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16<h1>common.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
17<a name="l00002"></a>00002 <span class="comment"> *                                                                       *</span>
18<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *</span>
19<a name="l00004"></a>00004 <span class="comment"> * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *</span>
20<a name="l00005"></a>00005 <span class="comment"> *                                                                       *</span>
21<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or         *</span>
22<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER:                                  *</span>
23<a name="l00008"></a>00008 <span class="comment"> *   (1) The GNU Lesser General Public License as published by the Free  *</span>
24<a name="l00009"></a>00009 <span class="comment"> *       Software Foundation; either version 2.1 of the License, or (at  *</span>
25<a name="l00010"></a>00010 <span class="comment"> *       your option) any later version. The text of the GNU Lesser      *</span>
26<a name="l00011"></a>00011 <span class="comment"> *       General Public License is included with this library in the     *</span>
27<a name="l00012"></a>00012 <span class="comment"> *       file LICENSE.TXT.                                               *</span>
28<a name="l00013"></a>00013 <span class="comment"> *   (2) The BSD-style license that is included with this library in     *</span>
29<a name="l00014"></a>00014 <span class="comment"> *       the file LICENSE-BSD.TXT.                                       *</span>
30<a name="l00015"></a>00015 <span class="comment"> *                                                                       *</span>
31<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful,       *</span>
32<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of        *</span>
33<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *</span>
34<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *</span>
35<a name="l00020"></a>00020 <span class="comment"> *                                                                       *</span>
36<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
37<a name="l00022"></a>00022
38<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_COMMON_H_</span>
39<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_COMMON_H_</span>
40<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#include &lt;ode/config.h&gt;</span>
41<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;ode/error.h&gt;</span>
42<a name="l00027"></a>00027 <span class="preprocessor">#include &lt;math.h&gt;</span>
43<a name="l00028"></a>00028
44<a name="l00029"></a>00029 <span class="preprocessor">#ifdef __cplusplus</span>
45<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
46<a name="l00031"></a>00031 <span class="preprocessor">#endif</span>
47<a name="l00032"></a>00032 <span class="preprocessor"></span>
48<a name="l00033"></a>00033
49<a name="l00034"></a>00034 <span class="comment">/* configuration stuff */</span>
50<a name="l00035"></a>00035
51<a name="l00036"></a>00036 <span class="comment">/* the efficient alignment. most platforms align data structures to some</span>
52<a name="l00037"></a>00037 <span class="comment"> * number of bytes, but this is not always the most efficient alignment.</span>
53<a name="l00038"></a>00038 <span class="comment"> * for example, many x86 compilers align to 4 bytes, but on a pentium it</span>
54<a name="l00039"></a>00039 <span class="comment"> * is important to align doubles to 8 byte boundaries (for speed), and</span>
55<a name="l00040"></a>00040 <span class="comment"> * the 4 floats in a SIMD register to 16 byte boundaries. many other</span>
56<a name="l00041"></a>00041 <span class="comment"> * platforms have similar behavior. setting a larger alignment can waste</span>
57<a name="l00042"></a>00042 <span class="comment"> * a (very) small amount of memory. NOTE: this number must be a power of</span>
58<a name="l00043"></a>00043 <span class="comment"> * two. this is set to 16 by default.</span>
59<a name="l00044"></a>00044 <span class="comment"> */</span>
60<a name="l00045"></a>00045 <span class="preprocessor">#define EFFICIENT_ALIGNMENT 16</span>
61<a name="l00046"></a>00046 <span class="preprocessor"></span>
62<a name="l00047"></a>00047
63<a name="l00048"></a>00048 <span class="comment">/* constants */</span>
64<a name="l00049"></a>00049
65<a name="l00050"></a>00050 <span class="comment">/* pi and 1/sqrt(2) are defined here if necessary because they don't get</span>
66<a name="l00051"></a>00051 <span class="comment"> * defined in &lt;math.h&gt; on some platforms (like MS-Windows)</span>
67<a name="l00052"></a>00052 <span class="comment"> */</span>
68<a name="l00053"></a>00053
69<a name="l00054"></a>00054 <span class="preprocessor">#ifndef M_PI</span>
70<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">#define M_PI REAL(3.1415926535897932384626433832795029)</span>
71<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
72<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#ifndef M_SQRT1_2</span>
73<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)</span>
74<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
75<a name="l00060"></a>00060 <span class="preprocessor"></span>
76<a name="l00061"></a>00061
77<a name="l00062"></a>00062 <span class="comment">/* debugging:</span>
78<a name="l00063"></a>00063 <span class="comment"> *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails</span>
79<a name="l00064"></a>00064 <span class="comment"> *            we want to know where.</span>
80<a name="l00065"></a>00065 <span class="comment"> *   UASSERT  is a user assertion, i.e. if it fails a nice error message</span>
81<a name="l00066"></a>00066 <span class="comment"> *            should be printed for the user.</span>
82<a name="l00067"></a>00067 <span class="comment"> *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"</span>
83<a name="l00068"></a>00068 <span class="comment"> *            is printed.</span>
84<a name="l00069"></a>00069 <span class="comment"> *   DEBUGMSG just prints out a message</span>
85<a name="l00070"></a>00070 <span class="comment"> */</span>
86<a name="l00071"></a>00071
87<a name="l00072"></a>00072 <span class="preprocessor">#ifndef dNODEBUG</span>
88<a name="l00073"></a>00073 <span class="preprocessor"></span><span class="preprocessor">#ifdef __GNUC__</span>
89<a name="l00074"></a>00074 <span class="preprocessor"></span><span class="preprocessor">#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \</span>
90<a name="l00075"></a>00075 <span class="preprocessor">  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);</span>
91<a name="l00076"></a>00076 <span class="preprocessor"></span><span class="preprocessor">#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \</span>
92<a name="l00077"></a>00077 <span class="preprocessor">  msg " in %s()", __FUNCTION__);</span>
93<a name="l00078"></a>00078 <span class="preprocessor"></span><span class="preprocessor">#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT,          \</span>
94<a name="l00079"></a>00079 <span class="preprocessor">msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);</span>
95<a name="l00080"></a>00080 <span class="preprocessor"></span><span class="preprocessor">#else</span>
96<a name="l00081"></a>00081 <span class="preprocessor"></span><span class="preprocessor">#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \</span>
97<a name="l00082"></a>00082 <span class="preprocessor">  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);</span>
98<a name="l00083"></a>00083 <span class="preprocessor"></span><span class="preprocessor">#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \</span>
99<a name="l00084"></a>00084 <span class="preprocessor">  msg " (%s:%d)", __FILE__,__LINE__);</span>
100<a name="l00085"></a>00085 <span class="preprocessor"></span><span class="preprocessor">#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \</span>
101<a name="l00086"></a>00086 <span class="preprocessor">  msg " (%s:%d)", __FILE__,__LINE__);</span>
102<a name="l00087"></a>00087 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
103<a name="l00088"></a>00088 <span class="preprocessor"></span><span class="preprocessor">#else</span>
104<a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor">#define dIASSERT(a) ;</span>
105<a name="l00090"></a>00090 <span class="preprocessor"></span><span class="preprocessor">#define dUASSERT(a,msg) ;</span>
106<a name="l00091"></a>00091 <span class="preprocessor"></span><span class="preprocessor">#define dDEBUGMSG(msg) ;</span>
107<a name="l00092"></a>00092 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
108<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")</span>
109<a name="l00094"></a>00094 <span class="preprocessor"></span>
110<a name="l00095"></a>00095 <span class="comment">// Macro used to suppress unused variable warning</span>
111<a name="l00096"></a>00096 <span class="preprocessor">#define dVARIABLEUSED(a) ((void)a)</span>
112<a name="l00097"></a>00097 <span class="preprocessor"></span>
113<a name="l00098"></a>00098 <span class="comment">/* floating point data type, vector, matrix and quaternion types */</span>
114<a name="l00099"></a>00099
115<a name="l00100"></a>00100 <span class="preprocessor">#if defined(dSINGLE)</span>
116<a name="l00101"></a>00101 <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">float</span> dReal;
117<a name="l00102"></a>00102 <span class="preprocessor">#ifdef dDOUBLE</span>
118<a name="l00103"></a>00103 <span class="preprocessor"></span><span class="preprocessor">#error You can only #define dSINGLE or dDOUBLE, not both.</span>
119<a name="l00104"></a>00104 <span class="preprocessor"></span><span class="preprocessor">#endif // dDOUBLE</span>
120<a name="l00105"></a>00105 <span class="preprocessor"></span><span class="preprocessor">#elif defined(dDOUBLE)</span>
121<a name="l00106"></a>00106 <span class="preprocessor"></span><span class="keyword">typedef</span> <span class="keywordtype">double</span> dReal;
122<a name="l00107"></a>00107 <span class="preprocessor">#else</span>
123<a name="l00108"></a>00108 <span class="preprocessor"></span><span class="preprocessor">#error You must #define dSINGLE or dDOUBLE</span>
124<a name="l00109"></a>00109 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
125<a name="l00110"></a>00110 <span class="preprocessor"></span>
126<a name="l00111"></a>00111 <span class="comment">// Detect if we've got both trimesh engines enabled.</span>
127<a name="l00112"></a>00112 <span class="preprocessor">#if dTRIMESH_ENABLED</span>
128<a name="l00113"></a>00113 <span class="preprocessor"></span><span class="preprocessor">#if dTRIMESH_OPCODE &amp;&amp; dTRIMESH_GIMPACT</span>
129<a name="l00114"></a>00114 <span class="preprocessor"></span><span class="preprocessor">#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.</span>
130<a name="l00115"></a>00115 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
131<a name="l00116"></a>00116 <span class="preprocessor"></span><span class="preprocessor">#endif // dTRIMESH_ENABLED</span>
132<a name="l00117"></a>00117 <span class="preprocessor"></span>
133<a name="l00118"></a>00118 <span class="comment">/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified</span>
134<a name="l00119"></a>00119 <span class="comment"> * (used to compute matrix leading dimensions)</span>
135<a name="l00120"></a>00120 <span class="comment"> */</span>
136<a name="l00121"></a>00121 <span class="preprocessor">#define dPAD(a) (((a) &gt; 1) ? ((((a)-1)|3)+1) : (a))</span>
137<a name="l00122"></a>00122 <span class="preprocessor"></span>
138<a name="l00123"></a>00123 <span class="comment">/* these types are mainly just used in headers */</span>
139<a name="l00124"></a>00124 <span class="keyword">typedef</span> dReal dVector3[4];
140<a name="l00125"></a>00125 <span class="keyword">typedef</span> dReal dVector4[4];
141<a name="l00126"></a>00126 <span class="keyword">typedef</span> dReal dMatrix3[4*3];
142<a name="l00127"></a>00127 <span class="keyword">typedef</span> dReal dMatrix4[4*4];
143<a name="l00128"></a>00128 <span class="keyword">typedef</span> dReal dMatrix6[8*6];
144<a name="l00129"></a>00129 <span class="keyword">typedef</span> dReal dQuaternion[4];
145<a name="l00130"></a>00130
146<a name="l00131"></a>00131
147<a name="l00132"></a>00132 <span class="comment">/* precision dependent scalar math functions */</span>
148<a name="l00133"></a>00133
149<a name="l00134"></a>00134 <span class="preprocessor">#if defined(dSINGLE)</span>
150<a name="l00135"></a>00135 <span class="preprocessor"></span>
151<a name="l00136"></a>00136 <span class="preprocessor">#define REAL(x) (x ## f)               </span><span class="comment">/* form a constant */</span>
152<a name="l00137"></a>00137 <span class="preprocessor">#define dRecip(x) ((1.0f/(x)))            </span><span class="comment">/* reciprocal */</span>
153<a name="l00138"></a>00138 <span class="preprocessor">#define dSqrt(x) (sqrtf(x))         </span><span class="comment">/* square root */</span>
154<a name="l00139"></a>00139 <span class="preprocessor">#define dRecipSqrt(x) ((1.0f/sqrtf(x)))      </span><span class="comment">/* reciprocal square root */</span>
155<a name="l00140"></a>00140 <span class="preprocessor">#define dSin(x) (sinf(x))           </span><span class="comment">/* sine */</span>
156<a name="l00141"></a>00141 <span class="preprocessor">#define dCos(x) (cosf(x))           </span><span class="comment">/* cosine */</span>
157<a name="l00142"></a>00142 <span class="preprocessor">#define dFabs(x) (fabsf(x))         </span><span class="comment">/* absolute value */</span>
158<a name="l00143"></a>00143 <span class="preprocessor">#define dAtan2(y,x) (atan2f(y,x))      </span><span class="comment">/* arc tangent with 2 args */</span>
159<a name="l00144"></a>00144 <span class="preprocessor">#define dFMod(a,b) (fmodf(a,b))     </span><span class="comment">/* modulo */</span>
160<a name="l00145"></a>00145 <span class="preprocessor">#define dFloor(x) floorf(x)         </span><span class="comment">/* floor */</span>
161<a name="l00146"></a>00146
162<a name="l00147"></a>00147 <span class="preprocessor">#ifdef HAVE___ISNANF</span>
163<a name="l00148"></a>00148 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (__isnanf(x))</span>
164<a name="l00149"></a>00149 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE__ISNANF)</span>
165<a name="l00150"></a>00150 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (_isnanf(x))</span>
166<a name="l00151"></a>00151 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE_ISNANF)</span>
167<a name="l00152"></a>00152 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (isnanf(x))</span>
168<a name="l00153"></a>00153 <span class="preprocessor"></span><span class="preprocessor">#else</span>
169<a name="l00154"></a>00154 <span class="preprocessor"></span>  <span class="comment">/*</span>
170<a name="l00155"></a>00155 <span class="comment">     fall back to _isnan which is the VC way,</span>
171<a name="l00156"></a>00156 <span class="comment">     this may seem redundant since we already checked</span>
172<a name="l00157"></a>00157 <span class="comment">     for _isnan before, but if isnan is detected by</span>
173<a name="l00158"></a>00158 <span class="comment">     configure but is not found during compilation</span>
174<a name="l00159"></a>00159 <span class="comment">     we should always make sure we check for __isnanf,</span>
175<a name="l00160"></a>00160 <span class="comment">     _isnanf and isnanf in that order before falling</span>
176<a name="l00161"></a>00161 <span class="comment">     back to a default</span>
177<a name="l00162"></a>00162 <span class="comment">  */</span>
178<a name="l00163"></a>00163 <span class="preprocessor">#define dIsNan(x) (_isnan(x))</span>
179<a name="l00164"></a>00164 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
180<a name="l00165"></a>00165 <span class="preprocessor"></span>
181<a name="l00166"></a>00166 <span class="preprocessor">#define dCopySign(a,b) ((dReal)copysignf(a,b))</span>
182<a name="l00167"></a>00167 <span class="preprocessor"></span>
183<a name="l00168"></a>00168 <span class="preprocessor">#elif defined(dDOUBLE)</span>
184<a name="l00169"></a>00169 <span class="preprocessor"></span>
185<a name="l00170"></a>00170 <span class="preprocessor">#define REAL(x) (x)</span>
186<a name="l00171"></a>00171 <span class="preprocessor"></span><span class="preprocessor">#define dRecip(x) (1.0/(x))</span>
187<a name="l00172"></a>00172 <span class="preprocessor"></span><span class="preprocessor">#define dSqrt(x) sqrt(x)</span>
188<a name="l00173"></a>00173 <span class="preprocessor"></span><span class="preprocessor">#define dRecipSqrt(x) (1.0/sqrt(x))</span>
189<a name="l00174"></a>00174 <span class="preprocessor"></span><span class="preprocessor">#define dSin(x) sin(x)</span>
190<a name="l00175"></a>00175 <span class="preprocessor"></span><span class="preprocessor">#define dCos(x) cos(x)</span>
191<a name="l00176"></a>00176 <span class="preprocessor"></span><span class="preprocessor">#define dFabs(x) fabs(x)</span>
192<a name="l00177"></a>00177 <span class="preprocessor"></span><span class="preprocessor">#define dAtan2(y,x) atan2((y),(x))</span>
193<a name="l00178"></a>00178 <span class="preprocessor"></span><span class="preprocessor">#define dFMod(a,b) (fmod((a),(b)))</span>
194<a name="l00179"></a>00179 <span class="preprocessor"></span><span class="preprocessor">#define dFloor(x) floor(x)</span>
195<a name="l00180"></a>00180 <span class="preprocessor"></span>
196<a name="l00181"></a>00181 <span class="preprocessor">#ifdef HAVE___ISNAN</span>
197<a name="l00182"></a>00182 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (__isnan(x))</span>
198<a name="l00183"></a>00183 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE__ISNAN)</span>
199<a name="l00184"></a>00184 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (_isnan(x))</span>
200<a name="l00185"></a>00185 <span class="preprocessor"></span><span class="preprocessor">#elif defined(HAVE_ISNAN)</span>
201<a name="l00186"></a>00186 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (isnan(x))</span>
202<a name="l00187"></a>00187 <span class="preprocessor"></span><span class="preprocessor">#else</span>
203<a name="l00188"></a>00188 <span class="preprocessor"></span><span class="preprocessor">#define dIsNan(x) (_isnan(x))</span>
204<a name="l00189"></a>00189 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
205<a name="l00190"></a>00190 <span class="preprocessor"></span>
206<a name="l00191"></a>00191 <span class="preprocessor">#define dCopySign(a,b) (copysign((a),(b)))</span>
207<a name="l00192"></a>00192 <span class="preprocessor"></span>
208<a name="l00193"></a>00193 <span class="preprocessor">#else</span>
209<a name="l00194"></a>00194 <span class="preprocessor"></span><span class="preprocessor">#error You must #define dSINGLE or dDOUBLE</span>
210<a name="l00195"></a>00195 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
211<a name="l00196"></a>00196 <span class="preprocessor"></span>
212<a name="l00197"></a>00197
213<a name="l00198"></a>00198 <span class="comment">/* utility */</span>
214<a name="l00199"></a>00199
215<a name="l00200"></a>00200
216<a name="l00201"></a>00201 <span class="comment">/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */</span>
217<a name="l00202"></a>00202
218<a name="l00203"></a>00203 <span class="preprocessor">#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)</span>
219<a name="l00204"></a>00204 <span class="preprocessor"></span>
220<a name="l00205"></a>00205
221<a name="l00206"></a>00206 <span class="comment">/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste</span>
222<a name="l00207"></a>00207 <span class="comment"> * up to 15 bytes per allocation, depending on what alloca() returns.</span>
223<a name="l00208"></a>00208 <span class="comment"> */</span>
224<a name="l00209"></a>00209
225<a name="l00210"></a>00210 <span class="preprocessor">#define dALLOCA16(n) \</span>
226<a name="l00211"></a>00211 <span class="preprocessor">  ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))</span>
227<a name="l00212"></a>00212 <span class="preprocessor"></span>
228<a name="l00213"></a>00213
229<a name="l00214"></a>00214 <span class="comment">// Use the error-checking memory allocation system.  Because this system uses heap</span>
230<a name="l00215"></a>00215 <span class="comment">//  (malloc) instead of stack (alloca), it is slower.  However, it allows you to</span>
231<a name="l00216"></a>00216 <span class="comment">//  simulate larger scenes, as well as handle out-of-memory errors in a somewhat</span>
232<a name="l00217"></a>00217 <span class="comment">//  graceful manner</span>
233<a name="l00218"></a>00218
234<a name="l00219"></a>00219 <span class="comment">// #define dUSE_MALLOC_FOR_ALLOCA</span>
235<a name="l00220"></a>00220
236<a name="l00221"></a>00221 <span class="preprocessor">#ifdef dUSE_MALLOC_FOR_ALLOCA</span>
237<a name="l00222"></a>00222 <span class="preprocessor"></span><span class="keyword">enum</span> {
238<a name="l00223"></a>00223   d_MEMORY_OK = 0,      <span class="comment">/* no memory errors */</span>
239<a name="l00224"></a>00224   d_MEMORY_OUT_OF_MEMORY   <span class="comment">/* malloc failed due to out of memory error */</span>
240<a name="l00225"></a>00225 };
241<a name="l00226"></a>00226
242<a name="l00227"></a>00227 <span class="preprocessor">#endif</span>
243<a name="l00228"></a>00228 <span class="preprocessor"></span>
244<a name="l00229"></a>00229
245<a name="l00230"></a>00230
246<a name="l00231"></a>00231 <span class="comment">/* internal object types (all prefixed with `dx') */</span>
247<a name="l00232"></a>00232
248<a name="l00233"></a>00233 <span class="keyword">struct </span>dxWorld;      <span class="comment">/* dynamics world */</span>
249<a name="l00234"></a>00234 <span class="keyword">struct </span>dxSpace;      <span class="comment">/* collision space */</span>
250<a name="l00235"></a>00235 <span class="keyword">struct </span>dxBody;    <span class="comment">/* rigid body (dynamics object) */</span>
251<a name="l00236"></a>00236 <span class="keyword">struct </span>dxGeom;    <span class="comment">/* geometry (collision object) */</span>
252<a name="l00237"></a>00237 <span class="keyword">struct </span>dxJoint;
253<a name="l00238"></a>00238 <span class="keyword">struct </span>dxJointNode;
254<a name="l00239"></a>00239 <span class="keyword">struct </span>dxJointGroup;
255<a name="l00240"></a>00240
256<a name="l00241"></a>00241 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxWorld *dWorldID;
257<a name="l00242"></a>00242 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxSpace *dSpaceID;
258<a name="l00243"></a>00243 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxBody *dBodyID;
259<a name="l00244"></a>00244 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxGeom *dGeomID;
260<a name="l00245"></a>00245 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxJoint *dJointID;
261<a name="l00246"></a>00246 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxJointGroup *dJointGroupID;
262<a name="l00247"></a>00247
263<a name="l00248"></a>00248
264<a name="l00249"></a>00249 <span class="comment">/* error numbers */</span>
265<a name="l00250"></a>00250
266<a name="l00251"></a>00251 <span class="keyword">enum</span> {
267<a name="l00252"></a>00252   d_ERR_UNKNOWN = 0,    <span class="comment">/* unknown error */</span>
268<a name="l00253"></a>00253   d_ERR_IASSERT,     <span class="comment">/* internal assertion failed */</span>
269<a name="l00254"></a>00254   d_ERR_UASSERT,     <span class="comment">/* user assertion failed */</span>
270<a name="l00255"></a>00255   d_ERR_LCP       <span class="comment">/* user assertion failed */</span>
271<a name="l00256"></a>00256 };
272<a name="l00257"></a>00257
273<a name="l00258"></a>00258
274<a name="l00259"></a>00259 <span class="comment">/* joint type numbers */</span>
275<a name="l00260"></a>00260
276<a name="l00261"></a>00261 <span class="keyword">enum</span> {
277<a name="l00262"></a>00262   dJointTypeNone = 0,      <span class="comment">/* or "unknown" */</span>
278<a name="l00263"></a>00263   dJointTypeBall,
279<a name="l00264"></a>00264   dJointTypeHinge,
280<a name="l00265"></a>00265   dJointTypeSlider,
281<a name="l00266"></a>00266   dJointTypeContact,
282<a name="l00267"></a>00267   dJointTypeUniversal,
283<a name="l00268"></a>00268   dJointTypeHinge2,
284<a name="l00269"></a>00269   dJointTypeFixed,
285<a name="l00270"></a>00270   dJointTypeNull,
286<a name="l00271"></a>00271   dJointTypeAMotor,
287<a name="l00272"></a>00272   dJointTypeLMotor,
288<a name="l00273"></a>00273   dJointTypePlane2D,
289<a name="l00274"></a>00274   dJointTypePR
290<a name="l00275"></a>00275 };
291<a name="l00276"></a>00276
292<a name="l00277"></a>00277
293<a name="l00278"></a>00278 <span class="comment">/* an alternative way of setting joint parameters, using joint parameter</span>
294<a name="l00279"></a>00279 <span class="comment"> * structures and member constants. we don't actually do this yet.</span>
295<a name="l00280"></a>00280 <span class="comment"> */</span>
296<a name="l00281"></a>00281
297<a name="l00282"></a>00282 <span class="comment">/*</span>
298<a name="l00283"></a>00283 <span class="comment">typedef struct dLimot {</span>
299<a name="l00284"></a>00284 <span class="comment">  int mode;</span>
300<a name="l00285"></a>00285 <span class="comment">  dReal lostop, histop;</span>
301<a name="l00286"></a>00286 <span class="comment">  dReal vel, fmax;</span>
302<a name="l00287"></a>00287 <span class="comment">  dReal fudge_factor;</span>
303<a name="l00288"></a>00288 <span class="comment">  dReal bounce, soft;</span>
304<a name="l00289"></a>00289 <span class="comment">  dReal suspension_erp, suspension_cfm;</span>
305<a name="l00290"></a>00290 <span class="comment">} dLimot;</span>
306<a name="l00291"></a>00291 <span class="comment"></span>
307<a name="l00292"></a>00292 <span class="comment">enum {</span>
308<a name="l00293"></a>00293 <span class="comment">  dLimotLoStop    = 0x0001,</span>
309<a name="l00294"></a>00294 <span class="comment">  dLimotHiStop    = 0x0002,</span>
310<a name="l00295"></a>00295 <span class="comment">  dLimotVel    = 0x0004,</span>
311<a name="l00296"></a>00296 <span class="comment">  dLimotFMax      = 0x0008,</span>
312<a name="l00297"></a>00297 <span class="comment">  dLimotFudgeFactor  = 0x0010,</span>
313<a name="l00298"></a>00298 <span class="comment">  dLimotBounce    = 0x0020,</span>
314<a name="l00299"></a>00299 <span class="comment">  dLimotSoft      = 0x0040</span>
315<a name="l00300"></a>00300 <span class="comment">};</span>
316<a name="l00301"></a>00301 <span class="comment">*/</span>
317<a name="l00302"></a>00302
318<a name="l00303"></a>00303
319<a name="l00304"></a>00304 <span class="comment">/* standard joint parameter names. why are these here? - because we don't want</span>
320<a name="l00305"></a>00305 <span class="comment"> * to include all the joint function definitions in joint.cpp. hmmmm.</span>
321<a name="l00306"></a>00306 <span class="comment"> * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,</span>
322<a name="l00307"></a>00307 <span class="comment"> * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and</span>
323<a name="l00308"></a>00308 <span class="comment"> * paste between these two.</span>
324<a name="l00309"></a>00309 <span class="comment"> */</span>
325<a name="l00310"></a>00310
326<a name="l00311"></a>00311 <span class="preprocessor">#define D_ALL_PARAM_NAMES(start) \</span>
327<a name="l00312"></a>00312 <span class="preprocessor">  </span><span class="comment">/* parameters for limits and motors */</span> \
328<a name="l00313"></a>00313   dParamLoStop = start, \
329<a name="l00314"></a>00314   dParamHiStop, \
330<a name="l00315"></a>00315   dParamVel, \
331<a name="l00316"></a>00316   dParamFMax, \
332<a name="l00317"></a>00317   dParamFudgeFactor, \
333<a name="l00318"></a>00318   dParamBounce, \
334<a name="l00319"></a>00319   dParamCFM, \
335<a name="l00320"></a>00320   dParamStopERP, \
336<a name="l00321"></a>00321   dParamStopCFM, \
337<a name="l00322"></a>00322   <span class="comment">/* parameters for suspension */</span> \
338<a name="l00323"></a>00323   dParamSuspensionERP, \
339<a name="l00324"></a>00324   dParamSuspensionCFM, \
340<a name="l00325"></a>00325   dParamERP, \
341<a name="l00326"></a>00326
342<a name="l00327"></a>00327 <span class="preprocessor">#define D_ALL_PARAM_NAMES_X(start,x) \</span>
343<a name="l00328"></a>00328 <span class="preprocessor">  </span><span class="comment">/* parameters for limits and motors */</span> \
344<a name="l00329"></a>00329   dParamLoStop ## x = start, \
345<a name="l00330"></a>00330   dParamHiStop ## x, \
346<a name="l00331"></a>00331   dParamVel ## x, \
347<a name="l00332"></a>00332   dParamFMax ## x, \
348<a name="l00333"></a>00333   dParamFudgeFactor ## x, \
349<a name="l00334"></a>00334   dParamBounce ## x, \
350<a name="l00335"></a>00335   dParamCFM ## x, \
351<a name="l00336"></a>00336   dParamStopERP ## x, \
352<a name="l00337"></a>00337   dParamStopCFM ## x, \
353<a name="l00338"></a>00338   <span class="comment">/* parameters for suspension */</span> \
354<a name="l00339"></a>00339   dParamSuspensionERP ## x, \
355<a name="l00340"></a>00340   dParamSuspensionCFM ## x, \
356<a name="l00341"></a>00341   dParamERP ## x,
357<a name="l00342"></a>00342
358<a name="l00343"></a>00343 <span class="keyword">enum</span> {
359<a name="l00344"></a>00344   D_ALL_PARAM_NAMES(0)
360<a name="l00345"></a>00345   D_ALL_PARAM_NAMES_X(0x100,2)
361<a name="l00346"></a>00346   D_ALL_PARAM_NAMES_X(0x200,3)
362<a name="l00347"></a>00347
363<a name="l00348"></a>00348   <span class="comment">/* add a multiple of this constant to the basic parameter numbers to get</span>
364<a name="l00349"></a>00349 <span class="comment">   * the parameters for the second, third etc axes.</span>
365<a name="l00350"></a>00350 <span class="comment">   */</span>
366<a name="l00351"></a>00351   dParamGroup=0x100
367<a name="l00352"></a>00352 };
368<a name="l00353"></a>00353
369<a name="l00354"></a>00354
370<a name="l00355"></a>00355 <span class="comment">/* angular motor mode numbers */</span>
371<a name="l00356"></a>00356
372<a name="l00357"></a>00357 enum{
373<a name="l00358"></a>00358   dAMotorUser = 0,
374<a name="l00359"></a>00359   dAMotorEuler = 1
375<a name="l00360"></a>00360 };
376<a name="l00361"></a>00361
377<a name="l00362"></a>00362
378<a name="l00363"></a>00363 <span class="comment">/* joint force feedback information */</span>
379<a name="l00364"></a>00364
380<a name="l00365"></a>00365 <span class="keyword">typedef</span> <span class="keyword">struct </span>dJointFeedback {
381<a name="l00366"></a>00366   dVector3 f1;    <span class="comment">/* force applied to body 1 */</span>
382<a name="l00367"></a>00367   dVector3 t1;    <span class="comment">/* torque applied to body 1 */</span>
383<a name="l00368"></a>00368   dVector3 f2;    <span class="comment">/* force applied to body 2 */</span>
384<a name="l00369"></a>00369   dVector3 t2;    <span class="comment">/* torque applied to body 2 */</span>
385<a name="l00370"></a>00370 } dJointFeedback;
386<a name="l00371"></a>00371
387<a name="l00372"></a>00372
388<a name="l00373"></a>00373 <span class="comment">/* private functions that must be implemented by the collision library:</span>
389<a name="l00374"></a>00374 <span class="comment"> * (1) indicate that a geom has moved, (2) get the next geom in a body list.</span>
390<a name="l00375"></a>00375 <span class="comment"> * these functions are called whenever the position of geoms connected to a</span>
391<a name="l00376"></a>00376 <span class="comment"> * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or</span>
392<a name="l00377"></a>00377 <span class="comment"> * when the ODE step function updates the body state.</span>
393<a name="l00378"></a>00378 <span class="comment"> */</span>
394<a name="l00379"></a>00379
395<a name="l00380"></a>00380 <span class="keywordtype">void</span> dGeomMoved (dGeomID);
396<a name="l00381"></a>00381 dGeomID dGeomGetBodyNext (dGeomID);
397<a name="l00382"></a>00382
398<a name="l00383"></a>00383
399<a name="l00384"></a>00384 <span class="preprocessor">#ifdef __cplusplus</span>
400<a name="l00385"></a>00385 <span class="preprocessor"></span>}
401<a name="l00386"></a>00386 <span class="preprocessor">#endif</span>
402<a name="l00387"></a>00387 <span class="preprocessor"></span>
403<a name="l00388"></a>00388 <span class="preprocessor">#endif</span>
404</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
405<a href="http://www.doxygen.org/index.html">
406<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
407</body>
408</html>
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