1 /*************************************************************************

     2  *                                                                       *

     3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

     4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

     5  *                                                                       *

     6  * This library is free software; you can redistribute it and/or         *

     7  * modify it under the terms of EITHER:                                  *

     8  *   (1) The GNU Lesser General Public License as published by the Free  *

     9  *       Software Foundation; either version 2.1 of the License, or (at  *

    10  *       your option) any later version. The text of the GNU Lesser      *

    11  *       General Public License is included with this library in the     *

    12  *       file LICENSE.TXT.                                               *

    13  *   (2) The BSD-style license that is included with this library in     *

    14  *       the file LICENSE-BSD.TXT.                                       *

    15  *                                                                       *

    16  * This library is distributed in the hope that it will be useful,       *

    17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

    18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

    19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

    20  *                                                                       *

    21  *************************************************************************/

    22 

    23 #ifndef _ODE_ODE_H_

    24 #define _ODE_ODE_H_

    25 

    26 /* include *everything* here */

    27 

    28 #include <ode/config.h>

    29 #include <ode/compatibility.h>

    30 #include <ode/common.h>

    31 #include <ode/contact.h>

    32 #include <ode/error.h>

    33 #include <ode/memory.h>

    34 #include <ode/odemath.h>

    35 #include <ode/matrix.h>

    36 #include <ode/timer.h>

    37 #include <ode/rotation.h>

    38 #include <ode/mass.h>

    39 #include <ode/misc.h>

    40 #include <ode/objects.h>

    41 //#include "odecpp.h"

    42 #include <ode/collision_space.h>

    43 #include <ode/collision.h>

    44 //#include "odecpp_collision.h"

    45 

    46 struct dxPosR;

    47 

    48 // function pointers and modes for n^2 class collider functions

    49 

    50 struct dColliderEntry {

    51   dColliderFn *fn;	// collider function, 0 = no function available

    52   int reverse;		// 1 = reverse o1 and o2

    53 };

    54 

    55 // MAXNUM is the array size for events used by the test timer for debugging

    56 // purposes. This value was decreased from 100 to 1 to reduce the amount

    57 // of WSD used by ODE. If the timer is used ("TIMING" flag defined) then also

    58 // this value has to be increased.

    59 #define MAXNUM 1

    60 

    61 struct TEventData 

    62     {

    63     unsigned long cc[2];		// clock counts

    64     double total_t;		// total clocks used in this slot.

    65     double total_p;		// total percentage points used in this slot.

    66     int count;			// number of times this slot has been updated.

    67     char *description;		// pointer to static string

    68     };

    69 

    70 // struct used to overcome writable static data

    71 struct TOdeStaticData

    72     {

    73     dxPosR* s_cachedPosR;

    74     int colliders_initialized;

    75     int num_user_classes;

    76     dGeomClass user_classes [dMaxUserClasses];

    77     dMessageFunction *error_function;

    78     dMessageFunction *debug_function;

    79     dMessageFunction *message_function;

    80     dAllocFunction *allocfn;

    81     dReallocFunction *reallocfn;

    82     dFreeFunction *freefn;

    83     int autoEnableDepth;

    84     int num;

    85     unsigned long seed;

    86     dColliderEntry colliders[dGeomNumClasses][dGeomNumClasses];

    87     bool hit;

    88     struct TEventData event[MAXNUM];

    89     };

    90 

    91 struct TOdeStaticData* GetGlobalData();

    92 

    93 #endif