From c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 Mon Sep 17 00:00:00 2001 From: sanine Date: Sat, 1 Oct 2022 20:59:36 -0500 Subject: add ode --- libs/ode-0.16.1/include/ode/matrix_coop.h | 291 ++++++++++++++++++++++++++++++ 1 file changed, 291 insertions(+) create mode 100644 libs/ode-0.16.1/include/ode/matrix_coop.h (limited to 'libs/ode-0.16.1/include/ode/matrix_coop.h') 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 +#include +#include + + +#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_ -- cgit v1.2.1