one more for the gipper

1 files changed, 337 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/BreakableJoints/common.h b/libraries/ode-0.9/contrib/BreakableJoints/common.h
new file mode 100644
index 0000000..bc4272d
--- /dev/null
+++ b/libraries/ode-0.9/contrib/BreakableJoints/common.h
@@ -0,0 +1,337 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 <ode/config.h>
+#include <ode/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* configuration stuff */
+
+/* the efficient alignment. most platforms align data structures to some
+ * number of bytes, but this is not always the most efficient alignment.
+ * for example, many x86 compilers align to 4 bytes, but on a pentium it
+ * is important to align doubles to 8 byte boundaries (for speed), and
+ * the 4 floats in a SIMD register to 16 byte boundaries. many other
+ * platforms have similar behavior. setting a larger alignment can waste
+ * a (very) small amount of memory. NOTE: this number must be a power of
+ * two. this is set to 16 by default.
+ */
+#define EFFICIENT_ALIGNMENT 16
+
+
+/* constants */
+
+/* pi and 1/sqrt(2) are defined here if necessary because they don't get
+ * defined in <math.h> on some platforms (like MS-Windows)
+ */
+
+#ifndef M_PI
+#define M_PI REAL(3.1415926535897932384626433832795029)
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
+#endif
+
+
+/* debugging:
+ *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
+ *            we want to know where.
+ *   UASSERT  is a user assertion, i.e. if it fails a nice error message
+ *            should be printed for the user.
+ *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
+ *            is printed.
+ *   DEBUGMSG just prints out a message
+ */
+
+#ifndef dNODEBUG
+#ifdef __GNUC__
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " in %s()", __FUNCTION__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
+  msg " in %s()", __FUNCTION__);
+#else
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#endif
+#else
+#define dIASSERT(a) ;
+#define dUASSERT(a,msg) ;
+#define dDEBUGMSG(msg) ;
+#endif
+#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
+
+/* floating point data type, vector, matrix and quaternion types */
+
+#if defined(dSINGLE)
+typedef float dReal;
+#elif defined(dDOUBLE)
+typedef double dReal;
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+
+/* 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)-1)|3)+1) : (a))
+
+/* these types are mainly just used in headers */
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+
+/* precision dependent scalar math functions */
+
+#if defined(dSINGLE)
+
+#define REAL(x) (x ## f)                        /* form a constant */
+#define dRecip(x) ((float)(1.0f/(x)))           /* reciprocal */
+#define dSqrt(x) ((float)sqrt(x))               /* square root */
+#define dRecipSqrt(x) ((float)(1.0f/sqrt(x)))   /* reciprocal square root */
+#define dSin(x) ((float)sin(x))                 /* sine */
+#define dCos(x) ((float)cos(x))                 /* cosine */
+#define dFabs(x) ((float)fabs(x))               /* absolute value */
+#define dAtan2(y,x) ((float)atan2((y),(x)))     /* arc tangent with 2 args */
+
+#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))
+
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+
+/* utility */
+
+
+/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
+
+#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
+
+
+/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
+ * up to 15 bytes per allocation, depending on what alloca() returns.
+ */
+
+#define dALLOCA16(n) \
+  ((char*)dEFFICIENT_SIZE(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
+
+
+/* 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;
+struct dxJointNode;
+struct dxJointGroup;
+
+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 */
+
+enum {
+  dJointTypeNone = 0,           /* or "unknown" */
+  dJointTypeBall,
+  dJointTypeHinge,
+  dJointTypeSlider,
+  dJointTypeContact,
+  dJointTypeUniversal,
+  dJointTypeHinge2,
+  dJointTypeFixed,
+  dJointTypeNull,
+  dJointTypeAMotor
+};
+
+/******************** breakable joint contribution ***********************/
+/* joint break callback function */
+typedef void dJointBreakCallback (dJointID joint);
+
+/* joint break modes */
+enum {
+  // if this flag is set, the joint wil break
+  dJOINT_BROKEN =             0x0001,
+  // if this flag is set, the joint wil be deleted when it breaks
+  dJOINT_DELETE_ON_BREAK =    0x0002,
+  // if this flag is set, the joint can break at a certain force on body 1
+  dJOINT_BREAK_AT_B1_FORCE =  0x0004,
+  // if this flag is set, the joint can break at a certain torque on body 1
+  dJOINT_BREAK_AT_B1_TORQUE = 0x0008,
+  // if this flag is set, the joint can break at a certain force on body 2
+  dJOINT_BREAK_AT_B2_FORCE =  0x0010,
+  // if this flag is set, the joint can break at a certain torque on body 2
+  dJOINT_BREAK_AT_B2_TORQUE = 0x0020
+};
+/*************************************************************************/
+
+/* 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, \
+  dParamFMax, \
+  dParamFudgeFactor, \
+  dParamBounce, \
+  dParamCFM, \
+  dParamStopERP, \
+  dParamStopCFM, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP, \
+  dParamSuspensionCFM,
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+  /* parameters for limits and motors */ \
+  dParamLoStop ## x = start, \
+  dParamHiStop ## x, \
+  dParamVel ## x, \
+  dParamFMax ## x, \
+  dParamFudgeFactor ## x, \
+  dParamBounce ## x, \
+  dParamCFM ## x, \
+  dParamStopERP ## x, \
+  dParamStopCFM ## x, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP ## x, \
+  dParamSuspensionCFM ## x,
+
+enum {
+  D_ALL_PARAM_NAMES(0)
+  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
+};
+
+
+/* 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);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif