569 lines
15 KiB
C
569 lines
15 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_COMMON_H_
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#define _ODE_COMMON_H_
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#include <ode/odeconfig.h>
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#include <ode/error.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* configuration stuff */
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/* constants */
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/* pi and 1/sqrt(2) are defined here if necessary because they don't get
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* defined in <math.h> on some platforms (like MS-Windows)
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*/
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#ifndef M_PI
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#define M_PI REAL(3.1415926535897932384626433832795029)
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#endif
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#ifndef M_PI_2
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#define M_PI_2 REAL(1.5707963267948966192313216916398)
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#endif
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#ifndef M_SQRT1_2
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#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
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#endif
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/* floating point data type, vector, matrix and quaternion types */
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#if defined(dSINGLE)
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typedef float dReal;
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#ifdef dDOUBLE
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#error You can only #define dSINGLE or dDOUBLE, not both.
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#endif /* dDOUBLE */
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#elif defined(dDOUBLE)
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typedef double dReal;
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#else
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#error You must #define dSINGLE or dDOUBLE
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#endif
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/* Detect if we've got both trimesh engines enabled. */
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#if dTRIMESH_ENABLED
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#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
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#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
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#endif
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#endif /* dTRIMESH_ENABLED */
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/*
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* Define a type for indices, either 16 or 32 bit, based on build option
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* TODO: Currently GIMPACT only supports 32 bit indices.
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*/
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#if dTRIMESH_16BIT_INDICES
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#if dTRIMESH_GIMPACT
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typedef duint32 dTriIndex;
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#else /* dTRIMESH_GIMPACT */
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typedef duint16 dTriIndex;
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#endif /* dTRIMESH_GIMPACT */
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#else /* dTRIMESH_16BIT_INDICES */
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typedef duint32 dTriIndex;
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#endif /* dTRIMESH_16BIT_INDICES */
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/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
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* (used to compute matrix leading dimensions)
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*/
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#define dPAD(a) (((a) > 1) ? (((a) + 3) & (int)(~3)) : (a))
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typedef enum {
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dSA__MIN,
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dSA_X = dSA__MIN,
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dSA_Y,
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dSA_Z,
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dSA__MAX,
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} dSpaceAxis;
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typedef enum {
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dMD__MIN,
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dMD_LINEAR = dMD__MIN,
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dMD_ANGULAR,
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dMD__MAX,
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} dMotionDynamics;
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typedef enum {
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dDA__MIN,
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dDA__L_MIN = dDA__MIN + dMD_LINEAR * dSA__MAX,
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dDA_LX = dDA__L_MIN + dSA_X,
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dDA_LY = dDA__L_MIN + dSA_Y,
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dDA_LZ = dDA__L_MIN + dSA_Z,
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dDA__L_MAX = dDA__L_MIN + dSA__MAX,
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dDA__A_MIN = dDA__MIN + dMD_ANGULAR * dSA__MAX,
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dDA_AX = dDA__A_MIN + dSA_X,
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dDA_AY = dDA__A_MIN + dSA_Y,
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dDA_AZ = dDA__A_MIN + dSA_Z,
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dDA__A_MAX = dDA__A_MIN + dSA__MAX,
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dDA__MAX = dDA__MIN + dMD__MAX * dSA__MAX,
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} dDynamicsAxis;
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typedef enum {
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dV3E__MIN,
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dV3E__AXES_MIN = dV3E__MIN,
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dV3E_X = dV3E__AXES_MIN + dSA_X,
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dV3E_Y = dV3E__AXES_MIN + dSA_Y,
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dV3E_Z = dV3E__AXES_MIN + dSA_Z,
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dV3E__AXES_MAX = dV3E__AXES_MIN + dSA__MAX,
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dV3E_PAD = dV3E__AXES_MAX,
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dV3E__MAX,
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dV3E__AXES_COUNT = dV3E__AXES_MAX - dV3E__AXES_MIN,
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} dVec3Element;
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typedef enum {
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dV4E__MIN,
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dV4E_X = dV4E__MIN + dSA_X,
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dV4E_Y = dV4E__MIN + dSA_Y,
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dV4E_Z = dV4E__MIN + dSA_Z,
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dV4E_O = dV4E__MIN + dSA__MAX,
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dV4E__MAX,
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} dVec4Element;
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typedef enum {
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dM3E__MIN,
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dM3E__X_MIN = dM3E__MIN + dSA_X * dV3E__MAX,
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dM3E__X_AXES_MIN = dM3E__X_MIN + dV3E__AXES_MIN,
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dM3E_XX = dM3E__X_MIN + dV3E_X,
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dM3E_XY = dM3E__X_MIN + dV3E_Y,
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dM3E_XZ = dM3E__X_MIN + dV3E_Z,
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dM3E__X_AXES_MAX = dM3E__X_MIN + dV3E__AXES_MAX,
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dM3E_XPAD = dM3E__X_MIN + dV3E_PAD,
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dM3E__X_MAX = dM3E__X_MIN + dV3E__MAX,
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dM3E__Y_MIN = dM3E__MIN + dSA_Y * dV3E__MAX,
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dM3E__Y_AXES_MIN = dM3E__Y_MIN + dV3E__AXES_MIN,
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dM3E_YX = dM3E__Y_MIN + dV3E_X,
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dM3E_YY = dM3E__Y_MIN + dV3E_Y,
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dM3E_YZ = dM3E__Y_MIN + dV3E_Z,
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dM3E__Y_AXES_MAX = dM3E__Y_MIN + dV3E__AXES_MAX,
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dM3E_YPAD = dM3E__Y_MIN + dV3E_PAD,
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dM3E__Y_MAX = dM3E__Y_MIN + dV3E__MAX,
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dM3E__Z_MIN = dM3E__MIN + dSA_Z * dV3E__MAX,
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dM3E__Z_AXES_MIN = dM3E__Z_MIN + dV3E__AXES_MIN,
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dM3E_ZX = dM3E__Z_MIN + dV3E_X,
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dM3E_ZY = dM3E__Z_MIN + dV3E_Y,
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dM3E_ZZ = dM3E__Z_MIN + dV3E_Z,
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dM3E__Z_AXES_MAX = dM3E__Z_MIN + dV3E__AXES_MAX,
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dM3E_ZPAD = dM3E__Z_MIN + dV3E_PAD,
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dM3E__Z_MAX = dM3E__Z_MIN + dV3E__MAX,
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dM3E__MAX = dM3E__MIN + dSA__MAX * dV3E__MAX,
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} dMat3Element;
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typedef enum {
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dM4E__MIN,
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dM4E__X_MIN = dM4E__MIN + dV4E_X * dV4E__MAX,
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dM4E_XX = dM4E__X_MIN + dV4E_X,
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dM4E_XY = dM4E__X_MIN + dV4E_Y,
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dM4E_XZ = dM4E__X_MIN + dV4E_Z,
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dM4E_XO = dM4E__X_MIN + dV4E_O,
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dM4E__X_MAX = dM4E__X_MIN + dV4E__MAX,
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dM4E__Y_MIN = dM4E__MIN + dV4E_Y * dV4E__MAX,
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dM4E_YX = dM4E__Y_MIN + dV4E_X,
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dM4E_YY = dM4E__Y_MIN + dV4E_Y,
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dM4E_YZ = dM4E__Y_MIN + dV4E_Z,
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dM4E_YO = dM4E__Y_MIN + dV4E_O,
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dM4E__Y_MAX = dM4E__Y_MIN + dV4E__MAX,
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dM4E__Z_MIN = dM4E__MIN + dV4E_Z * dV4E__MAX,
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dM4E_ZX = dM4E__Z_MIN + dV4E_X,
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dM4E_ZY = dM4E__Z_MIN + dV4E_Y,
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dM4E_ZZ = dM4E__Z_MIN + dV4E_Z,
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dM4E_ZO = dM4E__Z_MIN + dV4E_O,
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dM4E__Z_MAX = dM4E__Z_MIN + dV4E__MAX,
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dM4E__O_MIN = dM4E__MIN + dV4E_O * dV4E__MAX,
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dM4E_OX = dM4E__O_MIN + dV4E_X,
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dM4E_OY = dM4E__O_MIN + dV4E_Y,
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dM4E_OZ = dM4E__O_MIN + dV4E_Z,
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dM4E_OO = dM4E__O_MIN + dV4E_O,
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dM4E__O_MAX = dM4E__O_MIN + dV4E__MAX,
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dM4E__MAX = dM4E__MIN + dV4E__MAX * dV4E__MAX,
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} dMat4Element;
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typedef enum {
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dQUE__MIN,
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dQUE_R = dQUE__MIN,
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dQUE__AXIS_MIN,
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dQUE_I = dQUE__AXIS_MIN + dSA_X,
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dQUE_J = dQUE__AXIS_MIN + dSA_Y,
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dQUE_K = dQUE__AXIS_MIN + dSA_Z,
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dQUE__AXIS_MAX = dQUE__AXIS_MIN + dSA__MAX,
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dQUE__MAX = dQUE__AXIS_MAX,
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} dQuatElement;
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/* these types are mainly just used in headers */
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typedef dReal dVector3[dV3E__MAX];
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typedef dReal dVector4[dV4E__MAX];
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typedef dReal dMatrix3[dM3E__MAX];
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typedef dReal dMatrix4[dM4E__MAX];
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typedef dReal dMatrix6[(dMD__MAX * dV3E__MAX) * (dMD__MAX * dSA__MAX)];
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typedef dReal dQuaternion[dQUE__MAX];
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/* precision dependent scalar math functions */
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#if defined(dSINGLE)
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#define REAL(x) (x##f) /* form a constant */
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#define dRecip(x) ((1.0f/(x))) /* reciprocal */
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#define dSqrt(x) (sqrtf(x)) /* square root */
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#define dRecipSqrt(x) ((1.0f/sqrtf(x))) /* reciprocal square root */
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#define dSin(x) (sinf(x)) /* sine */
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#define dCos(x) (cosf(x)) /* cosine */
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#define dFabs(x) (fabsf(x)) /* absolute value */
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#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */
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#define dAsin(x) (asinf(x))
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#define dAcos(x) (acosf(x))
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#define dFMod(a,b) (fmodf(a,b)) /* modulo */
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#define dFloor(x) floorf(x) /* floor */
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#define dCeil(x) ceilf(x) /* ceil */
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#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */
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#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */
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#ifdef HAVE___ISNANF
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#define dIsNan(x) (__isnanf(x))
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#elif defined(HAVE__ISNANF)
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#define dIsNan(x) (_isnanf(x))
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#elif defined(HAVE_ISNANF)
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#define dIsNan(x) (isnanf(x))
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#else
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/*
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fall back to _isnan which is the VC way,
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this may seem redundant since we already checked
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for _isnan before, but if isnan is detected by
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configure but is not found during compilation
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we should always make sure we check for __isnanf,
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_isnanf and isnanf in that order before falling
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back to a default
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*/
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#define dIsNan(x) (_isnan(x))
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#endif
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#elif defined(dDOUBLE)
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#define REAL(x) (x)
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#define dRecip(x) (1.0/(x))
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#define dSqrt(x) sqrt(x)
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#define dRecipSqrt(x) (1.0/sqrt(x))
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#define dSin(x) sin(x)
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#define dCos(x) cos(x)
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#define dFabs(x) fabs(x)
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#define dAtan2(y,x) atan2((y),(x))
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#define dAsin(x) asin(x)
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#define dAcos(x) acos(x)
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#define dFMod(a,b) (fmod((a),(b)))
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#define dFloor(x) floor(x)
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#define dCeil(x) ceil(x)
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#define dCopySign(a,b) _ode_copysign(a, b)
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||
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#define dNextAfter(x, y) _ode_nextafter(x, y)
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||
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#ifdef HAVE___ISNAN
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#define dIsNan(x) (__isnan(x))
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|
|
#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
|