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# common.h

    00001 /*************************************************************************
    00002  *                                                                       *
    00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
    00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
    00005  *                                                                       *
    00006  * This library is free software; you can redistribute it and/or         *
    00007  * modify it under the terms of EITHER:                                  *
    00008  *   (1) The GNU Lesser General Public License as published by the Free  *
    00009  *       Software Foundation; either version 2.1 of the License, or (at  *
    00010  *       your option) any later version. The text of the GNU Lesser      *
    00011  *       General Public License is included with this library in the     *
    00012  *       file LICENSE.TXT.                                               *
    00013  *   (2) The BSD-style license that is included with this library in     *
    00014  *       the file LICENSE-BSD.TXT.                                       *
    00015  *                                                                       *
    00016  * This library is distributed in the hope that it will be useful,       *
    00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
    00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
    00020  *                                                                       *
    00021  *************************************************************************/
    00022
    00023 #ifndef _ODE_COMMON_H_
    00024 #define _ODE_COMMON_H_
    00025 #include <ode/config.h>
    00026 #include <ode/error.h>
    00027 #include <math.h>
    00028
    00029 #ifdef __cplusplus
    00030 extern "C" {
    00031 #endif
    00032
    00033
    00034 /* configuration stuff */
    00035
    00036 /* the efficient alignment. most platforms align data structures to some
    00037  * number of bytes, but this is not always the most efficient alignment.
    00038  * for example, many x86 compilers align to 4 bytes, but on a pentium it
    00039  * is important to align doubles to 8 byte boundaries (for speed), and
    00040  * the 4 floats in a SIMD register to 16 byte boundaries. many other
    00041  * platforms have similar behavior. setting a larger alignment can waste
    00042  * a (very) small amount of memory. NOTE: this number must be a power of
    00043  * two. this is set to 16 by default.
    00044  */
    00045 #define EFFICIENT_ALIGNMENT 16
    00046
    00047
    00048 /* constants */
    00049
    00050 /* pi and 1/sqrt(2) are defined here if necessary because they don't get
    00051  * defined in <math.h> on some platforms (like MS-Windows)
    00052  */
    00053
    00054 #ifndef M_PI
    00055 #define M_PI REAL(3.1415926535897932384626433832795029)
    00056 #endif
    00057 #ifndef M_SQRT1_2
    00058 #define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
    00059 #endif
    00060
    00061
    00062 /* debugging:
    00063  *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
    00064  *            we want to know where.
    00065  *   UASSERT  is a user assertion, i.e. if it fails a nice error message
    00066  *            should be printed for the user.
    00067  *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
    00068  *            is printed.
    00069  *   DEBUGMSG just prints out a message
    00070  */
    00071
    00072 #ifndef dNODEBUG
    00073 #ifdef __GNUC__
    00074 #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
    00075   "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
    00076 #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
    00077   msg " in %s()", __FUNCTION__);
    00078 #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
    00079   msg " in %s()", __FUNCTION__);
    00080 #else
    00081 #define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
    00082   "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
    00083 #define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
    00084   msg " (%s:%d)", __FILE__,__LINE__);
    00085 #define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
    00086   msg " (%s:%d)", __FILE__,__LINE__);
    00087 #endif
    00088 #else
    00089 #define dIASSERT(a) ;
    00090 #define dUASSERT(a,msg) ;
    00091 #define dDEBUGMSG(msg) ;
    00092 #endif
    00093 #define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
    00094
    00095 /* floating point data type, vector, matrix and quaternion types */
    00096
    00097 #if defined(dSINGLE)
    00098 typedef float dReal;
    00099 #elif defined(dDOUBLE)
    00100 typedef double dReal;
    00101 #else
    00102 #error You must #define dSINGLE or dDOUBLE
    00103 #endif
    00104
    00105
    00106 /* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
    00107  * (used to compute matrix leading dimensions)
    00108  */
    00109 #define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
    00110
    00111 /* these types are mainly just used in headers */
    00112 typedef dReal dVector3[4];
    00113 typedef dReal dVector4[4];
    00114 typedef dReal dMatrix3[4*3];
    00115 typedef dReal dMatrix4[4*4];
    00116 typedef dReal dMatrix6[8*6];
    00117 typedef dReal dQuaternion[4];
    00118
    00119
    00120 /* precision dependent scalar math functions */
    00121
    00122 #if defined(dSINGLE)
    00123
    00124 #define REAL(x) (x ## f)               /* form a constant */
    00125 #define dRecip(x) ((1.0f/(x)))            /* reciprocal */
    00126 #define dSqrt(x) (sqrtf(x))         /* square root */
    00127 #define dRecipSqrt(x) ((1.0f/sqrtf(x)))      /* reciprocal square root */
    00128 #define dSin(x) (sinf(x))           /* sine */
    00129 #define dCos(x) (cosf(x))           /* cosine */
    00130 #define dFabs(x) (fabsf(x))         /* absolute value */
    00131 #define dAtan2(y,x) (atan2f(y,x))      /* arc tangent with 2 args */
    00132 #define dFMod(a,b) (fmodf(a,b))     /* modulo */
    00133
    00134 #ifdef HAVE___ISNANF
    00135 #define dIsNan(x) (__isnanf(x))
    00136 #elif defined(HAVE__ISNANF)
    00137 #define dIsNan(x) (_isnanf(x))
    00138 #elif defined(HAVE_ISNANF)
    00139 #define dIsNan(x) (isnanf(x))
    00140 #else
    00141   /*
    00142      fall back to _isnan which is the VC way,
    00143      this may seem redundant since we already checked
    00144      for _isnan before, but if isnan is detected by
    00145      configure but is not found during compilation
    00146      we should always make sure we check for __isnanf,
    00147      _isnanf and isnanf in that order before falling
    00148      back to a default
    00149   */
    00150 #define dIsNan(x) (_isnan(x))
    00151 #endif
    00152
    00153 #define dCopySign(a,b) ((dReal)copysignf(a,b))
    00154
    00155 #elif defined(dDOUBLE)
    00156
    00157 #define REAL(x) (x)
    00158 #define dRecip(x) (1.0/(x))
    00159 #define dSqrt(x) sqrt(x)
    00160 #define dRecipSqrt(x) (1.0/sqrt(x))
    00161 #define dSin(x) sin(x)
    00162 #define dCos(x) cos(x)
    00163 #define dFabs(x) fabs(x)
    00164 #define dAtan2(y,x) atan2((y),(x))
    00165 #define dFMod(a,b) (fmod((a),(b)))
    00166 #ifdef HAVE___ISNAN
    00167 #define dIsNan(x) (__isnan(x))
    00168 #elif defined(HAVE__ISNAN)
    00169 #define dIsNan(x) (_isnan(x))
    00170 #elif defined(HAVE_ISNAN)
    00171 #define dIsNan(x) (isnan(x))
    00172 #else
    00173 #define dIsNan(x) (_isnan(x))
    00174 #endif
    00175
    00176 #define dCopySign(a,b) (copysign((a),(b)))
    00177
    00178 #else
    00179 #error You must #define dSINGLE or dDOUBLE
    00180 #endif
    00181
    00182
    00183 /* utility */
    00184
    00185
    00186 /* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
    00187
    00188 #define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
    00189
    00190
    00191 /* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
    00192  * up to 15 bytes per allocation, depending on what alloca() returns.
    00193  */
    00194
    00195 #define dALLOCA16(n) \
    00196   ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
    00197
    00198
    00199 // Use the error-checking memory allocation system.  Becuase this system uses heap
    00200 //  (malloc) instead of stack (alloca), it is slower.  However, it allows you to
    00201 //  simulate larger scenes, as well as handle out-of-memory errors in a somewhat
    00202 //  graceful manner
    00203
    00204 // #define dUSE_MALLOC_FOR_ALLOCA
    00205
    00206 #ifdef dUSE_MALLOC_FOR_ALLOCA
    00207 enum {
    00208   d_MEMORY_OK = 0,      /* no memory errors */
    00209   d_MEMORY_OUT_OF_MEMORY   /* malloc failed due to out of memory error */
    00210 };
    00211
    00212 #endif
    00213
    00214
    00215
    00216 /* internal object types (all prefixed with `dx') */
    00217
    00218 struct dxWorld;      /* dynamics world */
    00219 struct dxSpace;      /* collision space */
    00220 struct dxBody;    /* rigid body (dynamics object) */
    00221 struct dxGeom;    /* geometry (collision object) */
    00222 struct dxJoint;
    00223 struct dxJointNode;
    00224 struct dxJointGroup;
    00225
    00226 typedef struct dxWorld *dWorldID;
    00227 typedef struct dxSpace *dSpaceID;
    00228 typedef struct dxBody *dBodyID;
    00229 typedef struct dxGeom *dGeomID;
    00230 typedef struct dxJoint *dJointID;
    00231 typedef struct dxJointGroup *dJointGroupID;
    00232
    00233
    00234 /* error numbers */
    00235
    00236 enum {
    00237   d_ERR_UNKNOWN = 0,    /* unknown error */
    00238   d_ERR_IASSERT,     /* internal assertion failed */
    00239   d_ERR_UASSERT,     /* user assertion failed */
    00240   d_ERR_LCP       /* user assertion failed */
    00241 };
    00242
    00243
    00244 /* joint type numbers */
    00245
    00246 enum {
    00247   dJointTypeNone = 0,      /* or "unknown" */
    00248   dJointTypeBall,
    00249   dJointTypeHinge,
    00250   dJointTypeSlider,
    00251   dJointTypeContact,
    00252   dJointTypeUniversal,
    00253   dJointTypeHinge2,
    00254   dJointTypeFixed,
    00255   dJointTypeNull,
    00256   dJointTypeAMotor,
    00257   dJointTypeLMotor
    00258 };
    00259
    00260
    00261 /* an alternative way of setting joint parameters, using joint parameter
    00262  * structures and member constants. we don't actually do this yet.
    00263  */
    00264
    00265 /*
    00266 typedef struct dLimot {
    00267   int mode;
    00268   dReal lostop, histop;
    00269   dReal vel, fmax;
    00270   dReal fudge_factor;
    00271   dReal bounce, soft;
    00272   dReal suspension_erp, suspension_cfm;
    00273 } dLimot;
    00274
    00275 enum {
    00276   dLimotLoStop    = 0x0001,
    00277   dLimotHiStop    = 0x0002,
    00278   dLimotVel    = 0x0004,
    00279   dLimotFMax      = 0x0008,
    00280   dLimotFudgeFactor  = 0x0010,
    00281   dLimotBounce    = 0x0020,
    00282   dLimotSoft      = 0x0040
    00283 };
    00284 */
    00285
    00286
    00287 /* standard joint parameter names. why are these here? - because we don't want
    00288  * to include all the joint function definitions in joint.cpp. hmmmm.
    00289  * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
    00290  * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
    00291  * paste between these two.
    00292  */
    00293
    00294 #define D_ALL_PARAM_NAMES(start) \
    00295   /* parameters for limits and motors */ \
    00296   dParamLoStop = start, \
    00297   dParamHiStop, \
    00298   dParamVel, \
    00299   dParamFMax, \
    00300   dParamFudgeFactor, \
    00301   dParamBounce, \
    00302   dParamCFM, \
    00303   dParamStopERP, \
    00304   dParamStopCFM, \
    00305   /* parameters for suspension */ \
    00306   dParamSuspensionERP, \
    00307   dParamSuspensionCFM,
    00308
    00309 #define D_ALL_PARAM_NAMES_X(start,x) \
    00310   /* parameters for limits and motors */ \
    00311   dParamLoStop ## x = start, \
    00312   dParamHiStop ## x, \
    00313   dParamVel ## x, \
    00314   dParamFMax ## x, \
    00315   dParamFudgeFactor ## x, \
    00316   dParamBounce ## x, \
    00317   dParamCFM ## x, \
    00318   dParamStopERP ## x, \
    00319   dParamStopCFM ## x, \
    00320   /* parameters for suspension */ \
    00321   dParamSuspensionERP ## x, \
    00322   dParamSuspensionCFM ## x,
    00323
    00324 enum {
    00325   D_ALL_PARAM_NAMES(0)
    00326   D_ALL_PARAM_NAMES_X(0x100,2)
    00327   D_ALL_PARAM_NAMES_X(0x200,3)
    00328
    00329   /* add a multiple of this constant to the basic parameter numbers to get
    00330    * the parameters for the second, third etc axes.
    00331    */
    00332   dParamGroup=0x100
    00333 };
    00334
    00335
    00336 /* angular motor mode numbers */
    00337
    00338 enum{
    00339   dAMotorUser = 0,
    00340   dAMotorEuler = 1
    00341 };
    00342
    00343
    00344 /* joint force feedback information */
    00345
    00346 typedef struct dJointFeedback {
    00347   dVector3 f1;    /* force applied to body 1 */
    00348   dVector3 t1;    /* torque applied to body 1 */
    00349   dVector3 f2;    /* force applied to body 2 */
    00350   dVector3 t2;    /* torque applied to body 2 */
    00351 } dJointFeedback;
    00352
    00353
    00354 /* private functions that must be implemented by the collision library:
    00355  * (1) indicate that a geom has moved, (2) get the next geom in a body list.
    00356  * these functions are called whenever the position of geoms connected to a
    00357  * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
    00358  * when the ODE step function updates the body state.
    00359  */
    00360
    00361 void dGeomMoved (dGeomID);
    00362 dGeomID dGeomGetBodyNext (dGeomID);
    00363
    00364
    00365 #ifdef __cplusplus
    00366 }
    00367 #endif
    00368
    00369 #endif