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/ode/src/odemath.h | 72 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 72 insertions(+) create mode 100644 libs/ode-0.16.1/ode/src/odemath.h (limited to 'libs/ode-0.16.1/ode/src/odemath.h') diff --git a/libs/ode-0.16.1/ode/src/odemath.h b/libs/ode-0.16.1/ode/src/odemath.h new file mode 100644 index 0000000..becf284 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/odemath.h @@ -0,0 +1,72 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#ifndef _ODE__PRIVATE_ODEMATH_H_ +#define _ODE__PRIVATE_ODEMATH_H_ + +#include +#include "error.h" + + +bool dxCouldBeNormalized3(const dVector3 a); +bool dxSafeNormalize3 (dVector3 a); +bool dxCouldBeNormalized4(const dVector4 a); +bool dxSafeNormalize4 (dVector4 a); + +ODE_PURE_INLINE +void dxNormalize3(dVector3 a) +{ + bool bSafeNormalize3Fault; + if ((bSafeNormalize3Fault = !dxSafeNormalize3(a))) + { + dIVERIFY(!bSafeNormalize3Fault); + + a[0] = REAL(1.0); a[2] = a[1] = REAL(0.0); + } +} + +ODE_PURE_INLINE +void dxNormalize4(dVector4 a) +{ + bool bSafeNormalize4Fault; + if ((bSafeNormalize4Fault = !dxSafeNormalize4(a))) + { + dIVERIFY(!bSafeNormalize4Fault); + + a[0] = REAL(1.0); a[3] = a[2] = a[1] = REAL(0.0); + } +} + +void dxPlaneSpace (const dVector3 n, dVector3 p, dVector3 q); +bool dxOrthogonalizeR(dMatrix3 m); + +// For internal use +#define dSafeNormalize3(a) dxSafeNormalize3(a) +#define dSafeNormalize4(a) dxSafeNormalize4(a) +#define dNormalize3(a) dxNormalize3(a) +#define dNormalize4(a) dxNormalize4(a) + +#define dPlaneSpace(n, p, q) dxPlaneSpace(n, p, q) +#define dOrthogonalizeR(m) dxOrthogonalizeR(m) + + +#endif -- cgit v1.2.1