1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | #ifndef _ODE_COMMON_H_ |
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24 | #define _ODE_COMMON_H_ |
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25 | |
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26 | #include <ode/config.h> |
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27 | #include <ode/error.h> |
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28 | |
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29 | #ifdef __cplusplus |
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30 | extern "C" { |
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31 | #endif |
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32 | |
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33 | |
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34 | /* configuration stuff */ |
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35 | |
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36 | /* the efficient alignment. most platforms align data structures to some |
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37 | * number of bytes, but this is not always the most efficient alignment. |
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38 | * for example, many x86 compilers align to 4 bytes, but on a pentium it |
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39 | * is important to align doubles to 8 byte boundaries (for speed), and |
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40 | * the 4 floats in a SIMD register to 16 byte boundaries. many other |
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41 | * platforms have similar behavior. setting a larger alignment can waste |
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42 | * a (very) small amount of memory. NOTE: this number must be a power of |
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43 | * two. this is set to 16 by default. |
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44 | */ |
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45 | #define EFFICIENT_ALIGNMENT 16 |
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46 | |
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47 | |
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48 | /* constants */ |
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49 | |
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50 | /* pi and 1/sqrt(2) are defined here if necessary because they don't get |
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51 | * defined in <math.h> on some platforms (like MS-Windows) |
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52 | */ |
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53 | |
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54 | #ifndef M_PI |
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55 | #define M_PI REAL(3.1415926535897932384626433832795029) |
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56 | #endif |
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57 | #ifndef M_SQRT1_2 |
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58 | #define M_SQRT1_2 REAL(0.7071067811865475244008443621048490) |
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59 | #endif |
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60 | |
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61 | |
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62 | /* debugging: |
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63 | * IASSERT is an internal assertion, i.e. a consistency check. if it fails |
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64 | * we want to know where. |
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65 | * UASSERT is a user assertion, i.e. if it fails a nice error message |
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66 | * should be printed for the user. |
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67 | * AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)" |
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68 | * is printed. |
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69 | * DEBUGMSG just prints out a message |
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70 | */ |
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71 | |
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72 | #ifndef dNODEBUG |
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73 | #ifdef __GNUC__ |
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74 | #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \ |
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75 | "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__); |
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76 | #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \ |
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77 | msg " in %s()", __FUNCTION__); |
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78 | #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \ |
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79 | msg " in %s()", __FUNCTION__); |
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80 | #else |
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81 | #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \ |
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82 | "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__); |
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83 | #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \ |
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84 | msg " (%s:%d)", __FILE__,__LINE__); |
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85 | #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \ |
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86 | msg " (%s:%d)", __FILE__,__LINE__); |
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87 | #endif |
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88 | #else |
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89 | #define dIASSERT(a) ; |
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90 | #define dUASSERT(a,msg) ; |
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91 | #define dDEBUGMSG(msg) ; |
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92 | #endif |
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93 | #define dAASSERT(a) dUASSERT(a,"Bad argument(s)") |
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94 | |
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95 | /* floating point data type, vector, matrix and quaternion types */ |
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96 | |
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97 | #if defined(dSINGLE) |
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98 | typedef float dReal; |
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99 | #elif defined(dDOUBLE) |
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100 | typedef double dReal; |
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101 | #else |
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102 | #error You must #define dSINGLE or dDOUBLE |
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103 | #endif |
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104 | |
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105 | |
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106 | /* round an integer up to a multiple of 4, except that 0 and 1 are unmodified |
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107 | * (used to compute matrix leading dimensions) |
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108 | */ |
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109 | #define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a)) |
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110 | |
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111 | /* these types are mainly just used in headers */ |
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112 | typedef dReal dVector3[4]; |
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113 | typedef dReal dVector4[4]; |
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114 | typedef dReal dMatrix3[4*3]; |
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115 | typedef dReal dMatrix4[4*4]; |
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116 | typedef dReal dMatrix6[8*6]; |
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117 | typedef dReal dQuaternion[4]; |
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118 | |
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119 | |
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120 | /* precision dependent scalar math functions */ |
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121 | |
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122 | #if defined(dSINGLE) |
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123 | |
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124 | #define REAL(x) (x ## f) /* form a constant */ |
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125 | #define dRecip(x) ((float)(1.0f/(x))) /* reciprocal */ |
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126 | #define dSqrt(x) ((float)sqrt(x)) /* square root */ |
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127 | #define dRecipSqrt(x) ((float)(1.0f/sqrt(x))) /* reciprocal square root */ |
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128 | #define dSin(x) ((float)sin(x)) /* sine */ |
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129 | #define dCos(x) ((float)cos(x)) /* cosine */ |
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130 | #define dFabs(x) ((float)fabs(x)) /* absolute value */ |
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131 | #define dAtan2(y,x) ((float)atan2((y),(x))) /* arc tangent with 2 args */ |
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132 | |
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133 | #elif defined(dDOUBLE) |
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134 | |
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135 | #define REAL(x) (x) |
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136 | #define dRecip(x) (1.0/(x)) |
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137 | #define dSqrt(x) sqrt(x) |
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138 | #define dRecipSqrt(x) (1.0/sqrt(x)) |
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139 | #define dSin(x) sin(x) |
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140 | #define dCos(x) cos(x) |
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141 | #define dFabs(x) fabs(x) |
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142 | #define dAtan2(y,x) atan2((y),(x)) |
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143 | |
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144 | #else |
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145 | #error You must #define dSINGLE or dDOUBLE |
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146 | #endif |
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147 | |
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148 | |
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149 | /* utility */ |
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150 | |
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151 | |
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152 | /* round something up to be a multiple of the EFFICIENT_ALIGNMENT */ |
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153 | |
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154 | #define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1) |
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155 | |
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156 | |
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157 | /* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste |
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158 | * up to 15 bytes per allocation, depending on what alloca() returns. |
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159 | */ |
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160 | |
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161 | #define dALLOCA16(n) \ |
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162 | ((char*)dEFFICIENT_SIZE(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1)))))) |
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163 | |
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164 | |
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165 | /* internal object types (all prefixed with `dx') */ |
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166 | |
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167 | struct dxWorld; /* dynamics world */ |
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168 | struct dxSpace; /* collision space */ |
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169 | struct dxBody; /* rigid body (dynamics object) */ |
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170 | struct dxGeom; /* geometry (collision object) */ |
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171 | struct dxJoint; |
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172 | struct dxJointNode; |
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173 | struct dxJointGroup; |
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174 | |
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175 | typedef struct dxWorld *dWorldID; |
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176 | typedef struct dxSpace *dSpaceID; |
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177 | typedef struct dxBody *dBodyID; |
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178 | typedef struct dxGeom *dGeomID; |
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179 | typedef struct dxJoint *dJointID; |
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180 | typedef struct dxJointGroup *dJointGroupID; |
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181 | |
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182 | |
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183 | /* error numbers */ |
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184 | |
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185 | enum { |
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186 | d_ERR_UNKNOWN = 0, /* unknown error */ |
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187 | d_ERR_IASSERT, /* internal assertion failed */ |
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188 | d_ERR_UASSERT, /* user assertion failed */ |
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189 | d_ERR_LCP /* user assertion failed */ |
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190 | }; |
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191 | |
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192 | |
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193 | /* joint type numbers */ |
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194 | |
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195 | enum { |
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196 | dJointTypeNone = 0, /* or "unknown" */ |
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197 | dJointTypeBall, |
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198 | dJointTypeHinge, |
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199 | dJointTypeSlider, |
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200 | dJointTypeContact, |
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201 | dJointTypeUniversal, |
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202 | dJointTypeHinge2, |
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203 | dJointTypeFixed, |
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204 | dJointTypeNull, |
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205 | dJointTypeAMotor |
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206 | }; |
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207 | |
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208 | /******************** breakable joint contribution ***********************/ |
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209 | /* joint break callback function */ |
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210 | typedef void dJointBreakCallback (dJointID joint); |
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211 | |
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212 | /* joint break modes */ |
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213 | enum { |
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214 | // if this flag is set, the joint wil break |
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215 | dJOINT_BROKEN = 0x0001, |
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216 | // if this flag is set, the joint wil be deleted when it breaks |
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217 | dJOINT_DELETE_ON_BREAK = 0x0002, |
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218 | // if this flag is set, the joint can break at a certain force on body 1 |
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219 | dJOINT_BREAK_AT_B1_FORCE = 0x0004, |
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220 | // if this flag is set, the joint can break at a certain torque on body 1 |
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221 | dJOINT_BREAK_AT_B1_TORQUE = 0x0008, |
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222 | // if this flag is set, the joint can break at a certain force on body 2 |
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223 | dJOINT_BREAK_AT_B2_FORCE = 0x0010, |
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224 | // if this flag is set, the joint can break at a certain torque on body 2 |
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225 | dJOINT_BREAK_AT_B2_TORQUE = 0x0020 |
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226 | }; |
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227 | /*************************************************************************/ |
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228 | |
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229 | /* an alternative way of setting joint parameters, using joint parameter |
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230 | * structures and member constants. we don't actually do this yet. |
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231 | */ |
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232 | |
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233 | /* |
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234 | typedef struct dLimot { |
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235 | int mode; |
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236 | dReal lostop, histop; |
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237 | dReal vel, fmax; |
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238 | dReal fudge_factor; |
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239 | dReal bounce, soft; |
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240 | dReal suspension_erp, suspension_cfm; |
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241 | } dLimot; |
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242 | |
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243 | enum { |
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244 | dLimotLoStop = 0x0001, |
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245 | dLimotHiStop = 0x0002, |
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246 | dLimotVel = 0x0004, |
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247 | dLimotFMax = 0x0008, |
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248 | dLimotFudgeFactor = 0x0010, |
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249 | dLimotBounce = 0x0020, |
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250 | dLimotSoft = 0x0040 |
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251 | }; |
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252 | */ |
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253 | |
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254 | |
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255 | /* standard joint parameter names. why are these here? - because we don't want |
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256 | * to include all the joint function definitions in joint.cpp. hmmmm. |
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257 | * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument, |
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258 | * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and |
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259 | * paste between these two. |
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260 | */ |
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261 | |
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262 | #define D_ALL_PARAM_NAMES(start) \ |
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263 | /* parameters for limits and motors */ \ |
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264 | dParamLoStop = start, \ |
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265 | dParamHiStop, \ |
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266 | dParamVel, \ |
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267 | dParamFMax, \ |
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268 | dParamFudgeFactor, \ |
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269 | dParamBounce, \ |
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270 | dParamCFM, \ |
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271 | dParamStopERP, \ |
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272 | dParamStopCFM, \ |
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273 | /* parameters for suspension */ \ |
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274 | dParamSuspensionERP, \ |
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275 | dParamSuspensionCFM, |
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276 | |
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277 | #define D_ALL_PARAM_NAMES_X(start,x) \ |
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278 | /* parameters for limits and motors */ \ |
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279 | dParamLoStop ## x = start, \ |
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280 | dParamHiStop ## x, \ |
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281 | dParamVel ## x, \ |
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282 | dParamFMax ## x, \ |
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283 | dParamFudgeFactor ## x, \ |
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284 | dParamBounce ## x, \ |
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285 | dParamCFM ## x, \ |
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286 | dParamStopERP ## x, \ |
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287 | dParamStopCFM ## x, \ |
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288 | /* parameters for suspension */ \ |
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289 | dParamSuspensionERP ## x, \ |
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290 | dParamSuspensionCFM ## x, |
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291 | |
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292 | enum { |
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293 | D_ALL_PARAM_NAMES(0) |
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294 | D_ALL_PARAM_NAMES_X(0x100,2) |
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295 | D_ALL_PARAM_NAMES_X(0x200,3) |
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296 | |
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297 | /* add a multiple of this constant to the basic parameter numbers to get |
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298 | * the parameters for the second, third etc axes. |
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299 | */ |
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300 | dParamGroup=0x100 |
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301 | }; |
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302 | |
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303 | |
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304 | /* angular motor mode numbers */ |
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305 | |
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306 | enum{ |
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307 | dAMotorUser = 0, |
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308 | dAMotorEuler = 1 |
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309 | }; |
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310 | |
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311 | |
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312 | /* joint force feedback information */ |
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313 | |
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314 | typedef struct dJointFeedback { |
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315 | dVector3 f1; /* force applied to body 1 */ |
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316 | dVector3 t1; /* torque applied to body 1 */ |
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317 | dVector3 f2; /* force applied to body 2 */ |
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318 | dVector3 t2; /* torque applied to body 2 */ |
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319 | } dJointFeedback; |
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320 | |
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321 | |
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322 | /* private functions that must be implemented by the collision library: |
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323 | * (1) indicate that a geom has moved, (2) get the next geom in a body list. |
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324 | * these functions are called whenever the position of geoms connected to a |
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325 | * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or |
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326 | * when the ODE step function updates the body state. |
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327 | */ |
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328 | |
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329 | void dGeomMoved (dGeomID); |
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330 | dGeomID dGeomGetBodyNext (dGeomID); |
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331 | |
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332 | |
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333 | #ifdef __cplusplus |
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334 | } |
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335 | #endif |
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336 | |
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337 | #endif |
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