a requirements to also suffice for calling + * @c dCooperativelySolveL1Transposed with the given parameters. + * + * Note: The requirements that could have already been in the @a requirements parameter + * are never decreased. + * + * @param requirements The ResourceRequirements object to update + * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used + * @param maximalRowCount Maximal value of rowCount parameter that is going to be used + * @ingroup matrix_coop + * @see dCooperativelySolveL1Transposed + * @see dResourceRequirementsCreate + */ +ODE_API void dEstimateCooperativelySolveL1TransposedResourceRequirements(dResourceRequirementsID requirements, + unsigned maximalAllowedThreadCount, unsigned maximalRowCount); + +/** + * @brief Cooperatively solves L'*x=b + * + * The function solves L'*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, + * and `x', b are rowCount*1. The leading dimension of @a L is @a rowSkip. + * @a b is overwritten with `x'. + * + * The @a resources must have had been allocated from a ResourceRequirements object + * estimated in @c dEstimateCooperativelySolveL1TransposedResourceRequirements. + * + * The operation is performed cooperatively by up to @a allowedThreadCount threads + * from thread pool available in @a resources. The threading must must not be simultaneously + * used (via other @c dResourceContainerID instances) in other calls that employ its features. + * + * @param resources The resources allocated for the function + * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) + * @param L The `L' matrix + * @param b The `b' vector; also the result is stored here + * @param rowCount The row count in @a L and @a b + * @param rowskip The actual number of elements to be added to skip to next row in @a L + * @ingroup matrix_coop + * @see dEstimateCooperativelySolveL1TransposedResourceRequirements + * @see dResourceContainerAcquire + * @see dCooperativelyFactorLDLT + */ +ODE_API void dCooperativelySolveL1Transposed(dResourceContainerID resources, unsigned allowedThreadCount, + const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); + + +/** + * @brief Estimates resource requirements for a @c dCooperativelyScaleVector call + * + * The function updates the contents of @a requirements to also suffice for calling + * @c dCooperativelyScaleVector with the given parameters. + * + * Note: The requirements that could have already been in the @a requirements parameter + * are never decreased. + * + * @param requirements The ResourceRequirements object to update + * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used + * @param maximalElementCount Maximal value of elementCount parameter that is going to be used + * @ingroup matrix_coop + * @see dCooperativelyScaleVector + * @see dResourceRequirementsCreate + */ +ODE_API void dEstimateCooperativelyScaleVectorResourceRequirements(dResourceRequirementsID requirements, + unsigned maximalAllowedThreadCount, unsigned maximalElementCount); + +/** + * @brief Multiplies elements of one vector by corresponding element of another one + * + * In matlab syntax, the operation performed is: dataVector(1:elementCount) = dataVector(1:elementCount) .* scaleVector(1:elementCount) + * + * The @a resources must have had been allocated from a ResourceRequirements object + * estimated in @c dEstimateCooperativelyScaleVectorResourceRequirements. + * + * The operation is performed cooperatively by up to @a allowedThreadCount threads + * from thread pool available in @a resources. The threading must must not be simultaneously + * used (via other @c dResourceContainerID instances) in other calls that employ its features. + * + * @param resources The resources allocated for the function + * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) + * @param dataVector The vector to be scaled in place + * @param scaleVector The scale vector + * @param elementCount The number of elements in @a dataVector and @a scaleVector + * @ingroup matrix_coop + * @see dEstimateCooperativelyScaleVectorResourceRequirements + * @see dResourceContainerAcquire + * @see dCooperativelyFactorLDLT + */ +ODE_API void dCooperativelyScaleVector(dResourceContainerID resources, unsigned allowedThreadCount, + dReal *dataVector, const dReal *scaleVector, unsigned elementCount); + + +#ifdef __cplusplus +} // extern "C" +#endif + + +#endif // #ifndef _ODE_MATRIX_COOP_H_ diff --git a/libs/ode-0.16.1/include/ode/memory.h b/libs/ode-0.16.1/include/ode/memory.h new file mode 100644 index 0000000..8e49202 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/memory.h @@ -0,0 +1,59 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* this comes from the `reuse' library. copy any changes back to the source */ + +#ifndef _ODE_MEMORY_H_ +#define _ODE_MEMORY_H_ + +#include <ode/odeconfig.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/* function types to allocate and free memory */ +typedef void * dAllocFunction (dsizeint size); +typedef void * dReallocFunction (void *ptr, dsizeint oldsize, dsizeint newsize); +typedef void dFreeFunction (void *ptr, dsizeint size); + +/* set new memory management functions. if fn is 0, the default handlers are + * used. */ +ODE_API void dSetAllocHandler (dAllocFunction *fn); +ODE_API void dSetReallocHandler (dReallocFunction *fn); +ODE_API void dSetFreeHandler (dFreeFunction *fn); + +/* get current memory management functions */ +ODE_API dAllocFunction *dGetAllocHandler (void); +ODE_API dReallocFunction *dGetReallocHandler (void); +ODE_API dFreeFunction *dGetFreeHandler (void); + +/* allocate and free memory. */ +ODE_API void * dAlloc (dsizeint size); +ODE_API void * dRealloc (void *ptr, dsizeint oldsize, dsizeint newsize); +ODE_API void dFree (void *ptr, dsizeint size); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/misc.h b/libs/ode-0.16.1/include/ode/misc.h new file mode 100644 index 0000000..01655ea --- /dev/null +++ b/libs/ode-0.16.1/include/ode/misc.h @@ -0,0 +1,86 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* miscellaneous math functions. these are mostly useful for testing */ + +#ifndef _ODE_MISC_H_ +#define _ODE_MISC_H_ + +#include <ode/common.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +/* return 1 if the random number generator is working. */ +ODE_API int dTestRand(void); + +/* return next 32 bit random number. this uses a not-very-random linear + * congruential method. + */ +ODE_API unsigned long dRand(void); + +/* get and set the current random number seed. */ +ODE_API unsigned long dRandGetSeed(void); +ODE_API void dRandSetSeed (unsigned long s); + +/* return a random integer between 0..n-1. the distribution will get worse + * as n approaches 2^32. + */ +ODE_API int dRandInt (int n); + +/* return a random real number between 0..1 */ +ODE_API dReal dRandReal(void); + +/* print out a matrix */ +ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f); + +/* make a random vector with entries between +/- range. A has n elements. */ +ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); + +/* make a random matrix with entries between +/- range. A has size n*m. */ +ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); + +/* clear the upper triangle of a square matrix */ +ODE_API void dClearUpperTriangle (dReal *A, int n); + +/* return the maximum element difference between the two n*m matrices */ +ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m); + +/* return the maximum element difference between the lower triangle of two + * n*n matrices */ +ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); + + +#ifdef __cplusplus +} +#endif + + +#ifdef __cplusplus +static inline void dPrintMatrix (const dReal *A, int n, int m, const char *fmt="%10.4f ") { dPrintMatrix(A, n, m, fmt, stdout); } +#endif + + +#endif diff --git a/libs/ode-0.16.1/include/ode/objects.h b/libs/ode-0.16.1/include/ode/objects.h new file mode 100644 index 0000000..4796d56 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/objects.h @@ -0,0 +1,3396 @@ +/************************************************************************* + * * + * 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_OBJECTS_H_ +#define _ODE_OBJECTS_H_ + +#include <ode/common.h> +#include <ode/mass.h> +#include <ode/contact.h> +#include <ode/threading.h> + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @defgroup world World + * + * The world object is a container for rigid bodies and joints. Objects in + * different worlds can not interact, for example rigid bodies from two + * different worlds can not collide. + * + * All the objects in a world exist at the same point in time, thus one + * reason to use separate worlds is to simulate systems at different rates. + * Most applications will only need one world. + */ + +/** + * @brief Create a new, empty world and return its ID number. + * @return an identifier + * @ingroup world + */ +ODE_API dWorldID dWorldCreate(void); + + +/** + * @brief Destroy a world and everything in it. + * + * This includes all bodies, and all joints that are not part of a joint + * group. Joints that are part of a joint group will be deactivated, and + * can be destroyed by calling, for example, dJointGroupEmpty(). + * @ingroup world + * @param world the identifier for the world the be destroyed. + */ +ODE_API void dWorldDestroy (dWorldID world); + + +/** + * @brief Set the user-data pointer + * @param world the world to set the data on + * @param data + * @ingroup world + */ +ODE_API void dWorldSetData (dWorldID world, void* data); + + +/** + * @brief Get the user-data pointer + * @param world the world to set the data on + * @param data + * @ingroup world + */ +ODE_API void* dWorldGetData (dWorldID world); + + +/** + * @brief Set the world's global gravity vector. + * + * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), + * assuming that +z is up. The default is no gravity, i.e. (0,0,0). + * + * @ingroup world + */ +ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); + + +/** + * @brief Get the gravity vector for a given world. + * @ingroup world + */ +ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity); + + +/** + * @brief Set the global ERP value, that controls how much error + * correction is performed in each time step. + * @ingroup world + * @param dWorldID the identifier of the world. + * @param erp Typical values are in the range 0.1--0.8. The default is 0.2. + */ +ODE_API void dWorldSetERP (dWorldID, dReal erp); + +/** + * @brief Get the error reduction parameter. + * @ingroup world + * @return ERP value + */ +ODE_API dReal dWorldGetERP (dWorldID); + + +/** + * @brief Set the global CFM (constraint force mixing) value. + * @ingroup world + * @param cfm Typical values are in the range @m{10^{-9}} -- 1. + * The default is 10^-5 if single precision is being used, or 10^-10 + * if double precision is being used. + */ +ODE_API void dWorldSetCFM (dWorldID, dReal cfm); + +/** + * @brief Get the constraint force mixing value. + * @ingroup world + * @return CFM value + */ +ODE_API dReal dWorldGetCFM (dWorldID); + + +#define dWORLDSTEP_THREADCOUNT_UNLIMITED dTHREADING_THREAD_COUNT_UNLIMITED + +/** + * @brief Set maximum threads to be used for island stepping + * + * The actual number of threads that is going to be used will be the minimum + * of this limit and number of threads in the threading pool. By default + * there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED). + * + * @warning + * WARNING! Running island stepping in multiple threads requires allocating + * individual stepping memory buffer for each of those threads. The size of buffers + * allocated is the size needed to handle the largest island in the world. + * + * Note: Setting a limit for island stepping does not affect threading at lower + * levels in stepper functions. The sub-calls scheduled from them can be executed + * in as many threads as there are available in the pool. + * + * @param w The world affected + * @param count Thread count limit value for island stepping + * @ingroup world + * @see dWorldGetStepIslandsProcessingMaxThreadCount + */ +ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count); +/** + * @brief Get maximum threads that are allowed to be used for island stepping. + * + * Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for + * important information regarding the value returned. + * + * @param w The world queried + * @returns Current thread count limit value for island stepping + * @ingroup world + * @see dWorldSetStepIslandsProcessingMaxThreadCount + */ +ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w); + +/** + * @brief Set the world to use shared working memory along with another world. + * + * The worlds allocate working memory internally for simulation stepping. This + * memory is cached among the calls to @c dWordStep and @c dWorldQuickStep. + * Similarly, several worlds can be set up to share this memory caches thus + * reducing overall memory usage by cost of making worlds inappropriate for + * simultaneous simulation in multiple threads. + * + * If null value is passed for @a from_world parameter the world is detached from + * sharing and returns to defaults for working memory, reservation policy and + * memory manager as if just created. This can also be used to enable use of shared + * memory for a world that has already had working memory allocated privately. + * Normally using shared memory after a world has its private working memory allocated + * is prohibited. + * + * Allocation policy used can only increase world's internal reserved memory size + * and never decreases it. @c dWorldCleanupWorkingMemory can be used to release + * working memory for a world in case if number of objects/joint decreases + * significantly in it. + * + * With sharing working memory worlds also automatically share memory reservation + * policy and memory manager. Thus, these parameters need to be customized for + * initial world to be used as sharing source only. + * + * If worlds share working memory they must also use compatible threading implementations + * (i.e. it is illegal for one world to perform stepping with self-threaded implementation + * when the other world is assigned a multi-threaded implementation). + * For more information read section about threading approaches in ODE. + * + * Failure result status means a memory allocation failure. + * + * @param w The world to use the shared memory with. + * @param from_world Null or the world the shared memory is to be used from. + * @returns 1 for success and 0 for failure. + * + * @ingroup world + * @see dWorldCleanupWorkingMemory + * @see dWorldSetStepMemoryReservationPolicy + * @see dWorldSetStepMemoryManager + */ +ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/); + +/** + * @brief Release internal working memory allocated for world + * + * The worlds allocate working memory internally for simulation stepping. This + * function can be used to free world's internal memory cache in case if number of + * objects/joints in the world decreases significantly. By default, internal + * allocation policy is used to only increase cache size as necessary and never + * decrease it. + * + * If a world shares its working memory with other worlds the cache deletion + * affects all the linked worlds. However the shared status itself remains intact. + * + * The function call does affect neither memory reservation policy nor memory manager. + * + * @param w The world to release working memory for. + * + * @ingroup world + * @see dWorldUseSharedWorkingMemory + * @see dWorldSetStepMemoryReservationPolicy + * @see dWorldSetStepMemoryManager + */ +ODE_API void dWorldCleanupWorkingMemory(dWorldID w); + + +#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f +#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U + +/** + * @struct dWorldStepReserveInfo + * @brief Memory reservation policy descriptor structure for world stepping functions. + * + * @c struct_size should be assigned the size of the structure. + * + * @c reserve_factor is a quotient that is multiplied by required memory size + * to allocate extra reserve whenever reallocation is needed. + * + * @c reserve_minimum is a minimum size that is checked against whenever reallocation + * is needed to allocate expected working memory minimum at once without extra + * reallocations as number of bodies/joints grows. + * + * @ingroup world + * @see dWorldSetStepMemoryReservationPolicy + */ +typedef struct +{ + unsigned struct_size; + float reserve_factor; /* Use float as precision does not matter here*/ + unsigned reserve_minimum; + +} dWorldStepReserveInfo; + +/** + * @brief Set memory reservation policy for world to be used with simulation stepping functions + * + * The function allows to customize reservation policy to be used for internal + * memory which is allocated to aid simulation for a world. By default, values + * of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT + * are used. + * + * Passing @a policyinfo argument as NULL results in reservation policy being + * reset to defaults as if the world has been just created. The content of + * @a policyinfo structure is copied internally and does not need to remain valid + * after the call returns. + * + * If the world uses working memory sharing, changing memory reservation policy + * affects all the worlds linked together. + * + * Failure result status means a memory allocation failure. + * + * @param w The world to change memory reservation policy for. + * @param policyinfo Null or a pointer to policy descriptor structure. + * @returns 1 for success and 0 for failure. + * + * @ingroup world + * @see dWorldUseSharedWorkingMemory + */ +ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/); + +/** +* @struct dWorldStepMemoryFunctionsInfo +* @brief World stepping memory manager descriptor structure +* +* This structure is intended to define the functions of memory manager to be used +* with world stepping functions. +* +* @c struct_size should be assigned the size of the structure +* +* @c alloc_block is a function to allocate memory block of given size. +* +* @c shrink_block is a function to shrink existing memory block to a smaller size. +* It must preserve the contents of block head while shrinking. The new block size +* is guaranteed to be always less than the existing one. +* +* @c free_block is a function to delete existing memory block. +* +* @ingroup init +* @see dWorldSetStepMemoryManager +*/ +typedef struct +{ + unsigned struct_size; + void *(*alloc_block)(dsizeint block_size); + void *(*shrink_block)(void *block_pointer, dsizeint block_current_size, dsizeint block_smaller_size); + void (*free_block)(void *block_pointer, dsizeint block_current_size); + +} dWorldStepMemoryFunctionsInfo; + +/** +* @brief Set memory manager for world to be used with simulation stepping functions +* +* The function allows to customize memory manager to be used for internal +* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree +* based memory manager is used. +* +* Passing @a memfuncs argument as NULL results in memory manager being +* reset to default one as if the world has been just created. The content of +* @a memfuncs structure is copied internally and does not need to remain valid +* after the call returns. +* +* If the world uses working memory sharing, changing memory manager +* affects all the worlds linked together. +* +* Failure result status means a memory allocation failure. +* +* @param w The world to change memory reservation policy for. +* @param memfuncs Null or a pointer to memory manager descriptor structure. +* @returns 1 for success and 0 for failure. +* +* @ingroup world +* @see dWorldUseSharedWorkingMemory +*/ +ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs); + +/** + * @brief Assign threading implementation to be used for [quick]stepping the world. + * + * @warning It is not recommended to assign the same threading implementation to + * different worlds if they are going to be called in parallel. In particular this + * makes resources preallocation for threaded calls to lose its sense. + * Built-in threading implementation is likely to crash if misused this way. + * + * @param w The world to change threading implementation for. + * @param functions_info Pointer to threading functions structure + * @param threading_impl ID of threading implementation object + * + * @ingroup world + */ +ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl); + +/** + * @brief Step the world. + * + * This uses a "big matrix" method that takes time on the order of m^3 + * and memory on the order of m^2, where m is the total number of constraint + * rows. For large systems this will use a lot of memory and can be very slow, + * but this is currently the most accurate method. + * + * Failure result status means that the memory allocation has failed for operation. + * In such a case all the objects remain in unchanged state and simulation can be + * retried as soon as more memory is available. + * + * @param w The world to be stepped + * @param stepsize The number of seconds that the simulation has to advance. + * @returns 1 for success and 0 for failure + * + * @ingroup world + */ +ODE_API int dWorldStep (dWorldID w, dReal stepsize); + +/** + * @brief Quick-step the world. + * + * This uses an iterative method that takes time on the order of m*N + * and memory on the order of m, where m is the total number of constraint + * rows N is the number of iterations. + * For large systems this is a lot faster than dWorldStep(), + * but it is less accurate. + * + * QuickStep is great for stacks of objects especially when the + * auto-disable feature is used as well. + * However, it has poor accuracy for near-singular systems. + * Near-singular systems can occur when using high-friction contacts, motors, + * or certain articulated structures. For example, a robot with multiple legs + * sitting on the ground may be near-singular. + * + * There are ways to help overcome QuickStep's inaccuracy problems: + * + * \li Increase CFM. + * \li Reduce the number of contacts in your system (e.g. use the minimum + * number of contacts for the feet of a robot or creature). + * \li Don't use excessive friction in the contacts. + * \li Use contact slip if appropriate + * \li Avoid kinematic loops (however, kinematic loops are inevitable in + * legged creatures). + * \li Don't use excessive motor strength. + * \liUse force-based motors instead of velocity-based motors. + * + * Increasing the number of QuickStep iterations may help a little bit, but + * it is not going to help much if your system is really near singular. + * + * Failure result status means that the memory allocation has failed for operation. + * In such a case all the objects remain in unchanged state and simulation can be + * retried as soon as more memory is available. + * + * @param w The world to be stepped + * @param stepsize The number of seconds that the simulation has to advance. + * @returns 1 for success and 0 for failure + * + * @ingroup world + */ +ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize); + + +/** +* @brief Converts an impulse to a force. +* @ingroup world +* @remarks +* If you want to apply a linear or angular impulse to a rigid body, +* instead of a force or a torque, then you can use this function to convert +* the desired impulse into a force/torque vector before calling the +* BodyAdd... function. +* The current algorithm simply scales the impulse by 1/stepsize, +* where stepsize is the step size for the next step that will be taken. +* This function is given a dWorldID because, in the future, the force +* computation may depend on integrator parameters that are set as +* properties of the world. +*/ +ODE_API void dWorldImpulseToForce +( + dWorldID, dReal stepsize, + dReal ix, dReal iy, dReal iz, dVector3 force + ); + + +/** + * @brief Set the number of iterations that the QuickStep method performs per + * step. + * @ingroup world + * @remarks + * More iterations will give a more accurate solution, but will take + * longer to compute. + * @param num The default is 20 iterations. + */ +ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num); + + +/** + * @brief Get the number of iterations that the QuickStep method performs per + * step. + * @ingroup world + * @return nr of iterations + */ +ODE_API int dWorldGetQuickStepNumIterations (dWorldID); + +/** + * @brief Set the SOR over-relaxation parameter + * @ingroup world + * @param over_relaxation value to use by SOR + */ +ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation); + +/** + * @brief Get the SOR over-relaxation parameter + * @ingroup world + * @returns the over-relaxation setting + */ +ODE_API dReal dWorldGetQuickStepW (dWorldID); + +/* World contact parameter functions */ + +/** + * @brief Set the maximum correcting velocity that contacts are allowed + * to generate. + * @ingroup world + * @param vel The default value is infinity (i.e. no limit). + * @remarks + * Reducing this value can help prevent "popping" of deeply embedded objects. + */ +ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel); + +/** + * @brief Get the maximum correcting velocity that contacts are allowed + * to generated. + * @ingroup world + */ +ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID); + +/** + * @brief Set the depth of the surface layer around all geometry objects. + * @ingroup world + * @remarks + * Contacts are allowed to sink into the surface layer up to the given + * depth before coming to rest. + * @param depth The default value is zero. + * @remarks + * Increasing this to some small value (e.g. 0.001) can help prevent + * jittering problems due to contacts being repeatedly made and broken. + */ +ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth); + +/** + * @brief Get the depth of the surface layer around all geometry objects. + * @ingroup world + * @returns the depth + */ +ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); + + +/** + * @defgroup disable Automatic Enabling and Disabling + * @ingroup world bodies + * + * Every body can be enabled or disabled. Enabled bodies participate in the + * simulation, while disabled bodies are turned off and do not get updated + * during a simulation step. New bodies are always created in the enabled state. + * + * A disabled body that is connected through a joint to an enabled body will be + * automatically re-enabled at the next simulation step. + * + * Disabled bodies do not consume CPU time, therefore to speed up the simulation + * bodies should be disabled when they come to rest. This can be done automatically + * with the auto-disable feature. + * + * If a body has its auto-disable flag turned on, it will automatically disable + * itself when + * @li It has been idle for a given number of simulation steps. + * @li It has also been idle for a given amount of simulation time. + * + * A body is considered to be idle when the magnitudes of both its + * linear average velocity and angular average velocity are below given thresholds. + * The sample size for the average defaults to one and can be disabled by setting + * to zero with + * + * Thus, every body has six auto-disable parameters: an enabled flag, a idle step + * count, an idle time, linear/angular average velocity thresholds, and the + * average samples count. + * + * Newly created bodies get these parameters from world. + */ + +/** + * @brief Get auto disable linear average threshold for newly created bodies. + * @ingroup disable + * @return the threshold + */ +ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); + +/** + * @brief Set auto disable linear average threshold for newly created bodies. + * @param linear_average_threshold default is 0.01 + * @ingroup disable + */ +ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_average_threshold); + +/** + * @brief Get auto disable angular average threshold for newly created bodies. + * @ingroup disable + * @return the threshold + */ +ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); + +/** + * @brief Set auto disable angular average threshold for newly created bodies. + * @param linear_average_threshold default is 0.01 + * @ingroup disable + */ +ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_average_threshold); + +/** + * @brief Get auto disable sample count for newly created bodies. + * @ingroup disable + * @return number of samples used + */ +ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID); + +/** + * @brief Set auto disable average sample count for newly created bodies. + * @ingroup disable + * @param average_samples_count Default is 1, meaning only instantaneous velocity is used. + * Set to zero to disable sampling and thus prevent any body from auto-disabling. + */ +ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count ); + +/** + * @brief Get auto disable steps for newly created bodies. + * @ingroup disable + * @return nr of steps + */ +ODE_API int dWorldGetAutoDisableSteps (dWorldID); + +/** + * @brief Set auto disable steps for newly created bodies. + * @ingroup disable + * @param steps default is 10 + */ +ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps); + +/** + * @brief Get auto disable time for newly created bodies. + * @ingroup disable + * @return nr of seconds + */ +ODE_API dReal dWorldGetAutoDisableTime (dWorldID); + +/** + * @brief Set auto disable time for newly created bodies. + * @ingroup disable + * @param time default is 0 seconds + */ +ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time); + +/** + * @brief Get auto disable flag for newly created bodies. + * @ingroup disable + * @return 0 or 1 + */ +ODE_API int dWorldGetAutoDisableFlag (dWorldID); + +/** + * @brief Set auto disable flag for newly created bodies. + * @ingroup disable + * @param do_auto_disable default is false. + */ +ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable); + + +/** + * @defgroup damping Damping + * @ingroup bodies world + * + * Damping serves two purposes: reduce simulation instability, and to allow + * the bodies to come to rest (and possibly auto-disabling them). + * + * Bodies are constructed using the world's current damping parameters. Setting + * the scales to 0 disables the damping. + * + * Here is how it is done: after every time step linear and angular + * velocities are tested against the corresponding thresholds. If they + * are above, they are multiplied by (1 - scale). So a negative scale value + * will actually increase the speed, and values greater than one will + * make the object oscillate every step; both can make the simulation unstable. + * + * To disable damping just set the damping scale to zero. + * + * You can also limit the maximum angular velocity. In contrast to the damping + * functions, the angular velocity is affected before the body is moved. + * This means that it will introduce errors in joints that are forcing the body + * to rotate too fast. Some bodies have naturally high angular velocities + * (like cars' wheels), so you may want to give them a very high (like the default, + * dInfinity) limit. + * + * @note The velocities are damped after the stepper function has moved the + * object. Otherwise the damping could introduce errors in joints. First the + * joint constraints are processed by the stepper (moving the body), then + * the damping is applied. + * + * @note The damping happens right after the moved callback is called; this way + * it still possible use the exact velocities the body has acquired during the + * step. You can even use the callback to create your own customized damping. + */ + +/** + * @brief Get the world's linear damping threshold. + * @ingroup damping + */ +ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w); + +/** + * @brief Set the world's linear damping threshold. + * @param threshold The damping won't be applied if the linear speed is + * below this threshold. Default is 0.01. + * @ingroup damping + */ +ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold); + +/** + * @brief Get the world's angular damping threshold. + * @ingroup damping + */ +ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w); + +/** + * @brief Set the world's angular damping threshold. + * @param threshold The damping won't be applied if the angular speed is + * below this threshold. Default is 0.01. + * @ingroup damping + */ +ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold); + +/** + * @brief Get the world's linear damping scale. + * @ingroup damping + */ +ODE_API dReal dWorldGetLinearDamping (dWorldID w); + +/** + * @brief Set the world's linear damping scale. + * @param scale The linear damping scale that is to be applied to bodies. + * Default is 0 (no damping). Should be in the interval [0, 1]. + * @ingroup damping + */ +ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale); + +/** + * @brief Get the world's angular damping scale. + * @ingroup damping + */ +ODE_API dReal dWorldGetAngularDamping (dWorldID w); + +/** + * @brief Set the world's angular damping scale. + * @param scale The angular damping scale that is to be applied to bodies. + * Default is 0 (no damping). Should be in the interval [0, 1]. + * @ingroup damping + */ +ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale); + +/** + * @brief Convenience function to set body linear and angular scales. + * @param linear_scale The linear damping scale that is to be applied to bodies. + * @param angular_scale The angular damping scale that is to be applied to bodies. + * @ingroup damping + */ +ODE_API void dWorldSetDamping(dWorldID w, + dReal linear_scale, + dReal angular_scale); + +/** + * @brief Get the default maximum angular speed. + * @ingroup damping + * @sa dBodyGetMaxAngularSpeed() + */ +ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w); + + +/** + * @brief Set the default maximum angular speed for new bodies. + * @ingroup damping + * @sa dBodySetMaxAngularSpeed() + */ +ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed); + + + +/** + * @defgroup bodies Rigid Bodies + * + * A rigid body has various properties from the point of view of the + * simulation. Some properties change over time: + * + * @li Position vector (x,y,z) of the body's point of reference. + * Currently the point of reference must correspond to the body's center of mass. + * @li Linear velocity of the point of reference, a vector (vx,vy,vz). + * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or + * a 3x3 rotation matrix. + * @li Angular velocity vector (wx,wy,wz) which describes how the orientation + * changes over time. + * + * Other body properties are usually constant over time: + * + * @li Mass of the body. + * @li Position of the center of mass with respect to the point of reference. + * In the current implementation the center of mass and the point of + * reference must coincide. + * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass + * is distributed around the center of mass. Conceptually each body has an + * x-y-z coordinate frame embedded in it that moves and rotates with the body. + * + * The origin of this coordinate frame is the body's point of reference. Some values + * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others + * are relative to the global coordinate frame. + * + * Note that the shape of a rigid body is not a dynamical property (except insofar as + * it influences the various mass properties). It is only collision detection that cares + * about the detailed shape of the body. + */ + + +/** + * @brief Get auto disable linear average threshold. + * @ingroup bodies disable + * @return the threshold + */ +ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID); + +/** + * @brief Set auto disable linear average threshold. + * @ingroup bodies disable + * @return the threshold + */ +ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold); + +/** + * @brief Get auto disable angular average threshold. + * @ingroup bodies disable + * @return the threshold + */ +ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID); + +/** + * @brief Set auto disable angular average threshold. + * @ingroup bodies disable + * @return the threshold + */ +ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold); + +/** + * @brief Get auto disable average size (samples count). + * @ingroup bodies disable + * @return the nr of steps/size. + */ +ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID); + +/** + * @brief Set auto disable average buffer size (average steps). + * @ingroup bodies disable + * @param average_samples_count the nr of samples to review. + */ +ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count); + + +/** + * @brief Get auto steps a body must be thought of as idle to disable + * @ingroup bodies disable + * @return the nr of steps + */ +ODE_API int dBodyGetAutoDisableSteps (dBodyID); + +/** + * @brief Set auto disable steps. + * @ingroup bodies disable + * @param steps the nr of steps. + */ +ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps); + +/** + * @brief Get auto disable time. + * @ingroup bodies disable + * @return nr of seconds + */ +ODE_API dReal dBodyGetAutoDisableTime (dBodyID); + +/** + * @brief Set auto disable time. + * @ingroup bodies disable + * @param time nr of seconds. + */ +ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time); + +/** + * @brief Get auto disable flag. + * @ingroup bodies disable + * @return 0 or 1 + */ +ODE_API int dBodyGetAutoDisableFlag (dBodyID); + +/** + * @brief Set auto disable flag. + * @ingroup bodies disable + * @param do_auto_disable 0 or 1 + */ +ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable); + +/** + * @brief Set auto disable defaults. + * @remarks + * Set the values for the body to those set as default for the world. + * @ingroup bodies disable + */ +ODE_API void dBodySetAutoDisableDefaults (dBodyID); + + +/** + * @brief Retrieves the world attached to te given body. + * @remarks + * + * @ingroup bodies + */ +ODE_API dWorldID dBodyGetWorld (dBodyID); + +/** + * @brief Create a body in given world. + * @remarks + * Default mass parameters are at position (0,0,0). + * @ingroup bodies + */ +ODE_API dBodyID dBodyCreate (dWorldID); + +/** + * @brief Destroy a body. + * @remarks + * All joints that are attached to this body will be put into limbo: + * i.e. unattached and not affecting the simulation, but they will NOT be + * deleted. + * @ingroup bodies + */ +ODE_API void dBodyDestroy (dBodyID); + +/** + * @brief Set the body's user-data pointer. + * @ingroup bodies + * @param data arbitraty pointer + */ +ODE_API void dBodySetData (dBodyID, void *data); + +/** + * @brief Get the body's user-data pointer. + * @ingroup bodies + * @return a pointer to the user's data. + */ +ODE_API void *dBodyGetData (dBodyID); + +/** + * @brief Set position of a body. + * @remarks + * After setting, the outcome of the simulation is undefined + * if the new configuration is inconsistent with the joints/constraints + * that are present. + * @ingroup bodies + */ +ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); + +/** + * @brief Set the orientation of a body. + * @ingroup bodies + * @remarks + * After setting, the outcome of the simulation is undefined + * if the new configuration is inconsistent with the joints/constraints + * that are present. + */ +ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R); + +/** + * @brief Set the orientation of a body. + * @ingroup bodies + * @remarks + * After setting, the outcome of the simulation is undefined + * if the new configuration is inconsistent with the joints/constraints + * that are present. + */ +ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q); + +/** + * @brief Set the linear velocity of a body. + * @ingroup bodies + */ +ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); + +/** + * @brief Set the angular velocity of a body. + * @ingroup bodies + */ +ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); + +/** + * @brief Get the position of a body. + * @ingroup bodies + * @remarks + * When getting, the returned values are pointers to internal data structures, + * so the vectors are valid until any changes are made to the rigid body + * system structure. + * @sa dBodyCopyPosition + */ +ODE_API const dReal * dBodyGetPosition (dBodyID); + + +/** + * @brief Copy the position of a body into a vector. + * @ingroup bodies + * @param body the body to query + * @param pos a copy of the body position + * @sa dBodyGetPosition + */ +ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos); + + +/** + * @brief Get the rotation of a body. + * @ingroup bodies + * @return pointer to a 4x3 rotation matrix. + */ +ODE_API const dReal * dBodyGetRotation (dBodyID); + + +/** + * @brief Copy the rotation of a body. + * @ingroup bodies + * @param body the body to query + * @param R a copy of the rotation matrix + * @sa dBodyGetRotation + */ +ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R); + + +/** + * @brief Get the rotation of a body. + * @ingroup bodies + * @return pointer to 4 scalars that represent the quaternion. + */ +ODE_API const dReal * dBodyGetQuaternion (dBodyID); + + +/** + * @brief Copy the orientation of a body into a quaternion. + * @ingroup bodies + * @param body the body to query + * @param quat a copy of the orientation quaternion + * @sa dBodyGetQuaternion + */ +ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat); + + +/** + * @brief Get the linear velocity of a body. + * @ingroup bodies + */ +ODE_API const dReal * dBodyGetLinearVel (dBodyID); + +/** + * @brief Get the angular velocity of a body. + * @ingroup bodies + */ +ODE_API const dReal * dBodyGetAngularVel (dBodyID); + +/** + * @brief Set the mass of a body. + * @ingroup bodies + */ +ODE_API void dBodySetMass (dBodyID, const dMass *mass); + +/** + * @brief Get the mass of a body. + * @ingroup bodies + */ +ODE_API void dBodyGetMass (dBodyID, dMass *mass); + +/** + * @brief Add force at centre of mass of body in absolute coordinates. + * @ingroup bodies + */ +ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); + +/** + * @brief Add torque at centre of mass of body in absolute coordinates. + * @ingroup bodies + */ +ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); + +/** + * @brief Add force at centre of mass of body in coordinates relative to body. + * @ingroup bodies + */ +ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); + +/** + * @brief Add torque at centre of mass of body in coordinates relative to body. + * @ingroup bodies + */ +ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); + +/** + * @brief Add force at specified point in body in global coordinates. + * @ingroup bodies + */ +ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); +/** + * @brief Add force at specified point in body in local coordinates. + * @ingroup bodies + */ +ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); +/** + * @brief Add force at specified point in body in global coordinates. + * @ingroup bodies + */ +ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); +/** + * @brief Add force at specified point in body in local coordinates. + * @ingroup bodies + */ +ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); + +/** + * @brief Return the current accumulated force vector. + * @return points to an array of 3 reals. + * @remarks + * The returned values are pointers to internal data structures, so + * the vectors are only valid until any changes are made to the rigid + * body system. + * @ingroup bodies + */ +ODE_API const dReal * dBodyGetForce (dBodyID); + +/** + * @brief Return the current accumulated torque vector. + * @return points to an array of 3 reals. + * @remarks + * The returned values are pointers to internal data structures, so + * the vectors are only valid until any changes are made to the rigid + * body system. + * @ingroup bodies + */ +ODE_API const dReal * dBodyGetTorque (dBodyID); + +/** + * @brief Set the body force accumulation vector. + * @remarks + * This is mostly useful to zero the force and torque for deactivated bodies + * before they are reactivated, in the case where the force-adding functions + * were called on them while they were deactivated. + * @ingroup bodies + */ +ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); + +/** + * @brief Set the body torque accumulation vector. + * @remarks + * This is mostly useful to zero the force and torque for deactivated bodies + * before they are reactivated, in the case where the force-adding functions + * were called on them while they were deactivated. + * @ingroup bodies + */ +ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); + +/** + * @brief Get world position of a relative point on body. + * @ingroup bodies + * @param result will contain the result. + */ +ODE_API void dBodyGetRelPointPos +( + dBodyID, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Get velocity vector in global coords of a relative point on body. + * @ingroup bodies + * @param result will contain the result. + */ +ODE_API void dBodyGetRelPointVel +( + dBodyID, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Get velocity vector in global coords of a globally + * specified point on a body. + * @ingroup bodies + * @param result will contain the result. + */ +ODE_API void dBodyGetPointVel +( + dBodyID, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief takes a point in global coordinates and returns + * the point's position in body-relative coordinates. + * @remarks + * This is the inverse of dBodyGetRelPointPos() + * @ingroup bodies + * @param result will contain the result. + */ +ODE_API void dBodyGetPosRelPoint +( + dBodyID, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from local to world coordinates. + * @ingroup bodies + * @param result will contain the result. + */ +ODE_API void dBodyVectorToWorld +( + dBodyID, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from world to local coordinates. + * @ingroup bodies + * @param result will contain the result. + */ +ODE_API void dBodyVectorFromWorld +( + dBodyID, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief controls the way a body's orientation is updated at each timestep. + * @ingroup bodies + * @param mode can be 0 or 1: + * \li 0: An ``infinitesimal'' orientation update is used. + * This is fast to compute, but it can occasionally cause inaccuracies + * for bodies that are rotating at high speed, especially when those + * bodies are joined to other bodies. + * This is the default for every new body that is created. + * \li 1: A ``finite'' orientation update is used. + * This is more costly to compute, but will be more accurate for high + * speed rotations. + * @remarks + * Note however that high speed rotations can result in many types of + * error in a simulation, and the finite mode will only fix one of those + * sources of error. + */ +ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode); + +/** + * @brief sets the finite rotation axis for a body. + * @ingroup bodies + * @remarks + * This is axis only has meaning when the finite rotation mode is set + * If this axis is zero (0,0,0), full finite rotations are performed on + * the body. + * If this axis is nonzero, the body is rotated by performing a partial finite + * rotation along the axis direction followed by an infinitesimal rotation + * along an orthogonal direction. + * @remarks + * This can be useful to alleviate certain sources of error caused by quickly + * spinning bodies. For example, if a car wheel is rotating at high speed + * you can call this function with the wheel's hinge axis as the argument to + * try and improve its behavior. + */ +ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); + +/** + * @brief Get the way a body's orientation is updated each timestep. + * @ingroup bodies + * @return the mode 0 (infitesimal) or 1 (finite). + */ +ODE_API int dBodyGetFiniteRotationMode (dBodyID); + +/** + * @brief Get the finite rotation axis. + * @param result will contain the axis. + * @ingroup bodies + */ +ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); + +/** + * @brief Get the number of joints that are attached to this body. + * @ingroup bodies + * @return nr of joints + */ +ODE_API int dBodyGetNumJoints (dBodyID b); + +/** + * @brief Return a joint attached to this body, given by index. + * @ingroup bodies + * @param index valid range is 0 to n-1 where n is the value returned by + * dBodyGetNumJoints(). + */ +ODE_API dJointID dBodyGetJoint (dBodyID, int index); + + + + +/** + * @brief Set rigid body to dynamic state (default). + * @param dBodyID identification of body. + * @ingroup bodies + */ +ODE_API void dBodySetDynamic (dBodyID); + +/** + * @brief Set rigid body to kinematic state. + * When in kinematic state the body isn't simulated as a dynamic + * body (it's "unstoppable", doesn't respond to forces), + * but can still affect dynamic bodies (e.g. in joints). + * Kinematic bodies can be controlled by position and velocity. + * @note A kinematic body has infinite mass. If you set its mass + * to something else, it loses the kinematic state and behaves + * as a normal dynamic body. + * @param dBodyID identification of body. + * @ingroup bodies + */ +ODE_API void dBodySetKinematic (dBodyID); + +/** + * @brief Check wether a body is in kinematic state. + * @ingroup bodies + * @return 1 if a body is kinematic or 0 if it is dynamic. + */ +ODE_API int dBodyIsKinematic (dBodyID); + +/** + * @brief Manually enable a body. + * @param dBodyID identification of body. + * @ingroup bodies + */ +ODE_API void dBodyEnable (dBodyID); + +/** + * @brief Manually disable a body. + * @ingroup bodies + * @remarks + * A disabled body that is connected through a joint to an enabled body will + * be automatically re-enabled at the next simulation step. + */ +ODE_API void dBodyDisable (dBodyID); + +/** + * @brief Check wether a body is enabled. + * @ingroup bodies + * @return 1 if a body is currently enabled or 0 if it is disabled. + */ +ODE_API int dBodyIsEnabled (dBodyID); + +/** + * @brief Set whether the body is influenced by the world's gravity or not. + * @ingroup bodies + * @param mode when nonzero gravity affects this body. + * @remarks + * Newly created bodies are always influenced by the world's gravity. + */ +ODE_API void dBodySetGravityMode (dBodyID b, int mode); + +/** + * @brief Get whether the body is influenced by the world's gravity or not. + * @ingroup bodies + * @return nonzero means gravity affects this body. + */ +ODE_API int dBodyGetGravityMode (dBodyID b); + +/** + * @brief Set the 'moved' callback of a body. + * + * Whenever a body has its position or rotation changed during the + * timestep, the callback will be called (with body as the argument). + * Use it to know which body may need an update in an external + * structure (like a 3D engine). + * + * @param b the body that needs to be watched. + * @param callback the callback to be invoked when the body moves. Set to zero + * to disable. + * @ingroup bodies + */ +ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID)); + + +/** + * @brief Return the first geom associated with the body. + * + * You can traverse through the geoms by repeatedly calling + * dBodyGetNextGeom(). + * + * @return the first geom attached to this body, or 0. + * @ingroup bodies + */ +ODE_API dGeomID dBodyGetFirstGeom (dBodyID b); + + +/** + * @brief returns the next geom associated with the same body. + * @param g a geom attached to some body. + * @return the next geom attached to the same body, or 0. + * @sa dBodyGetFirstGeom + * @ingroup bodies + */ +ODE_API dGeomID dBodyGetNextGeom (dGeomID g); + + +/** + * @brief Resets the damping settings to the current world's settings. + * @ingroup bodies damping + */ +ODE_API void dBodySetDampingDefaults(dBodyID b); + +/** + * @brief Get the body's linear damping scale. + * @ingroup bodies damping + */ +ODE_API dReal dBodyGetLinearDamping (dBodyID b); + +/** + * @brief Set the body's linear damping scale. + * @param scale The linear damping scale. Should be in the interval [0, 1]. + * @ingroup bodies damping + * @remarks From now on the body will not use the world's linear damping + * scale until dBodySetDampingDefaults() is called. + * @sa dBodySetDampingDefaults() + */ +ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale); + +/** + * @brief Get the body's angular damping scale. + * @ingroup bodies damping + * @remarks If the body's angular damping scale was not set, this function + * returns the world's angular damping scale. + */ +ODE_API dReal dBodyGetAngularDamping (dBodyID b); + +/** + * @brief Set the body's angular damping scale. + * @param scale The angular damping scale. Should be in the interval [0, 1]. + * @ingroup bodies damping + * @remarks From now on the body will not use the world's angular damping + * scale until dBodyResetAngularDamping() is called. + * @sa dBodyResetAngularDamping() + */ +ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale); + +/** + * @brief Convenience function to set linear and angular scales at once. + * @param linear_scale The linear damping scale. Should be in the interval [0, 1]. + * @param angular_scale The angular damping scale. Should be in the interval [0, 1]. + * @ingroup bodies damping + * @sa dBodySetLinearDamping() dBodySetAngularDamping() + */ +ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale); + +/** + * @brief Get the body's linear damping threshold. + * @ingroup bodies damping + */ +ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b); + +/** + * @brief Set the body's linear damping threshold. + * @param threshold The linear threshold to be used. Damping + * is only applied if the linear speed is above this limit. + * @ingroup bodies damping + */ +ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold); + +/** + * @brief Get the body's angular damping threshold. + * @ingroup bodies damping + */ +ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b); + +/** + * @brief Set the body's angular damping threshold. + * @param threshold The angular threshold to be used. Damping is + * only used if the angular speed is above this limit. + * @ingroup bodies damping + */ +ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold); + +/** + * @brief Get the body's maximum angular speed. + * @ingroup damping bodies + * @sa dWorldGetMaxAngularSpeed() + */ +ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b); + +/** + * @brief Set the body's maximum angular speed. + * @ingroup damping bodies + * @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed() + * The default value is dInfinity, but it's a good idea to limit + * it at less than 500 if the body has the gyroscopic term + * enabled. + */ +ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed); + + + +/** + * @brief Get the body's gyroscopic state. + * + * @return nonzero if gyroscopic term computation is enabled (default), + * zero otherwise. + * @ingroup bodies + */ +ODE_API int dBodyGetGyroscopicMode(dBodyID b); + + +/** + * @brief Enable/disable the body's gyroscopic term. + * + * Disabling the gyroscopic term of a body usually improves + * stability. It also helps turning spining objects, like cars' + * wheels. + * + * @param enabled nonzero (default) to enable gyroscopic term, 0 + * to disable. + * @ingroup bodies + */ +ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled); + + + + +/** + * @defgroup joints Joints + * + * In real life a joint is something like a hinge, that is used to connect two + * objects. + * In ODE a joint is very similar: It is a relationship that is enforced between + * two bodies so that they can only have certain positions and orientations + * relative to each other. + * This relationship is called a constraint -- the words joint and + * constraint are often used interchangeably. + * + * A joint has a set of parameters that can be set. These include: + * + * + * \li dParamLoStop Low stop angle or position. Setting this to + * -dInfinity (the default value) turns off the low stop. + * For rotational joints, this stop must be greater than -pi to be + * effective. + * \li dParamHiStop High stop angle or position. Setting this to + * dInfinity (the default value) turns off the high stop. + * For rotational joints, this stop must be less than pi to be + * effective. + * If the high stop is less than the low stop then both stops will + * be ineffective. + * \li dParamVel Desired motor velocity (this will be an angular or + * linear velocity). + * \li dParamFMax The maximum force or torque that the motor will use to + * achieve the desired velocity. + * This must always be greater than or equal to zero. + * Setting this to zero (the default value) turns off the motor. + * \li dParamFudgeFactor The current joint stop/motor implementation has + * a small problem: + * when the joint is at one stop and the motor is set to move it away + * from the stop, too much force may be applied for one time step, + * causing a ``jumping'' motion. + * This fudge factor is used to scale this excess force. + * It should have a value between zero and one (the default value). + * If the jumping motion is too visible in a joint, the value can be + * reduced. + * Making this value too small can prevent the motor from being able to + * move the joint away from a stop. + * \li dParamBounce The bouncyness of the stops. + * This is a restitution parameter in the range 0..1. + * 0 means the stops are not bouncy at all, 1 means maximum bouncyness. + * \li dParamCFM The constraint force mixing (CFM) value used when not + * at a stop. + * \li dParamStopERP The error reduction parameter (ERP) used by the + * stops. + * \li dParamStopCFM The constraint force mixing (CFM) value used by the + * stops. Together with the ERP value this can be used to get spongy or + * soft stops. + * Note that this is intended for unpowered joints, it does not really + * work as expected when a powered joint reaches its limit. + * \li dParamSuspensionERP Suspension error reduction parameter (ERP). + * Currently this is only implemented on the hinge-2 joint. + * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value. + * Currently this is only implemented on the hinge-2 joint. + * + * If a particular parameter is not implemented by a given joint, setting it + * will have no effect. + * These parameter names can be optionally followed by a digit (2 or 3) + * to indicate the second or third set of parameters, e.g. for the second axis + * in a hinge-2 joint, or the third axis in an AMotor joint. + */ + + +/** + * @brief Create a new joint of the ball type. + * @ingroup joints + * @remarks + * The joint is initially in "limbo" (i.e. it has no effect on the simulation) + * because it does not connect to any bodies. + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the hinge type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the slider type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the contact type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); + +/** + * @brief Create a new joint of the hinge2 type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the universal type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the PR (Prismatic and Rotoide) type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the PU (Prismatic and Universal) type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the Piston type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given + * joint group. + */ +ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the fixed type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID); + +ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the A-motor type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the L-motor type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the plane-2d type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the double ball type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the double hinge type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the Transmission type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID); + + +/** + * @brief Destroy a joint. + * @ingroup joints + * + * disconnects it from its attached bodies and removing it from the world. + * However, if the joint is a member of a group then this function has no + * effect - to destroy that joint the group must be emptied or destroyed. + */ +ODE_API void dJointDestroy (dJointID); + + +/** + * @brief Create a joint group + * @ingroup joints + * @param max_size deprecated. Set to 0. + */ +ODE_API dJointGroupID dJointGroupCreate (int max_size); + +/** + * @brief Destroy a joint group. + * @ingroup joints + * + * All joints in the joint group will be destroyed. + */ +ODE_API void dJointGroupDestroy (dJointGroupID); + +/** + * @brief Empty a joint group. + * @ingroup joints + * + * All joints in the joint group will be destroyed, + * but the joint group itself will not be destroyed. + */ +ODE_API void dJointGroupEmpty (dJointGroupID); + +/** + * @brief Return the number of bodies attached to the joint + * @ingroup joints + */ +ODE_API int dJointGetNumBodies(dJointID); + +/** + * @brief Attach the joint to some new bodies. + * @ingroup joints + * + * If the joint is already attached, it will be detached from the old bodies + * first. + * To attach this joint to only one body, set body1 or body2 to zero - a zero + * body refers to the static environment. + * Setting both bodies to zero puts the joint into "limbo", i.e. it will + * have no effect on the simulation. + * @remarks + * Some joints, like hinge-2 need to be attached to two bodies to work. + */ +ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2); + +/** + * @brief Manually enable a joint. + * @param dJointID identification of joint. + * @ingroup joints + */ +ODE_API void dJointEnable (dJointID); + +/** + * @brief Manually disable a joint. + * @ingroup joints + * @remarks + * A disabled joint will not affect the simulation, but will maintain the anchors and + * axes so it can be enabled later. + */ +ODE_API void dJointDisable (dJointID); + +/** + * @brief Check wether a joint is enabled. + * @ingroup joints + * @return 1 if a joint is currently enabled or 0 if it is disabled. + */ +ODE_API int dJointIsEnabled (dJointID); + +/** + * @brief Set the user-data pointer + * @ingroup joints + */ +ODE_API void dJointSetData (dJointID, void *data); + +/** + * @brief Get the user-data pointer + * @ingroup joints + */ +ODE_API void *dJointGetData (dJointID); + +/** + * @brief Get the type of the joint + * @ingroup joints + * @return the type, being one of these: + * \li dJointTypeBall + * \li dJointTypeHinge + * \li dJointTypeSlider + * \li dJointTypeContact + * \li dJointTypeUniversal + * \li dJointTypeHinge2 + * \li dJointTypeFixed + * \li dJointTypeNull + * \li dJointTypeAMotor + * \li dJointTypeLMotor + * \li dJointTypePlane2D + * \li dJointTypePR + * \li dJointTypePU + * \li dJointTypePiston + */ +ODE_API dJointType dJointGetType (dJointID); + +/** + * @brief Return the bodies that this joint connects. + * @ingroup joints + * @param index return the first (0) or second (1) body. + * @remarks + * If one of these returned body IDs is zero, the joint connects the other body + * to the static environment. + * If both body IDs are zero, the joint is in ``limbo'' and has no effect on + * the simulation. + */ +ODE_API dBodyID dJointGetBody (dJointID, int index); + +/** + * @brief Sets the datastructure that is to receive the feedback. + * + * The feedback can be used by the user, so that it is known how + * much force an individual joint exerts. + * @ingroup joints + */ +ODE_API void dJointSetFeedback (dJointID, dJointFeedback *); + +/** + * @brief Gets the datastructure that is to receive the feedback. + * @ingroup joints + */ +ODE_API dJointFeedback *dJointGetFeedback (dJointID); + +/** + * @brief Set the joint anchor point. + * @ingroup joints + * + * The joint will try to keep this point on each body + * together. The input is specified in world coordinates. + */ +ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Set the joint anchor point. + * @ingroup joints + */ +ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Param setting for Ball joints + * @ingroup joints + */ +ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value); + +/** + * @brief Set hinge anchor parameter. + * @ingroup joints + */ +ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); + +ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + +/** + * @brief Set hinge axis. + * @ingroup joints + */ +ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Set the Hinge axis as if the 2 bodies were already at angle appart. + * @ingroup joints + * + * This function initialize the Axis and the relative orientation of each body + * as if body1 was rotated around the axis by the angle value. \br + * Ex: + * <PRE> + * dJointSetHingeAxis(jId, 1, 0, 0); + * // If you request the position you will have: dJointGetHingeAngle(jId) == 0 + * dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23); + * // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23 + * </PRE> + + * @param j The Hinge joint ID for which the axis will be set + * @param x The X component of the axis in world frame + * @param y The Y component of the axis in world frame + * @param z The Z component of the axis in world frame + * @param angle The angle for the offset of the relative orientation. + * As if body1 was rotated by angle when the Axis was set (see below). + * The rotation is around the new Hinge axis. + * + * @note Usually the function dJointSetHingeAxis set the current position of body1 + * and body2 as the zero angle position. This function set the current position + * as the if the 2 bodies where \b angle appart. + * @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" + * angle position. + */ +ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value); + +/** + * @brief Applies the torque about the hinge axis. + * + * That is, it applies a torque with specified magnitude in the direction + * of the hinge axis, to body 1, and with the same magnitude but in opposite + * direction to body 2. This function is just a wrapper for dBodyAddTorque()} + * @ingroup joints + */ +ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque); + +/** + * @brief set the joint axis + * @ingroup joints + */ +ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); + +/** + * @ingroup joints + */ +ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value); + +/** + * @brief Applies the given force in the slider's direction. + * + * That is, it applies a force with specified magnitude, in the direction of + * slider's axis, to body1, and with the same magnitude but opposite + * direction to body2. This function is just a wrapper for dBodyAddForce(). + * @ingroup joints + */ +ODE_API void dJointAddSliderForce(dJointID joint, dReal force); + +/** + * @brief set anchor + * @ingroup joints + */ +ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set both axes (optionally) + * + * This can change both axes at once avoiding transitions via invalid states + * while changing axes one by one and having the first changed axis coincide + * with the other axis existing direction. + * + * At least one of the axes must be not NULL. If NULL is passed, the corresponding + * axis retains its existing value. + * + * @ingroup joints + */ +ODE_API void dJointSetHinge2Axes (dJointID j, const dReal *axis1/*=[dSA__MAX],=NULL*/, const dReal *axis2/*=[dSA__MAX],=NULL*/); + +/** + * @brief set axis + * + * Deprecated. Use @fn dJointSetHinge2Axes instead. + * + * @ingroup joints + * @see dJointSetHinge2Axes + */ +ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z); + +/** + * @brief set axis + * + * Deprecated. Use @fn dJointSetHinge2Axes instead. + * + * @ingroup joints + * @see dJointSetHinge2Axes + */ +ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value); + +/** + * @brief Applies torque1 about the hinge2's axis 1, torque2 about the + * hinge2's axis 2. + * @remarks This function is just a wrapper for dBodyAddTorque(). + * @ingroup joints + */ +ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); + +/** + * @brief set anchor + * @ingroup joints + */ +ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set axis + * @ingroup joints + */ +ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Set the Universal axis1 as if the 2 bodies were already at + * offset1 and offset2 appart with respect to axis1 and axis2. + * @ingroup joints + * + * This function initialize the axis1 and the relative orientation of + * each body as if body1 was rotated around the new axis1 by the offset1 + * value and as if body2 was rotated around the axis2 by offset2. \br + * Ex: +* <PRE> + * dJointSetHuniversalAxis1(jId, 1, 0, 0); + * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0 + * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0 + * dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17); + * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2 + * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17 + * </PRE> + * + * @param j The Hinge joint ID for which the axis will be set + * @param x The X component of the axis in world frame + * @param y The Y component of the axis in world frame + * @param z The Z component of the axis in world frame + * @param angle The angle for the offset of the relative orientation. + * As if body1 was rotated by angle when the Axis was set (see below). + * The rotation is around the new Hinge axis. + * + * @note Usually the function dJointSetHingeAxis set the current position of body1 + * and body2 as the zero angle position. This function set the current position + * as the if the 2 bodies where \b offsets appart. + * + * @note Any previous offsets are erased. + * + * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, + * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset + * will reset the "zero" angle position. + */ +ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, + dReal offset1, dReal offset2); + +/** + * @brief set axis + * @ingroup joints + */ +ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Set the Universal axis2 as if the 2 bodies were already at + * offset1 and offset2 appart with respect to axis1 and axis2. + * @ingroup joints + * + * This function initialize the axis2 and the relative orientation of + * each body as if body1 was rotated around the axis1 by the offset1 + * value and as if body2 was rotated around the new axis2 by offset2. \br + * Ex: + * <PRE> + * dJointSetHuniversalAxis2(jId, 0, 1, 0); + * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0 + * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0 + * dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17); + * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2 + * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17 + * </PRE> + + * @param j The Hinge joint ID for which the axis will be set + * @param x The X component of the axis in world frame + * @param y The Y component of the axis in world frame + * @param z The Z component of the axis in world frame + * @param angle The angle for the offset of the relative orientation. + * As if body1 was rotated by angle when the Axis was set (see below). + * The rotation is around the new Hinge axis. + * + * @note Usually the function dJointSetHingeAxis set the current position of body1 + * and body2 as the zero angle position. This function set the current position + * as the if the 2 bodies where \b offsets appart. + * + * @note Any previous offsets are erased. + * + * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, + * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset + * will reset the "zero" angle position. + */ + + +ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, + dReal offset1, dReal offset2); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value); + +/** + * @brief Applies torque1 about the universal's axis 1, torque2 about the + * universal's axis 2. + * @remarks This function is just a wrapper for dBodyAddTorque(). + * @ingroup joints + */ +ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); + + +/** + * @brief set anchor + * @ingroup joints + */ +ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set the axis for the prismatic articulation + * @ingroup joints + */ +ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set the axis for the rotoide articulation + * @ingroup joints + */ +ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set joint parameter + * @ingroup joints + * + * @note parameterX where X equal 2 refer to parameter for the rotoide articulation + */ +ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value); + +/** + * @brief Applies the torque about the rotoide axis of the PR joint + * + * That is, it applies a torque with specified magnitude in the direction + * of the rotoide axis, to body 1, and with the same magnitude but in opposite + * direction to body 2. This function is just a wrapper for dBodyAddTorque()} + * @ingroup joints + */ +ODE_API void dJointAddPRTorque (dJointID j, dReal torque); + + +/** +* @brief set anchor +* @ingroup joints +*/ +ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set anchor + * @ingroup joints + */ +ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, + dReal dx, dReal dy, dReal dz); + +/** + * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart. + * @ingroup joints + * + * This function initialize the anchor and the relative position of each body + * as if the position between body1 and body2 was already the projection of [dx, dy, dz] + * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the + * axis is set). + * Ex: + * <PRE> + * dReal offset = 3; + * dVector3 axis; + * dJointGetPUAxis(jId, axis); + * dJointSetPUAnchor(jId, 0, 0, 0); + * // If you request the position you will have: dJointGetPUPosition(jId) == 0 + * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset); + * // If you request the position you will have: dJointGetPUPosition(jId) == offset + * </PRE> + * @param j The PU joint for which the anchor point will be set + * @param x The X position of the anchor point in world frame + * @param y The Y position of the anchor point in world frame + * @param z The Z position of the anchor point in world frame + * @param dx A delta to be substracted to the X position as if the anchor was set + * when body1 was at current_position[X] - dx + * @param dx A delta to be substracted to the Y position as if the anchor was set + * when body1 was at current_position[Y] - dy + * @param dx A delta to be substracted to the Z position as if the anchor was set + * when body1 was at current_position[Z] - dz + */ +ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, + dReal dx, dReal dy, dReal dz); + +/** + * @brief set the axis for the first axis or the universal articulation + * @ingroup joints + */ +ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set the axis for the second axis or the universal articulation + * @ingroup joints + */ +ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set the axis for the prismatic articulation + * @ingroup joints + */ +ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set the axis for the prismatic articulation + * @ingroup joints + * @note This function was added for convenience it is the same as + * dJointSetPUAxis3 + */ +ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); + + + +/** + * @brief set joint parameter + * @ingroup joints + * + * @note parameterX where X equal 2 refer to parameter for second axis of the + * universal articulation + * @note parameterX where X equal 3 refer to parameter for prismatic + * articulation + */ +ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); + +/** + * @brief Applies the torque about the rotoide axis of the PU joint + * + * That is, it applies a torque with specified magnitude in the direction + * of the rotoide axis, to body 1, and with the same magnitude but in opposite + * direction to body 2. This function is just a wrapper for dBodyAddTorque()} + * @ingroup joints + */ +ODE_API void dJointAddPUTorque (dJointID j, dReal torque); + + + + +/** + * @brief set the joint anchor + * @ingroup joints + */ +ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. + * @ingroup joints + * + * This function initialize the anchor and the relative position of each body + * as if the position between body1 and body2 was already the projection of [dx, dy, dz] + * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the + * axis is set). + * Ex: + * <PRE> + * dReal offset = 3; + * dVector3 axis; + * dJointGetPistonAxis(jId, axis); + * dJointSetPistonAnchor(jId, 0, 0, 0); + * // If you request the position you will have: dJointGetPistonPosition(jId) == 0 + * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset); + * // If you request the position you will have: dJointGetPistonPosition(jId) == offset + * </PRE> + * @param j The Piston joint for which the anchor point will be set + * @param x The X position of the anchor point in world frame + * @param y The Y position of the anchor point in world frame + * @param z The Z position of the anchor point in world frame + * @param dx A delta to be substracted to the X position as if the anchor was set + * when body1 was at current_position[X] - dx + * @param dx A delta to be substracted to the Y position as if the anchor was set + * when body1 was at current_position[Y] - dy + * @param dx A delta to be substracted to the Z position as if the anchor was set + * when body1 was at current_position[Z] - dz + */ +ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, + dReal dx, dReal dy, dReal dz); + + /** + * @brief set the joint axis + * @ingroup joints + */ +ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); + +/** + * This function set prismatic axis of the joint and also set the position + * of the joint. + * + * @ingroup joints + * @param j The joint affected by this function + * @param x The x component of the axis + * @param y The y component of the axis + * @param z The z component of the axis + * @param dx The Initial position of the prismatic join in the x direction + * @param dy The Initial position of the prismatic join in the y direction + * @param dz The Initial position of the prismatic join in the z direction + */ +ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); + +/** + * @brief Applies the given force in the slider's direction. + * + * That is, it applies a force with specified magnitude, in the direction of + * prismatic's axis, to body1, and with the same magnitude but opposite + * direction to body2. This function is just a wrapper for dBodyAddForce(). + * @ingroup joints + */ +ODE_API void dJointAddPistonForce (dJointID joint, dReal force); + + +/** + * @brief Call this on the fixed joint after it has been attached to + * remember the current desired relative offset and desired relative + * rotation between the bodies. + * @ingroup joints + */ +ODE_API void dJointSetFixed (dJointID); + +/* + * @brief Sets joint parameter + * + * @ingroup joints + */ +ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value); + +/** + * @brief set the nr of axes + * @param num 0..3 + * @ingroup joints + */ +ODE_API void dJointSetAMotorNumAxes (dJointID, int num); + +/** + * @brief set axis + * @ingroup joints + */ +ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel, + dReal x, dReal y, dReal z); + +/** + * @brief Tell the AMotor what the current angle is along axis anum. + * + * This function should only be called in dAMotorUser mode, because in this + * mode the AMotor has no other way of knowing the joint angles. + * The angle information is needed if stops have been set along the axis, + * but it is not needed for axis motors. + * @ingroup joints + */ +ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value); + +/** + * @brief set mode + * @ingroup joints + */ +ODE_API void dJointSetAMotorMode (dJointID, int mode); + +/** + * @brief Applies torque0 about the AMotor's axis 0, torque1 about the + * AMotor's axis 1, and torque2 about the AMotor's axis 2. + * @remarks + * If the motor has fewer than three axes, the higher torques are ignored. + * This function is just a wrapper for dBodyAddTorque(). + * @ingroup joints + */ +ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); + +/** + * @brief Set the number of axes that will be controlled by the LMotor. + * @param num can range from 0 (which effectively deactivates the joint) to 3. + * @ingroup joints + */ +ODE_API void dJointSetLMotorNumAxes (dJointID, int num); + +/** + * @brief Set the AMotor axes. + * @param anum selects the axis to change (0,1 or 2). + * @param rel Each axis can have one of three ``relative orientation'' modes + * \li 0: The axis is anchored to the global frame. + * \li 1: The axis is anchored to the first body. + * \li 2: The axis is anchored to the second body. + * @remarks The axis vector is always specified in global coordinates + * regardless of the setting of rel. + * @ingroup joints + */ +ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z); + +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value); + +/** + * @ingroup joints + */ +ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value); + +/** + * @ingroup joints + */ + +ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value); + +/** + * @ingroup joints + */ +ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value); + +/** + * @brief Get the joint anchor point, in world coordinates. + * + * This returns the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + */ +ODE_API void dJointGetBallAnchor (dJointID, dVector3 result); + +/** + * @brief Get the joint anchor point, in world coordinates. + * + * This returns the point on body 2. You can think of a ball and socket + * joint as trying to keep the result of dJointGetBallAnchor() and + * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, + * this function will return the same value as dJointGetBallAnchor() to + * within roundoff errors. dJointGetBallAnchor2() can be used, along with + * dJointGetBallAnchor(), to see how far the joint has come apart. + */ +ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetBallParam (dJointID, int parameter); + +/** + * @brief Get the hinge anchor point, in world coordinates. + * + * This returns the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + * @ingroup joints + */ +ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result); + +/** + * @brief Get the joint anchor point, in world coordinates. + * @return The point on body 2. If the joint is perfectly satisfied, + * this will return the same value as dJointGetHingeAnchor(). + * If not, this value will be slightly different. + * This can be used, for example, to see how far the joint has come apart. + * @ingroup joints + */ +ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result); + +/** + * @brief get axis + * @ingroup joints + */ +ODE_API void dJointGetHingeAxis (dJointID, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetHingeParam (dJointID, int parameter); + +/** + * @brief Get the hinge angle. + * + * The angle is measured between the two bodies, or between the body and + * the static environment. + * The angle will be between -pi..pi. + * Give the relative rotation with respect to the Hinge axis of Body 1 with + * respect to Body 2. + * When the hinge anchor or axis is set, the current position of the attached + * bodies is examined and that position will be the zero angle. + * @ingroup joints + */ +ODE_API dReal dJointGetHingeAngle (dJointID); + +/** + * @brief Get the hinge angle time derivative. + * @ingroup joints + */ +ODE_API dReal dJointGetHingeAngleRate (dJointID); + +/** + * @brief Get the slider linear position (i.e. the slider's extension) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + + * The position is the distance, with respect to the zero position, + * along the slider axis of body 1 with respect to + * body 2. (A NULL body is replaced by the world). + * @ingroup joints + */ +ODE_API dReal dJointGetSliderPosition (dJointID); + +/** + * @brief Get the slider linear position's time derivative. + * @ingroup joints + */ +ODE_API dReal dJointGetSliderPositionRate (dJointID); + +/** + * @brief Get the slider axis + * @ingroup joints + */ +ODE_API void dJointGetSliderAxis (dJointID, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetSliderParam (dJointID, int parameter); + +/** + * @brief Get the joint anchor point, in world coordinates. + * @return the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + * @ingroup joints + */ +ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result); + +/** + * @brief Get the joint anchor point, in world coordinates. + * This returns the point on body 2. If the joint is perfectly satisfied, + * this will return the same value as dJointGetHinge2Anchor. + * If not, this value will be slightly different. + * This can be used, for example, to see how far the joint has come apart. + * @ingroup joints + */ +ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result); + +/** + * @brief Get joint axis + * @ingroup joints + */ +ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result); + +/** + * @brief Get joint axis + * @ingroup joints + */ +ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetHinge2Param (dJointID, int parameter); + +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetHinge2Angle1 (dJointID); + +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetHinge2Angle2 (dJointID); + +/** + * @brief Get time derivative of angle + * @ingroup joints + */ +ODE_API dReal dJointGetHinge2Angle1Rate (dJointID); + +/** + * @brief Get time derivative of angle + * @ingroup joints + */ +ODE_API dReal dJointGetHinge2Angle2Rate (dJointID); + +/** + * @brief Get the joint anchor point, in world coordinates. + * @return the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + * @ingroup joints + */ +ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result); + +/** + * @brief Get the joint anchor point, in world coordinates. + * @return This returns the point on body 2. + * @remarks + * You can think of the ball and socket part of a universal joint as + * trying to keep the result of dJointGetBallAnchor() and + * dJointGetBallAnchor2() the same. If the joint is + * perfectly satisfied, this function will return the same value + * as dJointGetUniversalAnchor() to within roundoff errors. + * dJointGetUniversalAnchor2() can be used, along with + * dJointGetUniversalAnchor(), to see how far the joint has come apart. + * @ingroup joints + */ +ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result); + +/** + * @brief Get axis + * @ingroup joints + */ +ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result); + +/** + * @brief Get axis + * @ingroup joints + */ +ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result); + + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetUniversalParam (dJointID, int parameter); + +/** + * @brief Get both angles at the same time. + * @ingroup joints + * + * @param joint The universal joint for which we want to calculate the angles + * @param angle1 The angle between the body1 and the axis 1 + * @param angle2 The angle between the body2 and the axis 2 + * + * @note This function combine getUniversalAngle1 and getUniversalAngle2 together + * and try to avoid redundant calculation + */ +ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2); + +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetUniversalAngle1 (dJointID); + +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetUniversalAngle2 (dJointID); + +/** + * @brief Get time derivative of angle + * @ingroup joints + */ +ODE_API dReal dJointGetUniversalAngle1Rate (dJointID); + +/** + * @brief Get time derivative of angle + * @ingroup joints + */ +ODE_API dReal dJointGetUniversalAngle2Rate (dJointID); + + + +/** + * @brief Get the joint anchor point, in world coordinates. + * @return the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + * @ingroup joints + */ +ODE_API void dJointGetPRAnchor (dJointID, dVector3 result); + +/** + * @brief Get the PR linear position (i.e. the prismatic's extension) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * + * The position is the "oriented" length between the + * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] + * + * @ingroup joints + */ +ODE_API dReal dJointGetPRPosition (dJointID); + +/** + * @brief Get the PR linear position's time derivative + * + * @ingroup joints + */ +ODE_API dReal dJointGetPRPositionRate (dJointID); + + +/** + * @brief Get the PR angular position (i.e. the twist between the 2 bodies) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * @ingroup joints + */ +ODE_API dReal dJointGetPRAngle (dJointID); + +/** + * @brief Get the PR angular position's time derivative + * + * @ingroup joints + */ +ODE_API dReal dJointGetPRAngleRate (dJointID); + + +/** + * @brief Get the prismatic axis + * @ingroup joints + */ +ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result); + +/** + * @brief Get the Rotoide axis + * @ingroup joints + */ +ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetPRParam (dJointID, int parameter); + + + +/** + * @brief Get the joint anchor point, in world coordinates. + * @return the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + * @ingroup joints + */ +ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); + +/** + * @brief Get the PU linear position (i.e. the prismatic's extension) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * + * The position is the "oriented" length between the + * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUPosition (dJointID); + +/** + * @brief Get the PR linear position's time derivative + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUPositionRate (dJointID); + +/** + * @brief Get the first axis of the universal component of the joint + * @ingroup joints + */ +ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); + +/** + * @brief Get the second axis of the Universal component of the joint + * @ingroup joints + */ +ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); + +/** + * @brief Get the prismatic axis + * @ingroup joints + */ +ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); + +/** + * @brief Get the prismatic axis + * @ingroup joints + * + * @note This function was added for convenience it is the same as + * dJointGetPUAxis3 + */ +ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); + + + + +/** + * @brief Get both angles at the same time. + * @ingroup joints + * + * @param joint The Prismatic universal joint for which we want to calculate the angles + * @param angle1 The angle between the body1 and the axis 1 + * @param angle2 The angle between the body2 and the axis 2 + * + * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together + * and try to avoid redundant calculation + */ +ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); + +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle1 (dJointID); + +/** + * @brief * @brief Get time derivative of angle1 + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle1Rate (dJointID); + + +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle2 (dJointID); + +/** + * @brief * @brief Get time derivative of angle2 + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle2Rate (dJointID); + + /** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetPUParam (dJointID, int parameter); + + + + + +/** + * @brief Get the Piston linear position (i.e. the piston's extension) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonPosition (dJointID); + +/** + * @brief Get the piston linear position's time derivative. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonPositionRate (dJointID); + +/** + * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonAngle (dJointID); + +/** + * @brief Get the piston angular position's time derivative. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonAngleRate (dJointID); + + +/** + * @brief Get the joint anchor + * + * This returns the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2 in direction perpendicular + * to the prismatic axis. + * + * @ingroup joints + */ +ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); + +/** + * @brief Get the joint anchor w.r.t. body 2 + * + * This returns the point on body 2. You can think of a Piston + * joint as trying to keep the result of dJointGetPistonAnchor() and + * dJointGetPistonAnchor2() the same in the direction perpendicular to the + * pirsmatic axis. If the joint is perfectly satisfied, + * this function will return the same value as dJointGetPistonAnchor() to + * within roundoff errors. dJointGetPistonAnchor2() can be used, along with + * dJointGetPistonAnchor(), to see how far the joint has come apart. + * + * @ingroup joints + */ +ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); + +/** + * @brief Get the prismatic axis (This is also the rotoide axis. + * @ingroup joints + */ +ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetPistonParam (dJointID, int parameter); + + +/** + * @brief Get the number of angular axes that will be controlled by the + * AMotor. + * @param num can range from 0 (which effectively deactivates the + * joint) to 3. + * This is automatically set to 3 in dAMotorEuler mode. + * @ingroup joints + */ +ODE_API int dJointGetAMotorNumAxes (dJointID); + +/** + * @brief Get the AMotor axes. + * @param anum selects the axis to change (0,1 or 2). + * @param rel Each axis can have one of three ``relative orientation'' modes. + * \li 0: The axis is anchored to the global frame. + * \li 1: The axis is anchored to the first body. + * \li 2: The axis is anchored to the second body. + * @ingroup joints + */ +ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); + +/** + * @brief Get axis + * @remarks + * The axis vector is always specified in global coordinates regardless + * of the setting of rel. + * There are two GetAMotorAxis functions, one to return the axis and one to + * return the relative mode. + * + * For dAMotorEuler mode: + * \li Only axes 0 and 2 need to be set. Axis 1 will be determined + automatically at each time step. + * \li Axes 0 and 2 must be perpendicular to each other. + * \li Axis 0 must be anchored to the first body, axis 2 must be anchored + to the second body. + * @ingroup joints + */ +ODE_API int dJointGetAMotorAxisRel (dJointID, int anum); + +/** + * @brief Get the current angle for axis. + * @remarks + * In dAMotorUser mode this is simply the value that was set with + * dJointSetAMotorAngle(). + * In dAMotorEuler mode this is the corresponding euler angle. + * @ingroup joints + */ +ODE_API dReal dJointGetAMotorAngle (dJointID, int anum); + +/** + * @brief Get the current angle rate for axis anum. + * @remarks + * In dAMotorUser mode this is always zero, as not enough information is + * available. + * In dAMotorEuler mode this is the corresponding euler angle rate. + * @ingroup joints + */ +ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetAMotorParam (dJointID, int parameter); + +/** + * @brief Get the angular motor mode. + * @param mode must be one of the following constants: + * \li dAMotorUser The AMotor axes and joint angle settings are entirely + * controlled by the user. This is the default mode. + * \li dAMotorEuler Euler angles are automatically computed. + * The axis a1 is also automatically computed. + * The AMotor axes must be set correctly when in this mode, + * as described below. + * When this mode is initially set the current relative orientations + * of the bodies will correspond to all euler angles at zero. + * @ingroup joints + */ +ODE_API int dJointGetAMotorMode (dJointID); + +/** + * @brief Get nr of axes. + * @ingroup joints + */ +ODE_API int dJointGetLMotorNumAxes (dJointID); + +/** + * @brief Get axis. + * @ingroup joints + */ +ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetLMotorParam (dJointID, int parameter); + +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetFixedParam (dJointID, int parameter); + + +/** + * @brief get the contact point of the first wheel of the Transmission joint. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result); + +/** + * @brief get contact point of the second wheel of the Transmission joint. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result); + +/** + * @brief set the first axis for the Transmission joint + * @remarks This is the axis around which the first body is allowed to + * revolve and is attached to it. It is given in global coordinates + * and can only be set explicitly in intersecting-axes mode. For the + * parallel-axes and chain modes which share one common axis of + * revolution for both gears dJointSetTransmissionAxis should be used. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get first axis for the Transmission joint + * @remarks In parallel-axes and chain mode the common axis with + * respect to the first body is returned. If the joint constraint is + * satisfied it should be the same as the axis return with + * dJointGetTransmissionAxis2 or dJointGetTransmissionAxis. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result); + +/** + * @brief set second axis for the Transmission joint + * @remarks This is the axis around which the second body is allowed + * to revolve and is attached to it. It is given in global + * coordinates and can only be set explicitly in intersecting-axes + * mode. For the parallel-axes and chain modes which share one common + * axis of revolution for both gears dJointSetTransmissionAxis should + * be used. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get second axis for the Transmission joint + * @remarks In parallel-axes and chain mode the common axis with + * respect to the second body is returned. If the joint constraint is + * satisfied it should be the same as the axis return with + * dJointGetTransmissionAxis1 or dJointGetTransmissionAxis. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result); + +/** + * @brief set the first anchor for the Transmission joint + * @remarks This is the point of attachment of the wheel on the + * first body. It is given in global coordinates. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get the first anchor of the Transmission joint + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result); + +/** + * @brief set the second anchor for the Transmission joint + * @remarks This is the point of attachment of the wheel on the + * second body. It is given in global coordinates. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get the second anchor for the Transmission joint + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result); + +/** + * @brief set a Transmission joint parameter + * @ingroup joints + */ +ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value); + +/** + * @brief get a Transmission joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter); + +/** + * @brief set the Transmission joint mode + * @remarks The mode can be one of dTransmissionParallelAxes, + * dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a + * set of parallel-axes gears, intersecting-axes beveled gears or + * chain and sprockets respectively. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionMode( dJointID j, int mode ); + +/** + * @brief get the Transmission joint mode + * @ingroup joints + */ +ODE_API int dJointGetTransmissionMode( dJointID j ); + +/** + * @brief set the Transmission ratio + * @remarks This is the ratio of the angular speed of the first gear + * to that of the second gear. It can only be set explicitly in + * parallel-axes mode. In intersecting-axes mode the ratio is defined + * implicitly by the initial configuration of the wheels and in chain + * mode it is defined implicitly be the wheel radii. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio ); + +/** + * @brief get the Transmission joint ratio + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionRatio( dJointID j ); + +/** + * @brief set the common axis for both wheels of the Transmission joint + * @remarks This sets the common axis of revolution for both wheels + * and should only be used in parallel-axes or chain mode. For + * intersecting-axes mode where each wheel axis needs to be specified + * individually dJointSetTransmissionAxis1 and + * dJointSetTransmissionAxis2 should be used. The axis is given in + * global coordinates + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z ); + +/** + * @brief get the common axis for both wheels of the Transmission joint + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result ); + +/** + * @brief get the phase, that is the traversed angle for the first + * wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionAngle1( dJointID j ); + +/** + * @brief get the phase, that is the traversed angle for the second + * wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionAngle2( dJointID j ); + +/** + * @brief get the radius of the first wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionRadius1( dJointID j ); + +/** + * @brief get the radius of the second wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionRadius2( dJointID j ); + +/** + * @brief set the radius of the first wheel of the Transmission joint + * @remarks The wheel radii can only be set explicitly in chain mode. + * In the other modes they're defined implicitly by the initial + * configuration and ratio of the wheels. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius ); + +/** + * @brief set the radius of the second wheel of the Transmission joint + * @remarks The wheel radii can only be set explicitly in chain mode. + * In the other modes they're defined implicitly by the initial + * configuration and ratio of the wheels. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius ); + +/** + * @brief get the backlash of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionBacklash( dJointID j ); + +/** + * @brief set the backlash of the Transmission joint + * @remarks Backlash is the clearance in the mesh of the wheels of the + * transmission and is defined as the maximum distance that the + * geometric contact point can travel without any actual contact or + * transfer of power between the wheels. This can be converted in + * degrees of revolution for each wheel by dividing by the wheel's + * radius. To further illustrate this consider the situation where a + * wheel of radius r_1 is driving another wheel of radius r_2 and + * there is an amount of backlash equal to b in their mesh. If the + * driving wheel were to instantaneously stop there would be no + * contact and hence the driven wheel would continue to turn for + * another b / r_2 radians until all the backlash in the mesh was take + * up and contact restored with the relationship of driving and driven + * wheel reversed. The backlash is therefore given in untis of + * length. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash ); + +/** + * @brief set anchor1 for double ball joint + * @ingroup joints + */ +ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set anchor2 for double ball joint + * @ingroup joints + */ +ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get anchor1 from double ball joint + * @ingroup joints + */ +ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result); + +/** + * @brief get anchor2 from double ball joint + * @ingroup joints + */ +ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result); + +/** + * @brief get the target distance from double ball joint + * @ingroup joints + */ +ODE_API dReal dJointGetDBallDistance(dJointID); + +/** + * @brief set the target distance for the double ball joint + * @ingroup joints + */ +ODE_API void dJointSetDBallDistance(dJointID, dReal dist); + +/** + * @brief set double ball joint parameter + * @ingroup joints + */ +ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value); + +/** + * @brief get double ball joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetDBallParam(dJointID, int parameter); + +/** + * @brief set axis for double hinge joint + * @ingroup joints + */ +ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get axis for double hinge joint + * @ingroup joints + */ +ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result); + +/** + * @brief set anchor1 for double hinge joint + * @ingroup joints + */ +ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set anchor2 for double hinge joint + * @ingroup joints + */ +ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get anchor1 from double hinge joint + * @ingroup joints + */ +ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result); + +/** + * @brief get anchor2 from double hinge joint + * @ingroup joints + */ +ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result); + +/** + * @brief get the set distance from double hinge joint + * @ingroup joints + */ +ODE_API dReal dJointGetDHingeDistance(dJointID); + +/** + * @brief set double hinge joint parameter + * @ingroup joints + */ +ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value); + +/** + * @brief get double hinge joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetDHingeParam(dJointID, int parameter); + + + + +/** + * @ingroup joints + */ +ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); + +/** + * @ingroup joints + */ +ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*); + +/** + * @brief Utility function + * @return 1 if the two bodies are connected together by + * a joint, otherwise return 0. + * @ingroup joints + */ +ODE_API int dAreConnected (dBodyID, dBodyID); + +/** + * @brief Utility function + * @return 1 if the two bodies are connected together by + * a joint that does not have type @arg{joint_type}, otherwise return 0. + * @param body1 A body to check. + * @param body2 A body to check. + * @param joint_type is a dJointTypeXXX constant. + * This is useful for deciding whether to add contact joints between two bodies: + * if they are already connected by non-contact joints then it may not be + * appropriate to add contacts, however it is okay to add more contact between- + * bodies that already have contacts. + * @ingroup joints + */ +ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type); + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/ode.h b/libs/ode-0.16.1/include/ode/ode.h new file mode 100644 index 0000000..a69f46a --- /dev/null +++ b/libs/ode-0.16.1/include/ode/ode.h @@ -0,0 +1,56 @@ +/************************************************************************* + * * + * 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_ODE_H_ +#define _ODE_ODE_H_ + +/* include *everything* here */ + +#include <ode/odeconfig.h> +#include <ode/compatibility.h> +#include <ode/common.h> +#include <ode/odeinit.h> +#include <ode/contact.h> +#include <ode/error.h> +#include <ode/memory.h> +#include <ode/odemath.h> +#include <ode/matrix.h> +#include <ode/matrix_coop.h> +#include <ode/timer.h> +#include <ode/rotation.h> +#include <ode/mass.h> +#include <ode/misc.h> +#include <ode/objects.h> +#include <ode/collision_space.h> +#include <ode/collision.h> +#include <ode/threading.h> +#include <ode/threading_impl.h> +#include <ode/cooperative.h> +#include <ode/export-dif.h> +#include <ode/version.h> + +#ifdef __cplusplus +# include <ode/odecpp.h> +# include <ode/odecpp_collision.h> +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/odeconfig.h b/libs/ode-0.16.1/include/ode/odeconfig.h new file mode 100644 index 0000000..1a0c747 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/odeconfig.h @@ -0,0 +1,218 @@ +/************************************************************************* + * * + * 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_ODECONFIG_H_ +#define _ODE_ODECONFIG_H_ + +/* Pull in the standard headers */ +#include <stddef.h> +#include <limits.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdarg.h> +#include <math.h> +#include <string.h> +#include <float.h> + + +#include <ode/precision.h> + + +#if defined(ODE_DLL) || defined(ODE_LIB) +#define __ODE__ +#endif + +/* Define a DLL export symbol for those platforms that need it */ +#if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32)) + #if defined(ODE_DLL) + #define ODE_API __declspec(dllexport) + #else + #define ODE_API + #endif +#endif + +#if !defined(ODE_API) + #define ODE_API +#endif + +#if defined(_MSC_VER) +# define ODE_API_DEPRECATED __declspec(deprecated) +#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) ) +# define ODE_API_DEPRECATED __attribute__((__deprecated__)) +#else +# define ODE_API_DEPRECATED +#endif + +#define ODE_PURE_INLINE static __inline +#define ODE_INLINE __inline + +#if defined(__cplusplus) + #define ODE_EXTERN_C extern "C" +#else + #define ODE_EXTERN_C +#endif + +#if defined(__GNUC__) +#define ODE_NORETURN __attribute__((noreturn)) +#elif defined(_MSC_VER) +#define ODE_NORETURN __declspec(noreturn) +#else // #if !defined(_MSC_VER) +#define ODE_NORETURN +#endif // #if !defined(__GNUC__) + + +/* Well-defined common data types...need to be defined for 64 bit systems */ +#if defined(__aarch64__) || defined(__alpha__) || defined(__ppc64__) \ + || defined(__s390__) || defined(__s390x__) || defined(__zarch__) \ + || defined(__mips__) || defined(__powerpc64__) || defined(__riscv) \ + || (defined(__sparc__) && defined(__arch64__)) + #include <stdint.h> + typedef int64_t dint64; + typedef uint64_t duint64; + typedef int32_t dint32; + typedef uint32_t duint32; + typedef int16_t dint16; + typedef uint16_t duint16; + typedef int8_t dint8; + typedef uint8_t duint8; + + typedef intptr_t dintptr; + typedef uintptr_t duintptr; + typedef ptrdiff_t ddiffint; + typedef size_t dsizeint; + +#elif (defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)) && !defined(__ILP32__) && !defined(_ILP32) + #define X86_64_SYSTEM 1 +#if defined(_MSC_VER) + typedef __int64 dint64; + typedef unsigned __int64 duint64; +#else +#if defined(_LP64) || defined(__LP64__) +typedef long dint64; +typedef unsigned long duint64; +#else + typedef long long dint64; + typedef unsigned long long duint64; +#endif +#endif + typedef int dint32; + typedef unsigned int duint32; + typedef short dint16; + typedef unsigned short duint16; + typedef signed char dint8; + typedef unsigned char duint8; + + typedef dint64 dintptr; + typedef duint64 duintptr; + typedef dint64 ddiffint; + typedef duint64 dsizeint; + +#else +#if defined(_MSC_VER) + typedef __int64 dint64; + typedef unsigned __int64 duint64; +#else + typedef long long dint64; + typedef unsigned long long duint64; +#endif + typedef int dint32; + typedef unsigned int duint32; + typedef short dint16; + typedef unsigned short duint16; + typedef signed char dint8; + typedef unsigned char duint8; + + typedef dint32 dintptr; + typedef duint32 duintptr; + typedef dint32 ddiffint; + typedef duint32 dsizeint; + +#endif + + +/* Define the dInfinity macro */ +#ifdef INFINITY + #ifdef dSINGLE + #define dInfinity ((float)INFINITY) + #else + #define dInfinity ((double)INFINITY) + #endif +#elif defined(HUGE_VAL) + #ifdef dSINGLE + #ifdef HUGE_VALF + #define dInfinity HUGE_VALF + #else + #define dInfinity ((float)HUGE_VAL) + #endif + #else + #define dInfinity HUGE_VAL + #endif +#else + #ifdef dSINGLE + #define dInfinity ((float)(1.0/0.0)) + #else + #define dInfinity (1.0/0.0) + #endif +#endif + + +/* Define the dNaN macro */ +#if defined(NAN) + #define dNaN NAN +#elif defined(__GNUC__) + #define dNaN ({ union { duint32 m_ui; float m_f; } un; un.m_ui = 0x7FC00000; un.m_f; }) +#elif defined(__cplusplus) + union _dNaNUnion + { + _dNaNUnion(): m_ui(0x7FC00000) {} + duint32 m_ui; + float m_f; + }; + #define dNaN (_dNaNUnion().m_f) +#else + #ifdef dSINGLE + #define dNaN ((float)(dInfinity - dInfinity)) + #else + #define dNaN (dInfinity - dInfinity) + #endif +#endif + + + /* Visual C does not define these functions */ +#if defined(_MSC_VER) + #define _ode_copysignf(x, y) ((float)_copysign(x, y)) + #define _ode_copysign(x, y) _copysign(x, y) + #define _ode_nextafterf(x, y) _nextafterf(x, y) + #define _ode_nextafter(x, y) _nextafter(x, y) + #if !defined(_WIN64) && defined(dSINGLE) + #define _ODE__NEXTAFTERF_REQUIRED + ODE_EXTERN_C float _nextafterf(float x, float y); + #endif +#else + #define _ode_copysignf(x, y) copysignf(x, y) + #define _ode_copysign(x, y) copysign(x, y) + #define _ode_nextafterf(x, y) nextafterf(x, y) + #define _ode_nextafter(x, y) nextafter(x, y) +#endif + + +#endif diff --git a/libs/ode-0.16.1/include/ode/odecpp.h b/libs/ode-0.16.1/include/ode/odecpp.h new file mode 100644 index 0000000..f604d0d --- /dev/null +++ b/libs/ode-0.16.1/include/ode/odecpp.h @@ -0,0 +1,1355 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* C++ interface for non-collision stuff */ + + +#ifndef _ODE_ODECPP_H_ +#define _ODE_ODECPP_H_ +#ifdef __cplusplus + + + + +//namespace ode { + + +class dWorldSimpleIDContainer { +protected: + dWorldID _id; + + dWorldSimpleIDContainer(): _id(0) {} + ~dWorldSimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dWorldDestroy(_id); + _id = 0; + } + } +}; + +class dWorldDynamicIDContainer: public dWorldSimpleIDContainer { +protected: + virtual ~dWorldDynamicIDContainer() {} +}; + +template <class dWorldTemplateBase> +class dWorldTemplate: public dWorldTemplateBase { + // intentionally undefined, don't use these + dWorldTemplate (const dWorldTemplate<dWorldTemplateBase> &); + void operator= (const dWorldTemplate<dWorldTemplateBase> &); + +protected: + dWorldID get_id() const { return dWorldTemplateBase::_id; } + void set_id(dWorldID value) { dWorldTemplateBase::_id = value; } + +public: + dWorldTemplate() + { set_id(dWorldCreate()); } + + dWorldID id() const + { return get_id(); } + operator dWorldID() const + { return get_id(); } + + void setGravity (dReal x, dReal y, dReal z) + { dWorldSetGravity (get_id(), x, y, z); } + void setGravity (const dVector3 g) + { setGravity (g[0], g[1], g[2]); } + void getGravity (dVector3 g) const + { dWorldGetGravity (get_id(), g); } + + void setERP (dReal erp) + { dWorldSetERP(get_id(), erp); } + dReal getERP() const + { return dWorldGetERP(get_id()); } + + void setCFM (dReal cfm) + { dWorldSetCFM(get_id(), cfm); } + dReal getCFM() const + { return dWorldGetCFM(get_id()); } + + void step (dReal stepsize) + { dWorldStep (get_id(), stepsize); } + + void quickStep(dReal stepsize) + { dWorldQuickStep (get_id(), stepsize); } + void setQuickStepNumIterations(int num) + { dWorldSetQuickStepNumIterations (get_id(), num); } + int getQuickStepNumIterations() const + { return dWorldGetQuickStepNumIterations (get_id()); } + void setQuickStepW(dReal over_relaxation) + { dWorldSetQuickStepW (get_id(), over_relaxation); } + dReal getQuickStepW() const + { return dWorldGetQuickStepW (get_id()); } + + void setAutoDisableLinearThreshold (dReal threshold) + { dWorldSetAutoDisableLinearThreshold (get_id(), threshold); } + dReal getAutoDisableLinearThreshold() const + { return dWorldGetAutoDisableLinearThreshold (get_id()); } + void setAutoDisableAngularThreshold (dReal threshold) + { dWorldSetAutoDisableAngularThreshold (get_id(), threshold); } + dReal getAutoDisableAngularThreshold() const + { return dWorldGetAutoDisableAngularThreshold (get_id()); } + void setAutoDisableSteps (int steps) + { dWorldSetAutoDisableSteps (get_id(), steps); } + int getAutoDisableSteps() const + { return dWorldGetAutoDisableSteps (get_id()); } + void setAutoDisableTime (dReal time) + { dWorldSetAutoDisableTime (get_id(), time); } + dReal getAutoDisableTime() const + { return dWorldGetAutoDisableTime (get_id()); } + void setAutoDisableFlag (int do_auto_disable) + { dWorldSetAutoDisableFlag (get_id(), do_auto_disable); } + int getAutoDisableFlag() const + { return dWorldGetAutoDisableFlag (get_id()); } + + dReal getLinearDampingThreshold() const + { return dWorldGetLinearDampingThreshold(get_id()); } + void setLinearDampingThreshold(dReal threshold) + { dWorldSetLinearDampingThreshold(get_id(), threshold); } + dReal getAngularDampingThreshold() const + { return dWorldGetAngularDampingThreshold(get_id()); } + void setAngularDampingThreshold(dReal threshold) + { dWorldSetAngularDampingThreshold(get_id(), threshold); } + dReal getLinearDamping() const + { return dWorldGetLinearDamping(get_id()); } + void setLinearDamping(dReal scale) + { dWorldSetLinearDamping(get_id(), scale); } + dReal getAngularDamping() const + { return dWorldGetAngularDamping(get_id()); } + void setAngularDamping(dReal scale) + { dWorldSetAngularDamping(get_id(), scale); } + void setDamping(dReal linear_scale, dReal angular_scale) + { dWorldSetDamping(get_id(), linear_scale, angular_scale); } + + dReal getMaxAngularSpeed() const + { return dWorldGetMaxAngularSpeed(get_id()); } + void setMaxAngularSpeed(dReal max_speed) + { dWorldSetMaxAngularSpeed(get_id(), max_speed); } + + void setContactSurfaceLayer(dReal depth) + { dWorldSetContactSurfaceLayer (get_id(), depth); } + dReal getContactSurfaceLayer() const + { return dWorldGetContactSurfaceLayer (get_id()); } + + void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, + dVector3 force) + { dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); } +}; + + +class dBodySimpleIDContainer { +protected: + dBodyID _id; + + dBodySimpleIDContainer(): _id(0) {} + ~dBodySimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dBodyDestroy(_id); + _id = 0; + } + } +}; + +class dBodyDynamicIDContainer: public dBodySimpleIDContainer { +protected: + virtual ~dBodyDynamicIDContainer() {} +}; + +template <class dBodyTemplateBase, class dWorldTemplateBase> +class dBodyTemplate: public dBodyTemplateBase { + // intentionally undefined, don't use these + dBodyTemplate (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &); + void operator= (const dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase> &); + +protected: + dBodyID get_id() const { return dBodyTemplateBase::_id; } + void set_id(dBodyID value) { dBodyTemplateBase::_id = value; } + + void destroy() { dBodyTemplateBase::destroy(); } + +public: + dBodyTemplate() + { } + dBodyTemplate (dWorldID world) + { set_id(dBodyCreate(world)); } + dBodyTemplate (dWorldTemplate<dWorldTemplateBase>& world) + { set_id(dBodyCreate(world.id())); } + + void create (dWorldID world) { + destroy(); + set_id(dBodyCreate(world)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world) { + create(world.id()); + } + + dBodyID id() const + { return get_id(); } + operator dBodyID() const + { return get_id(); } + + void setData (void *data) + { dBodySetData (get_id(), data); } + void *getData() const + { return dBodyGetData (get_id()); } + + void setPosition (dReal x, dReal y, dReal z) + { dBodySetPosition (get_id(), x, y, z); } + void setPosition (const dVector3 p) + { setPosition(p[0], p[1], p[2]); } + + void setRotation (const dMatrix3 R) + { dBodySetRotation (get_id(), R); } + void setQuaternion (const dQuaternion q) + { dBodySetQuaternion (get_id(), q); } + void setLinearVel (dReal x, dReal y, dReal z) + { dBodySetLinearVel (get_id(), x, y, z); } + void setLinearVel (const dVector3 v) + { setLinearVel(v[0], v[1], v[2]); } + void setAngularVel (dReal x, dReal y, dReal z) + { dBodySetAngularVel (get_id(), x, y, z); } + void setAngularVel (const dVector3 v) + { setAngularVel (v[0], v[1], v[2]); } + + const dReal * getPosition() const + { return dBodyGetPosition (get_id()); } + const dReal * getRotation() const + { return dBodyGetRotation (get_id()); } + const dReal * getQuaternion() const + { return dBodyGetQuaternion (get_id()); } + const dReal * getLinearVel() const + { return dBodyGetLinearVel (get_id()); } + const dReal * getAngularVel() const + { return dBodyGetAngularVel (get_id()); } + + void setMass (const dMass *mass) + { dBodySetMass (get_id(), mass); } + void setMass (const dMass &mass) + { setMass (&mass); } + dMass getMass () const + { dMass mass; dBodyGetMass (get_id(), &mass); return mass; } + + void addForce (dReal fx, dReal fy, dReal fz) + { dBodyAddForce (get_id(), fx, fy, fz); } + void addForce (const dVector3 f) + { addForce (f[0], f[1], f[2]); } + void addTorque (dReal fx, dReal fy, dReal fz) + { dBodyAddTorque (get_id(), fx, fy, fz); } + void addTorque (const dVector3 t) + { addTorque(t[0], t[1], t[2]); } + + void addRelForce (dReal fx, dReal fy, dReal fz) + { dBodyAddRelForce (get_id(), fx, fy, fz); } + void addRelForce (const dVector3 f) + { addRelForce (f[0], f[1], f[2]); } + void addRelTorque (dReal fx, dReal fy, dReal fz) + { dBodyAddRelTorque (get_id(), fx, fy, fz); } + void addRelTorque (const dVector3 t) + { addRelTorque (t[0], t[1], t[2]); } + + void addForceAtPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); } + void addForceAtPos (const dVector3 f, const dVector3 p) + { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } + + void addForceAtRelPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } + void addForceAtRelPos (const dVector3 f, const dVector3 p) + { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } + + void addRelForceAtPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); } + void addRelForceAtPos (const dVector3 f, const dVector3 p) + { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } + + void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) + { dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } + void addRelForceAtRelPos (const dVector3 f, const dVector3 p) + { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } + + const dReal * getForce() const + { return dBodyGetForce(get_id()); } + const dReal * getTorque() const + { return dBodyGetTorque(get_id()); } + void setForce (dReal x, dReal y, dReal z) + { dBodySetForce (get_id(), x, y, z); } + void setForce (const dVector3 f) + { setForce (f[0], f[1], f[2]); } + void setTorque (dReal x, dReal y, dReal z) + { dBodySetTorque (get_id(), x, y, z); } + void setTorque (const dVector3 t) + { setTorque (t[0], t[1], t[2]); } + + void setDynamic() + { dBodySetDynamic (get_id()); } + void setKinematic() + { dBodySetKinematic (get_id()); } + bool isKinematic() const + { return dBodyIsKinematic (get_id()) != 0; } + + void enable() + { dBodyEnable (get_id()); } + void disable() + { dBodyDisable (get_id()); } + bool isEnabled() const + { return dBodyIsEnabled (get_id()) != 0; } + + void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetRelPointPos (get_id(), px, py, pz, result); } + void getRelPointPos (const dVector3 p, dVector3 result) const + { getRelPointPos (p[0], p[1], p[2], result); } + + void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetRelPointVel (get_id(), px, py, pz, result); } + void getRelPointVel (const dVector3 p, dVector3 result) const + { getRelPointVel (p[0], p[1], p[2], result); } + + void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetPointVel (get_id(), px, py, pz, result); } + void getPointVel (const dVector3 p, dVector3 result) const + { getPointVel (p[0], p[1], p[2], result); } + + void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyGetPosRelPoint (get_id(), px, py, pz, result); } + void getPosRelPoint (const dVector3 p, dVector3 result) const + { getPosRelPoint (p[0], p[1], p[2], result); } + + void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyVectorToWorld (get_id(), px, py, pz, result); } + void vectorToWorld (const dVector3 p, dVector3 result) const + { vectorToWorld (p[0], p[1], p[2], result); } + + void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dBodyVectorFromWorld (get_id(), px, py, pz, result); } + void vectorFromWorld (const dVector3 p, dVector3 result) const + { vectorFromWorld (p[0], p[1], p[2], result); } + + void setFiniteRotationMode (bool mode) + { dBodySetFiniteRotationMode (get_id(), mode); } + + void setFiniteRotationAxis (dReal x, dReal y, dReal z) + { dBodySetFiniteRotationAxis (get_id(), x, y, z); } + void setFiniteRotationAxis (const dVector3 a) + { setFiniteRotationAxis (a[0], a[1], a[2]); } + + bool getFiniteRotationMode() const + { return dBodyGetFiniteRotationMode (get_id()) != 0; } + void getFiniteRotationAxis (dVector3 result) const + { dBodyGetFiniteRotationAxis (get_id(), result); } + + int getNumJoints() const + { return dBodyGetNumJoints (get_id()); } + dJointID getJoint (int index) const + { return dBodyGetJoint (get_id(), index); } + + void setGravityMode (bool mode) + { dBodySetGravityMode (get_id(), mode); } + bool getGravityMode() const + { return dBodyGetGravityMode (get_id()) != 0; } + + bool isConnectedTo (dBodyID body) const + { return dAreConnected (get_id(), body) != 0; } + + void setAutoDisableLinearThreshold (dReal threshold) + { dBodySetAutoDisableLinearThreshold (get_id(), threshold); } + dReal getAutoDisableLinearThreshold() const + { return dBodyGetAutoDisableLinearThreshold (get_id()); } + void setAutoDisableAngularThreshold (dReal threshold) + { dBodySetAutoDisableAngularThreshold (get_id(), threshold); } + dReal getAutoDisableAngularThreshold() const + { return dBodyGetAutoDisableAngularThreshold (get_id()); } + void setAutoDisableSteps (int steps) + { dBodySetAutoDisableSteps (get_id(), steps); } + int getAutoDisableSteps() const + { return dBodyGetAutoDisableSteps (get_id()); } + void setAutoDisableTime (dReal time) + { dBodySetAutoDisableTime (get_id(), time); } + dReal getAutoDisableTime() const + { return dBodyGetAutoDisableTime (get_id()); } + void setAutoDisableFlag (bool do_auto_disable) + { dBodySetAutoDisableFlag (get_id(), do_auto_disable); } + bool getAutoDisableFlag() const + { return dBodyGetAutoDisableFlag (get_id()) != 0; } + + dReal getLinearDamping() const + { return dBodyGetLinearDamping(get_id()); } + void setLinearDamping(dReal scale) + { dBodySetLinearDamping(get_id(), scale); } + dReal getAngularDamping() const + { return dBodyGetAngularDamping(get_id()); } + void setAngularDamping(dReal scale) + { dBodySetAngularDamping(get_id(), scale); } + void setDamping(dReal linear_scale, dReal angular_scale) + { dBodySetDamping(get_id(), linear_scale, angular_scale); } + dReal getLinearDampingThreshold() const + { return dBodyGetLinearDampingThreshold(get_id()); } + void setLinearDampingThreshold(dReal threshold) const + { dBodySetLinearDampingThreshold(get_id(), threshold); } + dReal getAngularDampingThreshold() const + { return dBodyGetAngularDampingThreshold(get_id()); } + void setAngularDampingThreshold(dReal threshold) + { dBodySetAngularDampingThreshold(get_id(), threshold); } + void setDampingDefaults() + { dBodySetDampingDefaults(get_id()); } + + dReal getMaxAngularSpeed() const + { return dBodyGetMaxAngularSpeed(get_id()); } + void setMaxAngularSpeed(dReal max_speed) + { dBodySetMaxAngularSpeed(get_id(), max_speed); } + + bool getGyroscopicMode() const + { return dBodyGetGyroscopicMode(get_id()) != 0; } + void setGyroscopicMode(bool mode) + { dBodySetGyroscopicMode(get_id(), mode); } + +}; + + +class dJointGroupSimpleIDContainer { +protected: + dJointGroupID _id; + + dJointGroupSimpleIDContainer(): _id(0) {} + ~dJointGroupSimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dJointGroupDestroy(_id); + _id = 0; + } + } +}; + +class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer { +protected: + virtual ~dJointGroupDynamicIDContainer() {} +}; + +template <class dJointGroupTemplateBase> +class dJointGroupTemplate: public dJointGroupTemplateBase { + // intentionally undefined, don't use these + dJointGroupTemplate (const dJointGroupTemplate<dJointGroupTemplateBase> &); + void operator= (const dJointGroupTemplate<dJointGroupTemplateBase> &); + +protected: + dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; } + void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; } + + void destroy() { dJointGroupTemplateBase::destroy(); } + +public: + dJointGroupTemplate () + { set_id(dJointGroupCreate(0)); } + + void create () { + destroy(); + set_id(dJointGroupCreate(0)); + } + + dJointGroupID id() const + { return get_id(); } + operator dJointGroupID() const + { return get_id(); } + + void empty() + { dJointGroupEmpty (get_id()); } + void clear() + { empty(); } +}; + + +class dJointSimpleIDContainer { +protected: + dJointID _id; + + dJointSimpleIDContainer(): _id(0) {} + ~dJointSimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dJointDestroy (_id); + _id = 0; + } + } +}; + +class dJointDynamicIDContainer: public dJointSimpleIDContainer { +protected: + virtual ~dJointDynamicIDContainer() {} +}; + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dJointTemplate: public dJointTemplateBase { +private: + // intentionally undefined, don't use these + dJointTemplate (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &) ; + void operator= (const dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + dJointID get_id() const { return dJointTemplateBase::_id; } + void set_id(dJointID value) { dJointTemplateBase::_id = value; } + + void destroy() { dJointTemplateBase::destroy(); } + +protected: + dJointTemplate() // don't let user construct pure dJointTemplate objects + { } + +public: + dJointID id() const + { return get_id(); } + operator dJointID() const + { return get_id(); } + + int getNumBodies() const + { return dJointGetNumBodies(get_id()); } + + void attach (dBodyID body1, dBodyID body2) + { dJointAttach (get_id(), body1, body2); } + void attach (dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body1, dBodyTemplate<dBodyTemplateBase, dWorldTemplateBase>& body2) + { attach(body1.id(), body2.id()); } + + void enable() + { dJointEnable (get_id()); } + void disable() + { dJointDisable (get_id()); } + bool isEnabled() const + { return dJointIsEnabled (get_id()) != 0; } + + void setData (void *data) + { dJointSetData (get_id(), data); } + void *getData() const + { return dJointGetData (get_id()); } + + dJointType getType() const + { return dJointGetType (get_id()); } + + dBodyID getBody (int index) const + { return dJointGetBody (get_id(), index); } + + void setFeedback(dJointFeedback *fb) + { dJointSetFeedback(get_id(), fb); } + dJointFeedback *getFeedback() const + { return dJointGetFeedback(get_id()); } + + // If not implemented it will do nothing as describe in the doc + virtual void setParam (int, dReal) {}; + virtual dReal getParam (int) const { return 0; } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dBallJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dBallJointTemplate (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator= (const dBallJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dBallJointTemplate() { } + dBallJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateBall(world, group)); } + dBallJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateBall(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateBall(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetBallAnchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor (a[0], a[1], a[2]); } + void getAnchor (dVector3 result) const + { dJointGetBallAnchor (get_id(), result); } + void getAnchor2 (dVector3 result) const + { dJointGetBallAnchor2 (get_id(), result); } + virtual void setParam (int parameter, dReal value) + { dJointSetBallParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetBallParam (get_id(), parameter); } + // TODO: expose params through methods +} ; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dHingeJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dHingeJointTemplate (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dHingeJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dHingeJointTemplate() { } + dHingeJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateHinge(world, group)); } + dHingeJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateHinge(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateHinge (world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetHingeAnchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor (a[0], a[1], a[2]); } + void getAnchor (dVector3 result) const + { dJointGetHingeAnchor (get_id(), result); } + void getAnchor2 (dVector3 result) const + { dJointGetHingeAnchor2 (get_id(), result); } + + void setAxis (dReal x, dReal y, dReal z) + { dJointSetHingeAxis (get_id(), x, y, z); } + void setAxis (const dVector3 a) + { setAxis(a[0], a[1], a[2]); } + void getAxis (dVector3 result) const + { dJointGetHingeAxis (get_id(), result); } + + dReal getAngle() const + { return dJointGetHingeAngle (get_id()); } + dReal getAngleRate() const + { return dJointGetHingeAngleRate (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetHingeParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetHingeParam (get_id(), parameter); } + // TODO: expose params through methods + + void addTorque (dReal torque) + { dJointAddHingeTorque(get_id(), torque); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dSliderJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dSliderJointTemplate (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dSliderJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dSliderJointTemplate() { } + dSliderJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateSlider(world, group)); } + dSliderJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateSlider(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateSlider(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAxis (dReal x, dReal y, dReal z) + { dJointSetSliderAxis (get_id(), x, y, z); } + void setAxis (const dVector3 a) + { setAxis (a[0], a[1], a[2]); } + void getAxis (dVector3 result) const + { dJointGetSliderAxis (get_id(), result); } + + dReal getPosition() const + { return dJointGetSliderPosition (get_id()); } + dReal getPositionRate() const + { return dJointGetSliderPositionRate (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetSliderParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetSliderParam (get_id(), parameter); } + // TODO: expose params through methods + + void addForce (dReal force) + { dJointAddSliderForce(get_id(), force); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dUniversalJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dUniversalJointTemplate (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dUniversalJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dUniversalJointTemplate() { } + dUniversalJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateUniversal(world, group)); } + dUniversalJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateUniversal(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateUniversal(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetUniversalAnchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor(a[0], a[1], a[2]); } + void setAxis1 (dReal x, dReal y, dReal z) + { dJointSetUniversalAxis1 (get_id(), x, y, z); } + void setAxis1 (const dVector3 a) + { setAxis1 (a[0], a[1], a[2]); } + void setAxis2 (dReal x, dReal y, dReal z) + { dJointSetUniversalAxis2 (get_id(), x, y, z); } + void setAxis2 (const dVector3 a) + { setAxis2 (a[0], a[1], a[2]); } + + void getAnchor (dVector3 result) const + { dJointGetUniversalAnchor (get_id(), result); } + void getAnchor2 (dVector3 result) const + { dJointGetUniversalAnchor2 (get_id(), result); } + void getAxis1 (dVector3 result) const + { dJointGetUniversalAxis1 (get_id(), result); } + void getAxis2 (dVector3 result) const + { dJointGetUniversalAxis2 (get_id(), result); } + + virtual void setParam (int parameter, dReal value) + { dJointSetUniversalParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetUniversalParam (get_id(), parameter); } + // TODO: expose params through methods + + void getAngles(dReal *angle1, dReal *angle2) const + { dJointGetUniversalAngles (get_id(), angle1, angle2); } + + dReal getAngle1() const + { return dJointGetUniversalAngle1 (get_id()); } + dReal getAngle1Rate() const + { return dJointGetUniversalAngle1Rate (get_id()); } + dReal getAngle2() const + { return dJointGetUniversalAngle2 (get_id()); } + dReal getAngle2Rate() const + { return dJointGetUniversalAngle2Rate (get_id()); } + + void addTorques (dReal torque1, dReal torque2) + { dJointAddUniversalTorques(get_id(), torque1, torque2); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dHinge2JointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dHinge2JointTemplate (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dHinge2JointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dHinge2JointTemplate() { } + dHinge2JointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateHinge2(world, group)); } + dHinge2JointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateHinge2(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateHinge2(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetHinge2Anchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor(a[0], a[1], a[2]); } + void setAxes (const dReal *axis1/*=NULL*/, const dReal *axis2/*=NULL*/) + { dJointSetHinge2Axes (get_id(), axis1, axis2); } + ODE_API_DEPRECATED void setAxis1 (dReal x, dReal y, dReal z) + { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), a, NULL); } + ODE_API_DEPRECATED void setAxis1 (const dVector3 a) + { dJointSetHinge2Axes (get_id(), a, NULL); } + ODE_API_DEPRECATED void setAxis2 (dReal x, dReal y, dReal z) + { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), NULL, a); } + ODE_API_DEPRECATED void setAxis2 (const dVector3 a) + { dJointSetHinge2Axes (get_id(), NULL, a); } + + void getAnchor (dVector3 result) const + { dJointGetHinge2Anchor (get_id(), result); } + void getAnchor2 (dVector3 result) const + { dJointGetHinge2Anchor2 (get_id(), result); } + void getAxis1 (dVector3 result) const + { dJointGetHinge2Axis1 (get_id(), result); } + void getAxis2 (dVector3 result) const + { dJointGetHinge2Axis2 (get_id(), result); } + + dReal getAngle1() const + { return dJointGetHinge2Angle1 (get_id()); } + dReal getAngle1Rate() const + { return dJointGetHinge2Angle1Rate (get_id()); } + dReal getAngle2Rate() const + { return dJointGetHinge2Angle2Rate (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetHinge2Param (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetHinge2Param (get_id(), parameter); } + // TODO: expose params through methods + + void addTorques(dReal torque1, dReal torque2) + { dJointAddHinge2Torques(get_id(), torque1, torque2); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dPRJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dPRJointTemplate (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dPRJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dPRJointTemplate() { } + dPRJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreatePR(world, group)); } + dPRJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreatePR(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreatePR(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetPRAnchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor (a[0], a[1], a[2]); } + void setAxis1 (dReal x, dReal y, dReal z) + { dJointSetPRAxis1 (get_id(), x, y, z); } + void setAxis1 (const dVector3 a) + { setAxis1(a[0], a[1], a[2]); } + void setAxis2 (dReal x, dReal y, dReal z) + { dJointSetPRAxis2 (get_id(), x, y, z); } + void setAxis2 (const dVector3 a) + { setAxis2(a[0], a[1], a[2]); } + + void getAnchor (dVector3 result) const + { dJointGetPRAnchor (get_id(), result); } + void getAxis1 (dVector3 result) const + { dJointGetPRAxis1 (get_id(), result); } + void getAxis2 (dVector3 result) const + { dJointGetPRAxis2 (get_id(), result); } + + dReal getPosition() const + { return dJointGetPRPosition (get_id()); } + dReal getPositionRate() const + { return dJointGetPRPositionRate (get_id()); } + + dReal getAngle() const + { return dJointGetPRAngle (get_id()); } + dReal getAngleRate() const + { return dJointGetPRAngleRate (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetPRParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetPRParam (get_id(), parameter); } +}; + + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dPUJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> +{ +private: + // intentionally undefined, don't use these + dPUJointTemplate (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dPUJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dPUJointTemplate() { } + dPUJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreatePU(world, group)); } + dPUJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreatePU(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) + { + destroy(); + set_id(dJointCreatePU(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetPUAnchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor (a[0], a[1], a[2]); } + void setAxis1 (dReal x, dReal y, dReal z) + { dJointSetPUAxis1 (get_id(), x, y, z); } + void setAxis1 (const dVector3 a) + { setAxis1(a[0], a[1], a[2]); } + void setAxis2 (dReal x, dReal y, dReal z) + { dJointSetPUAxis2 (get_id(), x, y, z); } + void setAxis3 (dReal x, dReal y, dReal z) + { dJointSetPUAxis3 (get_id(), x, y, z); } + void setAxis3 (const dVector3 a) + { setAxis3(a[0], a[1], a[2]); } + void setAxisP (dReal x, dReal y, dReal z) + { dJointSetPUAxis3 (get_id(), x, y, z); } + void setAxisP (const dVector3 a) + { setAxisP(a[0], a[1], a[2]); } + + virtual void getAnchor (dVector3 result) const + { dJointGetPUAnchor (get_id(), result); } + void getAxis1 (dVector3 result) const + { dJointGetPUAxis1 (get_id(), result); } + void getAxis2 (dVector3 result) const + { dJointGetPUAxis2 (get_id(), result); } + void getAxis3 (dVector3 result) const + { dJointGetPUAxis3 (get_id(), result); } + void getAxisP (dVector3 result) const + { dJointGetPUAxis3 (get_id(), result); } + + dReal getAngle1() const + { return dJointGetPUAngle1 (get_id()); } + dReal getAngle1Rate() const + { return dJointGetPUAngle1Rate (get_id()); } + dReal getAngle2() const + { return dJointGetPUAngle2 (get_id()); } + dReal getAngle2Rate() const + { return dJointGetPUAngle2Rate (get_id()); } + + dReal getPosition() const + { return dJointGetPUPosition (get_id()); } + dReal getPositionRate() const + { return dJointGetPUPositionRate (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetPUParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetPUParam (get_id(), parameter); } + // TODO: expose params through methods +}; + + + + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dPistonJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> +{ +private: + // intentionally undefined, don't use these + dPistonJointTemplate (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dPistonJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dPistonJointTemplate() { } + dPistonJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreatePiston(world, group)); } + dPistonJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreatePiston(world, group)); } + + void create (dWorldID world, dJointGroupID group=0) + { + destroy(); + set_id(dJointCreatePiston(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setAnchor (dReal x, dReal y, dReal z) + { dJointSetPistonAnchor (get_id(), x, y, z); } + void setAnchor (const dVector3 a) + { setAnchor (a[0], a[1], a[2]); } + void getAnchor (dVector3 result) const + { dJointGetPistonAnchor (get_id(), result); } + void getAnchor2 (dVector3 result) const + { dJointGetPistonAnchor2 (get_id(), result); } + + void setAxis (dReal x, dReal y, dReal z) + { dJointSetPistonAxis (get_id(), x, y, z); } + void setAxis (const dVector3 a) + { setAxis(a[0], a[1], a[2]); } + void getAxis (dVector3 result) const + { dJointGetPistonAxis (get_id(), result); } + + dReal getPosition() const + { return dJointGetPistonPosition (get_id()); } + dReal getPositionRate() const + { return dJointGetPistonPositionRate (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetPistonParam (get_id(), parameter, value); } + virtual dReal getParam (int parameter) const + { return dJointGetPistonParam (get_id(), parameter); } + // TODO: expose params through methods + + void addForce (dReal force) + { dJointAddPistonForce (get_id(), force); } +}; + + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dFixedJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> +{ +private: + // intentionally undefined, don't use these + dFixedJointTemplate (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dFixedJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dFixedJointTemplate() { } + dFixedJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateFixed(world, group)); } + dFixedJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateFixed(world, group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateFixed(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void set() + { dJointSetFixed (get_id()); } + + virtual void setParam (int parameter, dReal value) + { dJointSetFixedParam (get_id(), parameter, value); } + + virtual dReal getParam (int parameter) const + { return dJointGetFixedParam (get_id(), parameter); } + // TODO: expose params through methods +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dContactJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dContactJointTemplate (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dContactJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dContactJointTemplate() { } + dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact) + { set_id(dJointCreateContact(world, group, contact)); } + dContactJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact) + { set_id(dJointCreateContact(world.id(), group, contact)); } + + void create (dWorldID world, dJointGroupID group, dContact *contact) { + destroy(); + set_id(dJointCreateContact(world, group, contact)); + } + + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group, dContact *contact) + { create(world.id(), group, contact); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dNullJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dNullJointTemplate (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dNullJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dNullJointTemplate() { } + dNullJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateNull(world, group)); } + dNullJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateNull (world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateNull(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dAMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dAMotorJointTemplate (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dAMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dAMotorJointTemplate() { } + dAMotorJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateAMotor(world, group)); } + dAMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateAMotor(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateAMotor(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setMode (int mode) + { dJointSetAMotorMode (get_id(), mode); } + int getMode() const + { return dJointGetAMotorMode (get_id()); } + + void setNumAxes (int num) + { dJointSetAMotorNumAxes (get_id(), num); } + int getNumAxes() const + { return dJointGetAMotorNumAxes (get_id()); } + + void setAxis (int anum, int rel, dReal x, dReal y, dReal z) + { dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); } + void setAxis (int anum, int rel, const dVector3 a) + { setAxis(anum, rel, a[0], a[1], a[2]); } + void getAxis (int anum, dVector3 result) const + { dJointGetAMotorAxis (get_id(), anum, result); } + int getAxisRel (int anum) const + { return dJointGetAMotorAxisRel (get_id(), anum); } + + void setAngle (int anum, dReal angle) + { dJointSetAMotorAngle (get_id(), anum, angle); } + dReal getAngle (int anum) const + { return dJointGetAMotorAngle (get_id(), anum); } + dReal getAngleRate (int anum) + { return dJointGetAMotorAngleRate (get_id(), anum); } + + void setParam (int parameter, dReal value) + { dJointSetAMotorParam (get_id(), parameter, value); } + dReal getParam (int parameter) const + { return dJointGetAMotorParam (get_id(), parameter); } + // TODO: expose params through methods + + void addTorques(dReal torque1, dReal torque2, dReal torque3) + { dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); } +}; + + +template <class dJointTemplateBase, class dWorldTemplateBase, class dBodyTemplateBase> +class dLMotorJointTemplate : public dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> { +private: + // intentionally undefined, don't use these + dLMotorJointTemplate (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + void operator = (const dLMotorJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> &); + +protected: + typedef dJointTemplate<dJointTemplateBase, dWorldTemplateBase, dBodyTemplateBase> dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } + +public: + dLMotorJointTemplate() { } + dLMotorJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateLMotor(world, group)); } + dLMotorJointTemplate (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { set_id(dJointCreateLMotor(world.id(), group)); } + + void create (dWorldID world, dJointGroupID group=0) { + destroy(); + set_id(dJointCreateLMotor(world, group)); + } + void create (dWorldTemplate<dWorldTemplateBase>& world, dJointGroupID group=0) + { create(world.id(), group); } + + void setNumAxes (int num) + { dJointSetLMotorNumAxes (get_id(), num); } + int getNumAxes() const + { return dJointGetLMotorNumAxes (get_id()); } + + void setAxis (int anum, int rel, dReal x, dReal y, dReal z) + { dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); } + void setAxis (int anum, int rel, const dVector3 a) + { setAxis(anum, rel, a[0], a[1], a[2]); } + void getAxis (int anum, dVector3 result) const + { dJointGetLMotorAxis (get_id(), anum, result); } + + void setParam (int parameter, dReal value) + { dJointSetLMotorParam (get_id(), parameter, value); } + dReal getParam (int parameter) const + { return dJointGetLMotorParam (get_id(), parameter); } + // TODO: expose params through methods +}; + +//} + +#if !defined(dODECPP_WORLD_TEMPLATE_BASE) + +#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE) +#error All the odecpp template bases must be defined or not defined together +#endif + +#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer +#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer +#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer +#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer + +#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE) + +#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE) +#error All the odecpp template bases must be defined or not defined together +#endif + +#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE) + + +typedef dWorldTemplate<dODECPP_WORLD_TEMPLATE_BASE> dWorld; +typedef dBodyTemplate<dODECPP_BODY_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE> dBody; +typedef dJointGroupTemplate<dODECPP_JOINTGROUP_TEMPLATE_BASE> dJointGroup; +typedef dJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dJoint; +typedef dBallJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dBallJoint; +typedef dHingeJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHingeJoint; +typedef dSliderJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dSliderJoint; +typedef dUniversalJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dUniversalJoint; +typedef dHinge2JointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dHinge2Joint; +typedef dPRJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPRJoint; +typedef dPUJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPUJoint; +typedef dPistonJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dPistonJoint; +typedef dFixedJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dFixedJoint; +typedef dContactJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dContactJoint; +typedef dNullJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dNullJoint; +typedef dAMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dAMotorJoint; +typedef dLMotorJointTemplate<dODECPP_JOINT_TEMPLATE_BASE, dODECPP_WORLD_TEMPLATE_BASE, dODECPP_BODY_TEMPLATE_BASE> dLMotorJoint; + + +#endif +#endif + +// Local variables: +// mode:c++ +// c-basic-offset:2 +// End: diff --git a/libs/ode-0.16.1/include/ode/odecpp_collision.h b/libs/ode-0.16.1/include/ode/odecpp_collision.h new file mode 100644 index 0000000..f2c7725 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/odecpp_collision.h @@ -0,0 +1,467 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* C++ interface for new collision API */ + + +#ifndef _ODE_ODECPP_COLLISION_H_ +#define _ODE_ODECPP_COLLISION_H_ +#ifdef __cplusplus + +//#include <ode/error.h> + +//namespace ode { + +class dGeom { + // intentionally undefined, don't use these + dGeom (dGeom &); + void operator= (dGeom &); + +protected: + dGeomID _id; + + dGeom() + { _id = 0; } +public: + ~dGeom() + { if (_id) dGeomDestroy (_id); } + + dGeomID id() const + { return _id; } + operator dGeomID() const + { return _id; } + + void destroy() { + if (_id) dGeomDestroy (_id); + _id = 0; + } + + int getClass() const + { return dGeomGetClass (_id); } + + dSpaceID getSpace() const + { return dGeomGetSpace (_id); } + + void setData (void *data) + { dGeomSetData (_id,data); } + void *getData() const + { return dGeomGetData (_id); } + + void setBody (dBodyID b) + { dGeomSetBody (_id,b); } + dBodyID getBody() const + { return dGeomGetBody (_id); } + + void setPosition (dReal x, dReal y, dReal z) + { dGeomSetPosition (_id,x,y,z); } + const dReal * getPosition() const + { return dGeomGetPosition (_id); } + + void setRotation (const dMatrix3 R) + { dGeomSetRotation (_id,R); } + const dReal * getRotation() const + { return dGeomGetRotation (_id); } + + void setQuaternion (const dQuaternion quat) + { dGeomSetQuaternion (_id,quat); } + void getQuaternion (dQuaternion quat) const + { dGeomGetQuaternion (_id,quat); } + + void getAABB (dReal aabb[6]) const + { dGeomGetAABB (_id, aabb); } + + int isSpace() + { return dGeomIsSpace (_id); } + + void setCategoryBits (unsigned long bits) + { dGeomSetCategoryBits (_id, bits); } + void setCollideBits (unsigned long bits) + { dGeomSetCollideBits (_id, bits); } + unsigned long getCategoryBits() + { return dGeomGetCategoryBits (_id); } + unsigned long getCollideBits() + { return dGeomGetCollideBits (_id); } + + void enable() + { dGeomEnable (_id); } + void disable() + { dGeomDisable (_id); } + int isEnabled() + { return dGeomIsEnabled (_id); } + + void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomGetRelPointPos (_id, px, py, pz, result); } + void getRelPointPos (const dVector3 p, dVector3 result) const + { getRelPointPos (p[0], p[1], p[2], result); } + + void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomGetPosRelPoint (_id, px, py, pz, result); } + void getPosRelPoint (const dVector3 p, dVector3 result) const + { getPosRelPoint (p[0], p[1], p[2], result); } + + void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomVectorToWorld (_id, px, py, pz, result); } + void vectorToWorld (const dVector3 p, dVector3 result) const + { vectorToWorld (p[0], p[1], p[2], result); } + + void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomVectorFromWorld (_id, px, py, pz, result); } + void vectorFromWorld (const dVector3 p, dVector3 result) const + { vectorFromWorld (p[0], p[1], p[2], result); } + + void collide2 (dGeomID g, void *data, dNearCallback *callback) + { dSpaceCollide2 (_id,g,data,callback); } +}; + + +class dSpace : public dGeom { + // intentionally undefined, don't use these + dSpace (dSpace &); + void operator= (dSpace &); + +protected: + // the default constructor is protected so that you + // can't instance this class. you must instance one + // of its subclasses instead. + dSpace () { _id = 0; } + +public: + dSpaceID id() const + { return (dSpaceID) _id; } + operator dSpaceID() const + { return (dSpaceID) _id; } + + void setCleanup (int mode) + { dSpaceSetCleanup (id(), mode); } + int getCleanup() + { return dSpaceGetCleanup (id()); } + + void add (dGeomID x) + { dSpaceAdd (id(), x); } + void remove (dGeomID x) + { dSpaceRemove (id(), x); } + int query (dGeomID x) + { return dSpaceQuery (id(),x); } + + int getNumGeoms() + { return dSpaceGetNumGeoms (id()); } + dGeomID getGeom (int i) + { return dSpaceGetGeom (id(),i); } + + void collide (void *data, dNearCallback *callback) + { dSpaceCollide (id(),data,callback); } +}; + + +class dSimpleSpace : public dSpace { + // intentionally undefined, don't use these + dSimpleSpace (dSimpleSpace &); + void operator= (dSimpleSpace &); + +public: + dSimpleSpace () + { _id = (dGeomID) dSimpleSpaceCreate (0); } + dSimpleSpace (dSpace &space) + { _id = (dGeomID) dSimpleSpaceCreate (space.id()); } + dSimpleSpace (dSpaceID space) + { _id = (dGeomID) dSimpleSpaceCreate (space); } +}; + + +class dHashSpace : public dSpace { + // intentionally undefined, don't use these + dHashSpace (dHashSpace &); + void operator= (dHashSpace &); + +public: + dHashSpace () + { _id = (dGeomID) dHashSpaceCreate (0); } + dHashSpace (dSpace &space) + { _id = (dGeomID) dHashSpaceCreate (space.id()); } + dHashSpace (dSpaceID space) + { _id = (dGeomID) dHashSpaceCreate (space); } + + void setLevels (int minlevel, int maxlevel) + { dHashSpaceSetLevels (id(),minlevel,maxlevel); } +}; + + +class dQuadTreeSpace : public dSpace { + // intentionally undefined, don't use these + dQuadTreeSpace (dQuadTreeSpace &); + void operator= (dQuadTreeSpace &); + +public: + dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth) + { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); } + dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth) + { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); } + dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth) + { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); } +}; + + +class dSphere : public dGeom { + // intentionally undefined, don't use these + dSphere (dSphere &); + void operator= (dSphere &); + +public: + dSphere () { } + dSphere (dReal radius) + { _id = dCreateSphere (0, radius); } + dSphere (dSpace &space, dReal radius) + { _id = dCreateSphere (space.id(), radius); } + dSphere (dSpaceID space, dReal radius) + { _id = dCreateSphere (space, radius); } + + void create (dSpaceID space, dReal radius) { + if (_id) dGeomDestroy (_id); + _id = dCreateSphere (space, radius); + } + + void setRadius (dReal radius) + { dGeomSphereSetRadius (_id, radius); } + dReal getRadius() const + { return dGeomSphereGetRadius (_id); } +}; + + +class dBox : public dGeom { + // intentionally undefined, don't use these + dBox (dBox &); + void operator= (dBox &); + +public: + dBox () { } + dBox (dReal lx, dReal ly, dReal lz) + { _id = dCreateBox (0,lx,ly,lz); } + dBox (dSpace &space, dReal lx, dReal ly, dReal lz) + { _id = dCreateBox (space,lx,ly,lz); } + dBox (dSpaceID space, dReal lx, dReal ly, dReal lz) + { _id = dCreateBox (space,lx,ly,lz); } + + void create (dSpaceID space, dReal lx, dReal ly, dReal lz) { + if (_id) dGeomDestroy (_id); + _id = dCreateBox (space,lx,ly,lz); + } + + void setLengths (dReal lx, dReal ly, dReal lz) + { dGeomBoxSetLengths (_id, lx, ly, lz); } + void getLengths (dVector3 result) const + { dGeomBoxGetLengths (_id,result); } +}; + + +class dPlane : public dGeom { + // intentionally undefined, don't use these + dPlane (dPlane &); + void operator= (dPlane &); + +public: + dPlane() { } + dPlane (dReal a, dReal b, dReal c, dReal d) + { _id = dCreatePlane (0,a,b,c,d); } + dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) + { _id = dCreatePlane (space.id(),a,b,c,d); } + dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) + { _id = dCreatePlane (space,a,b,c,d); } + + void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) { + if (_id) dGeomDestroy (_id); + _id = dCreatePlane (space,a,b,c,d); + } + + void setParams (dReal a, dReal b, dReal c, dReal d) + { dGeomPlaneSetParams (_id, a, b, c, d); } + void getParams (dVector4 result) const + { dGeomPlaneGetParams (_id,result); } +}; + + +class dCapsule : public dGeom { + // intentionally undefined, don't use these + dCapsule (dCapsule &); + void operator= (dCapsule &); + +public: + dCapsule() { } + dCapsule (dReal radius, dReal length) + { _id = dCreateCapsule (0,radius,length); } + dCapsule (dSpace &space, dReal radius, dReal length) + { _id = dCreateCapsule (space.id(),radius,length); } + dCapsule (dSpaceID space, dReal radius, dReal length) + { _id = dCreateCapsule (space,radius,length); } + + void create (dSpaceID space, dReal radius, dReal length) { + if (_id) dGeomDestroy (_id); + _id = dCreateCapsule (space,radius,length); + } + + void setParams (dReal radius, dReal length) + { dGeomCapsuleSetParams (_id, radius, length); } + void getParams (dReal *radius, dReal *length) const + { dGeomCapsuleGetParams (_id,radius,length); } +}; + + +class dCylinder : public dGeom { + // intentionally undefined, don't use these + dCylinder (dCylinder &); + void operator= (dCylinder &); + +public: + dCylinder() { } + dCylinder (dReal radius, dReal length) + { _id = dCreateCylinder (0,radius,length); } + dCylinder (dSpace &space, dReal radius, dReal length) + { _id = dCreateCylinder (space.id(),radius,length); } + dCylinder (dSpaceID space, dReal radius, dReal length) + { _id = dCreateCylinder (space,radius,length); } + + void create (dSpaceID space, dReal radius, dReal length) { + if (_id) dGeomDestroy (_id); + _id = dCreateCylinder (space,radius,length); + } + + void setParams (dReal radius, dReal length) + { dGeomCylinderSetParams (_id, radius, length); } + void getParams (dReal *radius, dReal *length) const + { dGeomCylinderGetParams (_id,radius,length); } +}; + + +class dRay : public dGeom { + // intentionally undefined, don't use these + dRay (dRay &); + void operator= (dRay &); + +public: + dRay() { } + dRay (dReal length) + { _id = dCreateRay (0,length); } + dRay (dSpace &space, dReal length) + { _id = dCreateRay (space.id(),length); } + dRay (dSpaceID space, dReal length) + { _id = dCreateRay (space,length); } + + void create (dSpaceID space, dReal length) { + if (_id) dGeomDestroy (_id); + _id = dCreateRay (space,length); + } + + void setLength (dReal length) + { dGeomRaySetLength (_id, length); } + dReal getLength() + { return dGeomRayGetLength (_id); } + + void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) + { dGeomRaySet (_id, px, py, pz, dx, dy, dz); } + void get (dVector3 start, dVector3 dir) + { dGeomRayGet (_id, start, dir); } + +#ifdef WIN32 +#pragma warning( push ) +#pragma warning( disable : 4996 ) +#else +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + ODE_API_DEPRECATED + void setParams (int firstContact, int backfaceCull) + { dGeomRaySetParams (_id, firstContact, backfaceCull); } + + ODE_API_DEPRECATED + void getParams (int *firstContact, int *backfaceCull) + { dGeomRayGetParams (_id, firstContact, backfaceCull); } +#ifdef WIN32 +#pragma warning( pop ) +#else +#pragma GCC diagnostic pop +#endif + void setBackfaceCull (int backfaceCull) + { dGeomRaySetBackfaceCull (_id, backfaceCull); } + int getBackfaceCull() + { return dGeomRayGetBackfaceCull (_id); } + + void setFirstContact (int firstContact) + { dGeomRaySetFirstContact (_id, firstContact); } + int getFirstContact() + { return dGeomRayGetFirstContact (_id); } + + void setClosestHit (int closestHit) + { dGeomRaySetClosestHit (_id, closestHit); } + int getClosestHit() + { return dGeomRayGetClosestHit (_id); } +}; + +#ifdef WIN32 +#pragma warning( push ) +#pragma warning( disable : 4996 ) +#else +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + +class ODE_API_DEPRECATED dGeomTransform : public dGeom { + // intentionally undefined, don't use these + dGeomTransform (dGeomTransform &); + void operator= (dGeomTransform &); + +public: + dGeomTransform() { } + dGeomTransform (dSpace &space) + { _id = dCreateGeomTransform (space.id()); } + dGeomTransform (dSpaceID space) + { _id = dCreateGeomTransform (space); } + + void create (dSpaceID space=0) { + if (_id) dGeomDestroy (_id); + _id = dCreateGeomTransform (space); + } + + void setGeom (dGeomID geom) + { dGeomTransformSetGeom (_id, geom); } + dGeomID getGeom() const + { return dGeomTransformGetGeom (_id); } + + void setCleanup (int mode) + { dGeomTransformSetCleanup (_id,mode); } + int getCleanup () + { return dGeomTransformGetCleanup (_id); } + + void setInfo (int mode) + { dGeomTransformSetInfo (_id,mode); } + int getInfo() + { return dGeomTransformGetInfo (_id); } +}; + +#ifdef WIN32 +#pragma warning( pop ) +#else +#pragma GCC diagnostic pop +#endif + +//} + +#endif +#endif diff --git a/libs/ode-0.16.1/include/ode/odeinit.h b/libs/ode-0.16.1/include/ode/odeinit.h new file mode 100644 index 0000000..645ca42 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/odeinit.h @@ -0,0 +1,236 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* Library initialization/finalization functions. */ + +#ifndef _ODE_ODEINIT_H_ +#define _ODE_ODEINIT_H_ + +#include <ode/common.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +/* ************************************************************************ */ +/* Library initialization */ + +/** + * @defgroup init Library Initialization + * + * Library initialization functions prepare ODE internal data structures for use + * and release allocated resources after ODE is not needed any more. + */ + + +/** + * @brief Library initialization flags. + * + * These flags define ODE library initialization options. + * + * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads + * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread. + * If this flag is not specified the automatic resource tracking algorithm is used. + * + * With automatic resource tracking, On Windows, memory allocated for a thread may + * remain not freed for some time after the thread exits. The resources may be + * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately, + * the resources are released when library is closed with @c dCloseODE. On other + * operating systems resources are always released by the thread itself on its exit + * or on library closure with @c dCloseODE. + * + * With manual thread data cleanup mode every collision space object must be + * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup + * after creation. See description of the function for more details. + * + * If @c dInitFlagManualThreadCleanup was not specified during initialization, + * calls to @c dCleanupODEAllDataForThread are not allowed. + * + * @see dInitODE2 + * @see dAllocateODEDataForThread + * @see dSpaceSetManualCleanup + * @see dCloseODE + * @ingroup init + */ +enum dInitODEFlags { + dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/ +}; + +/** + * @brief Initializes ODE library. + * + * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization. + * + * A call to @c dInitODE is equal to the following initialization sequence + * @code + * dInitODE2(0); + * dAllocateODEDataForThread(dAllocateMaskAll); + * @endcode + * + * @see dInitODE2 + * @see dAllocateODEDataForThread + * @ingroup init + */ +ODE_API void dInitODE(void); + +/** + * @brief Initializes ODE library. + * @param uiInitFlags Initialization options bitmask + * @return A nonzero if initialization succeeded and zero otherwise. + * + * This function must be called to initialize ODE library before first use. If + * initialization succeeds the function may not be called again until library is + * closed with a call to @c dCloseODE. + * + * The @a uiInitFlags parameter specifies initialization options to be used. These + * can be combination of zero or more @c dInitODEFlags flags. + * + * @note + * If @c dInitFlagManualThreadCleanup flag is used for initialization, + * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every + * space object right after creation. Failure to do so may lead to resource leaks. + * + * @see dInitODEFlags + * @see dCloseODE + * @see dSpaceSetManualCleanup + * @ingroup init + */ +ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/); + + +/** + * @brief ODE data allocation flags. + * + * These flags are used to indicate which data is to be pre-allocated in call to + * @c dAllocateODEDataForThread. + * + * @c dAllocateFlagBasicData tells to allocate the basic data set required for + * normal library operation. This flag is equal to zero and is always implicitly + * included. + * + * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated. + * Collision detection functions may not be called if the data has not be allocated + * in advance. If collision detection is not going to be used, it is not necessary + * to specify this flag. + * + * @c dAllocateMaskAll is a mask that can be used for for allocating all possible + * data in cases when it is not known what exactly features of ODE will be used. + * The mask may not be used in combination with other flags. It is guaranteed to + * include all the current and future legal allocation flags. However, mature + * applications should use explicit flags they need rather than allocating everything. + * + * @see dAllocateODEDataForThread + * @ingroup init + */ +enum dAllocateODEDataFlags { + dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/ + + dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/ + + dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/ +}; + +/** + * @brief Allocate thread local data to allow the thread calling ODE. + * @param uiAllocateFlags Allocation options bitmask. + * @return A nonzero if allocation succeeded and zero otherwise. + * + * The function is required to be called for every thread that is going to use + * ODE. This function allocates the data that is required for accessing ODE from + * current thread along with optional data required for particular ODE subsystems. + * + * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags + * enumerated type. Multiple calls with different allocation flags are allowed. + * The flags that are already allocated are ignored in subsequent calls. If zero + * is passed as the parameter, it means to only allocate the set of most important + * data the library can not operate without. + * + * If the function returns failure status it means that none of the requested + * data has been allocated. The client may retry allocation attempt with the same + * flags when more system resources are available. + * + * @see dAllocateODEDataFlags + * @see dCleanupODEAllDataForThread + * @ingroup init + */ +ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags); + +/** + * @brief Free thread local data that was allocated for current thread. + * + * If library was initialized with @c dInitFlagManualThreadCleanup flag the function + * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread. + * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining + * not freed until program exit. The function may also be called when ODE is still + * being used to release resources allocated for all the current subsystems and + * possibly proceed with data pre-allocation for other subsystems. + * + * The function can safely be called several times in a row. The function can be + * called without prior invocation of @c dAllocateODEDataForThread. The function + * may not be called before ODE is initialized with @c dInitODE2 or after library + * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases + * all the thread local resources that might be allocated for all the threads that + * were using ODE. + * + * If library was initialized without @c dInitFlagManualThreadCleanup flag + * @c dCleanupODEAllDataForThread must not be called. + * + * @see dAllocateODEDataForThread + * @see dInitODE2 + * @see dCloseODE + * @ingroup init + */ +ODE_API void dCleanupODEAllDataForThread(); + + +/** + * @brief Close ODE after it is not needed any more. + * + * The function is required to be called when program does not need ODE features any more. + * The call to @c dCloseODE releases all the resources allocated for library + * including all the thread local data that might be allocated for all the threads + * that were using ODE. + * + * @c dCloseODE is a paired function for @c dInitODE2 and must only be called + * after successful library initialization. + * + * @note Important! + * Make sure that all the threads that were using ODE have already terminated + * before calling @c dCloseODE. In particular it is not allowed to call + * @c dCleanupODEAllDataForThread after @c dCloseODE. + * + * @see dInitODE2 + * @see dCleanupODEAllDataForThread + * @ingroup init + */ +ODE_API void dCloseODE(void); + + + +#ifdef __cplusplus +} /* extern "C" */ +#endif + + +#endif /* _ODE_ODEINIT_H_ */ diff --git a/libs/ode-0.16.1/include/ode/odemath.h b/libs/ode-0.16.1/include/ode/odemath.h new file mode 100644 index 0000000..d4461b3 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/odemath.h @@ -0,0 +1,545 @@ +/************************************************************************* + * * + * 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_ODEMATH_H_ +#define _ODE_ODEMATH_H_ + +#include <ode/common.h> + +/* + * macro to access elements i,j in an NxM matrix A, independent of the + * matrix storage convention. + */ +#define dACCESS33(A,i,j) ((A)[(i)*4+(j)]) + +/* + * Macro to test for valid floating point values + */ +#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]))) +#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3]))) +#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]))) +#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) )) + + +ODE_PURE_INLINE void dZeroVector3(dVector3 res) +{ + res[dV3E_X] = REAL(0.0); + res[dV3E_Y] = REAL(0.0); + res[dV3E_Z] = REAL(0.0); +} + +ODE_PURE_INLINE void dAssignVector3(dVector3 res, dReal x, dReal y, dReal z) +{ + res[dV3E_X] = x; + res[dV3E_Y] = y; + res[dV3E_Z] = z; +} + +ODE_PURE_INLINE void dZeroMatrix3(dMatrix3 res) +{ + res[dM3E_XX] = REAL(0.0); res[dM3E_XY] = REAL(0.0); res[dM3E_XZ] = REAL(0.0); + res[dM3E_YX] = REAL(0.0); res[dM3E_YY] = REAL(0.0); res[dM3E_YZ] = REAL(0.0); + res[dM3E_ZX] = REAL(0.0); res[dM3E_ZY] = REAL(0.0); res[dM3E_ZZ] = REAL(0.0); +} + +ODE_PURE_INLINE void dZeroMatrix4(dMatrix4 res) +{ + res[dM4E_XX] = REAL(0.0); res[dM4E_XY] = REAL(0.0); res[dM4E_XZ] = REAL(0.0); res[dM4E_XO] = REAL(0.0); + res[dM4E_YX] = REAL(0.0); res[dM4E_YY] = REAL(0.0); res[dM4E_YZ] = REAL(0.0); res[dM4E_YO] = REAL(0.0); + res[dM4E_ZX] = REAL(0.0); res[dM4E_ZY] = REAL(0.0); res[dM4E_ZZ] = REAL(0.0); res[dM4E_ZO] = REAL(0.0); + res[dM4E_OX] = REAL(0.0); res[dM4E_OY] = REAL(0.0); res[dM4E_OZ] = REAL(0.0); res[dM4E_OO] = REAL(0.0); +} + +/* Some vector math */ +ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = a[0] + b[0]; + const dReal res_1 = a[1] + b[1]; + const dReal res_2 = a[2] + b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = a[0] - b[0]; + const dReal res_1 = a[1] - b[1]; + const dReal res_2 = a[2] - b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dAddVectorScaledVector3(dReal *res, const dReal *a, const dReal *b, dReal b_scale) +{ + const dReal res_0 = a[0] + b_scale * b[0]; + const dReal res_1 = a[1] + b_scale * b[1]; + const dReal res_2 = a[2] + b_scale * b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale) +{ + const dReal res_0 = a_scale * a[0] + b_scale * b[0]; + const dReal res_1 = a_scale * a[1] + b_scale * b[1]; + const dReal res_2 = a_scale * a[2] + b_scale * b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dAddThreeScaledVectors3(dReal *res, const dReal *a, const dReal *b, const dReal *c, dReal a_scale, dReal b_scale, dReal c_scale) +{ + const dReal res_0 = a_scale * a[0] + b_scale * b[0] + c_scale * c[0]; + const dReal res_1 = a_scale * a[1] + b_scale * b[1] + c_scale * c[1]; + const dReal res_2 = a_scale * a[2] + b_scale * b[2] + c_scale * c[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale) +{ + res[0] *= nScale ; + res[1] *= nScale ; + res[2] *= nScale ; +} + +ODE_PURE_INLINE void dNegateVector3(dReal *res) +{ + res[0] = -res[0]; + res[1] = -res[1]; + res[2] = -res[2]; +} + +ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a) +{ + const dReal res_0 = a[0]; + const dReal res_1 = a[1]; + const dReal res_2 = a[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale) +{ + const dReal res_0 = a[0] * nScale; + const dReal res_1 = a[1] * nScale; + const dReal res_2 = a[2] * nScale; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a) +{ + const dReal res_0 = -a[0]; + const dReal res_1 = -a[1]; + const dReal res_2 = -a[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a) +{ + const dReal res_0 = a[0]; + const dReal res_1 = a[1]; + const dReal res_2 = a[2]; + const dReal res_3 = a[3]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3; +} + +ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a) +{ + dCopyVector4(res + 0, a + 0); + dCopyVector4(res + 4, a + 4); + dCopyVector4(res + 8, a + 8); +} + +ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a) +{ + dCopyVector3(res + 0, a + 0); + dCopyVector3(res + 4, a + 4); + dCopyVector3(res + 8, a + 8); +} + +ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n) +{ + const dReal res_0 = a[n + 0]; + const dReal res_1 = a[n + 4]; + const dReal res_2 = a[n + 8]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a) +{ + return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); +} + +ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a) +{ + return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); +} + +ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n) +{ + return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2]; +} + + +/* +* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced +* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311. +*/ + +ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b) +{ + return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b]; +} + + +ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); } +ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); } +ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); } +ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); } +ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); } +ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); } +ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); } + + +/* + * cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a' + * and `b' are spaced step_res, step_a and step_b indexes apart respectively. + * dCalcVectorCross3() means dCross3111. + */ + +ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b) +{ + const dReal res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b]; + const dReal res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b]; + const dReal res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[ 0] = res_0; + res[ step_res] = res_1; + res[2*step_res] = res_2; +} + +ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); } +ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); } +ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); } +ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); } + +ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dCalcVectorCross3(tmp, a, b); + dAddVectors3(res, res, tmp); +} + +ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dCalcVectorCross3(tmp, a, b); + dSubtractVectors3(res, res, tmp); +} + + +/* + * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. + * A is stored by rows, and has `skip' elements per row. the matrix is + * assumed to be already zero, so this does not write zero elements! + * if (plus,minus) is (+,-) then a positive version will be written. + * if (plus,minus) is (-,+) then a negative version will be written. + */ + +ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip) +{ + const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; + res[1] = -a_2; + res[2] = +a_1; + res[skip+0] = +a_2; + res[skip+2] = -a_0; + res[2*skip+0] = -a_1; + res[2*skip+1] = +a_0; +} + +ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip) +{ + const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; + res[1] = +a_2; + res[2] = -a_1; + res[skip+0] = -a_2; + res[skip+2] = +a_0; + res[2*skip+0] = +a_1; + res[2*skip+1] = -a_0; +} + + +/* + * compute the distance between two 3D-vectors + */ + +ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b) +{ + dReal res; + dReal tmp[3]; + dSubtractVectors3(tmp, a, b); + res = dCalcVectorLength3(tmp); + return res; +} + +/* + * special case matrix multiplication, with operator selection + */ + +ODE_PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = dCalcVectorDot3(a, b); + const dReal res_1 = dCalcVectorDot3(a + 4, b); + const dReal res_2 = dCalcVectorDot3(a + 8, b); + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = dCalcVectorDot3_41(a, b); + const dReal res_1 = dCalcVectorDot3_41(a + 1, b); + const dReal res_2 = dCalcVectorDot3_41(a + 2, b); + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +ODE_PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper1_331(res, b, a); +} + +ODE_PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = dCalcVectorDot3_44(a, b); + const dReal res_1 = dCalcVectorDot3_44(a + 1, b); + const dReal res_2 = dCalcVectorDot3_44(a + 2, b); + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} + +/* +Note: NEVER call any of these functions/macros with the same variable for A and C, +it is not equivalent to A*=B. +*/ + +ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_331(res, a, b); +} + +ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper1_331(res, a, b); +} + +ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_133(res, a, b); +} + +ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_133(res + 0, a + 0, b); + dMultiplyHelper0_133(res + 4, a + 4, b); + dMultiplyHelper0_133(res + 8, a + 8, b); +} + +ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper1_133(res + 0, b, a + 0); + dMultiplyHelper1_133(res + 4, b, a + 1); + dMultiplyHelper1_133(res + 8, b, a + 2); +} + +ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_331(res + 0, b, a + 0); + dMultiplyHelper0_331(res + 4, b, a + 4); + dMultiplyHelper0_331(res + 8, b, a + 8); +} + +ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_331(tmp, a, b); + dAddVectors3(res, res, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper1_331(tmp, a, b); + dAddVectors3(res, res, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_133(tmp, a, b); + dAddVectors3(res, res, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_133(tmp, a + 0, b); + dAddVectors3(res+ 0, res + 0, tmp); + dMultiplyHelper0_133(tmp, a + 4, b); + dAddVectors3(res + 4, res + 4, tmp); + dMultiplyHelper0_133(tmp, a + 8, b); + dAddVectors3(res + 8, res + 8, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper1_133(tmp, b, a + 0); + dAddVectors3(res + 0, res + 0, tmp); + dMultiplyHelper1_133(tmp, b, a + 1); + dAddVectors3(res + 4, res + 4, tmp); + dMultiplyHelper1_133(tmp, b, a + 2); + dAddVectors3(res + 8, res + 8, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_331(tmp, b, a + 0); + dAddVectors3(res + 0, res + 0, tmp); + dMultiplyHelper0_331(tmp, b, a + 4); + dAddVectors3(res + 4, res + 4, tmp); + dMultiplyHelper0_331(tmp, b, a + 8); + dAddVectors3(res + 8, res + 8, tmp); +} + +ODE_PURE_INLINE dReal dCalcMatrix3Det( const dReal* mat ) +{ + dReal det; + + det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] ) + - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] ) + + mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] ); + + return( det ); +} + +/** + Closed form matrix inversion, copied from + collision_util.h for use in the stepper. + + Returns the determinant. + returns 0 and does nothing + if the matrix is singular. +*/ +ODE_PURE_INLINE dReal dInvertMatrix3(dReal *dst, const dReal *ma) +{ + dReal det; + dReal detRecip; + + det = dCalcMatrix3Det( ma ); + + + /* Setting an arbitrary non-zero threshold + for the determinant doesn't do anyone + any favors. The condition number is the + important thing. If all the eigen-values + of the matrix are small, so is the + determinant, but it can still be well + conditioned. + A single extremely large eigen-value could + push the determinant over threshold, but + produce a very unstable result if the other + eigen-values are small. So we just say that + the determinant must be non-zero and trust the + caller to provide well-conditioned matrices. + */ + if ( det == 0 ) + { + return 0; + } + + detRecip = dRecip(det); + + dst[0] = ( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip; + dst[1] = ( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip; + dst[2] = ( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip; + + dst[4] = ( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip; + dst[5] = ( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip; + dst[6] = ( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip; + + dst[8] = ( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip; + dst[9] = ( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip; + dst[10] = ( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip; + + return det; +} + + +/* Include legacy macros here */ +#include <ode/odemath_legacy.h> + + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) + */ + +/* For DLL export*/ +ODE_API int dSafeNormalize3 (dVector3 a); +ODE_API int dSafeNormalize4 (dVector4 a); +ODE_API void dNormalize3 (dVector3 a); /* Potentially asserts on zero vec*/ +ODE_API void dNormalize4 (dVector4 a); /* Potentially asserts on zero vec*/ + +/* + * given a unit length "normal" vector n, generate vectors p and q vectors + * that are an orthonormal basis for the plane space perpendicular to n. + * i.e. this makes p,q such that n,p,q are all perpendicular to each other. + * q will equal n x p. if n is not unit length then p will be unit length but + * q wont be. + */ + +ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q); +/* Makes sure the matrix is a proper rotation, returns a boolean status */ +ODE_API int dOrthogonalizeR(dMatrix3 m); + + + +#ifdef __cplusplus +} +#endif + + +#endif diff --git a/libs/ode-0.16.1/include/ode/odemath_legacy.h b/libs/ode-0.16.1/include/ode/odemath_legacy.h new file mode 100644 index 0000000..a389588 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/odemath_legacy.h @@ -0,0 +1,162 @@ +/************************************************************************* + * * + * 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_ODEMATH_LEGACY_H_ +#define _ODE_ODEMATH_LEGACY_H_ + + +/* + * These macros are not used any more inside of ODE + * They are kept for backward compatibility with external code that + * might still be using them. + */ + +/* + * General purpose vector operations with other vectors or constants. + */ + +#define dOP(a,op,b,c) do { \ + (a)[0] = ((b)[0]) op ((c)[0]); \ + (a)[1] = ((b)[1]) op ((c)[1]); \ + (a)[2] = ((b)[2]) op ((c)[2]); \ +} while (0) +#define dOPC(a,op,b,c) do { \ + (a)[0] = ((b)[0]) op (c); \ + (a)[1] = ((b)[1]) op (c); \ + (a)[2] = ((b)[2]) op (c); \ +} while (0) +#define dOPE(a,op,b) do {\ + (a)[0] op ((b)[0]); \ + (a)[1] op ((b)[1]); \ + (a)[2] op ((b)[2]); \ +} while (0) +#define dOPEC(a,op,c) do { \ + (a)[0] op (c); \ + (a)[1] op (c); \ + (a)[2] op (c); \ +} while (0) + +/* Define an equation with operators + * For example this function can be used to replace + * <PRE> + * for (int i=0; i<3; ++i) + * a[i] += b[i] + c[i]; + * </PRE> + */ +#define dOPE2(a,op1,b,op2,c) do { \ + (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ + (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ + (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ +} while (0) + + +#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a) +#define dLENGTH(a) dCalcVectorLength3(a) +#define dDISTANCE(a, b) dCalcPointsDistance3(a, b) + + +#define dDOT(a, b) dCalcVectorDot3(a, b) +#define dDOT13(a, b) dCalcVectorDot3_13(a, b) +#define dDOT31(a, b) dCalcVectorDot3_31(a, b) +#define dDOT33(a, b) dCalcVectorDot3_33(a, b) +#define dDOT14(a, b) dCalcVectorDot3_14(a, b) +#define dDOT41(a, b) dCalcVectorDot3_41(a, b) +#define dDOT44(a, b) dCalcVectorDot3_44(a, b) + + +/* + * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' + * and `c' are spaced p, q and r indexes apart respectively. + * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to + * +=, -= etc to get other effects. + */ + +#define dCROSS(a,op,b,c) \ + do { \ + (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ + (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ + (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ + } while(0) +#define dCROSSpqr(a,op,b,c,p,q,r) \ + do { \ + (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ + (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ + (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ + } while(0) +#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) +#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) +#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) +#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) +#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) +#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) +#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) + + +/* +* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. +* A is stored by rows, and has `skip' elements per row. the matrix is +* assumed to be already zero, so this does not write zero elements! +* if (plus,minus) is (+,-) then a positive version will be written. +* if (plus,minus) is (-,+) then a negative version will be written. +*/ + +#define dCROSSMAT(A,a,skip,plus,minus) \ + do { \ + (A)[1] = minus (a)[2]; \ + (A)[2] = plus (a)[1]; \ + (A)[(skip)+0] = plus (a)[2]; \ + (A)[(skip)+2] = minus (a)[0]; \ + (A)[2*(skip)+0] = minus (a)[1]; \ + (A)[2*(skip)+1] = plus (a)[0]; \ + } while(0) + + + + +/* +Note: NEVER call any of these functions/macros with the same variable for A and C, +it is not equivalent to A*=B. +*/ + +#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C) +#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C) +#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C) +#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C) +#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C) +#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C) + +#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C) +#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C) +#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C) +#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C) +#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C) +#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C) + + +/* + * These macros are not used any more inside of ODE + * They are kept for backward compatibility with external code that + * might still be using them. + */ + + +#endif /* #ifndef _ODE_ODEMATH_LEGACY_H_ */ diff --git a/libs/ode-0.16.1/include/ode/precision.h b/libs/ode-0.16.1/include/ode/precision.h new file mode 100644 index 0000000..456fc36 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/precision.h @@ -0,0 +1,16 @@ +#ifndef _ODE_PRECISION_H_ +#define _ODE_PRECISION_H_ + +/* Define dSINGLE for single precision, dDOUBLE for double precision, + * but never both! + */ + +#if defined(dIDESINGLE) +#define dSINGLE +#elif defined(dIDEDOUBLE) +#define dDOUBLE +#else +#define dSINGLE +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/precision.h.in b/libs/ode-0.16.1/include/ode/precision.h.in new file mode 100644 index 0000000..47f3c95 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/precision.h.in @@ -0,0 +1,16 @@ +#ifndef _ODE_PRECISION_H_ +#define _ODE_PRECISION_H_ + +/* Define dSINGLE for single precision, dDOUBLE for double precision, + * but never both! + */ + +#if defined(dIDESINGLE) +#define dSINGLE +#elif defined(dIDEDOUBLE) +#define dDOUBLE +#else +#define @ODE_PRECISION@ +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/rotation.h b/libs/ode-0.16.1/include/ode/rotation.h new file mode 100644 index 0000000..a72be27 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/rotation.h @@ -0,0 +1,70 @@ +/************************************************************************* + * * + * 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_ROTATION_H_ +#define _ODE_ROTATION_H_ + +#include <ode/common.h> +#include <ode/compatibility.h> + +#ifdef __cplusplus +extern "C" { +#endif + + +ODE_API void dRSetIdentity (dMatrix3 R); + +ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, + dReal angle); + +ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); + +ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, + dReal bx, dReal by, dReal bz); + +ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); + +ODE_API void dQSetIdentity (dQuaternion q); + +ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, + dReal angle); + +/* Quaternion multiplication, analogous to the matrix multiplication routines. */ +/* qa = rotate by qc, then qb */ +ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); +/* qa = rotate by qc, then by inverse of qb */ +ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); +/* qa = rotate by inverse of qc, then by qb */ +ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); +/* qa = rotate by inverse of qc, then by inverse of qb */ +ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); + +ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); +ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); +ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/threading.h b/libs/ode-0.16.1/include/ode/threading.h new file mode 100644 index 0000000..9602b8f --- /dev/null +++ b/libs/ode-0.16.1/include/ode/threading.h @@ -0,0 +1,412 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * Threading support header file. * + * Copyright (C) 2011-2019 Oleh Derevenko. All rights reserved. * + * e-mail: odar@eleks.com (change all "a" to "e") * + * * + * 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 threading support interfaces + */ + + +#ifndef _ODE_THREADING_H_ +#define _ODE_THREADING_H_ + +#include <ode/odeconfig.h> +// Include <time.h> since time_t is used and it is not available by default in some OSes +#include <time.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +struct dxThreadingImplementation; +typedef struct dxThreadingImplementation *dThreadingImplementationID; + +typedef unsigned dmutexindex_t; +struct dxMutexGroup; +typedef struct dxMutexGroup *dMutexGroupID; + + +#define dTHREADING_THREAD_COUNT_UNLIMITED 0U + + + +/** + * @brief Allocates a group of muteces. + * + * The Mutex allocated do not need to support recursive locking. + * + * The Mutex names are provided to aid in debugging and thread state tracking. + * + * @param impl Threading implementation ID + * @param Mutex_count Number of Mutex to create + * @Mutex_names_ptr Pointer to optional Mutex names array to be associated with individual Mutex + * @returns MutexGroup ID or NULL if error occurred. + * + * @ingroup threading + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexLockFunction + * @see dMutexGroupMutexUnlockFunction + */ +typedef dMutexGroupID dMutexGroupAllocFunction (dThreadingImplementationID impl, dmutexindex_t Mutex_count, const char *const *Mutex_names_ptr/*=NULL*/); + +/** + * @brief Deletes a group of muteces. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to deallocate + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupMutexLockFunction + * @see dMutexGroupMutexUnlockFunction + */ +typedef void dMutexGroupFreeFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group); + +/** + * @brief Locks a mutex in a group of muteces. + * + * The function is to block execution until requested mutex can be locked. + * + * Note: Mutex provided may not support recursive locking. Calling this function + * while mutex is already locked by current thread will result in unpredictable behavior. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to use for locking + * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexUnlockFunction + */ +typedef void dMutexGroupMutexLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); + +/** + * @brief Attempts to lock a mutex in a group of muteces. + * + * The function is to lock the requested mutex if it is unoccupied or + * immediately return failure if mutex is already locked by other thread. + * + * Note: Mutex provided may not support recursive locking. Calling this function + * while mutex is already locked by current thread will result in unpredictable behavior. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to use for locking + * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) + * @returns 1 for success (mutex is locked) and 0 for failure (mutex is not locked) + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexLockFunction + * @see dMutexGroupMutexUnlockFunction + */ +/* typedef int dMutexGroupMutexTryLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);*/ + +/** + * @brief Unlocks a mutex in a group of muteces. + * + * The function is to unlock the given mutex provided it had been locked before. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to use for unlocking + * @param mutex_index The index of mutex to be unlocked (0..Mutex_count - 1) + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexLockFunction + */ +typedef void dMutexGroupMutexUnlockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); + + +struct dxCallReleasee; +typedef struct dxCallReleasee *dCallReleaseeID; + +struct dxCallWait; +typedef struct dxCallWait *dCallWaitID; + +typedef dsizeint ddependencycount_t; +typedef ddiffint ddependencychange_t; +typedef dsizeint dcallindex_t; +typedef int dThreadedCallFunction(void *call_context, dcallindex_t instance_index, + dCallReleaseeID this_releasee); + +typedef struct dxThreadedWaitTime +{ + time_t wait_sec; + unsigned long wait_nsec; + +} dThreadedWaitTime; + + +/** + * @brief Allocates a Wait ID that can be used to wait for a call. + * + * @param impl Threading implementation ID + * @returns Wait ID or NULL if error occurred + * + * @ingroup threading + * @see dThreadedCallWaitResetFunction + * @see dThreadedCallWaitFreeFunction + * @see dThreadedCallPostFunction + * @see dThreadedCallWaitFunction + */ +typedef dCallWaitID dThreadedCallWaitAllocFunction(dThreadingImplementationID impl); + +/** + * @brief Resets a Wait ID so that it could be used to wait for another call. + * + * @param impl Threading implementation ID + * @param call_wait Wait ID to reset + * + * @ingroup threading + * @see dThreadedCallWaitAllocFunction + * @see dThreadedCallWaitFreeFunction + * @see dThreadedCallPostFunction + * @see dThreadedCallWaitFunction + */ +typedef void dThreadedCallWaitResetFunction(dThreadingImplementationID impl, dCallWaitID call_wait); + +/** + * @brief Frees a Wait ID. + * + * @param impl Threading implementation ID + * @param call_wait Wait ID to delete + * + * @ingroup threading + * @see dThreadedCallWaitAllocFunction + * @see dThreadedCallPostFunction + * @see dThreadedCallWaitFunction + */ +typedef void dThreadedCallWaitFreeFunction(dThreadingImplementationID impl, dCallWaitID call_wait); + + +/** + * @brief Post a function to be called in another thread. + * + * A call is scheduled to be executed asynchronously. + * + * A @a out_summary_fault variable can be provided for call to accumulate any + * possible faults from its execution and execution of any possible sub-calls. + * This variable gets result that @a call_func returns. Also, if dependent calls + * are executed after the call already exits, the variable is also going to be + * updated with results of all those calls before control is released to master. + * + * @a out_post_releasee parameter receives a value of @c dCallReleaseeID that can + * later be used for @a dependent_releasee while scheduling sub-calls to make + * current call depend on them. The value is only returned if @a dependencies_count + * is not zero (i.e. if any dependencies are expected at all). The call is not going + * to start until all its dependencies complete. + * + * In case if number of dependencies is unknown in advance 1 can be passed on call + * scheduling. Then @c dThreadedCallDependenciesCountAlterFunction can be used to + * add one more extra dependencies before scheduling each subcall. And then, after + * all sub-calls had been scheduled, @c dThreadedCallDependenciesCountAlterFunction + * can be used again to subtract initial extra dependency from total number. + * Adding one dependency in advance is necessary to obtain releasee ID and to make + * sure the call will not start and will not terminate before all sub-calls are scheduled. + * + * Extra dependencies can also be added from the call itself after it has already + * been started (with parameter received in @c dThreadedCallFunction). + * In that case those dependencies will start immediately or after call returns + * but the call's master will not be released/notified until all additional + * dependencies complete. This can be used to schedule sub-calls from a call and + * then pass own job to another sub-call dependent on those initial sub-calls. + * + * By using @ call_wait it is possible to assign a Wait ID that can later + * be passed into @c dThreadedCallWaitFunction to wait for call completion. + * + * If @a call_name is available (and it should!) the string must remain valid until + * after call completion. In most cases this should be a static string literal. + * + * Since the function is an analogue of normal method call it is not supposed to fail. + * Any complications with resource allocation on call scheduling should be + * anticipated, avoided and worked around by implementation. + * + * @param impl Threading implementation ID + * @param out_summary_fault Optional pointer to variable to be set to 1 if function + * call (or any sub-call) fails internally, or 0 if all calls return success + * @param out_post_releasee Optional pointer to variable to receive releasee ID + * associated with the call + * @param dependencies_count Number of dependencies that are going to reference + * this call as dependent releasee + * @param dependent_releasee Optional releasee ID to reference with this call + * @param call_wait Optional Wait ID that can later be used to wait for the call + * @param call_func Pointer to function to be called + * @param call_context Context parameter to be passed into the call + * @param instance_index Index parameter to be passed into the call + * @param call_name Optional name to be associated with the call (for debugging and state tracking) + * + * @ingroup threading + * @see dThreadedCallWaitFunction + * @see dThreadedCallDependenciesCountAlterFunction + * @see dThreadingImplResourcesForCallsPreallocateFunction + */ +typedef void dThreadedCallPostFunction(dThreadingImplementationID impl, int *out_summary_fault/*=NULL*/, + dCallReleaseeID *out_post_releasee/*=NULL*/, ddependencycount_t dependencies_count, dCallReleaseeID dependent_releasee/*=NULL*/, + dCallWaitID call_wait/*=NULL*/, + dThreadedCallFunction *call_func, void *call_context, dcallindex_t instance_index, + const char *call_name/*=NULL*/); + +/** + * @brief Add or remove extra dependencies from call that has been scheduled + * or is in process of execution. + * + * Extra dependencies can be added to a call if exact number of sub-calls is + * not known in advance at the moment the call is scheduled. Also, some dependencies + * can be removed if sub-calls were planned but then dropped. + * + * In case if total dependency count of a call reaches zero by result of invoking + * this function, the call is free to start executing immediately. + * + * After the call execution had been started, any additional dependencies can only + * be added from the call function itself! + * + * @param impl Threading implementation ID + * @param target_releasee ID of releasee to apply dependencies count change to + * @param dependencies_count_change Number of dependencies to add or remove + * + * @ingroup threading + * @see dThreadedCallPostFunction + */ +typedef void dThreadedCallDependenciesCountAlterFunction(dThreadingImplementationID impl, dCallReleaseeID target_releasee, + ddependencychange_t dependencies_count_change); + +/** + * @brief Wait for a posted call to complete. + * + * Function blocks until a call identified by @a call_wait completes or + * timeout elapses. + * + * IT IS ILLEGAL TO INVOKE THIS FUNCTION FROM WITHIN A THREADED CALL! + * This is because doing so will block a physical thread and will require + * increasing worker thread count to avoid starvation. Use call dependencies + * if it is necessary make sure sub-calls have been completed instead! + * + * If @a timeout_time_ptr is NULL, the function waits without time limit. If @a timeout_time_ptr + * points to zero value, the function only checks status and does not block. + * + * If @a wait_name is available (and it should!) the string must remain valid for + * the duration of wait. In most cases this should be a static string literal. + * + * Function is not expected to return failures caused by system call faults as + * those are hardly ever possible to be handled in this case anyway. In event of + * system call fault the function is supposed to terminate application. + * + * @param impl Threading implementation ID + * @param out_wait_status Optional pointer to variable to receive 1 if waiting succeeded + * or 0 in case of timeout + * @param call_wait Wait ID that had been passed to scheduling a call that needs to be waited for + * @param timeout_time_ptr Optional pointer to time specification the wait must not + * last longer than (pass NULL for infinite timeout) + * @param wait_name Optional name to be associated with the wait (for debugging and state tracking) + * + * @ingroup threading + * @see dThreadedCallPostFunction + */ +typedef void dThreadedCallWaitFunction(dThreadingImplementationID impl, int *out_wait_status/*=NULL*/, + dCallWaitID call_wait, const dThreadedWaitTime *timeout_time_ptr/*=NULL*/, + const char *wait_name/*=NULL*/); + +/** + * @brief Retrieve number of active threads that serve the implementation. + * + * @param impl Threading implementation ID + * @returns Number of active threads + * + * @ingroup threading + */ +typedef unsigned dThreadingImplThreadCountRetrieveFunction(dThreadingImplementationID impl); + +/** + * @brief Preallocate resources to handle posted calls. + * + * The function is intended to make sure enough resources is preallocated for the + * implementation to be able to handle posted calls. Then @c max_simultaneous_calls_estimate + * is an estimate of how many posted calls can potentially be active or scheduled + * at the same time. The value is usually derived from the way the calls are posted + * in library code and dependencies between them. + * + * @warning While working on an implementation be prepared that the estimate provided + * yet rarely but theoretically can be exceeded due to unpredictability of thread execution. + * + * This function is normally going to be invoked by library each time it is entered + * from outside to do the job but before any threaded calls are going to be posted. + * + * @param impl Threading implementation ID + * @param max_simultaneous_calls_estimate An estimated number of calls that can be posted simultaneously + * @returns 1 or 0 to indicate success or failure + * + * @ingroup threading + * @see dThreadedCallPostFunction + */ +typedef int dThreadingImplResourcesForCallsPreallocateFunction(dThreadingImplementationID impl, + ddependencycount_t max_simultaneous_calls_estimate); + + +/** + * @brief An interface structure with function pointers to be provided by threading implementation. + */ +typedef struct dxThreadingFunctionsInfo +{ + unsigned struct_size; + + dMutexGroupAllocFunction *alloc_mutex_group; + dMutexGroupFreeFunction *free_mutex_group; + dMutexGroupMutexLockFunction *lock_group_mutex; + dMutexGroupMutexUnlockFunction *unlock_group_mutex; + + dThreadedCallWaitAllocFunction *alloc_call_wait; + dThreadedCallWaitResetFunction *reset_call_wait; + dThreadedCallWaitFreeFunction *free_call_wait; + + dThreadedCallPostFunction *post_call; + dThreadedCallDependenciesCountAlterFunction *alter_call_dependencies_count; + dThreadedCallWaitFunction *wait_call; + + dThreadingImplThreadCountRetrieveFunction *retrieve_thread_count; + dThreadingImplResourcesForCallsPreallocateFunction *preallocate_resources_for_calls; + + /* + * Beware of Jon Watte's anger if you dare to uncomment this! + * May cryptic text below be you a warning! + * Стародавні легенди розказують, що кожного сміливця, хто наважиться порушити табу + * і відкрити заборонений код, спіткає страшне прокляття і він відразу почне робити + * одні лиш помилки. + * + * dMutexGroupMutexTryLockFunction *trylock_group_mutex; + */ + +} dThreadingFunctionsInfo; + + +#ifdef __cplusplus +} +#endif + +#endif /* #ifndef _ODE_THREADING_H_ */ diff --git a/libs/ode-0.16.1/include/ode/threading_impl.h b/libs/ode-0.16.1/include/ode/threading_impl.h new file mode 100644 index 0000000..0781d6a --- /dev/null +++ b/libs/ode-0.16.1/include/ode/threading_impl.h @@ -0,0 +1,292 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * Builtin ODE threading implementation header. * + * Copyright (C) 2011-2019 Oleh Derevenko. All rights reserved. * + * e-mail: odar@eleks.com (change all "a" to "e") * + * * + * 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. * + * * + *************************************************************************/ + +/* + * A threading implementation built into ODE for those who does not care to + * or can't implement an own one. + */ + +#ifndef _ODE_THREADING_IMPL_H_ +#define _ODE_THREADING_IMPL_H_ + + +#include <ode/odeconfig.h> +#include <ode/threading.h> + + +#ifdef __cplusplus +extern "C" { +#endif + + +struct dxThreadingThreadPool; +typedef struct dxThreadingThreadPool *dThreadingThreadPoolID; + + +/** + * @brief Allocates built-in self-threaded threading implementation object. + * + * A self-threaded implementation is a type of implementation that performs + * processing of posted calls by means of caller thread itself. This type of + * implementation does not need thread pool to serve it. + * + * Note that since May 9th, 2017 (rev. #2066) the Self-Threaded implementation + * returns 0 rather than 1 as available thread count to distinguish from + * thread pools with just one thread in them. + * + * The processing is arranged in a way to prevent call stack depth growth + * as more and more nested calls are posted. + * + * Note that it is not necessary to create and assign a self-threaded + * implementation to a world, as there is a global one used by default + * if no implementation is explicitly assigned. You should only assign + * each world an individual threading implementation instance if simulations + * need to be run in parallel in multiple threads for the worlds. + * + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingFreeImplementation + */ +ODE_API dThreadingImplementationID dThreadingAllocateSelfThreadedImplementation(); + +/** + * @brief Allocates built-in multi-threaded threading implementation object. + * + * A multi-threaded implementation is a type of implementation that has to be + * served with a thread pool. The thread pool can be either the built-in ODE object + * or set of external threads that dedicate themselves to this purpose and stay + * in ODE until implementation releases them. + * + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingThreadPoolServeMultiThreadedImplementation + * @see dExternalThreadingServeMultiThreadedImplementation + * @see dThreadingFreeImplementation + */ +ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation(); + +/** + * @brief Retrieves the functions record of a built-in threading implementation. + * + * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation). + * Do not use this function with self-made custom implementations - + * they should be bundled with their own set of functions. + * + * @param impl Threading implementation ID + * @returns Pointer to associated functions structure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + */ +ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl); + +/** + * @brief Requests a built-in implementation to release threads serving it. + * + * The function unblocks threads employed in implementation serving and lets them + * return to from where they originate. It's the responsibility of external code + * to make sure all the calls to ODE that might be dependent on given threading + * implementation object had already returned before this call is made. If threading + * implementation is still processing some posted calls while this function is + * invoked the behavior is implementation dependent. + * + * This call is to be used to request the threads to be released before waiting + * for them in host pool or before waiting for them to exit. Implementation object + * must not be destroyed before it is known that all the serving threads have already + * returned from it. If implementation needs to be reused after this function is called + * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart + * must be made to restore internal state of the object. + * + * If this function is called for self-threaded built-in threading implementation + * the call has no effect. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationCleanupForRestart + */ +ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl); + +/** + * @brief Restores built-in implementation's state to let it be reused after shutdown. + * + * If a multi-threaded built-in implementation needs to be reused after a call + * to @c dThreadingImplementationShutdownProcessing this call is to be made to + * restore object's internal state. After that the implementation can be served again. + * + * If this function is called for self-threaded built-in threading implementation + * the call has no effect. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl); + +/** + * @brief Deletes an instance of built-in threading implementation. + * + * @warning A care must be taken to make sure the implementation is unassigned + * from all the objects it was assigned to and that there are no more threads + * serving it before attempting to call this function. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + */ +ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl); + + +typedef void (dThreadReadyToServeCallback)(void *callback_context); + +/** + * @brief An entry point for external threads that would like to serve a built-in + * threading implementation object. + * + * A thread that calls this function remains blocked in ODE and serves implementation + * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call. + * This function can be used to provide external threads instead of ODE's built-in + * thread pools. + * + * The optional callback @readiness_callback is called after the thread has reached + * and has registered within the implementation. The implementation should not + * be used until all dedicated threads register within it as otherwise it will not + * have accurate view of the execution resources available. + * + * @param impl Threading implementation ID + * @param readiness_callback Optional readiness callback to be called after thread enters the implementation + * @param callback_context A value to be passed as parameter to readiness callback + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl, + dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/); + + +/** + * @brief Creates an instance of built-in thread pool object that can be used to serve + * multi-threaded threading implementations. + * + * The threads allocated inherit priority of caller thread. Their affinity is not + * explicitly adjusted and gets the value the system assigns by default. Threads + * have their stack memory fully committed immediately on start. On POSIX platforms + * threads are started with all the possible signals blocked. Threads execute + * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags + * on initialization. + * + * On POSIX platforms this function must be called with signals masked + * or other measures must be taken to prevent reception of signals by calling thread + * for the duration of the call. + * + * @param thread_count Number of threads to start in pool + * @param stack_size Size of stack to be used for every thread or 0 for system default value + * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + * @see dThreadingFreeThreadPool + */ +ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count, + dsizeint stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/); + +/** + * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded + * threading implementation. + * + * A pool can only serve one threading implementation at a time. + * Call @c dThreadingImplementationShutdownProcessing to release pool threads + * from implementation serving and make them idle. Pool threads must be released + * from any implementations before pool is attempted to be deleted. + * + * This function waits for threads to register within implementation before returning. + * So, after the function call exits the implementation can be used immediately. + * + * @param pool Thread pool ID to serve the implementation + * @param impl Implementation ID of implementation to be served + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl); + +/** + * @brief Waits until all pool threads are released from threading implementation + * they might be serving. + * + * The function can be used after a call to @c dThreadingImplementationShutdownProcessing + * to make sure all the threads have already been released by threading implementation + * and it can be deleted or it can be cleaned up for restart and served by another pool + * or this pool's threads can be used to serve another threading implementation. + * + * Note that is it not necessary to call this function before pool destruction + * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own. + * + * It is OK to call this function even if pool was not serving any threading implementation + * in which case the call exits immediately with minimal delay. + * + * @param pool Thread pool ID to wait for + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingImplementationShutdownProcessing + * @see dThreadingFreeThreadPool + */ +ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool); + +/** + * @brief Deletes a built-in thread pool instance. + * + * The pool threads must be released from any implementations they might be serving + * before this function is called. Otherwise the call is going to block + * and wait until pool's threads return. + * + * @param pool Thread pool ID to delete + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool); + + +#ifdef __cplusplus +} +#endif + +#endif /* #ifndef _ODE_THREADING_IMPL_H_ */ diff --git a/libs/ode-0.16.1/include/ode/timer.h b/libs/ode-0.16.1/include/ode/timer.h new file mode 100644 index 0000000..fe1483f --- /dev/null +++ b/libs/ode-0.16.1/include/ode/timer.h @@ -0,0 +1,76 @@ +/************************************************************************* + * * + * 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_TIMER_H_ +#define _ODE_TIMER_H_ + +#include <ode/odeconfig.h> + +#ifdef __cplusplus +extern "C" { +#endif + + +/* stop watch objects */ + +typedef struct dStopwatch { + double time; /* total clock count */ + unsigned long cc[2]; /* clock count since last `start' */ +} dStopwatch; + +ODE_API void dStopwatchReset (dStopwatch *); +ODE_API void dStopwatchStart (dStopwatch *); +ODE_API void dStopwatchStop (dStopwatch *); +ODE_API double dStopwatchTime (dStopwatch *); /* returns total time in secs */ + + +/* code timers */ + +ODE_API void dTimerStart (const char *description); /* pass a static string here */ +ODE_API void dTimerNow (const char *description); /* pass a static string here */ +ODE_API void dTimerEnd(void); + +/* print out a timer report. if `average' is nonzero, print out the average + * time for each slot (this is only meaningful if the same start-now-end + * calls are being made repeatedly. + */ +ODE_API void dTimerReport (FILE *fout, int average); + + +/* resolution */ + +/* returns the timer ticks per second implied by the timing hardware or API. + * the actual timer resolution may not be this great. + */ +ODE_API double dTimerTicksPerSecond(void); + +/* returns an estimate of the actual timer resolution, in seconds. this may + * be greater than 1/ticks_per_second. + */ +ODE_API double dTimerResolution(void); + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/libs/ode-0.16.1/include/ode/version.h b/libs/ode-0.16.1/include/ode/version.h new file mode 100644 index 0000000..980217e --- /dev/null +++ b/libs/ode-0.16.1/include/ode/version.h @@ -0,0 +1,6 @@ +#ifndef _ODE_VERSION_H_ +#define _ODE_VERSION_H_ + +#define dODE_VERSION "0.16.1" + +#endif diff --git a/libs/ode-0.16.1/include/ode/version.h.in b/libs/ode-0.16.1/include/ode/version.h.in new file mode 100644 index 0000000..b5d3c81 --- /dev/null +++ b/libs/ode-0.16.1/include/ode/version.h.in @@ -0,0 +1,6 @@ +#ifndef _ODE_VERSION_H_ +#define _ODE_VERSION_H_ + +#define dODE_VERSION "@ODE_VERSION@" + +#endif |