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/*************************************************************************
* *
* 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
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