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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#ifndef _ODE_COMMON_H_
24#define _ODE_COMMON_H_
25
26#include <ode/config.h>
27#include <ode/error.h>
28
29#ifdef __cplusplus
30extern "C" {
31#endif
32
33
34/* configuration stuff */
35
36/* the efficient alignment. most platforms align data structures to some
37 * number of bytes, but this is not always the most efficient alignment.
38 * for example, many x86 compilers align to 4 bytes, but on a pentium it
39 * is important to align doubles to 8 byte boundaries (for speed), and
40 * the 4 floats in a SIMD register to 16 byte boundaries. many other
41 * platforms have similar behavior. setting a larger alignment can waste
42 * a (very) small amount of memory. NOTE: this number must be a power of
43 * two. this is set to 16 by default.
44 */
45#define EFFICIENT_ALIGNMENT 16
46
47
48/* constants */
49
50/* pi and 1/sqrt(2) are defined here if necessary because they don't get
51 * defined in <math.h> on some platforms (like MS-Windows)
52 */
53
54#ifndef M_PI
55#define M_PI REAL(3.1415926535897932384626433832795029)
56#endif
57#ifndef M_SQRT1_2
58#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
59#endif
60
61
62/* debugging:
63 * IASSERT is an internal assertion, i.e. a consistency check. if it fails
64 * we want to know where.
65 * UASSERT is a user assertion, i.e. if it fails a nice error message
66 * should be printed for the user.
67 * AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"
68 * is printed.
69 * DEBUGMSG just prints out a message
70 */
71
72#ifndef dNODEBUG
73#ifdef __GNUC__
74#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
75 "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
76#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
77 msg " in %s()", __FUNCTION__);
78#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
79 msg " in %s()", __FUNCTION__);
80#else
81#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
82 "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
83#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
84 msg " (%s:%d)", __FILE__,__LINE__);
85#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
86 msg " (%s:%d)", __FILE__,__LINE__);
87#endif
88#else
89#define dIASSERT(a) ;
90#define dUASSERT(a,msg) ;
91#define dDEBUGMSG(msg) ;
92#endif
93#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
94
95/* floating point data type, vector, matrix and quaternion types */
96
97#if defined(dSINGLE)
98typedef float dReal;
99#elif defined(dDOUBLE)
100typedef double dReal;
101#else
102#error You must #define dSINGLE or dDOUBLE
103#endif
104
105
106/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
107 * (used to compute matrix leading dimensions)
108 */
109#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
110
111/* these types are mainly just used in headers */
112typedef dReal dVector3[4];
113typedef dReal dVector4[4];
114typedef dReal dMatrix3[4*3];
115typedef dReal dMatrix4[4*4];
116typedef dReal dMatrix6[8*6];
117typedef dReal dQuaternion[4];
118
119
120/* precision dependent scalar math functions */
121
122#if defined(dSINGLE)
123
124#define REAL(x) (x ## f) /* form a constant */
125#define dRecip(x) ((float)(1.0f/(x))) /* reciprocal */
126#define dSqrt(x) ((float)sqrt(x)) /* square root */
127#define dRecipSqrt(x) ((float)(1.0f/sqrt(x))) /* reciprocal square root */
128#define dSin(x) ((float)sin(x)) /* sine */
129#define dCos(x) ((float)cos(x)) /* cosine */
130#define dFabs(x) ((float)fabs(x)) /* absolute value */
131#define dAtan2(y,x) ((float)atan2((y),(x))) /* arc tangent with 2 args */
132
133#elif defined(dDOUBLE)
134
135#define REAL(x) (x)
136#define dRecip(x) (1.0/(x))
137#define dSqrt(x) sqrt(x)
138#define dRecipSqrt(x) (1.0/sqrt(x))
139#define dSin(x) sin(x)
140#define dCos(x) cos(x)
141#define dFabs(x) fabs(x)
142#define dAtan2(y,x) atan2((y),(x))
143
144#else
145#error You must #define dSINGLE or dDOUBLE
146#endif
147
148
149/* utility */
150
151
152/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
153
154#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
155
156
157/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
158 * up to 15 bytes per allocation, depending on what alloca() returns.
159 */
160
161#define dALLOCA16(n) \
162 ((char*)dEFFICIENT_SIZE(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
163
164
165/* internal object types (all prefixed with `dx') */
166
167struct dxWorld; /* dynamics world */
168struct dxSpace; /* collision space */
169struct dxBody; /* rigid body (dynamics object) */
170struct dxGeom; /* geometry (collision object) */
171struct dxJoint;
172struct dxJointNode;
173struct dxJointGroup;
174
175typedef struct dxWorld *dWorldID;
176typedef struct dxSpace *dSpaceID;
177typedef struct dxBody *dBodyID;
178typedef struct dxGeom *dGeomID;
179typedef struct dxJoint *dJointID;
180typedef struct dxJointGroup *dJointGroupID;
181
182
183/* error numbers */
184
185enum {
186 d_ERR_UNKNOWN = 0, /* unknown error */
187 d_ERR_IASSERT, /* internal assertion failed */
188 d_ERR_UASSERT, /* user assertion failed */
189 d_ERR_LCP /* user assertion failed */
190};
191
192
193/* joint type numbers */
194
195enum {
196 dJointTypeNone = 0, /* or "unknown" */
197 dJointTypeBall,
198 dJointTypeHinge,
199 dJointTypeSlider,
200 dJointTypeContact,
201 dJointTypeUniversal,
202 dJointTypeHinge2,
203 dJointTypeFixed,
204 dJointTypeNull,
205 dJointTypeAMotor
206};
207
208/******************** breakable joint contribution ***********************/
209/* joint break callback function */
210typedef void dJointBreakCallback (dJointID joint);
211
212/* joint break modes */
213enum {
214 // if this flag is set, the joint wil break
215 dJOINT_BROKEN = 0x0001,
216 // if this flag is set, the joint wil be deleted when it breaks
217 dJOINT_DELETE_ON_BREAK = 0x0002,
218 // if this flag is set, the joint can break at a certain force on body 1
219 dJOINT_BREAK_AT_B1_FORCE = 0x0004,
220 // if this flag is set, the joint can break at a certain torque on body 1
221 dJOINT_BREAK_AT_B1_TORQUE = 0x0008,
222 // if this flag is set, the joint can break at a certain force on body 2
223 dJOINT_BREAK_AT_B2_FORCE = 0x0010,
224 // if this flag is set, the joint can break at a certain torque on body 2
225 dJOINT_BREAK_AT_B2_TORQUE = 0x0020
226};
227/*************************************************************************/
228
229/* an alternative way of setting joint parameters, using joint parameter
230 * structures and member constants. we don't actually do this yet.
231 */
232
233/*
234typedef struct dLimot {
235 int mode;
236 dReal lostop, histop;
237 dReal vel, fmax;
238 dReal fudge_factor;
239 dReal bounce, soft;
240 dReal suspension_erp, suspension_cfm;
241} dLimot;
242
243enum {
244 dLimotLoStop = 0x0001,
245 dLimotHiStop = 0x0002,
246 dLimotVel = 0x0004,
247 dLimotFMax = 0x0008,
248 dLimotFudgeFactor = 0x0010,
249 dLimotBounce = 0x0020,
250 dLimotSoft = 0x0040
251};
252*/
253
254
255/* standard joint parameter names. why are these here? - because we don't want
256 * to include all the joint function definitions in joint.cpp. hmmmm.
257 * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
258 * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
259 * paste between these two.
260 */
261
262#define D_ALL_PARAM_NAMES(start) \
263 /* parameters for limits and motors */ \
264 dParamLoStop = start, \
265 dParamHiStop, \
266 dParamVel, \
267 dParamFMax, \
268 dParamFudgeFactor, \
269 dParamBounce, \
270 dParamCFM, \
271 dParamStopERP, \
272 dParamStopCFM, \
273 /* parameters for suspension */ \
274 dParamSuspensionERP, \
275 dParamSuspensionCFM,
276
277#define D_ALL_PARAM_NAMES_X(start,x) \
278 /* parameters for limits and motors */ \
279 dParamLoStop ## x = start, \
280 dParamHiStop ## x, \
281 dParamVel ## x, \
282 dParamFMax ## x, \
283 dParamFudgeFactor ## x, \
284 dParamBounce ## x, \
285 dParamCFM ## x, \
286 dParamStopERP ## x, \
287 dParamStopCFM ## x, \
288 /* parameters for suspension */ \
289 dParamSuspensionERP ## x, \
290 dParamSuspensionCFM ## x,
291
292enum {
293 D_ALL_PARAM_NAMES(0)
294 D_ALL_PARAM_NAMES_X(0x100,2)
295 D_ALL_PARAM_NAMES_X(0x200,3)
296
297 /* add a multiple of this constant to the basic parameter numbers to get
298 * the parameters for the second, third etc axes.
299 */
300 dParamGroup=0x100
301};
302
303
304/* angular motor mode numbers */
305
306enum{
307 dAMotorUser = 0,
308 dAMotorEuler = 1
309};
310
311
312/* joint force feedback information */
313
314typedef struct dJointFeedback {
315 dVector3 f1; /* force applied to body 1 */
316 dVector3 t1; /* torque applied to body 1 */
317 dVector3 f2; /* force applied to body 2 */
318 dVector3 t2; /* torque applied to body 2 */
319} dJointFeedback;
320
321
322/* private functions that must be implemented by the collision library:
323 * (1) indicate that a geom has moved, (2) get the next geom in a body list.
324 * these functions are called whenever the position of geoms connected to a
325 * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
326 * when the ODE step function updates the body state.
327 */
328
329void dGeomMoved (dGeomID);
330dGeomID dGeomGetBodyNext (dGeomID);
331
332
333#ifdef __cplusplus
334}
335#endif
336
337#endif
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