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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. *
* *
*************************************************************************/
#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_ */
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