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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__PRIVATE_ODEMATH_H_
#define _ODE__PRIVATE_ODEMATH_H_
#include <ode/odemath.h>
#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
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