Open Dynamics Engine: common.h Source File

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() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
+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 // Macro used to suppress unused variable warning
+00096 #define dVARIABLEUSED(a) ((void)a)
+00097 
+00098 /* floating point data type, vector, matrix and quaternion types */
+00099 
+00100 #if defined(dSINGLE)
+00101 typedef float dReal;
+00102 #ifdef dDOUBLE
+00103 #error You can only #define dSINGLE or dDOUBLE, not both.
+00104 #endif // dDOUBLE
+00105 #elif defined(dDOUBLE)
+00106 typedef double dReal;
+00107 #else
+00108 #error You must #define dSINGLE or dDOUBLE
+00109 #endif
+00110 
+00111 // Detect if we've got both trimesh engines enabled.
+00112 #if dTRIMESH_ENABLED
+00113 #if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
+00114 #error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
+00115 #endif
+00116 #endif // dTRIMESH_ENABLED
+00117 
+00118 /* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
+00119  * (used to compute matrix leading dimensions)
+00120  */
+00121 #define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
+00122 
+00123 /* these types are mainly just used in headers */
+00124 typedef dReal dVector3[4];
+00125 typedef dReal dVector4[4];
+00126 typedef dReal dMatrix3[4*3];
+00127 typedef dReal dMatrix4[4*4];
+00128 typedef dReal dMatrix6[8*6];
+00129 typedef dReal dQuaternion[4];
+00130 
+00131 
+00132 /* precision dependent scalar math functions */
+00133 
+00134 #if defined(dSINGLE)
+00135 
+00136 #define REAL(x) (x ## f)               /* form a constant */
+00137 #define dRecip(x) ((1.0f/(x)))            /* reciprocal */
+00138 #define dSqrt(x) (sqrtf(x))         /* square root */
+00139 #define dRecipSqrt(x) ((1.0f/sqrtf(x)))      /* reciprocal square root */
+00140 #define dSin(x) (sinf(x))           /* sine */
+00141 #define dCos(x) (cosf(x))           /* cosine */
+00142 #define dFabs(x) (fabsf(x))         /* absolute value */
+00143 #define dAtan2(y,x) (atan2f(y,x))      /* arc tangent with 2 args */
+00144 #define dFMod(a,b) (fmodf(a,b))     /* modulo */
+00145 #define dFloor(x) floorf(x)         /* floor */
+00146 
+00147 #ifdef HAVE___ISNANF
+00148 #define dIsNan(x) (__isnanf(x))
+00149 #elif defined(HAVE__ISNANF)
+00150 #define dIsNan(x) (_isnanf(x))
+00151 #elif defined(HAVE_ISNANF)
+00152 #define dIsNan(x) (isnanf(x))
+00153 #else
+00154   /*
+00155      fall back to _isnan which is the VC way,
+00156      this may seem redundant since we already checked
+00157      for _isnan before, but if isnan is detected by
+00158      configure but is not found during compilation
+00159      we should always make sure we check for __isnanf,
+00160      _isnanf and isnanf in that order before falling
+00161      back to a default
+00162   */
+00163 #define dIsNan(x) (_isnan(x))
+00164 #endif
+00165 
+00166 #define dCopySign(a,b) ((dReal)copysignf(a,b))
+00167 
+00168 #elif defined(dDOUBLE)
+00169 
+00170 #define REAL(x) (x)
+00171 #define dRecip(x) (1.0/(x))
+00172 #define dSqrt(x) sqrt(x)
+00173 #define dRecipSqrt(x) (1.0/sqrt(x))
+00174 #define dSin(x) sin(x)
+00175 #define dCos(x) cos(x)
+00176 #define dFabs(x) fabs(x)
+00177 #define dAtan2(y,x) atan2((y),(x))
+00178 #define dFMod(a,b) (fmod((a),(b)))
+00179 #define dFloor(x) floor(x)
+00180 
+00181 #ifdef HAVE___ISNAN
+00182 #define dIsNan(x) (__isnan(x))
+00183 #elif defined(HAVE__ISNAN)
+00184 #define dIsNan(x) (_isnan(x))
+00185 #elif defined(HAVE_ISNAN)
+00186 #define dIsNan(x) (isnan(x))
+00187 #else
+00188 #define dIsNan(x) (_isnan(x))
+00189 #endif
+00190 
+00191 #define dCopySign(a,b) (copysign((a),(b)))
+00192 
+00193 #else
+00194 #error You must #define dSINGLE or dDOUBLE
+00195 #endif
+00196 
+00197 
+00198 /* utility */
+00199 
+00200 
+00201 /* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
+00202 
+00203 #define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
+00204 
+00205 
+00206 /* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
+00207  * up to 15 bytes per allocation, depending on what alloca() returns.
+00208  */
+00209 
+00210 #define dALLOCA16(n) \
+00211   ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
+00212 
+00213 
+00214 // Use the error-checking memory allocation system.  Because this system uses heap
+00215 //  (malloc) instead of stack (alloca), it is slower.  However, it allows you to
+00216 //  simulate larger scenes, as well as handle out-of-memory errors in a somewhat
+00217 //  graceful manner
+00218 
+00219 // #define dUSE_MALLOC_FOR_ALLOCA
+00220 
+00221 #ifdef dUSE_MALLOC_FOR_ALLOCA
+00222 enum {
+00223   d_MEMORY_OK = 0,      /* no memory errors */
+00224   d_MEMORY_OUT_OF_MEMORY   /* malloc failed due to out of memory error */
+00225 };
+00226 
+00227 #endif
+00228 
+00229 
+00230 
+00231 /* internal object types (all prefixed with `dx') */
+00232 
+00233 struct dxWorld;      /* dynamics world */
+00234 struct dxSpace;      /* collision space */
+00235 struct dxBody;    /* rigid body (dynamics object) */
+00236 struct dxGeom;    /* geometry (collision object) */
+00237 struct dxJoint;
+00238 struct dxJointNode;
+00239 struct dxJointGroup;
+00240 
+00241 typedef struct dxWorld *dWorldID;
+00242 typedef struct dxSpace *dSpaceID;
+00243 typedef struct dxBody *dBodyID;
+00244 typedef struct dxGeom *dGeomID;
+00245 typedef struct dxJoint *dJointID;
+00246 typedef struct dxJointGroup *dJointGroupID;
+00247 
+00248 
+00249 /* error numbers */
+00250 
+00251 enum {
+00252   d_ERR_UNKNOWN = 0,    /* unknown error */
+00253   d_ERR_IASSERT,     /* internal assertion failed */
+00254   d_ERR_UASSERT,     /* user assertion failed */
+00255   d_ERR_LCP       /* user assertion failed */
+00256 };
+00257 
+00258 
+00259 /* joint type numbers */
+00260 
+00261 enum {
+00262   dJointTypeNone = 0,      /* or "unknown" */
+00263   dJointTypeBall,
+00264   dJointTypeHinge,
+00265   dJointTypeSlider,
+00266   dJointTypeContact,
+00267   dJointTypeUniversal,
+00268   dJointTypeHinge2,
+00269   dJointTypeFixed,
+00270   dJointTypeNull,
+00271   dJointTypeAMotor,
+00272   dJointTypeLMotor,
+00273   dJointTypePlane2D,
+00274   dJointTypePR
+00275 };
+00276 
+00277 
+00278 /* an alternative way of setting joint parameters, using joint parameter
+00279  * structures and member constants. we don't actually do this yet.
+00280  */
+00281 
+00282 /*
+00283 typedef struct dLimot {
+00284   int mode;
+00285   dReal lostop, histop;
+00286   dReal vel, fmax;
+00287   dReal fudge_factor;
+00288   dReal bounce, soft;
+00289   dReal suspension_erp, suspension_cfm;
+00290 } dLimot;
+00291 
+00292 enum {
+00293   dLimotLoStop    = 0x0001,
+00294   dLimotHiStop    = 0x0002,
+00295   dLimotVel    = 0x0004,
+00296   dLimotFMax      = 0x0008,
+00297   dLimotFudgeFactor  = 0x0010,
+00298   dLimotBounce    = 0x0020,
+00299   dLimotSoft      = 0x0040
+00300 };
+00301 */
+00302 
+00303 
+00304 /* standard joint parameter names. why are these here? - because we don't want
+00305  * to include all the joint function definitions in joint.cpp. hmmmm.
+00306  * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
+00307  * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
+00308  * paste between these two.
+00309  */
+00310 
+00311 #define D_ALL_PARAM_NAMES(start) \
+00312   /* parameters for limits and motors */ \
+00313   dParamLoStop = start, \
+00314   dParamHiStop, \
+00315   dParamVel, \
+00316   dParamFMax, \
+00317   dParamFudgeFactor, \
+00318   dParamBounce, \
+00319   dParamCFM, \
+00320   dParamStopERP, \
+00321   dParamStopCFM, \
+00322   /* parameters for suspension */ \
+00323   dParamSuspensionERP, \
+00324   dParamSuspensionCFM, \
+00325   dParamERP, \
+00326 
+00327 #define D_ALL_PARAM_NAMES_X(start,x) \
+00328   /* parameters for limits and motors */ \
+00329   dParamLoStop ## x = start, \
+00330   dParamHiStop ## x, \
+00331   dParamVel ## x, \
+00332   dParamFMax ## x, \
+00333   dParamFudgeFactor ## x, \
+00334   dParamBounce ## x, \
+00335   dParamCFM ## x, \
+00336   dParamStopERP ## x, \
+00337   dParamStopCFM ## x, \
+00338   /* parameters for suspension */ \
+00339   dParamSuspensionERP ## x, \
+00340   dParamSuspensionCFM ## x, \
+00341   dParamERP ## x,
+00342 
+00343 enum {
+00344   D_ALL_PARAM_NAMES(0)
+00345   D_ALL_PARAM_NAMES_X(0x100,2)
+00346   D_ALL_PARAM_NAMES_X(0x200,3)
+00347 
+00348   /* add a multiple of this constant to the basic parameter numbers to get
+00349    * the parameters for the second, third etc axes.
+00350    */
+00351   dParamGroup=0x100
+00352 };
+00353 
+00354 
+00355 /* angular motor mode numbers */
+00356 
+00357 enum{
+00358   dAMotorUser = 0,
+00359   dAMotorEuler = 1
+00360 };
+00361 
+00362 
+00363 /* joint force feedback information */
+00364 
+00365 typedef struct dJointFeedback {
+00366   dVector3 f1;    /* force applied to body 1 */
+00367   dVector3 t1;    /* torque applied to body 1 */
+00368   dVector3 f2;    /* force applied to body 2 */
+00369   dVector3 t2;    /* torque applied to body 2 */
+00370 } dJointFeedback;
+00371 
+00372 
+00373 /* private functions that must be implemented by the collision library:
+00374  * (1) indicate that a geom has moved, (2) get the next geom in a body list.
+00375  * these functions are called whenever the position of geoms connected to a
+00376  * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
+00377  * when the ODE step function updates the body state.
+00378  */
+00379 
+00380 void dGeomMoved (dGeomID);
+00381 dGeomID dGeomGetBodyNext (dGeomID);
+00382 
+00383 
+00384 #ifdef __cplusplus
+00385 }
+00386 #endif
+00387 
+00388 #endif
+