163 lines
5.7 KiB
C
163 lines
5.7 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_ODEMATH_LEGACY_H_
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#define _ODE_ODEMATH_LEGACY_H_
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/*
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* These macros are not used anymore inside of ODE
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* They are kept for backward compatibility with external code that
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* might still be using them.
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*/
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/*
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* General purpose vector operations with other vectors or constants.
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*/
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#define dOP(a,op,b,c) do { \
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(a)[0] = ((b)[0]) op ((c)[0]); \
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(a)[1] = ((b)[1]) op ((c)[1]); \
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(a)[2] = ((b)[2]) op ((c)[2]); \
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} while (0)
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#define dOPC(a,op,b,c) do { \
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(a)[0] = ((b)[0]) op (c); \
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(a)[1] = ((b)[1]) op (c); \
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(a)[2] = ((b)[2]) op (c); \
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} while (0)
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#define dOPE(a,op,b) do {\
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(a)[0] op ((b)[0]); \
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(a)[1] op ((b)[1]); \
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(a)[2] op ((b)[2]); \
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} while (0)
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#define dOPEC(a,op,c) do { \
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(a)[0] op (c); \
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(a)[1] op (c); \
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(a)[2] op (c); \
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} while (0)
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/* Define an equation with operators
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* For example this function can be used to replace
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* <PRE>
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* for (int i=0; i<3; ++i)
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* a[i] += b[i] + c[i];
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* </PRE>
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*/
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#define dOPE2(a,op1,b,op2,c) do { \
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(a)[0] op1 ((b)[0]) op2 ((c)[0]); \
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(a)[1] op1 ((b)[1]) op2 ((c)[1]); \
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(a)[2] op1 ((b)[2]) op2 ((c)[2]); \
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} while (0)
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#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a)
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#define dLENGTH(a) dCalcVectorLength3(a)
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#define dDISTANCE(a, b) dCalcPointsDistance3(a, b)
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#define dDOT(a, b) dCalcVectorDot3(a, b)
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#define dDOT13(a, b) dCalcVectorDot3_13(a, b)
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#define dDOT31(a, b) dCalcVectorDot3_31(a, b)
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#define dDOT33(a, b) dCalcVectorDot3_33(a, b)
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#define dDOT14(a, b) dCalcVectorDot3_14(a, b)
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#define dDOT41(a, b) dCalcVectorDot3_41(a, b)
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#define dDOT44(a, b) dCalcVectorDot3_44(a, b)
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/*
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* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
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* and `c' are spaced p, q and r indexes apart respectively.
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* dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
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* +=, -= etc to get other effects.
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*/
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#define dCROSS(a,op,b,c) \
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do { \
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(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
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(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
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(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
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} while(0)
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#define dCROSSpqr(a,op,b,c,p,q,r) \
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do { \
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(a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
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(a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
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(a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
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} while(0)
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#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
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#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
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#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
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#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
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#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
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#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
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#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
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/*
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* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
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* A is stored by rows, and has `skip' elements per row. the matrix is
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* assumed to be already zero, so this does not write zero elements!
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* if (plus,minus) is (+,-) then a positive version will be written.
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* if (plus,minus) is (-,+) then a negative version will be written.
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*/
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#define dCROSSMAT(A,a,skip,plus,minus) \
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do { \
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(A)[1] = minus (a)[2]; \
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(A)[2] = plus (a)[1]; \
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(A)[(skip)+0] = plus (a)[2]; \
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(A)[(skip)+2] = minus (a)[0]; \
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(A)[2*(skip)+0] = minus (a)[1]; \
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(A)[2*(skip)+1] = plus (a)[0]; \
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} while(0)
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/*
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Note: NEVER call any of these functions/macros with the same variable for A and C,
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it is not equivalent to A*=B.
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*/
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#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C)
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#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C)
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#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C)
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#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C)
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#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C)
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#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C)
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#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C)
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#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C)
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#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C)
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#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C)
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#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C)
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#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C)
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/*
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* These macros are not used anymore inside of ODE
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* They are kept for backward compatibility with external code that
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* might still be using them.
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*/
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#endif /* #ifndef _ODE_ODEMATH_LEGACY_H_ */
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