[216] | 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 | #include <ode/config.h> |
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| 26 | #include <ode/error.h> |
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| 27 | #include <math.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() File %s Line %d", __FUNCTION__, __FILE__,__LINE__); |
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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 | // Macro used to suppress unused variable warning |
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| 96 | #define dVARIABLEUSED(a) ((void)a) |
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| 97 | |
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| 98 | /* floating point data type, vector, matrix and quaternion types */ |
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| 99 | |
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| 100 | #if defined(dSINGLE) |
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| 101 | typedef float dReal; |
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| 102 | #ifdef dDOUBLE |
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| 103 | #error You can only #define dSINGLE or dDOUBLE, not both. |
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| 104 | #endif // dDOUBLE |
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| 105 | #elif defined(dDOUBLE) |
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| 106 | typedef double dReal; |
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| 107 | #else |
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| 108 | #error You must #define dSINGLE or dDOUBLE |
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| 109 | #endif |
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| 110 | |
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| 111 | // Detect if we've got both trimesh engines enabled. |
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| 112 | #if dTRIMESH_ENABLED |
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| 113 | #if dTRIMESH_OPCODE && dTRIMESH_GIMPACT |
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| 114 | #error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both. |
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| 115 | #endif |
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| 116 | #endif // dTRIMESH_ENABLED |
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| 117 | |
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| 118 | /* round an integer up to a multiple of 4, except that 0 and 1 are unmodified |
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| 119 | * (used to compute matrix leading dimensions) |
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| 120 | */ |
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| 121 | #define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a)) |
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| 122 | |
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| 123 | /* these types are mainly just used in headers */ |
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| 124 | typedef dReal dVector3[4]; |
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| 125 | typedef dReal dVector4[4]; |
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| 126 | typedef dReal dMatrix3[4*3]; |
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| 127 | typedef dReal dMatrix4[4*4]; |
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| 128 | typedef dReal dMatrix6[8*6]; |
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| 129 | typedef dReal dQuaternion[4]; |
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| 130 | |
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| 131 | |
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| 132 | /* precision dependent scalar math functions */ |
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| 133 | |
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| 134 | #if defined(dSINGLE) |
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| 135 | |
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| 136 | #define REAL(x) (x ## f) /* form a constant */ |
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| 137 | #define dRecip(x) ((1.0f/(x))) /* reciprocal */ |
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| 138 | #define dSqrt(x) (sqrtf(x)) /* square root */ |
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| 139 | #define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */ |
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| 140 | #define dSin(x) (sinf(x)) /* sine */ |
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| 141 | #define dCos(x) (cosf(x)) /* cosine */ |
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| 142 | #define dFabs(x) (fabsf(x)) /* absolute value */ |
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| 143 | #define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */ |
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| 144 | #define dFMod(a,b) (fmodf(a,b)) /* modulo */ |
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| 145 | #define dFloor(x) floorf(x) /* floor */ |
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| 146 | |
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| 147 | #ifdef HAVE___ISNANF |
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| 148 | #define dIsNan(x) (__isnanf(x)) |
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| 149 | #elif defined(HAVE__ISNANF) |
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| 150 | #define dIsNan(x) (_isnanf(x)) |
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| 151 | #elif defined(HAVE_ISNANF) |
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| 152 | #define dIsNan(x) (isnanf(x)) |
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| 153 | #else |
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| 154 | /* |
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| 155 | fall back to _isnan which is the VC way, |
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| 156 | this may seem redundant since we already checked |
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| 157 | for _isnan before, but if isnan is detected by |
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| 158 | configure but is not found during compilation |
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| 159 | we should always make sure we check for __isnanf, |
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| 160 | _isnanf and isnanf in that order before falling |
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| 161 | back to a default |
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| 162 | */ |
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| 163 | #define dIsNan(x) (_isnan(x)) |
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| 164 | #endif |
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| 165 | |
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| 166 | #define dCopySign(a,b) ((dReal)copysignf(a,b)) |
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| 167 | |
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| 168 | #elif defined(dDOUBLE) |
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| 169 | |
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| 170 | #define REAL(x) (x) |
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| 171 | #define dRecip(x) (1.0/(x)) |
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| 172 | #define dSqrt(x) sqrt(x) |
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| 173 | #define dRecipSqrt(x) (1.0/sqrt(x)) |
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| 174 | #define dSin(x) sin(x) |
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| 175 | #define dCos(x) cos(x) |
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| 176 | #define dFabs(x) fabs(x) |
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| 177 | #define dAtan2(y,x) atan2((y),(x)) |
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| 178 | #define dFMod(a,b) (fmod((a),(b))) |
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| 179 | #define dFloor(x) floor(x) |
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| 180 | |
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| 181 | #ifdef HAVE___ISNAN |
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| 182 | #define dIsNan(x) (__isnan(x)) |
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| 183 | #elif defined(HAVE__ISNAN) |
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| 184 | #define dIsNan(x) (_isnan(x)) |
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| 185 | #elif defined(HAVE_ISNAN) |
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| 186 | #define dIsNan(x) (isnan(x)) |
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| 187 | #else |
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| 188 | #define dIsNan(x) (_isnan(x)) |
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| 189 | #endif |
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| 190 | |
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| 191 | #define dCopySign(a,b) (copysign((a),(b))) |
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| 192 | |
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| 193 | #else |
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| 194 | #error You must #define dSINGLE or dDOUBLE |
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| 195 | #endif |
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| 196 | |
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| 197 | |
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| 198 | /* utility */ |
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| 199 | |
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| 200 | |
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| 201 | /* round something up to be a multiple of the EFFICIENT_ALIGNMENT */ |
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| 202 | |
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| 203 | #define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1) |
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| 204 | |
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| 205 | |
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| 206 | /* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste |
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| 207 | * up to 15 bytes per allocation, depending on what alloca() returns. |
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| 208 | */ |
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| 209 | |
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| 210 | #define dALLOCA16(n) \ |
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| 211 | ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1)))))) |
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| 212 | |
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| 213 | |
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| 214 | // Use the error-checking memory allocation system. Because this system uses heap |
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| 215 | // (malloc) instead of stack (alloca), it is slower. However, it allows you to |
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| 216 | // simulate larger scenes, as well as handle out-of-memory errors in a somewhat |
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| 217 | // graceful manner |
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| 218 | |
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| 219 | // #define dUSE_MALLOC_FOR_ALLOCA |
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| 220 | |
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| 221 | #ifdef dUSE_MALLOC_FOR_ALLOCA |
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| 222 | enum { |
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| 223 | d_MEMORY_OK = 0, /* no memory errors */ |
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| 224 | d_MEMORY_OUT_OF_MEMORY /* malloc failed due to out of memory error */ |
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| 225 | }; |
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| 226 | |
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| 227 | #endif |
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| 228 | |
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| 229 | |
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| 230 | |
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| 231 | /* internal object types (all prefixed with `dx') */ |
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| 232 | |
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| 233 | struct dxWorld; /* dynamics world */ |
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| 234 | struct dxSpace; /* collision space */ |
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| 235 | struct dxBody; /* rigid body (dynamics object) */ |
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| 236 | struct dxGeom; /* geometry (collision object) */ |
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| 237 | struct dxJoint; |
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| 238 | struct dxJointNode; |
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| 239 | struct dxJointGroup; |
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| 240 | |
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| 241 | typedef struct dxWorld *dWorldID; |
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| 242 | typedef struct dxSpace *dSpaceID; |
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| 243 | typedef struct dxBody *dBodyID; |
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| 244 | typedef struct dxGeom *dGeomID; |
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| 245 | typedef struct dxJoint *dJointID; |
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| 246 | typedef struct dxJointGroup *dJointGroupID; |
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| 247 | |
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| 248 | |
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| 249 | /* error numbers */ |
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| 250 | |
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| 251 | enum { |
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| 252 | d_ERR_UNKNOWN = 0, /* unknown error */ |
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| 253 | d_ERR_IASSERT, /* internal assertion failed */ |
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| 254 | d_ERR_UASSERT, /* user assertion failed */ |
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| 255 | d_ERR_LCP /* user assertion failed */ |
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| 256 | }; |
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| 257 | |
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| 258 | |
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| 259 | /* joint type numbers */ |
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| 260 | |
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| 261 | enum { |
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| 262 | dJointTypeNone = 0, /* or "unknown" */ |
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| 263 | dJointTypeBall, |
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| 264 | dJointTypeHinge, |
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| 265 | dJointTypeSlider, |
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| 266 | dJointTypeContact, |
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| 267 | dJointTypeUniversal, |
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| 268 | dJointTypeHinge2, |
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| 269 | dJointTypeFixed, |
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| 270 | dJointTypeNull, |
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| 271 | dJointTypeAMotor, |
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| 272 | dJointTypeLMotor, |
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| 273 | dJointTypePlane2D, |
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| 274 | dJointTypePR |
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| 275 | }; |
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| 276 | |
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| 277 | |
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| 278 | /* an alternative way of setting joint parameters, using joint parameter |
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| 279 | * structures and member constants. we don't actually do this yet. |
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| 280 | */ |
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| 281 | |
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| 282 | /* |
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| 283 | typedef struct dLimot { |
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| 284 | int mode; |
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| 285 | dReal lostop, histop; |
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| 286 | dReal vel, fmax; |
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| 287 | dReal fudge_factor; |
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| 288 | dReal bounce, soft; |
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| 289 | dReal suspension_erp, suspension_cfm; |
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| 290 | } dLimot; |
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| 291 | |
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| 292 | enum { |
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| 293 | dLimotLoStop = 0x0001, |
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| 294 | dLimotHiStop = 0x0002, |
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| 295 | dLimotVel = 0x0004, |
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| 296 | dLimotFMax = 0x0008, |
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| 297 | dLimotFudgeFactor = 0x0010, |
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| 298 | dLimotBounce = 0x0020, |
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| 299 | dLimotSoft = 0x0040 |
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| 300 | }; |
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| 301 | */ |
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| 302 | |
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| 303 | |
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| 304 | /* standard joint parameter names. why are these here? - because we don't want |
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| 305 | * to include all the joint function definitions in joint.cpp. hmmmm. |
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| 306 | * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument, |
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| 307 | * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and |
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| 308 | * paste between these two. |
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| 309 | */ |
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| 310 | |
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| 311 | #define D_ALL_PARAM_NAMES(start) \ |
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| 312 | /* parameters for limits and motors */ \ |
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| 313 | dParamLoStop = start, \ |
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| 314 | dParamHiStop, \ |
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| 315 | dParamVel, \ |
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| 316 | dParamFMax, \ |
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| 317 | dParamFudgeFactor, \ |
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| 318 | dParamBounce, \ |
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| 319 | dParamCFM, \ |
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| 320 | dParamStopERP, \ |
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| 321 | dParamStopCFM, \ |
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| 322 | /* parameters for suspension */ \ |
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| 323 | dParamSuspensionERP, \ |
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| 324 | dParamSuspensionCFM, \ |
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| 325 | dParamERP, \ |
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| 326 | |
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| 327 | #define D_ALL_PARAM_NAMES_X(start,x) \ |
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| 328 | /* parameters for limits and motors */ \ |
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| 329 | dParamLoStop ## x = start, \ |
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| 330 | dParamHiStop ## x, \ |
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| 331 | dParamVel ## x, \ |
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| 332 | dParamFMax ## x, \ |
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| 333 | dParamFudgeFactor ## x, \ |
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| 334 | dParamBounce ## x, \ |
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| 335 | dParamCFM ## x, \ |
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| 336 | dParamStopERP ## x, \ |
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| 337 | dParamStopCFM ## x, \ |
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| 338 | /* parameters for suspension */ \ |
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| 339 | dParamSuspensionERP ## x, \ |
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| 340 | dParamSuspensionCFM ## x, \ |
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| 341 | dParamERP ## x, |
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| 342 | |
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| 343 | enum { |
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| 344 | D_ALL_PARAM_NAMES(0) |
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| 345 | D_ALL_PARAM_NAMES_X(0x100,2) |
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| 346 | D_ALL_PARAM_NAMES_X(0x200,3) |
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| 347 | |
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| 348 | /* add a multiple of this constant to the basic parameter numbers to get |
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| 349 | * the parameters for the second, third etc axes. |
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| 350 | */ |
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| 351 | dParamGroup=0x100 |
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| 352 | }; |
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| 353 | |
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| 354 | |
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| 355 | /* angular motor mode numbers */ |
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| 356 | |
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| 357 | enum{ |
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| 358 | dAMotorUser = 0, |
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| 359 | dAMotorEuler = 1 |
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| 360 | }; |
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| 361 | |
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| 362 | |
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| 363 | /* joint force feedback information */ |
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| 364 | |
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| 365 | typedef struct dJointFeedback { |
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| 366 | dVector3 f1; /* force applied to body 1 */ |
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| 367 | dVector3 t1; /* torque applied to body 1 */ |
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| 368 | dVector3 f2; /* force applied to body 2 */ |
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| 369 | dVector3 t2; /* torque applied to body 2 */ |
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| 370 | } dJointFeedback; |
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| 371 | |
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| 372 | |
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| 373 | /* private functions that must be implemented by the collision library: |
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| 374 | * (1) indicate that a geom has moved, (2) get the next geom in a body list. |
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| 375 | * these functions are called whenever the position of geoms connected to a |
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| 376 | * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or |
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| 377 | * when the ODE step function updates the body state. |
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| 378 | */ |
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| 379 | |
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| 380 | void dGeomMoved (dGeomID); |
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| 381 | dGeomID dGeomGetBodyNext (dGeomID); |
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| 382 | |
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| 383 | |
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| 384 | #ifdef __cplusplus |
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| 385 | } |
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| 386 | #endif |
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| 387 | |
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| 388 | #endif |
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