diff --git a/build/genie.lua b/build/genie.lua index ae94e77..509ffe9 100644 --- a/build/genie.lua +++ b/build/genie.lua @@ -103,24 +103,22 @@ solution "Symmetry" configuration "linux" includedirs {"../include/linux/sdl2/", "../include/common/soloud/", "../include/linux/"} - libdirs {"../lib/linux/sdl2/", "../lib/linux/soloud/", "../lib/linux/ode/"} + libdirs {"../lib/linux/sdl2/", "../lib/linux/soloud/"} linkoptions {"'-Wl,-rpath,$$ORIGIN'"} - links {"SDL2", "m", "ode", "pthread"} + links {"SDL2", "m", "pthread"} configuration "macosx" includedirs {"../include/mac/sdl2/", "../include/common/soloud/", "../include/mac/"} - libdirs {"../lib/mac/sdl2/", "../lib/mac/soloud/", "../lib/mac/ode/"} - links {"SDL2", "m", "ode", "pthread", "soloud"} + libdirs {"../lib/mac/sdl2/", "../lib/mac/soloud/"} + links {"SDL2", "m", "pthread", "soloud"} configuration {"macosx", "Debug"} postbuildcommands { 'cp ../../lib/mac/sdl2/libSDL2-2.0.0.dylib debug/', 'cp ../../lib/mac/soloud/libsoloud.dylib debug/', - 'cp ../../lib/mac/ode/libode.0.16.0.dylib debug/', 'install_name_tool -add_rpath @executable_path/. debug/Symmetry', 'install_name_tool -change "/usr/local/opt/sdl2/lib/libSDL2-2.0.0.dylib" "@rpath/libSDL2-2.0.0.dylib" debug/Symmetry', - 'install_name_tool -change "/Users/shariqshah/Dev/ode/build_cmake/libode.0.16.0.dylib" "@rpath/libode.0.16.0.dylib" debug/Symmetry', 'install_name_tool -change "/usr/local/lib/libsoloud.dylib" "@rpath/libsoloud.dylib" debug/Symmetry', } @@ -129,17 +127,15 @@ solution "Symmetry" { 'cp ../../lib/mac/sdl2/libSDL2-2.0.0.dylib release/', 'cp ../../lib/mac/soloud/libsoloud.dylib release/', - 'cp ../../lib/mac/ode/libode.0.16.0.dylib release/', 'install_name_tool -add_rpath @executable_path/. release/Symmetry', 'install_name_tool -change "/usr/local/opt/sdl2/lib/libSDL2-2.0.0.dylib" "@rpath/libSDL2-2.0.0.dylib" release/Symmetry', - 'install_name_tool -change "/Users/shariqshah/Dev/ode/build_cmake/libode.0.16.0.dylib" "@rpath/libode.0.16.0.dylib" release/Symmetry', 'install_name_tool -change "/usr/local/lib/libsoloud.dylib" "@rpath/libsoloud.dylib" release/Symmetry', 'cp version.txt release/' } configuration {"windows", "vs2019"} includedirs {"../include/windows/sdl2/", "../include/common/soloud/", "../include/windows/"} - libdirs {"../lib/windows/sdl2/", "../lib/windows/soloud/", "../lib/windows/ode/"} + libdirs {"../lib/windows/sdl2/", "../lib/windows/soloud/"} configuration {"not macosx", "Debug"} links {"soloud_x64_d"} @@ -155,29 +151,25 @@ solution "Symmetry" { "copy ..\\..\\lib\\windows\\sdl2\\SDL2.dll release\\ /Y", "copy ..\\..\\lib\\windows\\soloud\\soloud_x64.dll release\\ /Y", - "copy ..\\..\\lib\\windows\\ode\\ode_double.dll release\\ /Y", "xcopy ..\\..\\assets ..\\..\\bin\\assets /s /e /h /i /y /d", "copy release\\Symmetry.exe ..\\..\\bin\\ /Y", "copy release\\SDL2.dll ..\\..\\bin\\ /Y", "copy release\\soloud_x64.dll ..\\..\\bin\\ /Y", - "copy release\\ode_double.dll ..\\..\\bin\\ /Y", "copy version.txt ..\\..\\bin\\ /Y", "rmdir release\\assets", "mklink /D release\\assets ..\\..\\..\\assets" } - links {"ode_double", "SDL2"} + links {"SDL2"} configuration {"windows", "Debug", "vs2019"} postbuildcommands { "copy ..\\..\\lib\\windows\\sdl2\\SDL2.dll debug\\ /Y", "copy ..\\..\\lib\\windows\\soloud\\soloud_x64_d.dll debug\\ /Y", - "copy ..\\..\\lib\\windows\\ode\\ode_doubled.dll debug\\ /Y", - "copy ..\\..\\lib\\windows\\ode\\ode_doubled.pdb debug\\ /Y", "rmdir debug\\assets", "mklink /D debug\\assets ..\\..\\..\\assets" } - links {"ode_doubled", "SDL2"} + links {"SDL2"} configuration {"not windows"} postbuildcommands {"ln -fs " .. os.getcwd() .. "/../assets " .. os.getcwd() .. "/" .. _ACTION .. "/debug"} diff --git a/include/linux/ode/collision.h b/include/linux/ode/collision.h deleted file mode 100755 index fc17454..0000000 --- a/include/linux/ode/collision.h +++ /dev/null @@ -1,1526 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_H_ -#define _ODE_COLLISION_H_ - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup collide Collision Detection - * - * ODE has two main components: a dynamics simulation engine and a collision - * detection engine. The collision engine is given information about the - * shape of each body. At each time step it figures out which bodies touch - * each other and passes the resulting contact point information to the user. - * The user in turn creates contact joints between bodies. - * - * Using ODE's collision detection is optional - an alternative collision - * detection system can be used as long as it can supply the right kinds of - * contact information. - */ - - -/* ************************************************************************ */ -/* general functions */ - -/** - * @brief Destroy a geom, removing it from any space. - * - * Destroy a geom, removing it from any space it is in first. This one - * function destroys a geom of any type, but to create a geom you must call - * a creation function for that type. - * - * When a space is destroyed, if its cleanup mode is 1 (the default) then all - * the geoms in that space are automatically destroyed as well. - * - * @param geom the geom to be destroyed. - * @ingroup collide - */ -ODE_API void dGeomDestroy (dGeomID geom); - - -/** - * @brief Set the user-defined data pointer stored in the geom. - * - * @param geom the geom to hold the data - * @param data the data pointer to be stored - * @ingroup collide - */ -ODE_API void dGeomSetData (dGeomID geom, void* data); - - -/** - * @brief Get the user-defined data pointer stored in the geom. - * - * @param geom the geom containing the data - * @ingroup collide - */ -ODE_API void *dGeomGetData (dGeomID geom); - - -/** - * @brief Set the body associated with a placeable geom. - * - * Setting a body on a geom automatically combines the position vector and - * rotation matrix of the body and geom, so that setting the position or - * orientation of one will set the value for both objects. Setting a body - * ID of zero gives the geom its own position and rotation, independent - * from any body. If the geom was previously connected to a body then its - * new independent position/rotation is set to the current position/rotation - * of the body. - * - * Calling these functions on a non-placeable geom results in a runtime - * error in the debug build of ODE. - * - * @param geom the geom to connect - * @param body the body to attach to the geom - * @ingroup collide - */ -ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); - - -/** - * @brief Get the body associated with a placeable geom. - * @param geom the geom to query. - * @sa dGeomSetBody - * @ingroup collide - */ -ODE_API dBodyID dGeomGetBody (dGeomID geom); - - -/** - * @brief Set the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @sa dBodySetPosition - * @ingroup collide - */ -ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @sa dBodySetRotation - * @ingroup collide - */ -ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the rotation of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @sa dBodySetQuaternion - * @ingroup collide - */ -ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Get the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's position vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetPosition - * @ingroup collide - */ -ODE_API const dReal * dGeomGetPosition (dGeomID geom); - - -/** - * @brief Copy the position of a geom into a vector. - * @ingroup collide - * @param geom the geom to query - * @param pos a copy of the geom position - * @sa dGeomGetPosition - */ -ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetRotation - * @ingroup collide - */ -ODE_API const dReal * dGeomGetRotation (dGeomID geom); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param R a copy of the geom rotation - * @sa dGeomGetRotation - * @ingroup collide - */ -ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the rotation quaternion of a placeable geom. - * - * If the geom is attached to a body, the body's quaternion will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @sa dBodyGetQuaternion - * @ingroup collide - */ -ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); - - -/** - * @brief Return the axis-aligned bounding box. - * - * Return in aabb an axis aligned bounding box that surrounds the given geom. - * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the - * geom is a space, a bounding box that surrounds all contained geoms is - * returned. - * - * This function may return a pre-computed cached bounding box, if it can - * determine that the geom has not moved since the last time the bounding - * box was computed. - * - * @param geom the geom to query - * @param aabb the returned bounding box - * @ingroup collide - */ -ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); - - -/** - * @brief Determing if a geom is a space. - * @param geom the geom to query - * @returns Non-zero if the geom is a space, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsSpace (dGeomID geom); - - -/** - * @brief Query for the space containing a particular geom. - * @param geom the geom to query - * @returns The space that contains the geom, or NULL if the geom is - * not contained by a space. - * @ingroup collide - */ -ODE_API dSpaceID dGeomGetSpace (dGeomID); - - -/** - * @brief Given a geom, this returns its class. - * - * The ODE classes are: - * @li dSphereClass - * @li dBoxClass - * @li dCylinderClass - * @li dPlaneClass - * @li dRayClass - * @li dConvexClass - * @li dGeomTransformClass - * @li dTriMeshClass - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * User-defined class will return their own number. - * - * @param geom the geom to query - * @returns The geom class ID. - * @ingroup collide - */ -ODE_API int dGeomGetClass (dGeomID geom); - - -/** - * @brief Set the "category" bitfield for the given geom. - * - * The category bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Set the "collide" bitfield for the given geom. - * - * The collide bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Get the "category" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCategoryBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCategoryBits (dGeomID); - - -/** - * @brief Get the "collide" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCollideBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCollideBits (dGeomID); - - -/** - * @brief Enable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to enable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomEnable (dGeomID geom); - - -/** - * @brief Disable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to disable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomDisable (dGeomID geom); - - -/** - * @brief Check to see if a geom is enabled. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to query - * @returns Non-zero if the geom is enabled, zero otherwise. - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API int dGeomIsEnabled (dGeomID geom); - - -enum -{ - dGeomCommonControlClass = 0, - dGeomColliderControlClass = 1 -}; - -enum -{ - dGeomCommonAnyControlCode = 0, - - dGeomColliderSetMergeSphereContactsControlCode = 1, - dGeomColliderGetMergeSphereContactsControlCode = 2 -}; - -enum -{ - dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/ - dGeomColliderMergeContactsValue_None = 1, - dGeomColliderMergeContactsValue_Normals = 2, - dGeomColliderMergeContactsValue_Full = 3 -}; - -/** - * @brief Execute low level control operation for geometry. - * - * The variable the dataSize points to must be initialized before the call. - * If the size does not match the one expected for the control class/code function - * changes it to the size expected and returns failure. This implies the function - * can be called with NULL data and zero size to test if control class/code is supported - * and obtain required data size for it. - * - * dGeomCommonAnyControlCode applies to any control class and returns success if - * at least one control code is available for the given class with given geom. - * - * Currently there are the folliwing control classes supported: - * @li dGeomColliderControlClass - * - * For dGeomColliderControlClass there are the following codes available: - * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) - * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) - * - * @param geom the geom to control - * @param controlClass the control class - * @param controlCode the control code for the class - * @param dataValue the control argument pointer - * @param dataSize the control argument size provided or expected - * @returns Boolean execution status - * @ingroup collide - */ -ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize); - - -/** - * @brief Get world position of a relative point on geom. - * - * Calling this function on a non-placeable geom results in the same point being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomGetRelPointPos -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in geom-relative coordinates. - * - * Calling this function on a non-placeable geom results in the same point being - * returned. - * - * @remarks - * This is the inverse of dGeomGetRelPointPos() - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomGetPosRelPoint -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from geom-local to world coordinates. - * - * Calling this function on a non-placeable geom results in the same vector being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomVectorToWorld -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to geom-local coordinates. - * - * Calling this function on a non-placeable geom results in the same vector being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomVectorFromWorld -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - - -/* ************************************************************************ */ -/* geom offset from body */ - -/** - * @brief Set the local offset position of a geom from its body. - * - * Sets the geom's positional offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the local offset rotation matrix of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the local offset rotation of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Set the offset position of a geom from its body. - * - * Sets the geom's positional offset to move it to the new world - * coordinates. - * After this call, the geom will be at the world position passed in, - * and the offset will be the difference from the current body position. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); - - -/** - * @brief Clear any offset from the geom. - * - * If the geom has an offset, it is eliminated and the geom is - * repositioned at the body's position. If the geom has no offset, - * this function does nothing. - * This is more efficient than calling dGeomSetOffsetPosition(zero) - * and dGeomSetOffsetRotation(identiy), because this function actually - * eliminates the offset, rather than leaving it as the identity transform. - * - * @param geom the geom to have its offset destroyed. - * @ingroup collide - */ -ODE_API void dGeomClearOffset(dGeomID geom); - - -/** - * @brief Check to see whether the geom has an offset. - * - * This function will return non-zero if the offset has been created. - * Note that there is a difference between a geom with no offset, - * and a geom with an offset that is the identity transform. - * In the latter case, although the observed behaviour is identical, - * there is a unnecessary computation involved because the geom will - * be applying the transform whenever it needs to recalculate its world - * position. - * - * @param geom the geom to query. - * @returns Non-zero if the geom has an offset, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsOffset(dGeomID geom); - - -/** - * @brief Get the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); - - -/** - * @brief Copy the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @param pos returns the offset position - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); - - -/** - * @brief Copy the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @param R returns the rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the offset rotation quaternion of a geom. - * - * Returns the rotation offset of the geom as a quaternion. - * If the geom has no offset, the identity quaternion is returned. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @ingroup collide - */ -ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); - - -/* ************************************************************************ */ -/* collision detection */ - -/* - * Just generate any contacts (disables any contact refining). - */ -#define CONTACTS_UNIMPORTANT 0x80000000 - -/** - * - * @brief Given two geoms o1 and o2 that potentially intersect, - * generate contact information for them. - * - * Internally, this just calls the correct class-specific collision - * functions for o1 and o2. - * - * @param o1 The first geom to test. - * @param o2 The second geom to test. - * - * @param flags The flags specify how contacts should be generated if - * the geoms touch. The lower 16 bits of flags is an integer that - * specifies the maximum number of contact points to generate. You must - * ask for at least one contact. - * Additionally, following bits may be set: - * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). - * All other bits in flags must be set to zero. In the future the other bits - * may be used to select from different contact generation strategies. - * - * @param contact Points to an array of dContactGeom structures. The array - * must be able to hold at least the maximum number of contacts. These - * dContactGeom structures may be embedded within larger structures in the - * array -- the skip parameter is the byte offset from one dContactGeom to - * the next in the array. If skip is sizeof(dContactGeom) then contact - * points to a normal (C-style) array. It is an error for skip to be smaller - * than sizeof(dContactGeom). - * - * @returns If the geoms intersect, this function returns the number of contact - * points generated (and updates the contact array), otherwise it returns 0 - * (and the contact array is not touched). - * - * @remarks If a space is passed as o1 or o2 then this function will collide - * all objects contained in o1 with all objects contained in o2, and return - * the resulting contact points. This method for colliding spaces with geoms - * (or spaces with spaces) provides no user control over the individual - * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. - * - * @remarks If o1 and o2 are the same geom then this function will do nothing - * and return 0. Technically speaking an object intersects with itself, but it - * is not useful to find contact points in this case. - * - * @remarks This function does not care if o1 and o2 are in the same space or not - * (or indeed if they are in any space at all). - * - * @ingroup collide - */ -ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, - int skip); - -/** - * @brief Determines which pairs of geoms in a space may potentially intersect, - * and calls the callback function for each candidate pair. - * - * @param space The space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide2 - * @ingroup collide - */ -ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); - - -/** - * @brief Determines which geoms from one space may potentially intersect with - * geoms from another space, and calls the callback function for each candidate - * pair. - * - * @param space1 The first space to test. - * - * @param space2 The second space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks This function can also test a single non-space geom against a - * space. This function is useful when there is a collision hierarchy, i.e. - * when there are spaces that contain other spaces. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks Sublevel value of space affects how the spaces are iterated. - * Both spaces are recursed only if their sublevels match. Otherwise, only - * the space with greater sublevel is recursed and the one with lesser sublevel - * is used as a geom itself. - * - * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide - * @sa dSpaceSetSublevel - * @ingroup collide - */ -ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); - - -/* ************************************************************************ */ -/* standard classes */ - -/* the maximum number of user classes that are supported */ -enum { - dMaxUserClasses = 4 -}; - -/* class numbers - each geometry object needs a unique number */ -enum { - dSphereClass = 0, - dBoxClass, - dCapsuleClass, - dCylinderClass, - dPlaneClass, - dRayClass, - dConvexClass, - dGeomTransformClass, - dTriMeshClass, - dHeightfieldClass, - - dFirstSpaceClass, - dSimpleSpaceClass = dFirstSpaceClass, - dHashSpaceClass, - dSweepAndPruneSpaceClass, /* SAP */ - dQuadTreeSpaceClass, - dLastSpaceClass = dQuadTreeSpaceClass, - - dFirstUserClass, - dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, - dGeomNumClasses -}; - - -/** - * @defgroup collide_sphere Sphere Class - * @ingroup collide - */ - -/** - * @brief Create a sphere geom of the given radius, and return its ID. - * - * @param space a space to contain the new geom. May be null. - * @param radius the radius of the sphere. - * - * @returns A new sphere geom. - * - * @remarks The point of reference for a sphere is its center. - * - * @sa dGeomDestroy - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); - - -/** - * @brief Set the radius of a sphere geom. - * - * @param sphere the sphere to set. - * @param radius the new radius. - * - * @sa dGeomSphereGetRadius - * @ingroup collide_sphere - */ -ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); - - -/** - * @brief Retrieves the radius of a sphere geom. - * - * @param sphere the sphere to query. - * - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); - - -/** - * @brief Calculate the depth of the a given point within a sphere. - * - * @param sphere the sphere to query. - * @param x the X coordinate of the point. - * @param y the Y coordinate of the point. - * @param z the Z coordinate of the point. - * - * @returns The depth of the point. Points inside the sphere will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - * - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); - - -/*--> Convex Functions*/ -ODE_API dGeomID dCreateConvex (dSpaceID space, - const dReal *_planes, - unsigned int _planecount, - const dReal *_points, - unsigned int _pointcount, - const unsigned int *_polygons); - -ODE_API void dGeomSetConvex (dGeomID g, - const dReal *_planes, - unsigned int _count, - const dReal *_points, - unsigned int _pointcount, - const unsigned int *_polygons); -/*<-- Convex Functions*/ - -/** - * @defgroup collide_box Box Class - * @ingroup collide - */ - -/** - * @brief Create a box geom with the provided side lengths. - * - * @param space a space to contain the new geom. May be null. - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @returns A new box geom. - * - * @remarks The point of reference for a box is its center. - * - * @sa dGeomDestroy - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Set the side lengths of the given box. - * - * @param box the box to set - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @sa dGeomBoxGetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Get the side lengths of a box. - * - * @param box the box to query - * @param result the returned side lengths - * - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); - - -/** - * @brief Return the depth of a point in a box. - * - * @param box the box to query - * @param x the X coordinate of the point to test. - * @param y the Y coordinate of the point to test. - * @param z the Z coordinate of the point to test. - * - * @returns The depth of the point. Points inside the box will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - */ -ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); - - -ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); -ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); - -ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); -ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); -ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); - -/* For now we want to have a backwards compatible C-API, note: C++ API is not.*/ -#define dCreateCCylinder dCreateCapsule -#define dGeomCCylinderSetParams dGeomCapsuleSetParams -#define dGeomCCylinderGetParams dGeomCapsuleGetParams -#define dGeomCCylinderPointDepth dGeomCapsulePointDepth -#define dCCylinderClass dCapsuleClass - -ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); -ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); - -ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); -ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); -ODE_API dReal dGeomRayGetLength (dGeomID ray); -ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, - dReal dx, dReal dy, dReal dz); -ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir); - -/* - * Set/get ray flags that influence ray collision detection. - * These flags are currently only noticed by the trimesh collider, because - * they can make a major differences there. - */ -ODE_API_DEPRECATED ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); -ODE_API_DEPRECATED ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); -ODE_API void dGeomRaySetFirstContact (dGeomID g, int firstContact); -ODE_API int dGeomRayGetFirstContact (dGeomID g); -ODE_API void dGeomRaySetBackfaceCull (dGeomID g, int backfaceCull); -ODE_API int dGeomRayGetBackfaceCull (dGeomID g); -ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); -ODE_API int dGeomRayGetClosestHit (dGeomID g); - -#include "collision_trimesh.h" - -ODE_API_DEPRECATED ODE_API dGeomID dCreateGeomTransform (dSpaceID space); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); -ODE_API_DEPRECATED ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); -ODE_API_DEPRECATED ODE_API int dGeomTransformGetCleanup (dGeomID g); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); -ODE_API_DEPRECATED ODE_API int dGeomTransformGetInfo (dGeomID g); - - -/* ************************************************************************ */ -/* heightfield functions */ - - -/* Data storage for heightfield data.*/ -struct dxHeightfieldData; -typedef struct dxHeightfieldData* dHeightfieldDataID; - - -/** - * @brief Callback prototype - * - * Used by the callback heightfield data type to sample a height for a - * given cell position. - * - * @param p_user_data User data specified when creating the dHeightfieldDataID - * @param x The index of a sample in the local x axis. It is a value - * in the range zero to ( nWidthSamples - 1 ). - * @param x The index of a sample in the local z axis. It is a value - * in the range zero to ( nDepthSamples - 1 ). - * - * @return The sample height which is then scaled and offset using the - * values specified when the heightfield data was created. - * - * @ingroup collide - */ -typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); - - - -/** - * @brief Creates a heightfield geom. - * - * Uses the information in the given dHeightfieldDataID to construct - * a geom representing a heightfield in a collision space. - * - * @param space The space to add the geom to. - * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and - * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, - * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. - * @param bPlaceable If non-zero this geom can be transformed in the world using the - * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is - * not set as placeable, then it uses a fixed orientation where the global y axis - * represents the dynamic 'height' of the heightfield. - * - * @return A geom id to reference this geom in other calls. - * - * @ingroup collide - */ -ODE_API dGeomID dCreateHeightfield( dSpaceID space, - dHeightfieldDataID data, int bPlaceable ); - - -/** - * @brief Creates a new empty dHeightfieldDataID. - * - * Allocates a new dHeightfieldDataID and returns it. You must call - * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. - * The dHeightfieldDataID value is used when specifying a data format type. - * - * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, - * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or - * dGeomHeightfieldDataBuildFloat. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void); - - -/** - * @brief Destroys a dHeightfieldDataID. - * - * Deallocates a given dHeightfieldDataID and all managed resources. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); - - - -/** - * @brief Configures a dHeightfieldDataID to use a callback to - * retrieve height data. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is computed by - * the user and it should use the given callback when determining - * the height of a given element of it's shape. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, - void* pUserData, dHeightfieldGetHeight* pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in byte format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of bytes (8 bit unsigned) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, - const unsigned char* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in short format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of shorts (16 bit signed) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, - const short* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * single precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of single precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, - const float* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * double precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of double precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, - const double* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Manually set the minimum and maximum height bounds. - * - * This call allows you to set explicit min / max values after initial - * creation typically for callback heightfields which default to +/- infinity, - * or those whose data has changed. This must be set prior to binding with a - * geom, as the the AABB is not recomputed after it's first generation. - * - * @remarks The minimum and maximum values are used to compute the AABB - * for the heightfield which is used for early rejection of collisions. - * A close fit will yield a more efficient collision check. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @param min_height The new minimum height value. Scale, offset and thickness is then applied. - * @param max_height The new maximum height value. Scale and offset is then applied. - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, - dReal minHeight, dReal maxHeight ); - - -/** - * @brief Assigns a dHeightfieldDataID to a heightfield geom. - * - * Associates the given dHeightfieldDataID with a heightfield geom. - * This is done without affecting the GEOM_PLACEABLE flag. - * - * @param g A geom created by dCreateHeightfield - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); - - -/** - * @brief Gets the dHeightfieldDataID bound to a heightfield geom. - * - * Returns the dHeightfieldDataID associated with a heightfield geom. - * - * @param g A geom created by dCreateHeightfield - * @return The dHeightfieldDataID which may be NULL if none was assigned. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); - - - -/* ************************************************************************ */ -/* utility functions */ - -ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, - const dVector3 b1, const dVector3 b2, - dVector3 cp1, dVector3 cp2); - -ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 _p2, - const dMatrix3 R2, const dVector3 side2); - -/* The meaning of flags parameter is the same as in dCollide()*/ -ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *return_code, - int flags, dContactGeom *contact, int skip); - -ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); - - -/* ************************************************************************ */ -/* custom classes */ - -typedef void dGetAABBFn (dGeomID, dReal aabb[6]); -typedef int dColliderFn (dGeomID o1, dGeomID o2, - int flags, dContactGeom *contact, int skip); -typedef dColliderFn * dGetColliderFnFn (int num); -typedef void dGeomDtorFn (dGeomID o); -typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]); - -typedef struct dGeomClass { - int bytes; - dGetColliderFnFn *collider; - dGetAABBFn *aabb; - dAABBTestFn *aabb_test; - dGeomDtorFn *dtor; -} dGeomClass; - -ODE_API int dCreateGeomClass (const dGeomClass *classptr); -ODE_API void * dGeomGetClassData (dGeomID); -ODE_API dGeomID dCreateGeom (int classnum); - -/** - * @brief Sets a custom collider function for two geom classes. - * - * @param i The first geom class handled by this collider - * @param j The second geom class handled by this collider - * @param fn The collider function to use to determine collisions. - * @ingroup collide - */ -ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn); - - -/* ************************************************************************ */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/collision_space.h b/include/linux/ode/collision_space.h deleted file mode 100755 index 3d9feb7..0000000 --- a/include/linux/ode/collision_space.h +++ /dev/null @@ -1,182 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_SPACE_H_ -#define _ODE_COLLISION_SPACE_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -struct dContactGeom; - -/** - * @brief User callback for geom-geom collision testing. - * - * @param data The user data object, as passed to dSpaceCollide. - * @param o1 The first geom being tested. - * @param o2 The second geom being test. - * - * @remarks The callback function can call dCollide on o1 and o2 to generate - * contact points between each pair. Then these contact points may be added - * to the simulation as contact joints. The user's callback function can of - * course chose not to call dCollide for any pair, e.g. if the user decides - * that those pairs should not interact. - * - * @ingroup collide - */ -typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); - - -ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); -ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); -ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); - - -/* SAP */ -/* Order XZY or ZXY usually works best, if your Y is up. */ -#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) -#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) -#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) -#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) -#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) -#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) - -ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder ); - - - -ODE_API void dSpaceDestroy (dSpaceID); - -ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); -ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); - -ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); -ODE_API int dSpaceGetCleanup (dSpaceID space); - -/** -* @brief Sets sublevel value for a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. If sublevels of both spaces match, the function iterates -* geometries of both spaces and collides them with each other. If sublevel of one -* space is greater than the sublevel of another one, only the geometries of the -* space with greater sublevel are iterated, another space is passed into -* collision callback as a geometry itself. By default all the spaces are assigned -* zero sublevel. -* -* @note -* The space sublevel @e IS @e NOT automatically updated when one space is inserted -* into another or removed from one. It is a client's responsibility to update sublevel -* value if necessary. -* -* @param space the space to modify -* @param sublevel the sublevel value to be assigned -* @ingroup collide -* @see dSpaceGetSublevel -* @see dSpaceCollide2 -*/ -ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel); - -/** -* @brief Gets sublevel value of a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. See @c dSpaceSetSublevel for more details. -* -* @param space the space to query -* @returns the sublevel value of the space -* @ingroup collide -* @see dSpaceSetSublevel -* @see dSpaceCollide2 -*/ -ODE_API int dSpaceGetSublevel (dSpaceID space); - - -/** -* @brief Sets manual cleanup flag for a space. -* -* Manual cleanup flag marks a space as eligible for manual thread data cleanup. -* This function should be called for every space object right after creation in -* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag. -* -* Failure to set manual cleanup flag for a space may lead to some resources -* remaining leaked until the program exit. -* -* @param space the space to modify -* @param mode 1 for manual cleanup mode and 0 for default cleanup mode -* @ingroup collide -* @see dSpaceGetManualCleanup -* @see dInitODE2 -*/ -ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode); - -/** -* @brief Get manual cleanup flag of a space. -* -* Manual cleanup flag marks a space space as eligible for manual thread data cleanup. -* See @c dSpaceSetManualCleanup for more details. -* -* @param space the space to query -* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space -* @ingroup collide -* @see dSpaceSetManualCleanup -* @see dInitODE2 -*/ -ODE_API int dSpaceGetManualCleanup (dSpaceID space); - -ODE_API void dSpaceAdd (dSpaceID, dGeomID); -ODE_API void dSpaceRemove (dSpaceID, dGeomID); -ODE_API int dSpaceQuery (dSpaceID, dGeomID); -ODE_API void dSpaceClean (dSpaceID); -ODE_API int dSpaceGetNumGeoms (dSpaceID); -ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); - -/** - * @brief Given a space, this returns its class. - * - * The ODE classes are: - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dSweepAndPruneSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * The class id not defined by the user should be between - * dFirstSpaceClass and dLastSpaceClass. - * - * User-defined class will return their own number. - * - * @param space the space to query - * @returns The space class ID. - * @ingroup collide - */ -ODE_API int dSpaceGetClass(dSpaceID space); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/collision_trimesh.h b/include/linux/ode/collision_trimesh.h deleted file mode 100755 index 3668721..0000000 --- a/include/linux/ode/collision_trimesh.h +++ /dev/null @@ -1,316 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * TriMesh code by Erwin de Vries. - * - * Trimesh data. - * This is where the actual vertexdata (pointers), and BV tree is stored. - * Vertices should be single precision! - * This should be more sophisticated, so that the user can easyly implement - * another collision library, but this is a lot of work, and also costs some - * performance because some data has to be copied. - */ - -#ifndef _ODE_COLLISION_TRIMESH_H_ -#define _ODE_COLLISION_TRIMESH_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * Data storage for triangle meshes. - */ -struct dxTriMeshData; -typedef struct dxTriMeshData* dTriMeshDataID; - - -typedef enum -{ - dMTV__MIN, - - dMTV_FIRST = dMTV__MIN, - dMTV_SECOND, - dMTV_THIRD, - - dMTV__MAX, - -} dMeshTriangleVertex; - -/* - * These don't make much sense now, but they will later when we add more - * features. - */ -ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); -ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); - - -/* - * The values of data_id that can be used with dGeomTriMeshDataSet/dGeomTriMeshDataGet - */ -enum -{ - dTRIMESHDATA__MIN, - - dTRIMESHDATA_FACE_NORMALS = dTRIMESHDATA__MIN, - dTRIMESHDATA_USE_FLAGS, - - dTRIMESHDATA__MAX, - -#ifndef TRIMESH_FACE_NORMALS // Define this name during the header inclusion if you need it for something else - // Included for backward compatibility -- please use the corrected name above. Sorry. - TRIMESH_FACE_NORMALS = dTRIMESHDATA_FACE_NORMALS, -#endif -}; - -/* - * The flags of the dTRIMESHDATA_USE_FLAGS data elements - */ -enum -{ - dMESHDATAUSE_EDGE1 = 0x01, - dMESHDATAUSE_EDGE2 = 0x02, - dMESHDATAUSE_EDGE3 = 0x04, - dMESHDATAUSE_VERTEX1 = 0x08, - dMESHDATAUSE_VERTEX2 = 0x10, - dMESHDATAUSE_VERTEX3 = 0x20, -}; - -/* - * Set and get the TriMeshData additional data - * Note: The data is NOT COPIED on assignment - */ -ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void *in_data); -ODE_API void *dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); -ODE_API void *dGeomTriMeshDataGet2(dTriMeshDataID g, int data_id, dsizeint *pout_size/*=NULL*/); - - - -/** - * We need to set the last transform after each time step for - * accurate collision response. These functions get and set that transform. - * It is stored per geom instance, rather than per dTriMeshDataID. - */ -ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, const dMatrix4 last_trans ); -ODE_API const dReal* dGeomTriMeshGetLastTransform( dGeomID g ); - -/* - * Build a TriMesh data object with single precision vertex data. - */ -ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); -/* -* Build a TriMesh data object with double precision vertex data. -*/ -ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); - -/* - * Simple build. Single/double precision based on dSINGLE/dDOUBLE! - */ -ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount, - const int* Normals); - - -/* - * Data preprocessing build request flags. - */ -enum -{ - dTRIDATAPREPROCESS_BUILD__MIN, - - dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES = dTRIDATAPREPROCESS_BUILD__MIN, // Used to optimize OPCODE trimesh-capsule collisions; allocates 1 byte per triangle; no extra data associated - dTRIDATAPREPROCESS_BUILD_FACE_ANGLES, // Used to aid trimesh-convex collisions; memory requirements depend on extra data - - dTRIDATAPREPROCESS_BUILD__MAX, -}; - -/* - * Data preprocessing extra values for dTRIDATAPREPROCESS_BUILD_FACE_ANGLES. - */ -enum -{ - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, // Build angles for convex edges only and store as bytes; allocates 3 bytes per triangle; stores angles (0..180] in 1/254 fractions leaving two values for the flat and all the concaves - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL, // Build angles for all the edges and store in bytes; allocates 3 bytes per triangle; stores angles [-180..0) and (0..180] in 1/127 fractions plus a value for the flat angle - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL, // Build angles for all the edges and store in words; allocates 6 bytes per triangle; stores angles [-180..0) and (0..180] in 1/32767 fractions plus a value for the flat angle - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MAX, - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__DEFAULT = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE, // The default value assumed if the extra data is not provided -}; - - -/* - * Pre-process the trimesh data according to the request flags. - * - * buildRequestFlags is a bitmask of 1U << dTRIDATAPREPROCESS_BUILD_... - * It is allowed to call the function multiple times provided the bitmasks are different each time. - * - * requestExtraData is an optional pointer to array of extra parameters per bitmask bits - * (only the elements indexed by positions of raised bits are examined; - * defaults are assumed if the pointer is NULL) - * - * The function returns a boolean status the only failure reason being insufficient memory. - */ -ODE_API int dGeomTriMeshDataPreprocess2(dTriMeshDataID g, unsigned int buildRequestFlags, const dintptr *requestExtraData/*=NULL | const dintptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/); - -/* - * Obsolete. Equivalent to calling dGeomTriMeshDataPreprocess2(g, (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES), NULL) - */ -ODE_API int dGeomTriMeshDataPreprocess(dTriMeshDataID g); - - - -/* - * Get and set the internal preprocessed trimesh data buffer (see the enumerated type above), for loading and saving - * These functions are deprecated. Use dGeomTriMeshDataSet/dGeomTriMeshDataGet2 with dTRIMESHDATA_USE_FLAGS instead. - */ -ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); -ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf); - - -/* - * Per triangle callback. Allows the user to say if he wants a collision with - * a particular triangle. - */ -typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); -ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback); -ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g); - -/* - * Per object callback. Allows the user to get the list of triangles in 1 - * shot. Maybe we should remove this one. - */ -typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); -ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback); -ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g); - -/* - * Ray callback. - * Allows the user to say if a ray collides with a triangle on barycentric - * coords. The user can for example sample a texture with alpha transparency - * to determine if a collision should occur. - */ -typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); -ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback); -ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g); - -/* - * Triangle merging callback. - * Allows the user to generate a fake triangle index for a new contact generated - * from merging of two other contacts. That index could later be used by the - * user to determine attributes of original triangles used as sources for a - * merged contact. - */ -typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); -ODE_API void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback); -ODE_API dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g); - -/* - * Trimesh class - * Construction. Callbacks are optional. - */ -ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); - -ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data); -ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); - - -/* enable/disable/check temporal coherence*/ -ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); -ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass); - -/* - * Clears the internal temporal coherence caches. When a geom has its - * collision checked with a trimesh once, data is stored inside the trimesh. - * With large worlds with lots of seperate objects this list could get huge. - * We should be able to do this automagically. - */ -ODE_API void dGeomTriMeshClearTCCache(dGeomID g); - - -/* - * returns the TriMeshDataID - */ -ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g); - -/* - * Gets a triangle. - */ -ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); - -/* - * Gets the point on the requested triangle and the given barycentric - * coordinates. - */ -ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); - -/* - -This is how the strided data works: - -struct StridedVertex{ - dVector3 Vertex; - // Userdata -}; -int VertexStride = sizeof(StridedVertex); - -struct StridedTri{ - int Indices[3]; - // Userdata -}; -int TriStride = sizeof(StridedTri); - -*/ - - -ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g); - -ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g); - -#ifdef __cplusplus -} -#endif - -#endif /* _ODE_COLLISION_TRIMESH_H_ */ - diff --git a/include/linux/ode/common.h b/include/linux/ode/common.h deleted file mode 100755 index 62fda78..0000000 --- a/include/linux/ode/common.h +++ /dev/null @@ -1,568 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COMMON_H_ -#define _ODE_COMMON_H_ - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* configuration stuff */ - -/* constants */ - -/* pi and 1/sqrt(2) are defined here if necessary because they don't get - * defined in on some platforms (like MS-Windows) - */ - -#ifndef M_PI -#define M_PI REAL(3.1415926535897932384626433832795029) -#endif -#ifndef M_PI_2 -#define M_PI_2 REAL(1.5707963267948966192313216916398) -#endif -#ifndef M_SQRT1_2 -#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490) -#endif - - -/* floating point data type, vector, matrix and quaternion types */ - -#if defined(dSINGLE) -typedef float dReal; -#ifdef dDOUBLE -#error You can only #define dSINGLE or dDOUBLE, not both. -#endif /* dDOUBLE */ -#elif defined(dDOUBLE) -typedef double dReal; -#else -#error You must #define dSINGLE or dDOUBLE -#endif - -/* Detect if we've got both trimesh engines enabled. */ -#if dTRIMESH_ENABLED -#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT -#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both. -#endif -#endif /* dTRIMESH_ENABLED */ - -/* - * Define a type for indices, either 16 or 32 bit, based on build option - * TODO: Currently GIMPACT only supports 32 bit indices. - */ -#if dTRIMESH_16BIT_INDICES -#if dTRIMESH_GIMPACT -typedef duint32 dTriIndex; -#else /* dTRIMESH_GIMPACT */ -typedef duint16 dTriIndex; -#endif /* dTRIMESH_GIMPACT */ -#else /* dTRIMESH_16BIT_INDICES */ -typedef duint32 dTriIndex; -#endif /* dTRIMESH_16BIT_INDICES */ - -/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified - * (used to compute matrix leading dimensions) - */ -#define dPAD(a) (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a)) - -typedef enum { - dSA__MIN, - - dSA_X = dSA__MIN, - dSA_Y, - dSA_Z, - - dSA__MAX, -} dSpaceAxis; - -typedef enum { - dMD__MIN, - - dMD_LINEAR = dMD__MIN, - dMD_ANGULAR, - - dMD__MAX, -} dMotionDynamics; - -typedef enum { - dDA__MIN, - - dDA__L_MIN = dDA__MIN + dMD_LINEAR * dSA__MAX, - - dDA_LX = dDA__L_MIN + dSA_X, - dDA_LY = dDA__L_MIN + dSA_Y, - dDA_LZ = dDA__L_MIN + dSA_Z, - - dDA__L_MAX = dDA__L_MIN + dSA__MAX, - - dDA__A_MIN = dDA__MIN + dMD_ANGULAR * dSA__MAX, - - dDA_AX = dDA__A_MIN + dSA_X, - dDA_AY = dDA__A_MIN + dSA_Y, - dDA_AZ = dDA__A_MIN + dSA_Z, - - dDA__A_MAX = dDA__A_MIN + dSA__MAX, - - dDA__MAX = dDA__MIN + dMD__MAX * dSA__MAX, -} dDynamicsAxis; - -typedef enum { - dV3E__MIN, - - dV3E__AXES_MIN = dV3E__MIN, - - dV3E_X = dV3E__AXES_MIN + dSA_X, - dV3E_Y = dV3E__AXES_MIN + dSA_Y, - dV3E_Z = dV3E__AXES_MIN + dSA_Z, - - dV3E__AXES_MAX = dV3E__AXES_MIN + dSA__MAX, - - dV3E_PAD = dV3E__AXES_MAX, - - dV3E__MAX, - - dV3E__AXES_COUNT = dV3E__AXES_MAX - dV3E__AXES_MIN, -} dVec3Element; - -typedef enum { - dV4E__MIN, - - dV4E_X = dV4E__MIN + dSA_X, - dV4E_Y = dV4E__MIN + dSA_Y, - dV4E_Z = dV4E__MIN + dSA_Z, - dV4E_O = dV4E__MIN + dSA__MAX, - - dV4E__MAX, -} dVec4Element; - -typedef enum { - dM3E__MIN, - - dM3E__X_MIN = dM3E__MIN + dSA_X * dV3E__MAX, - - dM3E__X_AXES_MIN = dM3E__X_MIN + dV3E__AXES_MIN, - - dM3E_XX = dM3E__X_MIN + dV3E_X, - dM3E_XY = dM3E__X_MIN + dV3E_Y, - dM3E_XZ = dM3E__X_MIN + dV3E_Z, - - dM3E__X_AXES_MAX = dM3E__X_MIN + dV3E__AXES_MAX, - - dM3E_XPAD = dM3E__X_MIN + dV3E_PAD, - - dM3E__X_MAX = dM3E__X_MIN + dV3E__MAX, - - dM3E__Y_MIN = dM3E__MIN + dSA_Y * dV3E__MAX, - - dM3E__Y_AXES_MIN = dM3E__Y_MIN + dV3E__AXES_MIN, - - dM3E_YX = dM3E__Y_MIN + dV3E_X, - dM3E_YY = dM3E__Y_MIN + dV3E_Y, - dM3E_YZ = dM3E__Y_MIN + dV3E_Z, - - dM3E__Y_AXES_MAX = dM3E__Y_MIN + dV3E__AXES_MAX, - - dM3E_YPAD = dM3E__Y_MIN + dV3E_PAD, - - dM3E__Y_MAX = dM3E__Y_MIN + dV3E__MAX, - - dM3E__Z_MIN = dM3E__MIN + dSA_Z * dV3E__MAX, - - dM3E__Z_AXES_MIN = dM3E__Z_MIN + dV3E__AXES_MIN, - - dM3E_ZX = dM3E__Z_MIN + dV3E_X, - dM3E_ZY = dM3E__Z_MIN + dV3E_Y, - dM3E_ZZ = dM3E__Z_MIN + dV3E_Z, - - dM3E__Z_AXES_MAX = dM3E__Z_MIN + dV3E__AXES_MAX, - - dM3E_ZPAD = dM3E__Z_MIN + dV3E_PAD, - - dM3E__Z_MAX = dM3E__Z_MIN + dV3E__MAX, - - dM3E__MAX = dM3E__MIN + dSA__MAX * dV3E__MAX, -} dMat3Element; - -typedef enum { - dM4E__MIN, - - dM4E__X_MIN = dM4E__MIN + dV4E_X * dV4E__MAX, - - dM4E_XX = dM4E__X_MIN + dV4E_X, - dM4E_XY = dM4E__X_MIN + dV4E_Y, - dM4E_XZ = dM4E__X_MIN + dV4E_Z, - dM4E_XO = dM4E__X_MIN + dV4E_O, - - dM4E__X_MAX = dM4E__X_MIN + dV4E__MAX, - - dM4E__Y_MIN = dM4E__MIN + dV4E_Y * dV4E__MAX, - - dM4E_YX = dM4E__Y_MIN + dV4E_X, - dM4E_YY = dM4E__Y_MIN + dV4E_Y, - dM4E_YZ = dM4E__Y_MIN + dV4E_Z, - dM4E_YO = dM4E__Y_MIN + dV4E_O, - - dM4E__Y_MAX = dM4E__Y_MIN + dV4E__MAX, - - dM4E__Z_MIN = dM4E__MIN + dV4E_Z * dV4E__MAX, - - dM4E_ZX = dM4E__Z_MIN + dV4E_X, - dM4E_ZY = dM4E__Z_MIN + dV4E_Y, - dM4E_ZZ = dM4E__Z_MIN + dV4E_Z, - dM4E_ZO = dM4E__Z_MIN + dV4E_O, - - dM4E__Z_MAX = dM4E__Z_MIN + dV4E__MAX, - - dM4E__O_MIN = dM4E__MIN + dV4E_O * dV4E__MAX, - - dM4E_OX = dM4E__O_MIN + dV4E_X, - dM4E_OY = dM4E__O_MIN + dV4E_Y, - dM4E_OZ = dM4E__O_MIN + dV4E_Z, - dM4E_OO = dM4E__O_MIN + dV4E_O, - - dM4E__O_MAX = dM4E__O_MIN + dV4E__MAX, - - dM4E__MAX = dM4E__MIN + dV4E__MAX * dV4E__MAX, -} dMat4Element; - -typedef enum { - dQUE__MIN, - - dQUE_R = dQUE__MIN, - - dQUE__AXIS_MIN, - - dQUE_I = dQUE__AXIS_MIN + dSA_X, - dQUE_J = dQUE__AXIS_MIN + dSA_Y, - dQUE_K = dQUE__AXIS_MIN + dSA_Z, - - dQUE__AXIS_MAX = dQUE__AXIS_MIN + dSA__MAX, - - dQUE__MAX = dQUE__AXIS_MAX, -} dQuatElement; - -/* these types are mainly just used in headers */ -typedef dReal dVector3[dV3E__MAX]; -typedef dReal dVector4[dV4E__MAX]; -typedef dReal dMatrix3[dM3E__MAX]; -typedef dReal dMatrix4[dM4E__MAX]; -typedef dReal dMatrix6[(dMD__MAX * dV3E__MAX) * (dMD__MAX * dSA__MAX)]; -typedef dReal dQuaternion[dQUE__MAX]; - - -/* precision dependent scalar math functions */ - -#if defined(dSINGLE) - -#define REAL(x) (x##f) /* form a constant */ -#define dRecip(x) ((1.0f/(x))) /* reciprocal */ -#define dSqrt(x) (sqrtf(x)) /* square root */ -#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */ -#define dSin(x) (sinf(x)) /* sine */ -#define dCos(x) (cosf(x)) /* cosine */ -#define dFabs(x) (fabsf(x)) /* absolute value */ -#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */ -#define dAsin(x) (asinf(x)) -#define dAcos(x) (acosf(x)) -#define dFMod(a,b) (fmodf(a,b)) /* modulo */ -#define dFloor(x) floorf(x) /* floor */ -#define dCeil(x) ceilf(x) /* ceil */ -#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */ -#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */ - -#ifdef HAVE___ISNANF -#define dIsNan(x) (__isnanf(x)) -#elif defined(HAVE__ISNANF) -#define dIsNan(x) (_isnanf(x)) -#elif defined(HAVE_ISNANF) -#define dIsNan(x) (isnanf(x)) -#else - /* - fall back to _isnan which is the VC way, - this may seem redundant since we already checked - for _isnan before, but if isnan is detected by - configure but is not found during compilation - we should always make sure we check for __isnanf, - _isnanf and isnanf in that order before falling - back to a default - */ -#define dIsNan(x) (_isnan(x)) -#endif - -#elif defined(dDOUBLE) - -#define REAL(x) (x) -#define dRecip(x) (1.0/(x)) -#define dSqrt(x) sqrt(x) -#define dRecipSqrt(x) (1.0/sqrt(x)) -#define dSin(x) sin(x) -#define dCos(x) cos(x) -#define dFabs(x) fabs(x) -#define dAtan2(y,x) atan2((y),(x)) -#define dAsin(x) asin(x) -#define dAcos(x) acos(x) -#define dFMod(a,b) (fmod((a),(b))) -#define dFloor(x) floor(x) -#define dCeil(x) ceil(x) -#define dCopySign(a,b) _ode_copysign(a, b) -#define dNextAfter(x, y) _ode_nextafter(x, y) - -#ifdef HAVE___ISNAN -#define dIsNan(x) (__isnan(x)) -#elif defined(HAVE__ISNAN) -#define dIsNan(x) (_isnan(x)) -#elif defined(HAVE_ISNAN) -#define dIsNan(x) (isnan(x)) -#else -#define dIsNan(x) (_isnan(x)) -#endif - -#else -#error You must #define dSINGLE or dDOUBLE -#endif - -ODE_PURE_INLINE dReal dMin(dReal x, dReal y) { return x <= y ? x : y; } -ODE_PURE_INLINE dReal dMax(dReal x, dReal y) { return x <= y ? y : x; } - - -/* internal object types (all prefixed with `dx') */ - -struct dxWorld; /* dynamics world */ -struct dxSpace; /* collision space */ -struct dxBody; /* rigid body (dynamics object) */ -struct dxGeom; /* geometry (collision object) */ -struct dxJoint; /* joint */ -struct dxJointGroup;/* joint group */ - - -typedef struct dxWorld *dWorldID; -typedef struct dxSpace *dSpaceID; -typedef struct dxBody *dBodyID; -typedef struct dxGeom *dGeomID; -typedef struct dxJoint *dJointID; -typedef struct dxJointGroup *dJointGroupID; - - -/* error numbers */ - -enum { - d_ERR_UNKNOWN = 0, /* unknown error */ - d_ERR_IASSERT, /* internal assertion failed */ - d_ERR_UASSERT, /* user assertion failed */ - d_ERR_LCP /* user assertion failed */ -}; - - -/* joint type numbers */ - -typedef enum { - dJointTypeNone = 0, /* or "unknown" */ - dJointTypeBall, - dJointTypeHinge, - dJointTypeSlider, - dJointTypeContact, - dJointTypeUniversal, - dJointTypeHinge2, - dJointTypeFixed, - dJointTypeNull, - dJointTypeAMotor, - dJointTypeLMotor, - dJointTypePlane2D, - dJointTypePR, - dJointTypePU, - dJointTypePiston, - dJointTypeDBall, - dJointTypeDHinge, - dJointTypeTransmission, -} dJointType; - - -/* an alternative way of setting joint parameters, using joint parameter - * structures and member constants. we don't actually do this yet. - */ - -/* -typedef struct dLimot { - int mode; - dReal lostop, histop; - dReal vel, fmax; - dReal fudge_factor; - dReal bounce, soft; - dReal suspension_erp, suspension_cfm; -} dLimot; - -enum { - dLimotLoStop = 0x0001, - dLimotHiStop = 0x0002, - dLimotVel = 0x0004, - dLimotFMax = 0x0008, - dLimotFudgeFactor = 0x0010, - dLimotBounce = 0x0020, - dLimotSoft = 0x0040 -}; -*/ - - -/* standard joint parameter names. why are these here? - because we don't want - * to include all the joint function definitions in joint.cpp. hmmmm. - * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument, - * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and - * paste between these two. - */ - -#define D_ALL_PARAM_NAMES(start) \ - /* parameters for limits and motors */ \ - dParamLoStop = start, \ - dParamHiStop, \ - dParamVel, \ - dParamLoVel, \ - dParamHiVel, \ - dParamFMax, \ - dParamFudgeFactor, \ - dParamBounce, \ - dParamCFM, \ - dParamStopERP, \ - dParamStopCFM, \ - /* parameters for suspension */ \ - dParamSuspensionERP, \ - dParamSuspensionCFM, \ - dParamERP, \ - - /* - * \enum D_ALL_PARAM_NAMES_X - * - * \var dParamGroup This is the starting value of the different group - * (i.e. dParamGroup1, dParamGroup2, dParamGroup3) - * It also helps in the use of parameter - * (dParamGroup2 | dParamFMax) == dParamFMax2 - */ -#define D_ALL_PARAM_NAMES_X(start,x) \ - dParamGroup ## x = start, \ - /* parameters for limits and motors */ \ - dParamLoStop ## x = start, \ - dParamHiStop ## x, \ - dParamVel ## x, \ - dParamLoVel ## x, \ - dParamHiVel ## x, \ - dParamFMax ## x, \ - dParamFudgeFactor ## x, \ - dParamBounce ## x, \ - dParamCFM ## x, \ - dParamStopERP ## x, \ - dParamStopCFM ## x, \ - /* parameters for suspension */ \ - dParamSuspensionERP ## x, \ - dParamSuspensionCFM ## x, \ - dParamERP ## x, - -enum { - D_ALL_PARAM_NAMES(0) - dParamsInGroup, /* < Number of parameter in a group */ - D_ALL_PARAM_NAMES_X(0x000,1) - D_ALL_PARAM_NAMES_X(0x100,2) - D_ALL_PARAM_NAMES_X(0x200,3) - - /* add a multiple of this constant to the basic parameter numbers to get - * the parameters for the second, third etc axes. - */ - dParamGroup=0x100 -}; - - -/* angular motor mode numbers */ - -enum { - dAMotorUser = 0, - dAMotorEuler = 1 -}; - -/* transmission joint mode numbers */ - -enum { - dTransmissionParallelAxes = 0, - dTransmissionIntersectingAxes = 1, - dTransmissionChainDrive = 2 -}; - - -/* joint force feedback information */ - -typedef struct dJointFeedback { - dVector3 f1; /* force applied to body 1 */ - dVector3 t1; /* torque applied to body 1 */ - dVector3 f2; /* force applied to body 2 */ - dVector3 t2; /* torque applied to body 2 */ -} dJointFeedback; - - -/* private functions that must be implemented by the collision library: - * (1) indicate that a geom has moved, (2) get the next geom in a body list. - * these functions are called whenever the position of geoms connected to a - * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or - * when the ODE step function updates the body state. - */ - -void dGeomMoved (dGeomID); -dGeomID dGeomGetBodyNext (dGeomID); - -/** - * dGetConfiguration returns the specific ODE build configuration as - * a string of tokens. The string can be parsed in a similar way to - * the OpenGL extension mechanism, the naming convention should be - * familiar too. The following extensions are reported: - * - * ODE - * ODE_single_precision - * ODE_double_precision - * ODE_EXT_no_debug - * ODE_EXT_trimesh - * ODE_EXT_opcode - * ODE_EXT_gimpact - * ODE_OPC_16bit_indices - * ODE_OPC_new_collider - * ODE_EXT_mt_collisions - * ODE_EXT_threading - * ODE_THR_builtin_impl - */ -ODE_API const char* dGetConfiguration (void); - -/** - * Helper to check for a token in the ODE configuration string. - * Caution, this function is case sensitive. - * - * @param token A configuration token, see dGetConfiguration for details - * - * @return 1 if exact token is present, 0 if not present - */ -ODE_API int dCheckConfiguration( const char* token ); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/compatibility.h b/include/linux/ode/compatibility.h deleted file mode 100755 index 218932a..0000000 --- a/include/linux/ode/compatibility.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COMPATIBILITY_H_ -#define _ODE_COMPATIBILITY_H_ - -/* - * ODE's backward compatibility system ensures that as ODE's API - * evolves, user code will not break. - */ - -/* - * These new rotation function names are more consistent with the - * rest of the API. - */ -#define dQtoR(q,R) dRfromQ((R),(q)) -#define dRtoQ(R,q) dQfromR((q),(R)) -#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q)) - - -#endif diff --git a/include/linux/ode/contact.h b/include/linux/ode/contact.h deleted file mode 100755 index 9091e99..0000000 --- a/include/linux/ode/contact.h +++ /dev/null @@ -1,110 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_CONTACT_H_ -#define _ODE_CONTACT_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -enum { - dContactMu2 = 0x001, /**< Use axis dependent friction */ - dContactAxisDep = 0x001, /**< Same as above */ - dContactFDir1 = 0x002, /**< Use FDir for the first friction value */ - dContactBounce = 0x004, /**< Restore collision energy anti-parallel to the normal */ - dContactSoftERP = 0x008, /**< Don't use global erp for penetration reduction */ - dContactSoftCFM = 0x010, /**< Don't use global cfm for penetration constraint */ - dContactMotion1 = 0x020, /**< Use a non-zero target velocity for the constraint */ - dContactMotion2 = 0x040, - dContactMotionN = 0x080, - dContactSlip1 = 0x100, /**< Force-dependent slip. */ - dContactSlip2 = 0x200, - dContactRolling = 0x400, /**< Rolling/Angular friction */ - - dContactApprox0 = 0x0000, - dContactApprox1_1 = 0x1000, - dContactApprox1_2 = 0x2000, - dContactApprox1_N = 0x4000, /**< For rolling friction */ - dContactApprox1 = 0x7000 -}; - - -typedef struct dSurfaceParameters { - /* must always be defined */ - int mode; - dReal mu; - - /* only defined if the corresponding flag is set in mode */ - dReal mu2; - dReal rho; /**< Rolling friction */ - dReal rho2; - dReal rhoN; /**< Spinning friction */ - dReal bounce; /**< Coefficient of restitution */ - dReal bounce_vel; /**< Bouncing threshold */ - dReal soft_erp; - dReal soft_cfm; - dReal motion1,motion2,motionN; - dReal slip1,slip2; -} dSurfaceParameters; - - -/** - * @brief Describe the contact point between two geoms. - * - * If two bodies touch, or if a body touches a static feature in its - * environment, the contact is represented by one or more "contact - * points", described by dContactGeom. - * - * The convention is that if body 1 is moved along the normal vector by - * a distance depth (or equivalently if body 2 is moved the same distance - * in the opposite direction) then the contact depth will be reduced to - * zero. This means that the normal vector points "in" to body 1. - * - * @ingroup collide - */ -typedef struct dContactGeom { - dVector3 pos; /*< contact position*/ - dVector3 normal; /*< normal vector*/ - dReal depth; /*< penetration depth*/ - dGeomID g1,g2; /*< the colliding geoms*/ - int side1,side2; /*< (to be documented)*/ -} dContactGeom; - - -/* contact info used by contact joint */ - -typedef struct dContact { - dSurfaceParameters surface; - dContactGeom geom; - dVector3 fdir1; -} dContact; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/cooperative.h b/include/linux/ode/cooperative.h deleted file mode 100755 index caebdec..0000000 --- a/include/linux/ode/cooperative.h +++ /dev/null @@ -1,229 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COOPERATIVE_H_ -#define _ODE_COOPERATIVE_H_ - - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup coop Cooperative Algorithms - * - * Algorithms implemented as multiple threads doing work cooperatively. - */ - - -struct dxCooperative; -struct dxResourceRequirements; -struct dxResourceContainer; - -/** - * @brief A container for cooperative algorithms shared context - * - * The Cooperative is a container for cooperative algorithms shared context. - * At present it contains threading object (either a real one or a defaulted - * self-threading). - * - * Cooperative use in functions performing computations must be serialized. That is, - * functions referring to a single instance of Cooperative object must not be called in - * parallel. - */ -typedef struct dxCooperative *dCooperativeID; - - -/** - * @brief A container for resource requirements information - * - * The ResourceRequirements object is a container for descriptive information - * regarding what resources (memory, synchronization objects, etc.) need to be - * allocated for particular computations. The object can be used for accumulating - * resource requirement maxima over multiple functions and then allocating resources - * that would suffice for any of those function calls. - * - * ResourceRequirements objects maintain relations to Cooperative objects since - * amounts of resources that could be required can depend on characteristics of - * shared context, e.g. on maximal number of threads in the threading object. - * - * @ingroup coop - * @see dCooperativeID - * @see dResourceContainerID - */ -typedef struct dxResourceRequirements *dResourceRequirementsID; - -/** - * @brief A container for algorithm allocated resources - * - * The ResourceContainer object can contain resources allocated according to information - * in a ResourceRequirements. The resources inherit link to the threading object - * from the requirements they are allocated according to. - * - * @ingroup coop - * @see dResourceRequirementsID - * @see dCooperativeID - */ -typedef struct dxResourceContainer *dResourceContainerID; - - - /** - * @brief Creates a Cooperative object related to the specified threading. - * - * NULL's are allowed for the threading. In this case the default (global) self-threading - * object will be used. - * - * Use @c dCooperativeDestroy to destroy the object. The Cooperative object must exist - * until after all the objects referencing it are destroyed. - * - * @param functionInfo The threading functions to use - * @param threadingImpl The threading implementation object to use - * @returns The Cooperative object instance or NULL if allocation fails. - * @ingroup coop - * @see dCooperativeDestroy - */ -ODE_API dCooperativeID dCooperativeCreate(const dThreadingFunctionsInfo *functionInfo/*=NULL*/, dThreadingImplementationID threadingImpl/*=NULL*/); - - /** - * @brief Destroys Cooperative object. - * - * The Cooperative object can only be destroyed after all the objects referencing it. - * - * @param cooperative A Cooperative object to be deleted (NULL is allowed) - * @ingroup coop - * @see dCooperativeCreate - */ -ODE_API void dCooperativeDestroy(dCooperativeID cooperative); - - - /** - * @brief Creates a ResourceRequirements object related to a Cooperative. - * - * The object is purely descriptive and does not contain any resources by itself. - * The actual resources are allocated by means of ResourceContainer object. - * - * The object is created with empty requirements. It can be then used to accumulate - * requirements for one or more function calls and can be cloned or merged with others. - * The actual requirements information is added to the object by computation related - * functions. - * - * Use @c dResourceRequirementsDestroy to delete the object when it is no longer needed. - * - * @param cooperative A Cooperative object to be used - * @returns The ResourceRequirements object instance or NULL if allocation fails - * @ingroup coop - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsClone - * @see dResourceRequirementsMergeIn - * @see dCooperativeCreate - * @see dResourceContainerAcquire - */ -ODE_API dResourceRequirementsID dResourceRequirementsCreate(dCooperativeID cooperative); - - /** - * @brief Destroys ResourceRequirements object. - * - * The ResourceRequirements object can be destroyed at any time with no regards - * to other objects' lifetime. - * - * @param requirements A ResourceRequirements object to be deleted (NULL is allowed) - * @ingroup coop - * @see dResourceRequirementsCreate - */ -ODE_API void dResourceRequirementsDestroy(dResourceRequirementsID requirements); - - /** - * @brief Clones ResourceRequirements object. - * - * The function creates a copy of the ResourceRequirements object with all the - * contents and the relation to Cooperative matching. The object passed in - * the parameter is not changed. - * - * The object created with the function must later be destroyed with @c dResourceRequirementsDestroy. - * - * @param requirements A ResourceRequirements object to be cloned - * @returns A handle to the new object or NULL if allocation fails - * @ingroup coop - * @see dResourceRequirementsCreate - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsMergeIn - */ -ODE_API dResourceRequirementsID dResourceRequirementsClone(/*const */dResourceRequirementsID requirements); - - /** - * @brief Merges one ResourceRequirements object into another ResourceRequirements object. - * - * The function updates @a summaryRequirements requirements to be also sufficient - * for the purposes @a extraRequirements could be used for. The @a extraRequirements - * object is not changed. The both objects should normally have had been created - * with the same Cooperative object. - * - * @param summaryRequirements A ResourceRequirements object to be changed - * @param extraRequirements A ResourceRequirements the requirements to be taken from - * @ingroup coop - * @see dResourceRequirementsCreate - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsClone - */ -ODE_API void dResourceRequirementsMergeIn(dResourceRequirementsID summaryRequirements, /*const */dResourceRequirementsID extraRequirements); - - - /** - * @brief Allocates resources as specified in ResourceRequirements object. - * - * The ResourceContainer object can be used in cooperative computation algorithms. - * - * The same @a requirements object can be passed to many resource allocations - * (with or without modifications) and can be deleted immediately, without waiting - * for the ResourceContainer object destruction. - * - * Use @c dResourceContainerDestroy to delete the object and release the resources - * when they are no longer needed. - * - * @param requirements The ResourceRequirements object to allocate resources according to - * @returns A ResourceContainer object instance with the resources allocated or NULL if allocation fails - * @ingroup coop - * @see dResourceContainerDestroy - * @see dResourceRequirementsCreate - */ -ODE_API dResourceContainerID dResourceContainerAcquire(/*const */dResourceRequirementsID requirements); - - /** - * @brief Destroys ResourceContainer object and releases resources allocated in it. - * - * @param resources A ResourceContainer object to be deleted (NULL is allowed) - * @ingroup coop - * @see dResourceContainerAcquire - */ -ODE_API void dResourceContainerDestroy(dResourceContainerID resources); - - -#ifdef __cplusplus -} // extern "C" -#endif - - -#endif // #ifndef _ODE_COOPERATIVE_H_ diff --git a/include/linux/ode/error.h b/include/linux/ode/error.h deleted file mode 100755 index 2eb7608..0000000 --- a/include/linux/ode/error.h +++ /dev/null @@ -1,63 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* this comes from the `reuse' library. copy any changes back to the source */ - -#ifndef _ODE_ERROR_H_ -#define _ODE_ERROR_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* all user defined error functions have this type. error and debug functions - * should not return. - */ -typedef void dMessageFunction (int errnum, const char *msg, va_list ap); - -/* set a new error, debug or warning handler. if fn is 0, the default handlers - * are used. - */ -ODE_API void dSetErrorHandler (dMessageFunction *fn); -ODE_API void dSetDebugHandler (dMessageFunction *fn); -ODE_API void dSetMessageHandler (dMessageFunction *fn); - -/* return the current error, debug or warning handler. if the return value is - * 0, the default handlers are in place. - */ -ODE_API dMessageFunction *dGetErrorHandler(void); -ODE_API dMessageFunction *dGetDebugHandler(void); -ODE_API dMessageFunction *dGetMessageHandler(void); - -/* generate a fatal error, debug trap or a message. */ -ODE_API void ODE_NORETURN dError (int num, const char *msg, ...); -ODE_API void ODE_NORETURN dDebug (int num, const char *msg, ...); -ODE_API void dMessage (int num, const char *msg, ...); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/export-dif.h b/include/linux/ode/export-dif.h deleted file mode 100755 index 4e97a8f..0000000 --- a/include/linux/ode/export-dif.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_EXPORT_DIF_ -#define _ODE_EXPORT_DIF_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/mass.h b/include/linux/ode/mass.h deleted file mode 100755 index 493de10..0000000 --- a/include/linux/ode/mass.h +++ /dev/null @@ -1,144 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_MASS_H_ -#define _ODE_MASS_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -struct dMass; -typedef struct dMass dMass; - -/** - * Check if a mass structure has valid value. - * The function check if the mass and innertia matrix are positive definits - * - * @param m A mass structure to check - * - * @return 1 if both codition are met - */ -ODE_API int dMassCheck(const dMass *m); - -ODE_API void dMassSetZero (dMass *); - -ODE_API void dMassSetParameters (dMass *, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23); - -ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius); -ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius); - -ODE_API void dMassSetCapsule (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetCylinder (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetBox (dMass *, dReal density, - dReal lx, dReal ly, dReal lz); -ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass, - dReal lx, dReal ly, dReal lz); - -ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g); - -ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g); - -ODE_API void dMassAdjust (dMass *, dReal newmass); - -ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z); - -ODE_API void dMassRotate (dMass *, const dMatrix3 R); - -ODE_API void dMassAdd (dMass *a, const dMass *b); - - -/* Backwards compatible API */ -ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); -ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); - - -struct dMass { - dReal mass; - dVector3 c; - dMatrix3 I; - -#ifdef __cplusplus - dMass() - { dMassSetZero (this); } - void setZero() - { dMassSetZero (this); } - void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23) - { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); } - - void setSphere (dReal density, dReal radius) - { dMassSetSphere (this,density,radius); } - void setSphereTotal (dReal total, dReal radius) - { dMassSetSphereTotal (this,total,radius); } - - void setCapsule (dReal density, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,density,direction,radius,length); } - void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,total,direction,radius,length); } - - void setCylinder(dReal density, int direction, dReal radius, dReal length) - { dMassSetCylinder (this,density,direction,radius,length); } - void setCylinderTotal(dReal total, int direction, dReal radius, dReal length) - { dMassSetCylinderTotal (this,total,direction,radius,length); } - - void setBox (dReal density, dReal lx, dReal ly, dReal lz) - { dMassSetBox (this,density,lx,ly,lz); } - void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz) - { dMassSetBoxTotal (this,total,lx,ly,lz); } - - void setTrimesh(dReal density, dGeomID g) - { dMassSetTrimesh (this, density, g); } - void setTrimeshTotal(dReal total, dGeomID g) - { dMassSetTrimeshTotal (this, total, g); } - - void adjust (dReal newmass) - { dMassAdjust (this,newmass); } - void translate (dReal x, dReal y, dReal z) - { dMassTranslate (this,x,y,z); } - void rotate (const dMatrix3 R) - { dMassRotate (this,R); } - void add (const dMass *b) - { dMassAdd (this,b); } -#endif -}; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/matrix.h b/include/linux/ode/matrix.h deleted file mode 100755 index 329e86c..0000000 --- a/include/linux/ode/matrix.h +++ /dev/null @@ -1,200 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* optimized and unoptimized vector and matrix functions */ - -#ifndef _ODE_MATRIX_H_ -#define _ODE_MATRIX_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* set a vector/matrix of size n to all zeros, or to a specific value. */ - -ODE_API void dSetZero (dReal *a, int n); -ODE_API void dSetValue (dReal *a, int n, dReal value); - - -/* get the dot product of two n*1 vectors. if n <= 0 then - * zero will be returned (in which case a and b need not be valid). - */ - -ODE_API dReal dDot (const dReal *a, const dReal *b, int n); - - -/* get the dot products of (a0,b), (a1,b), etc and return them in outsum. - * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case - * the input vectors need not be valid). this function is somewhat faster - * than calling dDot() for all of the combinations separately. - */ - -/* NOT INCLUDED in the library for now. -void dMultidot2 (const dReal *a0, const dReal *a1, - const dReal *b, dReal *outsum, int n); -*/ - - -/* matrix multiplication. all matrices are stored in standard row format. - * the digit refers to the argument that is transposed: - * 0: A = B * C (sizes: A:p*r B:p*q C:q*r) - * 1: A = B' * C (sizes: A:p*r B:q*p C:q*r) - * 2: A = B * C' (sizes: A:p*r B:p*q C:r*q) - * case 1,2 are equivalent to saying that the operation is A=B*C but - * B or C are stored in standard column format. - */ - -ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); - - -/* do an in-place cholesky decomposition on the lower triangle of the n*n - * symmetric matrix A (which is stored by rows). the resulting lower triangle - * will be such that L*L'=A. return 1 on success and 0 on failure (on failure - * the matrix is not positive definite). - */ - -ODE_API int dFactorCholesky (dReal *A, int n); - - -/* solve for x: L*L'*x = b, and put the result back into x. - * L is size n*n, b is size n*1. only the lower triangle of L is considered. - */ - -ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n); - - -/* compute the inverse of the n*n positive definite matrix A and put it in - * Ainv. this is not especially fast. this returns 1 on success (A was - * positive definite) or 0 on failure (not PD). - */ - -ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n); - - -/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no). - * positive definite means that x'*A*x > 0 for any x. this performs a - * cholesky decomposition of A. if the decomposition fails then the matrix - * is not positive definite. A is stored by rows. A is not altered. - */ - -ODE_API int dIsPositiveDefinite (const dReal *A, int n); - - -/* factorize a matrix A into L*D*L', where L is lower triangular with ones on - * the diagonal, and D is diagonal. - * A is an n*n matrix stored by rows, with a leading dimension of n rounded - * up to 4. L is written into the strict lower triangle of A (the ones are not - * written) and the reciprocal of the diagonal elements of D are written into - * d. - */ -ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip); - - -/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal, - * and x,b are n*1. b is overwritten with x. - * the leading dimension of L is `nskip'. - */ -ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip); - - -/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal, - * and x,b are n*1. b is overwritten with x. - * the leading dimension of L is `nskip'. - */ -ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip); - - -/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) - */ - -ODE_API void dScaleVector (dReal *a, const dReal *d, int n); - -/* The function is an alias for @c dScaleVector. - * It has been deprecated because of a wrong naming schema used. - */ -ODE_API_DEPRECATED ODE_API void dVectorScale (dReal *a, const dReal *d, int n); - - -/* given `L', a n*n lower triangular matrix with ones on the diagonal, - * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix - * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b. - * the leading dimension of L is `nskip'. - */ - -ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip); - - -/* given an L*D*L' factorization of an n*n matrix A, return the updated - * factorization L2*D2*L2' of A plus the following "top left" matrix: - * - * [ b a' ] <-- b is a[0] - * [ a 0 ] <-- a is a[1..n-1] - * - * - L has size n*n, its leading dimension is nskip. L is lower triangular - * with ones on the diagonal. only the lower triangle of L is referenced. - * - d has size n. d contains the reciprocal diagonal elements of D. - * - a has size n. - * the result is written into L, except that the left column of L and d[0] - * are not actually modified. see ldltaddTL.m for further comments. - */ -ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip); - - -/* given an L*D*L' factorization of a permuted matrix A, produce a new - * factorization for row and column `r' removed. - * - A has size n1*n1, its leading dimension in nskip. A is symmetric and - * positive definite. only the lower triangle of A is referenced. - * A itself may actually be an array of row pointers. - * - L has size n2*n2, its leading dimension in nskip. L is lower triangular - * with ones on the diagonal. only the lower triangle of L is referenced. - * - d has size n2. d contains the reciprocal diagonal elements of D. - * - p is a permutation vector. it contains n2 indexes into A. each index - * must be in the range 0..n1-1. - * - r is the row/column of L to remove. - * the new L will be written within the old L, i.e. will have the same leading - * dimension. the last row and column of L, and the last element of d, are - * undefined on exit. - * - * a fast O(n^2) algorithm is used. see ldltremove.m for further comments. - */ -ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, - int n1, int n2, int r, int nskip); - - -/* given an n*n matrix A (with leading dimension nskip), remove the r'th row - * and column by moving elements. the new matrix will have the same leading - * dimension. the last row and column of A are untouched on exit. - */ -ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r); - -#ifdef __cplusplus -} -#endif - - -#endif diff --git a/include/linux/ode/matrix_coop.h b/include/linux/ode/matrix_coop.h deleted file mode 100755 index 83f013c..0000000 --- a/include/linux/ode/matrix_coop.h +++ /dev/null @@ -1,291 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_MATRIX_COOP_H_ -#define _ODE_MATRIX_COOP_H_ - - -#include -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup matrix_coop Matrix Cooperative Algorithms - * - * Cooperative algorithms operating on matrices and vectors. - * - * @ingroup coop - */ - - -/** - * @brief Estimates resource requirements for a @c dCooperativelyFactorLDLT call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelyFactorLDLT with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelyFactorLDLT - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelyFactorLDLTResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively factorizes a matrix `A' into L*D*L' - * - * The function factorizes a matrix `A' into L*D*L', where `L' is lower triangular with ones on - * the diagonal, and `D' is diagonal. - * @a A is a rowCount*rowCount matrix stored by rows, with a leading dimension of @a rowCount rounded - * up at least to 4 elements. `L; is written into the strict lower triangle of @a A - * (the ones are not written) and the reciprocal of the diagonal elements of `D' are written into @a d. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelyFactorLDLTResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param A The `A' matrix - * @param d The `d' vector - * @param rowCount The row count in @a A and @a d - * @param rowskip The actual number of elements to be added to skip to next row in @a A - * @ingroup matrix_coop - * @see dEstimateCooperativelyFactorLDLTResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelySolveLDLT - */ -ODE_API void dCooperativelyFactorLDLT(dResourceContainerID resources, unsigned allowedThreadCount, - dReal *A, dReal *d, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveLDLT call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveLDLT with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveLDLT - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveLDLTResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L*D*L'*x=b - * - * Given `L', a rowCount*rowCount lower triangular matrix with ones on the diagonal, - * and `d', a rowCount*1 vector of the reciprocal diagonal elements of a rowCount*rowCount matrix - * D, the function solves L*D*L'*x=b where `x' and `b' are rowCount*1. - * The leading dimension of @a L is @a rowSkip. The resulting vector `x' overwrites @a b. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveLDLTResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param d The `d' vector - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L, @a d and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveLDLTResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveLDLT(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveL1Straight call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveL1Straight with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveL1Straight - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L*x=b - * - * The function solves L*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, - * and `x', `b' are rowCount*1. The leading dimension of @a L is @a rowSkip. - * @a b is overwritten with `x'. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveL1StraightResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveL1StraightResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveL1Transposed call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveL1Transposed with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveL1Transposed - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveL1TransposedResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L'*x=b - * - * The function solves L'*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, - * and `x', b are rowCount*1. The leading dimension of @a L is @a rowSkip. - * @a b is overwritten with `x'. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveL1TransposedResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveL1TransposedResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveL1Transposed(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelyScaleVector call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelyScaleVector with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalElementCount Maximal value of elementCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelyScaleVector - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelyScaleVectorResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalElementCount); - -/** - * @brief Multiplies elements of one vector by corresponding element of another one - * - * In matlab syntax, the operation performed is: dataVector(1:elementCount) = dataVector(1:elementCount) .* scaleVector(1:elementCount) - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelyScaleVectorResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param dataVector The vector to be scaled in place - * @param scaleVector The scale vector - * @param elementCount The number of elements in @a dataVector and @a scaleVector - * @ingroup matrix_coop - * @see dEstimateCooperativelyScaleVectorResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelyScaleVector(dResourceContainerID resources, unsigned allowedThreadCount, - dReal *dataVector, const dReal *scaleVector, unsigned elementCount); - - -#ifdef __cplusplus -} // extern "C" -#endif - - -#endif // #ifndef _ODE_MATRIX_COOP_H_ diff --git a/include/linux/ode/memory.h b/include/linux/ode/memory.h deleted file mode 100755 index 39bded1..0000000 --- a/include/linux/ode/memory.h +++ /dev/null @@ -1,59 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* this comes from the `reuse' library. copy any changes back to the source */ - -#ifndef _ODE_MEMORY_H_ -#define _ODE_MEMORY_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* function types to allocate and free memory */ -typedef void * dAllocFunction (dsizeint size); -typedef void * dReallocFunction (void *ptr, dsizeint oldsize, dsizeint newsize); -typedef void dFreeFunction (void *ptr, dsizeint size); - -/* set new memory management functions. if fn is 0, the default handlers are - * used. */ -ODE_API void dSetAllocHandler (dAllocFunction *fn); -ODE_API void dSetReallocHandler (dReallocFunction *fn); -ODE_API void dSetFreeHandler (dFreeFunction *fn); - -/* get current memory management functions */ -ODE_API dAllocFunction *dGetAllocHandler (void); -ODE_API dReallocFunction *dGetReallocHandler (void); -ODE_API dFreeFunction *dGetFreeHandler (void); - -/* allocate and free memory. */ -ODE_API void * dAlloc (dsizeint size); -ODE_API void * dRealloc (void *ptr, dsizeint oldsize, dsizeint newsize); -ODE_API void dFree (void *ptr, dsizeint size); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/misc.h b/include/linux/ode/misc.h deleted file mode 100755 index 75fe58f..0000000 --- a/include/linux/ode/misc.h +++ /dev/null @@ -1,86 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* miscellaneous math functions. these are mostly useful for testing */ - -#ifndef _ODE_MISC_H_ -#define _ODE_MISC_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* return 1 if the random number generator is working. */ -ODE_API int dTestRand(void); - -/* return next 32 bit random number. this uses a not-very-random linear - * congruential method. - */ -ODE_API unsigned long dRand(void); - -/* get and set the current random number seed. */ -ODE_API unsigned long dRandGetSeed(void); -ODE_API void dRandSetSeed (unsigned long s); - -/* return a random integer between 0..n-1. the distribution will get worse - * as n approaches 2^32. - */ -ODE_API int dRandInt (int n); - -/* return a random real number between 0..1 */ -ODE_API dReal dRandReal(void); - -/* print out a matrix */ -ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f); - -/* make a random vector with entries between +/- range. A has n elements. */ -ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); - -/* make a random matrix with entries between +/- range. A has size n*m. */ -ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); - -/* clear the upper triangle of a square matrix */ -ODE_API void dClearUpperTriangle (dReal *A, int n); - -/* return the maximum element difference between the two n*m matrices */ -ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m); - -/* return the maximum element difference between the lower triangle of two - * n*n matrices */ -ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); - - -#ifdef __cplusplus -} -#endif - - -#ifdef __cplusplus -static inline void dPrintMatrix (const dReal *A, int n, int m, const char *fmt="%10.4f ") { dPrintMatrix(A, n, m, fmt, stdout); } -#endif - - -#endif diff --git a/include/linux/ode/objects.h b/include/linux/ode/objects.h deleted file mode 100755 index d6f13e3..0000000 --- a/include/linux/ode/objects.h +++ /dev/null @@ -1,3396 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_OBJECTS_H_ -#define _ODE_OBJECTS_H_ - -#include -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup world World - * - * The world object is a container for rigid bodies and joints. Objects in - * different worlds can not interact, for example rigid bodies from two - * different worlds can not collide. - * - * All the objects in a world exist at the same point in time, thus one - * reason to use separate worlds is to simulate systems at different rates. - * Most applications will only need one world. - */ - -/** - * @brief Create a new, empty world and return its ID number. - * @return an identifier - * @ingroup world - */ -ODE_API dWorldID dWorldCreate(void); - - -/** - * @brief Destroy a world and everything in it. - * - * This includes all bodies, and all joints that are not part of a joint - * group. Joints that are part of a joint group will be deactivated, and - * can be destroyed by calling, for example, dJointGroupEmpty(). - * @ingroup world - * @param world the identifier for the world the be destroyed. - */ -ODE_API void dWorldDestroy (dWorldID world); - - -/** - * @brief Set the user-data pointer - * @param world the world to set the data on - * @param data - * @ingroup world - */ -ODE_API void dWorldSetData (dWorldID world, void* data); - - -/** - * @brief Get the user-data pointer - * @param world the world to set the data on - * @param data - * @ingroup world - */ -ODE_API void* dWorldGetData (dWorldID world); - - -/** - * @brief Set the world's global gravity vector. - * - * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), - * assuming that +z is up. The default is no gravity, i.e. (0,0,0). - * - * @ingroup world - */ -ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); - - -/** - * @brief Get the gravity vector for a given world. - * @ingroup world - */ -ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity); - - -/** - * @brief Set the global ERP value, that controls how much error - * correction is performed in each time step. - * @ingroup world - * @param dWorldID the identifier of the world. - * @param erp Typical values are in the range 0.1--0.8. The default is 0.2. - */ -ODE_API void dWorldSetERP (dWorldID, dReal erp); - -/** - * @brief Get the error reduction parameter. - * @ingroup world - * @return ERP value - */ -ODE_API dReal dWorldGetERP (dWorldID); - - -/** - * @brief Set the global CFM (constraint force mixing) value. - * @ingroup world - * @param cfm Typical values are in the range @m{10^{-9}} -- 1. - * The default is 10^-5 if single precision is being used, or 10^-10 - * if double precision is being used. - */ -ODE_API void dWorldSetCFM (dWorldID, dReal cfm); - -/** - * @brief Get the constraint force mixing value. - * @ingroup world - * @return CFM value - */ -ODE_API dReal dWorldGetCFM (dWorldID); - - -#define dWORLDSTEP_THREADCOUNT_UNLIMITED dTHREADING_THREAD_COUNT_UNLIMITED - -/** - * @brief Set maximum threads to be used for island stepping - * - * The actual number of threads that is going to be used will be the minimum - * of this limit and number of threads in the threading pool. By default - * there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED). - * - * @warning - * WARNING! Running island stepping in multiple threads requires allocating - * individual stepping memory buffer for each of those threads. The size of buffers - * allocated is the size needed to handle the largest island in the world. - * - * Note: Setting a limit for island stepping does not affect threading at lower - * levels in stepper functions. The sub-calls scheduled from them can be executed - * in as many threads as there are available in the pool. - * - * @param w The world affected - * @param count Thread count limit value for island stepping - * @ingroup world - * @see dWorldGetStepIslandsProcessingMaxThreadCount - */ -ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count); -/** - * @brief Get maximum threads that are allowed to be used for island stepping. - * - * Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for - * important information regarding the value returned. - * - * @param w The world queried - * @returns Current thread count limit value for island stepping - * @ingroup world - * @see dWorldSetStepIslandsProcessingMaxThreadCount - */ -ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w); - -/** - * @brief Set the world to use shared working memory along with another world. - * - * The worlds allocate working memory internally for simulation stepping. This - * memory is cached among the calls to @c dWordStep and @c dWorldQuickStep. - * Similarly, several worlds can be set up to share this memory caches thus - * reducing overall memory usage by cost of making worlds inappropriate for - * simultaneous simulation in multiple threads. - * - * If null value is passed for @a from_world parameter the world is detached from - * sharing and returns to defaults for working memory, reservation policy and - * memory manager as if just created. This can also be used to enable use of shared - * memory for a world that has already had working memory allocated privately. - * Normally using shared memory after a world has its private working memory allocated - * is prohibited. - * - * Allocation policy used can only increase world's internal reserved memory size - * and never decreases it. @c dWorldCleanupWorkingMemory can be used to release - * working memory for a world in case if number of objects/joint decreases - * significantly in it. - * - * With sharing working memory worlds also automatically share memory reservation - * policy and memory manager. Thus, these parameters need to be customized for - * initial world to be used as sharing source only. - * - * If worlds share working memory they must also use compatible threading implementations - * (i.e. it is illegal for one world to perform stepping with self-threaded implementation - * when the other world is assigned a multi-threaded implementation). - * For more information read section about threading approaches in ODE. - * - * Failure result status means a memory allocation failure. - * - * @param w The world to use the shared memory with. - * @param from_world Null or the world the shared memory is to be used from. - * @returns 1 for success and 0 for failure. - * - * @ingroup world - * @see dWorldCleanupWorkingMemory - * @see dWorldSetStepMemoryReservationPolicy - * @see dWorldSetStepMemoryManager - */ -ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/); - -/** - * @brief Release internal working memory allocated for world - * - * The worlds allocate working memory internally for simulation stepping. This - * function can be used to free world's internal memory cache in case if number of - * objects/joints in the world decreases significantly. By default, internal - * allocation policy is used to only increase cache size as necessary and never - * decrease it. - * - * If a world shares its working memory with other worlds the cache deletion - * affects all the linked worlds. However the shared status itself remains intact. - * - * The function call does affect neither memory reservation policy nor memory manager. - * - * @param w The world to release working memory for. - * - * @ingroup world - * @see dWorldUseSharedWorkingMemory - * @see dWorldSetStepMemoryReservationPolicy - * @see dWorldSetStepMemoryManager - */ -ODE_API void dWorldCleanupWorkingMemory(dWorldID w); - - -#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f -#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U - -/** - * @struct dWorldStepReserveInfo - * @brief Memory reservation policy descriptor structure for world stepping functions. - * - * @c struct_size should be assigned the size of the structure. - * - * @c reserve_factor is a quotient that is multiplied by required memory size - * to allocate extra reserve whenever reallocation is needed. - * - * @c reserve_minimum is a minimum size that is checked against whenever reallocation - * is needed to allocate expected working memory minimum at once without extra - * reallocations as number of bodies/joints grows. - * - * @ingroup world - * @see dWorldSetStepMemoryReservationPolicy - */ -typedef struct -{ - unsigned struct_size; - float reserve_factor; /* Use float as precision does not matter here*/ - unsigned reserve_minimum; - -} dWorldStepReserveInfo; - -/** - * @brief Set memory reservation policy for world to be used with simulation stepping functions - * - * The function allows to customize reservation policy to be used for internal - * memory which is allocated to aid simulation for a world. By default, values - * of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT - * are used. - * - * Passing @a policyinfo argument as NULL results in reservation policy being - * reset to defaults as if the world has been just created. The content of - * @a policyinfo structure is copied internally and does not need to remain valid - * after the call returns. - * - * If the world uses working memory sharing, changing memory reservation policy - * affects all the worlds linked together. - * - * Failure result status means a memory allocation failure. - * - * @param w The world to change memory reservation policy for. - * @param policyinfo Null or a pointer to policy descriptor structure. - * @returns 1 for success and 0 for failure. - * - * @ingroup world - * @see dWorldUseSharedWorkingMemory - */ -ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/); - -/** -* @struct dWorldStepMemoryFunctionsInfo -* @brief World stepping memory manager descriptor structure -* -* This structure is intended to define the functions of memory manager to be used -* with world stepping functions. -* -* @c struct_size should be assigned the size of the structure -* -* @c alloc_block is a function to allocate memory block of given size. -* -* @c shrink_block is a function to shrink existing memory block to a smaller size. -* It must preserve the contents of block head while shrinking. The new block size -* is guaranteed to be always less than the existing one. -* -* @c free_block is a function to delete existing memory block. -* -* @ingroup init -* @see dWorldSetStepMemoryManager -*/ -typedef struct -{ - unsigned struct_size; - void *(*alloc_block)(dsizeint block_size); - void *(*shrink_block)(void *block_pointer, dsizeint block_current_size, dsizeint block_smaller_size); - void (*free_block)(void *block_pointer, dsizeint block_current_size); - -} dWorldStepMemoryFunctionsInfo; - -/** -* @brief Set memory manager for world to be used with simulation stepping functions -* -* The function allows to customize memory manager to be used for internal -* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree -* based memory manager is used. -* -* Passing @a memfuncs argument as NULL results in memory manager being -* reset to default one as if the world has been just created. The content of -* @a memfuncs structure is copied internally and does not need to remain valid -* after the call returns. -* -* If the world uses working memory sharing, changing memory manager -* affects all the worlds linked together. -* -* Failure result status means a memory allocation failure. -* -* @param w The world to change memory reservation policy for. -* @param memfuncs Null or a pointer to memory manager descriptor structure. -* @returns 1 for success and 0 for failure. -* -* @ingroup world -* @see dWorldUseSharedWorkingMemory -*/ -ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs); - -/** - * @brief Assign threading implementation to be used for [quick]stepping the world. - * - * @warning It is not recommended to assign the same threading implementation to - * different worlds if they are going to be called in parallel. In particular this - * makes resources preallocation for threaded calls to lose its sense. - * Built-in threading implementation is likely to crash if misused this way. - * - * @param w The world to change threading implementation for. - * @param functions_info Pointer to threading functions structure - * @param threading_impl ID of threading implementation object - * - * @ingroup world - */ -ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl); - -/** - * @brief Step the world. - * - * This uses a "big matrix" method that takes time on the order of m^3 - * and memory on the order of m^2, where m is the total number of constraint - * rows. For large systems this will use a lot of memory and can be very slow, - * but this is currently the most accurate method. - * - * Failure result status means that the memory allocation has failed for operation. - * In such a case all the objects remain in unchanged state and simulation can be - * retried as soon as more memory is available. - * - * @param w The world to be stepped - * @param stepsize The number of seconds that the simulation has to advance. - * @returns 1 for success and 0 for failure - * - * @ingroup world - */ -ODE_API int dWorldStep (dWorldID w, dReal stepsize); - -/** - * @brief Quick-step the world. - * - * This uses an iterative method that takes time on the order of m*N - * and memory on the order of m, where m is the total number of constraint - * rows N is the number of iterations. - * For large systems this is a lot faster than dWorldStep(), - * but it is less accurate. - * - * QuickStep is great for stacks of objects especially when the - * auto-disable feature is used as well. - * However, it has poor accuracy for near-singular systems. - * Near-singular systems can occur when using high-friction contacts, motors, - * or certain articulated structures. For example, a robot with multiple legs - * sitting on the ground may be near-singular. - * - * There are ways to help overcome QuickStep's inaccuracy problems: - * - * \li Increase CFM. - * \li Reduce the number of contacts in your system (e.g. use the minimum - * number of contacts for the feet of a robot or creature). - * \li Don't use excessive friction in the contacts. - * \li Use contact slip if appropriate - * \li Avoid kinematic loops (however, kinematic loops are inevitable in - * legged creatures). - * \li Don't use excessive motor strength. - * \liUse force-based motors instead of velocity-based motors. - * - * Increasing the number of QuickStep iterations may help a little bit, but - * it is not going to help much if your system is really near singular. - * - * Failure result status means that the memory allocation has failed for operation. - * In such a case all the objects remain in unchanged state and simulation can be - * retried as soon as more memory is available. - * - * @param w The world to be stepped - * @param stepsize The number of seconds that the simulation has to advance. - * @returns 1 for success and 0 for failure - * - * @ingroup world - */ -ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize); - - -/** -* @brief Converts an impulse to a force. -* @ingroup world -* @remarks -* If you want to apply a linear or angular impulse to a rigid body, -* instead of a force or a torque, then you can use this function to convert -* the desired impulse into a force/torque vector before calling the -* BodyAdd... function. -* The current algorithm simply scales the impulse by 1/stepsize, -* where stepsize is the step size for the next step that will be taken. -* This function is given a dWorldID because, in the future, the force -* computation may depend on integrator parameters that are set as -* properties of the world. -*/ -ODE_API void dWorldImpulseToForce -( - dWorldID, dReal stepsize, - dReal ix, dReal iy, dReal iz, dVector3 force - ); - - -/** - * @brief Set the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @remarks - * More iterations will give a more accurate solution, but will take - * longer to compute. - * @param num The default is 20 iterations. - */ -ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num); - - -/** - * @brief Get the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @return nr of iterations - */ -ODE_API int dWorldGetQuickStepNumIterations (dWorldID); - -/** - * @brief Set the SOR over-relaxation parameter - * @ingroup world - * @param over_relaxation value to use by SOR - */ -ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation); - -/** - * @brief Get the SOR over-relaxation parameter - * @ingroup world - * @returns the over-relaxation setting - */ -ODE_API dReal dWorldGetQuickStepW (dWorldID); - -/* World contact parameter functions */ - -/** - * @brief Set the maximum correcting velocity that contacts are allowed - * to generate. - * @ingroup world - * @param vel The default value is infinity (i.e. no limit). - * @remarks - * Reducing this value can help prevent "popping" of deeply embedded objects. - */ -ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel); - -/** - * @brief Get the maximum correcting velocity that contacts are allowed - * to generated. - * @ingroup world - */ -ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID); - -/** - * @brief Set the depth of the surface layer around all geometry objects. - * @ingroup world - * @remarks - * Contacts are allowed to sink into the surface layer up to the given - * depth before coming to rest. - * @param depth The default value is zero. - * @remarks - * Increasing this to some small value (e.g. 0.001) can help prevent - * jittering problems due to contacts being repeatedly made and broken. - */ -ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth); - -/** - * @brief Get the depth of the surface layer around all geometry objects. - * @ingroup world - * @returns the depth - */ -ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); - - -/** - * @defgroup disable Automatic Enabling and Disabling - * @ingroup world bodies - * - * Every body can be enabled or disabled. Enabled bodies participate in the - * simulation, while disabled bodies are turned off and do not get updated - * during a simulation step. New bodies are always created in the enabled state. - * - * A disabled body that is connected through a joint to an enabled body will be - * automatically re-enabled at the next simulation step. - * - * Disabled bodies do not consume CPU time, therefore to speed up the simulation - * bodies should be disabled when they come to rest. This can be done automatically - * with the auto-disable feature. - * - * If a body has its auto-disable flag turned on, it will automatically disable - * itself when - * @li It has been idle for a given number of simulation steps. - * @li It has also been idle for a given amount of simulation time. - * - * A body is considered to be idle when the magnitudes of both its - * linear average velocity and angular average velocity are below given thresholds. - * The sample size for the average defaults to one and can be disabled by setting - * to zero with - * - * Thus, every body has six auto-disable parameters: an enabled flag, a idle step - * count, an idle time, linear/angular average velocity thresholds, and the - * average samples count. - * - * Newly created bodies get these parameters from world. - */ - -/** - * @brief Get auto disable linear average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); - -/** - * @brief Set auto disable linear average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); - -/** - * @brief Set auto disable angular average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_average_threshold); - -/** - * @brief Get auto disable sample count for newly created bodies. - * @ingroup disable - * @return number of samples used - */ -ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID); - -/** - * @brief Set auto disable average sample count for newly created bodies. - * @ingroup disable - * @param average_samples_count Default is 1, meaning only instantaneous velocity is used. - * Set to zero to disable sampling and thus prevent any body from auto-disabling. - */ -ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count ); - -/** - * @brief Get auto disable steps for newly created bodies. - * @ingroup disable - * @return nr of steps - */ -ODE_API int dWorldGetAutoDisableSteps (dWorldID); - -/** - * @brief Set auto disable steps for newly created bodies. - * @ingroup disable - * @param steps default is 10 - */ -ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps); - -/** - * @brief Get auto disable time for newly created bodies. - * @ingroup disable - * @return nr of seconds - */ -ODE_API dReal dWorldGetAutoDisableTime (dWorldID); - -/** - * @brief Set auto disable time for newly created bodies. - * @ingroup disable - * @param time default is 0 seconds - */ -ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time); - -/** - * @brief Get auto disable flag for newly created bodies. - * @ingroup disable - * @return 0 or 1 - */ -ODE_API int dWorldGetAutoDisableFlag (dWorldID); - -/** - * @brief Set auto disable flag for newly created bodies. - * @ingroup disable - * @param do_auto_disable default is false. - */ -ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable); - - -/** - * @defgroup damping Damping - * @ingroup bodies world - * - * Damping serves two purposes: reduce simulation instability, and to allow - * the bodies to come to rest (and possibly auto-disabling them). - * - * Bodies are constructed using the world's current damping parameters. Setting - * the scales to 0 disables the damping. - * - * Here is how it is done: after every time step linear and angular - * velocities are tested against the corresponding thresholds. If they - * are above, they are multiplied by (1 - scale). So a negative scale value - * will actually increase the speed, and values greater than one will - * make the object oscillate every step; both can make the simulation unstable. - * - * To disable damping just set the damping scale to zero. - * - * You can also limit the maximum angular velocity. In contrast to the damping - * functions, the angular velocity is affected before the body is moved. - * This means that it will introduce errors in joints that are forcing the body - * to rotate too fast. Some bodies have naturally high angular velocities - * (like cars' wheels), so you may want to give them a very high (like the default, - * dInfinity) limit. - * - * @note The velocities are damped after the stepper function has moved the - * object. Otherwise the damping could introduce errors in joints. First the - * joint constraints are processed by the stepper (moving the body), then - * the damping is applied. - * - * @note The damping happens right after the moved callback is called; this way - * it still possible use the exact velocities the body has acquired during the - * step. You can even use the callback to create your own customized damping. - */ - -/** - * @brief Get the world's linear damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w); - -/** - * @brief Set the world's linear damping threshold. - * @param threshold The damping won't be applied if the linear speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's angular damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w); - -/** - * @brief Set the world's angular damping threshold. - * @param threshold The damping won't be applied if the angular speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's linear damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDamping (dWorldID w); - -/** - * @brief Set the world's linear damping scale. - * @param scale The linear damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale); - -/** - * @brief Get the world's angular damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDamping (dWorldID w); - -/** - * @brief Set the world's angular damping scale. - * @param scale The angular damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale); - -/** - * @brief Convenience function to set body linear and angular scales. - * @param linear_scale The linear damping scale that is to be applied to bodies. - * @param angular_scale The angular damping scale that is to be applied to bodies. - * @ingroup damping - */ -ODE_API void dWorldSetDamping(dWorldID w, - dReal linear_scale, - dReal angular_scale); - -/** - * @brief Get the default maximum angular speed. - * @ingroup damping - * @sa dBodyGetMaxAngularSpeed() - */ -ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w); - - -/** - * @brief Set the default maximum angular speed for new bodies. - * @ingroup damping - * @sa dBodySetMaxAngularSpeed() - */ -ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed); - - - -/** - * @defgroup bodies Rigid Bodies - * - * A rigid body has various properties from the point of view of the - * simulation. Some properties change over time: - * - * @li Position vector (x,y,z) of the body's point of reference. - * Currently the point of reference must correspond to the body's center of mass. - * @li Linear velocity of the point of reference, a vector (vx,vy,vz). - * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or - * a 3x3 rotation matrix. - * @li Angular velocity vector (wx,wy,wz) which describes how the orientation - * changes over time. - * - * Other body properties are usually constant over time: - * - * @li Mass of the body. - * @li Position of the center of mass with respect to the point of reference. - * In the current implementation the center of mass and the point of - * reference must coincide. - * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass - * is distributed around the center of mass. Conceptually each body has an - * x-y-z coordinate frame embedded in it that moves and rotates with the body. - * - * The origin of this coordinate frame is the body's point of reference. Some values - * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others - * are relative to the global coordinate frame. - * - * Note that the shape of a rigid body is not a dynamical property (except insofar as - * it influences the various mass properties). It is only collision detection that cares - * about the detailed shape of the body. - */ - - -/** - * @brief Get auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID); - -/** - * @brief Set auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID); - -/** - * @brief Set auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold); - -/** - * @brief Get auto disable average size (samples count). - * @ingroup bodies disable - * @return the nr of steps/size. - */ -ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID); - -/** - * @brief Set auto disable average buffer size (average steps). - * @ingroup bodies disable - * @param average_samples_count the nr of samples to review. - */ -ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count); - - -/** - * @brief Get auto steps a body must be thought of as idle to disable - * @ingroup bodies disable - * @return the nr of steps - */ -ODE_API int dBodyGetAutoDisableSteps (dBodyID); - -/** - * @brief Set auto disable steps. - * @ingroup bodies disable - * @param steps the nr of steps. - */ -ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps); - -/** - * @brief Get auto disable time. - * @ingroup bodies disable - * @return nr of seconds - */ -ODE_API dReal dBodyGetAutoDisableTime (dBodyID); - -/** - * @brief Set auto disable time. - * @ingroup bodies disable - * @param time nr of seconds. - */ -ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time); - -/** - * @brief Get auto disable flag. - * @ingroup bodies disable - * @return 0 or 1 - */ -ODE_API int dBodyGetAutoDisableFlag (dBodyID); - -/** - * @brief Set auto disable flag. - * @ingroup bodies disable - * @param do_auto_disable 0 or 1 - */ -ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable); - -/** - * @brief Set auto disable defaults. - * @remarks - * Set the values for the body to those set as default for the world. - * @ingroup bodies disable - */ -ODE_API void dBodySetAutoDisableDefaults (dBodyID); - - -/** - * @brief Retrieves the world attached to te given body. - * @remarks - * - * @ingroup bodies - */ -ODE_API dWorldID dBodyGetWorld (dBodyID); - -/** - * @brief Create a body in given world. - * @remarks - * Default mass parameters are at position (0,0,0). - * @ingroup bodies - */ -ODE_API dBodyID dBodyCreate (dWorldID); - -/** - * @brief Destroy a body. - * @remarks - * All joints that are attached to this body will be put into limbo: - * i.e. unattached and not affecting the simulation, but they will NOT be - * deleted. - * @ingroup bodies - */ -ODE_API void dBodyDestroy (dBodyID); - -/** - * @brief Set the body's user-data pointer. - * @ingroup bodies - * @param data arbitraty pointer - */ -ODE_API void dBodySetData (dBodyID, void *data); - -/** - * @brief Get the body's user-data pointer. - * @ingroup bodies - * @return a pointer to the user's data. - */ -ODE_API void *dBodyGetData (dBodyID); - -/** - * @brief Set position of a body. - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - * @ingroup bodies - */ -ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q); - -/** - * @brief Set the linear velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the angular velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the position of a body. - * @ingroup bodies - * @remarks - * When getting, the returned values are pointers to internal data structures, - * so the vectors are valid until any changes are made to the rigid body - * system structure. - * @sa dBodyCopyPosition - */ -ODE_API const dReal * dBodyGetPosition (dBodyID); - - -/** - * @brief Copy the position of a body into a vector. - * @ingroup bodies - * @param body the body to query - * @param pos a copy of the body position - * @sa dBodyGetPosition - */ -ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to a 4x3 rotation matrix. - */ -ODE_API const dReal * dBodyGetRotation (dBodyID); - - -/** - * @brief Copy the rotation of a body. - * @ingroup bodies - * @param body the body to query - * @param R a copy of the rotation matrix - * @sa dBodyGetRotation - */ -ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to 4 scalars that represent the quaternion. - */ -ODE_API const dReal * dBodyGetQuaternion (dBodyID); - - -/** - * @brief Copy the orientation of a body into a quaternion. - * @ingroup bodies - * @param body the body to query - * @param quat a copy of the orientation quaternion - * @sa dBodyGetQuaternion - */ -ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat); - - -/** - * @brief Get the linear velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetLinearVel (dBodyID); - -/** - * @brief Get the angular velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetAngularVel (dBodyID); - -/** - * @brief Set the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodySetMass (dBodyID, const dMass *mass); - -/** - * @brief Get the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodyGetMass (dBodyID, dMass *mass); - -/** - * @brief Add force at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); - -/** - * @brief Return the current accumulated force vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetForce (dBodyID); - -/** - * @brief Return the current accumulated torque vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetTorque (dBodyID); - -/** - * @brief Set the body force accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Set the body torque accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Get world position of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointPos -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a globally - * specified point on a body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in body-relative coordinates. - * @remarks - * This is the inverse of dBodyGetRelPointPos() - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPosRelPoint -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from local to world coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorToWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to local coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorFromWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief controls the way a body's orientation is updated at each timestep. - * @ingroup bodies - * @param mode can be 0 or 1: - * \li 0: An ``infinitesimal'' orientation update is used. - * This is fast to compute, but it can occasionally cause inaccuracies - * for bodies that are rotating at high speed, especially when those - * bodies are joined to other bodies. - * This is the default for every new body that is created. - * \li 1: A ``finite'' orientation update is used. - * This is more costly to compute, but will be more accurate for high - * speed rotations. - * @remarks - * Note however that high speed rotations can result in many types of - * error in a simulation, and the finite mode will only fix one of those - * sources of error. - */ -ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode); - -/** - * @brief sets the finite rotation axis for a body. - * @ingroup bodies - * @remarks - * This is axis only has meaning when the finite rotation mode is set - * If this axis is zero (0,0,0), full finite rotations are performed on - * the body. - * If this axis is nonzero, the body is rotated by performing a partial finite - * rotation along the axis direction followed by an infinitesimal rotation - * along an orthogonal direction. - * @remarks - * This can be useful to alleviate certain sources of error caused by quickly - * spinning bodies. For example, if a car wheel is rotating at high speed - * you can call this function with the wheel's hinge axis as the argument to - * try and improve its behavior. - */ -ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the way a body's orientation is updated each timestep. - * @ingroup bodies - * @return the mode 0 (infitesimal) or 1 (finite). - */ -ODE_API int dBodyGetFiniteRotationMode (dBodyID); - -/** - * @brief Get the finite rotation axis. - * @param result will contain the axis. - * @ingroup bodies - */ -ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); - -/** - * @brief Get the number of joints that are attached to this body. - * @ingroup bodies - * @return nr of joints - */ -ODE_API int dBodyGetNumJoints (dBodyID b); - -/** - * @brief Return a joint attached to this body, given by index. - * @ingroup bodies - * @param index valid range is 0 to n-1 where n is the value returned by - * dBodyGetNumJoints(). - */ -ODE_API dJointID dBodyGetJoint (dBodyID, int index); - - - - -/** - * @brief Set rigid body to dynamic state (default). - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodySetDynamic (dBodyID); - -/** - * @brief Set rigid body to kinematic state. - * When in kinematic state the body isn't simulated as a dynamic - * body (it's "unstoppable", doesn't respond to forces), - * but can still affect dynamic bodies (e.g. in joints). - * Kinematic bodies can be controlled by position and velocity. - * @note A kinematic body has infinite mass. If you set its mass - * to something else, it loses the kinematic state and behaves - * as a normal dynamic body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodySetKinematic (dBodyID); - -/** - * @brief Check wether a body is in kinematic state. - * @ingroup bodies - * @return 1 if a body is kinematic or 0 if it is dynamic. - */ -ODE_API int dBodyIsKinematic (dBodyID); - -/** - * @brief Manually enable a body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodyEnable (dBodyID); - -/** - * @brief Manually disable a body. - * @ingroup bodies - * @remarks - * A disabled body that is connected through a joint to an enabled body will - * be automatically re-enabled at the next simulation step. - */ -ODE_API void dBodyDisable (dBodyID); - -/** - * @brief Check wether a body is enabled. - * @ingroup bodies - * @return 1 if a body is currently enabled or 0 if it is disabled. - */ -ODE_API int dBodyIsEnabled (dBodyID); - -/** - * @brief Set whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @param mode when nonzero gravity affects this body. - * @remarks - * Newly created bodies are always influenced by the world's gravity. - */ -ODE_API void dBodySetGravityMode (dBodyID b, int mode); - -/** - * @brief Get whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @return nonzero means gravity affects this body. - */ -ODE_API int dBodyGetGravityMode (dBodyID b); - -/** - * @brief Set the 'moved' callback of a body. - * - * Whenever a body has its position or rotation changed during the - * timestep, the callback will be called (with body as the argument). - * Use it to know which body may need an update in an external - * structure (like a 3D engine). - * - * @param b the body that needs to be watched. - * @param callback the callback to be invoked when the body moves. Set to zero - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID)); - - -/** - * @brief Return the first geom associated with the body. - * - * You can traverse through the geoms by repeatedly calling - * dBodyGetNextGeom(). - * - * @return the first geom attached to this body, or 0. - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetFirstGeom (dBodyID b); - - -/** - * @brief returns the next geom associated with the same body. - * @param g a geom attached to some body. - * @return the next geom attached to the same body, or 0. - * @sa dBodyGetFirstGeom - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetNextGeom (dGeomID g); - - -/** - * @brief Resets the damping settings to the current world's settings. - * @ingroup bodies damping - */ -ODE_API void dBodySetDampingDefaults(dBodyID b); - -/** - * @brief Get the body's linear damping scale. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDamping (dBodyID b); - -/** - * @brief Set the body's linear damping scale. - * @param scale The linear damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's linear damping - * scale until dBodySetDampingDefaults() is called. - * @sa dBodySetDampingDefaults() - */ -ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale); - -/** - * @brief Get the body's angular damping scale. - * @ingroup bodies damping - * @remarks If the body's angular damping scale was not set, this function - * returns the world's angular damping scale. - */ -ODE_API dReal dBodyGetAngularDamping (dBodyID b); - -/** - * @brief Set the body's angular damping scale. - * @param scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's angular damping - * scale until dBodyResetAngularDamping() is called. - * @sa dBodyResetAngularDamping() - */ -ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale); - -/** - * @brief Convenience function to set linear and angular scales at once. - * @param linear_scale The linear damping scale. Should be in the interval [0, 1]. - * @param angular_scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @sa dBodySetLinearDamping() dBodySetAngularDamping() - */ -ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale); - -/** - * @brief Get the body's linear damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b); - -/** - * @brief Set the body's linear damping threshold. - * @param threshold The linear threshold to be used. Damping - * is only applied if the linear speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's angular damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b); - -/** - * @brief Set the body's angular damping threshold. - * @param threshold The angular threshold to be used. Damping is - * only used if the angular speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldGetMaxAngularSpeed() - */ -ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b); - -/** - * @brief Set the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed() - * The default value is dInfinity, but it's a good idea to limit - * it at less than 500 if the body has the gyroscopic term - * enabled. - */ -ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed); - - - -/** - * @brief Get the body's gyroscopic state. - * - * @return nonzero if gyroscopic term computation is enabled (default), - * zero otherwise. - * @ingroup bodies - */ -ODE_API int dBodyGetGyroscopicMode(dBodyID b); - - -/** - * @brief Enable/disable the body's gyroscopic term. - * - * Disabling the gyroscopic term of a body usually improves - * stability. It also helps turning spining objects, like cars' - * wheels. - * - * @param enabled nonzero (default) to enable gyroscopic term, 0 - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled); - - - - -/** - * @defgroup joints Joints - * - * In real life a joint is something like a hinge, that is used to connect two - * objects. - * In ODE a joint is very similar: It is a relationship that is enforced between - * two bodies so that they can only have certain positions and orientations - * relative to each other. - * This relationship is called a constraint -- the words joint and - * constraint are often used interchangeably. - * - * A joint has a set of parameters that can be set. These include: - * - * - * \li dParamLoStop Low stop angle or position. Setting this to - * -dInfinity (the default value) turns off the low stop. - * For rotational joints, this stop must be greater than -pi to be - * effective. - * \li dParamHiStop High stop angle or position. Setting this to - * dInfinity (the default value) turns off the high stop. - * For rotational joints, this stop must be less than pi to be - * effective. - * If the high stop is less than the low stop then both stops will - * be ineffective. - * \li dParamVel Desired motor velocity (this will be an angular or - * linear velocity). - * \li dParamFMax The maximum force or torque that the motor will use to - * achieve the desired velocity. - * This must always be greater than or equal to zero. - * Setting this to zero (the default value) turns off the motor. - * \li dParamFudgeFactor The current joint stop/motor implementation has - * a small problem: - * when the joint is at one stop and the motor is set to move it away - * from the stop, too much force may be applied for one time step, - * causing a ``jumping'' motion. - * This fudge factor is used to scale this excess force. - * It should have a value between zero and one (the default value). - * If the jumping motion is too visible in a joint, the value can be - * reduced. - * Making this value too small can prevent the motor from being able to - * move the joint away from a stop. - * \li dParamBounce The bouncyness of the stops. - * This is a restitution parameter in the range 0..1. - * 0 means the stops are not bouncy at all, 1 means maximum bouncyness. - * \li dParamCFM The constraint force mixing (CFM) value used when not - * at a stop. - * \li dParamStopERP The error reduction parameter (ERP) used by the - * stops. - * \li dParamStopCFM The constraint force mixing (CFM) value used by the - * stops. Together with the ERP value this can be used to get spongy or - * soft stops. - * Note that this is intended for unpowered joints, it does not really - * work as expected when a powered joint reaches its limit. - * \li dParamSuspensionERP Suspension error reduction parameter (ERP). - * Currently this is only implemented on the hinge-2 joint. - * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value. - * Currently this is only implemented on the hinge-2 joint. - * - * If a particular parameter is not implemented by a given joint, setting it - * will have no effect. - * These parameter names can be optionally followed by a digit (2 or 3) - * to indicate the second or third set of parameters, e.g. for the second axis - * in a hinge-2 joint, or the third axis in an AMotor joint. - */ - - -/** - * @brief Create a new joint of the ball type. - * @ingroup joints - * @remarks - * The joint is initially in "limbo" (i.e. it has no effect on the simulation) - * because it does not connect to any bodies. - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the slider type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the contact type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); - -/** - * @brief Create a new joint of the hinge2 type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the universal type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PR (Prismatic and Rotoide) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PU (Prismatic and Universal) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the Piston type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given - * joint group. - */ -ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the fixed type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID); - -ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the A-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the L-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the plane-2d type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the double ball type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the double hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the Transmission type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID); - - -/** - * @brief Destroy a joint. - * @ingroup joints - * - * disconnects it from its attached bodies and removing it from the world. - * However, if the joint is a member of a group then this function has no - * effect - to destroy that joint the group must be emptied or destroyed. - */ -ODE_API void dJointDestroy (dJointID); - - -/** - * @brief Create a joint group - * @ingroup joints - * @param max_size deprecated. Set to 0. - */ -ODE_API dJointGroupID dJointGroupCreate (int max_size); - -/** - * @brief Destroy a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed. - */ -ODE_API void dJointGroupDestroy (dJointGroupID); - -/** - * @brief Empty a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed, - * but the joint group itself will not be destroyed. - */ -ODE_API void dJointGroupEmpty (dJointGroupID); - -/** - * @brief Return the number of bodies attached to the joint - * @ingroup joints - */ -ODE_API int dJointGetNumBodies(dJointID); - -/** - * @brief Attach the joint to some new bodies. - * @ingroup joints - * - * If the joint is already attached, it will be detached from the old bodies - * first. - * To attach this joint to only one body, set body1 or body2 to zero - a zero - * body refers to the static environment. - * Setting both bodies to zero puts the joint into "limbo", i.e. it will - * have no effect on the simulation. - * @remarks - * Some joints, like hinge-2 need to be attached to two bodies to work. - */ -ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2); - -/** - * @brief Manually enable a joint. - * @param dJointID identification of joint. - * @ingroup joints - */ -ODE_API void dJointEnable (dJointID); - -/** - * @brief Manually disable a joint. - * @ingroup joints - * @remarks - * A disabled joint will not affect the simulation, but will maintain the anchors and - * axes so it can be enabled later. - */ -ODE_API void dJointDisable (dJointID); - -/** - * @brief Check wether a joint is enabled. - * @ingroup joints - * @return 1 if a joint is currently enabled or 0 if it is disabled. - */ -ODE_API int dJointIsEnabled (dJointID); - -/** - * @brief Set the user-data pointer - * @ingroup joints - */ -ODE_API void dJointSetData (dJointID, void *data); - -/** - * @brief Get the user-data pointer - * @ingroup joints - */ -ODE_API void *dJointGetData (dJointID); - -/** - * @brief Get the type of the joint - * @ingroup joints - * @return the type, being one of these: - * \li dJointTypeBall - * \li dJointTypeHinge - * \li dJointTypeSlider - * \li dJointTypeContact - * \li dJointTypeUniversal - * \li dJointTypeHinge2 - * \li dJointTypeFixed - * \li dJointTypeNull - * \li dJointTypeAMotor - * \li dJointTypeLMotor - * \li dJointTypePlane2D - * \li dJointTypePR - * \li dJointTypePU - * \li dJointTypePiston - */ -ODE_API dJointType dJointGetType (dJointID); - -/** - * @brief Return the bodies that this joint connects. - * @ingroup joints - * @param index return the first (0) or second (1) body. - * @remarks - * If one of these returned body IDs is zero, the joint connects the other body - * to the static environment. - * If both body IDs are zero, the joint is in ``limbo'' and has no effect on - * the simulation. - */ -ODE_API dBodyID dJointGetBody (dJointID, int index); - -/** - * @brief Sets the datastructure that is to receive the feedback. - * - * The feedback can be used by the user, so that it is known how - * much force an individual joint exerts. - * @ingroup joints - */ -ODE_API void dJointSetFeedback (dJointID, dJointFeedback *); - -/** - * @brief Gets the datastructure that is to receive the feedback. - * @ingroup joints - */ -ODE_API dJointFeedback *dJointGetFeedback (dJointID); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - * - * The joint will try to keep this point on each body - * together. The input is specified in world coordinates. - */ -ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - */ -ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Param setting for Ball joints - * @ingroup joints - */ -ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value); - -/** - * @brief Set hinge anchor parameter. - * @ingroup joints - */ -ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); - -ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief Set hinge axis. - * @ingroup joints - */ -ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Hinge axis as if the 2 bodies were already at angle appart. - * @ingroup joints - * - * This function initialize the Axis and the relative orientation of each body - * as if body1 was rotated around the axis by the angle value. \br - * Ex: - * 
- * dJointSetHingeAxis(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0
- * dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
- *
- - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b angle appart. - * @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" - * angle position. - */ -ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the hinge axis. - * - * That is, it applies a torque with specified magnitude in the direction - * of the hinge axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque); - -/** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @ingroup joints - */ -ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * slider's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddSliderForce(dJointID joint, dReal force); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set both axes (optionally) - * - * This can change both axes at once avoiding transitions via invalid states - * while changing axes one by one and having the first changed axis coincide - * with the other axis existing direction. - * - * At least one of the axes must be not NULL. If NULL is passed, the corresponding - * axis retains its existing value. - * - * @ingroup joints - */ -ODE_API void dJointSetHinge2Axes (dJointID j, const dReal *axis1/*=[dSA__MAX],=NULL*/, const dReal *axis2/*=[dSA__MAX],=NULL*/); - -/** - * @brief set axis - * - * Deprecated. Use @fn dJointSetHinge2Axes instead. - * - * @ingroup joints - * @see dJointSetHinge2Axes - */ -ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * - * Deprecated. Use @fn dJointSetHinge2Axes instead. - * - * @ingroup joints - * @see dJointSetHinge2Axes - */ -ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the hinge2's axis 1, torque2 about the - * hinge2's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Universal axis1 as if the 2 bodies were already at - * offset1 and offset2 appart with respect to axis1 and axis2. - * @ingroup joints - * - * This function initialize the axis1 and the relative orientation of - * each body as if body1 was rotated around the new axis1 by the offset1 - * value and as if body2 was rotated around the axis2 by offset2. \br - * Ex: -* 
- * dJointSetHuniversalAxis1(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- *
- * - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b offsets appart. - * - * @note Any previous offsets are erased. - * - * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, - * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset - * will reset the "zero" angle position. - */ -ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, - dReal offset1, dReal offset2); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Universal axis2 as if the 2 bodies were already at - * offset1 and offset2 appart with respect to axis1 and axis2. - * @ingroup joints - * - * This function initialize the axis2 and the relative orientation of - * each body as if body1 was rotated around the axis1 by the offset1 - * value and as if body2 was rotated around the new axis2 by offset2. \br - * Ex: - * 
- * dJointSetHuniversalAxis2(jId, 0, 1, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- *
- - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b offsets appart. - * - * @note Any previous offsets are erased. - * - * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, - * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset - * will reset the "zero" angle position. - */ - - -ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, - dReal offset1, dReal offset2); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the universal's axis 1, torque2 about the - * universal's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); - - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the rotoide articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for the rotoide articulation - */ -ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PR joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPRTorque (dJointID j, dReal torque); - - -/** -* @brief set anchor -* @ingroup joints -*/ -ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - -/** - * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPUAxis(jId, axis);
- * dJointSetPUAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPUPosition(jId) == 0
- * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPUPosition(jId) == offset
- *
- * @param j The PU joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ -ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - -/** - * @brief set the axis for the first axis or the universal articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the second axis or the universal articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - * @note This function was added for convenience it is the same as - * dJointSetPUAxis3 - */ -ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); - - - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for second axis of the - * universal articulation - * @note parameterX where X equal 3 refer to parameter for prismatic - * articulation - */ -ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PU joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPUTorque (dJointID j, dReal torque); - - - - -/** - * @brief set the joint anchor - * @ingroup joints - */ -ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPistonAxis(jId, axis);
- * dJointSetPistonAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
- * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
- *
- * @param j The Piston joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ -ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - - /** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * This function set prismatic axis of the joint and also set the position - * of the joint. - * - * @ingroup joints - * @param j The joint affected by this function - * @param x The x component of the axis - * @param y The y component of the axis - * @param z The z component of the axis - * @param dx The Initial position of the prismatic join in the x direction - * @param dy The Initial position of the prismatic join in the y direction - * @param dz The Initial position of the prismatic join in the z direction - */ -ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * prismatic's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddPistonForce (dJointID joint, dReal force); - - -/** - * @brief Call this on the fixed joint after it has been attached to - * remember the current desired relative offset and desired relative - * rotation between the bodies. - * @ingroup joints - */ -ODE_API void dJointSetFixed (dJointID); - -/* - * @brief Sets joint parameter - * - * @ingroup joints - */ -ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value); - -/** - * @brief set the nr of axes - * @param num 0..3 - * @ingroup joints - */ -ODE_API void dJointSetAMotorNumAxes (dJointID, int num); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel, - dReal x, dReal y, dReal z); - -/** - * @brief Tell the AMotor what the current angle is along axis anum. - * - * This function should only be called in dAMotorUser mode, because in this - * mode the AMotor has no other way of knowing the joint angles. - * The angle information is needed if stops have been set along the axis, - * but it is not needed for axis motors. - * @ingroup joints - */ -ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value); - -/** - * @brief set mode - * @ingroup joints - */ -ODE_API void dJointSetAMotorMode (dJointID, int mode); - -/** - * @brief Applies torque0 about the AMotor's axis 0, torque1 about the - * AMotor's axis 1, and torque2 about the AMotor's axis 2. - * @remarks - * If the motor has fewer than three axes, the higher torques are ignored. - * This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); - -/** - * @brief Set the number of axes that will be controlled by the LMotor. - * @param num can range from 0 (which effectively deactivates the joint) to 3. - * @ingroup joints - */ -ODE_API void dJointSetLMotorNumAxes (dJointID, int num); - -/** - * @brief Set the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @remarks The axis vector is always specified in global coordinates - * regardless of the setting of rel. - * @ingroup joints - */ -ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ - -ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - */ -ODE_API void dJointGetBallAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 2. You can think of a ball and socket - * joint as trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetBallAnchor() to - * within roundoff errors. dJointGetBallAnchor2() can be used, along with - * dJointGetBallAnchor(), to see how far the joint has come apart. - */ -ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetBallParam (dJointID, int parameter); - -/** - * @brief Get the hinge anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return The point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHingeAnchor(). - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result); - -/** - * @brief get axis - * @ingroup joints - */ -ODE_API void dJointGetHingeAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHingeParam (dJointID, int parameter); - -/** - * @brief Get the hinge angle. - * - * The angle is measured between the two bodies, or between the body and - * the static environment. - * The angle will be between -pi..pi. - * Give the relative rotation with respect to the Hinge axis of Body 1 with - * respect to Body 2. - * When the hinge anchor or axis is set, the current position of the attached - * bodies is examined and that position will be the zero angle. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngle (dJointID); - -/** - * @brief Get the hinge angle time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngleRate (dJointID); - -/** - * @brief Get the slider linear position (i.e. the slider's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - - * The position is the distance, with respect to the zero position, - * along the slider axis of body 1 with respect to - * body 2. (A NULL body is replaced by the world). - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPosition (dJointID); - -/** - * @brief Get the slider linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPositionRate (dJointID); - -/** - * @brief Get the slider axis - * @ingroup joints - */ -ODE_API void dJointGetSliderAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetSliderParam (dJointID, int parameter); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * This returns the point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHinge2Anchor. - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Param (dJointID, int parameter); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2Rate (dJointID); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return This returns the point on body 2. - * @remarks - * You can think of the ball and socket part of a universal joint as - * trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is - * perfectly satisfied, this function will return the same value - * as dJointGetUniversalAnchor() to within roundoff errors. - * dJointGetUniversalAnchor2() can be used, along with - * dJointGetUniversalAnchor(), to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result); - - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalParam (dJointID, int parameter); - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine getUniversalAngle1 and getUniversalAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2Rate (dJointID); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPRAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PR linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPositionRate (dJointID); - - -/** - * @brief Get the PR angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPRAngle (dJointID); - -/** - * @brief Get the PR angular position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRAngleRate (dJointID); - - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the Rotoide axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPRParam (dJointID, int parameter); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PU linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUPositionRate (dJointID); - -/** - * @brief Get the first axis of the universal component of the joint - * @ingroup joints - */ -ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the second axis of the Universal component of the joint - * @ingroup joints - */ -ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis - * @ingroup joints - * - * @note This function was added for convenience it is the same as - * dJointGetPUAxis3 - */ -ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); - - - - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The Prismatic universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle1 (dJointID); - -/** - * @brief * @brief Get time derivative of angle1 - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle1Rate (dJointID); - - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle2 (dJointID); - -/** - * @brief * @brief Get time derivative of angle2 - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle2Rate (dJointID); - - /** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPUParam (dJointID, int parameter); - - - - - -/** - * @brief Get the Piston linear position (i.e. the piston's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonPosition (dJointID); - -/** - * @brief Get the piston linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonPositionRate (dJointID); - -/** - * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonAngle (dJointID); - -/** - * @brief Get the piston angular position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonAngleRate (dJointID); - - -/** - * @brief Get the joint anchor - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2 in direction perpendicular - * to the prismatic axis. - * - * @ingroup joints - */ -ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor w.r.t. body 2 - * - * This returns the point on body 2. You can think of a Piston - * joint as trying to keep the result of dJointGetPistonAnchor() and - * dJointGetPistonAnchor2() the same in the direction perpendicular to the - * pirsmatic axis. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetPistonAnchor() to - * within roundoff errors. dJointGetPistonAnchor2() can be used, along with - * dJointGetPistonAnchor(), to see how far the joint has come apart. - * - * @ingroup joints - */ -ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis (This is also the rotoide axis. - * @ingroup joints - */ -ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPistonParam (dJointID, int parameter); - - -/** - * @brief Get the number of angular axes that will be controlled by the - * AMotor. - * @param num can range from 0 (which effectively deactivates the - * joint) to 3. - * This is automatically set to 3 in dAMotorEuler mode. - * @ingroup joints - */ -ODE_API int dJointGetAMotorNumAxes (dJointID); - -/** - * @brief Get the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes. - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @ingroup joints - */ -ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief Get axis - * @remarks - * The axis vector is always specified in global coordinates regardless - * of the setting of rel. - * There are two GetAMotorAxis functions, one to return the axis and one to - * return the relative mode. - * - * For dAMotorEuler mode: - * \li Only axes 0 and 2 need to be set. Axis 1 will be determined - automatically at each time step. - * \li Axes 0 and 2 must be perpendicular to each other. - * \li Axis 0 must be anchored to the first body, axis 2 must be anchored - to the second body. - * @ingroup joints - */ -ODE_API int dJointGetAMotorAxisRel (dJointID, int anum); - -/** - * @brief Get the current angle for axis. - * @remarks - * In dAMotorUser mode this is simply the value that was set with - * dJointSetAMotorAngle(). - * In dAMotorEuler mode this is the corresponding euler angle. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngle (dJointID, int anum); - -/** - * @brief Get the current angle rate for axis anum. - * @remarks - * In dAMotorUser mode this is always zero, as not enough information is - * available. - * In dAMotorEuler mode this is the corresponding euler angle rate. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorParam (dJointID, int parameter); - -/** - * @brief Get the angular motor mode. - * @param mode must be one of the following constants: - * \li dAMotorUser The AMotor axes and joint angle settings are entirely - * controlled by the user. This is the default mode. - * \li dAMotorEuler Euler angles are automatically computed. - * The axis a1 is also automatically computed. - * The AMotor axes must be set correctly when in this mode, - * as described below. - * When this mode is initially set the current relative orientations - * of the bodies will correspond to all euler angles at zero. - * @ingroup joints - */ -ODE_API int dJointGetAMotorMode (dJointID); - -/** - * @brief Get nr of axes. - * @ingroup joints - */ -ODE_API int dJointGetLMotorNumAxes (dJointID); - -/** - * @brief Get axis. - * @ingroup joints - */ -ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetLMotorParam (dJointID, int parameter); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetFixedParam (dJointID, int parameter); - - -/** - * @brief get the contact point of the first wheel of the Transmission joint. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result); - -/** - * @brief get contact point of the second wheel of the Transmission joint. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result); - -/** - * @brief set the first axis for the Transmission joint - * @remarks This is the axis around which the first body is allowed to - * revolve and is attached to it. It is given in global coordinates - * and can only be set explicitly in intersecting-axes mode. For the - * parallel-axes and chain modes which share one common axis of - * revolution for both gears dJointSetTransmissionAxis should be used. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get first axis for the Transmission joint - * @remarks In parallel-axes and chain mode the common axis with - * respect to the first body is returned. If the joint constraint is - * satisfied it should be the same as the axis return with - * dJointGetTransmissionAxis2 or dJointGetTransmissionAxis. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result); - -/** - * @brief set second axis for the Transmission joint - * @remarks This is the axis around which the second body is allowed - * to revolve and is attached to it. It is given in global - * coordinates and can only be set explicitly in intersecting-axes - * mode. For the parallel-axes and chain modes which share one common - * axis of revolution for both gears dJointSetTransmissionAxis should - * be used. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get second axis for the Transmission joint - * @remarks In parallel-axes and chain mode the common axis with - * respect to the second body is returned. If the joint constraint is - * satisfied it should be the same as the axis return with - * dJointGetTransmissionAxis1 or dJointGetTransmissionAxis. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result); - -/** - * @brief set the first anchor for the Transmission joint - * @remarks This is the point of attachment of the wheel on the - * first body. It is given in global coordinates. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get the first anchor of the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result); - -/** - * @brief set the second anchor for the Transmission joint - * @remarks This is the point of attachment of the wheel on the - * second body. It is given in global coordinates. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get the second anchor for the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result); - -/** - * @brief set a Transmission joint parameter - * @ingroup joints - */ -ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value); - -/** - * @brief get a Transmission joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter); - -/** - * @brief set the Transmission joint mode - * @remarks The mode can be one of dTransmissionParallelAxes, - * dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a - * set of parallel-axes gears, intersecting-axes beveled gears or - * chain and sprockets respectively. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionMode( dJointID j, int mode ); - -/** - * @brief get the Transmission joint mode - * @ingroup joints - */ -ODE_API int dJointGetTransmissionMode( dJointID j ); - -/** - * @brief set the Transmission ratio - * @remarks This is the ratio of the angular speed of the first gear - * to that of the second gear. It can only be set explicitly in - * parallel-axes mode. In intersecting-axes mode the ratio is defined - * implicitly by the initial configuration of the wheels and in chain - * mode it is defined implicitly be the wheel radii. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio ); - -/** - * @brief get the Transmission joint ratio - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRatio( dJointID j ); - -/** - * @brief set the common axis for both wheels of the Transmission joint - * @remarks This sets the common axis of revolution for both wheels - * and should only be used in parallel-axes or chain mode. For - * intersecting-axes mode where each wheel axis needs to be specified - * individually dJointSetTransmissionAxis1 and - * dJointSetTransmissionAxis2 should be used. The axis is given in - * global coordinates - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z ); - -/** - * @brief get the common axis for both wheels of the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result ); - -/** - * @brief get the phase, that is the traversed angle for the first - * wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionAngle1( dJointID j ); - -/** - * @brief get the phase, that is the traversed angle for the second - * wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionAngle2( dJointID j ); - -/** - * @brief get the radius of the first wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRadius1( dJointID j ); - -/** - * @brief get the radius of the second wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRadius2( dJointID j ); - -/** - * @brief set the radius of the first wheel of the Transmission joint - * @remarks The wheel radii can only be set explicitly in chain mode. - * In the other modes they're defined implicitly by the initial - * configuration and ratio of the wheels. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius ); - -/** - * @brief set the radius of the second wheel of the Transmission joint - * @remarks The wheel radii can only be set explicitly in chain mode. - * In the other modes they're defined implicitly by the initial - * configuration and ratio of the wheels. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius ); - -/** - * @brief get the backlash of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionBacklash( dJointID j ); - -/** - * @brief set the backlash of the Transmission joint - * @remarks Backlash is the clearance in the mesh of the wheels of the - * transmission and is defined as the maximum distance that the - * geometric contact point can travel without any actual contact or - * transfer of power between the wheels. This can be converted in - * degrees of revolution for each wheel by dividing by the wheel's - * radius. To further illustrate this consider the situation where a - * wheel of radius r_1 is driving another wheel of radius r_2 and - * there is an amount of backlash equal to b in their mesh. If the - * driving wheel were to instantaneously stop there would be no - * contact and hence the driven wheel would continue to turn for - * another b / r_2 radians until all the backlash in the mesh was take - * up and contact restored with the relationship of driving and driven - * wheel reversed. The backlash is therefore given in untis of - * length. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash ); - -/** - * @brief set anchor1 for double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor2 for double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get anchor1 from double ball joint - * @ingroup joints - */ -ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result); - -/** - * @brief get anchor2 from double ball joint - * @ingroup joints - */ -ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result); - -/** - * @brief get the target distance from double ball joint - * @ingroup joints - */ -ODE_API dReal dJointGetDBallDistance(dJointID); - -/** - * @brief set the target distance for the double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallDistance(dJointID, dReal dist); - -/** - * @brief set double ball joint parameter - * @ingroup joints - */ -ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value); - -/** - * @brief get double ball joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetDBallParam(dJointID, int parameter); - -/** - * @brief set axis for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get axis for double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result); - -/** - * @brief set anchor1 for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor2 for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get anchor1 from double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result); - -/** - * @brief get anchor2 from double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result); - -/** - * @brief get the set distance from double hinge joint - * @ingroup joints - */ -ODE_API dReal dJointGetDHingeDistance(dJointID); - -/** - * @brief set double hinge joint parameter - * @ingroup joints - */ -ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value); - -/** - * @brief get double hinge joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetDHingeParam(dJointID, int parameter); - - - - -/** - * @ingroup joints - */ -ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); - -/** - * @ingroup joints - */ -ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint, otherwise return 0. - * @ingroup joints - */ -ODE_API int dAreConnected (dBodyID, dBodyID); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint that does not have type @arg{joint_type}, otherwise return 0. - * @param body1 A body to check. - * @param body2 A body to check. - * @param joint_type is a dJointTypeXXX constant. - * This is useful for deciding whether to add contact joints between two bodies: - * if they are already connected by non-contact joints then it may not be - * appropriate to add contacts, however it is okay to add more contact between- - * bodies that already have contacts. - * @ingroup joints - */ -ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/ode.h b/include/linux/ode/ode.h deleted file mode 100755 index 29a8601..0000000 --- a/include/linux/ode/ode.h +++ /dev/null @@ -1,56 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODE_H_ -#define _ODE_ODE_H_ - -/* include *everything* here */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef __cplusplus -# include -# include -#endif - -#endif diff --git a/include/linux/ode/odeconfig.h b/include/linux/ode/odeconfig.h deleted file mode 100755 index 05a6598..0000000 --- a/include/linux/ode/odeconfig.h +++ /dev/null @@ -1,215 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODECONFIG_H_ -#define _ODE_ODECONFIG_H_ - -/* Pull in the standard headers */ -#include -#include -#include -#include -#include -#include -#include -#include - - -#include - - -#if defined(ODE_DLL) || defined(ODE_LIB) -#define __ODE__ -#endif - -/* Define a DLL export symbol for those platforms that need it */ -#if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32)) - #if defined(ODE_DLL) - #define ODE_API __declspec(dllexport) - #elif !defined(ODE_LIB) - #define ODE_DLL_API __declspec(dllimport) - #endif -#endif - -#if !defined(ODE_API) - #define ODE_API -#endif - -#if defined(_MSC_VER) -# define ODE_API_DEPRECATED __declspec(deprecated) -#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) ) -# define ODE_API_DEPRECATED __attribute__((__deprecated__)) -#else -# define ODE_API_DEPRECATED -#endif - -#define ODE_PURE_INLINE static __inline -#define ODE_INLINE __inline - -#if defined(__cplusplus) - #define ODE_EXTERN_C extern "C" -#else - #define ODE_EXTERN_C -#endif - -#if defined(__GNUC__) -#define ODE_NORETURN __attribute__((noreturn)) -#elif defined(_MSC_VER) -#define ODE_NORETURN __declspec(noreturn) -#else // #if !defined(_MSC_VER) -#define ODE_NORETURN -#endif // #if !defined(__GNUC__) - - -/* Well-defined common data types...need to define for 64 bit systems */ -#if defined(__aarch64__) - #include - typedef int64_t dint64; - typedef uint64_t duint64; - typedef int32_t dint32; - typedef uint32_t duint32; - typedef int16_t dint16; - typedef uint16_t duint16; - typedef int8_t dint8; - typedef uint8_t duint8; - - typedef intptr_t dintptr; - typedef uintptr_t duintptr; - typedef ptrdiff_t ddiffint; - typedef size_t dsizeint; - -#elif defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__) - #define X86_64_SYSTEM 1 -#if defined(_MSC_VER) - typedef __int64 dint64; - typedef unsigned __int64 duint64; -#else -#if defined(_LP64) -typedef long dint64; -typedef unsigned long duint64; -#else - typedef long long dint64; - typedef unsigned long long duint64; -#endif -#endif - typedef int dint32; - typedef unsigned int duint32; - typedef short dint16; - typedef unsigned short duint16; - typedef signed char dint8; - typedef unsigned char duint8; - - typedef dint64 dintptr; - typedef duint64 duintptr; - typedef dint64 ddiffint; - typedef duint64 dsizeint; - -#else -#if defined(_MSC_VER) - typedef __int64 dint64; - typedef unsigned __int64 duint64; -#else - typedef long long dint64; - typedef unsigned long long duint64; -#endif - typedef int dint32; - typedef unsigned int duint32; - typedef short dint16; - typedef unsigned short duint16; - typedef signed char dint8; - typedef unsigned char duint8; - - typedef dint32 dintptr; - typedef duint32 duintptr; - typedef dint32 ddiffint; - typedef duint32 dsizeint; - -#endif - - -/* Define the dInfinity macro */ -#ifdef INFINITY - #ifdef dSINGLE - #define dInfinity ((float)INFINITY) - #else - #define dInfinity ((double)INFINITY) - #endif -#elif defined(HUGE_VAL) - #ifdef dSINGLE - #ifdef HUGE_VALF - #define dInfinity HUGE_VALF - #else - #define dInfinity ((float)HUGE_VAL) - #endif - #else - #define dInfinity HUGE_VAL - #endif -#else - #ifdef dSINGLE - #define dInfinity ((float)(1.0/0.0)) - #else - #define dInfinity (1.0/0.0) - #endif -#endif - - -/* Define the dNaN macro */ -#if defined(NAN) - #define dNaN NAN -#elif defined(__GNUC__) - #define dNaN ({ union { duint32 m_ui; float m_f; } un; un.m_ui = 0x7FC00000; un.m_f; }) -#elif defined(__cplusplus) - union _dNaNUnion - { - _dNaNUnion(): m_ui(0x7FC00000) {} - duint32 m_ui; - float m_f; - }; - #define dNaN (_dNaNUnion().m_f) -#else - #ifdef dSINGLE - #define dNaN ((float)(dInfinity - dInfinity)) - #else - #define dNaN (dInfinity - dInfinity) - #endif -#endif - - - /* Visual C does not define these functions */ -#if defined(_MSC_VER) - #define _ode_copysignf(x, y) ((float)_copysign(x, y)) - #define _ode_copysign(x, y) _copysign(x, y) - #define _ode_nextafterf(x, y) _nextafterf(x, y) - #define _ode_nextafter(x, y) _nextafter(x, y) - #if !defined(_WIN64) && defined(dSINGLE) - #define _ODE__NEXTAFTERF_REQUIRED - ODE_EXTERN_C float _nextafterf(float x, float y); - #endif -#else - #define _ode_copysignf(x, y) copysignf(x, y) - #define _ode_copysign(x, y) copysign(x, y) - #define _ode_nextafterf(x, y) nextafterf(x, y) - #define _ode_nextafter(x, y) nextafter(x, y) -#endif - - -#endif diff --git a/include/linux/ode/odecpp.h b/include/linux/ode/odecpp.h deleted file mode 100755 index 69002e9..0000000 --- a/include/linux/ode/odecpp.h +++ /dev/null @@ -1,1355 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* C++ interface for non-collision stuff */ - - -#ifndef _ODE_ODECPP_H_ -#define _ODE_ODECPP_H_ -#ifdef __cplusplus - - - - -//namespace ode { - - -class dWorldSimpleIDContainer { -protected: - dWorldID _id; - - dWorldSimpleIDContainer(): _id(0) {} - ~dWorldSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dWorldDestroy(_id); - _id = 0; - } - } -}; - -class dWorldDynamicIDContainer: public dWorldSimpleIDContainer { -protected: - virtual ~dWorldDynamicIDContainer() {} -}; - -template -class dWorldTemplate: public dWorldTemplateBase { - // intentionally undefined, don't use these - dWorldTemplate (const dWorldTemplate &); - void operator= (const dWorldTemplate &); - -protected: - dWorldID get_id() const { return dWorldTemplateBase::_id; } - void set_id(dWorldID value) { dWorldTemplateBase::_id = value; } - -public: - dWorldTemplate() - { set_id(dWorldCreate()); } - - dWorldID id() const - { return get_id(); } - operator dWorldID() const - { return get_id(); } - - void setGravity (dReal x, dReal y, dReal z) - { dWorldSetGravity (get_id(), x, y, z); } - void setGravity (const dVector3 g) - { setGravity (g[0], g[1], g[2]); } - void getGravity (dVector3 g) const - { dWorldGetGravity (get_id(), g); } - - void setERP (dReal erp) - { dWorldSetERP(get_id(), erp); } - dReal getERP() const - { return dWorldGetERP(get_id()); } - - void setCFM (dReal cfm) - { dWorldSetCFM(get_id(), cfm); } - dReal getCFM() const - { return dWorldGetCFM(get_id()); } - - void step (dReal stepsize) - { dWorldStep (get_id(), stepsize); } - - void quickStep(dReal stepsize) - { dWorldQuickStep (get_id(), stepsize); } - void setQuickStepNumIterations(int num) - { dWorldSetQuickStepNumIterations (get_id(), num); } - int getQuickStepNumIterations() const - { return dWorldGetQuickStepNumIterations (get_id()); } - void setQuickStepW(dReal over_relaxation) - { dWorldSetQuickStepW (get_id(), over_relaxation); } - dReal getQuickStepW() const - { return dWorldGetQuickStepW (get_id()); } - - void setAutoDisableLinearThreshold (dReal threshold) - { dWorldSetAutoDisableLinearThreshold (get_id(), threshold); } - dReal getAutoDisableLinearThreshold() const - { return dWorldGetAutoDisableLinearThreshold (get_id()); } - void setAutoDisableAngularThreshold (dReal threshold) - { dWorldSetAutoDisableAngularThreshold (get_id(), threshold); } - dReal getAutoDisableAngularThreshold() const - { return dWorldGetAutoDisableAngularThreshold (get_id()); } - void setAutoDisableSteps (int steps) - { dWorldSetAutoDisableSteps (get_id(), steps); } - int getAutoDisableSteps() const - { return dWorldGetAutoDisableSteps (get_id()); } - void setAutoDisableTime (dReal time) - { dWorldSetAutoDisableTime (get_id(), time); } - dReal getAutoDisableTime() const - { return dWorldGetAutoDisableTime (get_id()); } - void setAutoDisableFlag (int do_auto_disable) - { dWorldSetAutoDisableFlag (get_id(), do_auto_disable); } - int getAutoDisableFlag() const - { return dWorldGetAutoDisableFlag (get_id()); } - - dReal getLinearDampingThreshold() const - { return dWorldGetLinearDampingThreshold(get_id()); } - void setLinearDampingThreshold(dReal threshold) - { dWorldSetLinearDampingThreshold(get_id(), threshold); } - dReal getAngularDampingThreshold() const - { return dWorldGetAngularDampingThreshold(get_id()); } - void setAngularDampingThreshold(dReal threshold) - { dWorldSetAngularDampingThreshold(get_id(), threshold); } - dReal getLinearDamping() const - { return dWorldGetLinearDamping(get_id()); } - void setLinearDamping(dReal scale) - { dWorldSetLinearDamping(get_id(), scale); } - dReal getAngularDamping() const - { return dWorldGetAngularDamping(get_id()); } - void setAngularDamping(dReal scale) - { dWorldSetAngularDamping(get_id(), scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dWorldSetDamping(get_id(), linear_scale, angular_scale); } - - dReal getMaxAngularSpeed() const - { return dWorldGetMaxAngularSpeed(get_id()); } - void setMaxAngularSpeed(dReal max_speed) - { dWorldSetMaxAngularSpeed(get_id(), max_speed); } - - void setContactSurfaceLayer(dReal depth) - { dWorldSetContactSurfaceLayer (get_id(), depth); } - dReal getContactSurfaceLayer() const - { return dWorldGetContactSurfaceLayer (get_id()); } - - void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, - dVector3 force) - { dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); } -}; - - -class dBodySimpleIDContainer { -protected: - dBodyID _id; - - dBodySimpleIDContainer(): _id(0) {} - ~dBodySimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dBodyDestroy(_id); - _id = 0; - } - } -}; - -class dBodyDynamicIDContainer: public dBodySimpleIDContainer { -protected: - virtual ~dBodyDynamicIDContainer() {} -}; - -template -class dBodyTemplate: public dBodyTemplateBase { - // intentionally undefined, don't use these - dBodyTemplate (const dBodyTemplate &); - void operator= (const dBodyTemplate &); - -protected: - dBodyID get_id() const { return dBodyTemplateBase::_id; } - void set_id(dBodyID value) { dBodyTemplateBase::_id = value; } - - void destroy() { dBodyTemplateBase::destroy(); } - -public: - dBodyTemplate() - { } - dBodyTemplate (dWorldID world) - { set_id(dBodyCreate(world)); } - dBodyTemplate (dWorldTemplate& world) - { set_id(dBodyCreate(world.id())); } - - void create (dWorldID world) { - destroy(); - set_id(dBodyCreate(world)); - } - void create (dWorldTemplate& world) { - create(world.id()); - } - - dBodyID id() const - { return get_id(); } - operator dBodyID() const - { return get_id(); } - - void setData (void *data) - { dBodySetData (get_id(), data); } - void *getData() const - { return dBodyGetData (get_id()); } - - void setPosition (dReal x, dReal y, dReal z) - { dBodySetPosition (get_id(), x, y, z); } - void setPosition (const dVector3 p) - { setPosition(p[0], p[1], p[2]); } - - void setRotation (const dMatrix3 R) - { dBodySetRotation (get_id(), R); } - void setQuaternion (const dQuaternion q) - { dBodySetQuaternion (get_id(), q); } - void setLinearVel (dReal x, dReal y, dReal z) - { dBodySetLinearVel (get_id(), x, y, z); } - void setLinearVel (const dVector3 v) - { setLinearVel(v[0], v[1], v[2]); } - void setAngularVel (dReal x, dReal y, dReal z) - { dBodySetAngularVel (get_id(), x, y, z); } - void setAngularVel (const dVector3 v) - { setAngularVel (v[0], v[1], v[2]); } - - const dReal * getPosition() const - { return dBodyGetPosition (get_id()); } - const dReal * getRotation() const - { return dBodyGetRotation (get_id()); } - const dReal * getQuaternion() const - { return dBodyGetQuaternion (get_id()); } - const dReal * getLinearVel() const - { return dBodyGetLinearVel (get_id()); } - const dReal * getAngularVel() const - { return dBodyGetAngularVel (get_id()); } - - void setMass (const dMass *mass) - { dBodySetMass (get_id(), mass); } - void setMass (const dMass &mass) - { setMass (&mass); } - dMass getMass () const - { dMass mass; dBodyGetMass (get_id(), &mass); return mass; } - - void addForce (dReal fx, dReal fy, dReal fz) - { dBodyAddForce (get_id(), fx, fy, fz); } - void addForce (const dVector3 f) - { addForce (f[0], f[1], f[2]); } - void addTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddTorque (get_id(), fx, fy, fz); } - void addTorque (const dVector3 t) - { addTorque(t[0], t[1], t[2]); } - - void addRelForce (dReal fx, dReal fy, dReal fz) - { dBodyAddRelForce (get_id(), fx, fy, fz); } - void addRelForce (const dVector3 f) - { addRelForce (f[0], f[1], f[2]); } - void addRelTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddRelTorque (get_id(), fx, fy, fz); } - void addRelTorque (const dVector3 t) - { addRelTorque (t[0], t[1], t[2]); } - - void addForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); } - void addForceAtPos (const dVector3 f, const dVector3 p) - { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } - void addForceAtRelPos (const dVector3 f, const dVector3 p) - { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); } - void addRelForceAtPos (const dVector3 f, const dVector3 p) - { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } - void addRelForceAtRelPos (const dVector3 f, const dVector3 p) - { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - const dReal * getForce() const - { return dBodyGetForce(get_id()); } - const dReal * getTorque() const - { return dBodyGetTorque(get_id()); } - void setForce (dReal x, dReal y, dReal z) - { dBodySetForce (get_id(), x, y, z); } - void setForce (const dVector3 f) - { setForce (f[0], f[1], f[2]); } - void setTorque (dReal x, dReal y, dReal z) - { dBodySetTorque (get_id(), x, y, z); } - void setTorque (const dVector3 t) - { setTorque (t[0], t[1], t[2]); } - - void setDynamic() - { dBodySetDynamic (get_id()); } - void setKinematic() - { dBodySetKinematic (get_id()); } - bool isKinematic() const - { return dBodyIsKinematic (get_id()) != 0; } - - void enable() - { dBodyEnable (get_id()); } - void disable() - { dBodyDisable (get_id()); } - bool isEnabled() const - { return dBodyIsEnabled (get_id()) != 0; } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointPos (get_id(), px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointVel (get_id(), px, py, pz, result); } - void getRelPointVel (const dVector3 p, dVector3 result) const - { getRelPointVel (p[0], p[1], p[2], result); } - - void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPointVel (get_id(), px, py, pz, result); } - void getPointVel (const dVector3 p, dVector3 result) const - { getPointVel (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPosRelPoint (get_id(), px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorToWorld (get_id(), px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorFromWorld (get_id(), px, py, pz, result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void setFiniteRotationMode (bool mode) - { dBodySetFiniteRotationMode (get_id(), mode); } - - void setFiniteRotationAxis (dReal x, dReal y, dReal z) - { dBodySetFiniteRotationAxis (get_id(), x, y, z); } - void setFiniteRotationAxis (const dVector3 a) - { setFiniteRotationAxis (a[0], a[1], a[2]); } - - bool getFiniteRotationMode() const - { return dBodyGetFiniteRotationMode (get_id()) != 0; } - void getFiniteRotationAxis (dVector3 result) const - { dBodyGetFiniteRotationAxis (get_id(), result); } - - int getNumJoints() const - { return dBodyGetNumJoints (get_id()); } - dJointID getJoint (int index) const - { return dBodyGetJoint (get_id(), index); } - - void setGravityMode (bool mode) - { dBodySetGravityMode (get_id(), mode); } - bool getGravityMode() const - { return dBodyGetGravityMode (get_id()) != 0; } - - bool isConnectedTo (dBodyID body) const - { return dAreConnected (get_id(), body) != 0; } - - void setAutoDisableLinearThreshold (dReal threshold) - { dBodySetAutoDisableLinearThreshold (get_id(), threshold); } - dReal getAutoDisableLinearThreshold() const - { return dBodyGetAutoDisableLinearThreshold (get_id()); } - void setAutoDisableAngularThreshold (dReal threshold) - { dBodySetAutoDisableAngularThreshold (get_id(), threshold); } - dReal getAutoDisableAngularThreshold() const - { return dBodyGetAutoDisableAngularThreshold (get_id()); } - void setAutoDisableSteps (int steps) - { dBodySetAutoDisableSteps (get_id(), steps); } - int getAutoDisableSteps() const - { return dBodyGetAutoDisableSteps (get_id()); } - void setAutoDisableTime (dReal time) - { dBodySetAutoDisableTime (get_id(), time); } - dReal getAutoDisableTime() const - { return dBodyGetAutoDisableTime (get_id()); } - void setAutoDisableFlag (bool do_auto_disable) - { dBodySetAutoDisableFlag (get_id(), do_auto_disable); } - bool getAutoDisableFlag() const - { return dBodyGetAutoDisableFlag (get_id()) != 0; } - - dReal getLinearDamping() const - { return dBodyGetLinearDamping(get_id()); } - void setLinearDamping(dReal scale) - { dBodySetLinearDamping(get_id(), scale); } - dReal getAngularDamping() const - { return dBodyGetAngularDamping(get_id()); } - void setAngularDamping(dReal scale) - { dBodySetAngularDamping(get_id(), scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dBodySetDamping(get_id(), linear_scale, angular_scale); } - dReal getLinearDampingThreshold() const - { return dBodyGetLinearDampingThreshold(get_id()); } - void setLinearDampingThreshold(dReal threshold) const - { dBodySetLinearDampingThreshold(get_id(), threshold); } - dReal getAngularDampingThreshold() const - { return dBodyGetAngularDampingThreshold(get_id()); } - void setAngularDampingThreshold(dReal threshold) - { dBodySetAngularDampingThreshold(get_id(), threshold); } - void setDampingDefaults() - { dBodySetDampingDefaults(get_id()); } - - dReal getMaxAngularSpeed() const - { return dBodyGetMaxAngularSpeed(get_id()); } - void setMaxAngularSpeed(dReal max_speed) - { dBodySetMaxAngularSpeed(get_id(), max_speed); } - - bool getGyroscopicMode() const - { return dBodyGetGyroscopicMode(get_id()) != 0; } - void setGyroscopicMode(bool mode) - { dBodySetGyroscopicMode(get_id(), mode); } - -}; - - -class dJointGroupSimpleIDContainer { -protected: - dJointGroupID _id; - - dJointGroupSimpleIDContainer(): _id(0) {} - ~dJointGroupSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dJointGroupDestroy(_id); - _id = 0; - } - } -}; - -class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer { -protected: - virtual ~dJointGroupDynamicIDContainer() {} -}; - -template -class dJointGroupTemplate: public dJointGroupTemplateBase { - // intentionally undefined, don't use these - dJointGroupTemplate (const dJointGroupTemplate &); - void operator= (const dJointGroupTemplate &); - -protected: - dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; } - void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; } - - void destroy() { dJointGroupTemplateBase::destroy(); } - -public: - dJointGroupTemplate () - { set_id(dJointGroupCreate(0)); } - - void create () { - destroy(); - set_id(dJointGroupCreate(0)); - } - - dJointGroupID id() const - { return get_id(); } - operator dJointGroupID() const - { return get_id(); } - - void empty() - { dJointGroupEmpty (get_id()); } - void clear() - { empty(); } -}; - - -class dJointSimpleIDContainer { -protected: - dJointID _id; - - dJointSimpleIDContainer(): _id(0) {} - ~dJointSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dJointDestroy (_id); - _id = 0; - } - } -}; - -class dJointDynamicIDContainer: public dJointSimpleIDContainer { -protected: - virtual ~dJointDynamicIDContainer() {} -}; - -template -class dJointTemplate: public dJointTemplateBase { -private: - // intentionally undefined, don't use these - dJointTemplate (const dJointTemplate &) ; - void operator= (const dJointTemplate &); - -protected: - dJointID get_id() const { return dJointTemplateBase::_id; } - void set_id(dJointID value) { dJointTemplateBase::_id = value; } - - void destroy() { dJointTemplateBase::destroy(); } - -protected: - dJointTemplate() // don't let user construct pure dJointTemplate objects - { } - -public: - dJointID id() const - { return get_id(); } - operator dJointID() const - { return get_id(); } - - int getNumBodies() const - { return dJointGetNumBodies(get_id()); } - - void attach (dBodyID body1, dBodyID body2) - { dJointAttach (get_id(), body1, body2); } - void attach (dBodyTemplate& body1, dBodyTemplate& body2) - { attach(body1.id(), body2.id()); } - - void enable() - { dJointEnable (get_id()); } - void disable() - { dJointDisable (get_id()); } - bool isEnabled() const - { return dJointIsEnabled (get_id()) != 0; } - - void setData (void *data) - { dJointSetData (get_id(), data); } - void *getData() const - { return dJointGetData (get_id()); } - - dJointType getType() const - { return dJointGetType (get_id()); } - - dBodyID getBody (int index) const - { return dJointGetBody (get_id(), index); } - - void setFeedback(dJointFeedback *fb) - { dJointSetFeedback(get_id(), fb); } - dJointFeedback *getFeedback() const - { return dJointGetFeedback(get_id()); } - - // If not implemented it will do nothing as describe in the doc - virtual void setParam (int, dReal) {}; - virtual dReal getParam (int) const { return 0; } -}; - - -template -class dBallJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dBallJointTemplate (const dBallJointTemplate &); - void operator= (const dBallJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dBallJointTemplate() { } - dBallJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateBall(world, group)); } - dBallJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateBall(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateBall(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetBallAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetBallAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetBallAnchor2 (get_id(), result); } - virtual void setParam (int parameter, dReal value) - { dJointSetBallParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetBallParam (get_id(), parameter); } - // TODO: expose params through methods -} ; - - -template -class dHingeJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dHingeJointTemplate (const dHingeJointTemplate &); - void operator = (const dHingeJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dHingeJointTemplate() { } - dHingeJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateHinge(world, group)); } - dHingeJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateHinge(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateHinge (world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHingeAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetHingeAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetHingeAnchor2 (get_id(), result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetHingeAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetHingeAxis (get_id(), result); } - - dReal getAngle() const - { return dJointGetHingeAngle (get_id()); } - dReal getAngleRate() const - { return dJointGetHingeAngleRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHingeParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHingeParam (get_id(), parameter); } - // TODO: expose params through methods - - void addTorque (dReal torque) - { dJointAddHingeTorque(get_id(), torque); } -}; - - -template -class dSliderJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dSliderJointTemplate (const dSliderJointTemplate &); - void operator = (const dSliderJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dSliderJointTemplate() { } - dSliderJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateSlider(world, group)); } - dSliderJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateSlider(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateSlider(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetSliderAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis (a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetSliderAxis (get_id(), result); } - - dReal getPosition() const - { return dJointGetSliderPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetSliderPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetSliderParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetSliderParam (get_id(), parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddSliderForce(get_id(), force); } -}; - - -template -class dUniversalJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dUniversalJointTemplate (const dUniversalJointTemplate &); - void operator = (const dUniversalJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dUniversalJointTemplate() { } - dUniversalJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateUniversal(world, group)); } - dUniversalJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateUniversal(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateUniversal(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetUniversalAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1 (a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis2 (get_id(), x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2 (a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetUniversalAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetUniversalAnchor2 (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetUniversalAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetUniversalAxis2 (get_id(), result); } - - virtual void setParam (int parameter, dReal value) - { dJointSetUniversalParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetUniversalParam (get_id(), parameter); } - // TODO: expose params through methods - - void getAngles(dReal *angle1, dReal *angle2) const - { dJointGetUniversalAngles (get_id(), angle1, angle2); } - - dReal getAngle1() const - { return dJointGetUniversalAngle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetUniversalAngle1Rate (get_id()); } - dReal getAngle2() const - { return dJointGetUniversalAngle2 (get_id()); } - dReal getAngle2Rate() const - { return dJointGetUniversalAngle2Rate (get_id()); } - - void addTorques (dReal torque1, dReal torque2) - { dJointAddUniversalTorques(get_id(), torque1, torque2); } -}; - - -template -class dHinge2JointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dHinge2JointTemplate (const dHinge2JointTemplate &); - void operator = (const dHinge2JointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dHinge2JointTemplate() { } - dHinge2JointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateHinge2(world, group)); } - dHinge2JointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateHinge2(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateHinge2(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHinge2Anchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxes (const dReal *axis1/*=NULL*/, const dReal *axis2/*=NULL*/) - { dJointSetHinge2Axes (get_id(), axis1, axis2); } - ODE_API_DEPRECATED void setAxis1 (dReal x, dReal y, dReal z) - { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), a, NULL); } - ODE_API_DEPRECATED void setAxis1 (const dVector3 a) - { dJointSetHinge2Axes (get_id(), a, NULL); } - ODE_API_DEPRECATED void setAxis2 (dReal x, dReal y, dReal z) - { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), NULL, a); } - ODE_API_DEPRECATED void setAxis2 (const dVector3 a) - { dJointSetHinge2Axes (get_id(), NULL, a); } - - void getAnchor (dVector3 result) const - { dJointGetHinge2Anchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetHinge2Anchor2 (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetHinge2Axis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetHinge2Axis2 (get_id(), result); } - - dReal getAngle1() const - { return dJointGetHinge2Angle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetHinge2Angle1Rate (get_id()); } - dReal getAngle2Rate() const - { return dJointGetHinge2Angle2Rate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHinge2Param (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHinge2Param (get_id(), parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2) - { dJointAddHinge2Torques(get_id(), torque1, torque2); } -}; - - -template -class dPRJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dPRJointTemplate (const dPRJointTemplate &); - void operator = (const dPRJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPRJointTemplate() { } - dPRJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePR(world, group)); } - dPRJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePR(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreatePR(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPRAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPRAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPRAxis2 (get_id(), x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2(a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetPRAnchor (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetPRAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetPRAxis2 (get_id(), result); } - - dReal getPosition() const - { return dJointGetPRPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPRPositionRate (get_id()); } - - dReal getAngle() const - { return dJointGetPRAngle (get_id()); } - dReal getAngleRate() const - { return dJointGetPRAngleRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPRParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPRParam (get_id(), parameter); } -}; - - - -template -class dPUJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dPUJointTemplate (const dPUJointTemplate &); - void operator = (const dPUJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPUJointTemplate() { } - dPUJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePU(world, group)); } - dPUJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePU(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) - { - destroy(); - set_id(dJointCreatePU(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPUAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPUAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPUAxis2 (get_id(), x, y, z); } - void setAxis3 (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (get_id(), x, y, z); } - void setAxis3 (const dVector3 a) - { setAxis3(a[0], a[1], a[2]); } - void setAxisP (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (get_id(), x, y, z); } - void setAxisP (const dVector3 a) - { setAxisP(a[0], a[1], a[2]); } - - virtual void getAnchor (dVector3 result) const - { dJointGetPUAnchor (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetPUAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetPUAxis2 (get_id(), result); } - void getAxis3 (dVector3 result) const - { dJointGetPUAxis3 (get_id(), result); } - void getAxisP (dVector3 result) const - { dJointGetPUAxis3 (get_id(), result); } - - dReal getAngle1() const - { return dJointGetPUAngle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetPUAngle1Rate (get_id()); } - dReal getAngle2() const - { return dJointGetPUAngle2 (get_id()); } - dReal getAngle2Rate() const - { return dJointGetPUAngle2Rate (get_id()); } - - dReal getPosition() const - { return dJointGetPUPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPUPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPUParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPUParam (get_id(), parameter); } - // TODO: expose params through methods -}; - - - - - -template -class dPistonJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dPistonJointTemplate (const dPistonJointTemplate &); - void operator = (const dPistonJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPistonJointTemplate() { } - dPistonJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePiston(world, group)); } - dPistonJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePiston(world, group)); } - - void create (dWorldID world, dJointGroupID group=0) - { - destroy(); - set_id(dJointCreatePiston(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPistonAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetPistonAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetPistonAnchor2 (get_id(), result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetPistonAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetPistonAxis (get_id(), result); } - - dReal getPosition() const - { return dJointGetPistonPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPistonPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPistonParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPistonParam (get_id(), parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddPistonForce (get_id(), force); } -}; - - - -template -class dFixedJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dFixedJointTemplate (const dFixedJointTemplate &); - void operator = (const dFixedJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dFixedJointTemplate() { } - dFixedJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateFixed(world, group)); } - dFixedJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateFixed(world, group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateFixed(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void set() - { dJointSetFixed (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetFixedParam (get_id(), parameter, value); } - - virtual dReal getParam (int parameter) const - { return dJointGetFixedParam (get_id(), parameter); } - // TODO: expose params through methods -}; - - -template -class dContactJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dContactJointTemplate (const dContactJointTemplate &); - void operator = (const dContactJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dContactJointTemplate() { } - dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact) - { set_id(dJointCreateContact(world, group, contact)); } - dContactJointTemplate (dWorldTemplate& world, dJointGroupID group, dContact *contact) - { set_id(dJointCreateContact(world.id(), group, contact)); } - - void create (dWorldID world, dJointGroupID group, dContact *contact) { - destroy(); - set_id(dJointCreateContact(world, group, contact)); - } - - void create (dWorldTemplate& world, dJointGroupID group, dContact *contact) - { create(world.id(), group, contact); } -}; - - -template -class dNullJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dNullJointTemplate (const dNullJointTemplate &); - void operator = (const dNullJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dNullJointTemplate() { } - dNullJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateNull(world, group)); } - dNullJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateNull (world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateNull(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } -}; - - -template -class dAMotorJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dAMotorJointTemplate (const dAMotorJointTemplate &); - void operator = (const dAMotorJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dAMotorJointTemplate() { } - dAMotorJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateAMotor(world, group)); } - dAMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateAMotor(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateAMotor(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setMode (int mode) - { dJointSetAMotorMode (get_id(), mode); } - int getMode() const - { return dJointGetAMotorMode (get_id()); } - - void setNumAxes (int num) - { dJointSetAMotorNumAxes (get_id(), num); } - int getNumAxes() const - { return dJointGetAMotorNumAxes (get_id()); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetAMotorAxis (get_id(), anum, result); } - int getAxisRel (int anum) const - { return dJointGetAMotorAxisRel (get_id(), anum); } - - void setAngle (int anum, dReal angle) - { dJointSetAMotorAngle (get_id(), anum, angle); } - dReal getAngle (int anum) const - { return dJointGetAMotorAngle (get_id(), anum); } - dReal getAngleRate (int anum) - { return dJointGetAMotorAngleRate (get_id(), anum); } - - void setParam (int parameter, dReal value) - { dJointSetAMotorParam (get_id(), parameter, value); } - dReal getParam (int parameter) const - { return dJointGetAMotorParam (get_id(), parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2, dReal torque3) - { dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); } -}; - - -template -class dLMotorJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dLMotorJointTemplate (const dLMotorJointTemplate &); - void operator = (const dLMotorJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dLMotorJointTemplate() { } - dLMotorJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateLMotor(world, group)); } - dLMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateLMotor(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateLMotor(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setNumAxes (int num) - { dJointSetLMotorNumAxes (get_id(), num); } - int getNumAxes() const - { return dJointGetLMotorNumAxes (get_id()); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetLMotorAxis (get_id(), anum, result); } - - void setParam (int parameter, dReal value) - { dJointSetLMotorParam (get_id(), parameter, value); } - dReal getParam (int parameter) const - { return dJointGetLMotorParam (get_id(), parameter); } - // TODO: expose params through methods -}; - -//} - -#if !defined(dODECPP_WORLD_TEMPLATE_BASE) - -#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE) -#error All the odecpp template bases must be defined or not defined together -#endif - -#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer -#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer -#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer -#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer - -#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE) - -#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE) -#error All the odecpp template bases must be defined or not defined together -#endif - -#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE) - - -typedef dWorldTemplate dWorld; -typedef dBodyTemplate dBody; -typedef dJointGroupTemplate dJointGroup; -typedef dJointTemplate dJoint; -typedef dBallJointTemplate dBallJoint; -typedef dHingeJointTemplate dHingeJoint; -typedef dSliderJointTemplate dSliderJoint; -typedef dUniversalJointTemplate dUniversalJoint; -typedef dHinge2JointTemplate dHinge2Joint; -typedef dPRJointTemplate dPRJoint; -typedef dPUJointTemplate dPUJoint; -typedef dPistonJointTemplate dPistonJoint; -typedef dFixedJointTemplate dFixedJoint; -typedef dContactJointTemplate dContactJoint; -typedef dNullJointTemplate dNullJoint; -typedef dAMotorJointTemplate dAMotorJoint; -typedef dLMotorJointTemplate dLMotorJoint; - - -#endif -#endif - -// Local variables: -// mode:c++ -// c-basic-offset:2 -// End: diff --git a/include/linux/ode/odecpp_collision.h b/include/linux/ode/odecpp_collision.h deleted file mode 100755 index dd4dc9f..0000000 --- a/include/linux/ode/odecpp_collision.h +++ /dev/null @@ -1,467 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* C++ interface for new collision API */ - - -#ifndef _ODE_ODECPP_COLLISION_H_ -#define _ODE_ODECPP_COLLISION_H_ -#ifdef __cplusplus - -//#include - -//namespace ode { - -class dGeom { - // intentionally undefined, don't use these - dGeom (dGeom &); - void operator= (dGeom &); - -protected: - dGeomID _id; - - dGeom() - { _id = 0; } -public: - ~dGeom() - { if (_id) dGeomDestroy (_id); } - - dGeomID id() const - { return _id; } - operator dGeomID() const - { return _id; } - - void destroy() { - if (_id) dGeomDestroy (_id); - _id = 0; - } - - int getClass() const - { return dGeomGetClass (_id); } - - dSpaceID getSpace() const - { return dGeomGetSpace (_id); } - - void setData (void *data) - { dGeomSetData (_id,data); } - void *getData() const - { return dGeomGetData (_id); } - - void setBody (dBodyID b) - { dGeomSetBody (_id,b); } - dBodyID getBody() const - { return dGeomGetBody (_id); } - - void setPosition (dReal x, dReal y, dReal z) - { dGeomSetPosition (_id,x,y,z); } - const dReal * getPosition() const - { return dGeomGetPosition (_id); } - - void setRotation (const dMatrix3 R) - { dGeomSetRotation (_id,R); } - const dReal * getRotation() const - { return dGeomGetRotation (_id); } - - void setQuaternion (const dQuaternion quat) - { dGeomSetQuaternion (_id,quat); } - void getQuaternion (dQuaternion quat) const - { dGeomGetQuaternion (_id,quat); } - - void getAABB (dReal aabb[6]) const - { dGeomGetAABB (_id, aabb); } - - int isSpace() - { return dGeomIsSpace (_id); } - - void setCategoryBits (unsigned long bits) - { dGeomSetCategoryBits (_id, bits); } - void setCollideBits (unsigned long bits) - { dGeomSetCollideBits (_id, bits); } - unsigned long getCategoryBits() - { return dGeomGetCategoryBits (_id); } - unsigned long getCollideBits() - { return dGeomGetCollideBits (_id); } - - void enable() - { dGeomEnable (_id); } - void disable() - { dGeomDisable (_id); } - int isEnabled() - { return dGeomIsEnabled (_id); } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomGetRelPointPos (_id, px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomGetPosRelPoint (_id, px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomVectorToWorld (_id, px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomVectorFromWorld (_id, px, py, pz, result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void collide2 (dGeomID g, void *data, dNearCallback *callback) - { dSpaceCollide2 (_id,g,data,callback); } -}; - - -class dSpace : public dGeom { - // intentionally undefined, don't use these - dSpace (dSpace &); - void operator= (dSpace &); - -protected: - // the default constructor is protected so that you - // can't instance this class. you must instance one - // of its subclasses instead. - dSpace () { _id = 0; } - -public: - dSpaceID id() const - { return (dSpaceID) _id; } - operator dSpaceID() const - { return (dSpaceID) _id; } - - void setCleanup (int mode) - { dSpaceSetCleanup (id(), mode); } - int getCleanup() - { return dSpaceGetCleanup (id()); } - - void add (dGeomID x) - { dSpaceAdd (id(), x); } - void remove (dGeomID x) - { dSpaceRemove (id(), x); } - int query (dGeomID x) - { return dSpaceQuery (id(),x); } - - int getNumGeoms() - { return dSpaceGetNumGeoms (id()); } - dGeomID getGeom (int i) - { return dSpaceGetGeom (id(),i); } - - void collide (void *data, dNearCallback *callback) - { dSpaceCollide (id(),data,callback); } -}; - - -class dSimpleSpace : public dSpace { - // intentionally undefined, don't use these - dSimpleSpace (dSimpleSpace &); - void operator= (dSimpleSpace &); - -public: - dSimpleSpace () - { _id = (dGeomID) dSimpleSpaceCreate (0); } - dSimpleSpace (dSpace &space) - { _id = (dGeomID) dSimpleSpaceCreate (space.id()); } - dSimpleSpace (dSpaceID space) - { _id = (dGeomID) dSimpleSpaceCreate (space); } -}; - - -class dHashSpace : public dSpace { - // intentionally undefined, don't use these - dHashSpace (dHashSpace &); - void operator= (dHashSpace &); - -public: - dHashSpace () - { _id = (dGeomID) dHashSpaceCreate (0); } - dHashSpace (dSpace &space) - { _id = (dGeomID) dHashSpaceCreate (space.id()); } - dHashSpace (dSpaceID space) - { _id = (dGeomID) dHashSpaceCreate (space); } - - void setLevels (int minlevel, int maxlevel) - { dHashSpaceSetLevels (id(),minlevel,maxlevel); } -}; - - -class dQuadTreeSpace : public dSpace { - // intentionally undefined, don't use these - dQuadTreeSpace (dQuadTreeSpace &); - void operator= (dQuadTreeSpace &); - -public: - dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); } - dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); } - dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); } -}; - - -class dSphere : public dGeom { - // intentionally undefined, don't use these - dSphere (dSphere &); - void operator= (dSphere &); - -public: - dSphere () { } - dSphere (dReal radius) - { _id = dCreateSphere (0, radius); } - dSphere (dSpace &space, dReal radius) - { _id = dCreateSphere (space.id(), radius); } - dSphere (dSpaceID space, dReal radius) - { _id = dCreateSphere (space, radius); } - - void create (dSpaceID space, dReal radius) { - if (_id) dGeomDestroy (_id); - _id = dCreateSphere (space, radius); - } - - void setRadius (dReal radius) - { dGeomSphereSetRadius (_id, radius); } - dReal getRadius() const - { return dGeomSphereGetRadius (_id); } -}; - - -class dBox : public dGeom { - // intentionally undefined, don't use these - dBox (dBox &); - void operator= (dBox &); - -public: - dBox () { } - dBox (dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (0,lx,ly,lz); } - dBox (dSpace &space, dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (space,lx,ly,lz); } - dBox (dSpaceID space, dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (space,lx,ly,lz); } - - void create (dSpaceID space, dReal lx, dReal ly, dReal lz) { - if (_id) dGeomDestroy (_id); - _id = dCreateBox (space,lx,ly,lz); - } - - void setLengths (dReal lx, dReal ly, dReal lz) - { dGeomBoxSetLengths (_id, lx, ly, lz); } - void getLengths (dVector3 result) const - { dGeomBoxGetLengths (_id,result); } -}; - - -class dPlane : public dGeom { - // intentionally undefined, don't use these - dPlane (dPlane &); - void operator= (dPlane &); - -public: - dPlane() { } - dPlane (dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (0,a,b,c,d); } - dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (space.id(),a,b,c,d); } - dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (space,a,b,c,d); } - - void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) { - if (_id) dGeomDestroy (_id); - _id = dCreatePlane (space,a,b,c,d); - } - - void setParams (dReal a, dReal b, dReal c, dReal d) - { dGeomPlaneSetParams (_id, a, b, c, d); } - void getParams (dVector4 result) const - { dGeomPlaneGetParams (_id,result); } -}; - - -class dCapsule : public dGeom { - // intentionally undefined, don't use these - dCapsule (dCapsule &); - void operator= (dCapsule &); - -public: - dCapsule() { } - dCapsule (dReal radius, dReal length) - { _id = dCreateCapsule (0,radius,length); } - dCapsule (dSpace &space, dReal radius, dReal length) - { _id = dCreateCapsule (space.id(),radius,length); } - dCapsule (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCapsule (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCapsule (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCapsuleSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCapsuleGetParams (_id,radius,length); } -}; - - -class dCylinder : public dGeom { - // intentionally undefined, don't use these - dCylinder (dCylinder &); - void operator= (dCylinder &); - -public: - dCylinder() { } - dCylinder (dReal radius, dReal length) - { _id = dCreateCylinder (0,radius,length); } - dCylinder (dSpace &space, dReal radius, dReal length) - { _id = dCreateCylinder (space.id(),radius,length); } - dCylinder (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCylinder (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCylinder (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCylinderSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCylinderGetParams (_id,radius,length); } -}; - - -class dRay : public dGeom { - // intentionally undefined, don't use these - dRay (dRay &); - void operator= (dRay &); - -public: - dRay() { } - dRay (dReal length) - { _id = dCreateRay (0,length); } - dRay (dSpace &space, dReal length) - { _id = dCreateRay (space.id(),length); } - dRay (dSpaceID space, dReal length) - { _id = dCreateRay (space,length); } - - void create (dSpaceID space, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateRay (space,length); - } - - void setLength (dReal length) - { dGeomRaySetLength (_id, length); } - dReal getLength() - { return dGeomRayGetLength (_id); } - - void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) - { dGeomRaySet (_id, px, py, pz, dx, dy, dz); } - void get (dVector3 start, dVector3 dir) - { dGeomRayGet (_id, start, dir); } - -#ifdef WIN32 -#pragma warning( push ) -#pragma warning( disable : 4996 ) -#else -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - ODE_API_DEPRECATED - void setParams (int firstContact, int backfaceCull) - { dGeomRaySetParams (_id, firstContact, backfaceCull); } - - ODE_API_DEPRECATED - void getParams (int *firstContact, int *backfaceCull) - { dGeomRayGetParams (_id, firstContact, backfaceCull); } -#ifdef WIN32 -#pragma warning( pop ) -#else -#pragma GCC diagnostic pop -#endif - void setBackfaceCull (int backfaceCull) - { dGeomRaySetBackfaceCull (_id, backfaceCull); } - int getBackfaceCull() - { return dGeomRayGetBackfaceCull (_id); } - - void setFirstContact (int firstContact) - { dGeomRaySetFirstContact (_id, firstContact); } - int getFirstContact() - { return dGeomRayGetFirstContact (_id); } - - void setClosestHit (int closestHit) - { dGeomRaySetClosestHit (_id, closestHit); } - int getClosestHit() - { return dGeomRayGetClosestHit (_id); } -}; - -#ifdef WIN32 -#pragma warning( push ) -#pragma warning( disable : 4996 ) -#else -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -class ODE_API_DEPRECATED dGeomTransform : public dGeom { - // intentionally undefined, don't use these - dGeomTransform (dGeomTransform &); - void operator= (dGeomTransform &); - -public: - dGeomTransform() { } - dGeomTransform (dSpace &space) - { _id = dCreateGeomTransform (space.id()); } - dGeomTransform (dSpaceID space) - { _id = dCreateGeomTransform (space); } - - void create (dSpaceID space=0) { - if (_id) dGeomDestroy (_id); - _id = dCreateGeomTransform (space); - } - - void setGeom (dGeomID geom) - { dGeomTransformSetGeom (_id, geom); } - dGeomID getGeom() const - { return dGeomTransformGetGeom (_id); } - - void setCleanup (int mode) - { dGeomTransformSetCleanup (_id,mode); } - int getCleanup () - { return dGeomTransformGetCleanup (_id); } - - void setInfo (int mode) - { dGeomTransformSetInfo (_id,mode); } - int getInfo() - { return dGeomTransformGetInfo (_id); } -}; - -#ifdef WIN32 -#pragma warning( pop ) -#else -#pragma GCC diagnostic pop -#endif - -//} - -#endif -#endif diff --git a/include/linux/ode/odeinit.h b/include/linux/ode/odeinit.h deleted file mode 100755 index 3f933b9..0000000 --- a/include/linux/ode/odeinit.h +++ /dev/null @@ -1,236 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* Library initialization/finalization functions. */ - -#ifndef _ODE_ODEINIT_H_ -#define _ODE_ODEINIT_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* ************************************************************************ */ -/* Library initialization */ - -/** - * @defgroup init Library Initialization - * - * Library initialization functions prepare ODE internal data structures for use - * and release allocated resources after ODE is not needed any more. - */ - - -/** - * @brief Library initialization flags. - * - * These flags define ODE library initialization options. - * - * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads - * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread. - * If this flag is not specified the automatic resource tracking algorithm is used. - * - * With automatic resource tracking, On Windows, memory allocated for a thread may - * remain not freed for some time after the thread exits. The resources may be - * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately, - * the resources are released when library is closed with @c dCloseODE. On other - * operating systems resources are always released by the thread itself on its exit - * or on library closure with @c dCloseODE. - * - * With manual thread data cleanup mode every collision space object must be - * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup - * after creation. See description of the function for more details. - * - * If @c dInitFlagManualThreadCleanup was not specified during initialization, - * calls to @c dCleanupODEAllDataForThread are not allowed. - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @see dSpaceSetManualCleanup - * @see dCloseODE - * @ingroup init - */ -enum dInitODEFlags { - dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/ -}; - -/** - * @brief Initializes ODE library. - * - * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization. - * - * A call to @c dInitODE is equal to the following initialization sequence - * @code - * dInitODE2(0); - * dAllocateODEDataForThread(dAllocateMaskAll); - * @endcode - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @ingroup init - */ -ODE_API void dInitODE(void); - -/** - * @brief Initializes ODE library. - * @param uiInitFlags Initialization options bitmask - * @return A nonzero if initialization succeeded and zero otherwise. - * - * This function must be called to initialize ODE library before first use. If - * initialization succeeds the function may not be called again until library is - * closed with a call to @c dCloseODE. - * - * The @a uiInitFlags parameter specifies initialization options to be used. These - * can be combination of zero or more @c dInitODEFlags flags. - * - * @note - * If @c dInitFlagManualThreadCleanup flag is used for initialization, - * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every - * space object right after creation. Failure to do so may lead to resource leaks. - * - * @see dInitODEFlags - * @see dCloseODE - * @see dSpaceSetManualCleanup - * @ingroup init - */ -ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/); - - -/** - * @brief ODE data allocation flags. - * - * These flags are used to indicate which data is to be pre-allocated in call to - * @c dAllocateODEDataForThread. - * - * @c dAllocateFlagBasicData tells to allocate the basic data set required for - * normal library operation. This flag is equal to zero and is always implicitly - * included. - * - * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated. - * Collision detection functions may not be called if the data has not be allocated - * in advance. If collision detection is not going to be used, it is not necessary - * to specify this flag. - * - * @c dAllocateMaskAll is a mask that can be used for for allocating all possible - * data in cases when it is not known what exactly features of ODE will be used. - * The mask may not be used in combination with other flags. It is guaranteed to - * include all the current and future legal allocation flags. However, mature - * applications should use explicit flags they need rather than allocating everything. - * - * @see dAllocateODEDataForThread - * @ingroup init - */ -enum dAllocateODEDataFlags { - dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/ - - dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/ - - dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/ -}; - -/** - * @brief Allocate thread local data to allow the thread calling ODE. - * @param uiAllocateFlags Allocation options bitmask. - * @return A nonzero if allocation succeeded and zero otherwise. - * - * The function is required to be called for every thread that is going to use - * ODE. This function allocates the data that is required for accessing ODE from - * current thread along with optional data required for particular ODE subsystems. - * - * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags - * enumerated type. Multiple calls with different allocation flags are allowed. - * The flags that are already allocated are ignored in subsequent calls. If zero - * is passed as the parameter, it means to only allocate the set of most important - * data the library can not operate without. - * - * If the function returns failure status it means that none of the requested - * data has been allocated. The client may retry allocation attempt with the same - * flags when more system resources are available. - * - * @see dAllocateODEDataFlags - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags); - -/** - * @brief Free thread local data that was allocated for current thread. - * - * If library was initialized with @c dInitFlagManualThreadCleanup flag the function - * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread. - * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining - * not freed until program exit. The function may also be called when ODE is still - * being used to release resources allocated for all the current subsystems and - * possibly proceed with data pre-allocation for other subsystems. - * - * The function can safely be called several times in a row. The function can be - * called without prior invocation of @c dAllocateODEDataForThread. The function - * may not be called before ODE is initialized with @c dInitODE2 or after library - * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases - * all the thread local resources that might be allocated for all the threads that - * were using ODE. - * - * If library was initialized without @c dInitFlagManualThreadCleanup flag - * @c dCleanupODEAllDataForThread must not be called. - * - * @see dAllocateODEDataForThread - * @see dInitODE2 - * @see dCloseODE - * @ingroup init - */ -ODE_API void dCleanupODEAllDataForThread(); - - -/** - * @brief Close ODE after it is not needed any more. - * - * The function is required to be called when program does not need ODE features any more. - * The call to @c dCloseODE releases all the resources allocated for library - * including all the thread local data that might be allocated for all the threads - * that were using ODE. - * - * @c dCloseODE is a paired function for @c dInitODE2 and must only be called - * after successful library initialization. - * - * @note Important! - * Make sure that all the threads that were using ODE have already terminated - * before calling @c dCloseODE. In particular it is not allowed to call - * @c dCleanupODEAllDataForThread after @c dCloseODE. - * - * @see dInitODE2 - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API void dCloseODE(void); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - -#endif /* _ODE_ODEINIT_H_ */ diff --git a/include/linux/ode/odemath.h b/include/linux/ode/odemath.h deleted file mode 100755 index f855cae..0000000 --- a/include/linux/ode/odemath.h +++ /dev/null @@ -1,545 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODEMATH_H_ -#define _ODE_ODEMATH_H_ - -#include - -/* - * macro to access elements i,j in an NxM matrix A, independent of the - * matrix storage convention. - */ -#define dACCESS33(A,i,j) ((A)[(i)*4+(j)]) - -/* - * Macro to test for valid floating point values - */ -#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]))) -#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3]))) -#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]))) -#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) )) - - -ODE_PURE_INLINE void dZeroVector3(dVector3 res) -{ - res[dV3E_X] = REAL(0.0); - res[dV3E_Y] = REAL(0.0); - res[dV3E_Z] = REAL(0.0); -} - -ODE_PURE_INLINE void dAssignVector3(dVector3 res, dReal x, dReal y, dReal z) -{ - res[dV3E_X] = x; - res[dV3E_Y] = y; - res[dV3E_Z] = z; -} - -ODE_PURE_INLINE void dZeroMatrix3(dMatrix3 res) -{ - res[dM3E_XX] = REAL(0.0); res[dM3E_XY] = REAL(0.0); res[dM3E_XZ] = REAL(0.0); - res[dM3E_YX] = REAL(0.0); res[dM3E_YY] = REAL(0.0); res[dM3E_YZ] = REAL(0.0); - res[dM3E_ZX] = REAL(0.0); res[dM3E_ZY] = REAL(0.0); res[dM3E_ZZ] = REAL(0.0); -} - -ODE_PURE_INLINE void dZeroMatrix4(dMatrix4 res) -{ - res[dM4E_XX] = REAL(0.0); res[dM4E_XY] = REAL(0.0); res[dM4E_XZ] = REAL(0.0); res[dM4E_XO] = REAL(0.0); - res[dM4E_YX] = REAL(0.0); res[dM4E_YY] = REAL(0.0); res[dM4E_YZ] = REAL(0.0); res[dM4E_YO] = REAL(0.0); - res[dM4E_ZX] = REAL(0.0); res[dM4E_ZY] = REAL(0.0); res[dM4E_ZZ] = REAL(0.0); res[dM4E_ZO] = REAL(0.0); - res[dM4E_OX] = REAL(0.0); res[dM4E_OY] = REAL(0.0); res[dM4E_OZ] = REAL(0.0); res[dM4E_OO] = REAL(0.0); -} - -/* Some vector math */ -ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = a[0] + b[0]; - const dReal res_1 = a[1] + b[1]; - const dReal res_2 = a[2] + b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = a[0] - b[0]; - const dReal res_1 = a[1] - b[1]; - const dReal res_2 = a[2] - b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddVectorScaledVector3(dReal *res, const dReal *a, const dReal *b, dReal b_scale) -{ - const dReal res_0 = a[0] + b_scale * b[0]; - const dReal res_1 = a[1] + b_scale * b[1]; - const dReal res_2 = a[2] + b_scale * b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale) -{ - const dReal res_0 = a_scale * a[0] + b_scale * b[0]; - const dReal res_1 = a_scale * a[1] + b_scale * b[1]; - const dReal res_2 = a_scale * a[2] + b_scale * b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddThreeScaledVectors3(dReal *res, const dReal *a, const dReal *b, const dReal *c, dReal a_scale, dReal b_scale, dReal c_scale) -{ - const dReal res_0 = a_scale * a[0] + b_scale * b[0] + c_scale * c[0]; - const dReal res_1 = a_scale * a[1] + b_scale * b[1] + c_scale * c[1]; - const dReal res_2 = a_scale * a[2] + b_scale * b[2] + c_scale * c[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale) -{ - res[0] *= nScale ; - res[1] *= nScale ; - res[2] *= nScale ; -} - -ODE_PURE_INLINE void dNegateVector3(dReal *res) -{ - res[0] = -res[0]; - res[1] = -res[1]; - res[2] = -res[2]; -} - -ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a) -{ - const dReal res_0 = a[0]; - const dReal res_1 = a[1]; - const dReal res_2 = a[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale) -{ - const dReal res_0 = a[0] * nScale; - const dReal res_1 = a[1] * nScale; - const dReal res_2 = a[2] * nScale; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a) -{ - const dReal res_0 = -a[0]; - const dReal res_1 = -a[1]; - const dReal res_2 = -a[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a) -{ - const dReal res_0 = a[0]; - const dReal res_1 = a[1]; - const dReal res_2 = a[2]; - const dReal res_3 = a[3]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3; -} - -ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a) -{ - dCopyVector4(res + 0, a + 0); - dCopyVector4(res + 4, a + 4); - dCopyVector4(res + 8, a + 8); -} - -ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a) -{ - dCopyVector3(res + 0, a + 0); - dCopyVector3(res + 4, a + 4); - dCopyVector3(res + 8, a + 8); -} - -ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n) -{ - const dReal res_0 = a[n + 0]; - const dReal res_1 = a[n + 4]; - const dReal res_2 = a[n + 8]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a) -{ - return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); -} - -ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a) -{ - return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); -} - -ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n) -{ - return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2]; -} - - -/* -* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced -* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311. -*/ - -ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b) -{ - return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b]; -} - - -ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); } -ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); } -ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); } -ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); } - - -/* - * cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a' - * and `b' are spaced step_res, step_a and step_b indexes apart respectively. - * dCalcVectorCross3() means dCross3111. - */ - -ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b) -{ - const dReal res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b]; - const dReal res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b]; - const dReal res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[ 0] = res_0; - res[ step_res] = res_1; - res[2*step_res] = res_2; -} - -ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); } - -ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dCalcVectorCross3(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dCalcVectorCross3(tmp, a, b); - dSubtractVectors3(res, res, tmp); -} - - -/* - * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. - * A is stored by rows, and has `skip' elements per row. the matrix is - * assumed to be already zero, so this does not write zero elements! - * if (plus,minus) is (+,-) then a positive version will be written. - * if (plus,minus) is (-,+) then a negative version will be written. - */ - -ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip) -{ - const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; - res[1] = -a_2; - res[2] = +a_1; - res[skip+0] = +a_2; - res[skip+2] = -a_0; - res[2*skip+0] = -a_1; - res[2*skip+1] = +a_0; -} - -ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip) -{ - const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; - res[1] = +a_2; - res[2] = -a_1; - res[skip+0] = -a_2; - res[skip+2] = +a_0; - res[2*skip+0] = +a_1; - res[2*skip+1] = -a_0; -} - - -/* - * compute the distance between two 3D-vectors - */ - -ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b) -{ - dReal res; - dReal tmp[3]; - dSubtractVectors3(tmp, a, b); - res = dCalcVectorLength3(tmp); - return res; -} - -/* - * special case matrix multiplication, with operator selection - */ - -ODE_PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3(a, b); - const dReal res_1 = dCalcVectorDot3(a + 4, b); - const dReal res_2 = dCalcVectorDot3(a + 8, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3_41(a, b); - const dReal res_1 = dCalcVectorDot3_41(a + 1, b); - const dReal res_2 = dCalcVectorDot3_41(a + 2, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper1_331(res, b, a); -} - -ODE_PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3_44(a, b); - const dReal res_1 = dCalcVectorDot3_44(a + 1, b); - const dReal res_2 = dCalcVectorDot3_44(a + 2, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_331(res, a, b); -} - -ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper1_331(res, a, b); -} - -ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_133(res, a, b); -} - -ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_133(res + 0, a + 0, b); - dMultiplyHelper0_133(res + 4, a + 4, b); - dMultiplyHelper0_133(res + 8, a + 8, b); -} - -ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper1_133(res + 0, b, a + 0); - dMultiplyHelper1_133(res + 4, b, a + 1); - dMultiplyHelper1_133(res + 8, b, a + 2); -} - -ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_331(res + 0, b, a + 0); - dMultiplyHelper0_331(res + 4, b, a + 4); - dMultiplyHelper0_331(res + 8, b, a + 8); -} - -ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_331(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper1_331(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_133(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_133(tmp, a + 0, b); - dAddVectors3(res+ 0, res + 0, tmp); - dMultiplyHelper0_133(tmp, a + 4, b); - dAddVectors3(res + 4, res + 4, tmp); - dMultiplyHelper0_133(tmp, a + 8, b); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper1_133(tmp, b, a + 0); - dAddVectors3(res + 0, res + 0, tmp); - dMultiplyHelper1_133(tmp, b, a + 1); - dAddVectors3(res + 4, res + 4, tmp); - dMultiplyHelper1_133(tmp, b, a + 2); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_331(tmp, b, a + 0); - dAddVectors3(res + 0, res + 0, tmp); - dMultiplyHelper0_331(tmp, b, a + 4); - dAddVectors3(res + 4, res + 4, tmp); - dMultiplyHelper0_331(tmp, b, a + 8); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE dReal dCalcMatrix3Det( const dReal* mat ) -{ - dReal det; - - det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] ) - - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] ) - + mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] ); - - return( det ); -} - -/** - Closed form matrix inversion, copied from - collision_util.h for use in the stepper. - - Returns the determinant. - returns 0 and does nothing - if the matrix is singular. -*/ -ODE_PURE_INLINE dReal dInvertMatrix3(dReal *dst, const dReal *ma) -{ - dReal det; - dReal detRecip; - - det = dCalcMatrix3Det( ma ); - - - /* Setting an arbitrary non-zero threshold - for the determinant doesn't do anyone - any favors. The condition number is the - important thing. If all the eigen-values - of the matrix are small, so is the - determinant, but it can still be well - conditioned. - A single extremely large eigen-value could - push the determinant over threshold, but - produce a very unstable result if the other - eigen-values are small. So we just say that - the determinant must be non-zero and trust the - caller to provide well-conditioned matrices. - */ - if ( det == 0 ) - { - return 0; - } - - detRecip = dRecip(det); - - dst[0] = ( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip; - dst[1] = ( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip; - dst[2] = ( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip; - - dst[4] = ( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip; - dst[5] = ( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip; - dst[6] = ( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip; - - dst[8] = ( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip; - dst[9] = ( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip; - dst[10] = ( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip; - - return det; -} - - -/* Include legacy macros here */ -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) - */ - -/* For DLL export*/ -ODE_API int dSafeNormalize3 (dVector3 a); -ODE_API int dSafeNormalize4 (dVector4 a); -ODE_API void dNormalize3 (dVector3 a); /* Potentially asserts on zero vec*/ -ODE_API void dNormalize4 (dVector4 a); /* Potentially asserts on zero vec*/ - -/* - * given a unit length "normal" vector n, generate vectors p and q vectors - * that are an orthonormal basis for the plane space perpendicular to n. - * i.e. this makes p,q such that n,p,q are all perpendicular to each other. - * q will equal n x p. if n is not unit length then p will be unit length but - * q wont be. - */ - -ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q); -/* Makes sure the matrix is a proper rotation, returns a boolean status */ -ODE_API int dOrthogonalizeR(dMatrix3 m); - - - -#ifdef __cplusplus -} -#endif - - -#endif diff --git a/include/linux/ode/odemath_legacy.h b/include/linux/ode/odemath_legacy.h deleted file mode 100755 index 97f7302..0000000 --- a/include/linux/ode/odemath_legacy.h +++ /dev/null @@ -1,162 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODEMATH_LEGACY_H_ -#define _ODE_ODEMATH_LEGACY_H_ - - -/* - * These macros are not used any more inside of ODE - * They are kept for backward compatibility with external code that - * might still be using them. - */ - -/* - * General purpose vector operations with other vectors or constants. - */ - -#define dOP(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op ((c)[0]); \ - (a)[1] = ((b)[1]) op ((c)[1]); \ - (a)[2] = ((b)[2]) op ((c)[2]); \ -} while (0) -#define dOPC(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op (c); \ - (a)[1] = ((b)[1]) op (c); \ - (a)[2] = ((b)[2]) op (c); \ -} while (0) -#define dOPE(a,op,b) do {\ - (a)[0] op ((b)[0]); \ - (a)[1] op ((b)[1]); \ - (a)[2] op ((b)[2]); \ -} while (0) -#define dOPEC(a,op,c) do { \ - (a)[0] op (c); \ - (a)[1] op (c); \ - (a)[2] op (c); \ -} while (0) - -/* Define an equation with operators - * For example this function can be used to replace - * 
- * for (int i=0; i<3; ++i)
- *   a[i] += b[i] + c[i];
- *
- */ -#define dOPE2(a,op1,b,op2,c) do { \ - (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ - (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ - (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ -} while (0) - - -#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a) -#define dLENGTH(a) dCalcVectorLength3(a) -#define dDISTANCE(a, b) dCalcPointsDistance3(a, b) - - -#define dDOT(a, b) dCalcVectorDot3(a, b) -#define dDOT13(a, b) dCalcVectorDot3_13(a, b) -#define dDOT31(a, b) dCalcVectorDot3_31(a, b) -#define dDOT33(a, b) dCalcVectorDot3_33(a, b) -#define dDOT14(a, b) dCalcVectorDot3_14(a, b) -#define dDOT41(a, b) dCalcVectorDot3_41(a, b) -#define dDOT44(a, b) dCalcVectorDot3_44(a, b) - - -/* - * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' - * and `c' are spaced p, q and r indexes apart respectively. - * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to - * +=, -= etc to get other effects. - */ - -#define dCROSS(a,op,b,c) \ - do { \ - (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ - (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ - (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ - } while(0) -#define dCROSSpqr(a,op,b,c,p,q,r) \ - do { \ - (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ - (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ - (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ - } while(0) -#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) -#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) -#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) -#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) -#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) -#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) -#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) - - -/* -* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. -* A is stored by rows, and has `skip' elements per row. the matrix is -* assumed to be already zero, so this does not write zero elements! -* if (plus,minus) is (+,-) then a positive version will be written. -* if (plus,minus) is (-,+) then a negative version will be written. -*/ - -#define dCROSSMAT(A,a,skip,plus,minus) \ - do { \ - (A)[1] = minus (a)[2]; \ - (A)[2] = plus (a)[1]; \ - (A)[(skip)+0] = plus (a)[2]; \ - (A)[(skip)+2] = minus (a)[0]; \ - (A)[2*(skip)+0] = minus (a)[1]; \ - (A)[2*(skip)+1] = plus (a)[0]; \ - } while(0) - - - - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C) -#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C) -#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C) -#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C) -#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C) -#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C) - -#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C) -#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C) -#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C) -#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C) -#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C) -#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C) - - -/* - * These macros are not used any more inside of ODE - * They are kept for backward compatibility with external code that - * might still be using them. - */ - - -#endif /* #ifndef _ODE_ODEMATH_LEGACY_H_ */ diff --git a/include/linux/ode/precision.h b/include/linux/ode/precision.h deleted file mode 100755 index 3d35dc9..0000000 --- a/include/linux/ode/precision.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef _ODE_PRECISION_H_ -#define _ODE_PRECISION_H_ - -/* Define dSINGLE for single precision, dDOUBLE for double precision, - * but never both! - */ - -#if defined(dIDESINGLE) -#define dSINGLE -#elif defined(dIDEDOUBLE) -#define dDOUBLE -#else -#define dDOUBLE -#endif - -#endif diff --git a/include/linux/ode/rotation.h b/include/linux/ode/rotation.h deleted file mode 100755 index 9337c15..0000000 --- a/include/linux/ode/rotation.h +++ /dev/null @@ -1,70 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ROTATION_H_ -#define _ODE_ROTATION_H_ - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -ODE_API void dRSetIdentity (dMatrix3 R); - -ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal angle); - -ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); - -ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal bx, dReal by, dReal bz); - -ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); - -ODE_API void dQSetIdentity (dQuaternion q); - -ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, - dReal angle); - -/* Quaternion multiplication, analogous to the matrix multiplication routines. */ -/* qa = rotate by qc, then qb */ -ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by qc, then by inverse of qb */ -ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by qb */ -ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by inverse of qb */ -ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); - -ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); -ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); -ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/threading.h b/include/linux/ode/threading.h deleted file mode 100755 index 472c0ee..0000000 --- a/include/linux/ode/threading.h +++ /dev/null @@ -1,412 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * Threading support header file. * - * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. * - * e-mail: odar@eleks.com (change all "a" to "e") * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * ODE threading support interfaces - */ - - -#ifndef _ODE_THREADING_H_ -#define _ODE_THREADING_H_ - -#include -// Include since time_t is used and it is not available by default in some OSes -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -struct dxThreadingImplementation; -typedef struct dxThreadingImplementation *dThreadingImplementationID; - -typedef unsigned dmutexindex_t; -struct dxMutexGroup; -typedef struct dxMutexGroup *dMutexGroupID; - - -#define dTHREADING_THREAD_COUNT_UNLIMITED 0U - - - -/** - * @brief Allocates a group of muteces. - * - * The Mutex allocated do not need to support recursive locking. - * - * The Mutex names are provided to aid in debugging and thread state tracking. - * - * @param impl Threading implementation ID - * @param Mutex_count Number of Mutex to create - * @Mutex_names_ptr Pointer to optional Mutex names array to be associated with individual Mutex - * @returns MutexGroup ID or NULL if error occurred. - * - * @ingroup threading - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef dMutexGroupID dMutexGroupAllocFunction (dThreadingImplementationID impl, dmutexindex_t Mutex_count, const char *const *Mutex_names_ptr/*=NULL*/); - -/** - * @brief Deletes a group of muteces. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to deallocate - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef void dMutexGroupFreeFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group); - -/** - * @brief Locks a mutex in a group of muteces. - * - * The function is to block execution until requested mutex can be locked. - * - * Note: Mutex provided may not support recursive locking. Calling this function - * while mutex is already locked by current thread will result in unpredictable behavior. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for locking - * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef void dMutexGroupMutexLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); - -/** - * @brief Attempts to lock a mutex in a group of muteces. - * - * The function is to lock the requested mutex if it is unoccupied or - * immediately return failure if mutex is already locked by other thread. - * - * Note: Mutex provided may not support recursive locking. Calling this function - * while mutex is already locked by current thread will result in unpredictable behavior. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for locking - * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) - * @returns 1 for success (mutex is locked) and 0 for failure (mutex is not locked) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -/* typedef int dMutexGroupMutexTryLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);*/ - -/** - * @brief Unlocks a mutex in a group of muteces. - * - * The function is to unlock the given mutex provided it had been locked before. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for unlocking - * @param mutex_index The index of mutex to be unlocked (0..Mutex_count - 1) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - */ -typedef void dMutexGroupMutexUnlockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); - - -struct dxCallReleasee; -typedef struct dxCallReleasee *dCallReleaseeID; - -struct dxCallWait; -typedef struct dxCallWait *dCallWaitID; - -typedef dsizeint ddependencycount_t; -typedef ddiffint ddependencychange_t; -typedef dsizeint dcallindex_t; -typedef int dThreadedCallFunction(void *call_context, dcallindex_t instance_index, - dCallReleaseeID this_releasee); - -typedef struct dxThreadedWaitTime -{ - time_t wait_sec; - unsigned long wait_nsec; - -} dThreadedWaitTime; - - -/** - * @brief Allocates a Wait ID that can be used to wait for a call. - * - * @param impl Threading implementation ID - * @returns Wait ID or NULL if error occurred - * - * @ingroup threading - * @see dThreadedCallWaitResetFunction - * @see dThreadedCallWaitFreeFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef dCallWaitID dThreadedCallWaitAllocFunction(dThreadingImplementationID impl); - -/** - * @brief Resets a Wait ID so that it could be used to wait for another call. - * - * @param impl Threading implementation ID - * @param call_wait Wait ID to reset - * - * @ingroup threading - * @see dThreadedCallWaitAllocFunction - * @see dThreadedCallWaitFreeFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef void dThreadedCallWaitResetFunction(dThreadingImplementationID impl, dCallWaitID call_wait); - -/** - * @brief Frees a Wait ID. - * - * @param impl Threading implementation ID - * @param call_wait Wait ID to delete - * - * @ingroup threading - * @see dThreadedCallWaitAllocFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef void dThreadedCallWaitFreeFunction(dThreadingImplementationID impl, dCallWaitID call_wait); - - -/** - * @brief Post a function to be called in another thread. - * - * A call is scheduled to be executed asynchronously. - * - * A @a out_summary_fault variable can be provided for call to accumulate any - * possible faults from its execution and execution of any possible sub-calls. - * This variable gets result that @a call_func returns. Also, if dependent calls - * are executed after the call already exits, the variable is also going to be - * updated with results of all those calls before control is released to master. - * - * @a out_post_releasee parameter receives a value of @c dCallReleaseeID that can - * later be used for @a dependent_releasee while scheduling sub-calls to make - * current call depend on them. The value is only returned if @a dependencies_count - * is not zero (i.e. if any dependencies are expected at all). The call is not going - * to start until all its dependencies complete. - * - * In case if number of dependencies is unknown in advance 1 can be passed on call - * scheduling. Then @c dThreadedCallDependenciesCountAlterFunction can be used to - * add one more extra dependencies before scheduling each subcall. And then, after - * all sub-calls had been scheduled, @c dThreadedCallDependenciesCountAlterFunction - * can be used again to subtract initial extra dependency from total number. - * Adding one dependency in advance is necessary to obtain releasee ID and to make - * sure the call will not start and will not terminate before all sub-calls are scheduled. - * - * Extra dependencies can also be added from the call itself after it has already - * been started (with parameter received in @c dThreadedCallFunction). - * In that case those dependencies will start immediately or after call returns - * but the call's master will not be released/notified until all additional - * dependencies complete. This can be used to schedule sub-calls from a call and - * then pass own job to another sub-call dependent on those initial sub-calls. - * - * By using @ call_wait it is possible to assign a Wait ID that can later - * be passed into @c dThreadedCallWaitFunction to wait for call completion. - * - * If @a call_name is available (and it should!) the string must remain valid until - * after call completion. In most cases this should be a static string literal. - * - * Since the function is an analogue of normal method call it is not supposed to fail. - * Any complications with resource allocation on call scheduling should be - * anticipated, avoided and worked around by implementation. - * - * @param impl Threading implementation ID - * @param out_summary_fault Optional pointer to variable to be set to 1 if function - * call (or any sub-call) fails internally, or 0 if all calls return success - * @param out_post_releasee Optional pointer to variable to receive releasee ID - * associated with the call - * @param dependencies_count Number of dependencies that are going to reference - * this call as dependent releasee - * @param dependent_releasee Optional releasee ID to reference with this call - * @param call_wait Optional Wait ID that can later be used to wait for the call - * @param call_func Pointer to function to be called - * @param call_context Context parameter to be passed into the call - * @param instance_index Index parameter to be passed into the call - * @param call_name Optional name to be associated with the call (for debugging and state tracking) - * - * @ingroup threading - * @see dThreadedCallWaitFunction - * @see dThreadedCallDependenciesCountAlterFunction - * @see dThreadingImplResourcesForCallsPreallocateFunction - */ -typedef void dThreadedCallPostFunction(dThreadingImplementationID impl, int *out_summary_fault/*=NULL*/, - dCallReleaseeID *out_post_releasee/*=NULL*/, ddependencycount_t dependencies_count, dCallReleaseeID dependent_releasee/*=NULL*/, - dCallWaitID call_wait/*=NULL*/, - dThreadedCallFunction *call_func, void *call_context, dcallindex_t instance_index, - const char *call_name/*=NULL*/); - -/** - * @brief Add or remove extra dependencies from call that has been scheduled - * or is in process of execution. - * - * Extra dependencies can be added to a call if exact number of sub-calls is - * not known in advance at the moment the call is scheduled. Also, some dependencies - * can be removed if sub-calls were planned but then dropped. - * - * In case if total dependency count of a call reaches zero by result of invoking - * this function, the call is free to start executing immediately. - * - * After the call execution had been started, any additional dependencies can only - * be added from the call function itself! - * - * @param impl Threading implementation ID - * @param target_releasee ID of releasee to apply dependencies count change to - * @param dependencies_count_change Number of dependencies to add or remove - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef void dThreadedCallDependenciesCountAlterFunction(dThreadingImplementationID impl, dCallReleaseeID target_releasee, - ddependencychange_t dependencies_count_change); - -/** - * @brief Wait for a posted call to complete. - * - * Function blocks until a call identified by @a call_wait completes or - * timeout elapses. - * - * IT IS ILLEGAL TO INVOKE THIS FUNCTION FROM WITHIN A THREADED CALL! - * This is because doing so will block a physical thread and will require - * increasing worker thread count to avoid starvation. Use call dependencies - * if it is necessary make sure sub-calls have been completed instead! - * - * If @a timeout_time_ptr is NULL, the function waits without time limit. If @a timeout_time_ptr - * points to zero value, the function only checks status and does not block. - * - * If @a wait_name is available (and it should!) the string must remain valid for - * the duration of wait. In most cases this should be a static string literal. - * - * Function is not expected to return failures caused by system call faults as - * those are hardly ever possible to be handled in this case anyway. In event of - * system call fault the function is supposed to terminate application. - * - * @param impl Threading implementation ID - * @param out_wait_status Optional pointer to variable to receive 1 if waiting succeeded - * or 0 in case of timeout - * @param call_wait Wait ID that had been passed to scheduling a call that needs to be waited for - * @param timeout_time_ptr Optional pointer to time specification the wait must not - * last longer than (pass NULL for infinite timeout) - * @param wait_name Optional name to be associated with the wait (for debugging and state tracking) - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef void dThreadedCallWaitFunction(dThreadingImplementationID impl, int *out_wait_status/*=NULL*/, - dCallWaitID call_wait, const dThreadedWaitTime *timeout_time_ptr/*=NULL*/, - const char *wait_name/*=NULL*/); - -/** - * @brief Retrieve number of active threads that serve the implementation. - * - * @param impl Threading implementation ID - * @returns Number of active threads - * - * @ingroup threading - */ -typedef unsigned dThreadingImplThreadCountRetrieveFunction(dThreadingImplementationID impl); - -/** - * @brief Preallocate resources to handle posted calls. - * - * The function is intended to make sure enough resources is preallocated for the - * implementation to be able to handle posted calls. Then @c max_simultaneous_calls_estimate - * is an estimate of how many posted calls can potentially be active or scheduled - * at the same time. The value is usually derived from the way the calls are posted - * in library code and dependencies between them. - * - * @warning While working on an implementation be prepared that the estimate provided - * yet rarely but theoretically can be exceeded due to unpredictability of thread execution. - * - * This function is normally going to be invoked by library each time it is entered - * from outside to do the job but before any threaded calls are going to be posted. - * - * @param impl Threading implementation ID - * @param max_simultaneous_calls_estimate An estimated number of calls that can be posted simultaneously - * @returns 1 or 0 to indicate success or failure - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef int dThreadingImplResourcesForCallsPreallocateFunction(dThreadingImplementationID impl, - ddependencycount_t max_simultaneous_calls_estimate); - - -/** - * @brief An interface structure with function pointers to be provided by threading implementation. - */ -typedef struct dxThreadingFunctionsInfo -{ - unsigned struct_size; - - dMutexGroupAllocFunction *alloc_mutex_group; - dMutexGroupFreeFunction *free_mutex_group; - dMutexGroupMutexLockFunction *lock_group_mutex; - dMutexGroupMutexUnlockFunction *unlock_group_mutex; - - dThreadedCallWaitAllocFunction *alloc_call_wait; - dThreadedCallWaitResetFunction *reset_call_wait; - dThreadedCallWaitFreeFunction *free_call_wait; - - dThreadedCallPostFunction *post_call; - dThreadedCallDependenciesCountAlterFunction *alter_call_dependencies_count; - dThreadedCallWaitFunction *wait_call; - - dThreadingImplThreadCountRetrieveFunction *retrieve_thread_count; - dThreadingImplResourcesForCallsPreallocateFunction *preallocate_resources_for_calls; - - /* - * Beware of Jon Watte's anger if you dare to uncomment this! - * May cryptic text below be you a warning! - * Стародавні легенди розказують, що кожного сміливця, хто наважиться порушити табу - * і відкрити заборонений код, спіткає страшне прокляття і він відразу почне робити - * одні лиш помилки. - * - * dMutexGroupMutexTryLockFunction *trylock_group_mutex; - */ - -} dThreadingFunctionsInfo; - - -#ifdef __cplusplus -} -#endif - -#endif /* #ifndef _ODE_THREADING_H_ */ diff --git a/include/linux/ode/threading_impl.h b/include/linux/ode/threading_impl.h deleted file mode 100755 index 270fe76..0000000 --- a/include/linux/ode/threading_impl.h +++ /dev/null @@ -1,292 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * Builtin ODE threading implementation header. * - * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. * - * e-mail: odar@eleks.com (change all "a" to "e") * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * A threading implementation built into ODE for those who does not care to - * or can't implement an own one. - */ - -#ifndef _ODE_THREADING_IMPL_H_ -#define _ODE_THREADING_IMPL_H_ - - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -struct dxThreadingThreadPool; -typedef struct dxThreadingThreadPool *dThreadingThreadPoolID; - - -/** - * @brief Allocates built-in self-threaded threading implementation object. - * - * A self-threaded implementation is a type of implementation that performs - * processing of posted calls by means of caller thread itself. This type of - * implementation does not need thread pool to serve it. - * - * Note that since May 9th, 2017 (rev. #2066) the Self-Threaded implementation - * returns 0 rather than 1 as available thread count to distinguish from - * thread pools with just one thread in them. - * - * The processing is arranged in a way to prevent call stack depth growth - * as more and more nested calls are posted. - * - * Note that it is not necessary to create and assign a self-threaded - * implementation to a world, as there is a global one used by default - * if no implementation is explicitly assigned. You should only assign - * each world an individual threading implementation instance if simulations - * need to be run in parallel in multiple threads for the worlds. - * - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingFreeImplementation - */ -ODE_API dThreadingImplementationID dThreadingAllocateSelfThreadedImplementation(); - -/** - * @brief Allocates built-in multi-threaded threading implementation object. - * - * A multi-threaded implementation is a type of implementation that has to be - * served with a thread pool. The thread pool can be either the built-in ODE object - * or set of external threads that dedicate themselves to this purpose and stay - * in ODE until implementation releases them. - * - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingThreadPoolServeMultiThreadedImplementation - * @see dExternalThreadingServeMultiThreadedImplementation - * @see dThreadingFreeImplementation - */ -ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation(); - -/** - * @brief Retrieves the functions record of a built-in threading implementation. - * - * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation). - * Do not use this function with self-made custom implementations - - * they should be bundled with their own set of functions. - * - * @param impl Threading implementation ID - * @returns Pointer to associated functions structure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - */ -ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl); - -/** - * @brief Requests a built-in implementation to release threads serving it. - * - * The function unblocks threads employed in implementation serving and lets them - * return to from where they originate. It's the responsibility of external code - * to make sure all the calls to ODE that might be dependent on given threading - * implementation object had already returned before this call is made. If threading - * implementation is still processing some posted calls while this function is - * invoked the behavior is implementation dependent. - * - * This call is to be used to request the threads to be released before waiting - * for them in host pool or before waiting for them to exit. Implementation object - * must not be destroyed before it is known that all the serving threads have already - * returned from it. If implementation needs to be reused after this function is called - * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart - * must be made to restore internal state of the object. - * - * If this function is called for self-threaded built-in threading implementation - * the call has no effect. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationCleanupForRestart - */ -ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl); - -/** - * @brief Restores built-in implementation's state to let it be reused after shutdown. - * - * If a multi-threaded built-in implementation needs to be reused after a call - * to @c dThreadingImplementationShutdownProcessing this call is to be made to - * restore object's internal state. After that the implementation can be served again. - * - * If this function is called for self-threaded built-in threading implementation - * the call has no effect. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl); - -/** - * @brief Deletes an instance of built-in threading implementation. - * - * @warning A care must be taken to make sure the implementation is unassigned - * from all the objects it was assigned to and that there are no more threads - * serving it before attempting to call this function. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - */ -ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl); - - -typedef void (dThreadReadyToServeCallback)(void *callback_context); - -/** - * @brief An entry point for external threads that would like to serve a built-in - * threading implementation object. - * - * A thread that calls this function remains blocked in ODE and serves implementation - * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call. - * This function can be used to provide external threads instead of ODE's built-in - * thread pools. - * - * The optional callback @readiness_callback is called after the thread has reached - * and has registered within the implementation. The implementation should not - * be used until all dedicated threads register within it as otherwise it will not - * have accurate view of the execution resources available. - * - * @param impl Threading implementation ID - * @param readiness_callback Optional readiness callback to be called after thread enters the implementation - * @param callback_context A value to be passed as parameter to readiness callback - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl, - dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/); - - -/** - * @brief Creates an instance of built-in thread pool object that can be used to serve - * multi-threaded threading implementations. - * - * The threads allocated inherit priority of caller thread. Their affinity is not - * explicitly adjusted and gets the value the system assigns by default. Threads - * have their stack memory fully committed immediately on start. On POSIX platforms - * threads are started with all the possible signals blocked. Threads execute - * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags - * on initialization. - * - * On POSIX platforms this function must be called with signals masked - * or other measures must be taken to prevent reception of signals by calling thread - * for the duration of the call. - * - * @param thread_count Number of threads to start in pool - * @param stack_size Size of stack to be used for every thread or 0 for system default value - * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - * @see dThreadingFreeThreadPool - */ -ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count, - dsizeint stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/); - -/** - * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded - * threading implementation. - * - * A pool can only serve one threading implementation at a time. - * Call @c dThreadingImplementationShutdownProcessing to release pool threads - * from implementation serving and make them idle. Pool threads must be released - * from any implementations before pool is attempted to be deleted. - * - * This function waits for threads to register within implementation before returning. - * So, after the function call exits the implementation can be used immediately. - * - * @param pool Thread pool ID to serve the implementation - * @param impl Implementation ID of implementation to be served - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl); - -/** - * @brief Waits until all pool threads are released from threading implementation - * they might be serving. - * - * The function can be used after a call to @c dThreadingImplementationShutdownProcessing - * to make sure all the threads have already been released by threading implementation - * and it can be deleted or it can be cleaned up for restart and served by another pool - * or this pool's threads can be used to serve another threading implementation. - * - * Note that is it not necessary to call this function before pool destruction - * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own. - * - * It is OK to call this function even if pool was not serving any threading implementation - * in which case the call exits immediately with minimal delay. - * - * @param pool Thread pool ID to wait for - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingImplementationShutdownProcessing - * @see dThreadingFreeThreadPool - */ -ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool); - -/** - * @brief Deletes a built-in thread pool instance. - * - * The pool threads must be released from any implementations they might be serving - * before this function is called. Otherwise the call is going to block - * and wait until pool's threads return. - * - * @param pool Thread pool ID to delete - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool); - - -#ifdef __cplusplus -} -#endif - -#endif /* #ifndef _ODE_THREADING_IMPL_H_ */ diff --git a/include/linux/ode/timer.h b/include/linux/ode/timer.h deleted file mode 100755 index c7a88e9..0000000 --- a/include/linux/ode/timer.h +++ /dev/null @@ -1,76 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_TIMER_H_ -#define _ODE_TIMER_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -/* stop watch objects */ - -typedef struct dStopwatch { - double time; /* total clock count */ - unsigned long cc[2]; /* clock count since last `start' */ -} dStopwatch; - -ODE_API void dStopwatchReset (dStopwatch *); -ODE_API void dStopwatchStart (dStopwatch *); -ODE_API void dStopwatchStop (dStopwatch *); -ODE_API double dStopwatchTime (dStopwatch *); /* returns total time in secs */ - - -/* code timers */ - -ODE_API void dTimerStart (const char *description); /* pass a static string here */ -ODE_API void dTimerNow (const char *description); /* pass a static string here */ -ODE_API void dTimerEnd(void); - -/* print out a timer report. if `average' is nonzero, print out the average - * time for each slot (this is only meaningful if the same start-now-end - * calls are being made repeatedly. - */ -ODE_API void dTimerReport (FILE *fout, int average); - - -/* resolution */ - -/* returns the timer ticks per second implied by the timing hardware or API. - * the actual timer resolution may not be this great. - */ -ODE_API double dTimerTicksPerSecond(void); - -/* returns an estimate of the actual timer resolution, in seconds. this may - * be greater than 1/ticks_per_second. - */ -ODE_API double dTimerResolution(void); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/linux/ode/version.h b/include/linux/ode/version.h deleted file mode 100755 index da4d30c..0000000 --- a/include/linux/ode/version.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef _ODE_VERSION_H_ -#define _ODE_VERSION_H_ - -#define dODE_VERSION "0.15" - -#endif diff --git a/include/mac/ode/Makefile.am b/include/mac/ode/Makefile.am deleted file mode 100644 index ad06509..0000000 --- a/include/mac/ode/Makefile.am +++ /dev/null @@ -1,34 +0,0 @@ -libode_la_includedir = $(includedir)/ode -libode_la_include_HEADERS = \ - collision.h \ - collision_space.h \ - collision_trimesh.h \ - common.h \ - compatibility.h \ - contact.h \ - cooperative.h \ - error.h \ - export-dif.h \ - mass.h \ - matrix.h matrix_coop.h \ - memory.h \ - misc.h \ - objects.h \ - ode.h \ - odeconfig.h \ - odecpp.h \ - odecpp_collision.h \ - odeinit.h \ - odemath.h \ - odemath_legacy.h \ - rotation.h \ - threading.h \ - threading_impl.h \ - timer.h - - -EXTRA_DIST = README precision.h.in version.h.in - -dist_libode_la_include_HEADERS = precision.h version.h - - diff --git a/include/mac/ode/README b/include/mac/ode/README deleted file mode 100644 index 9d7e99a..0000000 --- a/include/mac/ode/README +++ /dev/null @@ -1,18 +0,0 @@ - -this is the public C interface to the ODE library. - -all these files should be includable from C, i.e. they should not use any -C++ features. everything should be protected with - - #ifdef __cplusplus - extern "C" { - #endif - - ... - - #ifdef __cplusplus - } - #endif - -the only exceptions are the odecpp.h and odecpp_collisioh.h files, which define a C++ wrapper for -the C interface. remember to keep this in sync! diff --git a/include/mac/ode/collision.h b/include/mac/ode/collision.h deleted file mode 100644 index fef6e7b..0000000 --- a/include/mac/ode/collision.h +++ /dev/null @@ -1,1526 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_H_ -#define _ODE_COLLISION_H_ - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup collide Collision Detection - * - * ODE has two main components: a dynamics simulation engine and a collision - * detection engine. The collision engine is given information about the - * shape of each body. At each time step it figures out which bodies touch - * each other and passes the resulting contact point information to the user. - * The user in turn creates contact joints between bodies. - * - * Using ODE's collision detection is optional - an alternative collision - * detection system can be used as long as it can supply the right kinds of - * contact information. - */ - - -/* ************************************************************************ */ -/* general functions */ - -/** - * @brief Destroy a geom, removing it from any space. - * - * Destroy a geom, removing it from any space it is in first. This one - * function destroys a geom of any type, but to create a geom you must call - * a creation function for that type. - * - * When a space is destroyed, if its cleanup mode is 1 (the default) then all - * the geoms in that space are automatically destroyed as well. - * - * @param geom the geom to be destroyed. - * @ingroup collide - */ -ODE_API void dGeomDestroy (dGeomID geom); - - -/** - * @brief Set the user-defined data pointer stored in the geom. - * - * @param geom the geom to hold the data - * @param data the data pointer to be stored - * @ingroup collide - */ -ODE_API void dGeomSetData (dGeomID geom, void* data); - - -/** - * @brief Get the user-defined data pointer stored in the geom. - * - * @param geom the geom containing the data - * @ingroup collide - */ -ODE_API void *dGeomGetData (dGeomID geom); - - -/** - * @brief Set the body associated with a placeable geom. - * - * Setting a body on a geom automatically combines the position vector and - * rotation matrix of the body and geom, so that setting the position or - * orientation of one will set the value for both objects. Setting a body - * ID of zero gives the geom its own position and rotation, independent - * from any body. If the geom was previously connected to a body then its - * new independent position/rotation is set to the current position/rotation - * of the body. - * - * Calling these functions on a non-placeable geom results in a runtime - * error in the debug build of ODE. - * - * @param geom the geom to connect - * @param body the body to attach to the geom - * @ingroup collide - */ -ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); - - -/** - * @brief Get the body associated with a placeable geom. - * @param geom the geom to query. - * @sa dGeomSetBody - * @ingroup collide - */ -ODE_API dBodyID dGeomGetBody (dGeomID geom); - - -/** - * @brief Set the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @sa dBodySetPosition - * @ingroup collide - */ -ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @sa dBodySetRotation - * @ingroup collide - */ -ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the rotation of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @sa dBodySetQuaternion - * @ingroup collide - */ -ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Get the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's position vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetPosition - * @ingroup collide - */ -ODE_API const dReal * dGeomGetPosition (dGeomID geom); - - -/** - * @brief Copy the position of a geom into a vector. - * @ingroup collide - * @param geom the geom to query - * @param pos a copy of the geom position - * @sa dGeomGetPosition - */ -ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetRotation - * @ingroup collide - */ -ODE_API const dReal * dGeomGetRotation (dGeomID geom); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param R a copy of the geom rotation - * @sa dGeomGetRotation - * @ingroup collide - */ -ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the rotation quaternion of a placeable geom. - * - * If the geom is attached to a body, the body's quaternion will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @sa dBodyGetQuaternion - * @ingroup collide - */ -ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); - - -/** - * @brief Return the axis-aligned bounding box. - * - * Return in aabb an axis aligned bounding box that surrounds the given geom. - * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the - * geom is a space, a bounding box that surrounds all contained geoms is - * returned. - * - * This function may return a pre-computed cached bounding box, if it can - * determine that the geom has not moved since the last time the bounding - * box was computed. - * - * @param geom the geom to query - * @param aabb the returned bounding box - * @ingroup collide - */ -ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); - - -/** - * @brief Determing if a geom is a space. - * @param geom the geom to query - * @returns Non-zero if the geom is a space, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsSpace (dGeomID geom); - - -/** - * @brief Query for the space containing a particular geom. - * @param geom the geom to query - * @returns The space that contains the geom, or NULL if the geom is - * not contained by a space. - * @ingroup collide - */ -ODE_API dSpaceID dGeomGetSpace (dGeomID); - - -/** - * @brief Given a geom, this returns its class. - * - * The ODE classes are: - * @li dSphereClass - * @li dBoxClass - * @li dCylinderClass - * @li dPlaneClass - * @li dRayClass - * @li dConvexClass - * @li dGeomTransformClass - * @li dTriMeshClass - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * User-defined class will return their own number. - * - * @param geom the geom to query - * @returns The geom class ID. - * @ingroup collide - */ -ODE_API int dGeomGetClass (dGeomID geom); - - -/** - * @brief Set the "category" bitfield for the given geom. - * - * The category bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Set the "collide" bitfield for the given geom. - * - * The collide bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Get the "category" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCategoryBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCategoryBits (dGeomID); - - -/** - * @brief Get the "collide" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCollideBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCollideBits (dGeomID); - - -/** - * @brief Enable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to enable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomEnable (dGeomID geom); - - -/** - * @brief Disable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to disable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomDisable (dGeomID geom); - - -/** - * @brief Check to see if a geom is enabled. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to query - * @returns Non-zero if the geom is enabled, zero otherwise. - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API int dGeomIsEnabled (dGeomID geom); - - -enum -{ - dGeomCommonControlClass = 0, - dGeomColliderControlClass = 1 -}; - -enum -{ - dGeomCommonAnyControlCode = 0, - - dGeomColliderSetMergeSphereContactsControlCode = 1, - dGeomColliderGetMergeSphereContactsControlCode = 2 -}; - -enum -{ - dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/ - dGeomColliderMergeContactsValue_None = 1, - dGeomColliderMergeContactsValue_Normals = 2, - dGeomColliderMergeContactsValue_Full = 3 -}; - -/** - * @brief Execute low level control operation for geometry. - * - * The variable the dataSize points to must be initialized before the call. - * If the size does not match the one expected for the control class/code function - * changes it to the size expected and returns failure. This implies the function - * can be called with NULL data and zero size to test if control class/code is supported - * and obtain required data size for it. - * - * dGeomCommonAnyControlCode applies to any control class and returns success if - * at least one control code is available for the given class with given geom. - * - * Currently there are the folliwing control classes supported: - * @li dGeomColliderControlClass - * - * For dGeomColliderControlClass there are the following codes available: - * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) - * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) - * - * @param geom the geom to control - * @param controlClass the control class - * @param controlCode the control code for the class - * @param dataValue the control argument pointer - * @param dataSize the control argument size provided or expected - * @returns Boolean execution status - * @ingroup collide - */ -ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize); - - -/** - * @brief Get world position of a relative point on geom. - * - * Calling this function on a non-placeable geom results in the same point being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomGetRelPointPos -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in geom-relative coordinates. - * - * Calling this function on a non-placeable geom results in the same point being - * returned. - * - * @remarks - * This is the inverse of dGeomGetRelPointPos() - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomGetPosRelPoint -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from geom-local to world coordinates. - * - * Calling this function on a non-placeable geom results in the same vector being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomVectorToWorld -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to geom-local coordinates. - * - * Calling this function on a non-placeable geom results in the same vector being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomVectorFromWorld -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - - -/* ************************************************************************ */ -/* geom offset from body */ - -/** - * @brief Set the local offset position of a geom from its body. - * - * Sets the geom's positional offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the local offset rotation matrix of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the local offset rotation of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Set the offset position of a geom from its body. - * - * Sets the geom's positional offset to move it to the new world - * coordinates. - * After this call, the geom will be at the world position passed in, - * and the offset will be the difference from the current body position. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); - - -/** - * @brief Clear any offset from the geom. - * - * If the geom has an offset, it is eliminated and the geom is - * repositioned at the body's position. If the geom has no offset, - * this function does nothing. - * This is more efficient than calling dGeomSetOffsetPosition(zero) - * and dGeomSetOffsetRotation(identiy), because this function actually - * eliminates the offset, rather than leaving it as the identity transform. - * - * @param geom the geom to have its offset destroyed. - * @ingroup collide - */ -ODE_API void dGeomClearOffset(dGeomID geom); - - -/** - * @brief Check to see whether the geom has an offset. - * - * This function will return non-zero if the offset has been created. - * Note that there is a difference between a geom with no offset, - * and a geom with an offset that is the identity transform. - * In the latter case, although the observed behaviour is identical, - * there is a unnecessary computation involved because the geom will - * be applying the transform whenever it needs to recalculate its world - * position. - * - * @param geom the geom to query. - * @returns Non-zero if the geom has an offset, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsOffset(dGeomID geom); - - -/** - * @brief Get the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); - - -/** - * @brief Copy the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @param pos returns the offset position - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); - - -/** - * @brief Copy the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @param R returns the rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the offset rotation quaternion of a geom. - * - * Returns the rotation offset of the geom as a quaternion. - * If the geom has no offset, the identity quaternion is returned. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @ingroup collide - */ -ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); - - -/* ************************************************************************ */ -/* collision detection */ - -/* - * Just generate any contacts (disables any contact refining). - */ -#define CONTACTS_UNIMPORTANT 0x80000000 - -/** - * - * @brief Given two geoms o1 and o2 that potentially intersect, - * generate contact information for them. - * - * Internally, this just calls the correct class-specific collision - * functions for o1 and o2. - * - * @param o1 The first geom to test. - * @param o2 The second geom to test. - * - * @param flags The flags specify how contacts should be generated if - * the geoms touch. The lower 16 bits of flags is an integer that - * specifies the maximum number of contact points to generate. You must - * ask for at least one contact. - * Additionally, following bits may be set: - * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). - * All other bits in flags must be set to zero. In the future the other bits - * may be used to select from different contact generation strategies. - * - * @param contact Points to an array of dContactGeom structures. The array - * must be able to hold at least the maximum number of contacts. These - * dContactGeom structures may be embedded within larger structures in the - * array -- the skip parameter is the byte offset from one dContactGeom to - * the next in the array. If skip is sizeof(dContactGeom) then contact - * points to a normal (C-style) array. It is an error for skip to be smaller - * than sizeof(dContactGeom). - * - * @returns If the geoms intersect, this function returns the number of contact - * points generated (and updates the contact array), otherwise it returns 0 - * (and the contact array is not touched). - * - * @remarks If a space is passed as o1 or o2 then this function will collide - * all objects contained in o1 with all objects contained in o2, and return - * the resulting contact points. This method for colliding spaces with geoms - * (or spaces with spaces) provides no user control over the individual - * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. - * - * @remarks If o1 and o2 are the same geom then this function will do nothing - * and return 0. Technically speaking an object intersects with itself, but it - * is not useful to find contact points in this case. - * - * @remarks This function does not care if o1 and o2 are in the same space or not - * (or indeed if they are in any space at all). - * - * @ingroup collide - */ -ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, - int skip); - -/** - * @brief Determines which pairs of geoms in a space may potentially intersect, - * and calls the callback function for each candidate pair. - * - * @param space The space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide2 - * @ingroup collide - */ -ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); - - -/** - * @brief Determines which geoms from one space may potentially intersect with - * geoms from another space, and calls the callback function for each candidate - * pair. - * - * @param space1 The first space to test. - * - * @param space2 The second space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks This function can also test a single non-space geom against a - * space. This function is useful when there is a collision hierarchy, i.e. - * when there are spaces that contain other spaces. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks Sublevel value of space affects how the spaces are iterated. - * Both spaces are recursed only if their sublevels match. Otherwise, only - * the space with greater sublevel is recursed and the one with lesser sublevel - * is used as a geom itself. - * - * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide - * @sa dSpaceSetSublevel - * @ingroup collide - */ -ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); - - -/* ************************************************************************ */ -/* standard classes */ - -/* the maximum number of user classes that are supported */ -enum { - dMaxUserClasses = 4 -}; - -/* class numbers - each geometry object needs a unique number */ -enum { - dSphereClass = 0, - dBoxClass, - dCapsuleClass, - dCylinderClass, - dPlaneClass, - dRayClass, - dConvexClass, - dGeomTransformClass, - dTriMeshClass, - dHeightfieldClass, - - dFirstSpaceClass, - dSimpleSpaceClass = dFirstSpaceClass, - dHashSpaceClass, - dSweepAndPruneSpaceClass, /* SAP */ - dQuadTreeSpaceClass, - dLastSpaceClass = dQuadTreeSpaceClass, - - dFirstUserClass, - dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, - dGeomNumClasses -}; - - -/** - * @defgroup collide_sphere Sphere Class - * @ingroup collide - */ - -/** - * @brief Create a sphere geom of the given radius, and return its ID. - * - * @param space a space to contain the new geom. May be null. - * @param radius the radius of the sphere. - * - * @returns A new sphere geom. - * - * @remarks The point of reference for a sphere is its center. - * - * @sa dGeomDestroy - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); - - -/** - * @brief Set the radius of a sphere geom. - * - * @param sphere the sphere to set. - * @param radius the new radius. - * - * @sa dGeomSphereGetRadius - * @ingroup collide_sphere - */ -ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); - - -/** - * @brief Retrieves the radius of a sphere geom. - * - * @param sphere the sphere to query. - * - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); - - -/** - * @brief Calculate the depth of the a given point within a sphere. - * - * @param sphere the sphere to query. - * @param x the X coordinate of the point. - * @param y the Y coordinate of the point. - * @param z the Z coordinate of the point. - * - * @returns The depth of the point. Points inside the sphere will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - * - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); - - -/*--> Convex Functions*/ -ODE_API dGeomID dCreateConvex (dSpaceID space, - const dReal *_planes, - unsigned int _planecount, - const dReal *_points, - unsigned int _pointcount, - const unsigned int *_polygons); - -ODE_API void dGeomSetConvex (dGeomID g, - const dReal *_planes, - unsigned int _count, - const dReal *_points, - unsigned int _pointcount, - const unsigned int *_polygons); -/*<-- Convex Functions*/ - -/** - * @defgroup collide_box Box Class - * @ingroup collide - */ - -/** - * @brief Create a box geom with the provided side lengths. - * - * @param space a space to contain the new geom. May be null. - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @returns A new box geom. - * - * @remarks The point of reference for a box is its center. - * - * @sa dGeomDestroy - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Set the side lengths of the given box. - * - * @param box the box to set - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @sa dGeomBoxGetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Get the side lengths of a box. - * - * @param box the box to query - * @param result the returned side lengths - * - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); - - -/** - * @brief Return the depth of a point in a box. - * - * @param box the box to query - * @param x the X coordinate of the point to test. - * @param y the Y coordinate of the point to test. - * @param z the Z coordinate of the point to test. - * - * @returns The depth of the point. Points inside the box will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - */ -ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); - - -ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); -ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); - -ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); -ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); -ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); - -/* For now we want to have a backwards compatible C-API, note: C++ API is not.*/ -#define dCreateCCylinder dCreateCapsule -#define dGeomCCylinderSetParams dGeomCapsuleSetParams -#define dGeomCCylinderGetParams dGeomCapsuleGetParams -#define dGeomCCylinderPointDepth dGeomCapsulePointDepth -#define dCCylinderClass dCapsuleClass - -ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); -ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); - -ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); -ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); -ODE_API dReal dGeomRayGetLength (dGeomID ray); -ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, - dReal dx, dReal dy, dReal dz); -ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir); - -/* - * Set/get ray flags that influence ray collision detection. - * These flags are currently only noticed by the trimesh collider, because - * they can make a major differences there. - */ -ODE_API_DEPRECATED ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); -ODE_API_DEPRECATED ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); -ODE_API void dGeomRaySetFirstContact (dGeomID g, int firstContact); -ODE_API int dGeomRayGetFirstContact (dGeomID g); -ODE_API void dGeomRaySetBackfaceCull (dGeomID g, int backfaceCull); -ODE_API int dGeomRayGetBackfaceCull (dGeomID g); -ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); -ODE_API int dGeomRayGetClosestHit (dGeomID g); - -#include "collision_trimesh.h" - -ODE_API_DEPRECATED ODE_API dGeomID dCreateGeomTransform (dSpaceID space); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); -ODE_API_DEPRECATED ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); -ODE_API_DEPRECATED ODE_API int dGeomTransformGetCleanup (dGeomID g); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); -ODE_API_DEPRECATED ODE_API int dGeomTransformGetInfo (dGeomID g); - - -/* ************************************************************************ */ -/* heightfield functions */ - - -/* Data storage for heightfield data.*/ -struct dxHeightfieldData; -typedef struct dxHeightfieldData* dHeightfieldDataID; - - -/** - * @brief Callback prototype - * - * Used by the callback heightfield data type to sample a height for a - * given cell position. - * - * @param p_user_data User data specified when creating the dHeightfieldDataID - * @param x The index of a sample in the local x axis. It is a value - * in the range zero to ( nWidthSamples - 1 ). - * @param x The index of a sample in the local z axis. It is a value - * in the range zero to ( nDepthSamples - 1 ). - * - * @return The sample height which is then scaled and offset using the - * values specified when the heightfield data was created. - * - * @ingroup collide - */ -typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); - - - -/** - * @brief Creates a heightfield geom. - * - * Uses the information in the given dHeightfieldDataID to construct - * a geom representing a heightfield in a collision space. - * - * @param space The space to add the geom to. - * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and - * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, - * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. - * @param bPlaceable If non-zero this geom can be transformed in the world using the - * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is - * not set as placeable, then it uses a fixed orientation where the global y axis - * represents the dynamic 'height' of the heightfield. - * - * @return A geom id to reference this geom in other calls. - * - * @ingroup collide - */ -ODE_API dGeomID dCreateHeightfield( dSpaceID space, - dHeightfieldDataID data, int bPlaceable ); - - -/** - * @brief Creates a new empty dHeightfieldDataID. - * - * Allocates a new dHeightfieldDataID and returns it. You must call - * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. - * The dHeightfieldDataID value is used when specifying a data format type. - * - * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, - * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or - * dGeomHeightfieldDataBuildFloat. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void); - - -/** - * @brief Destroys a dHeightfieldDataID. - * - * Deallocates a given dHeightfieldDataID and all managed resources. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); - - - -/** - * @brief Configures a dHeightfieldDataID to use a callback to - * retrieve height data. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is computed by - * the user and it should use the given callback when determining - * the height of a given element of it's shape. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, - void* pUserData, dHeightfieldGetHeight* pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in byte format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of bytes (8 bit unsigned) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, - const unsigned char* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in short format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of shorts (16 bit signed) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, - const short* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * single precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of single precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, - const float* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * double precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of double precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, - const double* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Manually set the minimum and maximum height bounds. - * - * This call allows you to set explicit min / max values after initial - * creation typically for callback heightfields which default to +/- infinity, - * or those whose data has changed. This must be set prior to binding with a - * geom, as the the AABB is not recomputed after it's first generation. - * - * @remarks The minimum and maximum values are used to compute the AABB - * for the heightfield which is used for early rejection of collisions. - * A close fit will yield a more efficient collision check. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @param min_height The new minimum height value. Scale, offset and thickness is then applied. - * @param max_height The new maximum height value. Scale and offset is then applied. - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, - dReal minHeight, dReal maxHeight ); - - -/** - * @brief Assigns a dHeightfieldDataID to a heightfield geom. - * - * Associates the given dHeightfieldDataID with a heightfield geom. - * This is done without affecting the GEOM_PLACEABLE flag. - * - * @param g A geom created by dCreateHeightfield - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); - - -/** - * @brief Gets the dHeightfieldDataID bound to a heightfield geom. - * - * Returns the dHeightfieldDataID associated with a heightfield geom. - * - * @param g A geom created by dCreateHeightfield - * @return The dHeightfieldDataID which may be NULL if none was assigned. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); - - - -/* ************************************************************************ */ -/* utility functions */ - -ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, - const dVector3 b1, const dVector3 b2, - dVector3 cp1, dVector3 cp2); - -ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 _p2, - const dMatrix3 R2, const dVector3 side2); - -/* The meaning of flags parameter is the same as in dCollide()*/ -ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *return_code, - int flags, dContactGeom *contact, int skip); - -ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); - - -/* ************************************************************************ */ -/* custom classes */ - -typedef void dGetAABBFn (dGeomID, dReal aabb[6]); -typedef int dColliderFn (dGeomID o1, dGeomID o2, - int flags, dContactGeom *contact, int skip); -typedef dColliderFn * dGetColliderFnFn (int num); -typedef void dGeomDtorFn (dGeomID o); -typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]); - -typedef struct dGeomClass { - int bytes; - dGetColliderFnFn *collider; - dGetAABBFn *aabb; - dAABBTestFn *aabb_test; - dGeomDtorFn *dtor; -} dGeomClass; - -ODE_API int dCreateGeomClass (const dGeomClass *classptr); -ODE_API void * dGeomGetClassData (dGeomID); -ODE_API dGeomID dCreateGeom (int classnum); - -/** - * @brief Sets a custom collider function for two geom classes. - * - * @param i The first geom class handled by this collider - * @param j The second geom class handled by this collider - * @param fn The collider function to use to determine collisions. - * @ingroup collide - */ -ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn); - - -/* ************************************************************************ */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/collision_space.h b/include/mac/ode/collision_space.h deleted file mode 100644 index 30cc536..0000000 --- a/include/mac/ode/collision_space.h +++ /dev/null @@ -1,182 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_SPACE_H_ -#define _ODE_COLLISION_SPACE_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -struct dContactGeom; - -/** - * @brief User callback for geom-geom collision testing. - * - * @param data The user data object, as passed to dSpaceCollide. - * @param o1 The first geom being tested. - * @param o2 The second geom being test. - * - * @remarks The callback function can call dCollide on o1 and o2 to generate - * contact points between each pair. Then these contact points may be added - * to the simulation as contact joints. The user's callback function can of - * course chose not to call dCollide for any pair, e.g. if the user decides - * that those pairs should not interact. - * - * @ingroup collide - */ -typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); - - -ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); -ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); -ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); - - -/* SAP */ -/* Order XZY or ZXY usually works best, if your Y is up. */ -#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) -#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) -#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) -#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) -#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) -#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) - -ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder ); - - - -ODE_API void dSpaceDestroy (dSpaceID); - -ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); -ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); - -ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); -ODE_API int dSpaceGetCleanup (dSpaceID space); - -/** -* @brief Sets sublevel value for a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. If sublevels of both spaces match, the function iterates -* geometries of both spaces and collides them with each other. If sublevel of one -* space is greater than the sublevel of another one, only the geometries of the -* space with greater sublevel are iterated, another space is passed into -* collision callback as a geometry itself. By default all the spaces are assigned -* zero sublevel. -* -* @note -* The space sublevel @e IS @e NOT automatically updated when one space is inserted -* into another or removed from one. It is a client's responsibility to update sublevel -* value if necessary. -* -* @param space the space to modify -* @param sublevel the sublevel value to be assigned -* @ingroup collide -* @see dSpaceGetSublevel -* @see dSpaceCollide2 -*/ -ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel); - -/** -* @brief Gets sublevel value of a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. See @c dSpaceSetSublevel for more details. -* -* @param space the space to query -* @returns the sublevel value of the space -* @ingroup collide -* @see dSpaceSetSublevel -* @see dSpaceCollide2 -*/ -ODE_API int dSpaceGetSublevel (dSpaceID space); - - -/** -* @brief Sets manual cleanup flag for a space. -* -* Manual cleanup flag marks a space as eligible for manual thread data cleanup. -* This function should be called for every space object right after creation in -* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag. -* -* Failure to set manual cleanup flag for a space may lead to some resources -* remaining leaked until the program exit. -* -* @param space the space to modify -* @param mode 1 for manual cleanup mode and 0 for default cleanup mode -* @ingroup collide -* @see dSpaceGetManualCleanup -* @see dInitODE2 -*/ -ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode); - -/** -* @brief Get manual cleanup flag of a space. -* -* Manual cleanup flag marks a space space as eligible for manual thread data cleanup. -* See @c dSpaceSetManualCleanup for more details. -* -* @param space the space to query -* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space -* @ingroup collide -* @see dSpaceSetManualCleanup -* @see dInitODE2 -*/ -ODE_API int dSpaceGetManualCleanup (dSpaceID space); - -ODE_API void dSpaceAdd (dSpaceID, dGeomID); -ODE_API void dSpaceRemove (dSpaceID, dGeomID); -ODE_API int dSpaceQuery (dSpaceID, dGeomID); -ODE_API void dSpaceClean (dSpaceID); -ODE_API int dSpaceGetNumGeoms (dSpaceID); -ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); - -/** - * @brief Given a space, this returns its class. - * - * The ODE classes are: - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dSweepAndPruneSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * The class id not defined by the user should be between - * dFirstSpaceClass and dLastSpaceClass. - * - * User-defined class will return their own number. - * - * @param space the space to query - * @returns The space class ID. - * @ingroup collide - */ -ODE_API int dSpaceGetClass(dSpaceID space); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/collision_trimesh.h b/include/mac/ode/collision_trimesh.h deleted file mode 100644 index aa8f624..0000000 --- a/include/mac/ode/collision_trimesh.h +++ /dev/null @@ -1,316 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * TriMesh code by Erwin de Vries. - * - * Trimesh data. - * This is where the actual vertexdata (pointers), and BV tree is stored. - * Vertices should be single precision! - * This should be more sophisticated, so that the user can easyly implement - * another collision library, but this is a lot of work, and also costs some - * performance because some data has to be copied. - */ - -#ifndef _ODE_COLLISION_TRIMESH_H_ -#define _ODE_COLLISION_TRIMESH_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * Data storage for triangle meshes. - */ -struct dxTriMeshData; -typedef struct dxTriMeshData* dTriMeshDataID; - - -typedef enum -{ - dMTV__MIN, - - dMTV_FIRST = dMTV__MIN, - dMTV_SECOND, - dMTV_THIRD, - - dMTV__MAX, - -} dMeshTriangleVertex; - -/* - * These don't make much sense now, but they will later when we add more - * features. - */ -ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); -ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); - - -/* - * The values of data_id that can be used with dGeomTriMeshDataSet/dGeomTriMeshDataGet - */ -enum -{ - dTRIMESHDATA__MIN, - - dTRIMESHDATA_FACE_NORMALS = dTRIMESHDATA__MIN, - dTRIMESHDATA_USE_FLAGS, - - dTRIMESHDATA__MAX, - -#ifndef TRIMESH_FACE_NORMALS // Define this name during the header inclusion if you need it for something else - // Included for backward compatibility -- please use the corrected name above. Sorry. - TRIMESH_FACE_NORMALS = dTRIMESHDATA_FACE_NORMALS, -#endif -}; - -/* - * The flags of the dTRIMESHDATA_USE_FLAGS data elements - */ -enum -{ - dMESHDATAUSE_EDGE1 = 0x01, - dMESHDATAUSE_EDGE2 = 0x02, - dMESHDATAUSE_EDGE3 = 0x04, - dMESHDATAUSE_VERTEX1 = 0x08, - dMESHDATAUSE_VERTEX2 = 0x10, - dMESHDATAUSE_VERTEX3 = 0x20, -}; - -/* - * Set and get the TriMeshData additional data - * Note: The data is NOT COPIED on assignment - */ -ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void *in_data); -ODE_API void *dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); -ODE_API void *dGeomTriMeshDataGet2(dTriMeshDataID g, int data_id, dsizeint *pout_size/*=NULL*/); - - - -/** - * We need to set the last transform after each time step for - * accurate collision response. These functions get and set that transform. - * It is stored per geom instance, rather than per dTriMeshDataID. - */ -ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, const dMatrix4 last_trans ); -ODE_API const dReal* dGeomTriMeshGetLastTransform( dGeomID g ); - -/* - * Build a TriMesh data object with single precision vertex data. - */ -ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); -/* -* Build a TriMesh data object with double precision vertex data. -*/ -ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); - -/* - * Simple build. Single/double precision based on dSINGLE/dDOUBLE! - */ -ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount, - const int* Normals); - - -/* - * Data preprocessing build request flags. - */ -enum -{ - dTRIDATAPREPROCESS_BUILD__MIN, - - dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES = dTRIDATAPREPROCESS_BUILD__MIN, // Used to optimize OPCODE trimesh-capsule collisions; allocates 1 byte per triangle; no extra data associated - dTRIDATAPREPROCESS_BUILD_FACE_ANGLES, // Used to aid trimesh-convex collisions; memory requirements depend on extra data - - dTRIDATAPREPROCESS_BUILD__MAX, -}; - -/* - * Data preprocessing extra values for dTRIDATAPREPROCESS_BUILD_FACE_ANGLES. - */ -enum -{ - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, // Build angles for convex edges only and store as bytes; allocates 3 bytes per triangle; stores angles (0..180] in 1/254 fractions leaving two values for the flat and all the concaves - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL, // Build angles for all the edges and store in bytes; allocates 3 bytes per triangle; stores angles [-180..0) and (0..180] in 1/127 fractions plus a value for the flat angle - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL, // Build angles for all the edges and store in words; allocates 6 bytes per triangle; stores angles [-180..0) and (0..180] in 1/32767 fractions plus a value for the flat angle - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MAX, - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__DEFAULT = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE, // The default value assumed if the extra data is not provided -}; - - -/* - * Pre-process the trimesh data according to the request flags. - * - * buildRequestFlags is a bitmask of 1U << dTRIDATAPREPROCESS_BUILD_... - * It is allowed to call the function multiple times provided the bitmasks are different each time. - * - * requestExtraData is an optional pointer to array of extra parameters per bitmask bits - * (only the elements indexed by positions of raised bits are examined; - * defaults are assumed if the pointer is NULL) - * - * The function returns a boolean status the only failure reason being insufficient memory. - */ -ODE_API int dGeomTriMeshDataPreprocess2(dTriMeshDataID g, unsigned int buildRequestFlags, const dintptr *requestExtraData/*=NULL | const dintptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/); - -/* - * Obsolete. Equivalent to calling dGeomTriMeshDataPreprocess2(g, (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES), NULL) - */ -ODE_API int dGeomTriMeshDataPreprocess(dTriMeshDataID g); - - - -/* - * Get and set the internal preprocessed trimesh data buffer (see the enumerated type above), for loading and saving - * These functions are deprecated. Use dGeomTriMeshDataSet/dGeomTriMeshDataGet2 with dTRIMESHDATA_USE_FLAGS instead. - */ -ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); -ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf); - - -/* - * Per triangle callback. Allows the user to say if he wants a collision with - * a particular triangle. - */ -typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); -ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback); -ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g); - -/* - * Per object callback. Allows the user to get the list of triangles in 1 - * shot. Maybe we should remove this one. - */ -typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); -ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback); -ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g); - -/* - * Ray callback. - * Allows the user to say if a ray collides with a triangle on barycentric - * coords. The user can for example sample a texture with alpha transparency - * to determine if a collision should occur. - */ -typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); -ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback); -ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g); - -/* - * Triangle merging callback. - * Allows the user to generate a fake triangle index for a new contact generated - * from merging of two other contacts. That index could later be used by the - * user to determine attributes of original triangles used as sources for a - * merged contact. - */ -typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); -ODE_API void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback); -ODE_API dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g); - -/* - * Trimesh class - * Construction. Callbacks are optional. - */ -ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); - -ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data); -ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); - - -/* enable/disable/check temporal coherence*/ -ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); -ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass); - -/* - * Clears the internal temporal coherence caches. When a geom has its - * collision checked with a trimesh once, data is stored inside the trimesh. - * With large worlds with lots of seperate objects this list could get huge. - * We should be able to do this automagically. - */ -ODE_API void dGeomTriMeshClearTCCache(dGeomID g); - - -/* - * returns the TriMeshDataID - */ -ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g); - -/* - * Gets a triangle. - */ -ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); - -/* - * Gets the point on the requested triangle and the given barycentric - * coordinates. - */ -ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); - -/* - -This is how the strided data works: - -struct StridedVertex{ - dVector3 Vertex; - // Userdata -}; -int VertexStride = sizeof(StridedVertex); - -struct StridedTri{ - int Indices[3]; - // Userdata -}; -int TriStride = sizeof(StridedTri); - -*/ - - -ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g); - -ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g); - -#ifdef __cplusplus -} -#endif - -#endif /* _ODE_COLLISION_TRIMESH_H_ */ - diff --git a/include/mac/ode/common.h b/include/mac/ode/common.h deleted file mode 100644 index a57a4f3..0000000 --- a/include/mac/ode/common.h +++ /dev/null @@ -1,569 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COMMON_H_ -#define _ODE_COMMON_H_ - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* configuration stuff */ - -/* constants */ - -/* pi and 1/sqrt(2) are defined here if necessary because they don't get - * defined in on some platforms (like MS-Windows) - */ - -#ifndef M_PI -#define M_PI REAL(3.1415926535897932384626433832795029) -#endif -#ifndef M_PI_2 -#define M_PI_2 REAL(1.5707963267948966192313216916398) -#endif -#ifndef M_SQRT1_2 -#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490) -#endif - - -/* floating point data type, vector, matrix and quaternion types */ - -#if defined(dSINGLE) -typedef float dReal; -#ifdef dDOUBLE -#error You can only #define dSINGLE or dDOUBLE, not both. -#endif /* dDOUBLE */ -#elif defined(dDOUBLE) -typedef double dReal; -#else -#error You must #define dSINGLE or dDOUBLE -#endif - -/* Detect if we've got both trimesh engines enabled. */ -#if dTRIMESH_ENABLED -#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT -#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both. -#endif -#endif /* dTRIMESH_ENABLED */ - -/* - * Define a type for indices, either 16 or 32 bit, based on build option - * TODO: Currently GIMPACT only supports 32 bit indices. - */ -#if dTRIMESH_16BIT_INDICES -#if dTRIMESH_GIMPACT -typedef duint32 dTriIndex; -#else /* dTRIMESH_GIMPACT */ -typedef duint16 dTriIndex; -#endif /* dTRIMESH_GIMPACT */ -#else /* dTRIMESH_16BIT_INDICES */ -typedef duint32 dTriIndex; -#endif /* dTRIMESH_16BIT_INDICES */ - -/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified - * (used to compute matrix leading dimensions) - */ -#define dPAD(a) (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a)) - -typedef enum { - dSA__MIN, - - dSA_X = dSA__MIN, - dSA_Y, - dSA_Z, - - dSA__MAX, -} dSpaceAxis; - -typedef enum { - dMD__MIN, - - dMD_LINEAR = dMD__MIN, - dMD_ANGULAR, - - dMD__MAX, -} dMotionDynamics; - -typedef enum { - dDA__MIN, - - dDA__L_MIN = dDA__MIN + dMD_LINEAR * dSA__MAX, - - dDA_LX = dDA__L_MIN + dSA_X, - dDA_LY = dDA__L_MIN + dSA_Y, - dDA_LZ = dDA__L_MIN + dSA_Z, - - dDA__L_MAX = dDA__L_MIN + dSA__MAX, - - dDA__A_MIN = dDA__MIN + dMD_ANGULAR * dSA__MAX, - - dDA_AX = dDA__A_MIN + dSA_X, - dDA_AY = dDA__A_MIN + dSA_Y, - dDA_AZ = dDA__A_MIN + dSA_Z, - - dDA__A_MAX = dDA__A_MIN + dSA__MAX, - - dDA__MAX = dDA__MIN + dMD__MAX * dSA__MAX, -} dDynamicsAxis; - -typedef enum { - dV3E__MIN, - - dV3E__AXES_MIN = dV3E__MIN, - - dV3E_X = dV3E__AXES_MIN + dSA_X, - dV3E_Y = dV3E__AXES_MIN + dSA_Y, - dV3E_Z = dV3E__AXES_MIN + dSA_Z, - - dV3E__AXES_MAX = dV3E__AXES_MIN + dSA__MAX, - - dV3E_PAD = dV3E__AXES_MAX, - - dV3E__MAX, - - dV3E__AXES_COUNT = dV3E__AXES_MAX - dV3E__AXES_MIN, -} dVec3Element; - -typedef enum { - dV4E__MIN, - - dV4E_X = dV4E__MIN + dSA_X, - dV4E_Y = dV4E__MIN + dSA_Y, - dV4E_Z = dV4E__MIN + dSA_Z, - dV4E_O = dV4E__MIN + dSA__MAX, - - dV4E__MAX, -} dVec4Element; - -typedef enum { - dM3E__MIN, - - dM3E__X_MIN = dM3E__MIN + dSA_X * dV3E__MAX, - - dM3E__X_AXES_MIN = dM3E__X_MIN + dV3E__AXES_MIN, - - dM3E_XX = dM3E__X_MIN + dV3E_X, - dM3E_XY = dM3E__X_MIN + dV3E_Y, - dM3E_XZ = dM3E__X_MIN + dV3E_Z, - - dM3E__X_AXES_MAX = dM3E__X_MIN + dV3E__AXES_MAX, - - dM3E_XPAD = dM3E__X_MIN + dV3E_PAD, - - dM3E__X_MAX = dM3E__X_MIN + dV3E__MAX, - - dM3E__Y_MIN = dM3E__MIN + dSA_Y * dV3E__MAX, - - dM3E__Y_AXES_MIN = dM3E__Y_MIN + dV3E__AXES_MIN, - - dM3E_YX = dM3E__Y_MIN + dV3E_X, - dM3E_YY = dM3E__Y_MIN + dV3E_Y, - dM3E_YZ = dM3E__Y_MIN + dV3E_Z, - - dM3E__Y_AXES_MAX = dM3E__Y_MIN + dV3E__AXES_MAX, - - dM3E_YPAD = dM3E__Y_MIN + dV3E_PAD, - - dM3E__Y_MAX = dM3E__Y_MIN + dV3E__MAX, - - dM3E__Z_MIN = dM3E__MIN + dSA_Z * dV3E__MAX, - - dM3E__Z_AXES_MIN = dM3E__Z_MIN + dV3E__AXES_MIN, - - dM3E_ZX = dM3E__Z_MIN + dV3E_X, - dM3E_ZY = dM3E__Z_MIN + dV3E_Y, - dM3E_ZZ = dM3E__Z_MIN + dV3E_Z, - - dM3E__Z_AXES_MAX = dM3E__Z_MIN + dV3E__AXES_MAX, - - dM3E_ZPAD = dM3E__Z_MIN + dV3E_PAD, - - dM3E__Z_MAX = dM3E__Z_MIN + dV3E__MAX, - - dM3E__MAX = dM3E__MIN + dSA__MAX * dV3E__MAX, -} dMat3Element; - -typedef enum { - dM4E__MIN, - - dM4E__X_MIN = dM4E__MIN + dV4E_X * dV4E__MAX, - - dM4E_XX = dM4E__X_MIN + dV4E_X, - dM4E_XY = dM4E__X_MIN + dV4E_Y, - dM4E_XZ = dM4E__X_MIN + dV4E_Z, - dM4E_XO = dM4E__X_MIN + dV4E_O, - - dM4E__X_MAX = dM4E__X_MIN + dV4E__MAX, - - dM4E__Y_MIN = dM4E__MIN + dV4E_Y * dV4E__MAX, - - dM4E_YX = dM4E__Y_MIN + dV4E_X, - dM4E_YY = dM4E__Y_MIN + dV4E_Y, - dM4E_YZ = dM4E__Y_MIN + dV4E_Z, - dM4E_YO = dM4E__Y_MIN + dV4E_O, - - dM4E__Y_MAX = dM4E__Y_MIN + dV4E__MAX, - - dM4E__Z_MIN = dM4E__MIN + dV4E_Z * dV4E__MAX, - - dM4E_ZX = dM4E__Z_MIN + dV4E_X, - dM4E_ZY = dM4E__Z_MIN + dV4E_Y, - dM4E_ZZ = dM4E__Z_MIN + dV4E_Z, - dM4E_ZO = dM4E__Z_MIN + dV4E_O, - - dM4E__Z_MAX = dM4E__Z_MIN + dV4E__MAX, - - dM4E__O_MIN = dM4E__MIN + dV4E_O * dV4E__MAX, - - dM4E_OX = dM4E__O_MIN + dV4E_X, - dM4E_OY = dM4E__O_MIN + dV4E_Y, - dM4E_OZ = dM4E__O_MIN + dV4E_Z, - dM4E_OO = dM4E__O_MIN + dV4E_O, - - dM4E__O_MAX = dM4E__O_MIN + dV4E__MAX, - - dM4E__MAX = dM4E__MIN + dV4E__MAX * dV4E__MAX, -} dMat4Element; - -typedef enum { - dQUE__MIN, - - dQUE_R = dQUE__MIN, - - dQUE__AXIS_MIN, - - dQUE_I = dQUE__AXIS_MIN + dSA_X, - dQUE_J = dQUE__AXIS_MIN + dSA_Y, - dQUE_K = dQUE__AXIS_MIN + dSA_Z, - - dQUE__AXIS_MAX = dQUE__AXIS_MIN + dSA__MAX, - - dQUE__MAX = dQUE__AXIS_MAX, -} dQuatElement; - -/* these types are mainly just used in headers */ -typedef dReal dVector3[dV3E__MAX]; -typedef dReal dVector4[dV4E__MAX]; -typedef dReal dMatrix3[dM3E__MAX]; -typedef dReal dMatrix4[dM4E__MAX]; -typedef dReal dMatrix6[(dMD__MAX * dV3E__MAX) * (dMD__MAX * dSA__MAX)]; -typedef dReal dQuaternion[dQUE__MAX]; - - -/* precision dependent scalar math functions */ - -#if defined(dSINGLE) - -#define REAL(x) (x##f) /* form a constant */ -#define dRecip(x) ((1.0f/(x))) /* reciprocal */ -#define dSqrt(x) (sqrtf(x)) /* square root */ -#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */ -#define dSin(x) (sinf(x)) /* sine */ -#define dCos(x) (cosf(x)) /* cosine */ -#define dFabs(x) (fabsf(x)) /* absolute value */ -#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */ -#define dAsin(x) (asinf(x)) -#define dAcos(x) (acosf(x)) -#define dFMod(a,b) (fmodf(a,b)) /* modulo */ -#define dFloor(x) floorf(x) /* floor */ -#define dCeil(x) ceilf(x) /* ceil */ -#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */ -#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */ -#define dMax(a, b) _ode_fmaxf(a, b) -#define dMin(a, b) _ode_fminf(a, b) - -#ifdef HAVE___ISNANF -#define dIsNan(x) (__isnanf(x)) -#elif defined(HAVE__ISNANF) -#define dIsNan(x) (_isnanf(x)) -#elif defined(HAVE_ISNANF) -#define dIsNan(x) (isnanf(x)) -#else - /* - fall back to _isnan which is the VC way, - this may seem redundant since we already checked - for _isnan before, but if isnan is detected by - configure but is not found during compilation - we should always make sure we check for __isnanf, - _isnanf and isnanf in that order before falling - back to a default - */ -#define dIsNan(x) (_isnan(x)) -#endif - -#elif defined(dDOUBLE) - -#define REAL(x) (x) -#define dRecip(x) (1.0/(x)) -#define dSqrt(x) sqrt(x) -#define dRecipSqrt(x) (1.0/sqrt(x)) -#define dSin(x) sin(x) -#define dCos(x) cos(x) -#define dFabs(x) fabs(x) -#define dAtan2(y,x) atan2((y),(x)) -#define dAsin(x) asin(x) -#define dAcos(x) acos(x) -#define dFMod(a,b) (fmod((a),(b))) -#define dFloor(x) floor(x) -#define dCeil(x) ceil(x) -#define dCopySign(a,b) _ode_copysign(a, b) -#define dNextAfter(x, y) _ode_nextafter(x, y) -#define dMax(a, b) _ode_fmax(a, b) -#define dMin(a, b) _ode_fmin(a, b) - -#ifdef HAVE___ISNAN -#define dIsNan(x) (__isnan(x)) -#elif defined(HAVE__ISNAN) -#define dIsNan(x) (_isnan(x)) -#elif defined(HAVE_ISNAN) -#define dIsNan(x) (isnan(x)) -#else -#define dIsNan(x) (_isnan(x)) -#endif - -#else -#error You must #define dSINGLE or dDOUBLE -#endif - - -/* internal object types (all prefixed with `dx') */ - -struct dxWorld; /* dynamics world */ -struct dxSpace; /* collision space */ -struct dxBody; /* rigid body (dynamics object) */ -struct dxGeom; /* geometry (collision object) */ -struct dxJoint; /* joint */ -struct dxJointGroup;/* joint group */ - - -typedef struct dxWorld *dWorldID; -typedef struct dxSpace *dSpaceID; -typedef struct dxBody *dBodyID; -typedef struct dxGeom *dGeomID; -typedef struct dxJoint *dJointID; -typedef struct dxJointGroup *dJointGroupID; - - -/* error numbers */ - -enum { - d_ERR_UNKNOWN = 0, /* unknown error */ - d_ERR_IASSERT, /* internal assertion failed */ - d_ERR_UASSERT, /* user assertion failed */ - d_ERR_LCP /* user assertion failed */ -}; - - -/* joint type numbers */ - -typedef enum { - dJointTypeNone = 0, /* or "unknown" */ - dJointTypeBall, - dJointTypeHinge, - dJointTypeSlider, - dJointTypeContact, - dJointTypeUniversal, - dJointTypeHinge2, - dJointTypeFixed, - dJointTypeNull, - dJointTypeAMotor, - dJointTypeLMotor, - dJointTypePlane2D, - dJointTypePR, - dJointTypePU, - dJointTypePiston, - dJointTypeDBall, - dJointTypeDHinge, - dJointTypeTransmission, -} dJointType; - - -/* an alternative way of setting joint parameters, using joint parameter - * structures and member constants. we don't actually do this yet. - */ - -/* -typedef struct dLimot { - int mode; - dReal lostop, histop; - dReal vel, fmax; - dReal fudge_factor; - dReal bounce, soft; - dReal suspension_erp, suspension_cfm; -} dLimot; - -enum { - dLimotLoStop = 0x0001, - dLimotHiStop = 0x0002, - dLimotVel = 0x0004, - dLimotFMax = 0x0008, - dLimotFudgeFactor = 0x0010, - dLimotBounce = 0x0020, - dLimotSoft = 0x0040 -}; -*/ - - -/* standard joint parameter names. why are these here? - because we don't want - * to include all the joint function definitions in joint.cpp. hmmmm. - * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument, - * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and - * paste between these two. - */ - -#define D_ALL_PARAM_NAMES(start) \ - /* parameters for limits and motors */ \ - dParamLoStop = start, \ - dParamHiStop, \ - dParamVel, \ - dParamLoVel, \ - dParamHiVel, \ - dParamFMax, \ - dParamFudgeFactor, \ - dParamBounce, \ - dParamCFM, \ - dParamStopERP, \ - dParamStopCFM, \ - /* parameters for suspension */ \ - dParamSuspensionERP, \ - dParamSuspensionCFM, \ - dParamERP, \ - - /* - * \enum D_ALL_PARAM_NAMES_X - * - * \var dParamGroup This is the starting value of the different group - * (i.e. dParamGroup1, dParamGroup2, dParamGroup3) - * It also helps in the use of parameter - * (dParamGroup2 | dParamFMax) == dParamFMax2 - */ -#define D_ALL_PARAM_NAMES_X(start,x) \ - dParamGroup ## x = start, \ - /* parameters for limits and motors */ \ - dParamLoStop ## x = start, \ - dParamHiStop ## x, \ - dParamVel ## x, \ - dParamLoVel ## x, \ - dParamHiVel ## x, \ - dParamFMax ## x, \ - dParamFudgeFactor ## x, \ - dParamBounce ## x, \ - dParamCFM ## x, \ - dParamStopERP ## x, \ - dParamStopCFM ## x, \ - /* parameters for suspension */ \ - dParamSuspensionERP ## x, \ - dParamSuspensionCFM ## x, \ - dParamERP ## x, - -enum { - D_ALL_PARAM_NAMES(0) - dParamsInGroup, /* < Number of parameter in a group */ - D_ALL_PARAM_NAMES_X(0x000,1) - D_ALL_PARAM_NAMES_X(0x100,2) - D_ALL_PARAM_NAMES_X(0x200,3) - - /* add a multiple of this constant to the basic parameter numbers to get - * the parameters for the second, third etc axes. - */ - dParamGroup=0x100 -}; - - -/* angular motor mode numbers */ - -enum { - dAMotorUser = 0, - dAMotorEuler = 1 -}; - -/* transmission joint mode numbers */ - -enum { - dTransmissionParallelAxes = 0, - dTransmissionIntersectingAxes = 1, - dTransmissionChainDrive = 2 -}; - - -/* joint force feedback information */ - -typedef struct dJointFeedback { - dVector3 f1; /* force applied to body 1 */ - dVector3 t1; /* torque applied to body 1 */ - dVector3 f2; /* force applied to body 2 */ - dVector3 t2; /* torque applied to body 2 */ -} dJointFeedback; - - -/* private functions that must be implemented by the collision library: - * (1) indicate that a geom has moved, (2) get the next geom in a body list. - * these functions are called whenever the position of geoms connected to a - * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or - * when the ODE step function updates the body state. - */ - -void dGeomMoved (dGeomID); -dGeomID dGeomGetBodyNext (dGeomID); - -/** - * dGetConfiguration returns the specific ODE build configuration as - * a string of tokens. The string can be parsed in a similar way to - * the OpenGL extension mechanism, the naming convention should be - * familiar too. The following extensions are reported: - * - * ODE - * ODE_single_precision - * ODE_double_precision - * ODE_EXT_no_debug - * ODE_EXT_trimesh - * ODE_EXT_opcode - * ODE_EXT_gimpact - * ODE_OPC_16bit_indices - * ODE_OPC_new_collider - * ODE_EXT_mt_collisions - * ODE_EXT_threading - * ODE_THR_builtin_impl - */ -ODE_API const char* dGetConfiguration (void); - -/** - * Helper to check for a token in the ODE configuration string. - * Caution, this function is case sensitive. - * - * @param token A configuration token, see dGetConfiguration for details - * - * @return 1 if exact token is present, 0 if not present - */ -ODE_API int dCheckConfiguration( const char* token ); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/compatibility.h b/include/mac/ode/compatibility.h deleted file mode 100644 index b370986..0000000 --- a/include/mac/ode/compatibility.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COMPATIBILITY_H_ -#define _ODE_COMPATIBILITY_H_ - -/* - * ODE's backward compatibility system ensures that as ODE's API - * evolves, user code will not break. - */ - -/* - * These new rotation function names are more consistent with the - * rest of the API. - */ -#define dQtoR(q,R) dRfromQ((R),(q)) -#define dRtoQ(R,q) dQfromR((q),(R)) -#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q)) - - -#endif diff --git a/include/mac/ode/contact.h b/include/mac/ode/contact.h deleted file mode 100644 index 9756f26..0000000 --- a/include/mac/ode/contact.h +++ /dev/null @@ -1,110 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_CONTACT_H_ -#define _ODE_CONTACT_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -enum { - dContactMu2 = 0x001, /**< Use axis dependent friction */ - dContactAxisDep = 0x001, /**< Same as above */ - dContactFDir1 = 0x002, /**< Use FDir for the first friction value */ - dContactBounce = 0x004, /**< Restore collision energy anti-parallel to the normal */ - dContactSoftERP = 0x008, /**< Don't use global erp for penetration reduction */ - dContactSoftCFM = 0x010, /**< Don't use global cfm for penetration constraint */ - dContactMotion1 = 0x020, /**< Use a non-zero target velocity for the constraint */ - dContactMotion2 = 0x040, - dContactMotionN = 0x080, - dContactSlip1 = 0x100, /**< Force-dependent slip. */ - dContactSlip2 = 0x200, - dContactRolling = 0x400, /**< Rolling/Angular friction */ - - dContactApprox0 = 0x0000, - dContactApprox1_1 = 0x1000, - dContactApprox1_2 = 0x2000, - dContactApprox1_N = 0x4000, /**< For rolling friction */ - dContactApprox1 = 0x7000 -}; - - -typedef struct dSurfaceParameters { - /* must always be defined */ - int mode; - dReal mu; - - /* only defined if the corresponding flag is set in mode */ - dReal mu2; - dReal rho; /**< Rolling friction */ - dReal rho2; - dReal rhoN; /**< Spinning friction */ - dReal bounce; /**< Coefficient of restitution */ - dReal bounce_vel; /**< Bouncing threshold */ - dReal soft_erp; - dReal soft_cfm; - dReal motion1,motion2,motionN; - dReal slip1,slip2; -} dSurfaceParameters; - - -/** - * @brief Describe the contact point between two geoms. - * - * If two bodies touch, or if a body touches a static feature in its - * environment, the contact is represented by one or more "contact - * points", described by dContactGeom. - * - * The convention is that if body 1 is moved along the normal vector by - * a distance depth (or equivalently if body 2 is moved the same distance - * in the opposite direction) then the contact depth will be reduced to - * zero. This means that the normal vector points "in" to body 1. - * - * @ingroup collide - */ -typedef struct dContactGeom { - dVector3 pos; /*< contact position*/ - dVector3 normal; /*< normal vector*/ - dReal depth; /*< penetration depth*/ - dGeomID g1,g2; /*< the colliding geoms*/ - int side1,side2; /*< (to be documented)*/ -} dContactGeom; - - -/* contact info used by contact joint */ - -typedef struct dContact { - dSurfaceParameters surface; - dContactGeom geom; - dVector3 fdir1; -} dContact; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/cooperative.h b/include/mac/ode/cooperative.h deleted file mode 100644 index 879477c..0000000 --- a/include/mac/ode/cooperative.h +++ /dev/null @@ -1,229 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COOPERATIVE_H_ -#define _ODE_COOPERATIVE_H_ - - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup coop Cooperative Algorithms - * - * Algorithms implemented as multiple threads doing work cooperatively. - */ - - -struct dxCooperative; -struct dxResourceRequirements; -struct dxResourceContainer; - -/** - * @brief A container for cooperative algorithms shared context - * - * The Cooperative is a container for cooperative algorithms shared context. - * At present it contains threading object (either a real one or a defaulted - * self-threading). - * - * Cooperative use in functions performing computations must be serialized. That is, - * functions referring to a single instance of Cooperative object must not be called in - * parallel. - */ -typedef struct dxCooperative *dCooperativeID; - - -/** - * @brief A container for resource requirements information - * - * The ResourceRequirements object is a container for descriptive information - * regarding what resources (memory, synchronization objects, etc.) need to be - * allocated for particular computations. The object can be used for accumulating - * resource requirement maxima over multiple functions and then allocating resources - * that would suffice for any of those function calls. - * - * ResourceRequirements objects maintain relations to Cooperative objects since - * amounts of resources that could be required can depend on characteristics of - * shared context, e.g. on maximal number of threads in the threading object. - * - * @ingroup coop - * @see dCooperativeID - * @see dResourceContainerID - */ -typedef struct dxResourceRequirements *dResourceRequirementsID; - -/** - * @brief A container for algorithm allocated resources - * - * The ResourceContainer object can contain resources allocated according to information - * in a ResourceRequirements. The resources inherit link to the threading object - * from the requirements they are allocated according to. - * - * @ingroup coop - * @see dResourceRequirementsID - * @see dCooperativeID - */ -typedef struct dxResourceContainer *dResourceContainerID; - - - /** - * @brief Creates a Cooperative object related to the specified threading. - * - * NULL's are allowed for the threading. In this case the default (global) self-threading - * object will be used. - * - * Use @c dCooperativeDestroy to destroy the object. The Cooperative object must exist - * until after all the objects referencing it are destroyed. - * - * @param functionInfo The threading functions to use - * @param threadingImpl The threading implementation object to use - * @returns The Cooperative object instance or NULL if allocation fails. - * @ingroup coop - * @see dCooperativeDestroy - */ -ODE_API dCooperativeID dCooperativeCreate(const dThreadingFunctionsInfo *functionInfo/*=NULL*/, dThreadingImplementationID threadingImpl/*=NULL*/); - - /** - * @brief Destroys Cooperative object. - * - * The Cooperative object can only be destroyed after all the objects referencing it. - * - * @param cooperative A Cooperative object to be deleted (NULL is allowed) - * @ingroup coop - * @see dCooperativeCreate - */ -ODE_API void dCooperativeDestroy(dCooperativeID cooperative); - - - /** - * @brief Creates a ResourceRequirements object related to a Cooperative. - * - * The object is purely descriptive and does not contain any resources by itself. - * The actual resources are allocated by means of ResourceContainer object. - * - * The object is created with empty requirements. It can be then used to accumulate - * requirements for one or more function calls and can be cloned or merged with others. - * The actual requirements information is added to the object by computation related - * functions. - * - * Use @c dResourceRequirementsDestroy to delete the object when it is no longer needed. - * - * @param cooperative A Cooperative object to be used - * @returns The ResourceRequirements object instance or NULL if allocation fails - * @ingroup coop - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsClone - * @see dResourceRequirementsMergeIn - * @see dCooperativeCreate - * @see dResourceContainerAcquire - */ -ODE_API dResourceRequirementsID dResourceRequirementsCreate(dCooperativeID cooperative); - - /** - * @brief Destroys ResourceRequirements object. - * - * The ResourceRequirements object can be destroyed at any time with no regards - * to other objects' lifetime. - * - * @param requirements A ResourceRequirements object to be deleted (NULL is allowed) - * @ingroup coop - * @see dResourceRequirementsCreate - */ -ODE_API void dResourceRequirementsDestroy(dResourceRequirementsID requirements); - - /** - * @brief Clones ResourceRequirements object. - * - * The function creates a copy of the ResourceRequirements object with all the - * contents and the relation to Cooperative matching. The object passed in - * the parameter is not changed. - * - * The object created with the function must later be destroyed with @c dResourceRequirementsDestroy. - * - * @param requirements A ResourceRequirements object to be cloned - * @returns A handle to the new object or NULL if allocation fails - * @ingroup coop - * @see dResourceRequirementsCreate - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsMergeIn - */ -ODE_API dResourceRequirementsID dResourceRequirementsClone(/*const */dResourceRequirementsID requirements); - - /** - * @brief Merges one ResourceRequirements object into another ResourceRequirements object. - * - * The function updates @a summaryRequirements requirements to be also sufficient - * for the purposes @a extraRequirements could be used for. The @a extraRequirements - * object is not changed. The both objects should normally have had been created - * with the same Cooperative object. - * - * @param summaryRequirements A ResourceRequirements object to be changed - * @param extraRequirements A ResourceRequirements the requirements to be taken from - * @ingroup coop - * @see dResourceRequirementsCreate - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsClone - */ -ODE_API void dResourceRequirementsMergeIn(dResourceRequirementsID summaryRequirements, /*const */dResourceRequirementsID extraRequirements); - - - /** - * @brief Allocates resources as specified in ResourceRequirements object. - * - * The ResourceContainer object can be used in cooperative computation algorithms. - * - * The same @a requirements object can be passed to many resource allocations - * (with or without modifications) and can be deleted immediately, without waiting - * for the ResourceContainer object destruction. - * - * Use @c dResourceContainerDestroy to delete the object and release the resources - * when they are no longer needed. - * - * @param requirements The ResourceRequirements object to allocate resources according to - * @returns A ResourceContainer object instance with the resources allocated or NULL if allocation fails - * @ingroup coop - * @see dResourceContainerDestroy - * @see dResourceRequirementsCreate - */ -ODE_API dResourceContainerID dResourceContainerAcquire(/*const */dResourceRequirementsID requirements); - - /** - * @brief Destroys ResourceContainer object and releases resources allocated in it. - * - * @param resources A ResourceContainer object to be deleted (NULL is allowed) - * @ingroup coop - * @see dResourceContainerAcquire - */ -ODE_API void dResourceContainerDestroy(dResourceContainerID resources); - - -#ifdef __cplusplus -} // extern "C" -#endif - - -#endif // #ifndef _ODE_COOPERATIVE_H_ diff --git a/include/mac/ode/error.h b/include/mac/ode/error.h deleted file mode 100644 index ae511e7..0000000 --- a/include/mac/ode/error.h +++ /dev/null @@ -1,63 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* this comes from the `reuse' library. copy any changes back to the source */ - -#ifndef _ODE_ERROR_H_ -#define _ODE_ERROR_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* all user defined error functions have this type. error and debug functions - * should not return. - */ -typedef void dMessageFunction (int errnum, const char *msg, va_list ap); - -/* set a new error, debug or warning handler. if fn is 0, the default handlers - * are used. - */ -ODE_API void dSetErrorHandler (dMessageFunction *fn); -ODE_API void dSetDebugHandler (dMessageFunction *fn); -ODE_API void dSetMessageHandler (dMessageFunction *fn); - -/* return the current error, debug or warning handler. if the return value is - * 0, the default handlers are in place. - */ -ODE_API dMessageFunction *dGetErrorHandler(void); -ODE_API dMessageFunction *dGetDebugHandler(void); -ODE_API dMessageFunction *dGetMessageHandler(void); - -/* generate a fatal error, debug trap or a message. */ -ODE_API void ODE_NORETURN dError (int num, const char *msg, ...); -ODE_API void ODE_NORETURN dDebug (int num, const char *msg, ...); -ODE_API void dMessage (int num, const char *msg, ...); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/export-dif.h b/include/mac/ode/export-dif.h deleted file mode 100644 index f6578ac..0000000 --- a/include/mac/ode/export-dif.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_EXPORT_DIF_ -#define _ODE_EXPORT_DIF_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/mass.h b/include/mac/ode/mass.h deleted file mode 100644 index af89cb1..0000000 --- a/include/mac/ode/mass.h +++ /dev/null @@ -1,144 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_MASS_H_ -#define _ODE_MASS_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -struct dMass; -typedef struct dMass dMass; - -/** - * Check if a mass structure has valid value. - * The function check if the mass and innertia matrix are positive definits - * - * @param m A mass structure to check - * - * @return 1 if both codition are met - */ -ODE_API int dMassCheck(const dMass *m); - -ODE_API void dMassSetZero (dMass *); - -ODE_API void dMassSetParameters (dMass *, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23); - -ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius); -ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius); - -ODE_API void dMassSetCapsule (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetCylinder (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetBox (dMass *, dReal density, - dReal lx, dReal ly, dReal lz); -ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass, - dReal lx, dReal ly, dReal lz); - -ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g); - -ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g); - -ODE_API void dMassAdjust (dMass *, dReal newmass); - -ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z); - -ODE_API void dMassRotate (dMass *, const dMatrix3 R); - -ODE_API void dMassAdd (dMass *a, const dMass *b); - - -/* Backwards compatible API */ -ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); -ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); - - -struct dMass { - dReal mass; - dVector3 c; - dMatrix3 I; - -#ifdef __cplusplus - dMass() - { dMassSetZero (this); } - void setZero() - { dMassSetZero (this); } - void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23) - { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); } - - void setSphere (dReal density, dReal radius) - { dMassSetSphere (this,density,radius); } - void setSphereTotal (dReal total, dReal radius) - { dMassSetSphereTotal (this,total,radius); } - - void setCapsule (dReal density, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,density,direction,radius,length); } - void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,total,direction,radius,length); } - - void setCylinder(dReal density, int direction, dReal radius, dReal length) - { dMassSetCylinder (this,density,direction,radius,length); } - void setCylinderTotal(dReal total, int direction, dReal radius, dReal length) - { dMassSetCylinderTotal (this,total,direction,radius,length); } - - void setBox (dReal density, dReal lx, dReal ly, dReal lz) - { dMassSetBox (this,density,lx,ly,lz); } - void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz) - { dMassSetBoxTotal (this,total,lx,ly,lz); } - - void setTrimesh(dReal density, dGeomID g) - { dMassSetTrimesh (this, density, g); } - void setTrimeshTotal(dReal total, dGeomID g) - { dMassSetTrimeshTotal (this, total, g); } - - void adjust (dReal newmass) - { dMassAdjust (this,newmass); } - void translate (dReal x, dReal y, dReal z) - { dMassTranslate (this,x,y,z); } - void rotate (const dMatrix3 R) - { dMassRotate (this,R); } - void add (const dMass *b) - { dMassAdd (this,b); } -#endif -}; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/matrix.h b/include/mac/ode/matrix.h deleted file mode 100644 index 65939b4..0000000 --- a/include/mac/ode/matrix.h +++ /dev/null @@ -1,200 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* optimized and unoptimized vector and matrix functions */ - -#ifndef _ODE_MATRIX_H_ -#define _ODE_MATRIX_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* set a vector/matrix of size n to all zeros, or to a specific value. */ - -ODE_API void dSetZero (dReal *a, int n); -ODE_API void dSetValue (dReal *a, int n, dReal value); - - -/* get the dot product of two n*1 vectors. if n <= 0 then - * zero will be returned (in which case a and b need not be valid). - */ - -ODE_API dReal dDot (const dReal *a, const dReal *b, int n); - - -/* get the dot products of (a0,b), (a1,b), etc and return them in outsum. - * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case - * the input vectors need not be valid). this function is somewhat faster - * than calling dDot() for all of the combinations separately. - */ - -/* NOT INCLUDED in the library for now. -void dMultidot2 (const dReal *a0, const dReal *a1, - const dReal *b, dReal *outsum, int n); -*/ - - -/* matrix multiplication. all matrices are stored in standard row format. - * the digit refers to the argument that is transposed: - * 0: A = B * C (sizes: A:p*r B:p*q C:q*r) - * 1: A = B' * C (sizes: A:p*r B:q*p C:q*r) - * 2: A = B * C' (sizes: A:p*r B:p*q C:r*q) - * case 1,2 are equivalent to saying that the operation is A=B*C but - * B or C are stored in standard column format. - */ - -ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); - - -/* do an in-place cholesky decomposition on the lower triangle of the n*n - * symmetric matrix A (which is stored by rows). the resulting lower triangle - * will be such that L*L'=A. return 1 on success and 0 on failure (on failure - * the matrix is not positive definite). - */ - -ODE_API int dFactorCholesky (dReal *A, int n); - - -/* solve for x: L*L'*x = b, and put the result back into x. - * L is size n*n, b is size n*1. only the lower triangle of L is considered. - */ - -ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n); - - -/* compute the inverse of the n*n positive definite matrix A and put it in - * Ainv. this is not especially fast. this returns 1 on success (A was - * positive definite) or 0 on failure (not PD). - */ - -ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n); - - -/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no). - * positive definite means that x'*A*x > 0 for any x. this performs a - * cholesky decomposition of A. if the decomposition fails then the matrix - * is not positive definite. A is stored by rows. A is not altered. - */ - -ODE_API int dIsPositiveDefinite (const dReal *A, int n); - - -/* factorize a matrix A into L*D*L', where L is lower triangular with ones on - * the diagonal, and D is diagonal. - * A is an n*n matrix stored by rows, with a leading dimension of n rounded - * up to 4. L is written into the strict lower triangle of A (the ones are not - * written) and the reciprocal of the diagonal elements of D are written into - * d. - */ -ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip); - - -/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal, - * and x,b are n*1. b is overwritten with x. - * the leading dimension of L is `nskip'. - */ -ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip); - - -/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal, - * and x,b are n*1. b is overwritten with x. - * the leading dimension of L is `nskip'. - */ -ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip); - - -/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) - */ - -ODE_API void dScaleVector (dReal *a, const dReal *d, int n); - -/* The function is an alias for @c dScaleVector. - * It has been deprecated because of a wrong naming schema used. - */ -ODE_API_DEPRECATED ODE_API void dVectorScale (dReal *a, const dReal *d, int n); - - -/* given `L', a n*n lower triangular matrix with ones on the diagonal, - * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix - * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b. - * the leading dimension of L is `nskip'. - */ - -ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip); - - -/* given an L*D*L' factorization of an n*n matrix A, return the updated - * factorization L2*D2*L2' of A plus the following "top left" matrix: - * - * [ b a' ] <-- b is a[0] - * [ a 0 ] <-- a is a[1..n-1] - * - * - L has size n*n, its leading dimension is nskip. L is lower triangular - * with ones on the diagonal. only the lower triangle of L is referenced. - * - d has size n. d contains the reciprocal diagonal elements of D. - * - a has size n. - * the result is written into L, except that the left column of L and d[0] - * are not actually modified. see ldltaddTL.m for further comments. - */ -ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip); - - -/* given an L*D*L' factorization of a permuted matrix A, produce a new - * factorization for row and column `r' removed. - * - A has size n1*n1, its leading dimension in nskip. A is symmetric and - * positive definite. only the lower triangle of A is referenced. - * A itself may actually be an array of row pointers. - * - L has size n2*n2, its leading dimension in nskip. L is lower triangular - * with ones on the diagonal. only the lower triangle of L is referenced. - * - d has size n2. d contains the reciprocal diagonal elements of D. - * - p is a permutation vector. it contains n2 indexes into A. each index - * must be in the range 0..n1-1. - * - r is the row/column of L to remove. - * the new L will be written within the old L, i.e. will have the same leading - * dimension. the last row and column of L, and the last element of d, are - * undefined on exit. - * - * a fast O(n^2) algorithm is used. see ldltremove.m for further comments. - */ -ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, - int n1, int n2, int r, int nskip); - - -/* given an n*n matrix A (with leading dimension nskip), remove the r'th row - * and column by moving elements. the new matrix will have the same leading - * dimension. the last row and column of A are untouched on exit. - */ -ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r); - -#ifdef __cplusplus -} -#endif - - -#endif diff --git a/include/mac/ode/matrix_coop.h b/include/mac/ode/matrix_coop.h deleted file mode 100644 index b38bf90..0000000 --- a/include/mac/ode/matrix_coop.h +++ /dev/null @@ -1,291 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_MATRIX_COOP_H_ -#define _ODE_MATRIX_COOP_H_ - - -#include -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup matrix_coop Matrix Cooperative Algorithms - * - * Cooperative algorithms operating on matrices and vectors. - * - * @ingroup coop - */ - - -/** - * @brief Estimates resource requirements for a @c dCooperativelyFactorLDLT call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelyFactorLDLT with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelyFactorLDLT - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelyFactorLDLTResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively factorizes a matrix `A' into L*D*L' - * - * The function factorizes a matrix `A' into L*D*L', where `L' is lower triangular with ones on - * the diagonal, and `D' is diagonal. - * @a A is a rowCount*rowCount matrix stored by rows, with a leading dimension of @a rowCount rounded - * up at least to 4 elements. `L; is written into the strict lower triangle of @a A - * (the ones are not written) and the reciprocal of the diagonal elements of `D' are written into @a d. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelyFactorLDLTResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param A The `A' matrix - * @param d The `d' vector - * @param rowCount The row count in @a A and @a d - * @param rowskip The actual number of elements to be added to skip to next row in @a A - * @ingroup matrix_coop - * @see dEstimateCooperativelyFactorLDLTResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelySolveLDLT - */ -ODE_API void dCooperativelyFactorLDLT(dResourceContainerID resources, unsigned allowedThreadCount, - dReal *A, dReal *d, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveLDLT call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveLDLT with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveLDLT - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveLDLTResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L*D*L'*x=b - * - * Given `L', a rowCount*rowCount lower triangular matrix with ones on the diagonal, - * and `d', a rowCount*1 vector of the reciprocal diagonal elements of a rowCount*rowCount matrix - * D, the function solves L*D*L'*x=b where `x' and `b' are rowCount*1. - * The leading dimension of @a L is @a rowSkip. The resulting vector `x' overwrites @a b. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveLDLTResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param d The `d' vector - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L, @a d and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveLDLTResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveLDLT(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveL1Straight call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveL1Straight with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveL1Straight - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L*x=b - * - * The function solves L*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, - * and `x', `b' are rowCount*1. The leading dimension of @a L is @a rowSkip. - * @a b is overwritten with `x'. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveL1StraightResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveL1StraightResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveL1Transposed call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveL1Transposed with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveL1Transposed - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveL1TransposedResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L'*x=b - * - * The function solves L'*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, - * and `x', b are rowCount*1. The leading dimension of @a L is @a rowSkip. - * @a b is overwritten with `x'. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveL1TransposedResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveL1TransposedResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveL1Transposed(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelyScaleVector call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelyScaleVector with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalElementCount Maximal value of elementCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelyScaleVector - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelyScaleVectorResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalElementCount); - -/** - * @brief Multiplies elements of one vector by corresponding element of another one - * - * In matlab syntax, the operation performed is: dataVector(1:elementCount) = dataVector(1:elementCount) .* scaleVector(1:elementCount) - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelyScaleVectorResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param dataVector The vector to be scaled in place - * @param scaleVector The scale vector - * @param elementCount The number of elements in @a dataVector and @a scaleVector - * @ingroup matrix_coop - * @see dEstimateCooperativelyScaleVectorResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelyScaleVector(dResourceContainerID resources, unsigned allowedThreadCount, - dReal *dataVector, const dReal *scaleVector, unsigned elementCount); - - -#ifdef __cplusplus -} // extern "C" -#endif - - -#endif // #ifndef _ODE_MATRIX_COOP_H_ diff --git a/include/mac/ode/memory.h b/include/mac/ode/memory.h deleted file mode 100644 index 8e49202..0000000 --- a/include/mac/ode/memory.h +++ /dev/null @@ -1,59 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* this comes from the `reuse' library. copy any changes back to the source */ - -#ifndef _ODE_MEMORY_H_ -#define _ODE_MEMORY_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* function types to allocate and free memory */ -typedef void * dAllocFunction (dsizeint size); -typedef void * dReallocFunction (void *ptr, dsizeint oldsize, dsizeint newsize); -typedef void dFreeFunction (void *ptr, dsizeint size); - -/* set new memory management functions. if fn is 0, the default handlers are - * used. */ -ODE_API void dSetAllocHandler (dAllocFunction *fn); -ODE_API void dSetReallocHandler (dReallocFunction *fn); -ODE_API void dSetFreeHandler (dFreeFunction *fn); - -/* get current memory management functions */ -ODE_API dAllocFunction *dGetAllocHandler (void); -ODE_API dReallocFunction *dGetReallocHandler (void); -ODE_API dFreeFunction *dGetFreeHandler (void); - -/* allocate and free memory. */ -ODE_API void * dAlloc (dsizeint size); -ODE_API void * dRealloc (void *ptr, dsizeint oldsize, dsizeint newsize); -ODE_API void dFree (void *ptr, dsizeint size); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/misc.h b/include/mac/ode/misc.h deleted file mode 100644 index 01655ea..0000000 --- a/include/mac/ode/misc.h +++ /dev/null @@ -1,86 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* miscellaneous math functions. these are mostly useful for testing */ - -#ifndef _ODE_MISC_H_ -#define _ODE_MISC_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* return 1 if the random number generator is working. */ -ODE_API int dTestRand(void); - -/* return next 32 bit random number. this uses a not-very-random linear - * congruential method. - */ -ODE_API unsigned long dRand(void); - -/* get and set the current random number seed. */ -ODE_API unsigned long dRandGetSeed(void); -ODE_API void dRandSetSeed (unsigned long s); - -/* return a random integer between 0..n-1. the distribution will get worse - * as n approaches 2^32. - */ -ODE_API int dRandInt (int n); - -/* return a random real number between 0..1 */ -ODE_API dReal dRandReal(void); - -/* print out a matrix */ -ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f); - -/* make a random vector with entries between +/- range. A has n elements. */ -ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); - -/* make a random matrix with entries between +/- range. A has size n*m. */ -ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); - -/* clear the upper triangle of a square matrix */ -ODE_API void dClearUpperTriangle (dReal *A, int n); - -/* return the maximum element difference between the two n*m matrices */ -ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m); - -/* return the maximum element difference between the lower triangle of two - * n*n matrices */ -ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); - - -#ifdef __cplusplus -} -#endif - - -#ifdef __cplusplus -static inline void dPrintMatrix (const dReal *A, int n, int m, const char *fmt="%10.4f ") { dPrintMatrix(A, n, m, fmt, stdout); } -#endif - - -#endif diff --git a/include/mac/ode/objects.h b/include/mac/ode/objects.h deleted file mode 100644 index 7a724d1..0000000 --- a/include/mac/ode/objects.h +++ /dev/null @@ -1,3504 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_OBJECTS_H_ -#define _ODE_OBJECTS_H_ - -#include -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup world World - * - * The world object is a container for rigid bodies and joints. Objects in - * different worlds can not interact, for example rigid bodies from two - * different worlds can not collide. - * - * All the objects in a world exist at the same point in time, thus one - * reason to use separate worlds is to simulate systems at different rates. - * Most applications will only need one world. - */ - -/** - * @brief Create a new, empty world and return its ID number. - * @return an identifier - * @ingroup world - */ -ODE_API dWorldID dWorldCreate(void); - - -/** - * @brief Destroy a world and everything in it. - * - * This includes all bodies, and all joints that are not part of a joint - * group. Joints that are part of a joint group will be deactivated, and - * can be destroyed by calling, for example, dJointGroupEmpty(). - * @ingroup world - * @param world the identifier for the world the be destroyed. - */ -ODE_API void dWorldDestroy (dWorldID world); - - -/** - * @brief Set the user-data pointer - * @param world the world to set the data on - * @param data - * @ingroup world - */ -ODE_API void dWorldSetData (dWorldID world, void* data); - - -/** - * @brief Get the user-data pointer - * @param world the world to set the data on - * @param data - * @ingroup world - */ -ODE_API void* dWorldGetData (dWorldID world); - - -/** - * @brief Set the world's global gravity vector. - * - * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), - * assuming that +z is up. The default is no gravity, i.e. (0,0,0). - * - * @ingroup world - */ -ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); - - -/** - * @brief Get the gravity vector for a given world. - * @ingroup world - */ -ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity); - - -/** - * @brief Set the global ERP value, that controls how much error - * correction is performed in each time step. - * @ingroup world - * @param dWorldID the identifier of the world. - * @param erp Typical values are in the range 0.1--0.8. The default is 0.2. - */ -ODE_API void dWorldSetERP (dWorldID, dReal erp); - -/** - * @brief Get the error reduction parameter. - * @ingroup world - * @return ERP value - */ -ODE_API dReal dWorldGetERP (dWorldID); - - -/** - * @brief Set the global CFM (constraint force mixing) value. - * @ingroup world - * @param cfm Typical values are in the range @m{10^{-9}} -- 1. - * The default is 10^-5 if single precision is being used, or 10^-10 - * if double precision is being used. - */ -ODE_API void dWorldSetCFM (dWorldID, dReal cfm); - -/** - * @brief Get the constraint force mixing value. - * @ingroup world - * @return CFM value - */ -ODE_API dReal dWorldGetCFM (dWorldID); - - -#define dWORLDSTEP_THREADCOUNT_UNLIMITED dTHREADING_THREAD_COUNT_UNLIMITED - -/** - * @brief Set maximum threads to be used for island stepping - * - * The actual number of threads that is going to be used will be the minimum - * of this limit and number of threads in the threading pool. By default - * there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED). - * - * @warning - * WARNING! Running island stepping in multiple threads requires allocating - * individual stepping memory buffer for each of those threads. The size of buffers - * allocated is the size needed to handle the largest island in the world. - * - * Note: Setting a limit for island stepping does not affect threading at lower - * levels in stepper functions. The sub-calls scheduled from them can be executed - * in as many threads as there are available in the pool. - * - * @param w The world affected - * @param count Thread count limit value for island stepping - * @ingroup world - * @see dWorldGetStepIslandsProcessingMaxThreadCount - */ -ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count); -/** - * @brief Get maximum threads that are allowed to be used for island stepping. - * - * Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for - * important information regarding the value returned. - * - * @param w The world queried - * @returns Current thread count limit value for island stepping - * @ingroup world - * @see dWorldSetStepIslandsProcessingMaxThreadCount - */ -ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w); - -/** - * @brief Set the world to use shared working memory along with another world. - * - * The worlds allocate working memory internally for simulation stepping. This - * memory is cached among the calls to @c dWordStep and @c dWorldQuickStep. - * Similarly, several worlds can be set up to share this memory caches thus - * reducing overall memory usage by cost of making worlds inappropriate for - * simultaneous simulation in multiple threads. - * - * If null value is passed for @a from_world parameter the world is detached from - * sharing and returns to defaults for working memory, reservation policy and - * memory manager as if just created. This can also be used to enable use of shared - * memory for a world that has already had working memory allocated privately. - * Normally using shared memory after a world has its private working memory allocated - * is prohibited. - * - * Allocation policy used can only increase world's internal reserved memory size - * and never decreases it. @c dWorldCleanupWorkingMemory can be used to release - * working memory for a world in case if number of objects/joint decreases - * significantly in it. - * - * With sharing working memory worlds also automatically share memory reservation - * policy and memory manager. Thus, these parameters need to be customized for - * initial world to be used as sharing source only. - * - * If worlds share working memory they must also use compatible threading implementations - * (i.e. it is illegal for one world to perform stepping with self-threaded implementation - * when the other world is assigned a multi-threaded implementation). - * For more information read section about threading approaches in ODE. - * - * Failure result status means a memory allocation failure. - * - * @param w The world to use the shared memory with. - * @param from_world Null or the world the shared memory is to be used from. - * @returns 1 for success and 0 for failure. - * - * @ingroup world - * @see dWorldCleanupWorkingMemory - * @see dWorldSetStepMemoryReservationPolicy - * @see dWorldSetStepMemoryManager - */ -ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/); - -/** - * @brief Release internal working memory allocated for world - * - * The worlds allocate working memory internally for simulation stepping. This - * function can be used to free world's internal memory cache in case if number of - * objects/joints in the world decreases significantly. By default, internal - * allocation policy is used to only increase cache size as necessary and never - * decrease it. - * - * If a world shares its working memory with other worlds the cache deletion - * affects all the linked worlds. However the shared status itself remains intact. - * - * The function call does affect neither memory reservation policy nor memory manager. - * - * @param w The world to release working memory for. - * - * @ingroup world - * @see dWorldUseSharedWorkingMemory - * @see dWorldSetStepMemoryReservationPolicy - * @see dWorldSetStepMemoryManager - */ -ODE_API void dWorldCleanupWorkingMemory(dWorldID w); - - -#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f -#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U - -/** - * @struct dWorldStepReserveInfo - * @brief Memory reservation policy descriptor structure for world stepping functions. - * - * @c struct_size should be assigned the size of the structure. - * - * @c reserve_factor is a quotient that is multiplied by required memory size - * to allocate extra reserve whenever reallocation is needed. - * - * @c reserve_minimum is a minimum size that is checked against whenever reallocation - * is needed to allocate expected working memory minimum at once without extra - * reallocations as number of bodies/joints grows. - * - * @ingroup world - * @see dWorldSetStepMemoryReservationPolicy - */ -typedef struct -{ - unsigned struct_size; - float reserve_factor; /* Use float as precision does not matter here*/ - unsigned reserve_minimum; - -} dWorldStepReserveInfo; - -/** - * @brief Set memory reservation policy for world to be used with simulation stepping functions - * - * The function allows to customize reservation policy to be used for internal - * memory which is allocated to aid simulation for a world. By default, values - * of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT - * are used. - * - * Passing @a policyinfo argument as NULL results in reservation policy being - * reset to defaults as if the world has been just created. The content of - * @a policyinfo structure is copied internally and does not need to remain valid - * after the call returns. - * - * If the world uses working memory sharing, changing memory reservation policy - * affects all the worlds linked together. - * - * Failure result status means a memory allocation failure. - * - * @param w The world to change memory reservation policy for. - * @param policyinfo Null or a pointer to policy descriptor structure. - * @returns 1 for success and 0 for failure. - * - * @ingroup world - * @see dWorldUseSharedWorkingMemory - */ -ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/); - -/** -* @struct dWorldStepMemoryFunctionsInfo -* @brief World stepping memory manager descriptor structure -* -* This structure is intended to define the functions of memory manager to be used -* with world stepping functions. -* -* @c struct_size should be assigned the size of the structure -* -* @c alloc_block is a function to allocate memory block of given size. -* -* @c shrink_block is a function to shrink existing memory block to a smaller size. -* It must preserve the contents of block head while shrinking. The new block size -* is guaranteed to be always less than the existing one. -* -* @c free_block is a function to delete existing memory block. -* -* @ingroup init -* @see dWorldSetStepMemoryManager -*/ -typedef struct -{ - unsigned struct_size; - void *(*alloc_block)(dsizeint block_size); - void *(*shrink_block)(void *block_pointer, dsizeint block_current_size, dsizeint block_smaller_size); - void (*free_block)(void *block_pointer, dsizeint block_current_size); - -} dWorldStepMemoryFunctionsInfo; - -/** -* @brief Set memory manager for world to be used with simulation stepping functions -* -* The function allows to customize memory manager to be used for internal -* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree -* based memory manager is used. -* -* Passing @a memfuncs argument as NULL results in memory manager being -* reset to default one as if the world has been just created. The content of -* @a memfuncs structure is copied internally and does not need to remain valid -* after the call returns. -* -* If the world uses working memory sharing, changing memory manager -* affects all the worlds linked together. -* -* Failure result status means a memory allocation failure. -* -* @param w The world to change memory reservation policy for. -* @param memfuncs Null or a pointer to memory manager descriptor structure. -* @returns 1 for success and 0 for failure. -* -* @ingroup world -* @see dWorldUseSharedWorkingMemory -*/ -ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs); - -/** - * @brief Assign threading implementation to be used for [quick]stepping the world. - * - * @warning It is not recommended to assign the same threading implementation to - * different worlds if they are going to be called in parallel. In particular this - * makes resources preallocation for threaded calls to lose its sense. - * Built-in threading implementation is likely to crash if misused this way. - * - * @param w The world to change threading implementation for. - * @param functions_info Pointer to threading functions structure - * @param threading_impl ID of threading implementation object - * - * @ingroup world - */ -ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl); - -/** - * @brief Step the world. - * - * This uses a "big matrix" method that takes time on the order of m^3 - * and memory on the order of m^2, where m is the total number of constraint - * rows. For large systems this will use a lot of memory and can be very slow, - * but this is currently the most accurate method. - * - * Failure result status means that the memory allocation has failed for operation. - * In such a case all the objects remain in unchanged state and simulation can be - * retried as soon as more memory is available. - * - * @param w The world to be stepped - * @param stepsize The number of seconds that the simulation has to advance. - * @returns 1 for success and 0 for failure - * - * @ingroup world - */ -ODE_API int dWorldStep (dWorldID w, dReal stepsize); - -/** - * @brief Quick-step the world. - * - * This uses an iterative method that takes time on the order of m*N - * and memory on the order of m, where m is the total number of constraint - * rows N is the number of iterations. - * For large systems this is a lot faster than dWorldStep(), - * but it is less accurate. - * - * QuickStep is great for stacks of objects especially when the - * auto-disable feature is used as well. - * However, it has poor accuracy for near-singular systems. - * Near-singular systems can occur when using high-friction contacts, motors, - * or certain articulated structures. For example, a robot with multiple legs - * sitting on the ground may be near-singular. - * - * There are ways to help overcome QuickStep's inaccuracy problems: - * - * \li Increase CFM. - * \li Reduce the number of contacts in your system (e.g. use the minimum - * number of contacts for the feet of a robot or creature). - * \li Don't use excessive friction in the contacts. - * \li Use contact slip if appropriate - * \li Avoid kinematic loops (however, kinematic loops are inevitable in - * legged creatures). - * \li Don't use excessive motor strength. - * \liUse force-based motors instead of velocity-based motors. - * - * Increasing the number of QuickStep iterations may help a little bit, but - * it is not going to help much if your system is really near singular. - * - * Failure result status means that the memory allocation has failed for operation. - * In such a case all the objects remain in unchanged state and simulation can be - * retried as soon as more memory is available. - * - * @param w The world to be stepped - * @param stepsize The number of seconds that the simulation has to advance. - * @returns 1 for success and 0 for failure - * - * @ingroup world - */ -ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize); - - -/** -* @brief Converts an impulse to a force. -* @ingroup world -* @remarks -* If you want to apply a linear or angular impulse to a rigid body, -* instead of a force or a torque, then you can use this function to convert -* the desired impulse into a force/torque vector before calling the -* BodyAdd... function. -* The current algorithm simply scales the impulse by 1/stepsize, -* where stepsize is the step size for the next step that will be taken. -* This function is given a dWorldID because, in the future, the force -* computation may depend on integrator parameters that are set as -* properties of the world. -*/ -ODE_API void dWorldImpulseToForce -( - dWorldID, dReal stepsize, - dReal ix, dReal iy, dReal iz, dVector3 force - ); - - -#define dWORLDQUICKSTEP_ITERATION_COUNT_DEFAULT 20U - -/** - * @brief Set the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @remarks - * More iterations will give a more accurate solution, but will take - * longer to compute. - * @param num The default is dWORLDQUICKSTEP_ITERATION_COUNT_DEFAULT iterations. - */ -ODE_API void dWorldSetQuickStepNumIterations (dWorldID w, int num); - -/** - * @brief Get the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @return nr of iterations - */ -ODE_API int dWorldGetQuickStepNumIterations (dWorldID); - - -#define dWORLDQUICKSTEP_ITERATION_PREMATURE_EXIT_DELTA_DEFAULT 1e-8f -#define dWORLDQUICKSTEP_MAXIMAL_EXTRA_ITERATION_COUNT_FACTOR_DEFAULT 1.0f -#define dWORLDQUICKSTEP_EXTRA_ITERATION_REQUIREMENT_DELTA_DEFAULT 1e-2f - -/** - * @brief Configure QuickStep method dynamic iteration count adjustment. - * @ingroup world - * @remarks - * The function controls dynamic iteration count adjustment basing on maximal contact force change - * per iteration in matrix. - * - * If Premature Exit Delta is configured with @p ptr_iteration_premature_exit_delta - * and the maximal contact force adjustment does not exceed the value the iterations are abandoned - * prematurely and computations complete in fewer steps than it would take normally. - * Passing zero in @p ptr_iteration_premature_exit_delta will disable the premature exit and enforce - * unconditional execution of iteration count set by @fn dWorldSetQuickStepNumIterations. - * - * If extra iterations are enabled by passing a positive fraction in @p ptr_max_num_extra_factor - * and, after the normal number of iterations is executed, the maximal contact force adjustment is still - * larger than the limit set with the @ptr_extra_iteration_requirement_delta, up to that fraction of - * normal iteration count is executed extra until the maximal contact force change falls below the margin. - * - * At least one parameter must be not NULL for the call. - * If NULL is passed for any of the parameters the corresponding parameter will retain its previous value. - * If the standard number of iterations is changed with @fn dWorldSetQuickStepNumIterations call and - * an extra iteration count was configured with @p ptr_max_num_extra_factor the extra absolute value will be - * adjusted accordingly. - * - * @param ptr_iteration_premature_exit_delta A margin value such that, if contact force adjustment value maximum in an iteration - * becomes less, the method is allowed to terminate prematurely. - * @param ptr_max_num_extra_factor A non-negative coefficient that defines fraction of the standard iteration count to be executed extra - * if contact force still significantly changes after the standard iterations complete. - * @param ptr_extra_iteration_requirement_delta A margin that defines when the extra iterations are not needed or can be abandoned after - * the start. - * @see dWorldGetQuickStepDynamicIterationParameters - */ -ODE_API void dWorldSetQuickStepDynamicIterationParameters(dWorldID w, const dReal *ptr_iteration_premature_exit_delta/*=NULL*/, - const dReal *ptr_max_num_extra_factor/*=NULL*/, const dReal *ptr_extra_iteration_requirement_delta/*=NULL*/); - -/** - * @brief Retrieve QuickStep method dynamic iteration count adjustment parameters. - * @ingroup world - * @remarks - * The function retrieves dynamic iteration count adjustment parameters. - * - * See @fn dWorldSetQuickStepDynamicIterationParameters for the parameters description. - * - * At least one parameter must be not NULL for the call. - * - * @param out_iteration_premature_exit_delta Premature Exit Delta value (can be NULL if the value is not needed). - * @param out_max_num_extra_factor Maximum Extra Iteration Number Factor value (can be NULL if the value is not needed). - * @param out_extra_iteration_requirement_delta Extra Iteration Requirement Delta value (can be NULL if the value is not needed). - * @see dWorldSetQuickStepDynamicIterationParameters - */ -ODE_API void dWorldGetQuickStepDynamicIterationParameters(dWorldID w, dReal *out_iteration_premature_exit_delta/*=NULL*/, - dReal *out_max_num_extra_factor/*=NULL*/, dReal *out_extra_iteration_requirement_delta/*=NULL*/); - - -/** - * @brief Statistics structure to accumulate QuickStep iteration couunt dynamic adjustment data. - * @ingroup world - * - * @see @fn dWorldAttachQuickStepDynamicIterationStatisticsSink - * - */ -typedef struct -{ - unsigned struct_size; /*< to be initialized with the structure size */ - - duint32 iteration_count; /*< number of iterations executed */ - - duint32 premature_exits; /*< number of times solution took fewer than the regular iteration count */ - duint32 prolonged_execs; /*< number of times solution took more than the regular iteration count */ - duint32 full_extra_execs; /*< number of times the assigned exit criteria were not achieved even after all extra iterations allowed */ - -} dWorldQuickStepIterationCount_DynamicAdjustmentStatistics; - -ODE_PURE_INLINE -void dWorldInitializeQuickStepIterationCount_DynamicAdjustmentStatistics(dWorldQuickStepIterationCount_DynamicAdjustmentStatistics *ptr_stat) -{ - memset(ptr_stat, 0, sizeof(*ptr_stat)); - ptr_stat->struct_size = sizeof(*ptr_stat); -} - - -/** - * @brief Attach or remove a structure to collect QuickStep iteration count dynamic adjustment statistics. - * @ingroup world - * @remarks - * The function can be used to attach or remove a structure instance that will be updated with iteration count dynamic adjustment statistics - * of QuickStep. To break the attachment, the function must be called with NULL for the @p var_stats. - * - * See @fn dWorldSetQuickStepDynamicIterationParameters for information on the iteration count dynamic adjustment options. - * - * The caller is responsible for initializing the structure before assignment. The structure must persist in memory until unattached or - * the host world object is destroyed. The same structure instance may be shared among multiple worlds if that makes sense. - * - * The assignment may fail if the feature is not configured within the library, or if the structure was not initialized properly. - * - * @param var_stats A pointer to structure instance to assigned or NULL to break the previous attachment for the world. - * @return Boolean status indicating whether the function succeeded - * @see dWorldQuickStepIterationCount_DynamicAdjustmentStatistics - */ -ODE_API int dWorldAttachQuickStepDynamicIterationStatisticsSink(dWorldID w, dWorldQuickStepIterationCount_DynamicAdjustmentStatistics *var_stats/*=NULL*/); - - -/** - * @brief Set the SOR over-relaxation parameter - * @ingroup world - * @param over_relaxation value to use by SOR - */ -ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation); - -/** - * @brief Get the SOR over-relaxation parameter - * @ingroup world - * @returns the over-relaxation setting - */ -ODE_API dReal dWorldGetQuickStepW (dWorldID); - -/* World contact parameter functions */ - -/** - * @brief Set the maximum correcting velocity that contacts are allowed - * to generate. - * @ingroup world - * @param vel The default value is infinity (i.e. no limit). - * @remarks - * Reducing this value can help prevent "popping" of deeply embedded objects. - */ -ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel); - -/** - * @brief Get the maximum correcting velocity that contacts are allowed - * to generated. - * @ingroup world - */ -ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID); - -/** - * @brief Set the depth of the surface layer around all geometry objects. - * @ingroup world - * @remarks - * Contacts are allowed to sink into the surface layer up to the given - * depth before coming to rest. - * @param depth The default value is zero. - * @remarks - * Increasing this to some small value (e.g. 0.001) can help prevent - * jittering problems due to contacts being repeatedly made and broken. - */ -ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth); - -/** - * @brief Get the depth of the surface layer around all geometry objects. - * @ingroup world - * @returns the depth - */ -ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); - - -/** - * @defgroup disable Automatic Enabling and Disabling - * @ingroup world bodies - * - * Every body can be enabled or disabled. Enabled bodies participate in the - * simulation, while disabled bodies are turned off and do not get updated - * during a simulation step. New bodies are always created in the enabled state. - * - * A disabled body that is connected through a joint to an enabled body will be - * automatically re-enabled at the next simulation step. - * - * Disabled bodies do not consume CPU time, therefore to speed up the simulation - * bodies should be disabled when they come to rest. This can be done automatically - * with the auto-disable feature. - * - * If a body has its auto-disable flag turned on, it will automatically disable - * itself when - * @li It has been idle for a given number of simulation steps. - * @li It has also been idle for a given amount of simulation time. - * - * A body is considered to be idle when the magnitudes of both its - * linear average velocity and angular average velocity are below given thresholds. - * The sample size for the average defaults to one and can be disabled by setting - * to zero with - * - * Thus, every body has six auto-disable parameters: an enabled flag, a idle step - * count, an idle time, linear/angular average velocity thresholds, and the - * average samples count. - * - * Newly created bodies get these parameters from world. - */ - -/** - * @brief Get auto disable linear average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); - -/** - * @brief Set auto disable linear average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); - -/** - * @brief Set auto disable angular average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_average_threshold); - -/** - * @brief Get auto disable sample count for newly created bodies. - * @ingroup disable - * @return number of samples used - */ -ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID); - -/** - * @brief Set auto disable average sample count for newly created bodies. - * @ingroup disable - * @param average_samples_count Default is 1, meaning only instantaneous velocity is used. - * Set to zero to disable sampling and thus prevent any body from auto-disabling. - */ -ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count ); - -/** - * @brief Get auto disable steps for newly created bodies. - * @ingroup disable - * @return nr of steps - */ -ODE_API int dWorldGetAutoDisableSteps (dWorldID); - -/** - * @brief Set auto disable steps for newly created bodies. - * @ingroup disable - * @param steps default is 10 - */ -ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps); - -/** - * @brief Get auto disable time for newly created bodies. - * @ingroup disable - * @return nr of seconds - */ -ODE_API dReal dWorldGetAutoDisableTime (dWorldID); - -/** - * @brief Set auto disable time for newly created bodies. - * @ingroup disable - * @param time default is 0 seconds - */ -ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time); - -/** - * @brief Get auto disable flag for newly created bodies. - * @ingroup disable - * @return 0 or 1 - */ -ODE_API int dWorldGetAutoDisableFlag (dWorldID); - -/** - * @brief Set auto disable flag for newly created bodies. - * @ingroup disable - * @param do_auto_disable default is false. - */ -ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable); - - -/** - * @defgroup damping Damping - * @ingroup bodies world - * - * Damping serves two purposes: reduce simulation instability, and to allow - * the bodies to come to rest (and possibly auto-disabling them). - * - * Bodies are constructed using the world's current damping parameters. Setting - * the scales to 0 disables the damping. - * - * Here is how it is done: after every time step linear and angular - * velocities are tested against the corresponding thresholds. If they - * are above, they are multiplied by (1 - scale). So a negative scale value - * will actually increase the speed, and values greater than one will - * make the object oscillate every step; both can make the simulation unstable. - * - * To disable damping just set the damping scale to zero. - * - * You can also limit the maximum angular velocity. In contrast to the damping - * functions, the angular velocity is affected before the body is moved. - * This means that it will introduce errors in joints that are forcing the body - * to rotate too fast. Some bodies have naturally high angular velocities - * (like cars' wheels), so you may want to give them a very high (like the default, - * dInfinity) limit. - * - * @note The velocities are damped after the stepper function has moved the - * object. Otherwise the damping could introduce errors in joints. First the - * joint constraints are processed by the stepper (moving the body), then - * the damping is applied. - * - * @note The damping happens right after the moved callback is called; this way - * it still possible use the exact velocities the body has acquired during the - * step. You can even use the callback to create your own customized damping. - */ - -/** - * @brief Get the world's linear damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w); - -/** - * @brief Set the world's linear damping threshold. - * @param threshold The damping won't be applied if the linear speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's angular damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w); - -/** - * @brief Set the world's angular damping threshold. - * @param threshold The damping won't be applied if the angular speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's linear damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDamping (dWorldID w); - -/** - * @brief Set the world's linear damping scale. - * @param scale The linear damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale); - -/** - * @brief Get the world's angular damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDamping (dWorldID w); - -/** - * @brief Set the world's angular damping scale. - * @param scale The angular damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale); - -/** - * @brief Convenience function to set body linear and angular scales. - * @param linear_scale The linear damping scale that is to be applied to bodies. - * @param angular_scale The angular damping scale that is to be applied to bodies. - * @ingroup damping - */ -ODE_API void dWorldSetDamping(dWorldID w, - dReal linear_scale, - dReal angular_scale); - -/** - * @brief Get the default maximum angular speed. - * @ingroup damping - * @sa dBodyGetMaxAngularSpeed() - */ -ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w); - - -/** - * @brief Set the default maximum angular speed for new bodies. - * @ingroup damping - * @sa dBodySetMaxAngularSpeed() - */ -ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed); - - - -/** - * @defgroup bodies Rigid Bodies - * - * A rigid body has various properties from the point of view of the - * simulation. Some properties change over time: - * - * @li Position vector (x,y,z) of the body's point of reference. - * Currently the point of reference must correspond to the body's center of mass. - * @li Linear velocity of the point of reference, a vector (vx,vy,vz). - * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or - * a 3x3 rotation matrix. - * @li Angular velocity vector (wx,wy,wz) which describes how the orientation - * changes over time. - * - * Other body properties are usually constant over time: - * - * @li Mass of the body. - * @li Position of the center of mass with respect to the point of reference. - * In the current implementation the center of mass and the point of - * reference must coincide. - * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass - * is distributed around the center of mass. Conceptually each body has an - * x-y-z coordinate frame embedded in it that moves and rotates with the body. - * - * The origin of this coordinate frame is the body's point of reference. Some values - * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others - * are relative to the global coordinate frame. - * - * Note that the shape of a rigid body is not a dynamical property (except insofar as - * it influences the various mass properties). It is only collision detection that cares - * about the detailed shape of the body. - */ - - -/** - * @brief Get auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID); - -/** - * @brief Set auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID); - -/** - * @brief Set auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold); - -/** - * @brief Get auto disable average size (samples count). - * @ingroup bodies disable - * @return the nr of steps/size. - */ -ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID); - -/** - * @brief Set auto disable average buffer size (average steps). - * @ingroup bodies disable - * @param average_samples_count the nr of samples to review. - */ -ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count); - - -/** - * @brief Get auto steps a body must be thought of as idle to disable - * @ingroup bodies disable - * @return the nr of steps - */ -ODE_API int dBodyGetAutoDisableSteps (dBodyID); - -/** - * @brief Set auto disable steps. - * @ingroup bodies disable - * @param steps the nr of steps. - */ -ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps); - -/** - * @brief Get auto disable time. - * @ingroup bodies disable - * @return nr of seconds - */ -ODE_API dReal dBodyGetAutoDisableTime (dBodyID); - -/** - * @brief Set auto disable time. - * @ingroup bodies disable - * @param time nr of seconds. - */ -ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time); - -/** - * @brief Get auto disable flag. - * @ingroup bodies disable - * @return 0 or 1 - */ -ODE_API int dBodyGetAutoDisableFlag (dBodyID); - -/** - * @brief Set auto disable flag. - * @ingroup bodies disable - * @param do_auto_disable 0 or 1 - */ -ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable); - -/** - * @brief Set auto disable defaults. - * @remarks - * Set the values for the body to those set as default for the world. - * @ingroup bodies disable - */ -ODE_API void dBodySetAutoDisableDefaults (dBodyID); - - -/** - * @brief Retrieves the world attached to te given body. - * @remarks - * - * @ingroup bodies - */ -ODE_API dWorldID dBodyGetWorld (dBodyID); - -/** - * @brief Create a body in given world. - * @remarks - * Default mass parameters are at position (0,0,0). - * @ingroup bodies - */ -ODE_API dBodyID dBodyCreate (dWorldID); - -/** - * @brief Destroy a body. - * @remarks - * All joints that are attached to this body will be put into limbo: - * i.e. unattached and not affecting the simulation, but they will NOT be - * deleted. - * @ingroup bodies - */ -ODE_API void dBodyDestroy (dBodyID); - -/** - * @brief Set the body's user-data pointer. - * @ingroup bodies - * @param data arbitraty pointer - */ -ODE_API void dBodySetData (dBodyID, void *data); - -/** - * @brief Get the body's user-data pointer. - * @ingroup bodies - * @return a pointer to the user's data. - */ -ODE_API void *dBodyGetData (dBodyID); - -/** - * @brief Set position of a body. - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - * @ingroup bodies - */ -ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q); - -/** - * @brief Set the linear velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the angular velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the position of a body. - * @ingroup bodies - * @remarks - * When getting, the returned values are pointers to internal data structures, - * so the vectors are valid until any changes are made to the rigid body - * system structure. - * @sa dBodyCopyPosition - */ -ODE_API const dReal * dBodyGetPosition (dBodyID); - - -/** - * @brief Copy the position of a body into a vector. - * @ingroup bodies - * @param body the body to query - * @param pos a copy of the body position - * @sa dBodyGetPosition - */ -ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to a 4x3 rotation matrix. - */ -ODE_API const dReal * dBodyGetRotation (dBodyID); - - -/** - * @brief Copy the rotation of a body. - * @ingroup bodies - * @param body the body to query - * @param R a copy of the rotation matrix - * @sa dBodyGetRotation - */ -ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to 4 scalars that represent the quaternion. - */ -ODE_API const dReal * dBodyGetQuaternion (dBodyID); - - -/** - * @brief Copy the orientation of a body into a quaternion. - * @ingroup bodies - * @param body the body to query - * @param quat a copy of the orientation quaternion - * @sa dBodyGetQuaternion - */ -ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat); - - -/** - * @brief Get the linear velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetLinearVel (dBodyID); - -/** - * @brief Get the angular velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetAngularVel (dBodyID); - -/** - * @brief Set the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodySetMass (dBodyID, const dMass *mass); - -/** - * @brief Get the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodyGetMass (dBodyID, dMass *mass); - -/** - * @brief Add force at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); - -/** - * @brief Return the current accumulated force vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetForce (dBodyID); - -/** - * @brief Return the current accumulated torque vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetTorque (dBodyID); - -/** - * @brief Set the body force accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Set the body torque accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Get world position of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointPos -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a globally - * specified point on a body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in body-relative coordinates. - * @remarks - * This is the inverse of dBodyGetRelPointPos() - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPosRelPoint -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from local to world coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorToWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to local coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorFromWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief controls the way a body's orientation is updated at each timestep. - * @ingroup bodies - * @param mode can be 0 or 1: - * \li 0: An ``infinitesimal'' orientation update is used. - * This is fast to compute, but it can occasionally cause inaccuracies - * for bodies that are rotating at high speed, especially when those - * bodies are joined to other bodies. - * This is the default for every new body that is created. - * \li 1: A ``finite'' orientation update is used. - * This is more costly to compute, but will be more accurate for high - * speed rotations. - * @remarks - * Note however that high speed rotations can result in many types of - * error in a simulation, and the finite mode will only fix one of those - * sources of error. - */ -ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode); - -/** - * @brief sets the finite rotation axis for a body. - * @ingroup bodies - * @remarks - * This is axis only has meaning when the finite rotation mode is set - * If this axis is zero (0,0,0), full finite rotations are performed on - * the body. - * If this axis is nonzero, the body is rotated by performing a partial finite - * rotation along the axis direction followed by an infinitesimal rotation - * along an orthogonal direction. - * @remarks - * This can be useful to alleviate certain sources of error caused by quickly - * spinning bodies. For example, if a car wheel is rotating at high speed - * you can call this function with the wheel's hinge axis as the argument to - * try and improve its behavior. - */ -ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the way a body's orientation is updated each timestep. - * @ingroup bodies - * @return the mode 0 (infitesimal) or 1 (finite). - */ -ODE_API int dBodyGetFiniteRotationMode (dBodyID); - -/** - * @brief Get the finite rotation axis. - * @param result will contain the axis. - * @ingroup bodies - */ -ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); - -/** - * @brief Get the number of joints that are attached to this body. - * @ingroup bodies - * @return nr of joints - */ -ODE_API int dBodyGetNumJoints (dBodyID b); - -/** - * @brief Return a joint attached to this body, given by index. - * @ingroup bodies - * @param index valid range is 0 to n-1 where n is the value returned by - * dBodyGetNumJoints(). - */ -ODE_API dJointID dBodyGetJoint (dBodyID, int index); - - - - -/** - * @brief Set rigid body to dynamic state (default). - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodySetDynamic (dBodyID); - -/** - * @brief Set rigid body to kinematic state. - * When in kinematic state the body isn't simulated as a dynamic - * body (it's "unstoppable", doesn't respond to forces), - * but can still affect dynamic bodies (e.g. in joints). - * Kinematic bodies can be controlled by position and velocity. - * @note A kinematic body has infinite mass. If you set its mass - * to something else, it loses the kinematic state and behaves - * as a normal dynamic body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodySetKinematic (dBodyID); - -/** - * @brief Check wether a body is in kinematic state. - * @ingroup bodies - * @return 1 if a body is kinematic or 0 if it is dynamic. - */ -ODE_API int dBodyIsKinematic (dBodyID); - -/** - * @brief Manually enable a body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodyEnable (dBodyID); - -/** - * @brief Manually disable a body. - * @ingroup bodies - * @remarks - * A disabled body that is connected through a joint to an enabled body will - * be automatically re-enabled at the next simulation step. - */ -ODE_API void dBodyDisable (dBodyID); - -/** - * @brief Check wether a body is enabled. - * @ingroup bodies - * @return 1 if a body is currently enabled or 0 if it is disabled. - */ -ODE_API int dBodyIsEnabled (dBodyID); - -/** - * @brief Set whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @param mode when nonzero gravity affects this body. - * @remarks - * Newly created bodies are always influenced by the world's gravity. - */ -ODE_API void dBodySetGravityMode (dBodyID b, int mode); - -/** - * @brief Get whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @return nonzero means gravity affects this body. - */ -ODE_API int dBodyGetGravityMode (dBodyID b); - -/** - * @brief Set the 'moved' callback of a body. - * - * Whenever a body has its position or rotation changed during the - * timestep, the callback will be called (with body as the argument). - * Use it to know which body may need an update in an external - * structure (like a 3D engine). - * - * @param b the body that needs to be watched. - * @param callback the callback to be invoked when the body moves. Set to zero - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID)); - - -/** - * @brief Return the first geom associated with the body. - * - * You can traverse through the geoms by repeatedly calling - * dBodyGetNextGeom(). - * - * @return the first geom attached to this body, or 0. - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetFirstGeom (dBodyID b); - - -/** - * @brief returns the next geom associated with the same body. - * @param g a geom attached to some body. - * @return the next geom attached to the same body, or 0. - * @sa dBodyGetFirstGeom - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetNextGeom (dGeomID g); - - -/** - * @brief Resets the damping settings to the current world's settings. - * @ingroup bodies damping - */ -ODE_API void dBodySetDampingDefaults(dBodyID b); - -/** - * @brief Get the body's linear damping scale. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDamping (dBodyID b); - -/** - * @brief Set the body's linear damping scale. - * @param scale The linear damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's linear damping - * scale until dBodySetDampingDefaults() is called. - * @sa dBodySetDampingDefaults() - */ -ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale); - -/** - * @brief Get the body's angular damping scale. - * @ingroup bodies damping - * @remarks If the body's angular damping scale was not set, this function - * returns the world's angular damping scale. - */ -ODE_API dReal dBodyGetAngularDamping (dBodyID b); - -/** - * @brief Set the body's angular damping scale. - * @param scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's angular damping - * scale until dBodyResetAngularDamping() is called. - * @sa dBodyResetAngularDamping() - */ -ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale); - -/** - * @brief Convenience function to set linear and angular scales at once. - * @param linear_scale The linear damping scale. Should be in the interval [0, 1]. - * @param angular_scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @sa dBodySetLinearDamping() dBodySetAngularDamping() - */ -ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale); - -/** - * @brief Get the body's linear damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b); - -/** - * @brief Set the body's linear damping threshold. - * @param threshold The linear threshold to be used. Damping - * is only applied if the linear speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's angular damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b); - -/** - * @brief Set the body's angular damping threshold. - * @param threshold The angular threshold to be used. Damping is - * only used if the angular speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldGetMaxAngularSpeed() - */ -ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b); - -/** - * @brief Set the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed() - * The default value is dInfinity, but it's a good idea to limit - * it at less than 500 if the body has the gyroscopic term - * enabled. - */ -ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed); - - - -/** - * @brief Get the body's gyroscopic state. - * - * @return nonzero if gyroscopic term computation is enabled (default), - * zero otherwise. - * @ingroup bodies - */ -ODE_API int dBodyGetGyroscopicMode(dBodyID b); - - -/** - * @brief Enable/disable the body's gyroscopic term. - * - * Disabling the gyroscopic term of a body usually improves - * stability. It also helps turning spining objects, like cars' - * wheels. - * - * @param enabled nonzero (default) to enable gyroscopic term, 0 - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled); - - - - -/** - * @defgroup joints Joints - * - * In real life a joint is something like a hinge, that is used to connect two - * objects. - * In ODE a joint is very similar: It is a relationship that is enforced between - * two bodies so that they can only have certain positions and orientations - * relative to each other. - * This relationship is called a constraint -- the words joint and - * constraint are often used interchangeably. - * - * A joint has a set of parameters that can be set. These include: - * - * - * \li dParamLoStop Low stop angle or position. Setting this to - * -dInfinity (the default value) turns off the low stop. - * For rotational joints, this stop must be greater than -pi to be - * effective. - * \li dParamHiStop High stop angle or position. Setting this to - * dInfinity (the default value) turns off the high stop. - * For rotational joints, this stop must be less than pi to be - * effective. - * If the high stop is less than the low stop then both stops will - * be ineffective. - * \li dParamVel Desired motor velocity (this will be an angular or - * linear velocity). - * \li dParamFMax The maximum force or torque that the motor will use to - * achieve the desired velocity. - * This must always be greater than or equal to zero. - * Setting this to zero (the default value) turns off the motor. - * \li dParamFudgeFactor The current joint stop/motor implementation has - * a small problem: - * when the joint is at one stop and the motor is set to move it away - * from the stop, too much force may be applied for one time step, - * causing a ``jumping'' motion. - * This fudge factor is used to scale this excess force. - * It should have a value between zero and one (the default value). - * If the jumping motion is too visible in a joint, the value can be - * reduced. - * Making this value too small can prevent the motor from being able to - * move the joint away from a stop. - * \li dParamBounce The bouncyness of the stops. - * This is a restitution parameter in the range 0..1. - * 0 means the stops are not bouncy at all, 1 means maximum bouncyness. - * \li dParamCFM The constraint force mixing (CFM) value used when not - * at a stop. - * \li dParamStopERP The error reduction parameter (ERP) used by the - * stops. - * \li dParamStopCFM The constraint force mixing (CFM) value used by the - * stops. Together with the ERP value this can be used to get spongy or - * soft stops. - * Note that this is intended for unpowered joints, it does not really - * work as expected when a powered joint reaches its limit. - * \li dParamSuspensionERP Suspension error reduction parameter (ERP). - * Currently this is only implemented on the hinge-2 joint. - * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value. - * Currently this is only implemented on the hinge-2 joint. - * - * If a particular parameter is not implemented by a given joint, setting it - * will have no effect. - * These parameter names can be optionally followed by a digit (2 or 3) - * to indicate the second or third set of parameters, e.g. for the second axis - * in a hinge-2 joint, or the third axis in an AMotor joint. - */ - - -/** - * @brief Create a new joint of the ball type. - * @ingroup joints - * @remarks - * The joint is initially in "limbo" (i.e. it has no effect on the simulation) - * because it does not connect to any bodies. - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the slider type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the contact type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); - -/** - * @brief Create a new joint of the hinge2 type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the universal type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PR (Prismatic and Rotoide) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PU (Prismatic and Universal) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the Piston type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given - * joint group. - */ -ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the fixed type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID); - -ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the A-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the L-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the plane-2d type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the double ball type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the double hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the Transmission type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID); - - -/** - * @brief Destroy a joint. - * @ingroup joints - * - * disconnects it from its attached bodies and removing it from the world. - * However, if the joint is a member of a group then this function has no - * effect - to destroy that joint the group must be emptied or destroyed. - */ -ODE_API void dJointDestroy (dJointID); - - -/** - * @brief Create a joint group - * @ingroup joints - * @param max_size deprecated. Set to 0. - */ -ODE_API dJointGroupID dJointGroupCreate (int max_size); - -/** - * @brief Destroy a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed. - */ -ODE_API void dJointGroupDestroy (dJointGroupID); - -/** - * @brief Empty a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed, - * but the joint group itself will not be destroyed. - */ -ODE_API void dJointGroupEmpty (dJointGroupID); - -/** - * @brief Return the number of bodies attached to the joint - * @ingroup joints - */ -ODE_API int dJointGetNumBodies(dJointID); - -/** - * @brief Attach the joint to some new bodies. - * @ingroup joints - * - * If the joint is already attached, it will be detached from the old bodies - * first. - * To attach this joint to only one body, set body1 or body2 to zero - a zero - * body refers to the static environment. - * Setting both bodies to zero puts the joint into "limbo", i.e. it will - * have no effect on the simulation. - * @remarks - * Some joints, like hinge-2 need to be attached to two bodies to work. - */ -ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2); - -/** - * @brief Manually enable a joint. - * @param dJointID identification of joint. - * @ingroup joints - */ -ODE_API void dJointEnable (dJointID); - -/** - * @brief Manually disable a joint. - * @ingroup joints - * @remarks - * A disabled joint will not affect the simulation, but will maintain the anchors and - * axes so it can be enabled later. - */ -ODE_API void dJointDisable (dJointID); - -/** - * @brief Check wether a joint is enabled. - * @ingroup joints - * @return 1 if a joint is currently enabled or 0 if it is disabled. - */ -ODE_API int dJointIsEnabled (dJointID); - -/** - * @brief Set the user-data pointer - * @ingroup joints - */ -ODE_API void dJointSetData (dJointID, void *data); - -/** - * @brief Get the user-data pointer - * @ingroup joints - */ -ODE_API void *dJointGetData (dJointID); - -/** - * @brief Get the type of the joint - * @ingroup joints - * @return the type, being one of these: - * \li dJointTypeBall - * \li dJointTypeHinge - * \li dJointTypeSlider - * \li dJointTypeContact - * \li dJointTypeUniversal - * \li dJointTypeHinge2 - * \li dJointTypeFixed - * \li dJointTypeNull - * \li dJointTypeAMotor - * \li dJointTypeLMotor - * \li dJointTypePlane2D - * \li dJointTypePR - * \li dJointTypePU - * \li dJointTypePiston - */ -ODE_API dJointType dJointGetType (dJointID); - -/** - * @brief Return the bodies that this joint connects. - * @ingroup joints - * @param index return the first (0) or second (1) body. - * @remarks - * If one of these returned body IDs is zero, the joint connects the other body - * to the static environment. - * If both body IDs are zero, the joint is in ``limbo'' and has no effect on - * the simulation. - */ -ODE_API dBodyID dJointGetBody (dJointID, int index); - -/** - * @brief Sets the datastructure that is to receive the feedback. - * - * The feedback can be used by the user, so that it is known how - * much force an individual joint exerts. - * @ingroup joints - */ -ODE_API void dJointSetFeedback (dJointID, dJointFeedback *); - -/** - * @brief Gets the datastructure that is to receive the feedback. - * @ingroup joints - */ -ODE_API dJointFeedback *dJointGetFeedback (dJointID); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - * - * The joint will try to keep this point on each body - * together. The input is specified in world coordinates. - */ -ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - */ -ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Param setting for Ball joints - * @ingroup joints - */ -ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value); - -/** - * @brief Set hinge anchor parameter. - * @ingroup joints - */ -ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); - -ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief Set hinge axis. - * @ingroup joints - */ -ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Hinge axis as if the 2 bodies were already at angle appart. - * @ingroup joints - * - * This function initialize the Axis and the relative orientation of each body - * as if body1 was rotated around the axis by the angle value. \br - * Ex: - * 
- * dJointSetHingeAxis(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0
- * dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
- *
- - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b angle appart. - * @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" - * angle position. - */ -ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the hinge axis. - * - * That is, it applies a torque with specified magnitude in the direction - * of the hinge axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque); - -/** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @ingroup joints - */ -ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * slider's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddSliderForce(dJointID joint, dReal force); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set both axes (optionally) - * - * This can change both axes at once avoiding transitions via invalid states - * while changing axes one by one and having the first changed axis coincide - * with the other axis existing direction. - * - * At least one of the axes must be not NULL. If NULL is passed, the corresponding - * axis retains its existing value. - * - * @ingroup joints - */ -ODE_API void dJointSetHinge2Axes (dJointID j, const dReal *axis1/*=[dSA__MAX],=NULL*/, const dReal *axis2/*=[dSA__MAX],=NULL*/); - -/** - * @brief set axis - * - * Deprecated. Use @fn dJointSetHinge2Axes instead. - * - * @ingroup joints - * @see dJointSetHinge2Axes - */ -ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * - * Deprecated. Use @fn dJointSetHinge2Axes instead. - * - * @ingroup joints - * @see dJointSetHinge2Axes - */ -ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the hinge2's axis 1, torque2 about the - * hinge2's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Universal axis1 as if the 2 bodies were already at - * offset1 and offset2 appart with respect to axis1 and axis2. - * @ingroup joints - * - * This function initialize the axis1 and the relative orientation of - * each body as if body1 was rotated around the new axis1 by the offset1 - * value and as if body2 was rotated around the axis2 by offset2. \br - * Ex: -* 
- * dJointSetHuniversalAxis1(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- *
- * - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b offsets appart. - * - * @note Any previous offsets are erased. - * - * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, - * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset - * will reset the "zero" angle position. - */ -ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, - dReal offset1, dReal offset2); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Universal axis2 as if the 2 bodies were already at - * offset1 and offset2 appart with respect to axis1 and axis2. - * @ingroup joints - * - * This function initialize the axis2 and the relative orientation of - * each body as if body1 was rotated around the axis1 by the offset1 - * value and as if body2 was rotated around the new axis2 by offset2. \br - * Ex: - * 
- * dJointSetHuniversalAxis2(jId, 0, 1, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- *
- - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b offsets appart. - * - * @note Any previous offsets are erased. - * - * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, - * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset - * will reset the "zero" angle position. - */ - - -ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, - dReal offset1, dReal offset2); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the universal's axis 1, torque2 about the - * universal's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); - - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the rotoide articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for the rotoide articulation - */ -ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PR joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPRTorque (dJointID j, dReal torque); - - -/** -* @brief set anchor -* @ingroup joints -*/ -ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - -/** - * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPUAxis(jId, axis);
- * dJointSetPUAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPUPosition(jId) == 0
- * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPUPosition(jId) == offset
- *
- * @param j The PU joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ -ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - -/** - * @brief set the axis for the first axis or the universal articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the second axis or the universal articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - * @note This function was added for convenience it is the same as - * dJointSetPUAxis3 - */ -ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); - - - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for second axis of the - * universal articulation - * @note parameterX where X equal 3 refer to parameter for prismatic - * articulation - */ -ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PU joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPUTorque (dJointID j, dReal torque); - - - - -/** - * @brief set the joint anchor - * @ingroup joints - */ -ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPistonAxis(jId, axis);
- * dJointSetPistonAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
- * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
- *
- * @param j The Piston joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ -ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - - /** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * This function set prismatic axis of the joint and also set the position - * of the joint. - * - * @ingroup joints - * @param j The joint affected by this function - * @param x The x component of the axis - * @param y The y component of the axis - * @param z The z component of the axis - * @param dx The Initial position of the prismatic join in the x direction - * @param dy The Initial position of the prismatic join in the y direction - * @param dz The Initial position of the prismatic join in the z direction - */ -ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * prismatic's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddPistonForce (dJointID joint, dReal force); - - -/** - * @brief Call this on the fixed joint after it has been attached to - * remember the current desired relative offset and desired relative - * rotation between the bodies. - * @ingroup joints - */ -ODE_API void dJointSetFixed (dJointID); - -/* - * @brief Sets joint parameter - * - * @ingroup joints - */ -ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value); - -/** - * @brief set the nr of axes - * @param num 0..3 - * @ingroup joints - */ -ODE_API void dJointSetAMotorNumAxes (dJointID, int num); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel, - dReal x, dReal y, dReal z); - -/** - * @brief Tell the AMotor what the current angle is along axis anum. - * - * This function should only be called in dAMotorUser mode, because in this - * mode the AMotor has no other way of knowing the joint angles. - * The angle information is needed if stops have been set along the axis, - * but it is not needed for axis motors. - * @ingroup joints - */ -ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value); - -/** - * @brief set mode - * @ingroup joints - */ -ODE_API void dJointSetAMotorMode (dJointID, int mode); - -/** - * @brief Applies torque0 about the AMotor's axis 0, torque1 about the - * AMotor's axis 1, and torque2 about the AMotor's axis 2. - * @remarks - * If the motor has fewer than three axes, the higher torques are ignored. - * This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); - -/** - * @brief Set the number of axes that will be controlled by the LMotor. - * @param num can range from 0 (which effectively deactivates the joint) to 3. - * @ingroup joints - */ -ODE_API void dJointSetLMotorNumAxes (dJointID, int num); - -/** - * @brief Set the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @remarks The axis vector is always specified in global coordinates - * regardless of the setting of rel. - * @ingroup joints - */ -ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ - -ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - */ -ODE_API void dJointGetBallAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 2. You can think of a ball and socket - * joint as trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetBallAnchor() to - * within roundoff errors. dJointGetBallAnchor2() can be used, along with - * dJointGetBallAnchor(), to see how far the joint has come apart. - */ -ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetBallParam (dJointID, int parameter); - -/** - * @brief Get the hinge anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return The point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHingeAnchor(). - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result); - -/** - * @brief get axis - * @ingroup joints - */ -ODE_API void dJointGetHingeAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHingeParam (dJointID, int parameter); - -/** - * @brief Get the hinge angle. - * - * The angle is measured between the two bodies, or between the body and - * the static environment. - * The angle will be between -pi..pi. - * Give the relative rotation with respect to the Hinge axis of Body 1 with - * respect to Body 2. - * When the hinge anchor or axis is set, the current position of the attached - * bodies is examined and that position will be the zero angle. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngle (dJointID); - -/** - * @brief Get the hinge angle time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngleRate (dJointID); - -/** - * @brief Get the slider linear position (i.e. the slider's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - - * The position is the distance, with respect to the zero position, - * along the slider axis of body 1 with respect to - * body 2. (A NULL body is replaced by the world). - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPosition (dJointID); - -/** - * @brief Get the slider linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPositionRate (dJointID); - -/** - * @brief Get the slider axis - * @ingroup joints - */ -ODE_API void dJointGetSliderAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetSliderParam (dJointID, int parameter); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * This returns the point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHinge2Anchor. - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Param (dJointID, int parameter); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2Rate (dJointID); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return This returns the point on body 2. - * @remarks - * You can think of the ball and socket part of a universal joint as - * trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is - * perfectly satisfied, this function will return the same value - * as dJointGetUniversalAnchor() to within roundoff errors. - * dJointGetUniversalAnchor2() can be used, along with - * dJointGetUniversalAnchor(), to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result); - - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalParam (dJointID, int parameter); - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine getUniversalAngle1 and getUniversalAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2Rate (dJointID); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPRAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PR linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPositionRate (dJointID); - - -/** - * @brief Get the PR angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPRAngle (dJointID); - -/** - * @brief Get the PR angular position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRAngleRate (dJointID); - - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the Rotoide axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPRParam (dJointID, int parameter); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PU linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUPositionRate (dJointID); - -/** - * @brief Get the first axis of the universal component of the joint - * @ingroup joints - */ -ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the second axis of the Universal component of the joint - * @ingroup joints - */ -ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis - * @ingroup joints - * - * @note This function was added for convenience it is the same as - * dJointGetPUAxis3 - */ -ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); - - - - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The Prismatic universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle1 (dJointID); - -/** - * @brief * @brief Get time derivative of angle1 - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle1Rate (dJointID); - - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle2 (dJointID); - -/** - * @brief * @brief Get time derivative of angle2 - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle2Rate (dJointID); - - /** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPUParam (dJointID, int parameter); - - - - - -/** - * @brief Get the Piston linear position (i.e. the piston's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonPosition (dJointID); - -/** - * @brief Get the piston linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonPositionRate (dJointID); - -/** - * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonAngle (dJointID); - -/** - * @brief Get the piston angular position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonAngleRate (dJointID); - - -/** - * @brief Get the joint anchor - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2 in direction perpendicular - * to the prismatic axis. - * - * @ingroup joints - */ -ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor w.r.t. body 2 - * - * This returns the point on body 2. You can think of a Piston - * joint as trying to keep the result of dJointGetPistonAnchor() and - * dJointGetPistonAnchor2() the same in the direction perpendicular to the - * pirsmatic axis. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetPistonAnchor() to - * within roundoff errors. dJointGetPistonAnchor2() can be used, along with - * dJointGetPistonAnchor(), to see how far the joint has come apart. - * - * @ingroup joints - */ -ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis (This is also the rotoide axis. - * @ingroup joints - */ -ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPistonParam (dJointID, int parameter); - - -/** - * @brief Get the number of angular axes that will be controlled by the - * AMotor. - * @param num can range from 0 (which effectively deactivates the - * joint) to 3. - * This is automatically set to 3 in dAMotorEuler mode. - * @ingroup joints - */ -ODE_API int dJointGetAMotorNumAxes (dJointID); - -/** - * @brief Get the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes. - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @ingroup joints - */ -ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief Get axis - * @remarks - * The axis vector is always specified in global coordinates regardless - * of the setting of rel. - * There are two GetAMotorAxis functions, one to return the axis and one to - * return the relative mode. - * - * For dAMotorEuler mode: - * \li Only axes 0 and 2 need to be set. Axis 1 will be determined - automatically at each time step. - * \li Axes 0 and 2 must be perpendicular to each other. - * \li Axis 0 must be anchored to the first body, axis 2 must be anchored - to the second body. - * @ingroup joints - */ -ODE_API int dJointGetAMotorAxisRel (dJointID, int anum); - -/** - * @brief Get the current angle for axis. - * @remarks - * In dAMotorUser mode this is simply the value that was set with - * dJointSetAMotorAngle(). - * In dAMotorEuler mode this is the corresponding euler angle. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngle (dJointID, int anum); - -/** - * @brief Get the current angle rate for axis anum. - * @remarks - * In dAMotorUser mode this is always zero, as not enough information is - * available. - * In dAMotorEuler mode this is the corresponding euler angle rate. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorParam (dJointID, int parameter); - -/** - * @brief Get the angular motor mode. - * @param mode must be one of the following constants: - * \li dAMotorUser The AMotor axes and joint angle settings are entirely - * controlled by the user. This is the default mode. - * \li dAMotorEuler Euler angles are automatically computed. - * The axis a1 is also automatically computed. - * The AMotor axes must be set correctly when in this mode, - * as described below. - * When this mode is initially set the current relative orientations - * of the bodies will correspond to all euler angles at zero. - * @ingroup joints - */ -ODE_API int dJointGetAMotorMode (dJointID); - -/** - * @brief Get nr of axes. - * @ingroup joints - */ -ODE_API int dJointGetLMotorNumAxes (dJointID); - -/** - * @brief Get axis. - * @ingroup joints - */ -ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetLMotorParam (dJointID, int parameter); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetFixedParam (dJointID, int parameter); - - -/** - * @brief get the contact point of the first wheel of the Transmission joint. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result); - -/** - * @brief get contact point of the second wheel of the Transmission joint. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result); - -/** - * @brief set the first axis for the Transmission joint - * @remarks This is the axis around which the first body is allowed to - * revolve and is attached to it. It is given in global coordinates - * and can only be set explicitly in intersecting-axes mode. For the - * parallel-axes and chain modes which share one common axis of - * revolution for both gears dJointSetTransmissionAxis should be used. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get first axis for the Transmission joint - * @remarks In parallel-axes and chain mode the common axis with - * respect to the first body is returned. If the joint constraint is - * satisfied it should be the same as the axis return with - * dJointGetTransmissionAxis2 or dJointGetTransmissionAxis. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result); - -/** - * @brief set second axis for the Transmission joint - * @remarks This is the axis around which the second body is allowed - * to revolve and is attached to it. It is given in global - * coordinates and can only be set explicitly in intersecting-axes - * mode. For the parallel-axes and chain modes which share one common - * axis of revolution for both gears dJointSetTransmissionAxis should - * be used. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get second axis for the Transmission joint - * @remarks In parallel-axes and chain mode the common axis with - * respect to the second body is returned. If the joint constraint is - * satisfied it should be the same as the axis return with - * dJointGetTransmissionAxis1 or dJointGetTransmissionAxis. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result); - -/** - * @brief set the first anchor for the Transmission joint - * @remarks This is the point of attachment of the wheel on the - * first body. It is given in global coordinates. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get the first anchor of the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result); - -/** - * @brief set the second anchor for the Transmission joint - * @remarks This is the point of attachment of the wheel on the - * second body. It is given in global coordinates. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get the second anchor for the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result); - -/** - * @brief set a Transmission joint parameter - * @ingroup joints - */ -ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value); - -/** - * @brief get a Transmission joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter); - -/** - * @brief set the Transmission joint mode - * @remarks The mode can be one of dTransmissionParallelAxes, - * dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a - * set of parallel-axes gears, intersecting-axes beveled gears or - * chain and sprockets respectively. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionMode( dJointID j, int mode ); - -/** - * @brief get the Transmission joint mode - * @ingroup joints - */ -ODE_API int dJointGetTransmissionMode( dJointID j ); - -/** - * @brief set the Transmission ratio - * @remarks This is the ratio of the angular speed of the first gear - * to that of the second gear. It can only be set explicitly in - * parallel-axes mode. In intersecting-axes mode the ratio is defined - * implicitly by the initial configuration of the wheels and in chain - * mode it is defined implicitly be the wheel radii. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio ); - -/** - * @brief get the Transmission joint ratio - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRatio( dJointID j ); - -/** - * @brief set the common axis for both wheels of the Transmission joint - * @remarks This sets the common axis of revolution for both wheels - * and should only be used in parallel-axes or chain mode. For - * intersecting-axes mode where each wheel axis needs to be specified - * individually dJointSetTransmissionAxis1 and - * dJointSetTransmissionAxis2 should be used. The axis is given in - * global coordinates - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z ); - -/** - * @brief get the common axis for both wheels of the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result ); - -/** - * @brief get the phase, that is the traversed angle for the first - * wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionAngle1( dJointID j ); - -/** - * @brief get the phase, that is the traversed angle for the second - * wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionAngle2( dJointID j ); - -/** - * @brief get the radius of the first wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRadius1( dJointID j ); - -/** - * @brief get the radius of the second wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRadius2( dJointID j ); - -/** - * @brief set the radius of the first wheel of the Transmission joint - * @remarks The wheel radii can only be set explicitly in chain mode. - * In the other modes they're defined implicitly by the initial - * configuration and ratio of the wheels. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius ); - -/** - * @brief set the radius of the second wheel of the Transmission joint - * @remarks The wheel radii can only be set explicitly in chain mode. - * In the other modes they're defined implicitly by the initial - * configuration and ratio of the wheels. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius ); - -/** - * @brief get the backlash of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionBacklash( dJointID j ); - -/** - * @brief set the backlash of the Transmission joint - * @remarks Backlash is the clearance in the mesh of the wheels of the - * transmission and is defined as the maximum distance that the - * geometric contact point can travel without any actual contact or - * transfer of power between the wheels. This can be converted in - * degrees of revolution for each wheel by dividing by the wheel's - * radius. To further illustrate this consider the situation where a - * wheel of radius r_1 is driving another wheel of radius r_2 and - * there is an amount of backlash equal to b in their mesh. If the - * driving wheel were to instantaneously stop there would be no - * contact and hence the driven wheel would continue to turn for - * another b / r_2 radians until all the backlash in the mesh was take - * up and contact restored with the relationship of driving and driven - * wheel reversed. The backlash is therefore given in untis of - * length. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash ); - -/** - * @brief set anchor1 for double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor2 for double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get anchor1 from double ball joint - * @ingroup joints - */ -ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result); - -/** - * @brief get anchor2 from double ball joint - * @ingroup joints - */ -ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result); - -/** - * @brief get the target distance from double ball joint - * @ingroup joints - */ -ODE_API dReal dJointGetDBallDistance(dJointID); - -/** - * @brief set the target distance for the double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallDistance(dJointID, dReal dist); - -/** - * @brief set double ball joint parameter - * @ingroup joints - */ -ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value); - -/** - * @brief get double ball joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetDBallParam(dJointID, int parameter); - -/** - * @brief set axis for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get axis for double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result); - -/** - * @brief set anchor1 for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor2 for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get anchor1 from double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result); - -/** - * @brief get anchor2 from double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result); - -/** - * @brief get the set distance from double hinge joint - * @ingroup joints - */ -ODE_API dReal dJointGetDHingeDistance(dJointID); - -/** - * @brief set double hinge joint parameter - * @ingroup joints - */ -ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value); - -/** - * @brief get double hinge joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetDHingeParam(dJointID, int parameter); - - - - -/** - * @ingroup joints - */ -ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); - -/** - * @ingroup joints - */ -ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint, otherwise return 0. - * @ingroup joints - */ -ODE_API int dAreConnected (dBodyID, dBodyID); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint that does not have type @arg{joint_type}, otherwise return 0. - * @param body1 A body to check. - * @param body2 A body to check. - * @param joint_type is a dJointTypeXXX constant. - * This is useful for deciding whether to add contact joints between two bodies: - * if they are already connected by non-contact joints then it may not be - * appropriate to add contacts, however it is okay to add more contact between- - * bodies that already have contacts. - * @ingroup joints - */ -ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/ode.h b/include/mac/ode/ode.h deleted file mode 100644 index a69f46a..0000000 --- a/include/mac/ode/ode.h +++ /dev/null @@ -1,56 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODE_H_ -#define _ODE_ODE_H_ - -/* include *everything* here */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef __cplusplus -# include -# include -#endif - -#endif diff --git a/include/mac/ode/odeconfig.h b/include/mac/ode/odeconfig.h deleted file mode 100644 index 6bd0100..0000000 --- a/include/mac/ode/odeconfig.h +++ /dev/null @@ -1,232 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODECONFIG_H_ -#define _ODE_ODECONFIG_H_ - -/* Pull in the standard headers */ -#include -#include -#include -#include -#include -#include -#include -#include - - -#include - - -#if defined(ODE_DLL) || defined(ODE_LIB) -#define __ODE__ -#endif - -/* Define a DLL export symbol for those platforms that need it */ -#if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32)) - #if defined(ODE_DLL) - #define ODE_API __declspec(dllexport) - #else - #define ODE_API - #endif -#endif - -#if !defined(ODE_API) - #define ODE_API -#endif - -#if defined(_MSC_VER) -# define ODE_API_DEPRECATED __declspec(deprecated) -#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) ) -# define ODE_API_DEPRECATED __attribute__((__deprecated__)) -#else -# define ODE_API_DEPRECATED -#endif - -#define ODE_PURE_INLINE static __inline -#define ODE_INLINE __inline - -#if defined(__cplusplus) - #define ODE_EXTERN_C extern "C" -#else - #define ODE_EXTERN_C -#endif - -#if defined(__GNUC__) -#define ODE_NORETURN __attribute__((noreturn)) -#elif defined(_MSC_VER) -#define ODE_NORETURN __declspec(noreturn) -#else // #if !defined(_MSC_VER) -#define ODE_NORETURN -#endif // #if !defined(__GNUC__) - - -/* Well-defined common data types...need to be defined for 64 bit systems */ -#if defined(__aarch64__) || defined(__alpha__) || defined(__ppc64__) \ - || defined(__s390__) || defined(__s390x__) || defined(__zarch__) \ - || defined(__mips__) || defined(__powerpc64__) || defined(__riscv) \ - || (defined(__sparc__) && defined(__arch64__)) - #include - typedef int64_t dint64; - typedef uint64_t duint64; - typedef int32_t dint32; - typedef uint32_t duint32; - typedef int16_t dint16; - typedef uint16_t duint16; - typedef int8_t dint8; - typedef uint8_t duint8; - - typedef intptr_t dintptr; - typedef uintptr_t duintptr; - typedef ptrdiff_t ddiffint; - typedef size_t dsizeint; - -#elif (defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)) && !defined(__ILP32__) && !defined(_ILP32) - #define X86_64_SYSTEM 1 -#if defined(_MSC_VER) - typedef __int64 dint64; - typedef unsigned __int64 duint64; -#else -#if defined(_LP64) || defined(__LP64__) -typedef long dint64; -typedef unsigned long duint64; -#else - typedef long long dint64; - typedef unsigned long long duint64; -#endif -#endif - typedef int dint32; - typedef unsigned int duint32; - typedef short dint16; - typedef unsigned short duint16; - typedef signed char dint8; - typedef unsigned char duint8; - - typedef dint64 dintptr; - typedef duint64 duintptr; - typedef dint64 ddiffint; - typedef duint64 dsizeint; - -#else -#if defined(_MSC_VER) - typedef __int64 dint64; - typedef unsigned __int64 duint64; -#else - typedef long long dint64; - typedef unsigned long long duint64; -#endif - typedef int dint32; - typedef unsigned int duint32; - typedef short dint16; - typedef unsigned short duint16; - typedef signed char dint8; - typedef unsigned char duint8; - - typedef dint32 dintptr; - typedef duint32 duintptr; - typedef dint32 ddiffint; - typedef duint32 dsizeint; - -#endif - - -/* Define the dInfinity macro */ -#ifdef INFINITY - #ifdef dSINGLE - #define dInfinity ((float)INFINITY) - #else - #define dInfinity ((double)INFINITY) - #endif -#elif defined(HUGE_VAL) - #ifdef dSINGLE - #ifdef HUGE_VALF - #define dInfinity HUGE_VALF - #else - #define dInfinity ((float)HUGE_VAL) - #endif - #else - #define dInfinity HUGE_VAL - #endif -#else - #ifdef dSINGLE - #define dInfinity ((float)(1.0/0.0)) - #else - #define dInfinity (1.0/0.0) - #endif -#endif - - -/* Define the dNaN macro */ -#if defined(NAN) - #define dNaN NAN -#elif defined(__GNUC__) - #define dNaN ({ union { duint32 m_ui; float m_f; } un; un.m_ui = 0x7FC00000; un.m_f; }) -#elif defined(__cplusplus) - union _dNaNUnion - { - _dNaNUnion(): m_ui(0x7FC00000) {} - duint32 m_ui; - float m_f; - }; - #define dNaN (_dNaNUnion().m_f) -#else - #ifdef dSINGLE - #define dNaN ((float)(dInfinity - dInfinity)) - #else - #define dNaN (dInfinity - dInfinity) - #endif -#endif - - - /* Visual C does not define these functions */ -#if defined(_MSC_VER) - #define _ode_copysignf(x, y) ((float)_copysign(x, y)) - #define _ode_copysign(x, y) _copysign(x, y) - #define _ode_nextafterf(x, y) _nextafterf(x, y) - #define _ode_nextafter(x, y) _nextafter(x, y) - #if !defined(_WIN64) && defined(dSINGLE) - #define _ODE__NEXTAFTERF_REQUIRED - ODE_EXTERN_C float _nextafterf(float x, float y); - #endif -#else - #define _ode_copysignf(x, y) copysignf(x, y) - #define _ode_copysign(x, y) copysign(x, y) - #define _ode_nextafterf(x, y) nextafterf(x, y) - #define _ode_nextafter(x, y) nextafter(x, y) -#endif - - -#if defined(_MSC_VER) && _MSC_VER < 1700 // Also mind similar defines in ccd/vec3.h -/* Define fmin, fmax, fminf, fmaxf which are missing from MSVC (up to VS2008 at least) */ - static __inline double _ode_fmin(double x, double y) { return __min(x, y); } - static __inline double _ode_fmax(double x, double y) { return __max(x, y); } - static __inline float _ode_fminf(float x, float y) { return __min(x, y); } - static __inline float _ode_fmaxf(float x, float y) { return __max(x, y); } -#else // #if !defined(_MSC_VER) || _MSC_VER >= 1700 - #define _ode_fmin(x, y) fmin(x, y) - #define _ode_fmax(x, y) fmax(x, y) - #define _ode_fminf(x, y) fminf(x, y) - #define _ode_fmaxf(x, y) fmaxf(x, y) -#endif // #if !defined(_MSC_VER) || _MSC_VER >= 1700 - - -#endif diff --git a/include/mac/ode/odecpp.h b/include/mac/ode/odecpp.h deleted file mode 100644 index f604d0d..0000000 --- a/include/mac/ode/odecpp.h +++ /dev/null @@ -1,1355 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* C++ interface for non-collision stuff */ - - -#ifndef _ODE_ODECPP_H_ -#define _ODE_ODECPP_H_ -#ifdef __cplusplus - - - - -//namespace ode { - - -class dWorldSimpleIDContainer { -protected: - dWorldID _id; - - dWorldSimpleIDContainer(): _id(0) {} - ~dWorldSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dWorldDestroy(_id); - _id = 0; - } - } -}; - -class dWorldDynamicIDContainer: public dWorldSimpleIDContainer { -protected: - virtual ~dWorldDynamicIDContainer() {} -}; - -template -class dWorldTemplate: public dWorldTemplateBase { - // intentionally undefined, don't use these - dWorldTemplate (const dWorldTemplate &); - void operator= (const dWorldTemplate &); - -protected: - dWorldID get_id() const { return dWorldTemplateBase::_id; } - void set_id(dWorldID value) { dWorldTemplateBase::_id = value; } - -public: - dWorldTemplate() - { set_id(dWorldCreate()); } - - dWorldID id() const - { return get_id(); } - operator dWorldID() const - { return get_id(); } - - void setGravity (dReal x, dReal y, dReal z) - { dWorldSetGravity (get_id(), x, y, z); } - void setGravity (const dVector3 g) - { setGravity (g[0], g[1], g[2]); } - void getGravity (dVector3 g) const - { dWorldGetGravity (get_id(), g); } - - void setERP (dReal erp) - { dWorldSetERP(get_id(), erp); } - dReal getERP() const - { return dWorldGetERP(get_id()); } - - void setCFM (dReal cfm) - { dWorldSetCFM(get_id(), cfm); } - dReal getCFM() const - { return dWorldGetCFM(get_id()); } - - void step (dReal stepsize) - { dWorldStep (get_id(), stepsize); } - - void quickStep(dReal stepsize) - { dWorldQuickStep (get_id(), stepsize); } - void setQuickStepNumIterations(int num) - { dWorldSetQuickStepNumIterations (get_id(), num); } - int getQuickStepNumIterations() const - { return dWorldGetQuickStepNumIterations (get_id()); } - void setQuickStepW(dReal over_relaxation) - { dWorldSetQuickStepW (get_id(), over_relaxation); } - dReal getQuickStepW() const - { return dWorldGetQuickStepW (get_id()); } - - void setAutoDisableLinearThreshold (dReal threshold) - { dWorldSetAutoDisableLinearThreshold (get_id(), threshold); } - dReal getAutoDisableLinearThreshold() const - { return dWorldGetAutoDisableLinearThreshold (get_id()); } - void setAutoDisableAngularThreshold (dReal threshold) - { dWorldSetAutoDisableAngularThreshold (get_id(), threshold); } - dReal getAutoDisableAngularThreshold() const - { return dWorldGetAutoDisableAngularThreshold (get_id()); } - void setAutoDisableSteps (int steps) - { dWorldSetAutoDisableSteps (get_id(), steps); } - int getAutoDisableSteps() const - { return dWorldGetAutoDisableSteps (get_id()); } - void setAutoDisableTime (dReal time) - { dWorldSetAutoDisableTime (get_id(), time); } - dReal getAutoDisableTime() const - { return dWorldGetAutoDisableTime (get_id()); } - void setAutoDisableFlag (int do_auto_disable) - { dWorldSetAutoDisableFlag (get_id(), do_auto_disable); } - int getAutoDisableFlag() const - { return dWorldGetAutoDisableFlag (get_id()); } - - dReal getLinearDampingThreshold() const - { return dWorldGetLinearDampingThreshold(get_id()); } - void setLinearDampingThreshold(dReal threshold) - { dWorldSetLinearDampingThreshold(get_id(), threshold); } - dReal getAngularDampingThreshold() const - { return dWorldGetAngularDampingThreshold(get_id()); } - void setAngularDampingThreshold(dReal threshold) - { dWorldSetAngularDampingThreshold(get_id(), threshold); } - dReal getLinearDamping() const - { return dWorldGetLinearDamping(get_id()); } - void setLinearDamping(dReal scale) - { dWorldSetLinearDamping(get_id(), scale); } - dReal getAngularDamping() const - { return dWorldGetAngularDamping(get_id()); } - void setAngularDamping(dReal scale) - { dWorldSetAngularDamping(get_id(), scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dWorldSetDamping(get_id(), linear_scale, angular_scale); } - - dReal getMaxAngularSpeed() const - { return dWorldGetMaxAngularSpeed(get_id()); } - void setMaxAngularSpeed(dReal max_speed) - { dWorldSetMaxAngularSpeed(get_id(), max_speed); } - - void setContactSurfaceLayer(dReal depth) - { dWorldSetContactSurfaceLayer (get_id(), depth); } - dReal getContactSurfaceLayer() const - { return dWorldGetContactSurfaceLayer (get_id()); } - - void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, - dVector3 force) - { dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); } -}; - - -class dBodySimpleIDContainer { -protected: - dBodyID _id; - - dBodySimpleIDContainer(): _id(0) {} - ~dBodySimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dBodyDestroy(_id); - _id = 0; - } - } -}; - -class dBodyDynamicIDContainer: public dBodySimpleIDContainer { -protected: - virtual ~dBodyDynamicIDContainer() {} -}; - -template -class dBodyTemplate: public dBodyTemplateBase { - // intentionally undefined, don't use these - dBodyTemplate (const dBodyTemplate &); - void operator= (const dBodyTemplate &); - -protected: - dBodyID get_id() const { return dBodyTemplateBase::_id; } - void set_id(dBodyID value) { dBodyTemplateBase::_id = value; } - - void destroy() { dBodyTemplateBase::destroy(); } - -public: - dBodyTemplate() - { } - dBodyTemplate (dWorldID world) - { set_id(dBodyCreate(world)); } - dBodyTemplate (dWorldTemplate& world) - { set_id(dBodyCreate(world.id())); } - - void create (dWorldID world) { - destroy(); - set_id(dBodyCreate(world)); - } - void create (dWorldTemplate& world) { - create(world.id()); - } - - dBodyID id() const - { return get_id(); } - operator dBodyID() const - { return get_id(); } - - void setData (void *data) - { dBodySetData (get_id(), data); } - void *getData() const - { return dBodyGetData (get_id()); } - - void setPosition (dReal x, dReal y, dReal z) - { dBodySetPosition (get_id(), x, y, z); } - void setPosition (const dVector3 p) - { setPosition(p[0], p[1], p[2]); } - - void setRotation (const dMatrix3 R) - { dBodySetRotation (get_id(), R); } - void setQuaternion (const dQuaternion q) - { dBodySetQuaternion (get_id(), q); } - void setLinearVel (dReal x, dReal y, dReal z) - { dBodySetLinearVel (get_id(), x, y, z); } - void setLinearVel (const dVector3 v) - { setLinearVel(v[0], v[1], v[2]); } - void setAngularVel (dReal x, dReal y, dReal z) - { dBodySetAngularVel (get_id(), x, y, z); } - void setAngularVel (const dVector3 v) - { setAngularVel (v[0], v[1], v[2]); } - - const dReal * getPosition() const - { return dBodyGetPosition (get_id()); } - const dReal * getRotation() const - { return dBodyGetRotation (get_id()); } - const dReal * getQuaternion() const - { return dBodyGetQuaternion (get_id()); } - const dReal * getLinearVel() const - { return dBodyGetLinearVel (get_id()); } - const dReal * getAngularVel() const - { return dBodyGetAngularVel (get_id()); } - - void setMass (const dMass *mass) - { dBodySetMass (get_id(), mass); } - void setMass (const dMass &mass) - { setMass (&mass); } - dMass getMass () const - { dMass mass; dBodyGetMass (get_id(), &mass); return mass; } - - void addForce (dReal fx, dReal fy, dReal fz) - { dBodyAddForce (get_id(), fx, fy, fz); } - void addForce (const dVector3 f) - { addForce (f[0], f[1], f[2]); } - void addTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddTorque (get_id(), fx, fy, fz); } - void addTorque (const dVector3 t) - { addTorque(t[0], t[1], t[2]); } - - void addRelForce (dReal fx, dReal fy, dReal fz) - { dBodyAddRelForce (get_id(), fx, fy, fz); } - void addRelForce (const dVector3 f) - { addRelForce (f[0], f[1], f[2]); } - void addRelTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddRelTorque (get_id(), fx, fy, fz); } - void addRelTorque (const dVector3 t) - { addRelTorque (t[0], t[1], t[2]); } - - void addForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); } - void addForceAtPos (const dVector3 f, const dVector3 p) - { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } - void addForceAtRelPos (const dVector3 f, const dVector3 p) - { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); } - void addRelForceAtPos (const dVector3 f, const dVector3 p) - { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } - void addRelForceAtRelPos (const dVector3 f, const dVector3 p) - { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - const dReal * getForce() const - { return dBodyGetForce(get_id()); } - const dReal * getTorque() const - { return dBodyGetTorque(get_id()); } - void setForce (dReal x, dReal y, dReal z) - { dBodySetForce (get_id(), x, y, z); } - void setForce (const dVector3 f) - { setForce (f[0], f[1], f[2]); } - void setTorque (dReal x, dReal y, dReal z) - { dBodySetTorque (get_id(), x, y, z); } - void setTorque (const dVector3 t) - { setTorque (t[0], t[1], t[2]); } - - void setDynamic() - { dBodySetDynamic (get_id()); } - void setKinematic() - { dBodySetKinematic (get_id()); } - bool isKinematic() const - { return dBodyIsKinematic (get_id()) != 0; } - - void enable() - { dBodyEnable (get_id()); } - void disable() - { dBodyDisable (get_id()); } - bool isEnabled() const - { return dBodyIsEnabled (get_id()) != 0; } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointPos (get_id(), px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointVel (get_id(), px, py, pz, result); } - void getRelPointVel (const dVector3 p, dVector3 result) const - { getRelPointVel (p[0], p[1], p[2], result); } - - void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPointVel (get_id(), px, py, pz, result); } - void getPointVel (const dVector3 p, dVector3 result) const - { getPointVel (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPosRelPoint (get_id(), px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorToWorld (get_id(), px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorFromWorld (get_id(), px, py, pz, result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void setFiniteRotationMode (bool mode) - { dBodySetFiniteRotationMode (get_id(), mode); } - - void setFiniteRotationAxis (dReal x, dReal y, dReal z) - { dBodySetFiniteRotationAxis (get_id(), x, y, z); } - void setFiniteRotationAxis (const dVector3 a) - { setFiniteRotationAxis (a[0], a[1], a[2]); } - - bool getFiniteRotationMode() const - { return dBodyGetFiniteRotationMode (get_id()) != 0; } - void getFiniteRotationAxis (dVector3 result) const - { dBodyGetFiniteRotationAxis (get_id(), result); } - - int getNumJoints() const - { return dBodyGetNumJoints (get_id()); } - dJointID getJoint (int index) const - { return dBodyGetJoint (get_id(), index); } - - void setGravityMode (bool mode) - { dBodySetGravityMode (get_id(), mode); } - bool getGravityMode() const - { return dBodyGetGravityMode (get_id()) != 0; } - - bool isConnectedTo (dBodyID body) const - { return dAreConnected (get_id(), body) != 0; } - - void setAutoDisableLinearThreshold (dReal threshold) - { dBodySetAutoDisableLinearThreshold (get_id(), threshold); } - dReal getAutoDisableLinearThreshold() const - { return dBodyGetAutoDisableLinearThreshold (get_id()); } - void setAutoDisableAngularThreshold (dReal threshold) - { dBodySetAutoDisableAngularThreshold (get_id(), threshold); } - dReal getAutoDisableAngularThreshold() const - { return dBodyGetAutoDisableAngularThreshold (get_id()); } - void setAutoDisableSteps (int steps) - { dBodySetAutoDisableSteps (get_id(), steps); } - int getAutoDisableSteps() const - { return dBodyGetAutoDisableSteps (get_id()); } - void setAutoDisableTime (dReal time) - { dBodySetAutoDisableTime (get_id(), time); } - dReal getAutoDisableTime() const - { return dBodyGetAutoDisableTime (get_id()); } - void setAutoDisableFlag (bool do_auto_disable) - { dBodySetAutoDisableFlag (get_id(), do_auto_disable); } - bool getAutoDisableFlag() const - { return dBodyGetAutoDisableFlag (get_id()) != 0; } - - dReal getLinearDamping() const - { return dBodyGetLinearDamping(get_id()); } - void setLinearDamping(dReal scale) - { dBodySetLinearDamping(get_id(), scale); } - dReal getAngularDamping() const - { return dBodyGetAngularDamping(get_id()); } - void setAngularDamping(dReal scale) - { dBodySetAngularDamping(get_id(), scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dBodySetDamping(get_id(), linear_scale, angular_scale); } - dReal getLinearDampingThreshold() const - { return dBodyGetLinearDampingThreshold(get_id()); } - void setLinearDampingThreshold(dReal threshold) const - { dBodySetLinearDampingThreshold(get_id(), threshold); } - dReal getAngularDampingThreshold() const - { return dBodyGetAngularDampingThreshold(get_id()); } - void setAngularDampingThreshold(dReal threshold) - { dBodySetAngularDampingThreshold(get_id(), threshold); } - void setDampingDefaults() - { dBodySetDampingDefaults(get_id()); } - - dReal getMaxAngularSpeed() const - { return dBodyGetMaxAngularSpeed(get_id()); } - void setMaxAngularSpeed(dReal max_speed) - { dBodySetMaxAngularSpeed(get_id(), max_speed); } - - bool getGyroscopicMode() const - { return dBodyGetGyroscopicMode(get_id()) != 0; } - void setGyroscopicMode(bool mode) - { dBodySetGyroscopicMode(get_id(), mode); } - -}; - - -class dJointGroupSimpleIDContainer { -protected: - dJointGroupID _id; - - dJointGroupSimpleIDContainer(): _id(0) {} - ~dJointGroupSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dJointGroupDestroy(_id); - _id = 0; - } - } -}; - -class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer { -protected: - virtual ~dJointGroupDynamicIDContainer() {} -}; - -template -class dJointGroupTemplate: public dJointGroupTemplateBase { - // intentionally undefined, don't use these - dJointGroupTemplate (const dJointGroupTemplate &); - void operator= (const dJointGroupTemplate &); - -protected: - dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; } - void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; } - - void destroy() { dJointGroupTemplateBase::destroy(); } - -public: - dJointGroupTemplate () - { set_id(dJointGroupCreate(0)); } - - void create () { - destroy(); - set_id(dJointGroupCreate(0)); - } - - dJointGroupID id() const - { return get_id(); } - operator dJointGroupID() const - { return get_id(); } - - void empty() - { dJointGroupEmpty (get_id()); } - void clear() - { empty(); } -}; - - -class dJointSimpleIDContainer { -protected: - dJointID _id; - - dJointSimpleIDContainer(): _id(0) {} - ~dJointSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dJointDestroy (_id); - _id = 0; - } - } -}; - -class dJointDynamicIDContainer: public dJointSimpleIDContainer { -protected: - virtual ~dJointDynamicIDContainer() {} -}; - -template -class dJointTemplate: public dJointTemplateBase { -private: - // intentionally undefined, don't use these - dJointTemplate (const dJointTemplate &) ; - void operator= (const dJointTemplate &); - -protected: - dJointID get_id() const { return dJointTemplateBase::_id; } - void set_id(dJointID value) { dJointTemplateBase::_id = value; } - - void destroy() { dJointTemplateBase::destroy(); } - -protected: - dJointTemplate() // don't let user construct pure dJointTemplate objects - { } - -public: - dJointID id() const - { return get_id(); } - operator dJointID() const - { return get_id(); } - - int getNumBodies() const - { return dJointGetNumBodies(get_id()); } - - void attach (dBodyID body1, dBodyID body2) - { dJointAttach (get_id(), body1, body2); } - void attach (dBodyTemplate& body1, dBodyTemplate& body2) - { attach(body1.id(), body2.id()); } - - void enable() - { dJointEnable (get_id()); } - void disable() - { dJointDisable (get_id()); } - bool isEnabled() const - { return dJointIsEnabled (get_id()) != 0; } - - void setData (void *data) - { dJointSetData (get_id(), data); } - void *getData() const - { return dJointGetData (get_id()); } - - dJointType getType() const - { return dJointGetType (get_id()); } - - dBodyID getBody (int index) const - { return dJointGetBody (get_id(), index); } - - void setFeedback(dJointFeedback *fb) - { dJointSetFeedback(get_id(), fb); } - dJointFeedback *getFeedback() const - { return dJointGetFeedback(get_id()); } - - // If not implemented it will do nothing as describe in the doc - virtual void setParam (int, dReal) {}; - virtual dReal getParam (int) const { return 0; } -}; - - -template -class dBallJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dBallJointTemplate (const dBallJointTemplate &); - void operator= (const dBallJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dBallJointTemplate() { } - dBallJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateBall(world, group)); } - dBallJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateBall(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateBall(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetBallAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetBallAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetBallAnchor2 (get_id(), result); } - virtual void setParam (int parameter, dReal value) - { dJointSetBallParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetBallParam (get_id(), parameter); } - // TODO: expose params through methods -} ; - - -template -class dHingeJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dHingeJointTemplate (const dHingeJointTemplate &); - void operator = (const dHingeJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dHingeJointTemplate() { } - dHingeJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateHinge(world, group)); } - dHingeJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateHinge(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateHinge (world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHingeAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetHingeAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetHingeAnchor2 (get_id(), result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetHingeAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetHingeAxis (get_id(), result); } - - dReal getAngle() const - { return dJointGetHingeAngle (get_id()); } - dReal getAngleRate() const - { return dJointGetHingeAngleRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHingeParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHingeParam (get_id(), parameter); } - // TODO: expose params through methods - - void addTorque (dReal torque) - { dJointAddHingeTorque(get_id(), torque); } -}; - - -template -class dSliderJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dSliderJointTemplate (const dSliderJointTemplate &); - void operator = (const dSliderJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dSliderJointTemplate() { } - dSliderJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateSlider(world, group)); } - dSliderJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateSlider(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateSlider(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetSliderAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis (a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetSliderAxis (get_id(), result); } - - dReal getPosition() const - { return dJointGetSliderPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetSliderPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetSliderParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetSliderParam (get_id(), parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddSliderForce(get_id(), force); } -}; - - -template -class dUniversalJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dUniversalJointTemplate (const dUniversalJointTemplate &); - void operator = (const dUniversalJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dUniversalJointTemplate() { } - dUniversalJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateUniversal(world, group)); } - dUniversalJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateUniversal(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateUniversal(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetUniversalAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1 (a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis2 (get_id(), x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2 (a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetUniversalAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetUniversalAnchor2 (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetUniversalAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetUniversalAxis2 (get_id(), result); } - - virtual void setParam (int parameter, dReal value) - { dJointSetUniversalParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetUniversalParam (get_id(), parameter); } - // TODO: expose params through methods - - void getAngles(dReal *angle1, dReal *angle2) const - { dJointGetUniversalAngles (get_id(), angle1, angle2); } - - dReal getAngle1() const - { return dJointGetUniversalAngle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetUniversalAngle1Rate (get_id()); } - dReal getAngle2() const - { return dJointGetUniversalAngle2 (get_id()); } - dReal getAngle2Rate() const - { return dJointGetUniversalAngle2Rate (get_id()); } - - void addTorques (dReal torque1, dReal torque2) - { dJointAddUniversalTorques(get_id(), torque1, torque2); } -}; - - -template -class dHinge2JointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dHinge2JointTemplate (const dHinge2JointTemplate &); - void operator = (const dHinge2JointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dHinge2JointTemplate() { } - dHinge2JointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateHinge2(world, group)); } - dHinge2JointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateHinge2(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateHinge2(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHinge2Anchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxes (const dReal *axis1/*=NULL*/, const dReal *axis2/*=NULL*/) - { dJointSetHinge2Axes (get_id(), axis1, axis2); } - ODE_API_DEPRECATED void setAxis1 (dReal x, dReal y, dReal z) - { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), a, NULL); } - ODE_API_DEPRECATED void setAxis1 (const dVector3 a) - { dJointSetHinge2Axes (get_id(), a, NULL); } - ODE_API_DEPRECATED void setAxis2 (dReal x, dReal y, dReal z) - { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), NULL, a); } - ODE_API_DEPRECATED void setAxis2 (const dVector3 a) - { dJointSetHinge2Axes (get_id(), NULL, a); } - - void getAnchor (dVector3 result) const - { dJointGetHinge2Anchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetHinge2Anchor2 (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetHinge2Axis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetHinge2Axis2 (get_id(), result); } - - dReal getAngle1() const - { return dJointGetHinge2Angle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetHinge2Angle1Rate (get_id()); } - dReal getAngle2Rate() const - { return dJointGetHinge2Angle2Rate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHinge2Param (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHinge2Param (get_id(), parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2) - { dJointAddHinge2Torques(get_id(), torque1, torque2); } -}; - - -template -class dPRJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dPRJointTemplate (const dPRJointTemplate &); - void operator = (const dPRJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPRJointTemplate() { } - dPRJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePR(world, group)); } - dPRJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePR(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreatePR(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPRAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPRAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPRAxis2 (get_id(), x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2(a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetPRAnchor (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetPRAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetPRAxis2 (get_id(), result); } - - dReal getPosition() const - { return dJointGetPRPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPRPositionRate (get_id()); } - - dReal getAngle() const - { return dJointGetPRAngle (get_id()); } - dReal getAngleRate() const - { return dJointGetPRAngleRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPRParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPRParam (get_id(), parameter); } -}; - - - -template -class dPUJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dPUJointTemplate (const dPUJointTemplate &); - void operator = (const dPUJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPUJointTemplate() { } - dPUJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePU(world, group)); } - dPUJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePU(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) - { - destroy(); - set_id(dJointCreatePU(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPUAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPUAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPUAxis2 (get_id(), x, y, z); } - void setAxis3 (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (get_id(), x, y, z); } - void setAxis3 (const dVector3 a) - { setAxis3(a[0], a[1], a[2]); } - void setAxisP (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (get_id(), x, y, z); } - void setAxisP (const dVector3 a) - { setAxisP(a[0], a[1], a[2]); } - - virtual void getAnchor (dVector3 result) const - { dJointGetPUAnchor (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetPUAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetPUAxis2 (get_id(), result); } - void getAxis3 (dVector3 result) const - { dJointGetPUAxis3 (get_id(), result); } - void getAxisP (dVector3 result) const - { dJointGetPUAxis3 (get_id(), result); } - - dReal getAngle1() const - { return dJointGetPUAngle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetPUAngle1Rate (get_id()); } - dReal getAngle2() const - { return dJointGetPUAngle2 (get_id()); } - dReal getAngle2Rate() const - { return dJointGetPUAngle2Rate (get_id()); } - - dReal getPosition() const - { return dJointGetPUPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPUPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPUParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPUParam (get_id(), parameter); } - // TODO: expose params through methods -}; - - - - - -template -class dPistonJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dPistonJointTemplate (const dPistonJointTemplate &); - void operator = (const dPistonJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPistonJointTemplate() { } - dPistonJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePiston(world, group)); } - dPistonJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePiston(world, group)); } - - void create (dWorldID world, dJointGroupID group=0) - { - destroy(); - set_id(dJointCreatePiston(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPistonAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetPistonAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetPistonAnchor2 (get_id(), result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetPistonAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetPistonAxis (get_id(), result); } - - dReal getPosition() const - { return dJointGetPistonPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPistonPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPistonParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPistonParam (get_id(), parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddPistonForce (get_id(), force); } -}; - - - -template -class dFixedJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dFixedJointTemplate (const dFixedJointTemplate &); - void operator = (const dFixedJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dFixedJointTemplate() { } - dFixedJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateFixed(world, group)); } - dFixedJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateFixed(world, group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateFixed(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void set() - { dJointSetFixed (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetFixedParam (get_id(), parameter, value); } - - virtual dReal getParam (int parameter) const - { return dJointGetFixedParam (get_id(), parameter); } - // TODO: expose params through methods -}; - - -template -class dContactJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dContactJointTemplate (const dContactJointTemplate &); - void operator = (const dContactJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dContactJointTemplate() { } - dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact) - { set_id(dJointCreateContact(world, group, contact)); } - dContactJointTemplate (dWorldTemplate& world, dJointGroupID group, dContact *contact) - { set_id(dJointCreateContact(world.id(), group, contact)); } - - void create (dWorldID world, dJointGroupID group, dContact *contact) { - destroy(); - set_id(dJointCreateContact(world, group, contact)); - } - - void create (dWorldTemplate& world, dJointGroupID group, dContact *contact) - { create(world.id(), group, contact); } -}; - - -template -class dNullJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dNullJointTemplate (const dNullJointTemplate &); - void operator = (const dNullJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dNullJointTemplate() { } - dNullJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateNull(world, group)); } - dNullJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateNull (world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateNull(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } -}; - - -template -class dAMotorJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dAMotorJointTemplate (const dAMotorJointTemplate &); - void operator = (const dAMotorJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dAMotorJointTemplate() { } - dAMotorJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateAMotor(world, group)); } - dAMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateAMotor(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateAMotor(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setMode (int mode) - { dJointSetAMotorMode (get_id(), mode); } - int getMode() const - { return dJointGetAMotorMode (get_id()); } - - void setNumAxes (int num) - { dJointSetAMotorNumAxes (get_id(), num); } - int getNumAxes() const - { return dJointGetAMotorNumAxes (get_id()); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetAMotorAxis (get_id(), anum, result); } - int getAxisRel (int anum) const - { return dJointGetAMotorAxisRel (get_id(), anum); } - - void setAngle (int anum, dReal angle) - { dJointSetAMotorAngle (get_id(), anum, angle); } - dReal getAngle (int anum) const - { return dJointGetAMotorAngle (get_id(), anum); } - dReal getAngleRate (int anum) - { return dJointGetAMotorAngleRate (get_id(), anum); } - - void setParam (int parameter, dReal value) - { dJointSetAMotorParam (get_id(), parameter, value); } - dReal getParam (int parameter) const - { return dJointGetAMotorParam (get_id(), parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2, dReal torque3) - { dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); } -}; - - -template -class dLMotorJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dLMotorJointTemplate (const dLMotorJointTemplate &); - void operator = (const dLMotorJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dLMotorJointTemplate() { } - dLMotorJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateLMotor(world, group)); } - dLMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateLMotor(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateLMotor(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setNumAxes (int num) - { dJointSetLMotorNumAxes (get_id(), num); } - int getNumAxes() const - { return dJointGetLMotorNumAxes (get_id()); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetLMotorAxis (get_id(), anum, result); } - - void setParam (int parameter, dReal value) - { dJointSetLMotorParam (get_id(), parameter, value); } - dReal getParam (int parameter) const - { return dJointGetLMotorParam (get_id(), parameter); } - // TODO: expose params through methods -}; - -//} - -#if !defined(dODECPP_WORLD_TEMPLATE_BASE) - -#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE) -#error All the odecpp template bases must be defined or not defined together -#endif - -#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer -#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer -#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer -#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer - -#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE) - -#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE) -#error All the odecpp template bases must be defined or not defined together -#endif - -#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE) - - -typedef dWorldTemplate dWorld; -typedef dBodyTemplate dBody; -typedef dJointGroupTemplate dJointGroup; -typedef dJointTemplate dJoint; -typedef dBallJointTemplate dBallJoint; -typedef dHingeJointTemplate dHingeJoint; -typedef dSliderJointTemplate dSliderJoint; -typedef dUniversalJointTemplate dUniversalJoint; -typedef dHinge2JointTemplate dHinge2Joint; -typedef dPRJointTemplate dPRJoint; -typedef dPUJointTemplate dPUJoint; -typedef dPistonJointTemplate dPistonJoint; -typedef dFixedJointTemplate dFixedJoint; -typedef dContactJointTemplate dContactJoint; -typedef dNullJointTemplate dNullJoint; -typedef dAMotorJointTemplate dAMotorJoint; -typedef dLMotorJointTemplate dLMotorJoint; - - -#endif -#endif - -// Local variables: -// mode:c++ -// c-basic-offset:2 -// End: diff --git a/include/mac/ode/odecpp_collision.h b/include/mac/ode/odecpp_collision.h deleted file mode 100644 index f2c7725..0000000 --- a/include/mac/ode/odecpp_collision.h +++ /dev/null @@ -1,467 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* C++ interface for new collision API */ - - -#ifndef _ODE_ODECPP_COLLISION_H_ -#define _ODE_ODECPP_COLLISION_H_ -#ifdef __cplusplus - -//#include - -//namespace ode { - -class dGeom { - // intentionally undefined, don't use these - dGeom (dGeom &); - void operator= (dGeom &); - -protected: - dGeomID _id; - - dGeom() - { _id = 0; } -public: - ~dGeom() - { if (_id) dGeomDestroy (_id); } - - dGeomID id() const - { return _id; } - operator dGeomID() const - { return _id; } - - void destroy() { - if (_id) dGeomDestroy (_id); - _id = 0; - } - - int getClass() const - { return dGeomGetClass (_id); } - - dSpaceID getSpace() const - { return dGeomGetSpace (_id); } - - void setData (void *data) - { dGeomSetData (_id,data); } - void *getData() const - { return dGeomGetData (_id); } - - void setBody (dBodyID b) - { dGeomSetBody (_id,b); } - dBodyID getBody() const - { return dGeomGetBody (_id); } - - void setPosition (dReal x, dReal y, dReal z) - { dGeomSetPosition (_id,x,y,z); } - const dReal * getPosition() const - { return dGeomGetPosition (_id); } - - void setRotation (const dMatrix3 R) - { dGeomSetRotation (_id,R); } - const dReal * getRotation() const - { return dGeomGetRotation (_id); } - - void setQuaternion (const dQuaternion quat) - { dGeomSetQuaternion (_id,quat); } - void getQuaternion (dQuaternion quat) const - { dGeomGetQuaternion (_id,quat); } - - void getAABB (dReal aabb[6]) const - { dGeomGetAABB (_id, aabb); } - - int isSpace() - { return dGeomIsSpace (_id); } - - void setCategoryBits (unsigned long bits) - { dGeomSetCategoryBits (_id, bits); } - void setCollideBits (unsigned long bits) - { dGeomSetCollideBits (_id, bits); } - unsigned long getCategoryBits() - { return dGeomGetCategoryBits (_id); } - unsigned long getCollideBits() - { return dGeomGetCollideBits (_id); } - - void enable() - { dGeomEnable (_id); } - void disable() - { dGeomDisable (_id); } - int isEnabled() - { return dGeomIsEnabled (_id); } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomGetRelPointPos (_id, px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomGetPosRelPoint (_id, px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomVectorToWorld (_id, px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomVectorFromWorld (_id, px, py, pz, result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void collide2 (dGeomID g, void *data, dNearCallback *callback) - { dSpaceCollide2 (_id,g,data,callback); } -}; - - -class dSpace : public dGeom { - // intentionally undefined, don't use these - dSpace (dSpace &); - void operator= (dSpace &); - -protected: - // the default constructor is protected so that you - // can't instance this class. you must instance one - // of its subclasses instead. - dSpace () { _id = 0; } - -public: - dSpaceID id() const - { return (dSpaceID) _id; } - operator dSpaceID() const - { return (dSpaceID) _id; } - - void setCleanup (int mode) - { dSpaceSetCleanup (id(), mode); } - int getCleanup() - { return dSpaceGetCleanup (id()); } - - void add (dGeomID x) - { dSpaceAdd (id(), x); } - void remove (dGeomID x) - { dSpaceRemove (id(), x); } - int query (dGeomID x) - { return dSpaceQuery (id(),x); } - - int getNumGeoms() - { return dSpaceGetNumGeoms (id()); } - dGeomID getGeom (int i) - { return dSpaceGetGeom (id(),i); } - - void collide (void *data, dNearCallback *callback) - { dSpaceCollide (id(),data,callback); } -}; - - -class dSimpleSpace : public dSpace { - // intentionally undefined, don't use these - dSimpleSpace (dSimpleSpace &); - void operator= (dSimpleSpace &); - -public: - dSimpleSpace () - { _id = (dGeomID) dSimpleSpaceCreate (0); } - dSimpleSpace (dSpace &space) - { _id = (dGeomID) dSimpleSpaceCreate (space.id()); } - dSimpleSpace (dSpaceID space) - { _id = (dGeomID) dSimpleSpaceCreate (space); } -}; - - -class dHashSpace : public dSpace { - // intentionally undefined, don't use these - dHashSpace (dHashSpace &); - void operator= (dHashSpace &); - -public: - dHashSpace () - { _id = (dGeomID) dHashSpaceCreate (0); } - dHashSpace (dSpace &space) - { _id = (dGeomID) dHashSpaceCreate (space.id()); } - dHashSpace (dSpaceID space) - { _id = (dGeomID) dHashSpaceCreate (space); } - - void setLevels (int minlevel, int maxlevel) - { dHashSpaceSetLevels (id(),minlevel,maxlevel); } -}; - - -class dQuadTreeSpace : public dSpace { - // intentionally undefined, don't use these - dQuadTreeSpace (dQuadTreeSpace &); - void operator= (dQuadTreeSpace &); - -public: - dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); } - dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); } - dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); } -}; - - -class dSphere : public dGeom { - // intentionally undefined, don't use these - dSphere (dSphere &); - void operator= (dSphere &); - -public: - dSphere () { } - dSphere (dReal radius) - { _id = dCreateSphere (0, radius); } - dSphere (dSpace &space, dReal radius) - { _id = dCreateSphere (space.id(), radius); } - dSphere (dSpaceID space, dReal radius) - { _id = dCreateSphere (space, radius); } - - void create (dSpaceID space, dReal radius) { - if (_id) dGeomDestroy (_id); - _id = dCreateSphere (space, radius); - } - - void setRadius (dReal radius) - { dGeomSphereSetRadius (_id, radius); } - dReal getRadius() const - { return dGeomSphereGetRadius (_id); } -}; - - -class dBox : public dGeom { - // intentionally undefined, don't use these - dBox (dBox &); - void operator= (dBox &); - -public: - dBox () { } - dBox (dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (0,lx,ly,lz); } - dBox (dSpace &space, dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (space,lx,ly,lz); } - dBox (dSpaceID space, dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (space,lx,ly,lz); } - - void create (dSpaceID space, dReal lx, dReal ly, dReal lz) { - if (_id) dGeomDestroy (_id); - _id = dCreateBox (space,lx,ly,lz); - } - - void setLengths (dReal lx, dReal ly, dReal lz) - { dGeomBoxSetLengths (_id, lx, ly, lz); } - void getLengths (dVector3 result) const - { dGeomBoxGetLengths (_id,result); } -}; - - -class dPlane : public dGeom { - // intentionally undefined, don't use these - dPlane (dPlane &); - void operator= (dPlane &); - -public: - dPlane() { } - dPlane (dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (0,a,b,c,d); } - dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (space.id(),a,b,c,d); } - dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (space,a,b,c,d); } - - void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) { - if (_id) dGeomDestroy (_id); - _id = dCreatePlane (space,a,b,c,d); - } - - void setParams (dReal a, dReal b, dReal c, dReal d) - { dGeomPlaneSetParams (_id, a, b, c, d); } - void getParams (dVector4 result) const - { dGeomPlaneGetParams (_id,result); } -}; - - -class dCapsule : public dGeom { - // intentionally undefined, don't use these - dCapsule (dCapsule &); - void operator= (dCapsule &); - -public: - dCapsule() { } - dCapsule (dReal radius, dReal length) - { _id = dCreateCapsule (0,radius,length); } - dCapsule (dSpace &space, dReal radius, dReal length) - { _id = dCreateCapsule (space.id(),radius,length); } - dCapsule (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCapsule (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCapsule (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCapsuleSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCapsuleGetParams (_id,radius,length); } -}; - - -class dCylinder : public dGeom { - // intentionally undefined, don't use these - dCylinder (dCylinder &); - void operator= (dCylinder &); - -public: - dCylinder() { } - dCylinder (dReal radius, dReal length) - { _id = dCreateCylinder (0,radius,length); } - dCylinder (dSpace &space, dReal radius, dReal length) - { _id = dCreateCylinder (space.id(),radius,length); } - dCylinder (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCylinder (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCylinder (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCylinderSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCylinderGetParams (_id,radius,length); } -}; - - -class dRay : public dGeom { - // intentionally undefined, don't use these - dRay (dRay &); - void operator= (dRay &); - -public: - dRay() { } - dRay (dReal length) - { _id = dCreateRay (0,length); } - dRay (dSpace &space, dReal length) - { _id = dCreateRay (space.id(),length); } - dRay (dSpaceID space, dReal length) - { _id = dCreateRay (space,length); } - - void create (dSpaceID space, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateRay (space,length); - } - - void setLength (dReal length) - { dGeomRaySetLength (_id, length); } - dReal getLength() - { return dGeomRayGetLength (_id); } - - void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) - { dGeomRaySet (_id, px, py, pz, dx, dy, dz); } - void get (dVector3 start, dVector3 dir) - { dGeomRayGet (_id, start, dir); } - -#ifdef WIN32 -#pragma warning( push ) -#pragma warning( disable : 4996 ) -#else -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - ODE_API_DEPRECATED - void setParams (int firstContact, int backfaceCull) - { dGeomRaySetParams (_id, firstContact, backfaceCull); } - - ODE_API_DEPRECATED - void getParams (int *firstContact, int *backfaceCull) - { dGeomRayGetParams (_id, firstContact, backfaceCull); } -#ifdef WIN32 -#pragma warning( pop ) -#else -#pragma GCC diagnostic pop -#endif - void setBackfaceCull (int backfaceCull) - { dGeomRaySetBackfaceCull (_id, backfaceCull); } - int getBackfaceCull() - { return dGeomRayGetBackfaceCull (_id); } - - void setFirstContact (int firstContact) - { dGeomRaySetFirstContact (_id, firstContact); } - int getFirstContact() - { return dGeomRayGetFirstContact (_id); } - - void setClosestHit (int closestHit) - { dGeomRaySetClosestHit (_id, closestHit); } - int getClosestHit() - { return dGeomRayGetClosestHit (_id); } -}; - -#ifdef WIN32 -#pragma warning( push ) -#pragma warning( disable : 4996 ) -#else -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -class ODE_API_DEPRECATED dGeomTransform : public dGeom { - // intentionally undefined, don't use these - dGeomTransform (dGeomTransform &); - void operator= (dGeomTransform &); - -public: - dGeomTransform() { } - dGeomTransform (dSpace &space) - { _id = dCreateGeomTransform (space.id()); } - dGeomTransform (dSpaceID space) - { _id = dCreateGeomTransform (space); } - - void create (dSpaceID space=0) { - if (_id) dGeomDestroy (_id); - _id = dCreateGeomTransform (space); - } - - void setGeom (dGeomID geom) - { dGeomTransformSetGeom (_id, geom); } - dGeomID getGeom() const - { return dGeomTransformGetGeom (_id); } - - void setCleanup (int mode) - { dGeomTransformSetCleanup (_id,mode); } - int getCleanup () - { return dGeomTransformGetCleanup (_id); } - - void setInfo (int mode) - { dGeomTransformSetInfo (_id,mode); } - int getInfo() - { return dGeomTransformGetInfo (_id); } -}; - -#ifdef WIN32 -#pragma warning( pop ) -#else -#pragma GCC diagnostic pop -#endif - -//} - -#endif -#endif diff --git a/include/mac/ode/odeinit.h b/include/mac/ode/odeinit.h deleted file mode 100644 index 645ca42..0000000 --- a/include/mac/ode/odeinit.h +++ /dev/null @@ -1,236 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* Library initialization/finalization functions. */ - -#ifndef _ODE_ODEINIT_H_ -#define _ODE_ODEINIT_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* ************************************************************************ */ -/* Library initialization */ - -/** - * @defgroup init Library Initialization - * - * Library initialization functions prepare ODE internal data structures for use - * and release allocated resources after ODE is not needed any more. - */ - - -/** - * @brief Library initialization flags. - * - * These flags define ODE library initialization options. - * - * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads - * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread. - * If this flag is not specified the automatic resource tracking algorithm is used. - * - * With automatic resource tracking, On Windows, memory allocated for a thread may - * remain not freed for some time after the thread exits. The resources may be - * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately, - * the resources are released when library is closed with @c dCloseODE. On other - * operating systems resources are always released by the thread itself on its exit - * or on library closure with @c dCloseODE. - * - * With manual thread data cleanup mode every collision space object must be - * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup - * after creation. See description of the function for more details. - * - * If @c dInitFlagManualThreadCleanup was not specified during initialization, - * calls to @c dCleanupODEAllDataForThread are not allowed. - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @see dSpaceSetManualCleanup - * @see dCloseODE - * @ingroup init - */ -enum dInitODEFlags { - dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/ -}; - -/** - * @brief Initializes ODE library. - * - * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization. - * - * A call to @c dInitODE is equal to the following initialization sequence - * @code - * dInitODE2(0); - * dAllocateODEDataForThread(dAllocateMaskAll); - * @endcode - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @ingroup init - */ -ODE_API void dInitODE(void); - -/** - * @brief Initializes ODE library. - * @param uiInitFlags Initialization options bitmask - * @return A nonzero if initialization succeeded and zero otherwise. - * - * This function must be called to initialize ODE library before first use. If - * initialization succeeds the function may not be called again until library is - * closed with a call to @c dCloseODE. - * - * The @a uiInitFlags parameter specifies initialization options to be used. These - * can be combination of zero or more @c dInitODEFlags flags. - * - * @note - * If @c dInitFlagManualThreadCleanup flag is used for initialization, - * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every - * space object right after creation. Failure to do so may lead to resource leaks. - * - * @see dInitODEFlags - * @see dCloseODE - * @see dSpaceSetManualCleanup - * @ingroup init - */ -ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/); - - -/** - * @brief ODE data allocation flags. - * - * These flags are used to indicate which data is to be pre-allocated in call to - * @c dAllocateODEDataForThread. - * - * @c dAllocateFlagBasicData tells to allocate the basic data set required for - * normal library operation. This flag is equal to zero and is always implicitly - * included. - * - * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated. - * Collision detection functions may not be called if the data has not be allocated - * in advance. If collision detection is not going to be used, it is not necessary - * to specify this flag. - * - * @c dAllocateMaskAll is a mask that can be used for for allocating all possible - * data in cases when it is not known what exactly features of ODE will be used. - * The mask may not be used in combination with other flags. It is guaranteed to - * include all the current and future legal allocation flags. However, mature - * applications should use explicit flags they need rather than allocating everything. - * - * @see dAllocateODEDataForThread - * @ingroup init - */ -enum dAllocateODEDataFlags { - dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/ - - dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/ - - dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/ -}; - -/** - * @brief Allocate thread local data to allow the thread calling ODE. - * @param uiAllocateFlags Allocation options bitmask. - * @return A nonzero if allocation succeeded and zero otherwise. - * - * The function is required to be called for every thread that is going to use - * ODE. This function allocates the data that is required for accessing ODE from - * current thread along with optional data required for particular ODE subsystems. - * - * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags - * enumerated type. Multiple calls with different allocation flags are allowed. - * The flags that are already allocated are ignored in subsequent calls. If zero - * is passed as the parameter, it means to only allocate the set of most important - * data the library can not operate without. - * - * If the function returns failure status it means that none of the requested - * data has been allocated. The client may retry allocation attempt with the same - * flags when more system resources are available. - * - * @see dAllocateODEDataFlags - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags); - -/** - * @brief Free thread local data that was allocated for current thread. - * - * If library was initialized with @c dInitFlagManualThreadCleanup flag the function - * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread. - * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining - * not freed until program exit. The function may also be called when ODE is still - * being used to release resources allocated for all the current subsystems and - * possibly proceed with data pre-allocation for other subsystems. - * - * The function can safely be called several times in a row. The function can be - * called without prior invocation of @c dAllocateODEDataForThread. The function - * may not be called before ODE is initialized with @c dInitODE2 or after library - * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases - * all the thread local resources that might be allocated for all the threads that - * were using ODE. - * - * If library was initialized without @c dInitFlagManualThreadCleanup flag - * @c dCleanupODEAllDataForThread must not be called. - * - * @see dAllocateODEDataForThread - * @see dInitODE2 - * @see dCloseODE - * @ingroup init - */ -ODE_API void dCleanupODEAllDataForThread(); - - -/** - * @brief Close ODE after it is not needed any more. - * - * The function is required to be called when program does not need ODE features any more. - * The call to @c dCloseODE releases all the resources allocated for library - * including all the thread local data that might be allocated for all the threads - * that were using ODE. - * - * @c dCloseODE is a paired function for @c dInitODE2 and must only be called - * after successful library initialization. - * - * @note Important! - * Make sure that all the threads that were using ODE have already terminated - * before calling @c dCloseODE. In particular it is not allowed to call - * @c dCleanupODEAllDataForThread after @c dCloseODE. - * - * @see dInitODE2 - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API void dCloseODE(void); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - -#endif /* _ODE_ODEINIT_H_ */ diff --git a/include/mac/ode/odemath.h b/include/mac/ode/odemath.h deleted file mode 100644 index 0bad6e9..0000000 --- a/include/mac/ode/odemath.h +++ /dev/null @@ -1,545 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODEMATH_H_ -#define _ODE_ODEMATH_H_ - -#include - -/* - * macro to access elements i,j in an NxM matrix A, independent of the - * matrix storage convention. - */ -#define dACCESS33(A,i,j) ((A)[(i)*4+(j)]) - -/* - * Macro to test for valid floating point values - */ -#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]))) -#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3]))) -#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]))) -#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) )) - - -ODE_PURE_INLINE void dZeroVector3(dVector3 res) -{ - res[dV3E_X] = REAL(0.0); - res[dV3E_Y] = REAL(0.0); - res[dV3E_Z] = REAL(0.0); -} - -ODE_PURE_INLINE void dAssignVector3(dVector3 res, dReal x, dReal y, dReal z) -{ - res[dV3E_X] = x; - res[dV3E_Y] = y; - res[dV3E_Z] = z; -} - -ODE_PURE_INLINE void dZeroMatrix3(dMatrix3 res) -{ - res[dM3E_XX] = REAL(0.0); res[dM3E_XY] = REAL(0.0); res[dM3E_XZ] = REAL(0.0); - res[dM3E_YX] = REAL(0.0); res[dM3E_YY] = REAL(0.0); res[dM3E_YZ] = REAL(0.0); - res[dM3E_ZX] = REAL(0.0); res[dM3E_ZY] = REAL(0.0); res[dM3E_ZZ] = REAL(0.0); -} - -ODE_PURE_INLINE void dZeroMatrix4(dMatrix4 res) -{ - res[dM4E_XX] = REAL(0.0); res[dM4E_XY] = REAL(0.0); res[dM4E_XZ] = REAL(0.0); res[dM4E_XO] = REAL(0.0); - res[dM4E_YX] = REAL(0.0); res[dM4E_YY] = REAL(0.0); res[dM4E_YZ] = REAL(0.0); res[dM4E_YO] = REAL(0.0); - res[dM4E_ZX] = REAL(0.0); res[dM4E_ZY] = REAL(0.0); res[dM4E_ZZ] = REAL(0.0); res[dM4E_ZO] = REAL(0.0); - res[dM4E_OX] = REAL(0.0); res[dM4E_OY] = REAL(0.0); res[dM4E_OZ] = REAL(0.0); res[dM4E_OO] = REAL(0.0); -} - -/* Some vector math */ -ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = a[0] + b[0]; - const dReal res_1 = a[1] + b[1]; - const dReal res_2 = a[2] + b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = a[0] - b[0]; - const dReal res_1 = a[1] - b[1]; - const dReal res_2 = a[2] - b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddVectorScaledVector3(dReal *res, const dReal *a, const dReal *b, dReal b_scale) -{ - const dReal res_0 = a[0] + b_scale * b[0]; - const dReal res_1 = a[1] + b_scale * b[1]; - const dReal res_2 = a[2] + b_scale * b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale) -{ - const dReal res_0 = a_scale * a[0] + b_scale * b[0]; - const dReal res_1 = a_scale * a[1] + b_scale * b[1]; - const dReal res_2 = a_scale * a[2] + b_scale * b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddThreeScaledVectors3(dReal *res, const dReal *a, const dReal *b, const dReal *c, dReal a_scale, dReal b_scale, dReal c_scale) -{ - const dReal res_0 = a_scale * a[0] + b_scale * b[0] + c_scale * c[0]; - const dReal res_1 = a_scale * a[1] + b_scale * b[1] + c_scale * c[1]; - const dReal res_2 = a_scale * a[2] + b_scale * b[2] + c_scale * c[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale) -{ - res[0] *= nScale ; - res[1] *= nScale ; - res[2] *= nScale ; -} - -ODE_PURE_INLINE void dNegateVector3(dReal *res) -{ - res[0] = -res[0]; - res[1] = -res[1]; - res[2] = -res[2]; -} - -ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a) -{ - const dReal res_0 = a[0]; - const dReal res_1 = a[1]; - const dReal res_2 = a[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale) -{ - const dReal res_0 = a[0] * nScale; - const dReal res_1 = a[1] * nScale; - const dReal res_2 = a[2] * nScale; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a) -{ - const dReal res_0 = -a[0]; - const dReal res_1 = -a[1]; - const dReal res_2 = -a[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a) -{ - const dReal res_0 = a[0]; - const dReal res_1 = a[1]; - const dReal res_2 = a[2]; - const dReal res_3 = a[3]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3; -} - -ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a) -{ - dCopyVector4(res + 0, a + 0); - dCopyVector4(res + 4, a + 4); - dCopyVector4(res + 8, a + 8); -} - -ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a) -{ - dCopyVector3(res + 0, a + 0); - dCopyVector3(res + 4, a + 4); - dCopyVector3(res + 8, a + 8); -} - -ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n) -{ - const dReal res_0 = a[n + 0]; - const dReal res_1 = a[n + 4]; - const dReal res_2 = a[n + 8]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a) -{ - return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); -} - -ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a) -{ - return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); -} - -ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n) -{ - return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2]; -} - - -/* -* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced -* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311. -*/ - -ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b) -{ - return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b]; -} - - -ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); } -ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); } -ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); } -ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); } - - -/* - * cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a' - * and `b' are spaced step_res, step_a and step_b indexes apart respectively. - * dCalcVectorCross3() means dCross3111. - */ - -ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b) -{ - const dReal res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b]; - const dReal res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b]; - const dReal res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[ 0] = res_0; - res[ step_res] = res_1; - res[2*step_res] = res_2; -} - -ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); } - -ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dCalcVectorCross3(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dCalcVectorCross3(tmp, a, b); - dSubtractVectors3(res, res, tmp); -} - - -/* - * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. - * A is stored by rows, and has `skip' elements per row. the matrix is - * assumed to be already zero, so this does not write zero elements! - * if (plus,minus) is (+,-) then a positive version will be written. - * if (plus,minus) is (-,+) then a negative version will be written. - */ - -ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip) -{ - const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; - res[1] = -a_2; - res[2] = +a_1; - res[skip+0] = +a_2; - res[skip+2] = -a_0; - res[2*skip+0] = -a_1; - res[2*skip+1] = +a_0; -} - -ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip) -{ - const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; - res[1] = +a_2; - res[2] = -a_1; - res[skip+0] = -a_2; - res[skip+2] = +a_0; - res[2*skip+0] = +a_1; - res[2*skip+1] = -a_0; -} - - -/* - * compute the distance between two 3D-vectors - */ - -ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b) -{ - dReal res; - dReal tmp[3]; - dSubtractVectors3(tmp, a, b); - res = dCalcVectorLength3(tmp); - return res; -} - -/* - * special case matrix multiplication, with operator selection - */ - -ODE_PURE_INLINE void _dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3(a, b); - const dReal res_1 = dCalcVectorDot3(a + 4, b); - const dReal res_2 = dCalcVectorDot3(a + 8, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void _dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3_41(a, b); - const dReal res_1 = dCalcVectorDot3_41(a + 1, b); - const dReal res_2 = dCalcVectorDot3_41(a + 2, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void _dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper1_331(res, b, a); -} - -ODE_PURE_INLINE void _dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3_44(a, b); - const dReal res_1 = dCalcVectorDot3_44(a + 1, b); - const dReal res_2 = dCalcVectorDot3_44(a + 2, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper0_331(res, a, b); -} - -ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper1_331(res, a, b); -} - -ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper0_133(res, a, b); -} - -ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper0_133(res + 0, a + 0, b); - _dMultiplyHelper0_133(res + 4, a + 4, b); - _dMultiplyHelper0_133(res + 8, a + 8, b); -} - -ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper1_133(res + 0, b, a + 0); - _dMultiplyHelper1_133(res + 4, b, a + 1); - _dMultiplyHelper1_133(res + 8, b, a + 2); -} - -ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b) -{ - _dMultiplyHelper0_331(res + 0, b, a + 0); - _dMultiplyHelper0_331(res + 4, b, a + 4); - _dMultiplyHelper0_331(res + 8, b, a + 8); -} - -ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - _dMultiplyHelper0_331(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - _dMultiplyHelper1_331(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - _dMultiplyHelper0_133(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - _dMultiplyHelper0_133(tmp, a + 0, b); - dAddVectors3(res+ 0, res + 0, tmp); - _dMultiplyHelper0_133(tmp, a + 4, b); - dAddVectors3(res + 4, res + 4, tmp); - _dMultiplyHelper0_133(tmp, a + 8, b); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - _dMultiplyHelper1_133(tmp, b, a + 0); - dAddVectors3(res + 0, res + 0, tmp); - _dMultiplyHelper1_133(tmp, b, a + 1); - dAddVectors3(res + 4, res + 4, tmp); - _dMultiplyHelper1_133(tmp, b, a + 2); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - _dMultiplyHelper0_331(tmp, b, a + 0); - dAddVectors3(res + 0, res + 0, tmp); - _dMultiplyHelper0_331(tmp, b, a + 4); - dAddVectors3(res + 4, res + 4, tmp); - _dMultiplyHelper0_331(tmp, b, a + 8); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE dReal dCalcMatrix3Det( const dReal* mat ) -{ - dReal det; - - det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] ) - - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] ) - + mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] ); - - return( det ); -} - -/** - Closed form matrix inversion, copied from - collision_util.h for use in the stepper. - - Returns the determinant. - returns 0 and does nothing - if the matrix is singular. -*/ -ODE_PURE_INLINE dReal dInvertMatrix3(dReal *dst, const dReal *ma) -{ - dReal det; - dReal detRecip; - - det = dCalcMatrix3Det( ma ); - - - /* Setting an arbitrary non-zero threshold - for the determinant doesn't do anyone - any favors. The condition number is the - important thing. If all the eigen-values - of the matrix are small, so is the - determinant, but it can still be well - conditioned. - A single extremely large eigen-value could - push the determinant over threshold, but - produce a very unstable result if the other - eigen-values are small. So we just say that - the determinant must be non-zero and trust the - caller to provide well-conditioned matrices. - */ - if ( det == 0 ) - { - return 0; - } - - detRecip = dRecip(det); - - dst[0] = ( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip; - dst[1] = ( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip; - dst[2] = ( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip; - - dst[4] = ( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip; - dst[5] = ( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip; - dst[6] = ( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip; - - dst[8] = ( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip; - dst[9] = ( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip; - dst[10] = ( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip; - - return det; -} - - -/* Include legacy macros here */ -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) - */ - -/* For DLL export*/ -ODE_API int dSafeNormalize3 (dVector3 a); -ODE_API int dSafeNormalize4 (dVector4 a); -ODE_API void dNormalize3 (dVector3 a); /* Potentially asserts on zero vec*/ -ODE_API void dNormalize4 (dVector4 a); /* Potentially asserts on zero vec*/ - -/* - * given a unit length "normal" vector n, generate vectors p and q vectors - * that are an orthonormal basis for the plane space perpendicular to n. - * i.e. this makes p,q such that n,p,q are all perpendicular to each other. - * q will equal n x p. if n is not unit length then p will be unit length but - * q wont be. - */ - -ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q); -/* Makes sure the matrix is a proper rotation, returns a boolean status */ -ODE_API int dOrthogonalizeR(dMatrix3 m); - - - -#ifdef __cplusplus -} -#endif - - -#endif diff --git a/include/mac/ode/odemath_legacy.h b/include/mac/ode/odemath_legacy.h deleted file mode 100644 index a389588..0000000 --- a/include/mac/ode/odemath_legacy.h +++ /dev/null @@ -1,162 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODEMATH_LEGACY_H_ -#define _ODE_ODEMATH_LEGACY_H_ - - -/* - * These macros are not used any more inside of ODE - * They are kept for backward compatibility with external code that - * might still be using them. - */ - -/* - * General purpose vector operations with other vectors or constants. - */ - -#define dOP(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op ((c)[0]); \ - (a)[1] = ((b)[1]) op ((c)[1]); \ - (a)[2] = ((b)[2]) op ((c)[2]); \ -} while (0) -#define dOPC(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op (c); \ - (a)[1] = ((b)[1]) op (c); \ - (a)[2] = ((b)[2]) op (c); \ -} while (0) -#define dOPE(a,op,b) do {\ - (a)[0] op ((b)[0]); \ - (a)[1] op ((b)[1]); \ - (a)[2] op ((b)[2]); \ -} while (0) -#define dOPEC(a,op,c) do { \ - (a)[0] op (c); \ - (a)[1] op (c); \ - (a)[2] op (c); \ -} while (0) - -/* Define an equation with operators - * For example this function can be used to replace - * 
- * for (int i=0; i<3; ++i)
- *   a[i] += b[i] + c[i];
- *
- */ -#define dOPE2(a,op1,b,op2,c) do { \ - (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ - (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ - (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ -} while (0) - - -#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a) -#define dLENGTH(a) dCalcVectorLength3(a) -#define dDISTANCE(a, b) dCalcPointsDistance3(a, b) - - -#define dDOT(a, b) dCalcVectorDot3(a, b) -#define dDOT13(a, b) dCalcVectorDot3_13(a, b) -#define dDOT31(a, b) dCalcVectorDot3_31(a, b) -#define dDOT33(a, b) dCalcVectorDot3_33(a, b) -#define dDOT14(a, b) dCalcVectorDot3_14(a, b) -#define dDOT41(a, b) dCalcVectorDot3_41(a, b) -#define dDOT44(a, b) dCalcVectorDot3_44(a, b) - - -/* - * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' - * and `c' are spaced p, q and r indexes apart respectively. - * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to - * +=, -= etc to get other effects. - */ - -#define dCROSS(a,op,b,c) \ - do { \ - (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ - (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ - (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ - } while(0) -#define dCROSSpqr(a,op,b,c,p,q,r) \ - do { \ - (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ - (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ - (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ - } while(0) -#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) -#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) -#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) -#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) -#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) -#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) -#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) - - -/* -* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. -* A is stored by rows, and has `skip' elements per row. the matrix is -* assumed to be already zero, so this does not write zero elements! -* if (plus,minus) is (+,-) then a positive version will be written. -* if (plus,minus) is (-,+) then a negative version will be written. -*/ - -#define dCROSSMAT(A,a,skip,plus,minus) \ - do { \ - (A)[1] = minus (a)[2]; \ - (A)[2] = plus (a)[1]; \ - (A)[(skip)+0] = plus (a)[2]; \ - (A)[(skip)+2] = minus (a)[0]; \ - (A)[2*(skip)+0] = minus (a)[1]; \ - (A)[2*(skip)+1] = plus (a)[0]; \ - } while(0) - - - - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C) -#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C) -#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C) -#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C) -#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C) -#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C) - -#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C) -#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C) -#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C) -#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C) -#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C) -#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C) - - -/* - * These macros are not used any more inside of ODE - * They are kept for backward compatibility with external code that - * might still be using them. - */ - - -#endif /* #ifndef _ODE_ODEMATH_LEGACY_H_ */ diff --git a/include/mac/ode/precision.h b/include/mac/ode/precision.h deleted file mode 100644 index af81c10..0000000 --- a/include/mac/ode/precision.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef _ODE_PRECISION_H_ -#define _ODE_PRECISION_H_ - -/* Define dSINGLE for single precision, dDOUBLE for double precision, - * but never both! - */ - -#if defined(dIDESINGLE) -#define dSINGLE -#elif defined(dIDEDOUBLE) -#define dDOUBLE -#else -#define dDOUBLE -#endif - -#endif diff --git a/include/mac/ode/precision.h.in b/include/mac/ode/precision.h.in deleted file mode 100644 index 47f3c95..0000000 --- a/include/mac/ode/precision.h.in +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef _ODE_PRECISION_H_ -#define _ODE_PRECISION_H_ - -/* Define dSINGLE for single precision, dDOUBLE for double precision, - * but never both! - */ - -#if defined(dIDESINGLE) -#define dSINGLE -#elif defined(dIDEDOUBLE) -#define dDOUBLE -#else -#define @ODE_PRECISION@ -#endif - -#endif diff --git a/include/mac/ode/rotation.h b/include/mac/ode/rotation.h deleted file mode 100644 index a72be27..0000000 --- a/include/mac/ode/rotation.h +++ /dev/null @@ -1,70 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ROTATION_H_ -#define _ODE_ROTATION_H_ - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -ODE_API void dRSetIdentity (dMatrix3 R); - -ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal angle); - -ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); - -ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal bx, dReal by, dReal bz); - -ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); - -ODE_API void dQSetIdentity (dQuaternion q); - -ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, - dReal angle); - -/* Quaternion multiplication, analogous to the matrix multiplication routines. */ -/* qa = rotate by qc, then qb */ -ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by qc, then by inverse of qb */ -ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by qb */ -ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by inverse of qb */ -ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); - -ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); -ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); -ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/threading.h b/include/mac/ode/threading.h deleted file mode 100644 index 9602b8f..0000000 --- a/include/mac/ode/threading.h +++ /dev/null @@ -1,412 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * Threading support header file. * - * Copyright (C) 2011-2019 Oleh Derevenko. All rights reserved. * - * e-mail: odar@eleks.com (change all "a" to "e") * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * ODE threading support interfaces - */ - - -#ifndef _ODE_THREADING_H_ -#define _ODE_THREADING_H_ - -#include -// Include since time_t is used and it is not available by default in some OSes -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -struct dxThreadingImplementation; -typedef struct dxThreadingImplementation *dThreadingImplementationID; - -typedef unsigned dmutexindex_t; -struct dxMutexGroup; -typedef struct dxMutexGroup *dMutexGroupID; - - -#define dTHREADING_THREAD_COUNT_UNLIMITED 0U - - - -/** - * @brief Allocates a group of muteces. - * - * The Mutex allocated do not need to support recursive locking. - * - * The Mutex names are provided to aid in debugging and thread state tracking. - * - * @param impl Threading implementation ID - * @param Mutex_count Number of Mutex to create - * @Mutex_names_ptr Pointer to optional Mutex names array to be associated with individual Mutex - * @returns MutexGroup ID or NULL if error occurred. - * - * @ingroup threading - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef dMutexGroupID dMutexGroupAllocFunction (dThreadingImplementationID impl, dmutexindex_t Mutex_count, const char *const *Mutex_names_ptr/*=NULL*/); - -/** - * @brief Deletes a group of muteces. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to deallocate - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef void dMutexGroupFreeFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group); - -/** - * @brief Locks a mutex in a group of muteces. - * - * The function is to block execution until requested mutex can be locked. - * - * Note: Mutex provided may not support recursive locking. Calling this function - * while mutex is already locked by current thread will result in unpredictable behavior. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for locking - * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef void dMutexGroupMutexLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); - -/** - * @brief Attempts to lock a mutex in a group of muteces. - * - * The function is to lock the requested mutex if it is unoccupied or - * immediately return failure if mutex is already locked by other thread. - * - * Note: Mutex provided may not support recursive locking. Calling this function - * while mutex is already locked by current thread will result in unpredictable behavior. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for locking - * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) - * @returns 1 for success (mutex is locked) and 0 for failure (mutex is not locked) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -/* typedef int dMutexGroupMutexTryLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);*/ - -/** - * @brief Unlocks a mutex in a group of muteces. - * - * The function is to unlock the given mutex provided it had been locked before. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for unlocking - * @param mutex_index The index of mutex to be unlocked (0..Mutex_count - 1) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - */ -typedef void dMutexGroupMutexUnlockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); - - -struct dxCallReleasee; -typedef struct dxCallReleasee *dCallReleaseeID; - -struct dxCallWait; -typedef struct dxCallWait *dCallWaitID; - -typedef dsizeint ddependencycount_t; -typedef ddiffint ddependencychange_t; -typedef dsizeint dcallindex_t; -typedef int dThreadedCallFunction(void *call_context, dcallindex_t instance_index, - dCallReleaseeID this_releasee); - -typedef struct dxThreadedWaitTime -{ - time_t wait_sec; - unsigned long wait_nsec; - -} dThreadedWaitTime; - - -/** - * @brief Allocates a Wait ID that can be used to wait for a call. - * - * @param impl Threading implementation ID - * @returns Wait ID or NULL if error occurred - * - * @ingroup threading - * @see dThreadedCallWaitResetFunction - * @see dThreadedCallWaitFreeFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef dCallWaitID dThreadedCallWaitAllocFunction(dThreadingImplementationID impl); - -/** - * @brief Resets a Wait ID so that it could be used to wait for another call. - * - * @param impl Threading implementation ID - * @param call_wait Wait ID to reset - * - * @ingroup threading - * @see dThreadedCallWaitAllocFunction - * @see dThreadedCallWaitFreeFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef void dThreadedCallWaitResetFunction(dThreadingImplementationID impl, dCallWaitID call_wait); - -/** - * @brief Frees a Wait ID. - * - * @param impl Threading implementation ID - * @param call_wait Wait ID to delete - * - * @ingroup threading - * @see dThreadedCallWaitAllocFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef void dThreadedCallWaitFreeFunction(dThreadingImplementationID impl, dCallWaitID call_wait); - - -/** - * @brief Post a function to be called in another thread. - * - * A call is scheduled to be executed asynchronously. - * - * A @a out_summary_fault variable can be provided for call to accumulate any - * possible faults from its execution and execution of any possible sub-calls. - * This variable gets result that @a call_func returns. Also, if dependent calls - * are executed after the call already exits, the variable is also going to be - * updated with results of all those calls before control is released to master. - * - * @a out_post_releasee parameter receives a value of @c dCallReleaseeID that can - * later be used for @a dependent_releasee while scheduling sub-calls to make - * current call depend on them. The value is only returned if @a dependencies_count - * is not zero (i.e. if any dependencies are expected at all). The call is not going - * to start until all its dependencies complete. - * - * In case if number of dependencies is unknown in advance 1 can be passed on call - * scheduling. Then @c dThreadedCallDependenciesCountAlterFunction can be used to - * add one more extra dependencies before scheduling each subcall. And then, after - * all sub-calls had been scheduled, @c dThreadedCallDependenciesCountAlterFunction - * can be used again to subtract initial extra dependency from total number. - * Adding one dependency in advance is necessary to obtain releasee ID and to make - * sure the call will not start and will not terminate before all sub-calls are scheduled. - * - * Extra dependencies can also be added from the call itself after it has already - * been started (with parameter received in @c dThreadedCallFunction). - * In that case those dependencies will start immediately or after call returns - * but the call's master will not be released/notified until all additional - * dependencies complete. This can be used to schedule sub-calls from a call and - * then pass own job to another sub-call dependent on those initial sub-calls. - * - * By using @ call_wait it is possible to assign a Wait ID that can later - * be passed into @c dThreadedCallWaitFunction to wait for call completion. - * - * If @a call_name is available (and it should!) the string must remain valid until - * after call completion. In most cases this should be a static string literal. - * - * Since the function is an analogue of normal method call it is not supposed to fail. - * Any complications with resource allocation on call scheduling should be - * anticipated, avoided and worked around by implementation. - * - * @param impl Threading implementation ID - * @param out_summary_fault Optional pointer to variable to be set to 1 if function - * call (or any sub-call) fails internally, or 0 if all calls return success - * @param out_post_releasee Optional pointer to variable to receive releasee ID - * associated with the call - * @param dependencies_count Number of dependencies that are going to reference - * this call as dependent releasee - * @param dependent_releasee Optional releasee ID to reference with this call - * @param call_wait Optional Wait ID that can later be used to wait for the call - * @param call_func Pointer to function to be called - * @param call_context Context parameter to be passed into the call - * @param instance_index Index parameter to be passed into the call - * @param call_name Optional name to be associated with the call (for debugging and state tracking) - * - * @ingroup threading - * @see dThreadedCallWaitFunction - * @see dThreadedCallDependenciesCountAlterFunction - * @see dThreadingImplResourcesForCallsPreallocateFunction - */ -typedef void dThreadedCallPostFunction(dThreadingImplementationID impl, int *out_summary_fault/*=NULL*/, - dCallReleaseeID *out_post_releasee/*=NULL*/, ddependencycount_t dependencies_count, dCallReleaseeID dependent_releasee/*=NULL*/, - dCallWaitID call_wait/*=NULL*/, - dThreadedCallFunction *call_func, void *call_context, dcallindex_t instance_index, - const char *call_name/*=NULL*/); - -/** - * @brief Add or remove extra dependencies from call that has been scheduled - * or is in process of execution. - * - * Extra dependencies can be added to a call if exact number of sub-calls is - * not known in advance at the moment the call is scheduled. Also, some dependencies - * can be removed if sub-calls were planned but then dropped. - * - * In case if total dependency count of a call reaches zero by result of invoking - * this function, the call is free to start executing immediately. - * - * After the call execution had been started, any additional dependencies can only - * be added from the call function itself! - * - * @param impl Threading implementation ID - * @param target_releasee ID of releasee to apply dependencies count change to - * @param dependencies_count_change Number of dependencies to add or remove - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef void dThreadedCallDependenciesCountAlterFunction(dThreadingImplementationID impl, dCallReleaseeID target_releasee, - ddependencychange_t dependencies_count_change); - -/** - * @brief Wait for a posted call to complete. - * - * Function blocks until a call identified by @a call_wait completes or - * timeout elapses. - * - * IT IS ILLEGAL TO INVOKE THIS FUNCTION FROM WITHIN A THREADED CALL! - * This is because doing so will block a physical thread and will require - * increasing worker thread count to avoid starvation. Use call dependencies - * if it is necessary make sure sub-calls have been completed instead! - * - * If @a timeout_time_ptr is NULL, the function waits without time limit. If @a timeout_time_ptr - * points to zero value, the function only checks status and does not block. - * - * If @a wait_name is available (and it should!) the string must remain valid for - * the duration of wait. In most cases this should be a static string literal. - * - * Function is not expected to return failures caused by system call faults as - * those are hardly ever possible to be handled in this case anyway. In event of - * system call fault the function is supposed to terminate application. - * - * @param impl Threading implementation ID - * @param out_wait_status Optional pointer to variable to receive 1 if waiting succeeded - * or 0 in case of timeout - * @param call_wait Wait ID that had been passed to scheduling a call that needs to be waited for - * @param timeout_time_ptr Optional pointer to time specification the wait must not - * last longer than (pass NULL for infinite timeout) - * @param wait_name Optional name to be associated with the wait (for debugging and state tracking) - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef void dThreadedCallWaitFunction(dThreadingImplementationID impl, int *out_wait_status/*=NULL*/, - dCallWaitID call_wait, const dThreadedWaitTime *timeout_time_ptr/*=NULL*/, - const char *wait_name/*=NULL*/); - -/** - * @brief Retrieve number of active threads that serve the implementation. - * - * @param impl Threading implementation ID - * @returns Number of active threads - * - * @ingroup threading - */ -typedef unsigned dThreadingImplThreadCountRetrieveFunction(dThreadingImplementationID impl); - -/** - * @brief Preallocate resources to handle posted calls. - * - * The function is intended to make sure enough resources is preallocated for the - * implementation to be able to handle posted calls. Then @c max_simultaneous_calls_estimate - * is an estimate of how many posted calls can potentially be active or scheduled - * at the same time. The value is usually derived from the way the calls are posted - * in library code and dependencies between them. - * - * @warning While working on an implementation be prepared that the estimate provided - * yet rarely but theoretically can be exceeded due to unpredictability of thread execution. - * - * This function is normally going to be invoked by library each time it is entered - * from outside to do the job but before any threaded calls are going to be posted. - * - * @param impl Threading implementation ID - * @param max_simultaneous_calls_estimate An estimated number of calls that can be posted simultaneously - * @returns 1 or 0 to indicate success or failure - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef int dThreadingImplResourcesForCallsPreallocateFunction(dThreadingImplementationID impl, - ddependencycount_t max_simultaneous_calls_estimate); - - -/** - * @brief An interface structure with function pointers to be provided by threading implementation. - */ -typedef struct dxThreadingFunctionsInfo -{ - unsigned struct_size; - - dMutexGroupAllocFunction *alloc_mutex_group; - dMutexGroupFreeFunction *free_mutex_group; - dMutexGroupMutexLockFunction *lock_group_mutex; - dMutexGroupMutexUnlockFunction *unlock_group_mutex; - - dThreadedCallWaitAllocFunction *alloc_call_wait; - dThreadedCallWaitResetFunction *reset_call_wait; - dThreadedCallWaitFreeFunction *free_call_wait; - - dThreadedCallPostFunction *post_call; - dThreadedCallDependenciesCountAlterFunction *alter_call_dependencies_count; - dThreadedCallWaitFunction *wait_call; - - dThreadingImplThreadCountRetrieveFunction *retrieve_thread_count; - dThreadingImplResourcesForCallsPreallocateFunction *preallocate_resources_for_calls; - - /* - * Beware of Jon Watte's anger if you dare to uncomment this! - * May cryptic text below be you a warning! - * Стародавні легенди розказують, що кожного сміливця, хто наважиться порушити табу - * і відкрити заборонений код, спіткає страшне прокляття і він відразу почне робити - * одні лиш помилки. - * - * dMutexGroupMutexTryLockFunction *trylock_group_mutex; - */ - -} dThreadingFunctionsInfo; - - -#ifdef __cplusplus -} -#endif - -#endif /* #ifndef _ODE_THREADING_H_ */ diff --git a/include/mac/ode/threading_impl.h b/include/mac/ode/threading_impl.h deleted file mode 100644 index 0781d6a..0000000 --- a/include/mac/ode/threading_impl.h +++ /dev/null @@ -1,292 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * Builtin ODE threading implementation header. * - * Copyright (C) 2011-2019 Oleh Derevenko. All rights reserved. * - * e-mail: odar@eleks.com (change all "a" to "e") * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * A threading implementation built into ODE for those who does not care to - * or can't implement an own one. - */ - -#ifndef _ODE_THREADING_IMPL_H_ -#define _ODE_THREADING_IMPL_H_ - - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -struct dxThreadingThreadPool; -typedef struct dxThreadingThreadPool *dThreadingThreadPoolID; - - -/** - * @brief Allocates built-in self-threaded threading implementation object. - * - * A self-threaded implementation is a type of implementation that performs - * processing of posted calls by means of caller thread itself. This type of - * implementation does not need thread pool to serve it. - * - * Note that since May 9th, 2017 (rev. #2066) the Self-Threaded implementation - * returns 0 rather than 1 as available thread count to distinguish from - * thread pools with just one thread in them. - * - * The processing is arranged in a way to prevent call stack depth growth - * as more and more nested calls are posted. - * - * Note that it is not necessary to create and assign a self-threaded - * implementation to a world, as there is a global one used by default - * if no implementation is explicitly assigned. You should only assign - * each world an individual threading implementation instance if simulations - * need to be run in parallel in multiple threads for the worlds. - * - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingFreeImplementation - */ -ODE_API dThreadingImplementationID dThreadingAllocateSelfThreadedImplementation(); - -/** - * @brief Allocates built-in multi-threaded threading implementation object. - * - * A multi-threaded implementation is a type of implementation that has to be - * served with a thread pool. The thread pool can be either the built-in ODE object - * or set of external threads that dedicate themselves to this purpose and stay - * in ODE until implementation releases them. - * - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingThreadPoolServeMultiThreadedImplementation - * @see dExternalThreadingServeMultiThreadedImplementation - * @see dThreadingFreeImplementation - */ -ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation(); - -/** - * @brief Retrieves the functions record of a built-in threading implementation. - * - * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation). - * Do not use this function with self-made custom implementations - - * they should be bundled with their own set of functions. - * - * @param impl Threading implementation ID - * @returns Pointer to associated functions structure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - */ -ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl); - -/** - * @brief Requests a built-in implementation to release threads serving it. - * - * The function unblocks threads employed in implementation serving and lets them - * return to from where they originate. It's the responsibility of external code - * to make sure all the calls to ODE that might be dependent on given threading - * implementation object had already returned before this call is made. If threading - * implementation is still processing some posted calls while this function is - * invoked the behavior is implementation dependent. - * - * This call is to be used to request the threads to be released before waiting - * for them in host pool or before waiting for them to exit. Implementation object - * must not be destroyed before it is known that all the serving threads have already - * returned from it. If implementation needs to be reused after this function is called - * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart - * must be made to restore internal state of the object. - * - * If this function is called for self-threaded built-in threading implementation - * the call has no effect. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationCleanupForRestart - */ -ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl); - -/** - * @brief Restores built-in implementation's state to let it be reused after shutdown. - * - * If a multi-threaded built-in implementation needs to be reused after a call - * to @c dThreadingImplementationShutdownProcessing this call is to be made to - * restore object's internal state. After that the implementation can be served again. - * - * If this function is called for self-threaded built-in threading implementation - * the call has no effect. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl); - -/** - * @brief Deletes an instance of built-in threading implementation. - * - * @warning A care must be taken to make sure the implementation is unassigned - * from all the objects it was assigned to and that there are no more threads - * serving it before attempting to call this function. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - */ -ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl); - - -typedef void (dThreadReadyToServeCallback)(void *callback_context); - -/** - * @brief An entry point for external threads that would like to serve a built-in - * threading implementation object. - * - * A thread that calls this function remains blocked in ODE and serves implementation - * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call. - * This function can be used to provide external threads instead of ODE's built-in - * thread pools. - * - * The optional callback @readiness_callback is called after the thread has reached - * and has registered within the implementation. The implementation should not - * be used until all dedicated threads register within it as otherwise it will not - * have accurate view of the execution resources available. - * - * @param impl Threading implementation ID - * @param readiness_callback Optional readiness callback to be called after thread enters the implementation - * @param callback_context A value to be passed as parameter to readiness callback - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl, - dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/); - - -/** - * @brief Creates an instance of built-in thread pool object that can be used to serve - * multi-threaded threading implementations. - * - * The threads allocated inherit priority of caller thread. Their affinity is not - * explicitly adjusted and gets the value the system assigns by default. Threads - * have their stack memory fully committed immediately on start. On POSIX platforms - * threads are started with all the possible signals blocked. Threads execute - * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags - * on initialization. - * - * On POSIX platforms this function must be called with signals masked - * or other measures must be taken to prevent reception of signals by calling thread - * for the duration of the call. - * - * @param thread_count Number of threads to start in pool - * @param stack_size Size of stack to be used for every thread or 0 for system default value - * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - * @see dThreadingFreeThreadPool - */ -ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count, - dsizeint stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/); - -/** - * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded - * threading implementation. - * - * A pool can only serve one threading implementation at a time. - * Call @c dThreadingImplementationShutdownProcessing to release pool threads - * from implementation serving and make them idle. Pool threads must be released - * from any implementations before pool is attempted to be deleted. - * - * This function waits for threads to register within implementation before returning. - * So, after the function call exits the implementation can be used immediately. - * - * @param pool Thread pool ID to serve the implementation - * @param impl Implementation ID of implementation to be served - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl); - -/** - * @brief Waits until all pool threads are released from threading implementation - * they might be serving. - * - * The function can be used after a call to @c dThreadingImplementationShutdownProcessing - * to make sure all the threads have already been released by threading implementation - * and it can be deleted or it can be cleaned up for restart and served by another pool - * or this pool's threads can be used to serve another threading implementation. - * - * Note that is it not necessary to call this function before pool destruction - * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own. - * - * It is OK to call this function even if pool was not serving any threading implementation - * in which case the call exits immediately with minimal delay. - * - * @param pool Thread pool ID to wait for - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingImplementationShutdownProcessing - * @see dThreadingFreeThreadPool - */ -ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool); - -/** - * @brief Deletes a built-in thread pool instance. - * - * The pool threads must be released from any implementations they might be serving - * before this function is called. Otherwise the call is going to block - * and wait until pool's threads return. - * - * @param pool Thread pool ID to delete - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool); - - -#ifdef __cplusplus -} -#endif - -#endif /* #ifndef _ODE_THREADING_IMPL_H_ */ diff --git a/include/mac/ode/timer.h b/include/mac/ode/timer.h deleted file mode 100644 index fe1483f..0000000 --- a/include/mac/ode/timer.h +++ /dev/null @@ -1,76 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_TIMER_H_ -#define _ODE_TIMER_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -/* stop watch objects */ - -typedef struct dStopwatch { - double time; /* total clock count */ - unsigned long cc[2]; /* clock count since last `start' */ -} dStopwatch; - -ODE_API void dStopwatchReset (dStopwatch *); -ODE_API void dStopwatchStart (dStopwatch *); -ODE_API void dStopwatchStop (dStopwatch *); -ODE_API double dStopwatchTime (dStopwatch *); /* returns total time in secs */ - - -/* code timers */ - -ODE_API void dTimerStart (const char *description); /* pass a static string here */ -ODE_API void dTimerNow (const char *description); /* pass a static string here */ -ODE_API void dTimerEnd(void); - -/* print out a timer report. if `average' is nonzero, print out the average - * time for each slot (this is only meaningful if the same start-now-end - * calls are being made repeatedly. - */ -ODE_API void dTimerReport (FILE *fout, int average); - - -/* resolution */ - -/* returns the timer ticks per second implied by the timing hardware or API. - * the actual timer resolution may not be this great. - */ -ODE_API double dTimerTicksPerSecond(void); - -/* returns an estimate of the actual timer resolution, in seconds. this may - * be greater than 1/ticks_per_second. - */ -ODE_API double dTimerResolution(void); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/mac/ode/version.h b/include/mac/ode/version.h deleted file mode 100644 index b8cb64f..0000000 --- a/include/mac/ode/version.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef _ODE_VERSION_H_ -#define _ODE_VERSION_H_ - -#define dODE_VERSION "0.16.0" - -#endif diff --git a/include/mac/ode/version.h.in b/include/mac/ode/version.h.in deleted file mode 100644 index b5d3c81..0000000 --- a/include/mac/ode/version.h.in +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef _ODE_VERSION_H_ -#define _ODE_VERSION_H_ - -#define dODE_VERSION "@ODE_VERSION@" - -#endif diff --git a/include/windows/ode/collision.h b/include/windows/ode/collision.h deleted file mode 100755 index fc17454..0000000 --- a/include/windows/ode/collision.h +++ /dev/null @@ -1,1526 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_H_ -#define _ODE_COLLISION_H_ - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup collide Collision Detection - * - * ODE has two main components: a dynamics simulation engine and a collision - * detection engine. The collision engine is given information about the - * shape of each body. At each time step it figures out which bodies touch - * each other and passes the resulting contact point information to the user. - * The user in turn creates contact joints between bodies. - * - * Using ODE's collision detection is optional - an alternative collision - * detection system can be used as long as it can supply the right kinds of - * contact information. - */ - - -/* ************************************************************************ */ -/* general functions */ - -/** - * @brief Destroy a geom, removing it from any space. - * - * Destroy a geom, removing it from any space it is in first. This one - * function destroys a geom of any type, but to create a geom you must call - * a creation function for that type. - * - * When a space is destroyed, if its cleanup mode is 1 (the default) then all - * the geoms in that space are automatically destroyed as well. - * - * @param geom the geom to be destroyed. - * @ingroup collide - */ -ODE_API void dGeomDestroy (dGeomID geom); - - -/** - * @brief Set the user-defined data pointer stored in the geom. - * - * @param geom the geom to hold the data - * @param data the data pointer to be stored - * @ingroup collide - */ -ODE_API void dGeomSetData (dGeomID geom, void* data); - - -/** - * @brief Get the user-defined data pointer stored in the geom. - * - * @param geom the geom containing the data - * @ingroup collide - */ -ODE_API void *dGeomGetData (dGeomID geom); - - -/** - * @brief Set the body associated with a placeable geom. - * - * Setting a body on a geom automatically combines the position vector and - * rotation matrix of the body and geom, so that setting the position or - * orientation of one will set the value for both objects. Setting a body - * ID of zero gives the geom its own position and rotation, independent - * from any body. If the geom was previously connected to a body then its - * new independent position/rotation is set to the current position/rotation - * of the body. - * - * Calling these functions on a non-placeable geom results in a runtime - * error in the debug build of ODE. - * - * @param geom the geom to connect - * @param body the body to attach to the geom - * @ingroup collide - */ -ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); - - -/** - * @brief Get the body associated with a placeable geom. - * @param geom the geom to query. - * @sa dGeomSetBody - * @ingroup collide - */ -ODE_API dBodyID dGeomGetBody (dGeomID geom); - - -/** - * @brief Set the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @sa dBodySetPosition - * @ingroup collide - */ -ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @sa dBodySetRotation - * @ingroup collide - */ -ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the rotation of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @sa dBodySetQuaternion - * @ingroup collide - */ -ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Get the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's position vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetPosition - * @ingroup collide - */ -ODE_API const dReal * dGeomGetPosition (dGeomID geom); - - -/** - * @brief Copy the position of a geom into a vector. - * @ingroup collide - * @param geom the geom to query - * @param pos a copy of the geom position - * @sa dGeomGetPosition - */ -ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetRotation - * @ingroup collide - */ -ODE_API const dReal * dGeomGetRotation (dGeomID geom); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param R a copy of the geom rotation - * @sa dGeomGetRotation - * @ingroup collide - */ -ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the rotation quaternion of a placeable geom. - * - * If the geom is attached to a body, the body's quaternion will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @sa dBodyGetQuaternion - * @ingroup collide - */ -ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); - - -/** - * @brief Return the axis-aligned bounding box. - * - * Return in aabb an axis aligned bounding box that surrounds the given geom. - * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the - * geom is a space, a bounding box that surrounds all contained geoms is - * returned. - * - * This function may return a pre-computed cached bounding box, if it can - * determine that the geom has not moved since the last time the bounding - * box was computed. - * - * @param geom the geom to query - * @param aabb the returned bounding box - * @ingroup collide - */ -ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); - - -/** - * @brief Determing if a geom is a space. - * @param geom the geom to query - * @returns Non-zero if the geom is a space, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsSpace (dGeomID geom); - - -/** - * @brief Query for the space containing a particular geom. - * @param geom the geom to query - * @returns The space that contains the geom, or NULL if the geom is - * not contained by a space. - * @ingroup collide - */ -ODE_API dSpaceID dGeomGetSpace (dGeomID); - - -/** - * @brief Given a geom, this returns its class. - * - * The ODE classes are: - * @li dSphereClass - * @li dBoxClass - * @li dCylinderClass - * @li dPlaneClass - * @li dRayClass - * @li dConvexClass - * @li dGeomTransformClass - * @li dTriMeshClass - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * User-defined class will return their own number. - * - * @param geom the geom to query - * @returns The geom class ID. - * @ingroup collide - */ -ODE_API int dGeomGetClass (dGeomID geom); - - -/** - * @brief Set the "category" bitfield for the given geom. - * - * The category bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Set the "collide" bitfield for the given geom. - * - * The collide bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Get the "category" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCategoryBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCategoryBits (dGeomID); - - -/** - * @brief Get the "collide" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCollideBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCollideBits (dGeomID); - - -/** - * @brief Enable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to enable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomEnable (dGeomID geom); - - -/** - * @brief Disable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to disable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomDisable (dGeomID geom); - - -/** - * @brief Check to see if a geom is enabled. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to query - * @returns Non-zero if the geom is enabled, zero otherwise. - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API int dGeomIsEnabled (dGeomID geom); - - -enum -{ - dGeomCommonControlClass = 0, - dGeomColliderControlClass = 1 -}; - -enum -{ - dGeomCommonAnyControlCode = 0, - - dGeomColliderSetMergeSphereContactsControlCode = 1, - dGeomColliderGetMergeSphereContactsControlCode = 2 -}; - -enum -{ - dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/ - dGeomColliderMergeContactsValue_None = 1, - dGeomColliderMergeContactsValue_Normals = 2, - dGeomColliderMergeContactsValue_Full = 3 -}; - -/** - * @brief Execute low level control operation for geometry. - * - * The variable the dataSize points to must be initialized before the call. - * If the size does not match the one expected for the control class/code function - * changes it to the size expected and returns failure. This implies the function - * can be called with NULL data and zero size to test if control class/code is supported - * and obtain required data size for it. - * - * dGeomCommonAnyControlCode applies to any control class and returns success if - * at least one control code is available for the given class with given geom. - * - * Currently there are the folliwing control classes supported: - * @li dGeomColliderControlClass - * - * For dGeomColliderControlClass there are the following codes available: - * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) - * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) - * - * @param geom the geom to control - * @param controlClass the control class - * @param controlCode the control code for the class - * @param dataValue the control argument pointer - * @param dataSize the control argument size provided or expected - * @returns Boolean execution status - * @ingroup collide - */ -ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize); - - -/** - * @brief Get world position of a relative point on geom. - * - * Calling this function on a non-placeable geom results in the same point being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomGetRelPointPos -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in geom-relative coordinates. - * - * Calling this function on a non-placeable geom results in the same point being - * returned. - * - * @remarks - * This is the inverse of dGeomGetRelPointPos() - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomGetPosRelPoint -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from geom-local to world coordinates. - * - * Calling this function on a non-placeable geom results in the same vector being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomVectorToWorld -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to geom-local coordinates. - * - * Calling this function on a non-placeable geom results in the same vector being - * returned. - * - * @ingroup collide - * @param result will contain the result. - */ -ODE_API void dGeomVectorFromWorld -( - dGeomID geom, dReal px, dReal py, dReal pz, - dVector3 result -); - - -/* ************************************************************************ */ -/* geom offset from body */ - -/** - * @brief Set the local offset position of a geom from its body. - * - * Sets the geom's positional offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the local offset rotation matrix of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the local offset rotation of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Set the offset position of a geom from its body. - * - * Sets the geom's positional offset to move it to the new world - * coordinates. - * After this call, the geom will be at the world position passed in, - * and the offset will be the difference from the current body position. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); - - -/** - * @brief Clear any offset from the geom. - * - * If the geom has an offset, it is eliminated and the geom is - * repositioned at the body's position. If the geom has no offset, - * this function does nothing. - * This is more efficient than calling dGeomSetOffsetPosition(zero) - * and dGeomSetOffsetRotation(identiy), because this function actually - * eliminates the offset, rather than leaving it as the identity transform. - * - * @param geom the geom to have its offset destroyed. - * @ingroup collide - */ -ODE_API void dGeomClearOffset(dGeomID geom); - - -/** - * @brief Check to see whether the geom has an offset. - * - * This function will return non-zero if the offset has been created. - * Note that there is a difference between a geom with no offset, - * and a geom with an offset that is the identity transform. - * In the latter case, although the observed behaviour is identical, - * there is a unnecessary computation involved because the geom will - * be applying the transform whenever it needs to recalculate its world - * position. - * - * @param geom the geom to query. - * @returns Non-zero if the geom has an offset, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsOffset(dGeomID geom); - - -/** - * @brief Get the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); - - -/** - * @brief Copy the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @param pos returns the offset position - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); - - -/** - * @brief Copy the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @param R returns the rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the offset rotation quaternion of a geom. - * - * Returns the rotation offset of the geom as a quaternion. - * If the geom has no offset, the identity quaternion is returned. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @ingroup collide - */ -ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); - - -/* ************************************************************************ */ -/* collision detection */ - -/* - * Just generate any contacts (disables any contact refining). - */ -#define CONTACTS_UNIMPORTANT 0x80000000 - -/** - * - * @brief Given two geoms o1 and o2 that potentially intersect, - * generate contact information for them. - * - * Internally, this just calls the correct class-specific collision - * functions for o1 and o2. - * - * @param o1 The first geom to test. - * @param o2 The second geom to test. - * - * @param flags The flags specify how contacts should be generated if - * the geoms touch. The lower 16 bits of flags is an integer that - * specifies the maximum number of contact points to generate. You must - * ask for at least one contact. - * Additionally, following bits may be set: - * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). - * All other bits in flags must be set to zero. In the future the other bits - * may be used to select from different contact generation strategies. - * - * @param contact Points to an array of dContactGeom structures. The array - * must be able to hold at least the maximum number of contacts. These - * dContactGeom structures may be embedded within larger structures in the - * array -- the skip parameter is the byte offset from one dContactGeom to - * the next in the array. If skip is sizeof(dContactGeom) then contact - * points to a normal (C-style) array. It is an error for skip to be smaller - * than sizeof(dContactGeom). - * - * @returns If the geoms intersect, this function returns the number of contact - * points generated (and updates the contact array), otherwise it returns 0 - * (and the contact array is not touched). - * - * @remarks If a space is passed as o1 or o2 then this function will collide - * all objects contained in o1 with all objects contained in o2, and return - * the resulting contact points. This method for colliding spaces with geoms - * (or spaces with spaces) provides no user control over the individual - * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. - * - * @remarks If o1 and o2 are the same geom then this function will do nothing - * and return 0. Technically speaking an object intersects with itself, but it - * is not useful to find contact points in this case. - * - * @remarks This function does not care if o1 and o2 are in the same space or not - * (or indeed if they are in any space at all). - * - * @ingroup collide - */ -ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, - int skip); - -/** - * @brief Determines which pairs of geoms in a space may potentially intersect, - * and calls the callback function for each candidate pair. - * - * @param space The space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide2 - * @ingroup collide - */ -ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); - - -/** - * @brief Determines which geoms from one space may potentially intersect with - * geoms from another space, and calls the callback function for each candidate - * pair. - * - * @param space1 The first space to test. - * - * @param space2 The second space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks This function can also test a single non-space geom against a - * space. This function is useful when there is a collision hierarchy, i.e. - * when there are spaces that contain other spaces. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks Sublevel value of space affects how the spaces are iterated. - * Both spaces are recursed only if their sublevels match. Otherwise, only - * the space with greater sublevel is recursed and the one with lesser sublevel - * is used as a geom itself. - * - * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide - * @sa dSpaceSetSublevel - * @ingroup collide - */ -ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); - - -/* ************************************************************************ */ -/* standard classes */ - -/* the maximum number of user classes that are supported */ -enum { - dMaxUserClasses = 4 -}; - -/* class numbers - each geometry object needs a unique number */ -enum { - dSphereClass = 0, - dBoxClass, - dCapsuleClass, - dCylinderClass, - dPlaneClass, - dRayClass, - dConvexClass, - dGeomTransformClass, - dTriMeshClass, - dHeightfieldClass, - - dFirstSpaceClass, - dSimpleSpaceClass = dFirstSpaceClass, - dHashSpaceClass, - dSweepAndPruneSpaceClass, /* SAP */ - dQuadTreeSpaceClass, - dLastSpaceClass = dQuadTreeSpaceClass, - - dFirstUserClass, - dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, - dGeomNumClasses -}; - - -/** - * @defgroup collide_sphere Sphere Class - * @ingroup collide - */ - -/** - * @brief Create a sphere geom of the given radius, and return its ID. - * - * @param space a space to contain the new geom. May be null. - * @param radius the radius of the sphere. - * - * @returns A new sphere geom. - * - * @remarks The point of reference for a sphere is its center. - * - * @sa dGeomDestroy - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); - - -/** - * @brief Set the radius of a sphere geom. - * - * @param sphere the sphere to set. - * @param radius the new radius. - * - * @sa dGeomSphereGetRadius - * @ingroup collide_sphere - */ -ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); - - -/** - * @brief Retrieves the radius of a sphere geom. - * - * @param sphere the sphere to query. - * - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); - - -/** - * @brief Calculate the depth of the a given point within a sphere. - * - * @param sphere the sphere to query. - * @param x the X coordinate of the point. - * @param y the Y coordinate of the point. - * @param z the Z coordinate of the point. - * - * @returns The depth of the point. Points inside the sphere will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - * - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); - - -/*--> Convex Functions*/ -ODE_API dGeomID dCreateConvex (dSpaceID space, - const dReal *_planes, - unsigned int _planecount, - const dReal *_points, - unsigned int _pointcount, - const unsigned int *_polygons); - -ODE_API void dGeomSetConvex (dGeomID g, - const dReal *_planes, - unsigned int _count, - const dReal *_points, - unsigned int _pointcount, - const unsigned int *_polygons); -/*<-- Convex Functions*/ - -/** - * @defgroup collide_box Box Class - * @ingroup collide - */ - -/** - * @brief Create a box geom with the provided side lengths. - * - * @param space a space to contain the new geom. May be null. - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @returns A new box geom. - * - * @remarks The point of reference for a box is its center. - * - * @sa dGeomDestroy - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Set the side lengths of the given box. - * - * @param box the box to set - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @sa dGeomBoxGetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Get the side lengths of a box. - * - * @param box the box to query - * @param result the returned side lengths - * - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); - - -/** - * @brief Return the depth of a point in a box. - * - * @param box the box to query - * @param x the X coordinate of the point to test. - * @param y the Y coordinate of the point to test. - * @param z the Z coordinate of the point to test. - * - * @returns The depth of the point. Points inside the box will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - */ -ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); - - -ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); -ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); - -ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); -ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); -ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); - -/* For now we want to have a backwards compatible C-API, note: C++ API is not.*/ -#define dCreateCCylinder dCreateCapsule -#define dGeomCCylinderSetParams dGeomCapsuleSetParams -#define dGeomCCylinderGetParams dGeomCapsuleGetParams -#define dGeomCCylinderPointDepth dGeomCapsulePointDepth -#define dCCylinderClass dCapsuleClass - -ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); -ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); - -ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); -ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); -ODE_API dReal dGeomRayGetLength (dGeomID ray); -ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, - dReal dx, dReal dy, dReal dz); -ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir); - -/* - * Set/get ray flags that influence ray collision detection. - * These flags are currently only noticed by the trimesh collider, because - * they can make a major differences there. - */ -ODE_API_DEPRECATED ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); -ODE_API_DEPRECATED ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); -ODE_API void dGeomRaySetFirstContact (dGeomID g, int firstContact); -ODE_API int dGeomRayGetFirstContact (dGeomID g); -ODE_API void dGeomRaySetBackfaceCull (dGeomID g, int backfaceCull); -ODE_API int dGeomRayGetBackfaceCull (dGeomID g); -ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); -ODE_API int dGeomRayGetClosestHit (dGeomID g); - -#include "collision_trimesh.h" - -ODE_API_DEPRECATED ODE_API dGeomID dCreateGeomTransform (dSpaceID space); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); -ODE_API_DEPRECATED ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); -ODE_API_DEPRECATED ODE_API int dGeomTransformGetCleanup (dGeomID g); -ODE_API_DEPRECATED ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); -ODE_API_DEPRECATED ODE_API int dGeomTransformGetInfo (dGeomID g); - - -/* ************************************************************************ */ -/* heightfield functions */ - - -/* Data storage for heightfield data.*/ -struct dxHeightfieldData; -typedef struct dxHeightfieldData* dHeightfieldDataID; - - -/** - * @brief Callback prototype - * - * Used by the callback heightfield data type to sample a height for a - * given cell position. - * - * @param p_user_data User data specified when creating the dHeightfieldDataID - * @param x The index of a sample in the local x axis. It is a value - * in the range zero to ( nWidthSamples - 1 ). - * @param x The index of a sample in the local z axis. It is a value - * in the range zero to ( nDepthSamples - 1 ). - * - * @return The sample height which is then scaled and offset using the - * values specified when the heightfield data was created. - * - * @ingroup collide - */ -typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); - - - -/** - * @brief Creates a heightfield geom. - * - * Uses the information in the given dHeightfieldDataID to construct - * a geom representing a heightfield in a collision space. - * - * @param space The space to add the geom to. - * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and - * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, - * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. - * @param bPlaceable If non-zero this geom can be transformed in the world using the - * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is - * not set as placeable, then it uses a fixed orientation where the global y axis - * represents the dynamic 'height' of the heightfield. - * - * @return A geom id to reference this geom in other calls. - * - * @ingroup collide - */ -ODE_API dGeomID dCreateHeightfield( dSpaceID space, - dHeightfieldDataID data, int bPlaceable ); - - -/** - * @brief Creates a new empty dHeightfieldDataID. - * - * Allocates a new dHeightfieldDataID and returns it. You must call - * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. - * The dHeightfieldDataID value is used when specifying a data format type. - * - * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, - * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or - * dGeomHeightfieldDataBuildFloat. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void); - - -/** - * @brief Destroys a dHeightfieldDataID. - * - * Deallocates a given dHeightfieldDataID and all managed resources. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); - - - -/** - * @brief Configures a dHeightfieldDataID to use a callback to - * retrieve height data. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is computed by - * the user and it should use the given callback when determining - * the height of a given element of it's shape. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, - void* pUserData, dHeightfieldGetHeight* pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in byte format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of bytes (8 bit unsigned) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, - const unsigned char* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in short format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of shorts (16 bit signed) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, - const short* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * single precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of single precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, - const float* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * double precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of double precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, - const double* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Manually set the minimum and maximum height bounds. - * - * This call allows you to set explicit min / max values after initial - * creation typically for callback heightfields which default to +/- infinity, - * or those whose data has changed. This must be set prior to binding with a - * geom, as the the AABB is not recomputed after it's first generation. - * - * @remarks The minimum and maximum values are used to compute the AABB - * for the heightfield which is used for early rejection of collisions. - * A close fit will yield a more efficient collision check. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @param min_height The new minimum height value. Scale, offset and thickness is then applied. - * @param max_height The new maximum height value. Scale and offset is then applied. - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, - dReal minHeight, dReal maxHeight ); - - -/** - * @brief Assigns a dHeightfieldDataID to a heightfield geom. - * - * Associates the given dHeightfieldDataID with a heightfield geom. - * This is done without affecting the GEOM_PLACEABLE flag. - * - * @param g A geom created by dCreateHeightfield - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); - - -/** - * @brief Gets the dHeightfieldDataID bound to a heightfield geom. - * - * Returns the dHeightfieldDataID associated with a heightfield geom. - * - * @param g A geom created by dCreateHeightfield - * @return The dHeightfieldDataID which may be NULL if none was assigned. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); - - - -/* ************************************************************************ */ -/* utility functions */ - -ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, - const dVector3 b1, const dVector3 b2, - dVector3 cp1, dVector3 cp2); - -ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 _p2, - const dMatrix3 R2, const dVector3 side2); - -/* The meaning of flags parameter is the same as in dCollide()*/ -ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *return_code, - int flags, dContactGeom *contact, int skip); - -ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); - - -/* ************************************************************************ */ -/* custom classes */ - -typedef void dGetAABBFn (dGeomID, dReal aabb[6]); -typedef int dColliderFn (dGeomID o1, dGeomID o2, - int flags, dContactGeom *contact, int skip); -typedef dColliderFn * dGetColliderFnFn (int num); -typedef void dGeomDtorFn (dGeomID o); -typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]); - -typedef struct dGeomClass { - int bytes; - dGetColliderFnFn *collider; - dGetAABBFn *aabb; - dAABBTestFn *aabb_test; - dGeomDtorFn *dtor; -} dGeomClass; - -ODE_API int dCreateGeomClass (const dGeomClass *classptr); -ODE_API void * dGeomGetClassData (dGeomID); -ODE_API dGeomID dCreateGeom (int classnum); - -/** - * @brief Sets a custom collider function for two geom classes. - * - * @param i The first geom class handled by this collider - * @param j The second geom class handled by this collider - * @param fn The collider function to use to determine collisions. - * @ingroup collide - */ -ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn); - - -/* ************************************************************************ */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/collision_space.h b/include/windows/ode/collision_space.h deleted file mode 100755 index 3d9feb7..0000000 --- a/include/windows/ode/collision_space.h +++ /dev/null @@ -1,182 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_SPACE_H_ -#define _ODE_COLLISION_SPACE_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -struct dContactGeom; - -/** - * @brief User callback for geom-geom collision testing. - * - * @param data The user data object, as passed to dSpaceCollide. - * @param o1 The first geom being tested. - * @param o2 The second geom being test. - * - * @remarks The callback function can call dCollide on o1 and o2 to generate - * contact points between each pair. Then these contact points may be added - * to the simulation as contact joints. The user's callback function can of - * course chose not to call dCollide for any pair, e.g. if the user decides - * that those pairs should not interact. - * - * @ingroup collide - */ -typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); - - -ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space); -ODE_API dSpaceID dHashSpaceCreate (dSpaceID space); -ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); - - -/* SAP */ -/* Order XZY or ZXY usually works best, if your Y is up. */ -#define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) -#define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) -#define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) -#define dSAP_AXES_YZX ((1)|(2<<2)|(0<<4)) -#define dSAP_AXES_ZXY ((2)|(0<<2)|(1<<4)) -#define dSAP_AXES_ZYX ((2)|(1<<2)|(0<<4)) - -ODE_API dSpaceID dSweepAndPruneSpaceCreate( dSpaceID space, int axisorder ); - - - -ODE_API void dSpaceDestroy (dSpaceID); - -ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel); -ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel); - -ODE_API void dSpaceSetCleanup (dSpaceID space, int mode); -ODE_API int dSpaceGetCleanup (dSpaceID space); - -/** -* @brief Sets sublevel value for a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. If sublevels of both spaces match, the function iterates -* geometries of both spaces and collides them with each other. If sublevel of one -* space is greater than the sublevel of another one, only the geometries of the -* space with greater sublevel are iterated, another space is passed into -* collision callback as a geometry itself. By default all the spaces are assigned -* zero sublevel. -* -* @note -* The space sublevel @e IS @e NOT automatically updated when one space is inserted -* into another or removed from one. It is a client's responsibility to update sublevel -* value if necessary. -* -* @param space the space to modify -* @param sublevel the sublevel value to be assigned -* @ingroup collide -* @see dSpaceGetSublevel -* @see dSpaceCollide2 -*/ -ODE_API void dSpaceSetSublevel (dSpaceID space, int sublevel); - -/** -* @brief Gets sublevel value of a space. -* -* Sublevel affects how the space is handled in dSpaceCollide2 when it is collided -* with another space. See @c dSpaceSetSublevel for more details. -* -* @param space the space to query -* @returns the sublevel value of the space -* @ingroup collide -* @see dSpaceSetSublevel -* @see dSpaceCollide2 -*/ -ODE_API int dSpaceGetSublevel (dSpaceID space); - - -/** -* @brief Sets manual cleanup flag for a space. -* -* Manual cleanup flag marks a space as eligible for manual thread data cleanup. -* This function should be called for every space object right after creation in -* case if ODE has been initialized with @c dInitFlagManualThreadCleanup flag. -* -* Failure to set manual cleanup flag for a space may lead to some resources -* remaining leaked until the program exit. -* -* @param space the space to modify -* @param mode 1 for manual cleanup mode and 0 for default cleanup mode -* @ingroup collide -* @see dSpaceGetManualCleanup -* @see dInitODE2 -*/ -ODE_API void dSpaceSetManualCleanup (dSpaceID space, int mode); - -/** -* @brief Get manual cleanup flag of a space. -* -* Manual cleanup flag marks a space space as eligible for manual thread data cleanup. -* See @c dSpaceSetManualCleanup for more details. -* -* @param space the space to query -* @returns 1 for manual cleanup mode and 0 for default cleanup mode of the space -* @ingroup collide -* @see dSpaceSetManualCleanup -* @see dInitODE2 -*/ -ODE_API int dSpaceGetManualCleanup (dSpaceID space); - -ODE_API void dSpaceAdd (dSpaceID, dGeomID); -ODE_API void dSpaceRemove (dSpaceID, dGeomID); -ODE_API int dSpaceQuery (dSpaceID, dGeomID); -ODE_API void dSpaceClean (dSpaceID); -ODE_API int dSpaceGetNumGeoms (dSpaceID); -ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i); - -/** - * @brief Given a space, this returns its class. - * - * The ODE classes are: - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dSweepAndPruneSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * The class id not defined by the user should be between - * dFirstSpaceClass and dLastSpaceClass. - * - * User-defined class will return their own number. - * - * @param space the space to query - * @returns The space class ID. - * @ingroup collide - */ -ODE_API int dSpaceGetClass(dSpaceID space); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/collision_trimesh.h b/include/windows/ode/collision_trimesh.h deleted file mode 100755 index 3668721..0000000 --- a/include/windows/ode/collision_trimesh.h +++ /dev/null @@ -1,316 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * TriMesh code by Erwin de Vries. - * - * Trimesh data. - * This is where the actual vertexdata (pointers), and BV tree is stored. - * Vertices should be single precision! - * This should be more sophisticated, so that the user can easyly implement - * another collision library, but this is a lot of work, and also costs some - * performance because some data has to be copied. - */ - -#ifndef _ODE_COLLISION_TRIMESH_H_ -#define _ODE_COLLISION_TRIMESH_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * Data storage for triangle meshes. - */ -struct dxTriMeshData; -typedef struct dxTriMeshData* dTriMeshDataID; - - -typedef enum -{ - dMTV__MIN, - - dMTV_FIRST = dMTV__MIN, - dMTV_SECOND, - dMTV_THIRD, - - dMTV__MAX, - -} dMeshTriangleVertex; - -/* - * These don't make much sense now, but they will later when we add more - * features. - */ -ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); -ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); - - -/* - * The values of data_id that can be used with dGeomTriMeshDataSet/dGeomTriMeshDataGet - */ -enum -{ - dTRIMESHDATA__MIN, - - dTRIMESHDATA_FACE_NORMALS = dTRIMESHDATA__MIN, - dTRIMESHDATA_USE_FLAGS, - - dTRIMESHDATA__MAX, - -#ifndef TRIMESH_FACE_NORMALS // Define this name during the header inclusion if you need it for something else - // Included for backward compatibility -- please use the corrected name above. Sorry. - TRIMESH_FACE_NORMALS = dTRIMESHDATA_FACE_NORMALS, -#endif -}; - -/* - * The flags of the dTRIMESHDATA_USE_FLAGS data elements - */ -enum -{ - dMESHDATAUSE_EDGE1 = 0x01, - dMESHDATAUSE_EDGE2 = 0x02, - dMESHDATAUSE_EDGE3 = 0x04, - dMESHDATAUSE_VERTEX1 = 0x08, - dMESHDATAUSE_VERTEX2 = 0x10, - dMESHDATAUSE_VERTEX3 = 0x20, -}; - -/* - * Set and get the TriMeshData additional data - * Note: The data is NOT COPIED on assignment - */ -ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void *in_data); -ODE_API void *dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); -ODE_API void *dGeomTriMeshDataGet2(dTriMeshDataID g, int data_id, dsizeint *pout_size/*=NULL*/); - - - -/** - * We need to set the last transform after each time step for - * accurate collision response. These functions get and set that transform. - * It is stored per geom instance, rather than per dTriMeshDataID. - */ -ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, const dMatrix4 last_trans ); -ODE_API const dReal* dGeomTriMeshGetLastTransform( dGeomID g ); - -/* - * Build a TriMesh data object with single precision vertex data. - */ -ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); -/* -* Build a TriMesh data object with double precision vertex data. -*/ -ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, - const void* Vertices, int VertexStride, int VertexCount, - const void* Indices, int IndexCount, int TriStride, - const void* Normals); - -/* - * Simple build. Single/double precision based on dSINGLE/dDOUBLE! - */ -ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount); -/* same again with a normals array (used as trimesh-trimesh optimization) */ -ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, - const dReal* Vertices, int VertexCount, - const dTriIndex* Indices, int IndexCount, - const int* Normals); - - -/* - * Data preprocessing build request flags. - */ -enum -{ - dTRIDATAPREPROCESS_BUILD__MIN, - - dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES = dTRIDATAPREPROCESS_BUILD__MIN, // Used to optimize OPCODE trimesh-capsule collisions; allocates 1 byte per triangle; no extra data associated - dTRIDATAPREPROCESS_BUILD_FACE_ANGLES, // Used to aid trimesh-convex collisions; memory requirements depend on extra data - - dTRIDATAPREPROCESS_BUILD__MAX, -}; - -/* - * Data preprocessing extra values for dTRIDATAPREPROCESS_BUILD_FACE_ANGLES. - */ -enum -{ - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, // Build angles for convex edges only and store as bytes; allocates 3 bytes per triangle; stores angles (0..180] in 1/254 fractions leaving two values for the flat and all the concaves - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL, // Build angles for all the edges and store in bytes; allocates 3 bytes per triangle; stores angles [-180..0) and (0..180] in 1/127 fractions plus a value for the flat angle - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL, // Build angles for all the edges and store in words; allocates 6 bytes per triangle; stores angles [-180..0) and (0..180] in 1/32767 fractions plus a value for the flat angle - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MAX, - - dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__DEFAULT = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE, // The default value assumed if the extra data is not provided -}; - - -/* - * Pre-process the trimesh data according to the request flags. - * - * buildRequestFlags is a bitmask of 1U << dTRIDATAPREPROCESS_BUILD_... - * It is allowed to call the function multiple times provided the bitmasks are different each time. - * - * requestExtraData is an optional pointer to array of extra parameters per bitmask bits - * (only the elements indexed by positions of raised bits are examined; - * defaults are assumed if the pointer is NULL) - * - * The function returns a boolean status the only failure reason being insufficient memory. - */ -ODE_API int dGeomTriMeshDataPreprocess2(dTriMeshDataID g, unsigned int buildRequestFlags, const dintptr *requestExtraData/*=NULL | const dintptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/); - -/* - * Obsolete. Equivalent to calling dGeomTriMeshDataPreprocess2(g, (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES), NULL) - */ -ODE_API int dGeomTriMeshDataPreprocess(dTriMeshDataID g); - - - -/* - * Get and set the internal preprocessed trimesh data buffer (see the enumerated type above), for loading and saving - * These functions are deprecated. Use dGeomTriMeshDataSet/dGeomTriMeshDataGet2 with dTRIMESHDATA_USE_FLAGS instead. - */ -ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); -ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf); - - -/* - * Per triangle callback. Allows the user to say if he wants a collision with - * a particular triangle. - */ -typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); -ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback); -ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g); - -/* - * Per object callback. Allows the user to get the list of triangles in 1 - * shot. Maybe we should remove this one. - */ -typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); -ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback); -ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g); - -/* - * Ray callback. - * Allows the user to say if a ray collides with a triangle on barycentric - * coords. The user can for example sample a texture with alpha transparency - * to determine if a collision should occur. - */ -typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); -ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback); -ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g); - -/* - * Triangle merging callback. - * Allows the user to generate a fake triangle index for a new contact generated - * from merging of two other contacts. That index could later be used by the - * user to determine attributes of original triangles used as sources for a - * merged contact. - */ -typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex); -ODE_API void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback); -ODE_API dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g); - -/* - * Trimesh class - * Construction. Callbacks are optional. - */ -ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); - -ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data); -ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); - - -/* enable/disable/check temporal coherence*/ -ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); -ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass); - -/* - * Clears the internal temporal coherence caches. When a geom has its - * collision checked with a trimesh once, data is stored inside the trimesh. - * With large worlds with lots of seperate objects this list could get huge. - * We should be able to do this automagically. - */ -ODE_API void dGeomTriMeshClearTCCache(dGeomID g); - - -/* - * returns the TriMeshDataID - */ -ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g); - -/* - * Gets a triangle. - */ -ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); - -/* - * Gets the point on the requested triangle and the given barycentric - * coordinates. - */ -ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); - -/* - -This is how the strided data works: - -struct StridedVertex{ - dVector3 Vertex; - // Userdata -}; -int VertexStride = sizeof(StridedVertex); - -struct StridedTri{ - int Indices[3]; - // Userdata -}; -int TriStride = sizeof(StridedTri); - -*/ - - -ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g); - -ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g); - -#ifdef __cplusplus -} -#endif - -#endif /* _ODE_COLLISION_TRIMESH_H_ */ - diff --git a/include/windows/ode/common.h b/include/windows/ode/common.h deleted file mode 100755 index 62fda78..0000000 --- a/include/windows/ode/common.h +++ /dev/null @@ -1,568 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COMMON_H_ -#define _ODE_COMMON_H_ - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* configuration stuff */ - -/* constants */ - -/* pi and 1/sqrt(2) are defined here if necessary because they don't get - * defined in on some platforms (like MS-Windows) - */ - -#ifndef M_PI -#define M_PI REAL(3.1415926535897932384626433832795029) -#endif -#ifndef M_PI_2 -#define M_PI_2 REAL(1.5707963267948966192313216916398) -#endif -#ifndef M_SQRT1_2 -#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490) -#endif - - -/* floating point data type, vector, matrix and quaternion types */ - -#if defined(dSINGLE) -typedef float dReal; -#ifdef dDOUBLE -#error You can only #define dSINGLE or dDOUBLE, not both. -#endif /* dDOUBLE */ -#elif defined(dDOUBLE) -typedef double dReal; -#else -#error You must #define dSINGLE or dDOUBLE -#endif - -/* Detect if we've got both trimesh engines enabled. */ -#if dTRIMESH_ENABLED -#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT -#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both. -#endif -#endif /* dTRIMESH_ENABLED */ - -/* - * Define a type for indices, either 16 or 32 bit, based on build option - * TODO: Currently GIMPACT only supports 32 bit indices. - */ -#if dTRIMESH_16BIT_INDICES -#if dTRIMESH_GIMPACT -typedef duint32 dTriIndex; -#else /* dTRIMESH_GIMPACT */ -typedef duint16 dTriIndex; -#endif /* dTRIMESH_GIMPACT */ -#else /* dTRIMESH_16BIT_INDICES */ -typedef duint32 dTriIndex; -#endif /* dTRIMESH_16BIT_INDICES */ - -/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified - * (used to compute matrix leading dimensions) - */ -#define dPAD(a) (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a)) - -typedef enum { - dSA__MIN, - - dSA_X = dSA__MIN, - dSA_Y, - dSA_Z, - - dSA__MAX, -} dSpaceAxis; - -typedef enum { - dMD__MIN, - - dMD_LINEAR = dMD__MIN, - dMD_ANGULAR, - - dMD__MAX, -} dMotionDynamics; - -typedef enum { - dDA__MIN, - - dDA__L_MIN = dDA__MIN + dMD_LINEAR * dSA__MAX, - - dDA_LX = dDA__L_MIN + dSA_X, - dDA_LY = dDA__L_MIN + dSA_Y, - dDA_LZ = dDA__L_MIN + dSA_Z, - - dDA__L_MAX = dDA__L_MIN + dSA__MAX, - - dDA__A_MIN = dDA__MIN + dMD_ANGULAR * dSA__MAX, - - dDA_AX = dDA__A_MIN + dSA_X, - dDA_AY = dDA__A_MIN + dSA_Y, - dDA_AZ = dDA__A_MIN + dSA_Z, - - dDA__A_MAX = dDA__A_MIN + dSA__MAX, - - dDA__MAX = dDA__MIN + dMD__MAX * dSA__MAX, -} dDynamicsAxis; - -typedef enum { - dV3E__MIN, - - dV3E__AXES_MIN = dV3E__MIN, - - dV3E_X = dV3E__AXES_MIN + dSA_X, - dV3E_Y = dV3E__AXES_MIN + dSA_Y, - dV3E_Z = dV3E__AXES_MIN + dSA_Z, - - dV3E__AXES_MAX = dV3E__AXES_MIN + dSA__MAX, - - dV3E_PAD = dV3E__AXES_MAX, - - dV3E__MAX, - - dV3E__AXES_COUNT = dV3E__AXES_MAX - dV3E__AXES_MIN, -} dVec3Element; - -typedef enum { - dV4E__MIN, - - dV4E_X = dV4E__MIN + dSA_X, - dV4E_Y = dV4E__MIN + dSA_Y, - dV4E_Z = dV4E__MIN + dSA_Z, - dV4E_O = dV4E__MIN + dSA__MAX, - - dV4E__MAX, -} dVec4Element; - -typedef enum { - dM3E__MIN, - - dM3E__X_MIN = dM3E__MIN + dSA_X * dV3E__MAX, - - dM3E__X_AXES_MIN = dM3E__X_MIN + dV3E__AXES_MIN, - - dM3E_XX = dM3E__X_MIN + dV3E_X, - dM3E_XY = dM3E__X_MIN + dV3E_Y, - dM3E_XZ = dM3E__X_MIN + dV3E_Z, - - dM3E__X_AXES_MAX = dM3E__X_MIN + dV3E__AXES_MAX, - - dM3E_XPAD = dM3E__X_MIN + dV3E_PAD, - - dM3E__X_MAX = dM3E__X_MIN + dV3E__MAX, - - dM3E__Y_MIN = dM3E__MIN + dSA_Y * dV3E__MAX, - - dM3E__Y_AXES_MIN = dM3E__Y_MIN + dV3E__AXES_MIN, - - dM3E_YX = dM3E__Y_MIN + dV3E_X, - dM3E_YY = dM3E__Y_MIN + dV3E_Y, - dM3E_YZ = dM3E__Y_MIN + dV3E_Z, - - dM3E__Y_AXES_MAX = dM3E__Y_MIN + dV3E__AXES_MAX, - - dM3E_YPAD = dM3E__Y_MIN + dV3E_PAD, - - dM3E__Y_MAX = dM3E__Y_MIN + dV3E__MAX, - - dM3E__Z_MIN = dM3E__MIN + dSA_Z * dV3E__MAX, - - dM3E__Z_AXES_MIN = dM3E__Z_MIN + dV3E__AXES_MIN, - - dM3E_ZX = dM3E__Z_MIN + dV3E_X, - dM3E_ZY = dM3E__Z_MIN + dV3E_Y, - dM3E_ZZ = dM3E__Z_MIN + dV3E_Z, - - dM3E__Z_AXES_MAX = dM3E__Z_MIN + dV3E__AXES_MAX, - - dM3E_ZPAD = dM3E__Z_MIN + dV3E_PAD, - - dM3E__Z_MAX = dM3E__Z_MIN + dV3E__MAX, - - dM3E__MAX = dM3E__MIN + dSA__MAX * dV3E__MAX, -} dMat3Element; - -typedef enum { - dM4E__MIN, - - dM4E__X_MIN = dM4E__MIN + dV4E_X * dV4E__MAX, - - dM4E_XX = dM4E__X_MIN + dV4E_X, - dM4E_XY = dM4E__X_MIN + dV4E_Y, - dM4E_XZ = dM4E__X_MIN + dV4E_Z, - dM4E_XO = dM4E__X_MIN + dV4E_O, - - dM4E__X_MAX = dM4E__X_MIN + dV4E__MAX, - - dM4E__Y_MIN = dM4E__MIN + dV4E_Y * dV4E__MAX, - - dM4E_YX = dM4E__Y_MIN + dV4E_X, - dM4E_YY = dM4E__Y_MIN + dV4E_Y, - dM4E_YZ = dM4E__Y_MIN + dV4E_Z, - dM4E_YO = dM4E__Y_MIN + dV4E_O, - - dM4E__Y_MAX = dM4E__Y_MIN + dV4E__MAX, - - dM4E__Z_MIN = dM4E__MIN + dV4E_Z * dV4E__MAX, - - dM4E_ZX = dM4E__Z_MIN + dV4E_X, - dM4E_ZY = dM4E__Z_MIN + dV4E_Y, - dM4E_ZZ = dM4E__Z_MIN + dV4E_Z, - dM4E_ZO = dM4E__Z_MIN + dV4E_O, - - dM4E__Z_MAX = dM4E__Z_MIN + dV4E__MAX, - - dM4E__O_MIN = dM4E__MIN + dV4E_O * dV4E__MAX, - - dM4E_OX = dM4E__O_MIN + dV4E_X, - dM4E_OY = dM4E__O_MIN + dV4E_Y, - dM4E_OZ = dM4E__O_MIN + dV4E_Z, - dM4E_OO = dM4E__O_MIN + dV4E_O, - - dM4E__O_MAX = dM4E__O_MIN + dV4E__MAX, - - dM4E__MAX = dM4E__MIN + dV4E__MAX * dV4E__MAX, -} dMat4Element; - -typedef enum { - dQUE__MIN, - - dQUE_R = dQUE__MIN, - - dQUE__AXIS_MIN, - - dQUE_I = dQUE__AXIS_MIN + dSA_X, - dQUE_J = dQUE__AXIS_MIN + dSA_Y, - dQUE_K = dQUE__AXIS_MIN + dSA_Z, - - dQUE__AXIS_MAX = dQUE__AXIS_MIN + dSA__MAX, - - dQUE__MAX = dQUE__AXIS_MAX, -} dQuatElement; - -/* these types are mainly just used in headers */ -typedef dReal dVector3[dV3E__MAX]; -typedef dReal dVector4[dV4E__MAX]; -typedef dReal dMatrix3[dM3E__MAX]; -typedef dReal dMatrix4[dM4E__MAX]; -typedef dReal dMatrix6[(dMD__MAX * dV3E__MAX) * (dMD__MAX * dSA__MAX)]; -typedef dReal dQuaternion[dQUE__MAX]; - - -/* precision dependent scalar math functions */ - -#if defined(dSINGLE) - -#define REAL(x) (x##f) /* form a constant */ -#define dRecip(x) ((1.0f/(x))) /* reciprocal */ -#define dSqrt(x) (sqrtf(x)) /* square root */ -#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */ -#define dSin(x) (sinf(x)) /* sine */ -#define dCos(x) (cosf(x)) /* cosine */ -#define dFabs(x) (fabsf(x)) /* absolute value */ -#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */ -#define dAsin(x) (asinf(x)) -#define dAcos(x) (acosf(x)) -#define dFMod(a,b) (fmodf(a,b)) /* modulo */ -#define dFloor(x) floorf(x) /* floor */ -#define dCeil(x) ceilf(x) /* ceil */ -#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */ -#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */ - -#ifdef HAVE___ISNANF -#define dIsNan(x) (__isnanf(x)) -#elif defined(HAVE__ISNANF) -#define dIsNan(x) (_isnanf(x)) -#elif defined(HAVE_ISNANF) -#define dIsNan(x) (isnanf(x)) -#else - /* - fall back to _isnan which is the VC way, - this may seem redundant since we already checked - for _isnan before, but if isnan is detected by - configure but is not found during compilation - we should always make sure we check for __isnanf, - _isnanf and isnanf in that order before falling - back to a default - */ -#define dIsNan(x) (_isnan(x)) -#endif - -#elif defined(dDOUBLE) - -#define REAL(x) (x) -#define dRecip(x) (1.0/(x)) -#define dSqrt(x) sqrt(x) -#define dRecipSqrt(x) (1.0/sqrt(x)) -#define dSin(x) sin(x) -#define dCos(x) cos(x) -#define dFabs(x) fabs(x) -#define dAtan2(y,x) atan2((y),(x)) -#define dAsin(x) asin(x) -#define dAcos(x) acos(x) -#define dFMod(a,b) (fmod((a),(b))) -#define dFloor(x) floor(x) -#define dCeil(x) ceil(x) -#define dCopySign(a,b) _ode_copysign(a, b) -#define dNextAfter(x, y) _ode_nextafter(x, y) - -#ifdef HAVE___ISNAN -#define dIsNan(x) (__isnan(x)) -#elif defined(HAVE__ISNAN) -#define dIsNan(x) (_isnan(x)) -#elif defined(HAVE_ISNAN) -#define dIsNan(x) (isnan(x)) -#else -#define dIsNan(x) (_isnan(x)) -#endif - -#else -#error You must #define dSINGLE or dDOUBLE -#endif - -ODE_PURE_INLINE dReal dMin(dReal x, dReal y) { return x <= y ? x : y; } -ODE_PURE_INLINE dReal dMax(dReal x, dReal y) { return x <= y ? y : x; } - - -/* internal object types (all prefixed with `dx') */ - -struct dxWorld; /* dynamics world */ -struct dxSpace; /* collision space */ -struct dxBody; /* rigid body (dynamics object) */ -struct dxGeom; /* geometry (collision object) */ -struct dxJoint; /* joint */ -struct dxJointGroup;/* joint group */ - - -typedef struct dxWorld *dWorldID; -typedef struct dxSpace *dSpaceID; -typedef struct dxBody *dBodyID; -typedef struct dxGeom *dGeomID; -typedef struct dxJoint *dJointID; -typedef struct dxJointGroup *dJointGroupID; - - -/* error numbers */ - -enum { - d_ERR_UNKNOWN = 0, /* unknown error */ - d_ERR_IASSERT, /* internal assertion failed */ - d_ERR_UASSERT, /* user assertion failed */ - d_ERR_LCP /* user assertion failed */ -}; - - -/* joint type numbers */ - -typedef enum { - dJointTypeNone = 0, /* or "unknown" */ - dJointTypeBall, - dJointTypeHinge, - dJointTypeSlider, - dJointTypeContact, - dJointTypeUniversal, - dJointTypeHinge2, - dJointTypeFixed, - dJointTypeNull, - dJointTypeAMotor, - dJointTypeLMotor, - dJointTypePlane2D, - dJointTypePR, - dJointTypePU, - dJointTypePiston, - dJointTypeDBall, - dJointTypeDHinge, - dJointTypeTransmission, -} dJointType; - - -/* an alternative way of setting joint parameters, using joint parameter - * structures and member constants. we don't actually do this yet. - */ - -/* -typedef struct dLimot { - int mode; - dReal lostop, histop; - dReal vel, fmax; - dReal fudge_factor; - dReal bounce, soft; - dReal suspension_erp, suspension_cfm; -} dLimot; - -enum { - dLimotLoStop = 0x0001, - dLimotHiStop = 0x0002, - dLimotVel = 0x0004, - dLimotFMax = 0x0008, - dLimotFudgeFactor = 0x0010, - dLimotBounce = 0x0020, - dLimotSoft = 0x0040 -}; -*/ - - -/* standard joint parameter names. why are these here? - because we don't want - * to include all the joint function definitions in joint.cpp. hmmmm. - * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument, - * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and - * paste between these two. - */ - -#define D_ALL_PARAM_NAMES(start) \ - /* parameters for limits and motors */ \ - dParamLoStop = start, \ - dParamHiStop, \ - dParamVel, \ - dParamLoVel, \ - dParamHiVel, \ - dParamFMax, \ - dParamFudgeFactor, \ - dParamBounce, \ - dParamCFM, \ - dParamStopERP, \ - dParamStopCFM, \ - /* parameters for suspension */ \ - dParamSuspensionERP, \ - dParamSuspensionCFM, \ - dParamERP, \ - - /* - * \enum D_ALL_PARAM_NAMES_X - * - * \var dParamGroup This is the starting value of the different group - * (i.e. dParamGroup1, dParamGroup2, dParamGroup3) - * It also helps in the use of parameter - * (dParamGroup2 | dParamFMax) == dParamFMax2 - */ -#define D_ALL_PARAM_NAMES_X(start,x) \ - dParamGroup ## x = start, \ - /* parameters for limits and motors */ \ - dParamLoStop ## x = start, \ - dParamHiStop ## x, \ - dParamVel ## x, \ - dParamLoVel ## x, \ - dParamHiVel ## x, \ - dParamFMax ## x, \ - dParamFudgeFactor ## x, \ - dParamBounce ## x, \ - dParamCFM ## x, \ - dParamStopERP ## x, \ - dParamStopCFM ## x, \ - /* parameters for suspension */ \ - dParamSuspensionERP ## x, \ - dParamSuspensionCFM ## x, \ - dParamERP ## x, - -enum { - D_ALL_PARAM_NAMES(0) - dParamsInGroup, /* < Number of parameter in a group */ - D_ALL_PARAM_NAMES_X(0x000,1) - D_ALL_PARAM_NAMES_X(0x100,2) - D_ALL_PARAM_NAMES_X(0x200,3) - - /* add a multiple of this constant to the basic parameter numbers to get - * the parameters for the second, third etc axes. - */ - dParamGroup=0x100 -}; - - -/* angular motor mode numbers */ - -enum { - dAMotorUser = 0, - dAMotorEuler = 1 -}; - -/* transmission joint mode numbers */ - -enum { - dTransmissionParallelAxes = 0, - dTransmissionIntersectingAxes = 1, - dTransmissionChainDrive = 2 -}; - - -/* joint force feedback information */ - -typedef struct dJointFeedback { - dVector3 f1; /* force applied to body 1 */ - dVector3 t1; /* torque applied to body 1 */ - dVector3 f2; /* force applied to body 2 */ - dVector3 t2; /* torque applied to body 2 */ -} dJointFeedback; - - -/* private functions that must be implemented by the collision library: - * (1) indicate that a geom has moved, (2) get the next geom in a body list. - * these functions are called whenever the position of geoms connected to a - * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or - * when the ODE step function updates the body state. - */ - -void dGeomMoved (dGeomID); -dGeomID dGeomGetBodyNext (dGeomID); - -/** - * dGetConfiguration returns the specific ODE build configuration as - * a string of tokens. The string can be parsed in a similar way to - * the OpenGL extension mechanism, the naming convention should be - * familiar too. The following extensions are reported: - * - * ODE - * ODE_single_precision - * ODE_double_precision - * ODE_EXT_no_debug - * ODE_EXT_trimesh - * ODE_EXT_opcode - * ODE_EXT_gimpact - * ODE_OPC_16bit_indices - * ODE_OPC_new_collider - * ODE_EXT_mt_collisions - * ODE_EXT_threading - * ODE_THR_builtin_impl - */ -ODE_API const char* dGetConfiguration (void); - -/** - * Helper to check for a token in the ODE configuration string. - * Caution, this function is case sensitive. - * - * @param token A configuration token, see dGetConfiguration for details - * - * @return 1 if exact token is present, 0 if not present - */ -ODE_API int dCheckConfiguration( const char* token ); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/compatibility.h b/include/windows/ode/compatibility.h deleted file mode 100755 index 218932a..0000000 --- a/include/windows/ode/compatibility.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COMPATIBILITY_H_ -#define _ODE_COMPATIBILITY_H_ - -/* - * ODE's backward compatibility system ensures that as ODE's API - * evolves, user code will not break. - */ - -/* - * These new rotation function names are more consistent with the - * rest of the API. - */ -#define dQtoR(q,R) dRfromQ((R),(q)) -#define dRtoQ(R,q) dQfromR((q),(R)) -#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q)) - - -#endif diff --git a/include/windows/ode/contact.h b/include/windows/ode/contact.h deleted file mode 100755 index 9091e99..0000000 --- a/include/windows/ode/contact.h +++ /dev/null @@ -1,110 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_CONTACT_H_ -#define _ODE_CONTACT_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -enum { - dContactMu2 = 0x001, /**< Use axis dependent friction */ - dContactAxisDep = 0x001, /**< Same as above */ - dContactFDir1 = 0x002, /**< Use FDir for the first friction value */ - dContactBounce = 0x004, /**< Restore collision energy anti-parallel to the normal */ - dContactSoftERP = 0x008, /**< Don't use global erp for penetration reduction */ - dContactSoftCFM = 0x010, /**< Don't use global cfm for penetration constraint */ - dContactMotion1 = 0x020, /**< Use a non-zero target velocity for the constraint */ - dContactMotion2 = 0x040, - dContactMotionN = 0x080, - dContactSlip1 = 0x100, /**< Force-dependent slip. */ - dContactSlip2 = 0x200, - dContactRolling = 0x400, /**< Rolling/Angular friction */ - - dContactApprox0 = 0x0000, - dContactApprox1_1 = 0x1000, - dContactApprox1_2 = 0x2000, - dContactApprox1_N = 0x4000, /**< For rolling friction */ - dContactApprox1 = 0x7000 -}; - - -typedef struct dSurfaceParameters { - /* must always be defined */ - int mode; - dReal mu; - - /* only defined if the corresponding flag is set in mode */ - dReal mu2; - dReal rho; /**< Rolling friction */ - dReal rho2; - dReal rhoN; /**< Spinning friction */ - dReal bounce; /**< Coefficient of restitution */ - dReal bounce_vel; /**< Bouncing threshold */ - dReal soft_erp; - dReal soft_cfm; - dReal motion1,motion2,motionN; - dReal slip1,slip2; -} dSurfaceParameters; - - -/** - * @brief Describe the contact point between two geoms. - * - * If two bodies touch, or if a body touches a static feature in its - * environment, the contact is represented by one or more "contact - * points", described by dContactGeom. - * - * The convention is that if body 1 is moved along the normal vector by - * a distance depth (or equivalently if body 2 is moved the same distance - * in the opposite direction) then the contact depth will be reduced to - * zero. This means that the normal vector points "in" to body 1. - * - * @ingroup collide - */ -typedef struct dContactGeom { - dVector3 pos; /*< contact position*/ - dVector3 normal; /*< normal vector*/ - dReal depth; /*< penetration depth*/ - dGeomID g1,g2; /*< the colliding geoms*/ - int side1,side2; /*< (to be documented)*/ -} dContactGeom; - - -/* contact info used by contact joint */ - -typedef struct dContact { - dSurfaceParameters surface; - dContactGeom geom; - dVector3 fdir1; -} dContact; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/cooperative.h b/include/windows/ode/cooperative.h deleted file mode 100755 index caebdec..0000000 --- a/include/windows/ode/cooperative.h +++ /dev/null @@ -1,229 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_COOPERATIVE_H_ -#define _ODE_COOPERATIVE_H_ - - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup coop Cooperative Algorithms - * - * Algorithms implemented as multiple threads doing work cooperatively. - */ - - -struct dxCooperative; -struct dxResourceRequirements; -struct dxResourceContainer; - -/** - * @brief A container for cooperative algorithms shared context - * - * The Cooperative is a container for cooperative algorithms shared context. - * At present it contains threading object (either a real one or a defaulted - * self-threading). - * - * Cooperative use in functions performing computations must be serialized. That is, - * functions referring to a single instance of Cooperative object must not be called in - * parallel. - */ -typedef struct dxCooperative *dCooperativeID; - - -/** - * @brief A container for resource requirements information - * - * The ResourceRequirements object is a container for descriptive information - * regarding what resources (memory, synchronization objects, etc.) need to be - * allocated for particular computations. The object can be used for accumulating - * resource requirement maxima over multiple functions and then allocating resources - * that would suffice for any of those function calls. - * - * ResourceRequirements objects maintain relations to Cooperative objects since - * amounts of resources that could be required can depend on characteristics of - * shared context, e.g. on maximal number of threads in the threading object. - * - * @ingroup coop - * @see dCooperativeID - * @see dResourceContainerID - */ -typedef struct dxResourceRequirements *dResourceRequirementsID; - -/** - * @brief A container for algorithm allocated resources - * - * The ResourceContainer object can contain resources allocated according to information - * in a ResourceRequirements. The resources inherit link to the threading object - * from the requirements they are allocated according to. - * - * @ingroup coop - * @see dResourceRequirementsID - * @see dCooperativeID - */ -typedef struct dxResourceContainer *dResourceContainerID; - - - /** - * @brief Creates a Cooperative object related to the specified threading. - * - * NULL's are allowed for the threading. In this case the default (global) self-threading - * object will be used. - * - * Use @c dCooperativeDestroy to destroy the object. The Cooperative object must exist - * until after all the objects referencing it are destroyed. - * - * @param functionInfo The threading functions to use - * @param threadingImpl The threading implementation object to use - * @returns The Cooperative object instance or NULL if allocation fails. - * @ingroup coop - * @see dCooperativeDestroy - */ -ODE_API dCooperativeID dCooperativeCreate(const dThreadingFunctionsInfo *functionInfo/*=NULL*/, dThreadingImplementationID threadingImpl/*=NULL*/); - - /** - * @brief Destroys Cooperative object. - * - * The Cooperative object can only be destroyed after all the objects referencing it. - * - * @param cooperative A Cooperative object to be deleted (NULL is allowed) - * @ingroup coop - * @see dCooperativeCreate - */ -ODE_API void dCooperativeDestroy(dCooperativeID cooperative); - - - /** - * @brief Creates a ResourceRequirements object related to a Cooperative. - * - * The object is purely descriptive and does not contain any resources by itself. - * The actual resources are allocated by means of ResourceContainer object. - * - * The object is created with empty requirements. It can be then used to accumulate - * requirements for one or more function calls and can be cloned or merged with others. - * The actual requirements information is added to the object by computation related - * functions. - * - * Use @c dResourceRequirementsDestroy to delete the object when it is no longer needed. - * - * @param cooperative A Cooperative object to be used - * @returns The ResourceRequirements object instance or NULL if allocation fails - * @ingroup coop - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsClone - * @see dResourceRequirementsMergeIn - * @see dCooperativeCreate - * @see dResourceContainerAcquire - */ -ODE_API dResourceRequirementsID dResourceRequirementsCreate(dCooperativeID cooperative); - - /** - * @brief Destroys ResourceRequirements object. - * - * The ResourceRequirements object can be destroyed at any time with no regards - * to other objects' lifetime. - * - * @param requirements A ResourceRequirements object to be deleted (NULL is allowed) - * @ingroup coop - * @see dResourceRequirementsCreate - */ -ODE_API void dResourceRequirementsDestroy(dResourceRequirementsID requirements); - - /** - * @brief Clones ResourceRequirements object. - * - * The function creates a copy of the ResourceRequirements object with all the - * contents and the relation to Cooperative matching. The object passed in - * the parameter is not changed. - * - * The object created with the function must later be destroyed with @c dResourceRequirementsDestroy. - * - * @param requirements A ResourceRequirements object to be cloned - * @returns A handle to the new object or NULL if allocation fails - * @ingroup coop - * @see dResourceRequirementsCreate - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsMergeIn - */ -ODE_API dResourceRequirementsID dResourceRequirementsClone(/*const */dResourceRequirementsID requirements); - - /** - * @brief Merges one ResourceRequirements object into another ResourceRequirements object. - * - * The function updates @a summaryRequirements requirements to be also sufficient - * for the purposes @a extraRequirements could be used for. The @a extraRequirements - * object is not changed. The both objects should normally have had been created - * with the same Cooperative object. - * - * @param summaryRequirements A ResourceRequirements object to be changed - * @param extraRequirements A ResourceRequirements the requirements to be taken from - * @ingroup coop - * @see dResourceRequirementsCreate - * @see dResourceRequirementsDestroy - * @see dResourceRequirementsClone - */ -ODE_API void dResourceRequirementsMergeIn(dResourceRequirementsID summaryRequirements, /*const */dResourceRequirementsID extraRequirements); - - - /** - * @brief Allocates resources as specified in ResourceRequirements object. - * - * The ResourceContainer object can be used in cooperative computation algorithms. - * - * The same @a requirements object can be passed to many resource allocations - * (with or without modifications) and can be deleted immediately, without waiting - * for the ResourceContainer object destruction. - * - * Use @c dResourceContainerDestroy to delete the object and release the resources - * when they are no longer needed. - * - * @param requirements The ResourceRequirements object to allocate resources according to - * @returns A ResourceContainer object instance with the resources allocated or NULL if allocation fails - * @ingroup coop - * @see dResourceContainerDestroy - * @see dResourceRequirementsCreate - */ -ODE_API dResourceContainerID dResourceContainerAcquire(/*const */dResourceRequirementsID requirements); - - /** - * @brief Destroys ResourceContainer object and releases resources allocated in it. - * - * @param resources A ResourceContainer object to be deleted (NULL is allowed) - * @ingroup coop - * @see dResourceContainerAcquire - */ -ODE_API void dResourceContainerDestroy(dResourceContainerID resources); - - -#ifdef __cplusplus -} // extern "C" -#endif - - -#endif // #ifndef _ODE_COOPERATIVE_H_ diff --git a/include/windows/ode/error.h b/include/windows/ode/error.h deleted file mode 100755 index 2eb7608..0000000 --- a/include/windows/ode/error.h +++ /dev/null @@ -1,63 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* this comes from the `reuse' library. copy any changes back to the source */ - -#ifndef _ODE_ERROR_H_ -#define _ODE_ERROR_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* all user defined error functions have this type. error and debug functions - * should not return. - */ -typedef void dMessageFunction (int errnum, const char *msg, va_list ap); - -/* set a new error, debug or warning handler. if fn is 0, the default handlers - * are used. - */ -ODE_API void dSetErrorHandler (dMessageFunction *fn); -ODE_API void dSetDebugHandler (dMessageFunction *fn); -ODE_API void dSetMessageHandler (dMessageFunction *fn); - -/* return the current error, debug or warning handler. if the return value is - * 0, the default handlers are in place. - */ -ODE_API dMessageFunction *dGetErrorHandler(void); -ODE_API dMessageFunction *dGetDebugHandler(void); -ODE_API dMessageFunction *dGetMessageHandler(void); - -/* generate a fatal error, debug trap or a message. */ -ODE_API void ODE_NORETURN dError (int num, const char *msg, ...); -ODE_API void ODE_NORETURN dDebug (int num, const char *msg, ...); -ODE_API void dMessage (int num, const char *msg, ...); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/export-dif.h b/include/windows/ode/export-dif.h deleted file mode 100755 index 4e97a8f..0000000 --- a/include/windows/ode/export-dif.h +++ /dev/null @@ -1,40 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_EXPORT_DIF_ -#define _ODE_EXPORT_DIF_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/mass.h b/include/windows/ode/mass.h deleted file mode 100755 index 493de10..0000000 --- a/include/windows/ode/mass.h +++ /dev/null @@ -1,144 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_MASS_H_ -#define _ODE_MASS_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -struct dMass; -typedef struct dMass dMass; - -/** - * Check if a mass structure has valid value. - * The function check if the mass and innertia matrix are positive definits - * - * @param m A mass structure to check - * - * @return 1 if both codition are met - */ -ODE_API int dMassCheck(const dMass *m); - -ODE_API void dMassSetZero (dMass *); - -ODE_API void dMassSetParameters (dMass *, dReal themass, - dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23); - -ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius); -ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius); - -ODE_API void dMassSetCapsule (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetCylinder (dMass *, dReal density, int direction, - dReal radius, dReal length); -ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, - dReal radius, dReal length); - -ODE_API void dMassSetBox (dMass *, dReal density, - dReal lx, dReal ly, dReal lz); -ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass, - dReal lx, dReal ly, dReal lz); - -ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g); - -ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g); - -ODE_API void dMassAdjust (dMass *, dReal newmass); - -ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z); - -ODE_API void dMassRotate (dMass *, const dMatrix3 R); - -ODE_API void dMassAdd (dMass *a, const dMass *b); - - -/* Backwards compatible API */ -ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); -ODE_API_DEPRECATED ODE_API void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); - - -struct dMass { - dReal mass; - dVector3 c; - dMatrix3 I; - -#ifdef __cplusplus - dMass() - { dMassSetZero (this); } - void setZero() - { dMassSetZero (this); } - void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz, - dReal I11, dReal I22, dReal I33, - dReal I12, dReal I13, dReal I23) - { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); } - - void setSphere (dReal density, dReal radius) - { dMassSetSphere (this,density,radius); } - void setSphereTotal (dReal total, dReal radius) - { dMassSetSphereTotal (this,total,radius); } - - void setCapsule (dReal density, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,density,direction,radius,length); } - void setCapsuleTotal (dReal total, int direction, dReal radius, dReal length) - { dMassSetCapsule (this,total,direction,radius,length); } - - void setCylinder(dReal density, int direction, dReal radius, dReal length) - { dMassSetCylinder (this,density,direction,radius,length); } - void setCylinderTotal(dReal total, int direction, dReal radius, dReal length) - { dMassSetCylinderTotal (this,total,direction,radius,length); } - - void setBox (dReal density, dReal lx, dReal ly, dReal lz) - { dMassSetBox (this,density,lx,ly,lz); } - void setBoxTotal (dReal total, dReal lx, dReal ly, dReal lz) - { dMassSetBoxTotal (this,total,lx,ly,lz); } - - void setTrimesh(dReal density, dGeomID g) - { dMassSetTrimesh (this, density, g); } - void setTrimeshTotal(dReal total, dGeomID g) - { dMassSetTrimeshTotal (this, total, g); } - - void adjust (dReal newmass) - { dMassAdjust (this,newmass); } - void translate (dReal x, dReal y, dReal z) - { dMassTranslate (this,x,y,z); } - void rotate (const dMatrix3 R) - { dMassRotate (this,R); } - void add (const dMass *b) - { dMassAdd (this,b); } -#endif -}; - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/matrix.h b/include/windows/ode/matrix.h deleted file mode 100755 index 329e86c..0000000 --- a/include/windows/ode/matrix.h +++ /dev/null @@ -1,200 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* optimized and unoptimized vector and matrix functions */ - -#ifndef _ODE_MATRIX_H_ -#define _ODE_MATRIX_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* set a vector/matrix of size n to all zeros, or to a specific value. */ - -ODE_API void dSetZero (dReal *a, int n); -ODE_API void dSetValue (dReal *a, int n, dReal value); - - -/* get the dot product of two n*1 vectors. if n <= 0 then - * zero will be returned (in which case a and b need not be valid). - */ - -ODE_API dReal dDot (const dReal *a, const dReal *b, int n); - - -/* get the dot products of (a0,b), (a1,b), etc and return them in outsum. - * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case - * the input vectors need not be valid). this function is somewhat faster - * than calling dDot() for all of the combinations separately. - */ - -/* NOT INCLUDED in the library for now. -void dMultidot2 (const dReal *a0, const dReal *a1, - const dReal *b, dReal *outsum, int n); -*/ - - -/* matrix multiplication. all matrices are stored in standard row format. - * the digit refers to the argument that is transposed: - * 0: A = B * C (sizes: A:p*r B:p*q C:q*r) - * 1: A = B' * C (sizes: A:p*r B:q*p C:q*r) - * 2: A = B * C' (sizes: A:p*r B:p*q C:r*q) - * case 1,2 are equivalent to saying that the operation is A=B*C but - * B or C are stored in standard column format. - */ - -ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); -ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r); - - -/* do an in-place cholesky decomposition on the lower triangle of the n*n - * symmetric matrix A (which is stored by rows). the resulting lower triangle - * will be such that L*L'=A. return 1 on success and 0 on failure (on failure - * the matrix is not positive definite). - */ - -ODE_API int dFactorCholesky (dReal *A, int n); - - -/* solve for x: L*L'*x = b, and put the result back into x. - * L is size n*n, b is size n*1. only the lower triangle of L is considered. - */ - -ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n); - - -/* compute the inverse of the n*n positive definite matrix A and put it in - * Ainv. this is not especially fast. this returns 1 on success (A was - * positive definite) or 0 on failure (not PD). - */ - -ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n); - - -/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no). - * positive definite means that x'*A*x > 0 for any x. this performs a - * cholesky decomposition of A. if the decomposition fails then the matrix - * is not positive definite. A is stored by rows. A is not altered. - */ - -ODE_API int dIsPositiveDefinite (const dReal *A, int n); - - -/* factorize a matrix A into L*D*L', where L is lower triangular with ones on - * the diagonal, and D is diagonal. - * A is an n*n matrix stored by rows, with a leading dimension of n rounded - * up to 4. L is written into the strict lower triangle of A (the ones are not - * written) and the reciprocal of the diagonal elements of D are written into - * d. - */ -ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip); - - -/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal, - * and x,b are n*1. b is overwritten with x. - * the leading dimension of L is `nskip'. - */ -ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip); - - -/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal, - * and x,b are n*1. b is overwritten with x. - * the leading dimension of L is `nskip'. - */ -ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip); - - -/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) - */ - -ODE_API void dScaleVector (dReal *a, const dReal *d, int n); - -/* The function is an alias for @c dScaleVector. - * It has been deprecated because of a wrong naming schema used. - */ -ODE_API_DEPRECATED ODE_API void dVectorScale (dReal *a, const dReal *d, int n); - - -/* given `L', a n*n lower triangular matrix with ones on the diagonal, - * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix - * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b. - * the leading dimension of L is `nskip'. - */ - -ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip); - - -/* given an L*D*L' factorization of an n*n matrix A, return the updated - * factorization L2*D2*L2' of A plus the following "top left" matrix: - * - * [ b a' ] <-- b is a[0] - * [ a 0 ] <-- a is a[1..n-1] - * - * - L has size n*n, its leading dimension is nskip. L is lower triangular - * with ones on the diagonal. only the lower triangle of L is referenced. - * - d has size n. d contains the reciprocal diagonal elements of D. - * - a has size n. - * the result is written into L, except that the left column of L and d[0] - * are not actually modified. see ldltaddTL.m for further comments. - */ -ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip); - - -/* given an L*D*L' factorization of a permuted matrix A, produce a new - * factorization for row and column `r' removed. - * - A has size n1*n1, its leading dimension in nskip. A is symmetric and - * positive definite. only the lower triangle of A is referenced. - * A itself may actually be an array of row pointers. - * - L has size n2*n2, its leading dimension in nskip. L is lower triangular - * with ones on the diagonal. only the lower triangle of L is referenced. - * - d has size n2. d contains the reciprocal diagonal elements of D. - * - p is a permutation vector. it contains n2 indexes into A. each index - * must be in the range 0..n1-1. - * - r is the row/column of L to remove. - * the new L will be written within the old L, i.e. will have the same leading - * dimension. the last row and column of L, and the last element of d, are - * undefined on exit. - * - * a fast O(n^2) algorithm is used. see ldltremove.m for further comments. - */ -ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, - int n1, int n2, int r, int nskip); - - -/* given an n*n matrix A (with leading dimension nskip), remove the r'th row - * and column by moving elements. the new matrix will have the same leading - * dimension. the last row and column of A are untouched on exit. - */ -ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r); - -#ifdef __cplusplus -} -#endif - - -#endif diff --git a/include/windows/ode/matrix_coop.h b/include/windows/ode/matrix_coop.h deleted file mode 100755 index 83f013c..0000000 --- a/include/windows/ode/matrix_coop.h +++ /dev/null @@ -1,291 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_MATRIX_COOP_H_ -#define _ODE_MATRIX_COOP_H_ - - -#include -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup matrix_coop Matrix Cooperative Algorithms - * - * Cooperative algorithms operating on matrices and vectors. - * - * @ingroup coop - */ - - -/** - * @brief Estimates resource requirements for a @c dCooperativelyFactorLDLT call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelyFactorLDLT with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelyFactorLDLT - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelyFactorLDLTResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively factorizes a matrix `A' into L*D*L' - * - * The function factorizes a matrix `A' into L*D*L', where `L' is lower triangular with ones on - * the diagonal, and `D' is diagonal. - * @a A is a rowCount*rowCount matrix stored by rows, with a leading dimension of @a rowCount rounded - * up at least to 4 elements. `L; is written into the strict lower triangle of @a A - * (the ones are not written) and the reciprocal of the diagonal elements of `D' are written into @a d. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelyFactorLDLTResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param A The `A' matrix - * @param d The `d' vector - * @param rowCount The row count in @a A and @a d - * @param rowskip The actual number of elements to be added to skip to next row in @a A - * @ingroup matrix_coop - * @see dEstimateCooperativelyFactorLDLTResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelySolveLDLT - */ -ODE_API void dCooperativelyFactorLDLT(dResourceContainerID resources, unsigned allowedThreadCount, - dReal *A, dReal *d, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveLDLT call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveLDLT with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveLDLT - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveLDLTResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L*D*L'*x=b - * - * Given `L', a rowCount*rowCount lower triangular matrix with ones on the diagonal, - * and `d', a rowCount*1 vector of the reciprocal diagonal elements of a rowCount*rowCount matrix - * D, the function solves L*D*L'*x=b where `x' and `b' are rowCount*1. - * The leading dimension of @a L is @a rowSkip. The resulting vector `x' overwrites @a b. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveLDLTResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param d The `d' vector - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L, @a d and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveLDLTResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveLDLT(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, const dReal *d, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveL1Straight call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveL1Straight with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveL1Straight - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveL1StraightResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L*x=b - * - * The function solves L*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, - * and `x', `b' are rowCount*1. The leading dimension of @a L is @a rowSkip. - * @a b is overwritten with `x'. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveL1StraightResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveL1StraightResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveL1Straight(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelySolveL1Transposed call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelySolveL1Transposed with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalRowCount Maximal value of rowCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelySolveL1Transposed - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelySolveL1TransposedResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalRowCount); - -/** - * @brief Cooperatively solves L'*x=b - * - * The function solves L'*x=b, where `L' is rowCount*rowCount lower triangular with ones on the diagonal, - * and `x', b are rowCount*1. The leading dimension of @a L is @a rowSkip. - * @a b is overwritten with `x'. - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelySolveL1TransposedResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param L The `L' matrix - * @param b The `b' vector; also the result is stored here - * @param rowCount The row count in @a L and @a b - * @param rowskip The actual number of elements to be added to skip to next row in @a L - * @ingroup matrix_coop - * @see dEstimateCooperativelySolveL1TransposedResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelySolveL1Transposed(dResourceContainerID resources, unsigned allowedThreadCount, - const dReal *L, dReal *b, unsigned rowCount, unsigned rowSkip); - - -/** - * @brief Estimates resource requirements for a @c dCooperativelyScaleVector call - * - * The function updates the contents of @a requirements to also suffice for calling - * @c dCooperativelyScaleVector with the given parameters. - * - * Note: The requirements that could have already been in the @a requirements parameter - * are never decreased. - * - * @param requirements The ResourceRequirements object to update - * @param maximalAllowedThreadCount Maximal value of allowedThreadCount parameter that is going to be used - * @param maximalElementCount Maximal value of elementCount parameter that is going to be used - * @ingroup matrix_coop - * @see dCooperativelyScaleVector - * @see dResourceRequirementsCreate - */ -ODE_API void dEstimateCooperativelyScaleVectorResourceRequirements(dResourceRequirementsID requirements, - unsigned maximalAllowedThreadCount, unsigned maximalElementCount); - -/** - * @brief Multiplies elements of one vector by corresponding element of another one - * - * In matlab syntax, the operation performed is: dataVector(1:elementCount) = dataVector(1:elementCount) .* scaleVector(1:elementCount) - * - * The @a resources must have had been allocated from a ResourceRequirements object - * estimated in @c dEstimateCooperativelyScaleVectorResourceRequirements. - * - * The operation is performed cooperatively by up to @a allowedThreadCount threads - * from thread pool available in @a resources. The threading must must not be simultaneously - * used (via other @c dResourceContainerID instances) in other calls that employ its features. - * - * @param resources The resources allocated for the function - * @param allowedThreadCount Maximum thread count to use (the actual thread count could be less, depending on other parameters) - * @param dataVector The vector to be scaled in place - * @param scaleVector The scale vector - * @param elementCount The number of elements in @a dataVector and @a scaleVector - * @ingroup matrix_coop - * @see dEstimateCooperativelyScaleVectorResourceRequirements - * @see dResourceContainerAcquire - * @see dCooperativelyFactorLDLT - */ -ODE_API void dCooperativelyScaleVector(dResourceContainerID resources, unsigned allowedThreadCount, - dReal *dataVector, const dReal *scaleVector, unsigned elementCount); - - -#ifdef __cplusplus -} // extern "C" -#endif - - -#endif // #ifndef _ODE_MATRIX_COOP_H_ diff --git a/include/windows/ode/memory.h b/include/windows/ode/memory.h deleted file mode 100755 index 39bded1..0000000 --- a/include/windows/ode/memory.h +++ /dev/null @@ -1,59 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* this comes from the `reuse' library. copy any changes back to the source */ - -#ifndef _ODE_MEMORY_H_ -#define _ODE_MEMORY_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/* function types to allocate and free memory */ -typedef void * dAllocFunction (dsizeint size); -typedef void * dReallocFunction (void *ptr, dsizeint oldsize, dsizeint newsize); -typedef void dFreeFunction (void *ptr, dsizeint size); - -/* set new memory management functions. if fn is 0, the default handlers are - * used. */ -ODE_API void dSetAllocHandler (dAllocFunction *fn); -ODE_API void dSetReallocHandler (dReallocFunction *fn); -ODE_API void dSetFreeHandler (dFreeFunction *fn); - -/* get current memory management functions */ -ODE_API dAllocFunction *dGetAllocHandler (void); -ODE_API dReallocFunction *dGetReallocHandler (void); -ODE_API dFreeFunction *dGetFreeHandler (void); - -/* allocate and free memory. */ -ODE_API void * dAlloc (dsizeint size); -ODE_API void * dRealloc (void *ptr, dsizeint oldsize, dsizeint newsize); -ODE_API void dFree (void *ptr, dsizeint size); - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/misc.h b/include/windows/ode/misc.h deleted file mode 100755 index 75fe58f..0000000 --- a/include/windows/ode/misc.h +++ /dev/null @@ -1,86 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* miscellaneous math functions. these are mostly useful for testing */ - -#ifndef _ODE_MISC_H_ -#define _ODE_MISC_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* return 1 if the random number generator is working. */ -ODE_API int dTestRand(void); - -/* return next 32 bit random number. this uses a not-very-random linear - * congruential method. - */ -ODE_API unsigned long dRand(void); - -/* get and set the current random number seed. */ -ODE_API unsigned long dRandGetSeed(void); -ODE_API void dRandSetSeed (unsigned long s); - -/* return a random integer between 0..n-1. the distribution will get worse - * as n approaches 2^32. - */ -ODE_API int dRandInt (int n); - -/* return a random real number between 0..1 */ -ODE_API dReal dRandReal(void); - -/* print out a matrix */ -ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f); - -/* make a random vector with entries between +/- range. A has n elements. */ -ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); - -/* make a random matrix with entries between +/- range. A has size n*m. */ -ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); - -/* clear the upper triangle of a square matrix */ -ODE_API void dClearUpperTriangle (dReal *A, int n); - -/* return the maximum element difference between the two n*m matrices */ -ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m); - -/* return the maximum element difference between the lower triangle of two - * n*n matrices */ -ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); - - -#ifdef __cplusplus -} -#endif - - -#ifdef __cplusplus -static inline void dPrintMatrix (const dReal *A, int n, int m, const char *fmt="%10.4f ") { dPrintMatrix(A, n, m, fmt, stdout); } -#endif - - -#endif diff --git a/include/windows/ode/objects.h b/include/windows/ode/objects.h deleted file mode 100755 index d6f13e3..0000000 --- a/include/windows/ode/objects.h +++ /dev/null @@ -1,3396 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_OBJECTS_H_ -#define _ODE_OBJECTS_H_ - -#include -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup world World - * - * The world object is a container for rigid bodies and joints. Objects in - * different worlds can not interact, for example rigid bodies from two - * different worlds can not collide. - * - * All the objects in a world exist at the same point in time, thus one - * reason to use separate worlds is to simulate systems at different rates. - * Most applications will only need one world. - */ - -/** - * @brief Create a new, empty world and return its ID number. - * @return an identifier - * @ingroup world - */ -ODE_API dWorldID dWorldCreate(void); - - -/** - * @brief Destroy a world and everything in it. - * - * This includes all bodies, and all joints that are not part of a joint - * group. Joints that are part of a joint group will be deactivated, and - * can be destroyed by calling, for example, dJointGroupEmpty(). - * @ingroup world - * @param world the identifier for the world the be destroyed. - */ -ODE_API void dWorldDestroy (dWorldID world); - - -/** - * @brief Set the user-data pointer - * @param world the world to set the data on - * @param data - * @ingroup world - */ -ODE_API void dWorldSetData (dWorldID world, void* data); - - -/** - * @brief Get the user-data pointer - * @param world the world to set the data on - * @param data - * @ingroup world - */ -ODE_API void* dWorldGetData (dWorldID world); - - -/** - * @brief Set the world's global gravity vector. - * - * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), - * assuming that +z is up. The default is no gravity, i.e. (0,0,0). - * - * @ingroup world - */ -ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); - - -/** - * @brief Get the gravity vector for a given world. - * @ingroup world - */ -ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity); - - -/** - * @brief Set the global ERP value, that controls how much error - * correction is performed in each time step. - * @ingroup world - * @param dWorldID the identifier of the world. - * @param erp Typical values are in the range 0.1--0.8. The default is 0.2. - */ -ODE_API void dWorldSetERP (dWorldID, dReal erp); - -/** - * @brief Get the error reduction parameter. - * @ingroup world - * @return ERP value - */ -ODE_API dReal dWorldGetERP (dWorldID); - - -/** - * @brief Set the global CFM (constraint force mixing) value. - * @ingroup world - * @param cfm Typical values are in the range @m{10^{-9}} -- 1. - * The default is 10^-5 if single precision is being used, or 10^-10 - * if double precision is being used. - */ -ODE_API void dWorldSetCFM (dWorldID, dReal cfm); - -/** - * @brief Get the constraint force mixing value. - * @ingroup world - * @return CFM value - */ -ODE_API dReal dWorldGetCFM (dWorldID); - - -#define dWORLDSTEP_THREADCOUNT_UNLIMITED dTHREADING_THREAD_COUNT_UNLIMITED - -/** - * @brief Set maximum threads to be used for island stepping - * - * The actual number of threads that is going to be used will be the minimum - * of this limit and number of threads in the threading pool. By default - * there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED). - * - * @warning - * WARNING! Running island stepping in multiple threads requires allocating - * individual stepping memory buffer for each of those threads. The size of buffers - * allocated is the size needed to handle the largest island in the world. - * - * Note: Setting a limit for island stepping does not affect threading at lower - * levels in stepper functions. The sub-calls scheduled from them can be executed - * in as many threads as there are available in the pool. - * - * @param w The world affected - * @param count Thread count limit value for island stepping - * @ingroup world - * @see dWorldGetStepIslandsProcessingMaxThreadCount - */ -ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count); -/** - * @brief Get maximum threads that are allowed to be used for island stepping. - * - * Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for - * important information regarding the value returned. - * - * @param w The world queried - * @returns Current thread count limit value for island stepping - * @ingroup world - * @see dWorldSetStepIslandsProcessingMaxThreadCount - */ -ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w); - -/** - * @brief Set the world to use shared working memory along with another world. - * - * The worlds allocate working memory internally for simulation stepping. This - * memory is cached among the calls to @c dWordStep and @c dWorldQuickStep. - * Similarly, several worlds can be set up to share this memory caches thus - * reducing overall memory usage by cost of making worlds inappropriate for - * simultaneous simulation in multiple threads. - * - * If null value is passed for @a from_world parameter the world is detached from - * sharing and returns to defaults for working memory, reservation policy and - * memory manager as if just created. This can also be used to enable use of shared - * memory for a world that has already had working memory allocated privately. - * Normally using shared memory after a world has its private working memory allocated - * is prohibited. - * - * Allocation policy used can only increase world's internal reserved memory size - * and never decreases it. @c dWorldCleanupWorkingMemory can be used to release - * working memory for a world in case if number of objects/joint decreases - * significantly in it. - * - * With sharing working memory worlds also automatically share memory reservation - * policy and memory manager. Thus, these parameters need to be customized for - * initial world to be used as sharing source only. - * - * If worlds share working memory they must also use compatible threading implementations - * (i.e. it is illegal for one world to perform stepping with self-threaded implementation - * when the other world is assigned a multi-threaded implementation). - * For more information read section about threading approaches in ODE. - * - * Failure result status means a memory allocation failure. - * - * @param w The world to use the shared memory with. - * @param from_world Null or the world the shared memory is to be used from. - * @returns 1 for success and 0 for failure. - * - * @ingroup world - * @see dWorldCleanupWorkingMemory - * @see dWorldSetStepMemoryReservationPolicy - * @see dWorldSetStepMemoryManager - */ -ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/); - -/** - * @brief Release internal working memory allocated for world - * - * The worlds allocate working memory internally for simulation stepping. This - * function can be used to free world's internal memory cache in case if number of - * objects/joints in the world decreases significantly. By default, internal - * allocation policy is used to only increase cache size as necessary and never - * decrease it. - * - * If a world shares its working memory with other worlds the cache deletion - * affects all the linked worlds. However the shared status itself remains intact. - * - * The function call does affect neither memory reservation policy nor memory manager. - * - * @param w The world to release working memory for. - * - * @ingroup world - * @see dWorldUseSharedWorkingMemory - * @see dWorldSetStepMemoryReservationPolicy - * @see dWorldSetStepMemoryManager - */ -ODE_API void dWorldCleanupWorkingMemory(dWorldID w); - - -#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f -#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U - -/** - * @struct dWorldStepReserveInfo - * @brief Memory reservation policy descriptor structure for world stepping functions. - * - * @c struct_size should be assigned the size of the structure. - * - * @c reserve_factor is a quotient that is multiplied by required memory size - * to allocate extra reserve whenever reallocation is needed. - * - * @c reserve_minimum is a minimum size that is checked against whenever reallocation - * is needed to allocate expected working memory minimum at once without extra - * reallocations as number of bodies/joints grows. - * - * @ingroup world - * @see dWorldSetStepMemoryReservationPolicy - */ -typedef struct -{ - unsigned struct_size; - float reserve_factor; /* Use float as precision does not matter here*/ - unsigned reserve_minimum; - -} dWorldStepReserveInfo; - -/** - * @brief Set memory reservation policy for world to be used with simulation stepping functions - * - * The function allows to customize reservation policy to be used for internal - * memory which is allocated to aid simulation for a world. By default, values - * of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT - * are used. - * - * Passing @a policyinfo argument as NULL results in reservation policy being - * reset to defaults as if the world has been just created. The content of - * @a policyinfo structure is copied internally and does not need to remain valid - * after the call returns. - * - * If the world uses working memory sharing, changing memory reservation policy - * affects all the worlds linked together. - * - * Failure result status means a memory allocation failure. - * - * @param w The world to change memory reservation policy for. - * @param policyinfo Null or a pointer to policy descriptor structure. - * @returns 1 for success and 0 for failure. - * - * @ingroup world - * @see dWorldUseSharedWorkingMemory - */ -ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/); - -/** -* @struct dWorldStepMemoryFunctionsInfo -* @brief World stepping memory manager descriptor structure -* -* This structure is intended to define the functions of memory manager to be used -* with world stepping functions. -* -* @c struct_size should be assigned the size of the structure -* -* @c alloc_block is a function to allocate memory block of given size. -* -* @c shrink_block is a function to shrink existing memory block to a smaller size. -* It must preserve the contents of block head while shrinking. The new block size -* is guaranteed to be always less than the existing one. -* -* @c free_block is a function to delete existing memory block. -* -* @ingroup init -* @see dWorldSetStepMemoryManager -*/ -typedef struct -{ - unsigned struct_size; - void *(*alloc_block)(dsizeint block_size); - void *(*shrink_block)(void *block_pointer, dsizeint block_current_size, dsizeint block_smaller_size); - void (*free_block)(void *block_pointer, dsizeint block_current_size); - -} dWorldStepMemoryFunctionsInfo; - -/** -* @brief Set memory manager for world to be used with simulation stepping functions -* -* The function allows to customize memory manager to be used for internal -* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree -* based memory manager is used. -* -* Passing @a memfuncs argument as NULL results in memory manager being -* reset to default one as if the world has been just created. The content of -* @a memfuncs structure is copied internally and does not need to remain valid -* after the call returns. -* -* If the world uses working memory sharing, changing memory manager -* affects all the worlds linked together. -* -* Failure result status means a memory allocation failure. -* -* @param w The world to change memory reservation policy for. -* @param memfuncs Null or a pointer to memory manager descriptor structure. -* @returns 1 for success and 0 for failure. -* -* @ingroup world -* @see dWorldUseSharedWorkingMemory -*/ -ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs); - -/** - * @brief Assign threading implementation to be used for [quick]stepping the world. - * - * @warning It is not recommended to assign the same threading implementation to - * different worlds if they are going to be called in parallel. In particular this - * makes resources preallocation for threaded calls to lose its sense. - * Built-in threading implementation is likely to crash if misused this way. - * - * @param w The world to change threading implementation for. - * @param functions_info Pointer to threading functions structure - * @param threading_impl ID of threading implementation object - * - * @ingroup world - */ -ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl); - -/** - * @brief Step the world. - * - * This uses a "big matrix" method that takes time on the order of m^3 - * and memory on the order of m^2, where m is the total number of constraint - * rows. For large systems this will use a lot of memory and can be very slow, - * but this is currently the most accurate method. - * - * Failure result status means that the memory allocation has failed for operation. - * In such a case all the objects remain in unchanged state and simulation can be - * retried as soon as more memory is available. - * - * @param w The world to be stepped - * @param stepsize The number of seconds that the simulation has to advance. - * @returns 1 for success and 0 for failure - * - * @ingroup world - */ -ODE_API int dWorldStep (dWorldID w, dReal stepsize); - -/** - * @brief Quick-step the world. - * - * This uses an iterative method that takes time on the order of m*N - * and memory on the order of m, where m is the total number of constraint - * rows N is the number of iterations. - * For large systems this is a lot faster than dWorldStep(), - * but it is less accurate. - * - * QuickStep is great for stacks of objects especially when the - * auto-disable feature is used as well. - * However, it has poor accuracy for near-singular systems. - * Near-singular systems can occur when using high-friction contacts, motors, - * or certain articulated structures. For example, a robot with multiple legs - * sitting on the ground may be near-singular. - * - * There are ways to help overcome QuickStep's inaccuracy problems: - * - * \li Increase CFM. - * \li Reduce the number of contacts in your system (e.g. use the minimum - * number of contacts for the feet of a robot or creature). - * \li Don't use excessive friction in the contacts. - * \li Use contact slip if appropriate - * \li Avoid kinematic loops (however, kinematic loops are inevitable in - * legged creatures). - * \li Don't use excessive motor strength. - * \liUse force-based motors instead of velocity-based motors. - * - * Increasing the number of QuickStep iterations may help a little bit, but - * it is not going to help much if your system is really near singular. - * - * Failure result status means that the memory allocation has failed for operation. - * In such a case all the objects remain in unchanged state and simulation can be - * retried as soon as more memory is available. - * - * @param w The world to be stepped - * @param stepsize The number of seconds that the simulation has to advance. - * @returns 1 for success and 0 for failure - * - * @ingroup world - */ -ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize); - - -/** -* @brief Converts an impulse to a force. -* @ingroup world -* @remarks -* If you want to apply a linear or angular impulse to a rigid body, -* instead of a force or a torque, then you can use this function to convert -* the desired impulse into a force/torque vector before calling the -* BodyAdd... function. -* The current algorithm simply scales the impulse by 1/stepsize, -* where stepsize is the step size for the next step that will be taken. -* This function is given a dWorldID because, in the future, the force -* computation may depend on integrator parameters that are set as -* properties of the world. -*/ -ODE_API void dWorldImpulseToForce -( - dWorldID, dReal stepsize, - dReal ix, dReal iy, dReal iz, dVector3 force - ); - - -/** - * @brief Set the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @remarks - * More iterations will give a more accurate solution, but will take - * longer to compute. - * @param num The default is 20 iterations. - */ -ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num); - - -/** - * @brief Get the number of iterations that the QuickStep method performs per - * step. - * @ingroup world - * @return nr of iterations - */ -ODE_API int dWorldGetQuickStepNumIterations (dWorldID); - -/** - * @brief Set the SOR over-relaxation parameter - * @ingroup world - * @param over_relaxation value to use by SOR - */ -ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation); - -/** - * @brief Get the SOR over-relaxation parameter - * @ingroup world - * @returns the over-relaxation setting - */ -ODE_API dReal dWorldGetQuickStepW (dWorldID); - -/* World contact parameter functions */ - -/** - * @brief Set the maximum correcting velocity that contacts are allowed - * to generate. - * @ingroup world - * @param vel The default value is infinity (i.e. no limit). - * @remarks - * Reducing this value can help prevent "popping" of deeply embedded objects. - */ -ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel); - -/** - * @brief Get the maximum correcting velocity that contacts are allowed - * to generated. - * @ingroup world - */ -ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID); - -/** - * @brief Set the depth of the surface layer around all geometry objects. - * @ingroup world - * @remarks - * Contacts are allowed to sink into the surface layer up to the given - * depth before coming to rest. - * @param depth The default value is zero. - * @remarks - * Increasing this to some small value (e.g. 0.001) can help prevent - * jittering problems due to contacts being repeatedly made and broken. - */ -ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth); - -/** - * @brief Get the depth of the surface layer around all geometry objects. - * @ingroup world - * @returns the depth - */ -ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); - - -/** - * @defgroup disable Automatic Enabling and Disabling - * @ingroup world bodies - * - * Every body can be enabled or disabled. Enabled bodies participate in the - * simulation, while disabled bodies are turned off and do not get updated - * during a simulation step. New bodies are always created in the enabled state. - * - * A disabled body that is connected through a joint to an enabled body will be - * automatically re-enabled at the next simulation step. - * - * Disabled bodies do not consume CPU time, therefore to speed up the simulation - * bodies should be disabled when they come to rest. This can be done automatically - * with the auto-disable feature. - * - * If a body has its auto-disable flag turned on, it will automatically disable - * itself when - * @li It has been idle for a given number of simulation steps. - * @li It has also been idle for a given amount of simulation time. - * - * A body is considered to be idle when the magnitudes of both its - * linear average velocity and angular average velocity are below given thresholds. - * The sample size for the average defaults to one and can be disabled by setting - * to zero with - * - * Thus, every body has six auto-disable parameters: an enabled flag, a idle step - * count, an idle time, linear/angular average velocity thresholds, and the - * average samples count. - * - * Newly created bodies get these parameters from world. - */ - -/** - * @brief Get auto disable linear average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); - -/** - * @brief Set auto disable linear average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); - -/** - * @brief Set auto disable angular average threshold for newly created bodies. - * @param linear_average_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_average_threshold); - -/** - * @brief Get auto disable sample count for newly created bodies. - * @ingroup disable - * @return number of samples used - */ -ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID); - -/** - * @brief Set auto disable average sample count for newly created bodies. - * @ingroup disable - * @param average_samples_count Default is 1, meaning only instantaneous velocity is used. - * Set to zero to disable sampling and thus prevent any body from auto-disabling. - */ -ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count ); - -/** - * @brief Get auto disable steps for newly created bodies. - * @ingroup disable - * @return nr of steps - */ -ODE_API int dWorldGetAutoDisableSteps (dWorldID); - -/** - * @brief Set auto disable steps for newly created bodies. - * @ingroup disable - * @param steps default is 10 - */ -ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps); - -/** - * @brief Get auto disable time for newly created bodies. - * @ingroup disable - * @return nr of seconds - */ -ODE_API dReal dWorldGetAutoDisableTime (dWorldID); - -/** - * @brief Set auto disable time for newly created bodies. - * @ingroup disable - * @param time default is 0 seconds - */ -ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time); - -/** - * @brief Get auto disable flag for newly created bodies. - * @ingroup disable - * @return 0 or 1 - */ -ODE_API int dWorldGetAutoDisableFlag (dWorldID); - -/** - * @brief Set auto disable flag for newly created bodies. - * @ingroup disable - * @param do_auto_disable default is false. - */ -ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable); - - -/** - * @defgroup damping Damping - * @ingroup bodies world - * - * Damping serves two purposes: reduce simulation instability, and to allow - * the bodies to come to rest (and possibly auto-disabling them). - * - * Bodies are constructed using the world's current damping parameters. Setting - * the scales to 0 disables the damping. - * - * Here is how it is done: after every time step linear and angular - * velocities are tested against the corresponding thresholds. If they - * are above, they are multiplied by (1 - scale). So a negative scale value - * will actually increase the speed, and values greater than one will - * make the object oscillate every step; both can make the simulation unstable. - * - * To disable damping just set the damping scale to zero. - * - * You can also limit the maximum angular velocity. In contrast to the damping - * functions, the angular velocity is affected before the body is moved. - * This means that it will introduce errors in joints that are forcing the body - * to rotate too fast. Some bodies have naturally high angular velocities - * (like cars' wheels), so you may want to give them a very high (like the default, - * dInfinity) limit. - * - * @note The velocities are damped after the stepper function has moved the - * object. Otherwise the damping could introduce errors in joints. First the - * joint constraints are processed by the stepper (moving the body), then - * the damping is applied. - * - * @note The damping happens right after the moved callback is called; this way - * it still possible use the exact velocities the body has acquired during the - * step. You can even use the callback to create your own customized damping. - */ - -/** - * @brief Get the world's linear damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w); - -/** - * @brief Set the world's linear damping threshold. - * @param threshold The damping won't be applied if the linear speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's angular damping threshold. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w); - -/** - * @brief Set the world's angular damping threshold. - * @param threshold The damping won't be applied if the angular speed is - * below this threshold. Default is 0.01. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold); - -/** - * @brief Get the world's linear damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetLinearDamping (dWorldID w); - -/** - * @brief Set the world's linear damping scale. - * @param scale The linear damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale); - -/** - * @brief Get the world's angular damping scale. - * @ingroup damping - */ -ODE_API dReal dWorldGetAngularDamping (dWorldID w); - -/** - * @brief Set the world's angular damping scale. - * @param scale The angular damping scale that is to be applied to bodies. - * Default is 0 (no damping). Should be in the interval [0, 1]. - * @ingroup damping - */ -ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale); - -/** - * @brief Convenience function to set body linear and angular scales. - * @param linear_scale The linear damping scale that is to be applied to bodies. - * @param angular_scale The angular damping scale that is to be applied to bodies. - * @ingroup damping - */ -ODE_API void dWorldSetDamping(dWorldID w, - dReal linear_scale, - dReal angular_scale); - -/** - * @brief Get the default maximum angular speed. - * @ingroup damping - * @sa dBodyGetMaxAngularSpeed() - */ -ODE_API dReal dWorldGetMaxAngularSpeed (dWorldID w); - - -/** - * @brief Set the default maximum angular speed for new bodies. - * @ingroup damping - * @sa dBodySetMaxAngularSpeed() - */ -ODE_API void dWorldSetMaxAngularSpeed (dWorldID w, dReal max_speed); - - - -/** - * @defgroup bodies Rigid Bodies - * - * A rigid body has various properties from the point of view of the - * simulation. Some properties change over time: - * - * @li Position vector (x,y,z) of the body's point of reference. - * Currently the point of reference must correspond to the body's center of mass. - * @li Linear velocity of the point of reference, a vector (vx,vy,vz). - * @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or - * a 3x3 rotation matrix. - * @li Angular velocity vector (wx,wy,wz) which describes how the orientation - * changes over time. - * - * Other body properties are usually constant over time: - * - * @li Mass of the body. - * @li Position of the center of mass with respect to the point of reference. - * In the current implementation the center of mass and the point of - * reference must coincide. - * @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass - * is distributed around the center of mass. Conceptually each body has an - * x-y-z coordinate frame embedded in it that moves and rotates with the body. - * - * The origin of this coordinate frame is the body's point of reference. Some values - * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others - * are relative to the global coordinate frame. - * - * Note that the shape of a rigid body is not a dynamical property (except insofar as - * it influences the various mass properties). It is only collision detection that cares - * about the detailed shape of the body. - */ - - -/** - * @brief Get auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID); - -/** - * @brief Set auto disable linear average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold); - -/** - * @brief Get auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID); - -/** - * @brief Set auto disable angular average threshold. - * @ingroup bodies disable - * @return the threshold - */ -ODE_API void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold); - -/** - * @brief Get auto disable average size (samples count). - * @ingroup bodies disable - * @return the nr of steps/size. - */ -ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID); - -/** - * @brief Set auto disable average buffer size (average steps). - * @ingroup bodies disable - * @param average_samples_count the nr of samples to review. - */ -ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count); - - -/** - * @brief Get auto steps a body must be thought of as idle to disable - * @ingroup bodies disable - * @return the nr of steps - */ -ODE_API int dBodyGetAutoDisableSteps (dBodyID); - -/** - * @brief Set auto disable steps. - * @ingroup bodies disable - * @param steps the nr of steps. - */ -ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps); - -/** - * @brief Get auto disable time. - * @ingroup bodies disable - * @return nr of seconds - */ -ODE_API dReal dBodyGetAutoDisableTime (dBodyID); - -/** - * @brief Set auto disable time. - * @ingroup bodies disable - * @param time nr of seconds. - */ -ODE_API void dBodySetAutoDisableTime (dBodyID, dReal time); - -/** - * @brief Get auto disable flag. - * @ingroup bodies disable - * @return 0 or 1 - */ -ODE_API int dBodyGetAutoDisableFlag (dBodyID); - -/** - * @brief Set auto disable flag. - * @ingroup bodies disable - * @param do_auto_disable 0 or 1 - */ -ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable); - -/** - * @brief Set auto disable defaults. - * @remarks - * Set the values for the body to those set as default for the world. - * @ingroup bodies disable - */ -ODE_API void dBodySetAutoDisableDefaults (dBodyID); - - -/** - * @brief Retrieves the world attached to te given body. - * @remarks - * - * @ingroup bodies - */ -ODE_API dWorldID dBodyGetWorld (dBodyID); - -/** - * @brief Create a body in given world. - * @remarks - * Default mass parameters are at position (0,0,0). - * @ingroup bodies - */ -ODE_API dBodyID dBodyCreate (dWorldID); - -/** - * @brief Destroy a body. - * @remarks - * All joints that are attached to this body will be put into limbo: - * i.e. unattached and not affecting the simulation, but they will NOT be - * deleted. - * @ingroup bodies - */ -ODE_API void dBodyDestroy (dBodyID); - -/** - * @brief Set the body's user-data pointer. - * @ingroup bodies - * @param data arbitraty pointer - */ -ODE_API void dBodySetData (dBodyID, void *data); - -/** - * @brief Get the body's user-data pointer. - * @ingroup bodies - * @return a pointer to the user's data. - */ -ODE_API void *dBodyGetData (dBodyID); - -/** - * @brief Set position of a body. - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - * @ingroup bodies - */ -ODE_API void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetRotation (dBodyID, const dMatrix3 R); - -/** - * @brief Set the orientation of a body. - * @ingroup bodies - * @remarks - * After setting, the outcome of the simulation is undefined - * if the new configuration is inconsistent with the joints/constraints - * that are present. - */ -ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q); - -/** - * @brief Set the linear velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Set the angular velocity of a body. - * @ingroup bodies - */ -ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the position of a body. - * @ingroup bodies - * @remarks - * When getting, the returned values are pointers to internal data structures, - * so the vectors are valid until any changes are made to the rigid body - * system structure. - * @sa dBodyCopyPosition - */ -ODE_API const dReal * dBodyGetPosition (dBodyID); - - -/** - * @brief Copy the position of a body into a vector. - * @ingroup bodies - * @param body the body to query - * @param pos a copy of the body position - * @sa dBodyGetPosition - */ -ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to a 4x3 rotation matrix. - */ -ODE_API const dReal * dBodyGetRotation (dBodyID); - - -/** - * @brief Copy the rotation of a body. - * @ingroup bodies - * @param body the body to query - * @param R a copy of the rotation matrix - * @sa dBodyGetRotation - */ -ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R); - - -/** - * @brief Get the rotation of a body. - * @ingroup bodies - * @return pointer to 4 scalars that represent the quaternion. - */ -ODE_API const dReal * dBodyGetQuaternion (dBodyID); - - -/** - * @brief Copy the orientation of a body into a quaternion. - * @ingroup bodies - * @param body the body to query - * @param quat a copy of the orientation quaternion - * @sa dBodyGetQuaternion - */ -ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat); - - -/** - * @brief Get the linear velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetLinearVel (dBodyID); - -/** - * @brief Get the angular velocity of a body. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetAngularVel (dBodyID); - -/** - * @brief Set the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodySetMass (dBodyID, const dMass *mass); - -/** - * @brief Get the mass of a body. - * @ingroup bodies - */ -ODE_API void dBodyGetMass (dBodyID, dMass *mass); - -/** - * @brief Add force at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in absolute coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add torque at centre of mass of body in coordinates relative to body. - * @ingroup bodies - */ -ODE_API void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); - -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in global coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); -/** - * @brief Add force at specified point in body in local coordinates. - * @ingroup bodies - */ -ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz); - -/** - * @brief Return the current accumulated force vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetForce (dBodyID); - -/** - * @brief Return the current accumulated torque vector. - * @return points to an array of 3 reals. - * @remarks - * The returned values are pointers to internal data structures, so - * the vectors are only valid until any changes are made to the rigid - * body system. - * @ingroup bodies - */ -ODE_API const dReal * dBodyGetTorque (dBodyID); - -/** - * @brief Set the body force accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Set the body torque accumulation vector. - * @remarks - * This is mostly useful to zero the force and torque for deactivated bodies - * before they are reactivated, in the case where the force-adding functions - * were called on them while they were deactivated. - * @ingroup bodies - */ -ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); - -/** - * @brief Get world position of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointPos -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a relative point on body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetRelPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Get velocity vector in global coords of a globally - * specified point on a body. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPointVel -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief takes a point in global coordinates and returns - * the point's position in body-relative coordinates. - * @remarks - * This is the inverse of dBodyGetRelPointPos() - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyGetPosRelPoint -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from local to world coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorToWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief Convert from world to local coordinates. - * @ingroup bodies - * @param result will contain the result. - */ -ODE_API void dBodyVectorFromWorld -( - dBodyID, dReal px, dReal py, dReal pz, - dVector3 result -); - -/** - * @brief controls the way a body's orientation is updated at each timestep. - * @ingroup bodies - * @param mode can be 0 or 1: - * \li 0: An ``infinitesimal'' orientation update is used. - * This is fast to compute, but it can occasionally cause inaccuracies - * for bodies that are rotating at high speed, especially when those - * bodies are joined to other bodies. - * This is the default for every new body that is created. - * \li 1: A ``finite'' orientation update is used. - * This is more costly to compute, but will be more accurate for high - * speed rotations. - * @remarks - * Note however that high speed rotations can result in many types of - * error in a simulation, and the finite mode will only fix one of those - * sources of error. - */ -ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode); - -/** - * @brief sets the finite rotation axis for a body. - * @ingroup bodies - * @remarks - * This is axis only has meaning when the finite rotation mode is set - * If this axis is zero (0,0,0), full finite rotations are performed on - * the body. - * If this axis is nonzero, the body is rotated by performing a partial finite - * rotation along the axis direction followed by an infinitesimal rotation - * along an orthogonal direction. - * @remarks - * This can be useful to alleviate certain sources of error caused by quickly - * spinning bodies. For example, if a car wheel is rotating at high speed - * you can call this function with the wheel's hinge axis as the argument to - * try and improve its behavior. - */ -ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); - -/** - * @brief Get the way a body's orientation is updated each timestep. - * @ingroup bodies - * @return the mode 0 (infitesimal) or 1 (finite). - */ -ODE_API int dBodyGetFiniteRotationMode (dBodyID); - -/** - * @brief Get the finite rotation axis. - * @param result will contain the axis. - * @ingroup bodies - */ -ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); - -/** - * @brief Get the number of joints that are attached to this body. - * @ingroup bodies - * @return nr of joints - */ -ODE_API int dBodyGetNumJoints (dBodyID b); - -/** - * @brief Return a joint attached to this body, given by index. - * @ingroup bodies - * @param index valid range is 0 to n-1 where n is the value returned by - * dBodyGetNumJoints(). - */ -ODE_API dJointID dBodyGetJoint (dBodyID, int index); - - - - -/** - * @brief Set rigid body to dynamic state (default). - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodySetDynamic (dBodyID); - -/** - * @brief Set rigid body to kinematic state. - * When in kinematic state the body isn't simulated as a dynamic - * body (it's "unstoppable", doesn't respond to forces), - * but can still affect dynamic bodies (e.g. in joints). - * Kinematic bodies can be controlled by position and velocity. - * @note A kinematic body has infinite mass. If you set its mass - * to something else, it loses the kinematic state and behaves - * as a normal dynamic body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodySetKinematic (dBodyID); - -/** - * @brief Check wether a body is in kinematic state. - * @ingroup bodies - * @return 1 if a body is kinematic or 0 if it is dynamic. - */ -ODE_API int dBodyIsKinematic (dBodyID); - -/** - * @brief Manually enable a body. - * @param dBodyID identification of body. - * @ingroup bodies - */ -ODE_API void dBodyEnable (dBodyID); - -/** - * @brief Manually disable a body. - * @ingroup bodies - * @remarks - * A disabled body that is connected through a joint to an enabled body will - * be automatically re-enabled at the next simulation step. - */ -ODE_API void dBodyDisable (dBodyID); - -/** - * @brief Check wether a body is enabled. - * @ingroup bodies - * @return 1 if a body is currently enabled or 0 if it is disabled. - */ -ODE_API int dBodyIsEnabled (dBodyID); - -/** - * @brief Set whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @param mode when nonzero gravity affects this body. - * @remarks - * Newly created bodies are always influenced by the world's gravity. - */ -ODE_API void dBodySetGravityMode (dBodyID b, int mode); - -/** - * @brief Get whether the body is influenced by the world's gravity or not. - * @ingroup bodies - * @return nonzero means gravity affects this body. - */ -ODE_API int dBodyGetGravityMode (dBodyID b); - -/** - * @brief Set the 'moved' callback of a body. - * - * Whenever a body has its position or rotation changed during the - * timestep, the callback will be called (with body as the argument). - * Use it to know which body may need an update in an external - * structure (like a 3D engine). - * - * @param b the body that needs to be watched. - * @param callback the callback to be invoked when the body moves. Set to zero - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID)); - - -/** - * @brief Return the first geom associated with the body. - * - * You can traverse through the geoms by repeatedly calling - * dBodyGetNextGeom(). - * - * @return the first geom attached to this body, or 0. - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetFirstGeom (dBodyID b); - - -/** - * @brief returns the next geom associated with the same body. - * @param g a geom attached to some body. - * @return the next geom attached to the same body, or 0. - * @sa dBodyGetFirstGeom - * @ingroup bodies - */ -ODE_API dGeomID dBodyGetNextGeom (dGeomID g); - - -/** - * @brief Resets the damping settings to the current world's settings. - * @ingroup bodies damping - */ -ODE_API void dBodySetDampingDefaults(dBodyID b); - -/** - * @brief Get the body's linear damping scale. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDamping (dBodyID b); - -/** - * @brief Set the body's linear damping scale. - * @param scale The linear damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's linear damping - * scale until dBodySetDampingDefaults() is called. - * @sa dBodySetDampingDefaults() - */ -ODE_API void dBodySetLinearDamping(dBodyID b, dReal scale); - -/** - * @brief Get the body's angular damping scale. - * @ingroup bodies damping - * @remarks If the body's angular damping scale was not set, this function - * returns the world's angular damping scale. - */ -ODE_API dReal dBodyGetAngularDamping (dBodyID b); - -/** - * @brief Set the body's angular damping scale. - * @param scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @remarks From now on the body will not use the world's angular damping - * scale until dBodyResetAngularDamping() is called. - * @sa dBodyResetAngularDamping() - */ -ODE_API void dBodySetAngularDamping(dBodyID b, dReal scale); - -/** - * @brief Convenience function to set linear and angular scales at once. - * @param linear_scale The linear damping scale. Should be in the interval [0, 1]. - * @param angular_scale The angular damping scale. Should be in the interval [0, 1]. - * @ingroup bodies damping - * @sa dBodySetLinearDamping() dBodySetAngularDamping() - */ -ODE_API void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale); - -/** - * @brief Get the body's linear damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetLinearDampingThreshold (dBodyID b); - -/** - * @brief Set the body's linear damping threshold. - * @param threshold The linear threshold to be used. Damping - * is only applied if the linear speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's angular damping threshold. - * @ingroup bodies damping - */ -ODE_API dReal dBodyGetAngularDampingThreshold (dBodyID b); - -/** - * @brief Set the body's angular damping threshold. - * @param threshold The angular threshold to be used. Damping is - * only used if the angular speed is above this limit. - * @ingroup bodies damping - */ -ODE_API void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold); - -/** - * @brief Get the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldGetMaxAngularSpeed() - */ -ODE_API dReal dBodyGetMaxAngularSpeed (dBodyID b); - -/** - * @brief Set the body's maximum angular speed. - * @ingroup damping bodies - * @sa dWorldSetMaxAngularSpeed() dBodyResetMaxAngularSpeed() - * The default value is dInfinity, but it's a good idea to limit - * it at less than 500 if the body has the gyroscopic term - * enabled. - */ -ODE_API void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed); - - - -/** - * @brief Get the body's gyroscopic state. - * - * @return nonzero if gyroscopic term computation is enabled (default), - * zero otherwise. - * @ingroup bodies - */ -ODE_API int dBodyGetGyroscopicMode(dBodyID b); - - -/** - * @brief Enable/disable the body's gyroscopic term. - * - * Disabling the gyroscopic term of a body usually improves - * stability. It also helps turning spining objects, like cars' - * wheels. - * - * @param enabled nonzero (default) to enable gyroscopic term, 0 - * to disable. - * @ingroup bodies - */ -ODE_API void dBodySetGyroscopicMode(dBodyID b, int enabled); - - - - -/** - * @defgroup joints Joints - * - * In real life a joint is something like a hinge, that is used to connect two - * objects. - * In ODE a joint is very similar: It is a relationship that is enforced between - * two bodies so that they can only have certain positions and orientations - * relative to each other. - * This relationship is called a constraint -- the words joint and - * constraint are often used interchangeably. - * - * A joint has a set of parameters that can be set. These include: - * - * - * \li dParamLoStop Low stop angle or position. Setting this to - * -dInfinity (the default value) turns off the low stop. - * For rotational joints, this stop must be greater than -pi to be - * effective. - * \li dParamHiStop High stop angle or position. Setting this to - * dInfinity (the default value) turns off the high stop. - * For rotational joints, this stop must be less than pi to be - * effective. - * If the high stop is less than the low stop then both stops will - * be ineffective. - * \li dParamVel Desired motor velocity (this will be an angular or - * linear velocity). - * \li dParamFMax The maximum force or torque that the motor will use to - * achieve the desired velocity. - * This must always be greater than or equal to zero. - * Setting this to zero (the default value) turns off the motor. - * \li dParamFudgeFactor The current joint stop/motor implementation has - * a small problem: - * when the joint is at one stop and the motor is set to move it away - * from the stop, too much force may be applied for one time step, - * causing a ``jumping'' motion. - * This fudge factor is used to scale this excess force. - * It should have a value between zero and one (the default value). - * If the jumping motion is too visible in a joint, the value can be - * reduced. - * Making this value too small can prevent the motor from being able to - * move the joint away from a stop. - * \li dParamBounce The bouncyness of the stops. - * This is a restitution parameter in the range 0..1. - * 0 means the stops are not bouncy at all, 1 means maximum bouncyness. - * \li dParamCFM The constraint force mixing (CFM) value used when not - * at a stop. - * \li dParamStopERP The error reduction parameter (ERP) used by the - * stops. - * \li dParamStopCFM The constraint force mixing (CFM) value used by the - * stops. Together with the ERP value this can be used to get spongy or - * soft stops. - * Note that this is intended for unpowered joints, it does not really - * work as expected when a powered joint reaches its limit. - * \li dParamSuspensionERP Suspension error reduction parameter (ERP). - * Currently this is only implemented on the hinge-2 joint. - * \li dParamSuspensionCFM Suspension constraint force mixing (CFM) value. - * Currently this is only implemented on the hinge-2 joint. - * - * If a particular parameter is not implemented by a given joint, setting it - * will have no effect. - * These parameter names can be optionally followed by a digit (2 or 3) - * to indicate the second or third set of parameters, e.g. for the second axis - * in a hinge-2 joint, or the third axis in an AMotor joint. - */ - - -/** - * @brief Create a new joint of the ball type. - * @ingroup joints - * @remarks - * The joint is initially in "limbo" (i.e. it has no effect on the simulation) - * because it does not connect to any bodies. - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the slider type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the contact type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); - -/** - * @brief Create a new joint of the hinge2 type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the universal type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PR (Prismatic and Rotoide) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the PU (Prismatic and Universal) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the Piston type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given - * joint group. - */ -ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the fixed type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID); - -ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the A-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the L-motor type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the plane-2d type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the double ball type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the double hinge type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID); - -/** - * @brief Create a new joint of the Transmission type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ -ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID); - - -/** - * @brief Destroy a joint. - * @ingroup joints - * - * disconnects it from its attached bodies and removing it from the world. - * However, if the joint is a member of a group then this function has no - * effect - to destroy that joint the group must be emptied or destroyed. - */ -ODE_API void dJointDestroy (dJointID); - - -/** - * @brief Create a joint group - * @ingroup joints - * @param max_size deprecated. Set to 0. - */ -ODE_API dJointGroupID dJointGroupCreate (int max_size); - -/** - * @brief Destroy a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed. - */ -ODE_API void dJointGroupDestroy (dJointGroupID); - -/** - * @brief Empty a joint group. - * @ingroup joints - * - * All joints in the joint group will be destroyed, - * but the joint group itself will not be destroyed. - */ -ODE_API void dJointGroupEmpty (dJointGroupID); - -/** - * @brief Return the number of bodies attached to the joint - * @ingroup joints - */ -ODE_API int dJointGetNumBodies(dJointID); - -/** - * @brief Attach the joint to some new bodies. - * @ingroup joints - * - * If the joint is already attached, it will be detached from the old bodies - * first. - * To attach this joint to only one body, set body1 or body2 to zero - a zero - * body refers to the static environment. - * Setting both bodies to zero puts the joint into "limbo", i.e. it will - * have no effect on the simulation. - * @remarks - * Some joints, like hinge-2 need to be attached to two bodies to work. - */ -ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2); - -/** - * @brief Manually enable a joint. - * @param dJointID identification of joint. - * @ingroup joints - */ -ODE_API void dJointEnable (dJointID); - -/** - * @brief Manually disable a joint. - * @ingroup joints - * @remarks - * A disabled joint will not affect the simulation, but will maintain the anchors and - * axes so it can be enabled later. - */ -ODE_API void dJointDisable (dJointID); - -/** - * @brief Check wether a joint is enabled. - * @ingroup joints - * @return 1 if a joint is currently enabled or 0 if it is disabled. - */ -ODE_API int dJointIsEnabled (dJointID); - -/** - * @brief Set the user-data pointer - * @ingroup joints - */ -ODE_API void dJointSetData (dJointID, void *data); - -/** - * @brief Get the user-data pointer - * @ingroup joints - */ -ODE_API void *dJointGetData (dJointID); - -/** - * @brief Get the type of the joint - * @ingroup joints - * @return the type, being one of these: - * \li dJointTypeBall - * \li dJointTypeHinge - * \li dJointTypeSlider - * \li dJointTypeContact - * \li dJointTypeUniversal - * \li dJointTypeHinge2 - * \li dJointTypeFixed - * \li dJointTypeNull - * \li dJointTypeAMotor - * \li dJointTypeLMotor - * \li dJointTypePlane2D - * \li dJointTypePR - * \li dJointTypePU - * \li dJointTypePiston - */ -ODE_API dJointType dJointGetType (dJointID); - -/** - * @brief Return the bodies that this joint connects. - * @ingroup joints - * @param index return the first (0) or second (1) body. - * @remarks - * If one of these returned body IDs is zero, the joint connects the other body - * to the static environment. - * If both body IDs are zero, the joint is in ``limbo'' and has no effect on - * the simulation. - */ -ODE_API dBodyID dJointGetBody (dJointID, int index); - -/** - * @brief Sets the datastructure that is to receive the feedback. - * - * The feedback can be used by the user, so that it is known how - * much force an individual joint exerts. - * @ingroup joints - */ -ODE_API void dJointSetFeedback (dJointID, dJointFeedback *); - -/** - * @brief Gets the datastructure that is to receive the feedback. - * @ingroup joints - */ -ODE_API dJointFeedback *dJointGetFeedback (dJointID); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - * - * The joint will try to keep this point on each body - * together. The input is specified in world coordinates. - */ -ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the joint anchor point. - * @ingroup joints - */ -ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Param setting for Ball joints - * @ingroup joints - */ -ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value); - -/** - * @brief Set hinge anchor parameter. - * @ingroup joints - */ -ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); - -ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief Set hinge axis. - * @ingroup joints - */ -ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Hinge axis as if the 2 bodies were already at angle appart. - * @ingroup joints - * - * This function initialize the Axis and the relative orientation of each body - * as if body1 was rotated around the axis by the angle value. \br - * Ex: - * 
- * dJointSetHingeAxis(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0
- * dJointSetHingeAxisDelta(jId, 1, 0, 0, 0.23);
- * // If you request the position you will have: dJointGetHingeAngle(jId) == 0.23
- *
- - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b angle appart. - * @warning Calling dJointSetHingeAnchor or dJointSetHingeAxis will reset the "zero" - * angle position. - */ -ODE_API void dJointSetHingeAxisOffset (dJointID j, dReal x, dReal y, dReal z, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the hinge axis. - * - * That is, it applies a torque with specified magnitude in the direction - * of the hinge axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque); - -/** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * @ingroup joints - */ -ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * slider's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddSliderForce(dJointID joint, dReal force); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set both axes (optionally) - * - * This can change both axes at once avoiding transitions via invalid states - * while changing axes one by one and having the first changed axis coincide - * with the other axis existing direction. - * - * At least one of the axes must be not NULL. If NULL is passed, the corresponding - * axis retains its existing value. - * - * @ingroup joints - */ -ODE_API void dJointSetHinge2Axes (dJointID j, const dReal *axis1/*=[dSA__MAX],=NULL*/, const dReal *axis2/*=[dSA__MAX],=NULL*/); - -/** - * @brief set axis - * - * Deprecated. Use @fn dJointSetHinge2Axes instead. - * - * @ingroup joints - * @see dJointSetHinge2Axes - */ -ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * - * Deprecated. Use @fn dJointSetHinge2Axes instead. - * - * @ingroup joints - * @see dJointSetHinge2Axes - */ -ODE_API_DEPRECATED ODE_API void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the hinge2's axis 1, torque2 about the - * hinge2's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Universal axis1 as if the 2 bodies were already at - * offset1 and offset2 appart with respect to axis1 and axis2. - * @ingroup joints - * - * This function initialize the axis1 and the relative orientation of - * each body as if body1 was rotated around the new axis1 by the offset1 - * value and as if body2 was rotated around the axis2 by offset2. \br - * Ex: -* 
- * dJointSetHuniversalAxis1(jId, 1, 0, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis1Offset(jId, 1, 0, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- *
- * - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b offsets appart. - * - * @note Any previous offsets are erased. - * - * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, - * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset - * will reset the "zero" angle position. - */ -ODE_API void dJointSetUniversalAxis1Offset (dJointID, dReal x, dReal y, dReal z, - dReal offset1, dReal offset2); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Universal axis2 as if the 2 bodies were already at - * offset1 and offset2 appart with respect to axis1 and axis2. - * @ingroup joints - * - * This function initialize the axis2 and the relative orientation of - * each body as if body1 was rotated around the axis1 by the offset1 - * value and as if body2 was rotated around the new axis2 by offset2. \br - * Ex: - * 
- * dJointSetHuniversalAxis2(jId, 0, 1, 0);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0
- * dJointSetHuniversalAxis2Offset(jId, 0, 1, 0, 0.2, 0.17);
- * // If you request the position you will have: dJointGetUniversalAngle1(jId) == 0.2
- * // If you request the position you will have: dJointGetUniversalAngle2(jId) == 0.17
- *
- - * @param j The Hinge joint ID for which the axis will be set - * @param x The X component of the axis in world frame - * @param y The Y component of the axis in world frame - * @param z The Z component of the axis in world frame - * @param angle The angle for the offset of the relative orientation. - * As if body1 was rotated by angle when the Axis was set (see below). - * The rotation is around the new Hinge axis. - * - * @note Usually the function dJointSetHingeAxis set the current position of body1 - * and body2 as the zero angle position. This function set the current position - * as the if the 2 bodies where \b offsets appart. - * - * @note Any previous offsets are erased. - * - * @warning Calling dJointSetUniversalAnchor, dJointSetUnivesalAxis1, - * dJointSetUniversalAxis2, dJointSetUniversalAxis2Offset - * will reset the "zero" angle position. - */ - - -ODE_API void dJointSetUniversalAxis2Offset (dJointID, dReal x, dReal y, dReal z, - dReal offset1, dReal offset2); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies torque1 about the universal's axis 1, torque2 about the - * universal's axis 2. - * @remarks This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); - - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the rotoide articulation - * @ingroup joints - */ -ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for the rotoide articulation - */ -ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PR joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPRTorque (dJointID j, dReal torque); - - -/** -* @brief set anchor -* @ingroup joints -*/ -ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor - * @ingroup joints - */ -ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - -/** - * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPUAxis(jId, axis);
- * dJointSetPUAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPUPosition(jId) == 0
- * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPUPosition(jId) == offset
- *
- * @param j The PU joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ -ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - -/** - * @brief set the axis for the first axis or the universal articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the second axis or the universal articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ -ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set the axis for the prismatic articulation - * @ingroup joints - * @note This function was added for convenience it is the same as - * dJointSetPUAxis3 - */ -ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); - - - -/** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for second axis of the - * universal articulation - * @note parameterX where X equal 3 refer to parameter for prismatic - * articulation - */ -ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the torque about the rotoide axis of the PU joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ -ODE_API void dJointAddPUTorque (dJointID j, dReal torque); - - - - -/** - * @brief set the joint anchor - * @ingroup joints - */ -ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); - -/** - * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
- * dReal offset = 3;
- * dVector3 axis;
- * dJointGetPistonAxis(jId, axis);
- * dJointSetPistonAnchor(jId, 0, 0, 0);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
- * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
- * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
- *
- * @param j The Piston joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ -ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); - - /** - * @brief set the joint axis - * @ingroup joints - */ -ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); - -/** - * This function set prismatic axis of the joint and also set the position - * of the joint. - * - * @ingroup joints - * @param j The joint affected by this function - * @param x The x component of the axis - * @param y The y component of the axis - * @param z The z component of the axis - * @param dx The Initial position of the prismatic join in the x direction - * @param dy The Initial position of the prismatic join in the y direction - * @param dz The Initial position of the prismatic join in the z direction - */ -ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); - -/** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * prismatic's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ -ODE_API void dJointAddPistonForce (dJointID joint, dReal force); - - -/** - * @brief Call this on the fixed joint after it has been attached to - * remember the current desired relative offset and desired relative - * rotation between the bodies. - * @ingroup joints - */ -ODE_API void dJointSetFixed (dJointID); - -/* - * @brief Sets joint parameter - * - * @ingroup joints - */ -ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value); - -/** - * @brief set the nr of axes - * @param num 0..3 - * @ingroup joints - */ -ODE_API void dJointSetAMotorNumAxes (dJointID, int num); - -/** - * @brief set axis - * @ingroup joints - */ -ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel, - dReal x, dReal y, dReal z); - -/** - * @brief Tell the AMotor what the current angle is along axis anum. - * - * This function should only be called in dAMotorUser mode, because in this - * mode the AMotor has no other way of knowing the joint angles. - * The angle information is needed if stops have been set along the axis, - * but it is not needed for axis motors. - * @ingroup joints - */ -ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value); - -/** - * @brief set mode - * @ingroup joints - */ -ODE_API void dJointSetAMotorMode (dJointID, int mode); - -/** - * @brief Applies torque0 about the AMotor's axis 0, torque1 about the - * AMotor's axis 1, and torque2 about the AMotor's axis 2. - * @remarks - * If the motor has fewer than three axes, the higher torques are ignored. - * This function is just a wrapper for dBodyAddTorque(). - * @ingroup joints - */ -ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); - -/** - * @brief Set the number of axes that will be controlled by the LMotor. - * @param num can range from 0 (which effectively deactivates the joint) to 3. - * @ingroup joints - */ -ODE_API void dJointSetLMotorNumAxes (dJointID, int num); - -/** - * @brief Set the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @remarks The axis vector is always specified in global coordinates - * regardless of the setting of rel. - * @ingroup joints - */ -ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z); - -/** - * @brief set joint parameter - * @ingroup joints - */ -ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ - -ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value); - -/** - * @ingroup joints - */ -ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - */ -ODE_API void dJointGetBallAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * - * This returns the point on body 2. You can think of a ball and socket - * joint as trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetBallAnchor() to - * within roundoff errors. dJointGetBallAnchor2() can be used, along with - * dJointGetBallAnchor(), to see how far the joint has come apart. - */ -ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetBallParam (dJointID, int parameter); - -/** - * @brief Get the hinge anchor point, in world coordinates. - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return The point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHingeAnchor(). - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result); - -/** - * @brief get axis - * @ingroup joints - */ -ODE_API void dJointGetHingeAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHingeParam (dJointID, int parameter); - -/** - * @brief Get the hinge angle. - * - * The angle is measured between the two bodies, or between the body and - * the static environment. - * The angle will be between -pi..pi. - * Give the relative rotation with respect to the Hinge axis of Body 1 with - * respect to Body 2. - * When the hinge anchor or axis is set, the current position of the attached - * bodies is examined and that position will be the zero angle. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngle (dJointID); - -/** - * @brief Get the hinge angle time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetHingeAngleRate (dJointID); - -/** - * @brief Get the slider linear position (i.e. the slider's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - - * The position is the distance, with respect to the zero position, - * along the slider axis of body 1 with respect to - * body 2. (A NULL body is replaced by the world). - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPosition (dJointID); - -/** - * @brief Get the slider linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetSliderPositionRate (dJointID); - -/** - * @brief Get the slider axis - * @ingroup joints - */ -ODE_API void dJointGetSliderAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetSliderParam (dJointID, int parameter); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * This returns the point on body 2. If the joint is perfectly satisfied, - * this will return the same value as dJointGetHinge2Anchor. - * If not, this value will be slightly different. - * This can be used, for example, to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result); - -/** - * @brief Get joint axis - * @ingroup joints - */ -ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Param (dJointID, int parameter); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetHinge2Angle2Rate (dJointID); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return This returns the point on body 2. - * @remarks - * You can think of the ball and socket part of a universal joint as - * trying to keep the result of dJointGetBallAnchor() and - * dJointGetBallAnchor2() the same. If the joint is - * perfectly satisfied, this function will return the same value - * as dJointGetUniversalAnchor() to within roundoff errors. - * dJointGetUniversalAnchor2() can be used, along with - * dJointGetUniversalAnchor(), to see how far the joint has come apart. - * @ingroup joints - */ -ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result); - -/** - * @brief Get axis - * @ingroup joints - */ -ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result); - - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalParam (dJointID, int parameter); - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine getUniversalAngle1 and getUniversalAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1 (dJointID); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2 (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle1Rate (dJointID); - -/** - * @brief Get time derivative of angle - * @ingroup joints - */ -ODE_API dReal dJointGetUniversalAngle2Rate (dJointID); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPRAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PR linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRPositionRate (dJointID); - - -/** - * @brief Get the PR angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPRAngle (dJointID); - -/** - * @brief Get the PR angular position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPRAngleRate (dJointID); - - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the Rotoide axis - * @ingroup joints - */ -ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPRParam (dJointID, int parameter); - - - -/** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ -ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); - -/** - * @brief Get the PU linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUPosition (dJointID); - -/** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUPositionRate (dJointID); - -/** - * @brief Get the first axis of the universal component of the joint - * @ingroup joints - */ -ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); - -/** - * @brief Get the second axis of the Universal component of the joint - * @ingroup joints - */ -ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis - * @ingroup joints - */ -ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis - * @ingroup joints - * - * @note This function was added for convenience it is the same as - * dJointGetPUAxis3 - */ -ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); - - - - -/** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The Prismatic universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together - * and try to avoid redundant calculation - */ -ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle1 (dJointID); - -/** - * @brief * @brief Get time derivative of angle1 - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle1Rate (dJointID); - - -/** - * @brief Get angle - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle2 (dJointID); - -/** - * @brief * @brief Get time derivative of angle2 - * - * @ingroup joints - */ -ODE_API dReal dJointGetPUAngle2Rate (dJointID); - - /** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPUParam (dJointID, int parameter); - - - - - -/** - * @brief Get the Piston linear position (i.e. the piston's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonPosition (dJointID); - -/** - * @brief Get the piston linear position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonPositionRate (dJointID); - -/** - * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonAngle (dJointID); - -/** - * @brief Get the piston angular position's time derivative. - * @ingroup joints - */ -ODE_API dReal dJointGetPistonAngleRate (dJointID); - - -/** - * @brief Get the joint anchor - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2 in direction perpendicular - * to the prismatic axis. - * - * @ingroup joints - */ -ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); - -/** - * @brief Get the joint anchor w.r.t. body 2 - * - * This returns the point on body 2. You can think of a Piston - * joint as trying to keep the result of dJointGetPistonAnchor() and - * dJointGetPistonAnchor2() the same in the direction perpendicular to the - * pirsmatic axis. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetPistonAnchor() to - * within roundoff errors. dJointGetPistonAnchor2() can be used, along with - * dJointGetPistonAnchor(), to see how far the joint has come apart. - * - * @ingroup joints - */ -ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); - -/** - * @brief Get the prismatic axis (This is also the rotoide axis. - * @ingroup joints - */ -ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetPistonParam (dJointID, int parameter); - - -/** - * @brief Get the number of angular axes that will be controlled by the - * AMotor. - * @param num can range from 0 (which effectively deactivates the - * joint) to 3. - * This is automatically set to 3 in dAMotorEuler mode. - * @ingroup joints - */ -ODE_API int dJointGetAMotorNumAxes (dJointID); - -/** - * @brief Get the AMotor axes. - * @param anum selects the axis to change (0,1 or 2). - * @param rel Each axis can have one of three ``relative orientation'' modes. - * \li 0: The axis is anchored to the global frame. - * \li 1: The axis is anchored to the first body. - * \li 2: The axis is anchored to the second body. - * @ingroup joints - */ -ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief Get axis - * @remarks - * The axis vector is always specified in global coordinates regardless - * of the setting of rel. - * There are two GetAMotorAxis functions, one to return the axis and one to - * return the relative mode. - * - * For dAMotorEuler mode: - * \li Only axes 0 and 2 need to be set. Axis 1 will be determined - automatically at each time step. - * \li Axes 0 and 2 must be perpendicular to each other. - * \li Axis 0 must be anchored to the first body, axis 2 must be anchored - to the second body. - * @ingroup joints - */ -ODE_API int dJointGetAMotorAxisRel (dJointID, int anum); - -/** - * @brief Get the current angle for axis. - * @remarks - * In dAMotorUser mode this is simply the value that was set with - * dJointSetAMotorAngle(). - * In dAMotorEuler mode this is the corresponding euler angle. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngle (dJointID, int anum); - -/** - * @brief Get the current angle rate for axis anum. - * @remarks - * In dAMotorUser mode this is always zero, as not enough information is - * available. - * In dAMotorEuler mode this is the corresponding euler angle rate. - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetAMotorParam (dJointID, int parameter); - -/** - * @brief Get the angular motor mode. - * @param mode must be one of the following constants: - * \li dAMotorUser The AMotor axes and joint angle settings are entirely - * controlled by the user. This is the default mode. - * \li dAMotorEuler Euler angles are automatically computed. - * The axis a1 is also automatically computed. - * The AMotor axes must be set correctly when in this mode, - * as described below. - * When this mode is initially set the current relative orientations - * of the bodies will correspond to all euler angles at zero. - * @ingroup joints - */ -ODE_API int dJointGetAMotorMode (dJointID); - -/** - * @brief Get nr of axes. - * @ingroup joints - */ -ODE_API int dJointGetLMotorNumAxes (dJointID); - -/** - * @brief Get axis. - * @ingroup joints - */ -ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetLMotorParam (dJointID, int parameter); - -/** - * @brief get joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetFixedParam (dJointID, int parameter); - - -/** - * @brief get the contact point of the first wheel of the Transmission joint. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result); - -/** - * @brief get contact point of the second wheel of the Transmission joint. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result); - -/** - * @brief set the first axis for the Transmission joint - * @remarks This is the axis around which the first body is allowed to - * revolve and is attached to it. It is given in global coordinates - * and can only be set explicitly in intersecting-axes mode. For the - * parallel-axes and chain modes which share one common axis of - * revolution for both gears dJointSetTransmissionAxis should be used. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get first axis for the Transmission joint - * @remarks In parallel-axes and chain mode the common axis with - * respect to the first body is returned. If the joint constraint is - * satisfied it should be the same as the axis return with - * dJointGetTransmissionAxis2 or dJointGetTransmissionAxis. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result); - -/** - * @brief set second axis for the Transmission joint - * @remarks This is the axis around which the second body is allowed - * to revolve and is attached to it. It is given in global - * coordinates and can only be set explicitly in intersecting-axes - * mode. For the parallel-axes and chain modes which share one common - * axis of revolution for both gears dJointSetTransmissionAxis should - * be used. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get second axis for the Transmission joint - * @remarks In parallel-axes and chain mode the common axis with - * respect to the second body is returned. If the joint constraint is - * satisfied it should be the same as the axis return with - * dJointGetTransmissionAxis1 or dJointGetTransmissionAxis. - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result); - -/** - * @brief set the first anchor for the Transmission joint - * @remarks This is the point of attachment of the wheel on the - * first body. It is given in global coordinates. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get the first anchor of the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result); - -/** - * @brief set the second anchor for the Transmission joint - * @remarks This is the point of attachment of the wheel on the - * second body. It is given in global coordinates. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get the second anchor for the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result); - -/** - * @brief set a Transmission joint parameter - * @ingroup joints - */ -ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value); - -/** - * @brief get a Transmission joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter); - -/** - * @brief set the Transmission joint mode - * @remarks The mode can be one of dTransmissionParallelAxes, - * dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a - * set of parallel-axes gears, intersecting-axes beveled gears or - * chain and sprockets respectively. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionMode( dJointID j, int mode ); - -/** - * @brief get the Transmission joint mode - * @ingroup joints - */ -ODE_API int dJointGetTransmissionMode( dJointID j ); - -/** - * @brief set the Transmission ratio - * @remarks This is the ratio of the angular speed of the first gear - * to that of the second gear. It can only be set explicitly in - * parallel-axes mode. In intersecting-axes mode the ratio is defined - * implicitly by the initial configuration of the wheels and in chain - * mode it is defined implicitly be the wheel radii. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio ); - -/** - * @brief get the Transmission joint ratio - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRatio( dJointID j ); - -/** - * @brief set the common axis for both wheels of the Transmission joint - * @remarks This sets the common axis of revolution for both wheels - * and should only be used in parallel-axes or chain mode. For - * intersecting-axes mode where each wheel axis needs to be specified - * individually dJointSetTransmissionAxis1 and - * dJointSetTransmissionAxis2 should be used. The axis is given in - * global coordinates - * @ingroup joints - */ -ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z ); - -/** - * @brief get the common axis for both wheels of the Transmission joint - * @ingroup joints - */ -ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result ); - -/** - * @brief get the phase, that is the traversed angle for the first - * wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionAngle1( dJointID j ); - -/** - * @brief get the phase, that is the traversed angle for the second - * wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionAngle2( dJointID j ); - -/** - * @brief get the radius of the first wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRadius1( dJointID j ); - -/** - * @brief get the radius of the second wheel of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionRadius2( dJointID j ); - -/** - * @brief set the radius of the first wheel of the Transmission joint - * @remarks The wheel radii can only be set explicitly in chain mode. - * In the other modes they're defined implicitly by the initial - * configuration and ratio of the wheels. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius ); - -/** - * @brief set the radius of the second wheel of the Transmission joint - * @remarks The wheel radii can only be set explicitly in chain mode. - * In the other modes they're defined implicitly by the initial - * configuration and ratio of the wheels. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius ); - -/** - * @brief get the backlash of the Transmission joint - * @ingroup joints - */ -ODE_API dReal dJointGetTransmissionBacklash( dJointID j ); - -/** - * @brief set the backlash of the Transmission joint - * @remarks Backlash is the clearance in the mesh of the wheels of the - * transmission and is defined as the maximum distance that the - * geometric contact point can travel without any actual contact or - * transfer of power between the wheels. This can be converted in - * degrees of revolution for each wheel by dividing by the wheel's - * radius. To further illustrate this consider the situation where a - * wheel of radius r_1 is driving another wheel of radius r_2 and - * there is an amount of backlash equal to b in their mesh. If the - * driving wheel were to instantaneously stop there would be no - * contact and hence the driven wheel would continue to turn for - * another b / r_2 radians until all the backlash in the mesh was take - * up and contact restored with the relationship of driving and driven - * wheel reversed. The backlash is therefore given in untis of - * length. - * @ingroup joints - */ -ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash ); - -/** - * @brief set anchor1 for double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor2 for double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get anchor1 from double ball joint - * @ingroup joints - */ -ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result); - -/** - * @brief get anchor2 from double ball joint - * @ingroup joints - */ -ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result); - -/** - * @brief get the target distance from double ball joint - * @ingroup joints - */ -ODE_API dReal dJointGetDBallDistance(dJointID); - -/** - * @brief set the target distance for the double ball joint - * @ingroup joints - */ -ODE_API void dJointSetDBallDistance(dJointID, dReal dist); - -/** - * @brief set double ball joint parameter - * @ingroup joints - */ -ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value); - -/** - * @brief get double ball joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetDBallParam(dJointID, int parameter); - -/** - * @brief set axis for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get axis for double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result); - -/** - * @brief set anchor1 for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief set anchor2 for double hinge joint - * @ingroup joints - */ -ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z); - -/** - * @brief get anchor1 from double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result); - -/** - * @brief get anchor2 from double hinge joint - * @ingroup joints - */ -ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result); - -/** - * @brief get the set distance from double hinge joint - * @ingroup joints - */ -ODE_API dReal dJointGetDHingeDistance(dJointID); - -/** - * @brief set double hinge joint parameter - * @ingroup joints - */ -ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value); - -/** - * @brief get double hinge joint parameter - * @ingroup joints - */ -ODE_API dReal dJointGetDHingeParam(dJointID, int parameter); - - - - -/** - * @ingroup joints - */ -ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); - -/** - * @ingroup joints - */ -ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint, otherwise return 0. - * @ingroup joints - */ -ODE_API int dAreConnected (dBodyID, dBodyID); - -/** - * @brief Utility function - * @return 1 if the two bodies are connected together by - * a joint that does not have type @arg{joint_type}, otherwise return 0. - * @param body1 A body to check. - * @param body2 A body to check. - * @param joint_type is a dJointTypeXXX constant. - * This is useful for deciding whether to add contact joints between two bodies: - * if they are already connected by non-contact joints then it may not be - * appropriate to add contacts, however it is okay to add more contact between- - * bodies that already have contacts. - * @ingroup joints - */ -ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/ode.h b/include/windows/ode/ode.h deleted file mode 100755 index 29a8601..0000000 --- a/include/windows/ode/ode.h +++ /dev/null @@ -1,56 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODE_H_ -#define _ODE_ODE_H_ - -/* include *everything* here */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef __cplusplus -# include -# include -#endif - -#endif diff --git a/include/windows/ode/odeconfig.h b/include/windows/ode/odeconfig.h deleted file mode 100755 index 05a6598..0000000 --- a/include/windows/ode/odeconfig.h +++ /dev/null @@ -1,215 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODECONFIG_H_ -#define _ODE_ODECONFIG_H_ - -/* Pull in the standard headers */ -#include -#include -#include -#include -#include -#include -#include -#include - - -#include - - -#if defined(ODE_DLL) || defined(ODE_LIB) -#define __ODE__ -#endif - -/* Define a DLL export symbol for those platforms that need it */ -#if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32)) - #if defined(ODE_DLL) - #define ODE_API __declspec(dllexport) - #elif !defined(ODE_LIB) - #define ODE_DLL_API __declspec(dllimport) - #endif -#endif - -#if !defined(ODE_API) - #define ODE_API -#endif - -#if defined(_MSC_VER) -# define ODE_API_DEPRECATED __declspec(deprecated) -#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) ) -# define ODE_API_DEPRECATED __attribute__((__deprecated__)) -#else -# define ODE_API_DEPRECATED -#endif - -#define ODE_PURE_INLINE static __inline -#define ODE_INLINE __inline - -#if defined(__cplusplus) - #define ODE_EXTERN_C extern "C" -#else - #define ODE_EXTERN_C -#endif - -#if defined(__GNUC__) -#define ODE_NORETURN __attribute__((noreturn)) -#elif defined(_MSC_VER) -#define ODE_NORETURN __declspec(noreturn) -#else // #if !defined(_MSC_VER) -#define ODE_NORETURN -#endif // #if !defined(__GNUC__) - - -/* Well-defined common data types...need to define for 64 bit systems */ -#if defined(__aarch64__) - #include - typedef int64_t dint64; - typedef uint64_t duint64; - typedef int32_t dint32; - typedef uint32_t duint32; - typedef int16_t dint16; - typedef uint16_t duint16; - typedef int8_t dint8; - typedef uint8_t duint8; - - typedef intptr_t dintptr; - typedef uintptr_t duintptr; - typedef ptrdiff_t ddiffint; - typedef size_t dsizeint; - -#elif defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__) - #define X86_64_SYSTEM 1 -#if defined(_MSC_VER) - typedef __int64 dint64; - typedef unsigned __int64 duint64; -#else -#if defined(_LP64) -typedef long dint64; -typedef unsigned long duint64; -#else - typedef long long dint64; - typedef unsigned long long duint64; -#endif -#endif - typedef int dint32; - typedef unsigned int duint32; - typedef short dint16; - typedef unsigned short duint16; - typedef signed char dint8; - typedef unsigned char duint8; - - typedef dint64 dintptr; - typedef duint64 duintptr; - typedef dint64 ddiffint; - typedef duint64 dsizeint; - -#else -#if defined(_MSC_VER) - typedef __int64 dint64; - typedef unsigned __int64 duint64; -#else - typedef long long dint64; - typedef unsigned long long duint64; -#endif - typedef int dint32; - typedef unsigned int duint32; - typedef short dint16; - typedef unsigned short duint16; - typedef signed char dint8; - typedef unsigned char duint8; - - typedef dint32 dintptr; - typedef duint32 duintptr; - typedef dint32 ddiffint; - typedef duint32 dsizeint; - -#endif - - -/* Define the dInfinity macro */ -#ifdef INFINITY - #ifdef dSINGLE - #define dInfinity ((float)INFINITY) - #else - #define dInfinity ((double)INFINITY) - #endif -#elif defined(HUGE_VAL) - #ifdef dSINGLE - #ifdef HUGE_VALF - #define dInfinity HUGE_VALF - #else - #define dInfinity ((float)HUGE_VAL) - #endif - #else - #define dInfinity HUGE_VAL - #endif -#else - #ifdef dSINGLE - #define dInfinity ((float)(1.0/0.0)) - #else - #define dInfinity (1.0/0.0) - #endif -#endif - - -/* Define the dNaN macro */ -#if defined(NAN) - #define dNaN NAN -#elif defined(__GNUC__) - #define dNaN ({ union { duint32 m_ui; float m_f; } un; un.m_ui = 0x7FC00000; un.m_f; }) -#elif defined(__cplusplus) - union _dNaNUnion - { - _dNaNUnion(): m_ui(0x7FC00000) {} - duint32 m_ui; - float m_f; - }; - #define dNaN (_dNaNUnion().m_f) -#else - #ifdef dSINGLE - #define dNaN ((float)(dInfinity - dInfinity)) - #else - #define dNaN (dInfinity - dInfinity) - #endif -#endif - - - /* Visual C does not define these functions */ -#if defined(_MSC_VER) - #define _ode_copysignf(x, y) ((float)_copysign(x, y)) - #define _ode_copysign(x, y) _copysign(x, y) - #define _ode_nextafterf(x, y) _nextafterf(x, y) - #define _ode_nextafter(x, y) _nextafter(x, y) - #if !defined(_WIN64) && defined(dSINGLE) - #define _ODE__NEXTAFTERF_REQUIRED - ODE_EXTERN_C float _nextafterf(float x, float y); - #endif -#else - #define _ode_copysignf(x, y) copysignf(x, y) - #define _ode_copysign(x, y) copysign(x, y) - #define _ode_nextafterf(x, y) nextafterf(x, y) - #define _ode_nextafter(x, y) nextafter(x, y) -#endif - - -#endif diff --git a/include/windows/ode/odecpp.h b/include/windows/ode/odecpp.h deleted file mode 100755 index 69002e9..0000000 --- a/include/windows/ode/odecpp.h +++ /dev/null @@ -1,1355 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* C++ interface for non-collision stuff */ - - -#ifndef _ODE_ODECPP_H_ -#define _ODE_ODECPP_H_ -#ifdef __cplusplus - - - - -//namespace ode { - - -class dWorldSimpleIDContainer { -protected: - dWorldID _id; - - dWorldSimpleIDContainer(): _id(0) {} - ~dWorldSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dWorldDestroy(_id); - _id = 0; - } - } -}; - -class dWorldDynamicIDContainer: public dWorldSimpleIDContainer { -protected: - virtual ~dWorldDynamicIDContainer() {} -}; - -template -class dWorldTemplate: public dWorldTemplateBase { - // intentionally undefined, don't use these - dWorldTemplate (const dWorldTemplate &); - void operator= (const dWorldTemplate &); - -protected: - dWorldID get_id() const { return dWorldTemplateBase::_id; } - void set_id(dWorldID value) { dWorldTemplateBase::_id = value; } - -public: - dWorldTemplate() - { set_id(dWorldCreate()); } - - dWorldID id() const - { return get_id(); } - operator dWorldID() const - { return get_id(); } - - void setGravity (dReal x, dReal y, dReal z) - { dWorldSetGravity (get_id(), x, y, z); } - void setGravity (const dVector3 g) - { setGravity (g[0], g[1], g[2]); } - void getGravity (dVector3 g) const - { dWorldGetGravity (get_id(), g); } - - void setERP (dReal erp) - { dWorldSetERP(get_id(), erp); } - dReal getERP() const - { return dWorldGetERP(get_id()); } - - void setCFM (dReal cfm) - { dWorldSetCFM(get_id(), cfm); } - dReal getCFM() const - { return dWorldGetCFM(get_id()); } - - void step (dReal stepsize) - { dWorldStep (get_id(), stepsize); } - - void quickStep(dReal stepsize) - { dWorldQuickStep (get_id(), stepsize); } - void setQuickStepNumIterations(int num) - { dWorldSetQuickStepNumIterations (get_id(), num); } - int getQuickStepNumIterations() const - { return dWorldGetQuickStepNumIterations (get_id()); } - void setQuickStepW(dReal over_relaxation) - { dWorldSetQuickStepW (get_id(), over_relaxation); } - dReal getQuickStepW() const - { return dWorldGetQuickStepW (get_id()); } - - void setAutoDisableLinearThreshold (dReal threshold) - { dWorldSetAutoDisableLinearThreshold (get_id(), threshold); } - dReal getAutoDisableLinearThreshold() const - { return dWorldGetAutoDisableLinearThreshold (get_id()); } - void setAutoDisableAngularThreshold (dReal threshold) - { dWorldSetAutoDisableAngularThreshold (get_id(), threshold); } - dReal getAutoDisableAngularThreshold() const - { return dWorldGetAutoDisableAngularThreshold (get_id()); } - void setAutoDisableSteps (int steps) - { dWorldSetAutoDisableSteps (get_id(), steps); } - int getAutoDisableSteps() const - { return dWorldGetAutoDisableSteps (get_id()); } - void setAutoDisableTime (dReal time) - { dWorldSetAutoDisableTime (get_id(), time); } - dReal getAutoDisableTime() const - { return dWorldGetAutoDisableTime (get_id()); } - void setAutoDisableFlag (int do_auto_disable) - { dWorldSetAutoDisableFlag (get_id(), do_auto_disable); } - int getAutoDisableFlag() const - { return dWorldGetAutoDisableFlag (get_id()); } - - dReal getLinearDampingThreshold() const - { return dWorldGetLinearDampingThreshold(get_id()); } - void setLinearDampingThreshold(dReal threshold) - { dWorldSetLinearDampingThreshold(get_id(), threshold); } - dReal getAngularDampingThreshold() const - { return dWorldGetAngularDampingThreshold(get_id()); } - void setAngularDampingThreshold(dReal threshold) - { dWorldSetAngularDampingThreshold(get_id(), threshold); } - dReal getLinearDamping() const - { return dWorldGetLinearDamping(get_id()); } - void setLinearDamping(dReal scale) - { dWorldSetLinearDamping(get_id(), scale); } - dReal getAngularDamping() const - { return dWorldGetAngularDamping(get_id()); } - void setAngularDamping(dReal scale) - { dWorldSetAngularDamping(get_id(), scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dWorldSetDamping(get_id(), linear_scale, angular_scale); } - - dReal getMaxAngularSpeed() const - { return dWorldGetMaxAngularSpeed(get_id()); } - void setMaxAngularSpeed(dReal max_speed) - { dWorldSetMaxAngularSpeed(get_id(), max_speed); } - - void setContactSurfaceLayer(dReal depth) - { dWorldSetContactSurfaceLayer (get_id(), depth); } - dReal getContactSurfaceLayer() const - { return dWorldGetContactSurfaceLayer (get_id()); } - - void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, - dVector3 force) - { dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); } -}; - - -class dBodySimpleIDContainer { -protected: - dBodyID _id; - - dBodySimpleIDContainer(): _id(0) {} - ~dBodySimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dBodyDestroy(_id); - _id = 0; - } - } -}; - -class dBodyDynamicIDContainer: public dBodySimpleIDContainer { -protected: - virtual ~dBodyDynamicIDContainer() {} -}; - -template -class dBodyTemplate: public dBodyTemplateBase { - // intentionally undefined, don't use these - dBodyTemplate (const dBodyTemplate &); - void operator= (const dBodyTemplate &); - -protected: - dBodyID get_id() const { return dBodyTemplateBase::_id; } - void set_id(dBodyID value) { dBodyTemplateBase::_id = value; } - - void destroy() { dBodyTemplateBase::destroy(); } - -public: - dBodyTemplate() - { } - dBodyTemplate (dWorldID world) - { set_id(dBodyCreate(world)); } - dBodyTemplate (dWorldTemplate& world) - { set_id(dBodyCreate(world.id())); } - - void create (dWorldID world) { - destroy(); - set_id(dBodyCreate(world)); - } - void create (dWorldTemplate& world) { - create(world.id()); - } - - dBodyID id() const - { return get_id(); } - operator dBodyID() const - { return get_id(); } - - void setData (void *data) - { dBodySetData (get_id(), data); } - void *getData() const - { return dBodyGetData (get_id()); } - - void setPosition (dReal x, dReal y, dReal z) - { dBodySetPosition (get_id(), x, y, z); } - void setPosition (const dVector3 p) - { setPosition(p[0], p[1], p[2]); } - - void setRotation (const dMatrix3 R) - { dBodySetRotation (get_id(), R); } - void setQuaternion (const dQuaternion q) - { dBodySetQuaternion (get_id(), q); } - void setLinearVel (dReal x, dReal y, dReal z) - { dBodySetLinearVel (get_id(), x, y, z); } - void setLinearVel (const dVector3 v) - { setLinearVel(v[0], v[1], v[2]); } - void setAngularVel (dReal x, dReal y, dReal z) - { dBodySetAngularVel (get_id(), x, y, z); } - void setAngularVel (const dVector3 v) - { setAngularVel (v[0], v[1], v[2]); } - - const dReal * getPosition() const - { return dBodyGetPosition (get_id()); } - const dReal * getRotation() const - { return dBodyGetRotation (get_id()); } - const dReal * getQuaternion() const - { return dBodyGetQuaternion (get_id()); } - const dReal * getLinearVel() const - { return dBodyGetLinearVel (get_id()); } - const dReal * getAngularVel() const - { return dBodyGetAngularVel (get_id()); } - - void setMass (const dMass *mass) - { dBodySetMass (get_id(), mass); } - void setMass (const dMass &mass) - { setMass (&mass); } - dMass getMass () const - { dMass mass; dBodyGetMass (get_id(), &mass); return mass; } - - void addForce (dReal fx, dReal fy, dReal fz) - { dBodyAddForce (get_id(), fx, fy, fz); } - void addForce (const dVector3 f) - { addForce (f[0], f[1], f[2]); } - void addTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddTorque (get_id(), fx, fy, fz); } - void addTorque (const dVector3 t) - { addTorque(t[0], t[1], t[2]); } - - void addRelForce (dReal fx, dReal fy, dReal fz) - { dBodyAddRelForce (get_id(), fx, fy, fz); } - void addRelForce (const dVector3 f) - { addRelForce (f[0], f[1], f[2]); } - void addRelTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddRelTorque (get_id(), fx, fy, fz); } - void addRelTorque (const dVector3 t) - { addRelTorque (t[0], t[1], t[2]); } - - void addForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); } - void addForceAtPos (const dVector3 f, const dVector3 p) - { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } - void addForceAtRelPos (const dVector3 f, const dVector3 p) - { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); } - void addRelForceAtPos (const dVector3 f, const dVector3 p) - { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } - void addRelForceAtRelPos (const dVector3 f, const dVector3 p) - { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - - const dReal * getForce() const - { return dBodyGetForce(get_id()); } - const dReal * getTorque() const - { return dBodyGetTorque(get_id()); } - void setForce (dReal x, dReal y, dReal z) - { dBodySetForce (get_id(), x, y, z); } - void setForce (const dVector3 f) - { setForce (f[0], f[1], f[2]); } - void setTorque (dReal x, dReal y, dReal z) - { dBodySetTorque (get_id(), x, y, z); } - void setTorque (const dVector3 t) - { setTorque (t[0], t[1], t[2]); } - - void setDynamic() - { dBodySetDynamic (get_id()); } - void setKinematic() - { dBodySetKinematic (get_id()); } - bool isKinematic() const - { return dBodyIsKinematic (get_id()) != 0; } - - void enable() - { dBodyEnable (get_id()); } - void disable() - { dBodyDisable (get_id()); } - bool isEnabled() const - { return dBodyIsEnabled (get_id()) != 0; } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointPos (get_id(), px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointVel (get_id(), px, py, pz, result); } - void getRelPointVel (const dVector3 p, dVector3 result) const - { getRelPointVel (p[0], p[1], p[2], result); } - - void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPointVel (get_id(), px, py, pz, result); } - void getPointVel (const dVector3 p, dVector3 result) const - { getPointVel (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPosRelPoint (get_id(), px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorToWorld (get_id(), px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorFromWorld (get_id(), px, py, pz, result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void setFiniteRotationMode (bool mode) - { dBodySetFiniteRotationMode (get_id(), mode); } - - void setFiniteRotationAxis (dReal x, dReal y, dReal z) - { dBodySetFiniteRotationAxis (get_id(), x, y, z); } - void setFiniteRotationAxis (const dVector3 a) - { setFiniteRotationAxis (a[0], a[1], a[2]); } - - bool getFiniteRotationMode() const - { return dBodyGetFiniteRotationMode (get_id()) != 0; } - void getFiniteRotationAxis (dVector3 result) const - { dBodyGetFiniteRotationAxis (get_id(), result); } - - int getNumJoints() const - { return dBodyGetNumJoints (get_id()); } - dJointID getJoint (int index) const - { return dBodyGetJoint (get_id(), index); } - - void setGravityMode (bool mode) - { dBodySetGravityMode (get_id(), mode); } - bool getGravityMode() const - { return dBodyGetGravityMode (get_id()) != 0; } - - bool isConnectedTo (dBodyID body) const - { return dAreConnected (get_id(), body) != 0; } - - void setAutoDisableLinearThreshold (dReal threshold) - { dBodySetAutoDisableLinearThreshold (get_id(), threshold); } - dReal getAutoDisableLinearThreshold() const - { return dBodyGetAutoDisableLinearThreshold (get_id()); } - void setAutoDisableAngularThreshold (dReal threshold) - { dBodySetAutoDisableAngularThreshold (get_id(), threshold); } - dReal getAutoDisableAngularThreshold() const - { return dBodyGetAutoDisableAngularThreshold (get_id()); } - void setAutoDisableSteps (int steps) - { dBodySetAutoDisableSteps (get_id(), steps); } - int getAutoDisableSteps() const - { return dBodyGetAutoDisableSteps (get_id()); } - void setAutoDisableTime (dReal time) - { dBodySetAutoDisableTime (get_id(), time); } - dReal getAutoDisableTime() const - { return dBodyGetAutoDisableTime (get_id()); } - void setAutoDisableFlag (bool do_auto_disable) - { dBodySetAutoDisableFlag (get_id(), do_auto_disable); } - bool getAutoDisableFlag() const - { return dBodyGetAutoDisableFlag (get_id()) != 0; } - - dReal getLinearDamping() const - { return dBodyGetLinearDamping(get_id()); } - void setLinearDamping(dReal scale) - { dBodySetLinearDamping(get_id(), scale); } - dReal getAngularDamping() const - { return dBodyGetAngularDamping(get_id()); } - void setAngularDamping(dReal scale) - { dBodySetAngularDamping(get_id(), scale); } - void setDamping(dReal linear_scale, dReal angular_scale) - { dBodySetDamping(get_id(), linear_scale, angular_scale); } - dReal getLinearDampingThreshold() const - { return dBodyGetLinearDampingThreshold(get_id()); } - void setLinearDampingThreshold(dReal threshold) const - { dBodySetLinearDampingThreshold(get_id(), threshold); } - dReal getAngularDampingThreshold() const - { return dBodyGetAngularDampingThreshold(get_id()); } - void setAngularDampingThreshold(dReal threshold) - { dBodySetAngularDampingThreshold(get_id(), threshold); } - void setDampingDefaults() - { dBodySetDampingDefaults(get_id()); } - - dReal getMaxAngularSpeed() const - { return dBodyGetMaxAngularSpeed(get_id()); } - void setMaxAngularSpeed(dReal max_speed) - { dBodySetMaxAngularSpeed(get_id(), max_speed); } - - bool getGyroscopicMode() const - { return dBodyGetGyroscopicMode(get_id()) != 0; } - void setGyroscopicMode(bool mode) - { dBodySetGyroscopicMode(get_id(), mode); } - -}; - - -class dJointGroupSimpleIDContainer { -protected: - dJointGroupID _id; - - dJointGroupSimpleIDContainer(): _id(0) {} - ~dJointGroupSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dJointGroupDestroy(_id); - _id = 0; - } - } -}; - -class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer { -protected: - virtual ~dJointGroupDynamicIDContainer() {} -}; - -template -class dJointGroupTemplate: public dJointGroupTemplateBase { - // intentionally undefined, don't use these - dJointGroupTemplate (const dJointGroupTemplate &); - void operator= (const dJointGroupTemplate &); - -protected: - dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; } - void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; } - - void destroy() { dJointGroupTemplateBase::destroy(); } - -public: - dJointGroupTemplate () - { set_id(dJointGroupCreate(0)); } - - void create () { - destroy(); - set_id(dJointGroupCreate(0)); - } - - dJointGroupID id() const - { return get_id(); } - operator dJointGroupID() const - { return get_id(); } - - void empty() - { dJointGroupEmpty (get_id()); } - void clear() - { empty(); } -}; - - -class dJointSimpleIDContainer { -protected: - dJointID _id; - - dJointSimpleIDContainer(): _id(0) {} - ~dJointSimpleIDContainer() { destroy(); } - - void destroy() { - if (_id) { - dJointDestroy (_id); - _id = 0; - } - } -}; - -class dJointDynamicIDContainer: public dJointSimpleIDContainer { -protected: - virtual ~dJointDynamicIDContainer() {} -}; - -template -class dJointTemplate: public dJointTemplateBase { -private: - // intentionally undefined, don't use these - dJointTemplate (const dJointTemplate &) ; - void operator= (const dJointTemplate &); - -protected: - dJointID get_id() const { return dJointTemplateBase::_id; } - void set_id(dJointID value) { dJointTemplateBase::_id = value; } - - void destroy() { dJointTemplateBase::destroy(); } - -protected: - dJointTemplate() // don't let user construct pure dJointTemplate objects - { } - -public: - dJointID id() const - { return get_id(); } - operator dJointID() const - { return get_id(); } - - int getNumBodies() const - { return dJointGetNumBodies(get_id()); } - - void attach (dBodyID body1, dBodyID body2) - { dJointAttach (get_id(), body1, body2); } - void attach (dBodyTemplate& body1, dBodyTemplate& body2) - { attach(body1.id(), body2.id()); } - - void enable() - { dJointEnable (get_id()); } - void disable() - { dJointDisable (get_id()); } - bool isEnabled() const - { return dJointIsEnabled (get_id()) != 0; } - - void setData (void *data) - { dJointSetData (get_id(), data); } - void *getData() const - { return dJointGetData (get_id()); } - - dJointType getType() const - { return dJointGetType (get_id()); } - - dBodyID getBody (int index) const - { return dJointGetBody (get_id(), index); } - - void setFeedback(dJointFeedback *fb) - { dJointSetFeedback(get_id(), fb); } - dJointFeedback *getFeedback() const - { return dJointGetFeedback(get_id()); } - - // If not implemented it will do nothing as describe in the doc - virtual void setParam (int, dReal) {}; - virtual dReal getParam (int) const { return 0; } -}; - - -template -class dBallJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dBallJointTemplate (const dBallJointTemplate &); - void operator= (const dBallJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dBallJointTemplate() { } - dBallJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateBall(world, group)); } - dBallJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateBall(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateBall(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetBallAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetBallAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetBallAnchor2 (get_id(), result); } - virtual void setParam (int parameter, dReal value) - { dJointSetBallParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetBallParam (get_id(), parameter); } - // TODO: expose params through methods -} ; - - -template -class dHingeJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dHingeJointTemplate (const dHingeJointTemplate &); - void operator = (const dHingeJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dHingeJointTemplate() { } - dHingeJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateHinge(world, group)); } - dHingeJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateHinge(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateHinge (world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHingeAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetHingeAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetHingeAnchor2 (get_id(), result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetHingeAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetHingeAxis (get_id(), result); } - - dReal getAngle() const - { return dJointGetHingeAngle (get_id()); } - dReal getAngleRate() const - { return dJointGetHingeAngleRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHingeParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHingeParam (get_id(), parameter); } - // TODO: expose params through methods - - void addTorque (dReal torque) - { dJointAddHingeTorque(get_id(), torque); } -}; - - -template -class dSliderJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dSliderJointTemplate (const dSliderJointTemplate &); - void operator = (const dSliderJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dSliderJointTemplate() { } - dSliderJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateSlider(world, group)); } - dSliderJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateSlider(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateSlider(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetSliderAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis (a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetSliderAxis (get_id(), result); } - - dReal getPosition() const - { return dJointGetSliderPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetSliderPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetSliderParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetSliderParam (get_id(), parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddSliderForce(get_id(), force); } -}; - - -template -class dUniversalJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dUniversalJointTemplate (const dUniversalJointTemplate &); - void operator = (const dUniversalJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dUniversalJointTemplate() { } - dUniversalJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateUniversal(world, group)); } - dUniversalJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateUniversal(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateUniversal(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetUniversalAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1 (a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis2 (get_id(), x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2 (a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetUniversalAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetUniversalAnchor2 (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetUniversalAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetUniversalAxis2 (get_id(), result); } - - virtual void setParam (int parameter, dReal value) - { dJointSetUniversalParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetUniversalParam (get_id(), parameter); } - // TODO: expose params through methods - - void getAngles(dReal *angle1, dReal *angle2) const - { dJointGetUniversalAngles (get_id(), angle1, angle2); } - - dReal getAngle1() const - { return dJointGetUniversalAngle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetUniversalAngle1Rate (get_id()); } - dReal getAngle2() const - { return dJointGetUniversalAngle2 (get_id()); } - dReal getAngle2Rate() const - { return dJointGetUniversalAngle2Rate (get_id()); } - - void addTorques (dReal torque1, dReal torque2) - { dJointAddUniversalTorques(get_id(), torque1, torque2); } -}; - - -template -class dHinge2JointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dHinge2JointTemplate (const dHinge2JointTemplate &); - void operator = (const dHinge2JointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dHinge2JointTemplate() { } - dHinge2JointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateHinge2(world, group)); } - dHinge2JointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateHinge2(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateHinge2(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHinge2Anchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor(a[0], a[1], a[2]); } - void setAxes (const dReal *axis1/*=NULL*/, const dReal *axis2/*=NULL*/) - { dJointSetHinge2Axes (get_id(), axis1, axis2); } - ODE_API_DEPRECATED void setAxis1 (dReal x, dReal y, dReal z) - { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), a, NULL); } - ODE_API_DEPRECATED void setAxis1 (const dVector3 a) - { dJointSetHinge2Axes (get_id(), a, NULL); } - ODE_API_DEPRECATED void setAxis2 (dReal x, dReal y, dReal z) - { dVector3 a = { x, y, z }; dJointSetHinge2Axes (get_id(), NULL, a); } - ODE_API_DEPRECATED void setAxis2 (const dVector3 a) - { dJointSetHinge2Axes (get_id(), NULL, a); } - - void getAnchor (dVector3 result) const - { dJointGetHinge2Anchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetHinge2Anchor2 (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetHinge2Axis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetHinge2Axis2 (get_id(), result); } - - dReal getAngle1() const - { return dJointGetHinge2Angle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetHinge2Angle1Rate (get_id()); } - dReal getAngle2Rate() const - { return dJointGetHinge2Angle2Rate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetHinge2Param (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetHinge2Param (get_id(), parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2) - { dJointAddHinge2Torques(get_id(), torque1, torque2); } -}; - - -template -class dPRJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dPRJointTemplate (const dPRJointTemplate &); - void operator = (const dPRJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPRJointTemplate() { } - dPRJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePR(world, group)); } - dPRJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePR(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreatePR(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPRAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPRAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPRAxis2 (get_id(), x, y, z); } - void setAxis2 (const dVector3 a) - { setAxis2(a[0], a[1], a[2]); } - - void getAnchor (dVector3 result) const - { dJointGetPRAnchor (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetPRAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetPRAxis2 (get_id(), result); } - - dReal getPosition() const - { return dJointGetPRPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPRPositionRate (get_id()); } - - dReal getAngle() const - { return dJointGetPRAngle (get_id()); } - dReal getAngleRate() const - { return dJointGetPRAngleRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPRParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPRParam (get_id(), parameter); } -}; - - - -template -class dPUJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dPUJointTemplate (const dPUJointTemplate &); - void operator = (const dPUJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPUJointTemplate() { } - dPUJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePU(world, group)); } - dPUJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePU(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) - { - destroy(); - set_id(dJointCreatePU(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPUAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPUAxis1 (get_id(), x, y, z); } - void setAxis1 (const dVector3 a) - { setAxis1(a[0], a[1], a[2]); } - void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPUAxis2 (get_id(), x, y, z); } - void setAxis3 (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (get_id(), x, y, z); } - void setAxis3 (const dVector3 a) - { setAxis3(a[0], a[1], a[2]); } - void setAxisP (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (get_id(), x, y, z); } - void setAxisP (const dVector3 a) - { setAxisP(a[0], a[1], a[2]); } - - virtual void getAnchor (dVector3 result) const - { dJointGetPUAnchor (get_id(), result); } - void getAxis1 (dVector3 result) const - { dJointGetPUAxis1 (get_id(), result); } - void getAxis2 (dVector3 result) const - { dJointGetPUAxis2 (get_id(), result); } - void getAxis3 (dVector3 result) const - { dJointGetPUAxis3 (get_id(), result); } - void getAxisP (dVector3 result) const - { dJointGetPUAxis3 (get_id(), result); } - - dReal getAngle1() const - { return dJointGetPUAngle1 (get_id()); } - dReal getAngle1Rate() const - { return dJointGetPUAngle1Rate (get_id()); } - dReal getAngle2() const - { return dJointGetPUAngle2 (get_id()); } - dReal getAngle2Rate() const - { return dJointGetPUAngle2Rate (get_id()); } - - dReal getPosition() const - { return dJointGetPUPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPUPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPUParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPUParam (get_id(), parameter); } - // TODO: expose params through methods -}; - - - - - -template -class dPistonJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dPistonJointTemplate (const dPistonJointTemplate &); - void operator = (const dPistonJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dPistonJointTemplate() { } - dPistonJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreatePiston(world, group)); } - dPistonJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreatePiston(world, group)); } - - void create (dWorldID world, dJointGroupID group=0) - { - destroy(); - set_id(dJointCreatePiston(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPistonAnchor (get_id(), x, y, z); } - void setAnchor (const dVector3 a) - { setAnchor (a[0], a[1], a[2]); } - void getAnchor (dVector3 result) const - { dJointGetPistonAnchor (get_id(), result); } - void getAnchor2 (dVector3 result) const - { dJointGetPistonAnchor2 (get_id(), result); } - - void setAxis (dReal x, dReal y, dReal z) - { dJointSetPistonAxis (get_id(), x, y, z); } - void setAxis (const dVector3 a) - { setAxis(a[0], a[1], a[2]); } - void getAxis (dVector3 result) const - { dJointGetPistonAxis (get_id(), result); } - - dReal getPosition() const - { return dJointGetPistonPosition (get_id()); } - dReal getPositionRate() const - { return dJointGetPistonPositionRate (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetPistonParam (get_id(), parameter, value); } - virtual dReal getParam (int parameter) const - { return dJointGetPistonParam (get_id(), parameter); } - // TODO: expose params through methods - - void addForce (dReal force) - { dJointAddPistonForce (get_id(), force); } -}; - - - -template -class dFixedJointTemplate : public dJointTemplate -{ -private: - // intentionally undefined, don't use these - dFixedJointTemplate (const dFixedJointTemplate &); - void operator = (const dFixedJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dFixedJointTemplate() { } - dFixedJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateFixed(world, group)); } - dFixedJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateFixed(world, group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateFixed(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void set() - { dJointSetFixed (get_id()); } - - virtual void setParam (int parameter, dReal value) - { dJointSetFixedParam (get_id(), parameter, value); } - - virtual dReal getParam (int parameter) const - { return dJointGetFixedParam (get_id(), parameter); } - // TODO: expose params through methods -}; - - -template -class dContactJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dContactJointTemplate (const dContactJointTemplate &); - void operator = (const dContactJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dContactJointTemplate() { } - dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact) - { set_id(dJointCreateContact(world, group, contact)); } - dContactJointTemplate (dWorldTemplate& world, dJointGroupID group, dContact *contact) - { set_id(dJointCreateContact(world.id(), group, contact)); } - - void create (dWorldID world, dJointGroupID group, dContact *contact) { - destroy(); - set_id(dJointCreateContact(world, group, contact)); - } - - void create (dWorldTemplate& world, dJointGroupID group, dContact *contact) - { create(world.id(), group, contact); } -}; - - -template -class dNullJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dNullJointTemplate (const dNullJointTemplate &); - void operator = (const dNullJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dNullJointTemplate() { } - dNullJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateNull(world, group)); } - dNullJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateNull (world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateNull(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } -}; - - -template -class dAMotorJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dAMotorJointTemplate (const dAMotorJointTemplate &); - void operator = (const dAMotorJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dAMotorJointTemplate() { } - dAMotorJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateAMotor(world, group)); } - dAMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateAMotor(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateAMotor(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setMode (int mode) - { dJointSetAMotorMode (get_id(), mode); } - int getMode() const - { return dJointGetAMotorMode (get_id()); } - - void setNumAxes (int num) - { dJointSetAMotorNumAxes (get_id(), num); } - int getNumAxes() const - { return dJointGetAMotorNumAxes (get_id()); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetAMotorAxis (get_id(), anum, result); } - int getAxisRel (int anum) const - { return dJointGetAMotorAxisRel (get_id(), anum); } - - void setAngle (int anum, dReal angle) - { dJointSetAMotorAngle (get_id(), anum, angle); } - dReal getAngle (int anum) const - { return dJointGetAMotorAngle (get_id(), anum); } - dReal getAngleRate (int anum) - { return dJointGetAMotorAngleRate (get_id(), anum); } - - void setParam (int parameter, dReal value) - { dJointSetAMotorParam (get_id(), parameter, value); } - dReal getParam (int parameter) const - { return dJointGetAMotorParam (get_id(), parameter); } - // TODO: expose params through methods - - void addTorques(dReal torque1, dReal torque2, dReal torque3) - { dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); } -}; - - -template -class dLMotorJointTemplate : public dJointTemplate { -private: - // intentionally undefined, don't use these - dLMotorJointTemplate (const dLMotorJointTemplate &); - void operator = (const dLMotorJointTemplate &); - -protected: - typedef dJointTemplate dBaseTemplate; - - dJointID get_id() const { return dBaseTemplate::get_id(); } - void set_id(dJointID value) { dBaseTemplate::set_id(value); } - - void destroy() { dBaseTemplate::destroy(); } - -public: - dLMotorJointTemplate() { } - dLMotorJointTemplate (dWorldID world, dJointGroupID group=0) - { set_id(dJointCreateLMotor(world, group)); } - dLMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) - { set_id(dJointCreateLMotor(world.id(), group)); } - - void create (dWorldID world, dJointGroupID group=0) { - destroy(); - set_id(dJointCreateLMotor(world, group)); - } - void create (dWorldTemplate& world, dJointGroupID group=0) - { create(world.id(), group); } - - void setNumAxes (int num) - { dJointSetLMotorNumAxes (get_id(), num); } - int getNumAxes() const - { return dJointGetLMotorNumAxes (get_id()); } - - void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); } - void setAxis (int anum, int rel, const dVector3 a) - { setAxis(anum, rel, a[0], a[1], a[2]); } - void getAxis (int anum, dVector3 result) const - { dJointGetLMotorAxis (get_id(), anum, result); } - - void setParam (int parameter, dReal value) - { dJointSetLMotorParam (get_id(), parameter, value); } - dReal getParam (int parameter) const - { return dJointGetLMotorParam (get_id(), parameter); } - // TODO: expose params through methods -}; - -//} - -#if !defined(dODECPP_WORLD_TEMPLATE_BASE) - -#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE) -#error All the odecpp template bases must be defined or not defined together -#endif - -#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer -#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer -#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer -#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer - -#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE) - -#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE) -#error All the odecpp template bases must be defined or not defined together -#endif - -#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE) - - -typedef dWorldTemplate dWorld; -typedef dBodyTemplate dBody; -typedef dJointGroupTemplate dJointGroup; -typedef dJointTemplate dJoint; -typedef dBallJointTemplate dBallJoint; -typedef dHingeJointTemplate dHingeJoint; -typedef dSliderJointTemplate dSliderJoint; -typedef dUniversalJointTemplate dUniversalJoint; -typedef dHinge2JointTemplate dHinge2Joint; -typedef dPRJointTemplate dPRJoint; -typedef dPUJointTemplate dPUJoint; -typedef dPistonJointTemplate dPistonJoint; -typedef dFixedJointTemplate dFixedJoint; -typedef dContactJointTemplate dContactJoint; -typedef dNullJointTemplate dNullJoint; -typedef dAMotorJointTemplate dAMotorJoint; -typedef dLMotorJointTemplate dLMotorJoint; - - -#endif -#endif - -// Local variables: -// mode:c++ -// c-basic-offset:2 -// End: diff --git a/include/windows/ode/odecpp_collision.h b/include/windows/ode/odecpp_collision.h deleted file mode 100755 index dd4dc9f..0000000 --- a/include/windows/ode/odecpp_collision.h +++ /dev/null @@ -1,467 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* C++ interface for new collision API */ - - -#ifndef _ODE_ODECPP_COLLISION_H_ -#define _ODE_ODECPP_COLLISION_H_ -#ifdef __cplusplus - -//#include - -//namespace ode { - -class dGeom { - // intentionally undefined, don't use these - dGeom (dGeom &); - void operator= (dGeom &); - -protected: - dGeomID _id; - - dGeom() - { _id = 0; } -public: - ~dGeom() - { if (_id) dGeomDestroy (_id); } - - dGeomID id() const - { return _id; } - operator dGeomID() const - { return _id; } - - void destroy() { - if (_id) dGeomDestroy (_id); - _id = 0; - } - - int getClass() const - { return dGeomGetClass (_id); } - - dSpaceID getSpace() const - { return dGeomGetSpace (_id); } - - void setData (void *data) - { dGeomSetData (_id,data); } - void *getData() const - { return dGeomGetData (_id); } - - void setBody (dBodyID b) - { dGeomSetBody (_id,b); } - dBodyID getBody() const - { return dGeomGetBody (_id); } - - void setPosition (dReal x, dReal y, dReal z) - { dGeomSetPosition (_id,x,y,z); } - const dReal * getPosition() const - { return dGeomGetPosition (_id); } - - void setRotation (const dMatrix3 R) - { dGeomSetRotation (_id,R); } - const dReal * getRotation() const - { return dGeomGetRotation (_id); } - - void setQuaternion (const dQuaternion quat) - { dGeomSetQuaternion (_id,quat); } - void getQuaternion (dQuaternion quat) const - { dGeomGetQuaternion (_id,quat); } - - void getAABB (dReal aabb[6]) const - { dGeomGetAABB (_id, aabb); } - - int isSpace() - { return dGeomIsSpace (_id); } - - void setCategoryBits (unsigned long bits) - { dGeomSetCategoryBits (_id, bits); } - void setCollideBits (unsigned long bits) - { dGeomSetCollideBits (_id, bits); } - unsigned long getCategoryBits() - { return dGeomGetCategoryBits (_id); } - unsigned long getCollideBits() - { return dGeomGetCollideBits (_id); } - - void enable() - { dGeomEnable (_id); } - void disable() - { dGeomDisable (_id); } - int isEnabled() - { return dGeomIsEnabled (_id); } - - void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomGetRelPointPos (_id, px, py, pz, result); } - void getRelPointPos (const dVector3 p, dVector3 result) const - { getRelPointPos (p[0], p[1], p[2], result); } - - void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomGetPosRelPoint (_id, px, py, pz, result); } - void getPosRelPoint (const dVector3 p, dVector3 result) const - { getPosRelPoint (p[0], p[1], p[2], result); } - - void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomVectorToWorld (_id, px, py, pz, result); } - void vectorToWorld (const dVector3 p, dVector3 result) const - { vectorToWorld (p[0], p[1], p[2], result); } - - void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dGeomVectorFromWorld (_id, px, py, pz, result); } - void vectorFromWorld (const dVector3 p, dVector3 result) const - { vectorFromWorld (p[0], p[1], p[2], result); } - - void collide2 (dGeomID g, void *data, dNearCallback *callback) - { dSpaceCollide2 (_id,g,data,callback); } -}; - - -class dSpace : public dGeom { - // intentionally undefined, don't use these - dSpace (dSpace &); - void operator= (dSpace &); - -protected: - // the default constructor is protected so that you - // can't instance this class. you must instance one - // of its subclasses instead. - dSpace () { _id = 0; } - -public: - dSpaceID id() const - { return (dSpaceID) _id; } - operator dSpaceID() const - { return (dSpaceID) _id; } - - void setCleanup (int mode) - { dSpaceSetCleanup (id(), mode); } - int getCleanup() - { return dSpaceGetCleanup (id()); } - - void add (dGeomID x) - { dSpaceAdd (id(), x); } - void remove (dGeomID x) - { dSpaceRemove (id(), x); } - int query (dGeomID x) - { return dSpaceQuery (id(),x); } - - int getNumGeoms() - { return dSpaceGetNumGeoms (id()); } - dGeomID getGeom (int i) - { return dSpaceGetGeom (id(),i); } - - void collide (void *data, dNearCallback *callback) - { dSpaceCollide (id(),data,callback); } -}; - - -class dSimpleSpace : public dSpace { - // intentionally undefined, don't use these - dSimpleSpace (dSimpleSpace &); - void operator= (dSimpleSpace &); - -public: - dSimpleSpace () - { _id = (dGeomID) dSimpleSpaceCreate (0); } - dSimpleSpace (dSpace &space) - { _id = (dGeomID) dSimpleSpaceCreate (space.id()); } - dSimpleSpace (dSpaceID space) - { _id = (dGeomID) dSimpleSpaceCreate (space); } -}; - - -class dHashSpace : public dSpace { - // intentionally undefined, don't use these - dHashSpace (dHashSpace &); - void operator= (dHashSpace &); - -public: - dHashSpace () - { _id = (dGeomID) dHashSpaceCreate (0); } - dHashSpace (dSpace &space) - { _id = (dGeomID) dHashSpaceCreate (space.id()); } - dHashSpace (dSpaceID space) - { _id = (dGeomID) dHashSpaceCreate (space); } - - void setLevels (int minlevel, int maxlevel) - { dHashSpaceSetLevels (id(),minlevel,maxlevel); } -}; - - -class dQuadTreeSpace : public dSpace { - // intentionally undefined, don't use these - dQuadTreeSpace (dQuadTreeSpace &); - void operator= (dQuadTreeSpace &); - -public: - dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); } - dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); } - dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth) - { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); } -}; - - -class dSphere : public dGeom { - // intentionally undefined, don't use these - dSphere (dSphere &); - void operator= (dSphere &); - -public: - dSphere () { } - dSphere (dReal radius) - { _id = dCreateSphere (0, radius); } - dSphere (dSpace &space, dReal radius) - { _id = dCreateSphere (space.id(), radius); } - dSphere (dSpaceID space, dReal radius) - { _id = dCreateSphere (space, radius); } - - void create (dSpaceID space, dReal radius) { - if (_id) dGeomDestroy (_id); - _id = dCreateSphere (space, radius); - } - - void setRadius (dReal radius) - { dGeomSphereSetRadius (_id, radius); } - dReal getRadius() const - { return dGeomSphereGetRadius (_id); } -}; - - -class dBox : public dGeom { - // intentionally undefined, don't use these - dBox (dBox &); - void operator= (dBox &); - -public: - dBox () { } - dBox (dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (0,lx,ly,lz); } - dBox (dSpace &space, dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (space,lx,ly,lz); } - dBox (dSpaceID space, dReal lx, dReal ly, dReal lz) - { _id = dCreateBox (space,lx,ly,lz); } - - void create (dSpaceID space, dReal lx, dReal ly, dReal lz) { - if (_id) dGeomDestroy (_id); - _id = dCreateBox (space,lx,ly,lz); - } - - void setLengths (dReal lx, dReal ly, dReal lz) - { dGeomBoxSetLengths (_id, lx, ly, lz); } - void getLengths (dVector3 result) const - { dGeomBoxGetLengths (_id,result); } -}; - - -class dPlane : public dGeom { - // intentionally undefined, don't use these - dPlane (dPlane &); - void operator= (dPlane &); - -public: - dPlane() { } - dPlane (dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (0,a,b,c,d); } - dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (space.id(),a,b,c,d); } - dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) - { _id = dCreatePlane (space,a,b,c,d); } - - void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) { - if (_id) dGeomDestroy (_id); - _id = dCreatePlane (space,a,b,c,d); - } - - void setParams (dReal a, dReal b, dReal c, dReal d) - { dGeomPlaneSetParams (_id, a, b, c, d); } - void getParams (dVector4 result) const - { dGeomPlaneGetParams (_id,result); } -}; - - -class dCapsule : public dGeom { - // intentionally undefined, don't use these - dCapsule (dCapsule &); - void operator= (dCapsule &); - -public: - dCapsule() { } - dCapsule (dReal radius, dReal length) - { _id = dCreateCapsule (0,radius,length); } - dCapsule (dSpace &space, dReal radius, dReal length) - { _id = dCreateCapsule (space.id(),radius,length); } - dCapsule (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCapsule (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCapsule (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCapsuleSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCapsuleGetParams (_id,radius,length); } -}; - - -class dCylinder : public dGeom { - // intentionally undefined, don't use these - dCylinder (dCylinder &); - void operator= (dCylinder &); - -public: - dCylinder() { } - dCylinder (dReal radius, dReal length) - { _id = dCreateCylinder (0,radius,length); } - dCylinder (dSpace &space, dReal radius, dReal length) - { _id = dCreateCylinder (space.id(),radius,length); } - dCylinder (dSpaceID space, dReal radius, dReal length) - { _id = dCreateCylinder (space,radius,length); } - - void create (dSpaceID space, dReal radius, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateCylinder (space,radius,length); - } - - void setParams (dReal radius, dReal length) - { dGeomCylinderSetParams (_id, radius, length); } - void getParams (dReal *radius, dReal *length) const - { dGeomCylinderGetParams (_id,radius,length); } -}; - - -class dRay : public dGeom { - // intentionally undefined, don't use these - dRay (dRay &); - void operator= (dRay &); - -public: - dRay() { } - dRay (dReal length) - { _id = dCreateRay (0,length); } - dRay (dSpace &space, dReal length) - { _id = dCreateRay (space.id(),length); } - dRay (dSpaceID space, dReal length) - { _id = dCreateRay (space,length); } - - void create (dSpaceID space, dReal length) { - if (_id) dGeomDestroy (_id); - _id = dCreateRay (space,length); - } - - void setLength (dReal length) - { dGeomRaySetLength (_id, length); } - dReal getLength() - { return dGeomRayGetLength (_id); } - - void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) - { dGeomRaySet (_id, px, py, pz, dx, dy, dz); } - void get (dVector3 start, dVector3 dir) - { dGeomRayGet (_id, start, dir); } - -#ifdef WIN32 -#pragma warning( push ) -#pragma warning( disable : 4996 ) -#else -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - ODE_API_DEPRECATED - void setParams (int firstContact, int backfaceCull) - { dGeomRaySetParams (_id, firstContact, backfaceCull); } - - ODE_API_DEPRECATED - void getParams (int *firstContact, int *backfaceCull) - { dGeomRayGetParams (_id, firstContact, backfaceCull); } -#ifdef WIN32 -#pragma warning( pop ) -#else -#pragma GCC diagnostic pop -#endif - void setBackfaceCull (int backfaceCull) - { dGeomRaySetBackfaceCull (_id, backfaceCull); } - int getBackfaceCull() - { return dGeomRayGetBackfaceCull (_id); } - - void setFirstContact (int firstContact) - { dGeomRaySetFirstContact (_id, firstContact); } - int getFirstContact() - { return dGeomRayGetFirstContact (_id); } - - void setClosestHit (int closestHit) - { dGeomRaySetClosestHit (_id, closestHit); } - int getClosestHit() - { return dGeomRayGetClosestHit (_id); } -}; - -#ifdef WIN32 -#pragma warning( push ) -#pragma warning( disable : 4996 ) -#else -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wdeprecated-declarations" -#endif - -class ODE_API_DEPRECATED dGeomTransform : public dGeom { - // intentionally undefined, don't use these - dGeomTransform (dGeomTransform &); - void operator= (dGeomTransform &); - -public: - dGeomTransform() { } - dGeomTransform (dSpace &space) - { _id = dCreateGeomTransform (space.id()); } - dGeomTransform (dSpaceID space) - { _id = dCreateGeomTransform (space); } - - void create (dSpaceID space=0) { - if (_id) dGeomDestroy (_id); - _id = dCreateGeomTransform (space); - } - - void setGeom (dGeomID geom) - { dGeomTransformSetGeom (_id, geom); } - dGeomID getGeom() const - { return dGeomTransformGetGeom (_id); } - - void setCleanup (int mode) - { dGeomTransformSetCleanup (_id,mode); } - int getCleanup () - { return dGeomTransformGetCleanup (_id); } - - void setInfo (int mode) - { dGeomTransformSetInfo (_id,mode); } - int getInfo() - { return dGeomTransformGetInfo (_id); } -}; - -#ifdef WIN32 -#pragma warning( pop ) -#else -#pragma GCC diagnostic pop -#endif - -//} - -#endif -#endif diff --git a/include/windows/ode/odeinit.h b/include/windows/ode/odeinit.h deleted file mode 100755 index 3f933b9..0000000 --- a/include/windows/ode/odeinit.h +++ /dev/null @@ -1,236 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* Library initialization/finalization functions. */ - -#ifndef _ODE_ODEINIT_H_ -#define _ODE_ODEINIT_H_ - -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -/* ************************************************************************ */ -/* Library initialization */ - -/** - * @defgroup init Library Initialization - * - * Library initialization functions prepare ODE internal data structures for use - * and release allocated resources after ODE is not needed any more. - */ - - -/** - * @brief Library initialization flags. - * - * These flags define ODE library initialization options. - * - * @c dInitFlagManualThreadCleanup indicates that resources allocated in TLS for threads - * using ODE are to be cleared by library client with explicit call to @c dCleanupODEAllDataForThread. - * If this flag is not specified the automatic resource tracking algorithm is used. - * - * With automatic resource tracking, On Windows, memory allocated for a thread may - * remain not freed for some time after the thread exits. The resources may be - * released when one of other threads calls @c dAllocateODEDataForThread. Ultimately, - * the resources are released when library is closed with @c dCloseODE. On other - * operating systems resources are always released by the thread itself on its exit - * or on library closure with @c dCloseODE. - * - * With manual thread data cleanup mode every collision space object must be - * explicitly switched to manual cleanup mode with @c dSpaceSetManualCleanup - * after creation. See description of the function for more details. - * - * If @c dInitFlagManualThreadCleanup was not specified during initialization, - * calls to @c dCleanupODEAllDataForThread are not allowed. - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @see dSpaceSetManualCleanup - * @see dCloseODE - * @ingroup init - */ -enum dInitODEFlags { - dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/ -}; - -/** - * @brief Initializes ODE library. - * - * @c dInitODE is obsolete. @c dInitODE2 is to be used for library initialization. - * - * A call to @c dInitODE is equal to the following initialization sequence - * @code - * dInitODE2(0); - * dAllocateODEDataForThread(dAllocateMaskAll); - * @endcode - * - * @see dInitODE2 - * @see dAllocateODEDataForThread - * @ingroup init - */ -ODE_API void dInitODE(void); - -/** - * @brief Initializes ODE library. - * @param uiInitFlags Initialization options bitmask - * @return A nonzero if initialization succeeded and zero otherwise. - * - * This function must be called to initialize ODE library before first use. If - * initialization succeeds the function may not be called again until library is - * closed with a call to @c dCloseODE. - * - * The @a uiInitFlags parameter specifies initialization options to be used. These - * can be combination of zero or more @c dInitODEFlags flags. - * - * @note - * If @c dInitFlagManualThreadCleanup flag is used for initialization, - * @c dSpaceSetManualCleanup must be called to set manual cleanup mode for every - * space object right after creation. Failure to do so may lead to resource leaks. - * - * @see dInitODEFlags - * @see dCloseODE - * @see dSpaceSetManualCleanup - * @ingroup init - */ -ODE_API int dInitODE2(unsigned int uiInitFlags/*=0*/); - - -/** - * @brief ODE data allocation flags. - * - * These flags are used to indicate which data is to be pre-allocated in call to - * @c dAllocateODEDataForThread. - * - * @c dAllocateFlagBasicData tells to allocate the basic data set required for - * normal library operation. This flag is equal to zero and is always implicitly - * included. - * - * @c dAllocateFlagCollisionData tells that collision detection data is to be allocated. - * Collision detection functions may not be called if the data has not be allocated - * in advance. If collision detection is not going to be used, it is not necessary - * to specify this flag. - * - * @c dAllocateMaskAll is a mask that can be used for for allocating all possible - * data in cases when it is not known what exactly features of ODE will be used. - * The mask may not be used in combination with other flags. It is guaranteed to - * include all the current and future legal allocation flags. However, mature - * applications should use explicit flags they need rather than allocating everything. - * - * @see dAllocateODEDataForThread - * @ingroup init - */ -enum dAllocateODEDataFlags { - dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/ - - dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/ - - dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/ -}; - -/** - * @brief Allocate thread local data to allow the thread calling ODE. - * @param uiAllocateFlags Allocation options bitmask. - * @return A nonzero if allocation succeeded and zero otherwise. - * - * The function is required to be called for every thread that is going to use - * ODE. This function allocates the data that is required for accessing ODE from - * current thread along with optional data required for particular ODE subsystems. - * - * @a uiAllocateFlags parameter can contain zero or more flags from @c dAllocateODEDataFlags - * enumerated type. Multiple calls with different allocation flags are allowed. - * The flags that are already allocated are ignored in subsequent calls. If zero - * is passed as the parameter, it means to only allocate the set of most important - * data the library can not operate without. - * - * If the function returns failure status it means that none of the requested - * data has been allocated. The client may retry allocation attempt with the same - * flags when more system resources are available. - * - * @see dAllocateODEDataFlags - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API int dAllocateODEDataForThread(unsigned int uiAllocateFlags); - -/** - * @brief Free thread local data that was allocated for current thread. - * - * If library was initialized with @c dInitFlagManualThreadCleanup flag the function - * is required to be called on exit of every thread that was calling @c dAllocateODEDataForThread. - * Failure to call @c dCleanupODEAllDataForThread may result in some resources remaining - * not freed until program exit. The function may also be called when ODE is still - * being used to release resources allocated for all the current subsystems and - * possibly proceed with data pre-allocation for other subsystems. - * - * The function can safely be called several times in a row. The function can be - * called without prior invocation of @c dAllocateODEDataForThread. The function - * may not be called before ODE is initialized with @c dInitODE2 or after library - * has been closed with @c dCloseODE. A call to @c dCloseODE implicitly releases - * all the thread local resources that might be allocated for all the threads that - * were using ODE. - * - * If library was initialized without @c dInitFlagManualThreadCleanup flag - * @c dCleanupODEAllDataForThread must not be called. - * - * @see dAllocateODEDataForThread - * @see dInitODE2 - * @see dCloseODE - * @ingroup init - */ -ODE_API void dCleanupODEAllDataForThread(); - - -/** - * @brief Close ODE after it is not needed any more. - * - * The function is required to be called when program does not need ODE features any more. - * The call to @c dCloseODE releases all the resources allocated for library - * including all the thread local data that might be allocated for all the threads - * that were using ODE. - * - * @c dCloseODE is a paired function for @c dInitODE2 and must only be called - * after successful library initialization. - * - * @note Important! - * Make sure that all the threads that were using ODE have already terminated - * before calling @c dCloseODE. In particular it is not allowed to call - * @c dCleanupODEAllDataForThread after @c dCloseODE. - * - * @see dInitODE2 - * @see dCleanupODEAllDataForThread - * @ingroup init - */ -ODE_API void dCloseODE(void); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - -#endif /* _ODE_ODEINIT_H_ */ diff --git a/include/windows/ode/odemath.h b/include/windows/ode/odemath.h deleted file mode 100755 index f855cae..0000000 --- a/include/windows/ode/odemath.h +++ /dev/null @@ -1,545 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODEMATH_H_ -#define _ODE_ODEMATH_H_ - -#include - -/* - * macro to access elements i,j in an NxM matrix A, independent of the - * matrix storage convention. - */ -#define dACCESS33(A,i,j) ((A)[(i)*4+(j)]) - -/* - * Macro to test for valid floating point values - */ -#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]))) -#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3]))) -#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]))) -#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) )) - - -ODE_PURE_INLINE void dZeroVector3(dVector3 res) -{ - res[dV3E_X] = REAL(0.0); - res[dV3E_Y] = REAL(0.0); - res[dV3E_Z] = REAL(0.0); -} - -ODE_PURE_INLINE void dAssignVector3(dVector3 res, dReal x, dReal y, dReal z) -{ - res[dV3E_X] = x; - res[dV3E_Y] = y; - res[dV3E_Z] = z; -} - -ODE_PURE_INLINE void dZeroMatrix3(dMatrix3 res) -{ - res[dM3E_XX] = REAL(0.0); res[dM3E_XY] = REAL(0.0); res[dM3E_XZ] = REAL(0.0); - res[dM3E_YX] = REAL(0.0); res[dM3E_YY] = REAL(0.0); res[dM3E_YZ] = REAL(0.0); - res[dM3E_ZX] = REAL(0.0); res[dM3E_ZY] = REAL(0.0); res[dM3E_ZZ] = REAL(0.0); -} - -ODE_PURE_INLINE void dZeroMatrix4(dMatrix4 res) -{ - res[dM4E_XX] = REAL(0.0); res[dM4E_XY] = REAL(0.0); res[dM4E_XZ] = REAL(0.0); res[dM4E_XO] = REAL(0.0); - res[dM4E_YX] = REAL(0.0); res[dM4E_YY] = REAL(0.0); res[dM4E_YZ] = REAL(0.0); res[dM4E_YO] = REAL(0.0); - res[dM4E_ZX] = REAL(0.0); res[dM4E_ZY] = REAL(0.0); res[dM4E_ZZ] = REAL(0.0); res[dM4E_ZO] = REAL(0.0); - res[dM4E_OX] = REAL(0.0); res[dM4E_OY] = REAL(0.0); res[dM4E_OZ] = REAL(0.0); res[dM4E_OO] = REAL(0.0); -} - -/* Some vector math */ -ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = a[0] + b[0]; - const dReal res_1 = a[1] + b[1]; - const dReal res_2 = a[2] + b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = a[0] - b[0]; - const dReal res_1 = a[1] - b[1]; - const dReal res_2 = a[2] - b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddVectorScaledVector3(dReal *res, const dReal *a, const dReal *b, dReal b_scale) -{ - const dReal res_0 = a[0] + b_scale * b[0]; - const dReal res_1 = a[1] + b_scale * b[1]; - const dReal res_2 = a[2] + b_scale * b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale) -{ - const dReal res_0 = a_scale * a[0] + b_scale * b[0]; - const dReal res_1 = a_scale * a[1] + b_scale * b[1]; - const dReal res_2 = a_scale * a[2] + b_scale * b[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dAddThreeScaledVectors3(dReal *res, const dReal *a, const dReal *b, const dReal *c, dReal a_scale, dReal b_scale, dReal c_scale) -{ - const dReal res_0 = a_scale * a[0] + b_scale * b[0] + c_scale * c[0]; - const dReal res_1 = a_scale * a[1] + b_scale * b[1] + c_scale * c[1]; - const dReal res_2 = a_scale * a[2] + b_scale * b[2] + c_scale * c[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale) -{ - res[0] *= nScale ; - res[1] *= nScale ; - res[2] *= nScale ; -} - -ODE_PURE_INLINE void dNegateVector3(dReal *res) -{ - res[0] = -res[0]; - res[1] = -res[1]; - res[2] = -res[2]; -} - -ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a) -{ - const dReal res_0 = a[0]; - const dReal res_1 = a[1]; - const dReal res_2 = a[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale) -{ - const dReal res_0 = a[0] * nScale; - const dReal res_1 = a[1] * nScale; - const dReal res_2 = a[2] * nScale; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a) -{ - const dReal res_0 = -a[0]; - const dReal res_1 = -a[1]; - const dReal res_2 = -a[2]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a) -{ - const dReal res_0 = a[0]; - const dReal res_1 = a[1]; - const dReal res_2 = a[2]; - const dReal res_3 = a[3]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3; -} - -ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a) -{ - dCopyVector4(res + 0, a + 0); - dCopyVector4(res + 4, a + 4); - dCopyVector4(res + 8, a + 8); -} - -ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a) -{ - dCopyVector3(res + 0, a + 0); - dCopyVector3(res + 4, a + 4); - dCopyVector3(res + 8, a + 8); -} - -ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n) -{ - const dReal res_0 = a[n + 0]; - const dReal res_1 = a[n + 4]; - const dReal res_2 = a[n + 8]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a) -{ - return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); -} - -ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a) -{ - return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); -} - -ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n) -{ - return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2]; -} - - -/* -* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced -* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311. -*/ - -ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b) -{ - return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b]; -} - - -ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); } -ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); } -ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); } -ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); } -ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); } - - -/* - * cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a' - * and `b' are spaced step_res, step_a and step_b indexes apart respectively. - * dCalcVectorCross3() means dCross3111. - */ - -ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b) -{ - const dReal res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b]; - const dReal res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b]; - const dReal res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0]; - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[ 0] = res_0; - res[ step_res] = res_1; - res[2*step_res] = res_2; -} - -ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); } -ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); } -ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); } - -ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dCalcVectorCross3(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dCalcVectorCross3(tmp, a, b); - dSubtractVectors3(res, res, tmp); -} - - -/* - * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. - * A is stored by rows, and has `skip' elements per row. the matrix is - * assumed to be already zero, so this does not write zero elements! - * if (plus,minus) is (+,-) then a positive version will be written. - * if (plus,minus) is (-,+) then a negative version will be written. - */ - -ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip) -{ - const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; - res[1] = -a_2; - res[2] = +a_1; - res[skip+0] = +a_2; - res[skip+2] = -a_0; - res[2*skip+0] = -a_1; - res[2*skip+1] = +a_0; -} - -ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip) -{ - const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; - res[1] = +a_2; - res[2] = -a_1; - res[skip+0] = -a_2; - res[skip+2] = +a_0; - res[2*skip+0] = +a_1; - res[2*skip+1] = -a_0; -} - - -/* - * compute the distance between two 3D-vectors - */ - -ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b) -{ - dReal res; - dReal tmp[3]; - dSubtractVectors3(tmp, a, b); - res = dCalcVectorLength3(tmp); - return res; -} - -/* - * special case matrix multiplication, with operator selection - */ - -ODE_PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3(a, b); - const dReal res_1 = dCalcVectorDot3(a + 4, b); - const dReal res_2 = dCalcVectorDot3(a + 8, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3_41(a, b); - const dReal res_1 = dCalcVectorDot3_41(a + 1, b); - const dReal res_2 = dCalcVectorDot3_41(a + 2, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -ODE_PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper1_331(res, b, a); -} - -ODE_PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b) -{ - const dReal res_0 = dCalcVectorDot3_44(a, b); - const dReal res_1 = dCalcVectorDot3_44(a + 1, b); - const dReal res_2 = dCalcVectorDot3_44(a + 2, b); - /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ - res[0] = res_0; res[1] = res_1; res[2] = res_2; -} - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_331(res, a, b); -} - -ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper1_331(res, a, b); -} - -ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_133(res, a, b); -} - -ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_133(res + 0, a + 0, b); - dMultiplyHelper0_133(res + 4, a + 4, b); - dMultiplyHelper0_133(res + 8, a + 8, b); -} - -ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper1_133(res + 0, b, a + 0); - dMultiplyHelper1_133(res + 4, b, a + 1); - dMultiplyHelper1_133(res + 8, b, a + 2); -} - -ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b) -{ - dMultiplyHelper0_331(res + 0, b, a + 0); - dMultiplyHelper0_331(res + 4, b, a + 4); - dMultiplyHelper0_331(res + 8, b, a + 8); -} - -ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_331(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper1_331(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_133(tmp, a, b); - dAddVectors3(res, res, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_133(tmp, a + 0, b); - dAddVectors3(res+ 0, res + 0, tmp); - dMultiplyHelper0_133(tmp, a + 4, b); - dAddVectors3(res + 4, res + 4, tmp); - dMultiplyHelper0_133(tmp, a + 8, b); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper1_133(tmp, b, a + 0); - dAddVectors3(res + 0, res + 0, tmp); - dMultiplyHelper1_133(tmp, b, a + 1); - dAddVectors3(res + 4, res + 4, tmp); - dMultiplyHelper1_133(tmp, b, a + 2); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b) -{ - dReal tmp[3]; - dMultiplyHelper0_331(tmp, b, a + 0); - dAddVectors3(res + 0, res + 0, tmp); - dMultiplyHelper0_331(tmp, b, a + 4); - dAddVectors3(res + 4, res + 4, tmp); - dMultiplyHelper0_331(tmp, b, a + 8); - dAddVectors3(res + 8, res + 8, tmp); -} - -ODE_PURE_INLINE dReal dCalcMatrix3Det( const dReal* mat ) -{ - dReal det; - - det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] ) - - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] ) - + mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] ); - - return( det ); -} - -/** - Closed form matrix inversion, copied from - collision_util.h for use in the stepper. - - Returns the determinant. - returns 0 and does nothing - if the matrix is singular. -*/ -ODE_PURE_INLINE dReal dInvertMatrix3(dReal *dst, const dReal *ma) -{ - dReal det; - dReal detRecip; - - det = dCalcMatrix3Det( ma ); - - - /* Setting an arbitrary non-zero threshold - for the determinant doesn't do anyone - any favors. The condition number is the - important thing. If all the eigen-values - of the matrix are small, so is the - determinant, but it can still be well - conditioned. - A single extremely large eigen-value could - push the determinant over threshold, but - produce a very unstable result if the other - eigen-values are small. So we just say that - the determinant must be non-zero and trust the - caller to provide well-conditioned matrices. - */ - if ( det == 0 ) - { - return 0; - } - - detRecip = dRecip(det); - - dst[0] = ( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip; - dst[1] = ( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip; - dst[2] = ( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip; - - dst[4] = ( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip; - dst[5] = ( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip; - dst[6] = ( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip; - - dst[8] = ( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip; - dst[9] = ( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip; - dst[10] = ( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip; - - return det; -} - - -/* Include legacy macros here */ -#include - - -#ifdef __cplusplus -extern "C" { -#endif - -/* - * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) - */ - -/* For DLL export*/ -ODE_API int dSafeNormalize3 (dVector3 a); -ODE_API int dSafeNormalize4 (dVector4 a); -ODE_API void dNormalize3 (dVector3 a); /* Potentially asserts on zero vec*/ -ODE_API void dNormalize4 (dVector4 a); /* Potentially asserts on zero vec*/ - -/* - * given a unit length "normal" vector n, generate vectors p and q vectors - * that are an orthonormal basis for the plane space perpendicular to n. - * i.e. this makes p,q such that n,p,q are all perpendicular to each other. - * q will equal n x p. if n is not unit length then p will be unit length but - * q wont be. - */ - -ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q); -/* Makes sure the matrix is a proper rotation, returns a boolean status */ -ODE_API int dOrthogonalizeR(dMatrix3 m); - - - -#ifdef __cplusplus -} -#endif - - -#endif diff --git a/include/windows/ode/odemath_legacy.h b/include/windows/ode/odemath_legacy.h deleted file mode 100755 index 97f7302..0000000 --- a/include/windows/ode/odemath_legacy.h +++ /dev/null @@ -1,162 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ODEMATH_LEGACY_H_ -#define _ODE_ODEMATH_LEGACY_H_ - - -/* - * These macros are not used any more inside of ODE - * They are kept for backward compatibility with external code that - * might still be using them. - */ - -/* - * General purpose vector operations with other vectors or constants. - */ - -#define dOP(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op ((c)[0]); \ - (a)[1] = ((b)[1]) op ((c)[1]); \ - (a)[2] = ((b)[2]) op ((c)[2]); \ -} while (0) -#define dOPC(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op (c); \ - (a)[1] = ((b)[1]) op (c); \ - (a)[2] = ((b)[2]) op (c); \ -} while (0) -#define dOPE(a,op,b) do {\ - (a)[0] op ((b)[0]); \ - (a)[1] op ((b)[1]); \ - (a)[2] op ((b)[2]); \ -} while (0) -#define dOPEC(a,op,c) do { \ - (a)[0] op (c); \ - (a)[1] op (c); \ - (a)[2] op (c); \ -} while (0) - -/* Define an equation with operators - * For example this function can be used to replace - * 
- * for (int i=0; i<3; ++i)
- *   a[i] += b[i] + c[i];
- *
- */ -#define dOPE2(a,op1,b,op2,c) do { \ - (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ - (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ - (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ -} while (0) - - -#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a) -#define dLENGTH(a) dCalcVectorLength3(a) -#define dDISTANCE(a, b) dCalcPointsDistance3(a, b) - - -#define dDOT(a, b) dCalcVectorDot3(a, b) -#define dDOT13(a, b) dCalcVectorDot3_13(a, b) -#define dDOT31(a, b) dCalcVectorDot3_31(a, b) -#define dDOT33(a, b) dCalcVectorDot3_33(a, b) -#define dDOT14(a, b) dCalcVectorDot3_14(a, b) -#define dDOT41(a, b) dCalcVectorDot3_41(a, b) -#define dDOT44(a, b) dCalcVectorDot3_44(a, b) - - -/* - * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' - * and `c' are spaced p, q and r indexes apart respectively. - * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to - * +=, -= etc to get other effects. - */ - -#define dCROSS(a,op,b,c) \ - do { \ - (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ - (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ - (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ - } while(0) -#define dCROSSpqr(a,op,b,c,p,q,r) \ - do { \ - (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ - (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ - (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ - } while(0) -#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) -#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) -#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) -#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) -#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) -#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) -#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) - - -/* -* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. -* A is stored by rows, and has `skip' elements per row. the matrix is -* assumed to be already zero, so this does not write zero elements! -* if (plus,minus) is (+,-) then a positive version will be written. -* if (plus,minus) is (-,+) then a negative version will be written. -*/ - -#define dCROSSMAT(A,a,skip,plus,minus) \ - do { \ - (A)[1] = minus (a)[2]; \ - (A)[2] = plus (a)[1]; \ - (A)[(skip)+0] = plus (a)[2]; \ - (A)[(skip)+2] = minus (a)[0]; \ - (A)[2*(skip)+0] = minus (a)[1]; \ - (A)[2*(skip)+1] = plus (a)[0]; \ - } while(0) - - - - -/* -Note: NEVER call any of these functions/macros with the same variable for A and C, -it is not equivalent to A*=B. -*/ - -#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C) -#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C) -#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C) -#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C) -#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C) -#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C) - -#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C) -#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C) -#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C) -#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C) -#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C) -#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C) - - -/* - * These macros are not used any more inside of ODE - * They are kept for backward compatibility with external code that - * might still be using them. - */ - - -#endif /* #ifndef _ODE_ODEMATH_LEGACY_H_ */ diff --git a/include/windows/ode/precision.h b/include/windows/ode/precision.h deleted file mode 100755 index 3d35dc9..0000000 --- a/include/windows/ode/precision.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef _ODE_PRECISION_H_ -#define _ODE_PRECISION_H_ - -/* Define dSINGLE for single precision, dDOUBLE for double precision, - * but never both! - */ - -#if defined(dIDESINGLE) -#define dSINGLE -#elif defined(dIDEDOUBLE) -#define dDOUBLE -#else -#define dDOUBLE -#endif - -#endif diff --git a/include/windows/ode/rotation.h b/include/windows/ode/rotation.h deleted file mode 100755 index 9337c15..0000000 --- a/include/windows/ode/rotation.h +++ /dev/null @@ -1,70 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_ROTATION_H_ -#define _ODE_ROTATION_H_ - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -ODE_API void dRSetIdentity (dMatrix3 R); - -ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal angle); - -ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi); - -ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az, - dReal bx, dReal by, dReal bz); - -ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az); - -ODE_API void dQSetIdentity (dQuaternion q); - -ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az, - dReal angle); - -/* Quaternion multiplication, analogous to the matrix multiplication routines. */ -/* qa = rotate by qc, then qb */ -ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by qc, then by inverse of qb */ -ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by qb */ -ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); -/* qa = rotate by inverse of qc, then by inverse of qb */ -ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc); - -ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q); -ODE_API void dQfromR (dQuaternion q, const dMatrix3 R); -ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/threading.h b/include/windows/ode/threading.h deleted file mode 100755 index 472c0ee..0000000 --- a/include/windows/ode/threading.h +++ /dev/null @@ -1,412 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * Threading support header file. * - * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. * - * e-mail: odar@eleks.com (change all "a" to "e") * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * ODE threading support interfaces - */ - - -#ifndef _ODE_THREADING_H_ -#define _ODE_THREADING_H_ - -#include -// Include since time_t is used and it is not available by default in some OSes -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -struct dxThreadingImplementation; -typedef struct dxThreadingImplementation *dThreadingImplementationID; - -typedef unsigned dmutexindex_t; -struct dxMutexGroup; -typedef struct dxMutexGroup *dMutexGroupID; - - -#define dTHREADING_THREAD_COUNT_UNLIMITED 0U - - - -/** - * @brief Allocates a group of muteces. - * - * The Mutex allocated do not need to support recursive locking. - * - * The Mutex names are provided to aid in debugging and thread state tracking. - * - * @param impl Threading implementation ID - * @param Mutex_count Number of Mutex to create - * @Mutex_names_ptr Pointer to optional Mutex names array to be associated with individual Mutex - * @returns MutexGroup ID or NULL if error occurred. - * - * @ingroup threading - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef dMutexGroupID dMutexGroupAllocFunction (dThreadingImplementationID impl, dmutexindex_t Mutex_count, const char *const *Mutex_names_ptr/*=NULL*/); - -/** - * @brief Deletes a group of muteces. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to deallocate - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef void dMutexGroupFreeFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group); - -/** - * @brief Locks a mutex in a group of muteces. - * - * The function is to block execution until requested mutex can be locked. - * - * Note: Mutex provided may not support recursive locking. Calling this function - * while mutex is already locked by current thread will result in unpredictable behavior. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for locking - * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexUnlockFunction - */ -typedef void dMutexGroupMutexLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); - -/** - * @brief Attempts to lock a mutex in a group of muteces. - * - * The function is to lock the requested mutex if it is unoccupied or - * immediately return failure if mutex is already locked by other thread. - * - * Note: Mutex provided may not support recursive locking. Calling this function - * while mutex is already locked by current thread will result in unpredictable behavior. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for locking - * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) - * @returns 1 for success (mutex is locked) and 0 for failure (mutex is not locked) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - * @see dMutexGroupMutexUnlockFunction - */ -/* typedef int dMutexGroupMutexTryLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);*/ - -/** - * @brief Unlocks a mutex in a group of muteces. - * - * The function is to unlock the given mutex provided it had been locked before. - * - * @param impl Threading implementation ID - * @param mutex_group Mutex group to use for unlocking - * @param mutex_index The index of mutex to be unlocked (0..Mutex_count - 1) - * - * @ingroup threading - * @see dMutexGroupAllocFunction - * @see dMutexGroupFreeFunction - * @see dMutexGroupMutexLockFunction - */ -typedef void dMutexGroupMutexUnlockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); - - -struct dxCallReleasee; -typedef struct dxCallReleasee *dCallReleaseeID; - -struct dxCallWait; -typedef struct dxCallWait *dCallWaitID; - -typedef dsizeint ddependencycount_t; -typedef ddiffint ddependencychange_t; -typedef dsizeint dcallindex_t; -typedef int dThreadedCallFunction(void *call_context, dcallindex_t instance_index, - dCallReleaseeID this_releasee); - -typedef struct dxThreadedWaitTime -{ - time_t wait_sec; - unsigned long wait_nsec; - -} dThreadedWaitTime; - - -/** - * @brief Allocates a Wait ID that can be used to wait for a call. - * - * @param impl Threading implementation ID - * @returns Wait ID or NULL if error occurred - * - * @ingroup threading - * @see dThreadedCallWaitResetFunction - * @see dThreadedCallWaitFreeFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef dCallWaitID dThreadedCallWaitAllocFunction(dThreadingImplementationID impl); - -/** - * @brief Resets a Wait ID so that it could be used to wait for another call. - * - * @param impl Threading implementation ID - * @param call_wait Wait ID to reset - * - * @ingroup threading - * @see dThreadedCallWaitAllocFunction - * @see dThreadedCallWaitFreeFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef void dThreadedCallWaitResetFunction(dThreadingImplementationID impl, dCallWaitID call_wait); - -/** - * @brief Frees a Wait ID. - * - * @param impl Threading implementation ID - * @param call_wait Wait ID to delete - * - * @ingroup threading - * @see dThreadedCallWaitAllocFunction - * @see dThreadedCallPostFunction - * @see dThreadedCallWaitFunction - */ -typedef void dThreadedCallWaitFreeFunction(dThreadingImplementationID impl, dCallWaitID call_wait); - - -/** - * @brief Post a function to be called in another thread. - * - * A call is scheduled to be executed asynchronously. - * - * A @a out_summary_fault variable can be provided for call to accumulate any - * possible faults from its execution and execution of any possible sub-calls. - * This variable gets result that @a call_func returns. Also, if dependent calls - * are executed after the call already exits, the variable is also going to be - * updated with results of all those calls before control is released to master. - * - * @a out_post_releasee parameter receives a value of @c dCallReleaseeID that can - * later be used for @a dependent_releasee while scheduling sub-calls to make - * current call depend on them. The value is only returned if @a dependencies_count - * is not zero (i.e. if any dependencies are expected at all). The call is not going - * to start until all its dependencies complete. - * - * In case if number of dependencies is unknown in advance 1 can be passed on call - * scheduling. Then @c dThreadedCallDependenciesCountAlterFunction can be used to - * add one more extra dependencies before scheduling each subcall. And then, after - * all sub-calls had been scheduled, @c dThreadedCallDependenciesCountAlterFunction - * can be used again to subtract initial extra dependency from total number. - * Adding one dependency in advance is necessary to obtain releasee ID and to make - * sure the call will not start and will not terminate before all sub-calls are scheduled. - * - * Extra dependencies can also be added from the call itself after it has already - * been started (with parameter received in @c dThreadedCallFunction). - * In that case those dependencies will start immediately or after call returns - * but the call's master will not be released/notified until all additional - * dependencies complete. This can be used to schedule sub-calls from a call and - * then pass own job to another sub-call dependent on those initial sub-calls. - * - * By using @ call_wait it is possible to assign a Wait ID that can later - * be passed into @c dThreadedCallWaitFunction to wait for call completion. - * - * If @a call_name is available (and it should!) the string must remain valid until - * after call completion. In most cases this should be a static string literal. - * - * Since the function is an analogue of normal method call it is not supposed to fail. - * Any complications with resource allocation on call scheduling should be - * anticipated, avoided and worked around by implementation. - * - * @param impl Threading implementation ID - * @param out_summary_fault Optional pointer to variable to be set to 1 if function - * call (or any sub-call) fails internally, or 0 if all calls return success - * @param out_post_releasee Optional pointer to variable to receive releasee ID - * associated with the call - * @param dependencies_count Number of dependencies that are going to reference - * this call as dependent releasee - * @param dependent_releasee Optional releasee ID to reference with this call - * @param call_wait Optional Wait ID that can later be used to wait for the call - * @param call_func Pointer to function to be called - * @param call_context Context parameter to be passed into the call - * @param instance_index Index parameter to be passed into the call - * @param call_name Optional name to be associated with the call (for debugging and state tracking) - * - * @ingroup threading - * @see dThreadedCallWaitFunction - * @see dThreadedCallDependenciesCountAlterFunction - * @see dThreadingImplResourcesForCallsPreallocateFunction - */ -typedef void dThreadedCallPostFunction(dThreadingImplementationID impl, int *out_summary_fault/*=NULL*/, - dCallReleaseeID *out_post_releasee/*=NULL*/, ddependencycount_t dependencies_count, dCallReleaseeID dependent_releasee/*=NULL*/, - dCallWaitID call_wait/*=NULL*/, - dThreadedCallFunction *call_func, void *call_context, dcallindex_t instance_index, - const char *call_name/*=NULL*/); - -/** - * @brief Add or remove extra dependencies from call that has been scheduled - * or is in process of execution. - * - * Extra dependencies can be added to a call if exact number of sub-calls is - * not known in advance at the moment the call is scheduled. Also, some dependencies - * can be removed if sub-calls were planned but then dropped. - * - * In case if total dependency count of a call reaches zero by result of invoking - * this function, the call is free to start executing immediately. - * - * After the call execution had been started, any additional dependencies can only - * be added from the call function itself! - * - * @param impl Threading implementation ID - * @param target_releasee ID of releasee to apply dependencies count change to - * @param dependencies_count_change Number of dependencies to add or remove - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef void dThreadedCallDependenciesCountAlterFunction(dThreadingImplementationID impl, dCallReleaseeID target_releasee, - ddependencychange_t dependencies_count_change); - -/** - * @brief Wait for a posted call to complete. - * - * Function blocks until a call identified by @a call_wait completes or - * timeout elapses. - * - * IT IS ILLEGAL TO INVOKE THIS FUNCTION FROM WITHIN A THREADED CALL! - * This is because doing so will block a physical thread and will require - * increasing worker thread count to avoid starvation. Use call dependencies - * if it is necessary make sure sub-calls have been completed instead! - * - * If @a timeout_time_ptr is NULL, the function waits without time limit. If @a timeout_time_ptr - * points to zero value, the function only checks status and does not block. - * - * If @a wait_name is available (and it should!) the string must remain valid for - * the duration of wait. In most cases this should be a static string literal. - * - * Function is not expected to return failures caused by system call faults as - * those are hardly ever possible to be handled in this case anyway. In event of - * system call fault the function is supposed to terminate application. - * - * @param impl Threading implementation ID - * @param out_wait_status Optional pointer to variable to receive 1 if waiting succeeded - * or 0 in case of timeout - * @param call_wait Wait ID that had been passed to scheduling a call that needs to be waited for - * @param timeout_time_ptr Optional pointer to time specification the wait must not - * last longer than (pass NULL for infinite timeout) - * @param wait_name Optional name to be associated with the wait (for debugging and state tracking) - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef void dThreadedCallWaitFunction(dThreadingImplementationID impl, int *out_wait_status/*=NULL*/, - dCallWaitID call_wait, const dThreadedWaitTime *timeout_time_ptr/*=NULL*/, - const char *wait_name/*=NULL*/); - -/** - * @brief Retrieve number of active threads that serve the implementation. - * - * @param impl Threading implementation ID - * @returns Number of active threads - * - * @ingroup threading - */ -typedef unsigned dThreadingImplThreadCountRetrieveFunction(dThreadingImplementationID impl); - -/** - * @brief Preallocate resources to handle posted calls. - * - * The function is intended to make sure enough resources is preallocated for the - * implementation to be able to handle posted calls. Then @c max_simultaneous_calls_estimate - * is an estimate of how many posted calls can potentially be active or scheduled - * at the same time. The value is usually derived from the way the calls are posted - * in library code and dependencies between them. - * - * @warning While working on an implementation be prepared that the estimate provided - * yet rarely but theoretically can be exceeded due to unpredictability of thread execution. - * - * This function is normally going to be invoked by library each time it is entered - * from outside to do the job but before any threaded calls are going to be posted. - * - * @param impl Threading implementation ID - * @param max_simultaneous_calls_estimate An estimated number of calls that can be posted simultaneously - * @returns 1 or 0 to indicate success or failure - * - * @ingroup threading - * @see dThreadedCallPostFunction - */ -typedef int dThreadingImplResourcesForCallsPreallocateFunction(dThreadingImplementationID impl, - ddependencycount_t max_simultaneous_calls_estimate); - - -/** - * @brief An interface structure with function pointers to be provided by threading implementation. - */ -typedef struct dxThreadingFunctionsInfo -{ - unsigned struct_size; - - dMutexGroupAllocFunction *alloc_mutex_group; - dMutexGroupFreeFunction *free_mutex_group; - dMutexGroupMutexLockFunction *lock_group_mutex; - dMutexGroupMutexUnlockFunction *unlock_group_mutex; - - dThreadedCallWaitAllocFunction *alloc_call_wait; - dThreadedCallWaitResetFunction *reset_call_wait; - dThreadedCallWaitFreeFunction *free_call_wait; - - dThreadedCallPostFunction *post_call; - dThreadedCallDependenciesCountAlterFunction *alter_call_dependencies_count; - dThreadedCallWaitFunction *wait_call; - - dThreadingImplThreadCountRetrieveFunction *retrieve_thread_count; - dThreadingImplResourcesForCallsPreallocateFunction *preallocate_resources_for_calls; - - /* - * Beware of Jon Watte's anger if you dare to uncomment this! - * May cryptic text below be you a warning! - * Стародавні легенди розказують, що кожного сміливця, хто наважиться порушити табу - * і відкрити заборонений код, спіткає страшне прокляття і він відразу почне робити - * одні лиш помилки. - * - * dMutexGroupMutexTryLockFunction *trylock_group_mutex; - */ - -} dThreadingFunctionsInfo; - - -#ifdef __cplusplus -} -#endif - -#endif /* #ifndef _ODE_THREADING_H_ */ diff --git a/include/windows/ode/threading_impl.h b/include/windows/ode/threading_impl.h deleted file mode 100755 index 270fe76..0000000 --- a/include/windows/ode/threading_impl.h +++ /dev/null @@ -1,292 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * Builtin ODE threading implementation header. * - * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. * - * e-mail: odar@eleks.com (change all "a" to "e") * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -/* - * A threading implementation built into ODE for those who does not care to - * or can't implement an own one. - */ - -#ifndef _ODE_THREADING_IMPL_H_ -#define _ODE_THREADING_IMPL_H_ - - -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - -struct dxThreadingThreadPool; -typedef struct dxThreadingThreadPool *dThreadingThreadPoolID; - - -/** - * @brief Allocates built-in self-threaded threading implementation object. - * - * A self-threaded implementation is a type of implementation that performs - * processing of posted calls by means of caller thread itself. This type of - * implementation does not need thread pool to serve it. - * - * Note that since May 9th, 2017 (rev. #2066) the Self-Threaded implementation - * returns 0 rather than 1 as available thread count to distinguish from - * thread pools with just one thread in them. - * - * The processing is arranged in a way to prevent call stack depth growth - * as more and more nested calls are posted. - * - * Note that it is not necessary to create and assign a self-threaded - * implementation to a world, as there is a global one used by default - * if no implementation is explicitly assigned. You should only assign - * each world an individual threading implementation instance if simulations - * need to be run in parallel in multiple threads for the worlds. - * - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingFreeImplementation - */ -ODE_API dThreadingImplementationID dThreadingAllocateSelfThreadedImplementation(); - -/** - * @brief Allocates built-in multi-threaded threading implementation object. - * - * A multi-threaded implementation is a type of implementation that has to be - * served with a thread pool. The thread pool can be either the built-in ODE object - * or set of external threads that dedicate themselves to this purpose and stay - * in ODE until implementation releases them. - * - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingThreadPoolServeMultiThreadedImplementation - * @see dExternalThreadingServeMultiThreadedImplementation - * @see dThreadingFreeImplementation - */ -ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation(); - -/** - * @brief Retrieves the functions record of a built-in threading implementation. - * - * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation). - * Do not use this function with self-made custom implementations - - * they should be bundled with their own set of functions. - * - * @param impl Threading implementation ID - * @returns Pointer to associated functions structure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - */ -ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl); - -/** - * @brief Requests a built-in implementation to release threads serving it. - * - * The function unblocks threads employed in implementation serving and lets them - * return to from where they originate. It's the responsibility of external code - * to make sure all the calls to ODE that might be dependent on given threading - * implementation object had already returned before this call is made. If threading - * implementation is still processing some posted calls while this function is - * invoked the behavior is implementation dependent. - * - * This call is to be used to request the threads to be released before waiting - * for them in host pool or before waiting for them to exit. Implementation object - * must not be destroyed before it is known that all the serving threads have already - * returned from it. If implementation needs to be reused after this function is called - * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart - * must be made to restore internal state of the object. - * - * If this function is called for self-threaded built-in threading implementation - * the call has no effect. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationCleanupForRestart - */ -ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl); - -/** - * @brief Restores built-in implementation's state to let it be reused after shutdown. - * - * If a multi-threaded built-in implementation needs to be reused after a call - * to @c dThreadingImplementationShutdownProcessing this call is to be made to - * restore object's internal state. After that the implementation can be served again. - * - * If this function is called for self-threaded built-in threading implementation - * the call has no effect. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl); - -/** - * @brief Deletes an instance of built-in threading implementation. - * - * @warning A care must be taken to make sure the implementation is unassigned - * from all the objects it was assigned to and that there are no more threads - * serving it before attempting to call this function. - * - * @param impl Threading implementation ID - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - */ -ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl); - - -typedef void (dThreadReadyToServeCallback)(void *callback_context); - -/** - * @brief An entry point for external threads that would like to serve a built-in - * threading implementation object. - * - * A thread that calls this function remains blocked in ODE and serves implementation - * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call. - * This function can be used to provide external threads instead of ODE's built-in - * thread pools. - * - * The optional callback @readiness_callback is called after the thread has reached - * and has registered within the implementation. The implementation should not - * be used until all dedicated threads register within it as otherwise it will not - * have accurate view of the execution resources available. - * - * @param impl Threading implementation ID - * @param readiness_callback Optional readiness callback to be called after thread enters the implementation - * @param callback_context A value to be passed as parameter to readiness callback - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl, - dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/); - - -/** - * @brief Creates an instance of built-in thread pool object that can be used to serve - * multi-threaded threading implementations. - * - * The threads allocated inherit priority of caller thread. Their affinity is not - * explicitly adjusted and gets the value the system assigns by default. Threads - * have their stack memory fully committed immediately on start. On POSIX platforms - * threads are started with all the possible signals blocked. Threads execute - * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags - * on initialization. - * - * On POSIX platforms this function must be called with signals masked - * or other measures must be taken to prevent reception of signals by calling thread - * for the duration of the call. - * - * @param thread_count Number of threads to start in pool - * @param stack_size Size of stack to be used for every thread or 0 for system default value - * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread - * @returns ID of object allocated or NULL on failure - * - * @ingroup threading - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - * @see dThreadingFreeThreadPool - */ -ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count, - dsizeint stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/); - -/** - * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded - * threading implementation. - * - * A pool can only serve one threading implementation at a time. - * Call @c dThreadingImplementationShutdownProcessing to release pool threads - * from implementation serving and make them idle. Pool threads must be released - * from any implementations before pool is attempted to be deleted. - * - * This function waits for threads to register within implementation before returning. - * So, after the function call exits the implementation can be used immediately. - * - * @param pool Thread pool ID to serve the implementation - * @param impl Implementation ID of implementation to be served - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingAllocateMultiThreadedImplementation - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl); - -/** - * @brief Waits until all pool threads are released from threading implementation - * they might be serving. - * - * The function can be used after a call to @c dThreadingImplementationShutdownProcessing - * to make sure all the threads have already been released by threading implementation - * and it can be deleted or it can be cleaned up for restart and served by another pool - * or this pool's threads can be used to serve another threading implementation. - * - * Note that is it not necessary to call this function before pool destruction - * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own. - * - * It is OK to call this function even if pool was not serving any threading implementation - * in which case the call exits immediately with minimal delay. - * - * @param pool Thread pool ID to wait for - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingImplementationShutdownProcessing - * @see dThreadingFreeThreadPool - */ -ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool); - -/** - * @brief Deletes a built-in thread pool instance. - * - * The pool threads must be released from any implementations they might be serving - * before this function is called. Otherwise the call is going to block - * and wait until pool's threads return. - * - * @param pool Thread pool ID to delete - * - * @ingroup threading - * @see dThreadingAllocateThreadPool - * @see dThreadingImplementationShutdownProcessing - */ -ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool); - - -#ifdef __cplusplus -} -#endif - -#endif /* #ifndef _ODE_THREADING_IMPL_H_ */ diff --git a/include/windows/ode/timer.h b/include/windows/ode/timer.h deleted file mode 100755 index c7a88e9..0000000 --- a/include/windows/ode/timer.h +++ /dev/null @@ -1,76 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * - * All rights reserved. Email: russ@q12.org Web: www.q12.org * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of EITHER: * - * (1) The GNU Lesser General Public License as published by the Free * - * Software Foundation; either version 2.1 of the License, or (at * - * your option) any later version. The text of the GNU Lesser * - * General Public License is included with this library in the * - * file LICENSE.TXT. * - * (2) The BSD-style license that is included with this library in * - * the file LICENSE-BSD.TXT. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * - * LICENSE.TXT and LICENSE-BSD.TXT for more details. * - * * - *************************************************************************/ - -#ifndef _ODE_TIMER_H_ -#define _ODE_TIMER_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -/* stop watch objects */ - -typedef struct dStopwatch { - double time; /* total clock count */ - unsigned long cc[2]; /* clock count since last `start' */ -} dStopwatch; - -ODE_API void dStopwatchReset (dStopwatch *); -ODE_API void dStopwatchStart (dStopwatch *); -ODE_API void dStopwatchStop (dStopwatch *); -ODE_API double dStopwatchTime (dStopwatch *); /* returns total time in secs */ - - -/* code timers */ - -ODE_API void dTimerStart (const char *description); /* pass a static string here */ -ODE_API void dTimerNow (const char *description); /* pass a static string here */ -ODE_API void dTimerEnd(void); - -/* print out a timer report. if `average' is nonzero, print out the average - * time for each slot (this is only meaningful if the same start-now-end - * calls are being made repeatedly. - */ -ODE_API void dTimerReport (FILE *fout, int average); - - -/* resolution */ - -/* returns the timer ticks per second implied by the timing hardware or API. - * the actual timer resolution may not be this great. - */ -ODE_API double dTimerTicksPerSecond(void); - -/* returns an estimate of the actual timer resolution, in seconds. this may - * be greater than 1/ticks_per_second. - */ -ODE_API double dTimerResolution(void); - - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/include/windows/ode/version.h b/include/windows/ode/version.h deleted file mode 100755 index 7651928..0000000 --- a/include/windows/ode/version.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef _ODE_VERSION_H_ -#define _ODE_VERSION_H_ - -#define dODE_VERSION "0.15.2" - -#endif diff --git a/lib/linux/ode/libode.so b/lib/linux/ode/libode.so deleted file mode 100755 index de05d4e..0000000 Binary files a/lib/linux/ode/libode.so and /dev/null differ diff --git a/lib/linux/ode/libode.so.6 b/lib/linux/ode/libode.so.6 deleted file mode 100755 index de05d4e..0000000 Binary files a/lib/linux/ode/libode.so.6 and /dev/null differ diff --git a/lib/mac/ode/.DS_Store b/lib/mac/ode/.DS_Store deleted file mode 100644 index 5008ddf..0000000 Binary files a/lib/mac/ode/.DS_Store and /dev/null differ diff --git a/lib/mac/ode/libode.0.16.0.dylib b/lib/mac/ode/libode.0.16.0.dylib deleted file mode 100755 index 628d8ce..0000000 Binary files a/lib/mac/ode/libode.0.16.0.dylib and /dev/null differ diff --git a/lib/mac/ode/libode.dylib b/lib/mac/ode/libode.dylib deleted file mode 120000 index 8e8bf0a..0000000 --- a/lib/mac/ode/libode.dylib +++ /dev/null @@ -1 +0,0 @@ -libode.0.16.0.dylib \ No newline at end of file diff --git a/lib/windows/ode/ode_double.dll b/lib/windows/ode/ode_double.dll deleted file mode 100755 index 4701d50..0000000 Binary files a/lib/windows/ode/ode_double.dll and /dev/null differ diff --git a/lib/windows/ode/ode_double.lib b/lib/windows/ode/ode_double.lib deleted file mode 100755 index 8bd0ede..0000000 Binary files a/lib/windows/ode/ode_double.lib and /dev/null differ diff --git a/lib/windows/ode/ode_doubled.dll b/lib/windows/ode/ode_doubled.dll deleted file mode 100755 index b78574f..0000000 Binary files a/lib/windows/ode/ode_doubled.dll and /dev/null differ diff --git a/lib/windows/ode/ode_doubled.lib b/lib/windows/ode/ode_doubled.lib deleted file mode 100755 index 7c0b38c..0000000 Binary files a/lib/windows/ode/ode_doubled.lib and /dev/null differ diff --git a/lib/windows/ode/ode_doubled.pdb b/lib/windows/ode/ode_doubled.pdb deleted file mode 100755 index 11da3bd..0000000 Binary files a/lib/windows/ode/ode_doubled.pdb and /dev/null differ diff --git a/src/common/version.h b/src/common/version.h index b64d2ea..54a6c73 100755 --- a/src/common/version.h +++ b/src/common/version.h @@ -4,7 +4,7 @@ /* Auto generated version file. DO NOT MODIFY */ #define SYMMETRY_VERSION_MAJOR 0 #define SYMMETRY_VERSION_MINOR 1 -#define SYMMETRY_VERSION_REVISION 331 +#define SYMMETRY_VERSION_REVISION 332 #define SYMMETRY_VERSION_BRANCH "dev" #endif \ No newline at end of file diff --git a/src/game/entity.c b/src/game/entity.c index 96531cf..1b435e3 100755 --- a/src/game/entity.c +++ b/src/game/entity.c @@ -14,7 +14,6 @@ #include "../common/parser.h" #include "../common/hashmap.h" #include "../system/file_io.h" -#include "../system/physics.h" #include "scene.h" #include "game.h" #include "texture.h" @@ -599,105 +598,6 @@ const char* entity_type_name_get(struct Entity* entity) return typename; } -void entity_rigidbody_on_move(Rigidbody body) -{ - struct Entity* entity = physics_body_data_get(body); - vec3 pos = {0.f}; - quat rot = {0.f}; - - physics_body_position_get(body, &pos.x, &pos.y, &pos.z); - physics_body_rotation_get(body, &rot.x, &rot.y, &rot.z, &rot.w); - - quat_assign(&entity->transform.rotation, &rot); - transform_set_position(entity, &pos); - entity->transform.sync_physics = false; -} - -void entity_rigidbody_on_collision(Rigidbody body_A, Rigidbody body_B) -{ - struct Entity* ent_A = NULL; - struct Entity* ent_B = NULL; - - if(body_A) - { - ent_A = physics_body_data_get(body_A); - } - - if(body_B) - { - ent_B = physics_body_data_get(body_B); - } - - //if(ent_A && ent_A->collision.on_collision) - //{ - // ent_A->collision.on_collision(ent_A, ent_B ? ent_B : NULL, body_A, body_B ? body_B : NULL); - //} - - //if(ent_B && ent_B->collision.on_collision) - //{ - // ent_B->collision.on_collision(ent_B, ent_A ? ent_A : NULL, body_B, body_A ? body_A : NULL); - //} - - if(ent_A && ent_B) - { - //log_message("Entity %s collided with Entity %s", ent_A->name, ent_B->name); - } -} - -void entity_rigidbody_set(struct Entity * entity, struct Collision* collision, Rigidbody body) -{ - assert(entity && body); - - //Remove previous rigidbody if there is any - if(collision->rigidbody || collision->collision_shape) - { - if(collision->rigidbody) - { - physics_body_remove(collision->rigidbody); - } - else if(collision->collision_shape) - { - physics_cs_remove(collision->collision_shape); - } - collision->rigidbody = NULL; - collision->collision_shape = NULL; - } - - collision->rigidbody = body; - collision->collision_shape = physics_body_cs_get(body); - - vec3 abs_pos = {0.f, 0.f, 0.f}; - quat abs_rot = {0.f, 0.f, 0.f, 1.f}; - transform_get_absolute_position(entity, &abs_pos); - transform_get_absolute_rot(entity, &abs_rot); - - physics_body_rotation_set(body, abs_rot.x, abs_rot.y, abs_rot.z, abs_rot.w); - physics_body_position_set(body, abs_pos.x, abs_pos.y, abs_pos.z); - physics_body_data_set(body, entity); -} - -void entity_collision_shape_set(struct Entity* entity, struct Collision* collision, Collision_Shape shape) -{ - assert(entity && shape); - - if(collision->rigidbody || collision->collision_shape) - { - if(collision->rigidbody) - { - physics_body_remove(collision->rigidbody); - } - else if(collision->collision_shape) - { - physics_cs_remove(collision->collision_shape); - } - collision->rigidbody = NULL; - collision->collision_shape = NULL; - } - - collision->collision_shape = shape; - physics_cs_data_set(shape, entity); -} - void entity_rename(struct Entity* entity, const char* new_name) { assert(entity); diff --git a/src/game/entity.h b/src/game/entity.h index c4bbb62..0c12876 100755 --- a/src/game/entity.h +++ b/src/game/entity.h @@ -3,7 +3,6 @@ #include "../common/linmath.h" #include "../common/num_types.h" -#include "../system/physics.h" #include "../system/sound.h" #include "bounding_volumes.h" #include "material.h" @@ -14,7 +13,6 @@ struct Entity; struct Material_Param; struct Parser_Object; -typedef void (*Collision_CB)(struct Entity* this_entity, struct Entity* other_entity, Rigidbody, Rigidbody); typedef void (*Trigger_Func)(struct Trigger* trigger); enum Entity_Type @@ -102,7 +100,6 @@ struct Transform quat rotation; mat4 trans_mat; bool is_modified; - bool sync_physics; struct Entity* parent; struct Entity** children; }; @@ -178,18 +175,10 @@ struct Light }; -struct Collision -{ - Rigidbody rigidbody; - Collision_Shape collision_shape; - Collision_CB on_collision; -}; - struct Static_Mesh { struct Entity base; struct Model model; - struct Collision collision; }; struct Player @@ -261,10 +250,6 @@ bool entity_write(struct Entity* entity, struct Parser_Object* object, struct Entity* entity_read(struct Parser_Object* object, struct Entity* parent_entity); const char* entity_type_name_get(struct Entity* entity); int entity_get_num_children_of_type(struct Entity* entity, int type, struct Entity** in_children, int max_children); -void entity_rigidbody_on_move(Rigidbody body); -void entity_rigidbody_on_collision(Rigidbody body_A, Rigidbody body_B); -void entity_rigidbody_set(struct Entity* entity, struct Collision* collision, Rigidbody body); -void entity_collision_shape_set(struct Entity* entity, struct Collision* collision, Collision_Shape shape); // Only used for collision shapes like plane which can't have a rigidbody attached to collision shape void entity_rename(struct Entity* entity, const char* new_name); void entity_update_derived_bounding_box(struct Entity* entity); void entity_bounding_box_reset(struct Entity* entity, bool update_derived); diff --git a/src/game/game.c b/src/game/game.c index 219f798..4aa2f08 100755 --- a/src/game/game.c +++ b/src/game/game.c @@ -30,7 +30,6 @@ #include "../common/parser.h" #include "../common/hashmap.h" #include "../common/variant.h" -#include "../system/physics.h" #include "../system/platform.h" #include "debug_vars.h" #include "im_render.h" @@ -53,8 +52,6 @@ static void game_scene_setup(void); static void game_on_log_message(const char* message, va_list args); static void game_on_log_warning(const char* warning_message, va_list args); static void game_on_log_error(const char* context, const char* error_message, va_list args); -static void on_box_move(Rigidbody body); -static void on_collision_test(struct Entity* this_ent, struct Entity* other_ent, Rigidbody body, Rigidbody body2); static struct Game_State* game_state = NULL; @@ -1972,17 +1969,6 @@ struct Game_State* game_state_get(void) return game_state; } -void on_collision_test(struct Entity* this_ent, struct Entity* other_ent, Rigidbody body, Rigidbody body2) -{ - float y = this_ent->transform.position.y; - if(y < 10.f) - { - //vec3 translation = {0.f, 50.f, 0.f}; - //transform_translate(this_ent, &translation, TS_WORLD); - //platform->physics.body_force_add(body, 0.f, -100.f, 0.f); - } - //platform->physics.body_force_add(body, 0.f, 500.f, 0.f); -} void game_on_log_message(const char* message, va_list args) { diff --git a/src/game/renderer.c b/src/game/renderer.c index 054a202..df666d7 100755 --- a/src/game/renderer.c +++ b/src/game/renderer.c @@ -270,50 +270,6 @@ void renderer_render(struct Renderer* renderer, struct Scene* scene) glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); } - // Debug Physics render - if(renderer->settings.debug_draw_physics) - { - static vec4 physics_draw_color = { 0.f, 0.f, 1.f, 1.f }; - for(int i = 0; i < MAX_SCENE_STATIC_MESHES; i++) - { - struct Static_Mesh* mesh = &scene->static_meshes[i]; - if(!(mesh->base.flags & EF_ACTIVE) || (!mesh->collision.collision_shape && !mesh->collision.rigidbody)) continue; - - //Get collision mesh and it's props then render it - vec3 pos = {0.f}; - quat rot = {0.f, 0.f, 0.f, 1.f }; - if(mesh->collision.rigidbody) - { - physics_body_position_get(mesh->collision.rigidbody, &pos.x, &pos.y, &pos.z); - physics_body_rotation_get(mesh->collision.rigidbody, &rot.x, &rot.y, &rot.z, &rot.w); - } - else - { - physics_cs_position_get(mesh->collision.collision_shape, &pos.x, &pos.y, &pos.z); - physics_cs_rotation_get(mesh->collision.collision_shape, &rot.x, &rot.y, &rot.z, &rot.w); - } - - int collision_shape_type = physics_cs_type_get(mesh->collision.collision_shape); - switch(collision_shape_type) - { - case CST_SPHERE: - { - float radius = physics_cs_sphere_radius_get(mesh->collision.collision_shape); - im_sphere(radius, pos, rot, physics_draw_color, GDM_TRIANGLES, 1); - } - break; - case CST_BOX: - { - float x = 0.f, y = 0.f, z = 0.f; - physics_cs_box_params_get(mesh->collision.collision_shape, &x, &y, &z); - im_box(x, y, z, pos, rot, physics_draw_color, GDM_TRIANGLES, 1); - }; - break; - default: break; - } - } - } - //Editor related rendering if(game_state->game_mode == GAME_MODE_EDITOR) { diff --git a/src/game/scene.c b/src/game/scene.c index 43e0b26..1be52b4 100755 --- a/src/game/scene.c +++ b/src/game/scene.c @@ -13,7 +13,6 @@ #include "geometry.h" #include "editor.h" #include "../system/sound.h" -#include "../system/physics.h" #include "../system/platform.h" #include "../common/hashmap.h" #include "renderer.h" @@ -55,9 +54,6 @@ void scene_init(struct Scene* scene) { entity_reset(&scene->static_meshes[i], i); struct Static_Mesh* mesh = &scene->static_meshes[i]; - mesh->collision.collision_shape = NULL; - mesh->collision.rigidbody = NULL; - mesh->collision.on_collision = NULL; mesh->model.geometry_index = -1; mesh->model.material = NULL; } @@ -480,21 +476,6 @@ void scene_post_update(struct Scene* scene) scene_static_mesh_remove(scene, static_mesh); continue; } - - if(static_mesh->base.transform.is_modified) - { - if(static_mesh->collision.rigidbody && static_mesh->base.transform.sync_physics) - { - quat abs_rot = { 0.f, 0.f, 0.f, 1.f }; - vec3 abs_pos = { 0.f, 0.f, 0.f }; - transform_get_absolute_rot(&static_mesh->base, &abs_rot); - transform_get_absolute_position(&static_mesh->base, &abs_pos); - physics_body_rotation_set(static_mesh->collision.rigidbody, abs_rot.x, abs_rot.y, abs_rot.z, abs_rot.w); - physics_body_position_set(static_mesh->collision.rigidbody, abs_pos.x, abs_pos.y, abs_pos.z); - } - static_mesh->base.transform.sync_physics = false; - static_mesh->base.transform.is_modified = false; - } } for(int i = 0; i < MAX_SCENE_LIGHTS; i++) @@ -812,10 +793,6 @@ void scene_static_mesh_remove(struct Scene* scene, struct Static_Mesh* mesh) { assert(scene && mesh); - mesh->collision.on_collision = NULL; - if(mesh->collision.collision_shape) physics_cs_remove(mesh->collision.collision_shape); - if(mesh->collision.rigidbody) physics_body_remove(mesh->collision.rigidbody); - model_reset(&mesh->model, mesh); scene_entity_base_remove(scene, &mesh->base); } diff --git a/src/game/transform.c b/src/game/transform.c index c1ebc92..aa3e234 100755 --- a/src/game/transform.c +++ b/src/game/transform.c @@ -239,7 +239,6 @@ void transform_update_transmat(struct Entity* entity) transform_update_transmat(entity->transform.children[i]); } transform->is_modified = true; - if(entity->type == ET_STATIC_MESH) entity->transform.sync_physics = true; // Find a better way to handle this } void transform_destroy(struct Entity* entity) diff --git a/src/system/main.c b/src/system/main.c index b7861f0..9e0d396 100755 --- a/src/system/main.c +++ b/src/system/main.c @@ -4,7 +4,6 @@ #include "../common/log.h" #include "sound.h" #include "platform.h" -#include "physics.h" #include "file_io.h" #include "config_vars.h" #include "../common/hashmap.h" diff --git a/src/system/physics.c b/src/system/physics.c deleted file mode 100755 index 6d77604..0000000 --- a/src/system/physics.c +++ /dev/null @@ -1,539 +0,0 @@ -#include "physics.h" -#include "../common/log.h" - -#include -#include - -static struct -{ - dWorldID world; - dSpaceID space; - dJointGroupID contact_group; - double step_size; - RigidbodyColCB on_collision; - RigidbodyMoveCB on_move; -} - Physics; - -static void physics_near_callback(void* data, dGeomID body1, dGeomID body2); -static void physics_cs_ray_hit_callback(void* data, dGeomID geom1, dGeomID geom2); - -void physics_init(void) -{ - if(dInitODE2(0) == 0) - { - log_error("physics:init", "Failed to initialize ode"); - return; - } - - dAllocateODEDataForThread(dAllocateMaskAll); - Physics.world = dWorldCreate(); - if(!Physics.world) - { - log_error("physics:init", "Physics world created!"); - } - else - { - log_message("Physics world created"); - Physics.space = dHashSpaceCreate(0); - Physics.contact_group = dJointGroupCreate(0); - Physics.step_size = 0.016; - dWorldSetCFM(Physics.world,1e-5); - dWorldSetAutoDisableFlag(Physics.world, 1); - dWorldSetLinearDamping(Physics.world, 0.00001); - dWorldSetAngularDamping(Physics.world, 0.005); - dWorldSetMaxAngularSpeed(Physics.world, 200); - dWorldSetContactMaxCorrectingVel(Physics.world,0.1); - dWorldSetContactSurfaceLayer(Physics.world,0.001); - } -} - -void physics_cleanup(void) -{ - dJointGroupDestroy(Physics.contact_group); - dSpaceDestroy(Physics.space); - if(Physics.world) - { - dWorldDestroy(Physics.world); - } - dCleanupODEAllDataForThread(); - dCloseODE(); -} - -void physics_step(float delta_time) -{ - int steps = (int)ceilf(delta_time / (float)Physics.step_size); - for(int i = 0; i < steps; i++) - { - dSpaceCollide(Physics.space, NULL, physics_near_callback); - dWorldQuickStep(Physics.world, Physics.step_size); - dJointGroupEmpty(Physics.contact_group); - } -} - -void physics_gravity_set(float x, float y, float z) -{ - dWorldSetGravity(Physics.world, x, y, z); -} - -void physics_gravity_get(float * x, float * y, float * z) -{ - assert(x && y && z); - dVector3 gravity; - dWorldGetGravity(Physics.world, gravity); - *x = (float)gravity[0]; - *y = (float)gravity[1]; - *z = (float)gravity[2]; -} - -void physics_body_position_get(Rigidbody body, float * x, float * y, float * z) -{ - assert(x && y && z); - const dReal* position = dBodyGetPosition(body); - *x = (float)position[0]; - *y = (float)position[1]; - *z = (float)position[2]; -} - -void physics_body_position_set(Rigidbody body, float x, float y, float z) -{ - dBodySetPosition(body, x, y, z); - dBodyEnable(body); -} - -void physics_body_rotation_get(Rigidbody body, float * x, float * y, float * z, float * w) -{ - assert(x && y && z && w); - const dReal* rotation = dBodyGetQuaternion(body); - *x = (float)rotation[1]; - *y = (float)rotation[2]; - *z = (float)rotation[3]; - *w = (float)rotation[0]; -} - -void physics_body_rotation_set(Rigidbody body, float x, float y, float z, float w) -{ - dReal rotation[4] = { 0.f }; - rotation[1] = x; - rotation[2] = y; - rotation[3] = z; - rotation[0] = w; - dBodySetQuaternion(body, &rotation[0]); - dBodyEnable(body); -} - - -void physics_near_callback(void* data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - //if(dGeomIsSpace(o1) || dGeomIsSpace(o2)) - //{ - // fprintf(stderr, "testing space %p %p\n", (void*)o1, (void*)o2); - // // colliding a space with something - // dSpaceCollide2(o1, o2, data, &physics_near_callback); - // // Note we do not want to test intersections within a space, - // // only between spaces. - // return; - //} - - // fprintf(stderr,"testing geoms %p %p\n", o1, o2); - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - - if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact)) - return; - - if(o1 == o2) - log_message("same body!"); - - -#define MAX_CONTACTS 8 - dContact contact[MAX_CONTACTS]; - for (int i = 0; i < MAX_CONTACTS; i++) - { - //contact[i].surface.mode = dContactBounce | dContactSoftCFM; - contact[i].surface.mode = dContactBounce | dContactSoftCFM; - contact[i].surface.mu = dInfinity; - contact[i].surface.mu2 = 0; - contact[i].surface.bounce = 0.1; - contact[i].surface.bounce_vel = 0.1; - contact[i].surface.soft_cfm = 0.01; - } - - int n = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(dContact)); - if(n > 0) - { - Physics.on_collision(b1, b2); - for(int i = 0; i < n; i++) - { - //contact[i].surface.slip1 = 0.7; - //contact[i].surface.slip2 = 0.7; - //contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2; - //contact[i].surface.mu = 50.0; // was: dInfinity - //contact[i].surface.soft_erp = 0.96; - //contact[i].surface.soft_cfm = 0.04; - - dJointID c = dJointCreateContact(Physics.world, Physics.contact_group, &contact[i]); - dJointAttach(c, b1, b2); - /*dGeomGetBody(contact[i].geom.g1), - dGeomGetBody(contact[i].geom.g2));*/ - } - } -} - -Collision_Shape physics_body_cs_get(Rigidbody body) -{ - return dBodyGetFirstGeom(body); -} - -void physics_body_cs_set(Rigidbody body, Collision_Shape shape) -{ - dGeomSetBody(shape, body); -} - -Collision_Shape physics_cs_plane_create(float a, float b, float c, float d) -{ - dGeomID plane = dCreatePlane(Physics.space, a, b, c, d); - return plane; -} - -void physics_cs_plane_params_set(Collision_Shape shape, float a, float b, float c, float d) -{ - dGeomPlaneSetParams(shape, a, b, c, d); -} - -void physics_cs_plane_params_get(Collision_Shape shape, float* a, float* b, float* c, float* d) -{ - assert(a && b && c && d); - *a = *b = *c = *d = 0.f; - float result[4] = { 0.f }; - dGeomPlaneGetParams(shape, result); - *a = result[0]; - *b = result[1]; - *c = result[2]; - *d = result[3]; -} - -Collision_Shape physics_cs_box_create(float x, float y, float z) -{ - dGeomID box = dCreateBox(Physics.space, x, y, z); - if(!box) - { - log_error("physics:cs_box_create", "Failed to create box collision shape"); - } - return box; - -} - -int physics_cs_type_get(Collision_Shape shape) -{ - int geom_class = dGeomGetClass(shape); - switch(geom_class) - { - case dBoxClass: return CST_BOX; - case dSphereClass: return CST_SPHERE; - case dCylinderClass: return CST_CYLINDER; - case dTriMeshClass: return CST_TRIMESH; - case dPlaneClass: return CST_PLANE; - default: return CST_UNKNOWN; - } -} - -void physics_cs_box_params_get(Collision_Shape shape, float* x, float* y, float* z) -{ - assert(x && y && z); - *x = *y = *z = 0.f; - dReal lengths[3] = { 0 }; - dGeomBoxGetLengths(shape, &lengths[0]); - *x = lengths[0]; - *y = lengths[1]; - *z = lengths[2]; -} - -void physics_cs_box_params_set(Collision_Shape shape, float x, float y, float z) -{ - dGeomBoxSetLengths(shape, x, y, z); -} - -Collision_Shape physics_cs_sphere_create(float radius) -{ - dGeomID sphere = dCreateSphere(Physics.space, radius); - if(!sphere) - { - log_error("physics:cs_sphere_create", "Failed to create sphere collision shape"); - } - return sphere; -} - -float physics_cs_sphere_radius_get(Collision_Shape shape) -{ - return dGeomSphereGetRadius(shape); -} - -void physics_cs_sphere_radius_set(Collision_Shape shape, float radius) -{ - dGeomSphereSetRadius(shape, radius); -} - -Collision_Shape physics_cs_capsule_create(float radius, float length) -{ - dGeomID capsule = dCreateCapsule(Physics.space, radius, length); - if(!capsule) - { - log_error("physics:cs_capsule_create", "Failed to create capsule collision shape"); - } - return capsule; -} - -void physics_cs_capsule_params_get(Collision_Shape shape, float* radius, float* length) -{ - assert(radius && length); - *radius = *length = 0.f; - dGeomCapsuleGetParams(shape, radius, length); -} - -void physics_cs_capsule_params_set(Collision_Shape shape, float radius, float length) -{ - dGeomCapsuleSetParams(shape, radius, length); -} - -void physics_box_params_get(Rigidbody body, float* x, float* y, float* z) -{ - assert(x && y && z); - *x = *y = *z = 0.f; - dGeomID box = dBodyGetFirstGeom(body); - if(box == 0) - { - log_error("physics:box_get_params", "Body has invalid geometry"); - return; - } - float lengths[3] = { 0.f }; - dGeomBoxGetLengths(box, lengths); - *x = lengths[0]; - *y = lengths[1]; - *z = lengths[2]; -} - -void physics_box_params_set(Rigidbody body, float x, float y, float z) -{ - assert(x && y && z); - dGeomID box = dBodyGetFirstGeom(body); - if(box == 0) - { - log_error("physics:box_get_params", "Body has invalid geometry"); - return; - } - dGeomBoxSetLengths(box, x, y, z); -} - -Rigidbody physics_body_box_create(float x, float y, float z) -{ - Rigidbody body = NULL; - Collision_Shape box = physics_cs_box_create(x, y, z); - if(box) - { - body = dBodyCreate(Physics.world); - physics_body_cs_set(body, box); - dBodySetMovedCallback(body, Physics.on_move); - } - - return body; -} - -Rigidbody physics_body_sphere_create(float radius) -{ - Rigidbody body = NULL; - Collision_Shape sphere = physics_cs_sphere_create(radius); - if(sphere) - { - body = dBodyCreate(Physics.world); - physics_body_cs_set(body, sphere); - dBodySetMovedCallback(body, Physics.on_move); - } - - return body; -} - -Rigidbody physics_body_capsule_create(float radius, float length) -{ - Rigidbody body = NULL; - Collision_Shape capsule = physics_cs_capsule_create(radius, length); - if(capsule) - { - body = dBodyCreate(Physics.world); - physics_body_cs_set(body, capsule); - dBodySetMovedCallback(body, Physics.on_move); - } - - return body; -} - -void physics_body_force_add(Rigidbody body, float fx, float fy, float fz) -{ - dBodyAddForce(body, fx, fy, fz); -} - -void physics_body_set_moved_callback(RigidbodyMoveCB callback) -{ - Physics.on_move = callback; -} - -void physics_body_set_collision_callback(RigidbodyColCB callback) -{ - Physics.on_collision = callback; -} - -float physics_body_mass_get(Rigidbody body) -{ - return 0.0f; -} - -void physics_body_mass_set(Rigidbody body, float mass) -{ - /*dMass dmass; - dMassAdjust(&dmass, mass); - dBodySetMass(body, &dmass);*/ -} - -void physics_body_data_set(Rigidbody body, void * data) -{ - dBodySetData(body, data); -} - -void * physics_body_data_get(Rigidbody body) -{ - return dBodyGetData(body); -} - -void physics_body_kinematic_set(Rigidbody body) -{ - dBodySetKinematic(body); -} - -void physics_cs_ray_hit_callback(void* data, dGeomID geom1, dGeomID geom2) -{ - dContact contact; - if(dCollide(geom1, geom2, 1, &contact.geom, sizeof(contact)) == 1) - { - struct Raycast_Hit* rayhit = (struct Raycast_Hit*)data; - Rigidbody body = dGeomGetBody(geom2); - if(body) - { - int entity_id = (int)dBodyGetData(body); - if(entity_id != 0) rayhit->entity_id = entity_id; - } - else - { - int entity_id = (int)dGeomGetData(geom2); - if(entity_id != 0) rayhit->entity_id = entity_id; - } - } -} - -bool physics_cs_ray_cast(Collision_Shape ray, - struct Raycast_Hit* out_rayhit, - float pos_x, float pos_y, float pos_z, - float dir_x, float dir_y, float dir_z) -{ - assert(out_rayhit); - out_rayhit->entity_id = -1; - dGeomRaySet(ray, pos_x, pos_y, pos_z, dir_x, dir_y, dir_z); - dSpaceCollide2(ray, Physics.space, (void*)out_rayhit, &physics_cs_ray_hit_callback); - return out_rayhit->entity_id == -1 ? false : true; -} - -void physics_cs_position_get(Collision_Shape shape, float * x, float * y, float * z) -{ - assert(x && y && z); - if(dGeomGetClass(shape) == dPlaneClass) - { - *x = 0.f; - *y = 0.f; - *z = 0.f; - return; - } - - const dReal* pos = dGeomGetPosition(shape); - *x = pos[0]; - *y = pos[1]; - *z = pos[2]; -} - -void physics_cs_position_set(Collision_Shape shape, float x, float y, float z) -{ - if(dGeomGetClass(shape) == dPlaneClass) - return; - - dGeomSetPosition(shape, x, y, z); -} - -void physics_cs_rotation_get(Collision_Shape shape, float* x, float* y, float* z, float* w) -{ - assert(x && y && z && w); - - if(dGeomGetClass(shape) == dPlaneClass) - { - *x = 0.f; - *y = 0.f; - *z = 0.f; - *w = 1.f; - return; - } - - dReal rotation[4] = { 1, 0, 0, 0 }; - dGeomGetQuaternion(shape, &rotation[0]); - *x = rotation[1]; - *y = rotation[2]; - *z = rotation[3]; - *w = rotation[0]; -} - -void physics_cs_rotation_set(Collision_Shape shape, float x, float y, float z, float w) -{ - if(dGeomGetClass(shape) == dPlaneClass) - return; - - dReal rotation[4] = { 0.f }; - rotation[1] = x; - rotation[2] = y; - rotation[3] = z; - rotation[0] = w; - dGeomSetQuaternion(shape, &rotation[0]); -} - -Collision_Shape physics_cs_ray_create(float length, bool first_contact, bool backface_cull) -{ - dGeomID ray = dCreateRay(Physics.space, length); - dGeomRaySetBackfaceCull(ray, backface_cull); - dGeomRaySetFirstContact(ray, first_contact); - return ray; -} - -void physics_body_remove(Rigidbody body) -{ - dGeomID shape = dBodyGetFirstGeom(body); - if(shape) - physics_cs_remove(shape); - dBodyDestroy(body); -} - -void physics_cs_remove(Collision_Shape shape) -{ - dGeomDestroy(shape); -} - -void physics_cs_data_set(Collision_Shape shape, void* data) -{ - assert(shape); - dGeomSetData(shape, data); -} - -void* physics_cs_data_get(Collision_Shape shape) -{ - assert(shape); - return dGeomGetData(shape); -} diff --git a/src/system/physics.h b/src/system/physics.h deleted file mode 100755 index d93b837..0000000 --- a/src/system/physics.h +++ /dev/null @@ -1,99 +0,0 @@ -#ifndef PHYSICS_H -#define PHYSICS_H - -#include - -typedef void* Rigidbody; -typedef void* Collision_Shape; -typedef void(*RigidbodyMoveCB)(Rigidbody); -typedef void(*RigidbodyColCB)(Rigidbody, Rigidbody); - -enum Collision_Shape_Type -{ - CST_BOX = 0, - CST_SPHERE, - CST_CYLINDER, - CST_CAPSULE, - CST_PLANE, - CST_TRIMESH, - CST_UNKNOWN -}; - -struct Raycast_Hit -{ - int entity_id; - float normal_x, normal_y, normal_z; -}; - - -void physics_init(void); -void physics_cleanup(void); -void physics_gravity_set(float x, float y, float z); -void physics_gravity_get(float* x, float* y, float* z); -void physics_step(float delta_time); - -void physics_body_position_get(Rigidbody body, float* x, float* y, float* z); -void physics_body_position_set(Rigidbody body, float x, float y, float z); - -void physics_body_rotation_get(Rigidbody body, float* x, float* y, float* z, float* w); -void physics_body_rotation_set(Rigidbody body, float x, float y, float z, float w); - -Collision_Shape physics_body_cs_get(Rigidbody body); -void physics_body_cs_set(Rigidbody body, Collision_Shape shape); - -void physics_cs_remove(Collision_Shape shape); -int physics_cs_type_get(Collision_Shape shape); - -Collision_Shape physics_cs_plane_create(float a, float b, float c, float d); -void physics_cs_plane_params_set(Collision_Shape shape, float a, float b, float c, float d); -void physics_cs_plane_params_get(Collision_Shape shape, float* a, float* b, float* c, float* d); - -Collision_Shape physics_cs_box_create(float x, float y, float z); -void physics_cs_box_params_get(Collision_Shape shape, float* x, float* y, float* z); -void physics_cs_box_params_set(Collision_Shape shape, float x, float y, float z); - -Collision_Shape physics_cs_sphere_create(float radius); -float physics_cs_sphere_radius_get(Collision_Shape shape); -void physics_cs_sphere_radius_set(Collision_Shape shape, float radius); - -Collision_Shape physics_cs_capsule_create(float radius, float height); -void physics_cs_capsule_params_get(Collision_Shape shape, float* radius, float* height); -void physics_cs_capsule_params_set(Collision_Shape shape, float radius, float height); - -void physics_cs_data_set(Collision_Shape shape, void* data); -void* physics_cs_data_get(Collision_Shape shape); - -Collision_Shape physics_cs_ray_create(float length, bool first_contact, bool backface_cull); -bool physics_cs_ray_cast(Collision_Shape ray, - struct Raycast_Hit* out_rayhit, - float pos_x, float pos_y, float pos_z, - float dir_x, float dir_y, float dir_z); - -void physics_cs_position_get(Collision_Shape shape, float* x, float* y, float* z); -void physics_cs_position_set(Collision_Shape shape, float x, float y, float z); - -void physics_cs_rotation_get(Collision_Shape shape, float* x, float* y, float* z, float* w); -void physics_cs_rotation_set(Collision_Shape shape, float x, float y, float z, float w); - -Rigidbody physics_body_box_create(float x, float y, float z); -Rigidbody physics_body_sphere_create(float radius); -Rigidbody physics_body_capsule_create(float radius, float height); - -void physics_body_remove(Rigidbody body); - -void physics_body_set_moved_callback(RigidbodyMoveCB callback); -void physics_body_set_collision_callback(RigidbodyColCB callback); - -float physics_body_mass_get(Rigidbody body); -void physics_body_mass_set(Rigidbody body, float mass); - -void physics_body_data_set(Rigidbody body, void* data); -void* physics_body_data_get(Rigidbody body); - -void physics_body_force_add(Rigidbody body, float fx, float fy, float fz); - -void physics_body_kinematic_set(Rigidbody body); - - - -#endif \ No newline at end of file diff --git a/todo.txt b/todo.txt index 5bf6a4c..09a6585 100644 --- a/todo.txt +++ b/todo.txt @@ -16,7 +16,6 @@ Todo: - Basic Enemy - Main Menu Scene ? Split this todo into gameplay/engine todos - - Remove ODE completely ? Write entity flags to scene file or when saving entity to file? ? Add scene init/de-init function hashmap that maps a function that should be called when scene is loaded and unloaded. Save this to file for every scene or map functions based on the name of the scene? - Release mouse when window loses focus and limit fps @@ -403,4 +402,5 @@ Done: * Add all sound source properties to propery inspector * Implement Triggers * Fix crash where if entity selected in editor is deleted in game mode and then returning to editor mode causes a crash - * Add "Select Parent" button to property inspector \ No newline at end of file + * Add "Select Parent" button to property inspector + * Remove ODE completely \ No newline at end of file