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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. *
* *
*************************************************************************/
#include <ode/odeconfig.h>
#include <ode/misc.h>
#include "config.h"
#include "matrix.h"
#include "error.h"
#include "odeou.h"
//****************************************************************************
// random numbers
static volatile duint32 seed = 0;
unsigned long dRand()
{
duint32 origSeed, newSeed;
#if !dTHREADING_INTF_DISABLED
do {
#endif
origSeed = seed;
newSeed = ((duint32)1664525 * origSeed + (duint32)1013904223) & (duint32)0xffffffff;
#if dTHREADING_INTF_DISABLED
seed = newSeed;
#else
} while (!AtomicCompareExchange((volatile atomicord32 *)&seed, origSeed, newSeed));
#endif
return newSeed;
}
unsigned long dRandGetSeed()
{
return seed;
}
void dRandSetSeed (unsigned long s)
{
seed = s;
}
int dTestRand()
{
unsigned long oldseed = seed;
int ret = 1;
seed = 0;
if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
dRand() != 0x6252e503) ret = 0;
seed = oldseed;
return ret;
}
// adam's all-int straightforward(?) dRandInt (0..n-1)
int dRandInt (int n)
{
int result;
// Since there is no memory barrier macro in ODE assign via volatile variable
// to prevent compiler reusing seed as value of `r'
volatile unsigned long raw_r = dRand();
duint32 r = (duint32)raw_r;
duint32 un = n;
dIASSERT(sizeof(n) == sizeof(un));
// note: probably more aggressive than it needs to be -- might be
// able to get away without one or two of the innermost branches.
// if (un <= 0x00010000UL) {
// r ^= (r >> 16);
// if (un <= 0x00000100UL) {
// r ^= (r >> 8);
// if (un <= 0x00000010UL) {
// r ^= (r >> 4);
// if (un <= 0x00000004UL) {
// r ^= (r >> 2);
// if (un <= 0x00000002UL) {
// r ^= (r >> 1);
// }
// }
// }
// }
// }
// Optimized version of above
if (un <= (duint32)0x00000010) {
r ^= (r >> 16);
r ^= (r >> 8);
r ^= (r >> 4);
if (un <= (duint32)0x00000002) {
r ^= (r >> 2);
r ^= (r >> 1);
result = (r/* & (duint32)0x01*/) & (un >> 1);
} else {
if (un <= (duint32)0x00000004) {
r ^= (r >> 2);
result = ((r & (duint32)0x03) * un) >> 2;
} else {
result = ((r & (duint32)0x0F) * un) >> 4;
}
}
} else {
if (un <= (duint32)0x00000100) {
r ^= (r >> 16);
r ^= (r >> 8);
result = ((r & (duint32)0xFF) * un) >> 8;
} else {
if (un <= (duint32)0x00010000) {
r ^= (r >> 16);
result = ((r & (duint32)0xFFFF) * un) >> 16;
} else {
result = (int)(((duint64)r * un) >> 32);
}
}
}
return result;
}
dReal dRandReal()
{
return (dReal)(((double) dRand()) / ((double) 0xffffffff));
}
//****************************************************************************
// matrix utility stuff
void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f)
{
int skip = dPAD(m);
const dReal *Arow = A;
for (int i=0; i<n; Arow+=skip, ++i) {
for (int j=0; j<m; ++j) fprintf (f,fmt,Arow[j]);
fprintf (f,"\n");
}
}
void dMakeRandomVector (dReal *A, int n, dReal range)
{
int i;
for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
}
void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
{
int skip = dPAD(m);
// dSetZero (A,n*skip);
dReal *Arow = A;
for (int i=0; i<n; Arow+=skip, ++i) {
for (int j=0; j<m; ++j) Arow[j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
}
}
void dClearUpperTriangle (dReal *A, int n)
{
int skip = dPAD(n);
dReal *Arow = A;
for (int i=0; i<n; Arow+=skip, ++i) {
for (int j=i+1; j<n; ++j) Arow[j] = 0;
}
}
dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
{
int skip = dPAD(m);
dReal max = REAL(0.0);
const dReal *Arow = A, *Brow = B;
for (int i=0; i<n; Arow+=skip, Brow +=skip, ++i) {
for (int j=0; j<m; ++j) {
dReal diff = dFabs(Arow[j] - Brow[j]);
if (diff > max) max = diff;
}
}
return max;
}
dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
{
int skip = dPAD(n);
dReal max = REAL(0.0);
const dReal *Arow = A, *Brow = B;
for (int i=0; i<n; Arow+=skip, Brow+=skip, ++i) {
for (int j=0; j<=i; ++j) {
dReal diff = dFabs(Arow[j] - Brow[j]);
if (diff > max) max = diff;
}
}
return max;
}
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