/*************************************************************************
* *
* 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_COMMON_H_
#define _ODE_COMMON_H_
#include <ode/config.h>
#include <ode/error.h>
#include <math.h>
#include <ode/lookup_tables.h>
#ifdef __cplusplus
extern "C" {
#endif
/* configuration stuff */
/* the efficient alignment. most platforms align data structures to some
* number of bytes, but this is not always the most efficient alignment.
* for example, many x86 compilers align to 4 bytes, but on a pentium it
* is important to align doubles to 8 byte boundaries (for speed), and
* the 4 floats in a SIMD register to 16 byte boundaries. many other
* platforms have similar behavior. setting a larger alignment can waste
* a (very) small amount of memory. NOTE: this number must be a power of
* two. this is set to 16 by default.
*/
#define EFFICIENT_ALIGNMENT 16
#define QFACTOR 16 // 16
/* constants */
/* pi and 1/sqrt(2) are defined here if necessary because they don't get
* defined in <math.h> on some platforms (like MS-Windows)
*/
#define dPI REAL(3.1415926535897932384626433832795029)
#define dSQRT1_2 REAL(0.7071067811865475244008443621048490)
#define dInfinity REAL(1e+14) //REAL(1e+14)
#define dEpsilon REAL(2e-5)
/* floating point data type, vector, matrix and quaternion types */
#ifdef dSINGLE
typedef int64 dReal;
#endif
/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
* (used to compute matrix leading dimensions)
*/
#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
/* these types are mainly just used in headers */
typedef dReal dVector3[4];
typedef dReal dVector4[4];
typedef dReal dMatrix3[4*3];
typedef dReal dMatrix4[4*4];
typedef dReal dMatrix6[8*6];
typedef dReal dQuaternion[4];
/* precision dependent scalar math functions */
#if defined(dSINGLE)
#define dMUL(x,y) ( (dReal)(((x)*(y))>>QFACTOR) )
#define dDIV(x,y) ( (dReal)(((x)<<QFACTOR)/(y)) )
#define REAL(x) ( (dReal)( (x)*(1<<QFACTOR) ) )
#define dFLOAT(x) ( ((float)(x))/((float)(1<<QFACTOR)) )
#define dRecip(x) ( (dReal)(REAL(1/dFLOAT(x))) )
#define dSqrt(x) ( (dReal)( sqrt( (x)<<QFACTOR ) ) )
#define dRecipSqrt(x) ( (dReal)( REAL(1/(sqrt(dFLOAT(x)))) ) )
#define dSin(x) ( (dReal)(sin_table[((x)>>QFACTOR) + ((x)!=0)]) )//sin(x)
#define dCos(x) ( (dReal)(sin_table[((x)>>QFACTOR) + ((x)!=0) + 90]) )//cos(x)
#define dFabs(x) ( (dReal)(abs(x)) )
#define dIsNan(x) (_isnan(dFLOAT(x)))
#define dCopySign(a,b) ( (dReal)(copysign((a),(b))) )
#endif
/* utility */
/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
* up to 15 bytes per allocation, depending on what alloca() returns.
*/
#define dALLOCA16(n) \
((char*)dEFFICIENT_SIZE(((size_t)(malloc/*alloca*/((n)+(EFFICIENT_ALIGNMENT-1))))))
// Use the error-checking memory allocation system. Because this system uses heap
// (malloc) instead of stack (alloca), it is slower. However, it allows you to
// simulate larger scenes, as well as handle out-of-memory errors in a somewhat
// graceful manner
#define dUSE_MALLOC_FOR_ALLOCA
#ifdef dUSE_MALLOC_FOR_ALLOCA
enum {
d_MEMORY_OK = 0, /* no memory errors */
d_MEMORY_OUT_OF_MEMORY /* malloc failed due to out of memory error */
};
#endif
/* internal object types (all prefixed with `dx') */
struct dxWorld; /* dynamics world */
struct dxSpace; /* collision space */
struct dxBody; /* rigid body (dynamics object) */
struct dxGeom; /* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
typedef struct dxGeom *dGeomID;
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;
/* error numbers */
enum {
d_ERR_UNKNOWN = 0, /* unknown error */
d_ERR_IASSERT, /* internal assertion failed */
d_ERR_UASSERT, /* user assertion failed */
d_ERR_LCP /* user assertion failed */
};
/* joint type numbers */
enum {
dJointTypeNone = 0, /* or "unknown" */
dJointTypeBall,
dJointTypeHinge,
dJointTypeSlider,
dJointTypeContact,
dJointTypeUniversal,
dJointTypeHinge2,
dJointTypeFixed,
dJointTypeNull,
dJointTypeAMotor,
dJointTypeLMotor,
dJointTypePlane2D,
dJointTypePR
};
/* standard joint parameter names. why are these here? - because we don't want
* to include all the joint function definitions in joint.cpp. hmmmm.
* MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
* which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
* paste between these two.
*/
#define D_ALL_PARAM_NAMES(start) \
/* parameters for limits and motors */ \
dParamLoStop = start, \
dParamHiStop, \
dParamVel, \
dParamFMax, \
dParamFudgeFactor, \
dParamBounce, \
dParamCFM, \
dParamStopERP, \
dParamStopCFM, \
/* parameters for suspension */ \
dParamSuspensionERP, \
dParamSuspensionCFM,
#define D_ALL_PARAM_NAMES_X(start,x) \
/* parameters for limits and motors */ \
dParamLoStop ## x = start, \
dParamHiStop ## x, \
dParamVel ## x, \
dParamFMax ## x, \
dParamFudgeFactor ## x, \
dParamBounce ## x, \
dParamCFM ## x, \
dParamStopERP ## x, \
dParamStopCFM ## x, \
/* parameters for suspension */ \
dParamSuspensionERP ## x, \
dParamSuspensionCFM ## x,
enum {
D_ALL_PARAM_NAMES(0)
D_ALL_PARAM_NAMES_X(0x100,2)
D_ALL_PARAM_NAMES_X(0x200,3)
/* add a multiple of this constant to the basic parameter numbers to get
* the parameters for the second, third etc axes.
*/
dParamGroup=0x100
};
/* angular motor mode numbers */
enum{
dAMotorUser = 0,
dAMotorEuler = 1
};
/* joint force feedback information */
typedef struct dJointFeedback {
dVector3 f1; /* force applied to body 1 */
dVector3 t1; /* torque applied to body 1 */
dVector3 f2; /* force applied to body 2 */
dVector3 t2; /* torque applied to body 2 */
} dJointFeedback;
/* private functions that must be implemented by the collision library:
* (1) indicate that a geom has moved, (2) get the next geom in a body list.
* these functions are called whenever the position of geoms connected to a
* body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
* when the ODE step function updates the body state.
*/
void dGeomMoved (dGeomID);
dGeomID dGeomGetBodyNext (dGeomID);
#ifdef __cplusplus
}
#endif
#endif