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authordan miller2007-10-19 05:22:23 +0000
committerdan miller2007-10-19 05:22:23 +0000
commit1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch)
tree51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/ode/src/misc.cpp
parentone more for the gipper (diff)
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trying to fix my screwup, please hold on
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diff --git a/libraries/ode-0.9/ode/src/misc.cpp b/libraries/ode-0.9/ode/src/misc.cpp
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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#include <ode/config.h>
24#include <ode/misc.h>
25#include <ode/matrix.h>
26
27//****************************************************************************
28// random numbers
29
30static unsigned long seed = 0;
31
32unsigned long dRand()
33{
34 seed = (1664525L*seed + 1013904223L) & 0xffffffff;
35 return seed;
36}
37
38
39unsigned long dRandGetSeed()
40{
41 return seed;
42}
43
44
45void dRandSetSeed (unsigned long s)
46{
47 seed = s;
48}
49
50
51int dTestRand()
52{
53 unsigned long oldseed = seed;
54 int ret = 1;
55 seed = 0;
56 if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
57 dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
58 dRand() != 0x6252e503) ret = 0;
59 seed = oldseed;
60 return ret;
61}
62
63
64// adam's all-int straightforward(?) dRandInt (0..n-1)
65int dRandInt (int n)
66{
67 // seems good; xor-fold and modulus
68 const unsigned long un = n;
69 unsigned long r = dRand();
70
71 // note: probably more aggressive than it needs to be -- might be
72 // able to get away without one or two of the innermost branches.
73 if (un <= 0x00010000UL) {
74 r ^= (r >> 16);
75 if (un <= 0x00000100UL) {
76 r ^= (r >> 8);
77 if (un <= 0x00000010UL) {
78 r ^= (r >> 4);
79 if (un <= 0x00000004UL) {
80 r ^= (r >> 2);
81 if (un <= 0x00000002UL) {
82 r ^= (r >> 1);
83 }
84 }
85 }
86 }
87 }
88
89 return (int) (r % un);
90}
91
92
93dReal dRandReal()
94{
95 return ((dReal) dRand()) / ((dReal) 0xffffffff);
96}
97
98//****************************************************************************
99// matrix utility stuff
100
101void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f)
102{
103 int i,j;
104 int skip = dPAD(m);
105 for (i=0; i<n; i++) {
106 for (j=0; j<m; j++) fprintf (f,fmt,A[i*skip+j]);
107 fprintf (f,"\n");
108 }
109}
110
111
112void dMakeRandomVector (dReal *A, int n, dReal range)
113{
114 int i;
115 for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
116}
117
118
119void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
120{
121 int i,j;
122 int skip = dPAD(m);
123 dSetZero (A,n*skip);
124 for (i=0; i<n; i++) {
125 for (j=0; j<m; j++) A[i*skip+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
126 }
127}
128
129
130void dClearUpperTriangle (dReal *A, int n)
131{
132 int i,j;
133 int skip = dPAD(n);
134 for (i=0; i<n; i++) {
135 for (j=i+1; j<n; j++) A[i*skip+j] = 0;
136 }
137}
138
139
140dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
141{
142 int i,j;
143 int skip = dPAD(m);
144 dReal diff,max;
145 max = 0;
146 for (i=0; i<n; i++) {
147 for (j=0; j<m; j++) {
148 diff = dFabs(A[i*skip+j] - B[i*skip+j]);
149 if (diff > max) max = diff;
150 }
151 }
152 return max;
153}
154
155
156dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
157{
158 int i,j;
159 int skip = dPAD(n);
160 dReal diff,max;
161 max = 0;
162 for (i=0; i<n; i++) {
163 for (j=0; j<=i; j++) {
164 diff = dFabs(A[i*skip+j] - B[i*skip+j]);
165 if (diff > max) max = diff;
166 }
167 }
168 return max;
169}