trying to fix my screwup, please hold on

1 files changed, 0 insertions, 388 deletions

diff --git a/libraries/ode-0.9/include/ode/common.h b/libraries/ode-0.9/include/ode/common.h
deleted file mode 100644
index 7f0a12d..0000000
--- a/libraries/ode-0.9/include/ode/common.h
+++ /dev/null
@@ -1,388 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * 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>
-#include <math.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() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
-#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)")
-
-// Macro used to suppress unused variable warning
-#define dVARIABLEUSED(a) ((void)a)
-
-/* floating point data type, vector, matrix and quaternion types */
-
-#if defined(dSINGLE)
-typedef float dReal;
-#ifdef dDOUBLE
-#error You can only #define dSINGLE or dDOUBLE, not both.
-#endif // dDOUBLE
-#elif defined(dDOUBLE)
-typedef double dReal;
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-// Detect if we've got both trimesh engines enabled.
-#if dTRIMESH_ENABLED
-#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
-#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
-#endif
-#endif // dTRIMESH_ENABLED
-
-/* 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) ((1.0f/(x)))                          /* reciprocal */
-#define dSqrt(x) (sqrtf(x))                     /* square root */
-#define dRecipSqrt(x) ((1.0f/sqrtf(x)))         /* reciprocal square root */
-#define dSin(x) (sinf(x))                               /* sine */
-#define dCos(x) (cosf(x))                               /* cosine */
-#define dFabs(x) (fabsf(x))                     /* absolute value */
-#define dAtan2(y,x) (atan2f(y,x))               /* arc tangent with 2 args */
-#define dFMod(a,b) (fmodf(a,b))         /* modulo */
-#define dFloor(x) floorf(x)                     /* floor */
-
-#ifdef HAVE___ISNANF
-#define dIsNan(x) (__isnanf(x))
-#elif defined(HAVE__ISNANF)
-#define dIsNan(x) (_isnanf(x))
-#elif defined(HAVE_ISNANF)
-#define dIsNan(x) (isnanf(x))
-#else
-  /*
-     fall back to _isnan which is the VC way,
-     this may seem redundant since we already checked
-     for _isnan before, but if isnan is detected by
-     configure but is not found during compilation
-     we should always make sure we check for __isnanf,
-     _isnanf and isnanf in that order before falling
-     back to a default
-  */
-#define dIsNan(x) (_isnan(x))
-#endif
-
-#define dCopySign(a,b) ((dReal)copysignf(a,b))
-
-#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))
-#define dFMod(a,b) (fmod((a),(b)))
-#define dFloor(x) floor(x)
-
-#ifdef HAVE___ISNAN
-#define dIsNan(x) (__isnan(x))
-#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
-
-#define dCopySign(a,b) (copysign((a),(b)))
-
-#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(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
-
-
-// Use the error-checking memory allocation system.  Because this system uses heap
-//  (malloc) instead of stack (alloca), it is slower.  However, it allows you to
-//  simulate larger scenes, as well as handle out-of-memory errors in a somewhat
-//  graceful manner
-
-// #define dUSE_MALLOC_FOR_ALLOCA
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-enum {
-  d_MEMORY_OK = 0,              /* no memory errors */
-  d_MEMORY_OUT_OF_MEMORY        /* malloc failed due to out of memory error */
-};
-
-#endif
-
-
-
-/* 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,
-  dJointTypeLMotor,
-  dJointTypePlane2D,
-  dJointTypePR
-};
-
-
-/* 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, \
-  dParamERP, \
-
-#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, \
-  dParamERP ## 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