Open Dynamics Engine: odemath.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_ODEMATH_H_
+00024 #define _ODE_ODEMATH_H_
+00025 
+00026 #include <ode/common.h>
+00027 
+00028 #ifdef __GNUC__
+00029 #define PURE_INLINE extern inline
+00030 #else
+00031 #define PURE_INLINE inline
+00032 #endif
+00033 
+00034 /*
+00035  * macro to access elements i,j in an NxM matrix A, independent of the
+00036  * matrix storage convention.
+00037  */
+00038 #define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
+00039 
+00040 /*
+00041  * Macro to test for valid floating point values
+00042  */
+00043 #define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
+00044 #define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3])))
+00045 #define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11])))
+00046 #define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) ))
+00047 
+00048 
+00049 
+00050 /*
+00051  * General purpose vector operations with other vectors or constants.
+00052  */
+00053 
+00054 #define dOP(a,op,b,c) \
+00055     (a)[0] = ((b)[0]) op ((c)[0]); \
+00056     (a)[1] = ((b)[1]) op ((c)[1]); \
+00057     (a)[2] = ((b)[2]) op ((c)[2]);
+00058 #define dOPC(a,op,b,c) \
+00059     (a)[0] = ((b)[0]) op (c); \
+00060     (a)[1] = ((b)[1]) op (c); \
+00061     (a)[2] = ((b)[2]) op (c);
+00062 #define dOPE(a,op,b) \
+00063     (a)[0] op ((b)[0]); \
+00064     (a)[1] op ((b)[1]); \
+00065     (a)[2] op ((b)[2]);
+00066 #define dOPEC(a,op,c) \
+00067     (a)[0] op (c); \
+00068     (a)[1] op (c); \
+00069     (a)[2] op (c);
+00070 
+00071 
+00072 /*
+00073  * Length, and squared length helpers. dLENGTH returns the length of a dVector3.
+00074  * dLENGTHSQUARED return the squared length of a dVector3.
+00075  */
+00076 
+00077 #define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]))
+00078 
+00079 #ifdef __cplusplus
+00080 
+00081 PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); }
+00082 
+00083 #else
+00084 
+00085 #define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) )
+00086 
+00087 #endif /* __cplusplus */
+00088 
+00089 
+00090 
+00091 
+00092 
+00093 /*
+00094  * 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
+00095  * p and q indexes apart respectively. dDOT() means dDOT11.
+00096  * in C++ we could use function templates to get all the versions of these
+00097  * functions - but on some compilers this will result in sub-optimal code.
+00098  */
+00099 
+00100 #define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+00101 
+00102 #ifdef __cplusplus
+00103 
+00104 PURE_INLINE dReal dDOT   (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
+00105 PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
+00106 PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
+00107 PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
+00108 PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
+00109 PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
+00110 PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
+00111 
+00112 #else
+00113 
+00114 #define dDOT(a,b)   dDOTpq(a,b,1,1)
+00115 #define dDOT13(a,b) dDOTpq(a,b,1,3)
+00116 #define dDOT31(a,b) dDOTpq(a,b,3,1)
+00117 #define dDOT33(a,b) dDOTpq(a,b,3,3)
+00118 #define dDOT14(a,b) dDOTpq(a,b,1,4)
+00119 #define dDOT41(a,b) dDOTpq(a,b,4,1)
+00120 #define dDOT44(a,b) dDOTpq(a,b,4,4)
+00121 
+00122 #endif /* __cplusplus */
+00123 
+00124 
+00125 /*
+00126  * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
+00127  * and `c' are spaced p, q and r indexes apart respectively.
+00128  * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
+00129  * +=, -= etc to get other effects.
+00130  */
+00131 
+00132 #define dCROSS(a,op,b,c) \
+00133 do { \
+00134   (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+00135   (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+00136   (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
+00137 } while(0)
+00138 #define dCROSSpqr(a,op,b,c,p,q,r) \
+00139 do { \
+00140   (a)[  0] op ((b)[  q]*(c)[2*r] - (b)[2*q]*(c)[  r]); \
+00141   (a)[  p] op ((b)[2*q]*(c)[  0] - (b)[  0]*(c)[2*r]); \
+00142   (a)[2*p] op ((b)[  0]*(c)[  r] - (b)[  q]*(c)[  0]); \
+00143 } while(0)
+00144 #define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
+00145 #define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
+00146 #define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
+00147 #define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
+00148 #define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
+00149 #define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
+00150 #define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
+00151 
+00152 
+00153 /*
+00154  * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
+00155  * A is stored by rows, and has `skip' elements per row. the matrix is
+00156  * assumed to be already zero, so this does not write zero elements!
+00157  * if (plus,minus) is (+,-) then a positive version will be written.
+00158  * if (plus,minus) is (-,+) then a negative version will be written.
+00159  */
+00160 
+00161 #define dCROSSMAT(A,a,skip,plus,minus) \
+00162 do { \
+00163   (A)[1] = minus (a)[2]; \
+00164   (A)[2] = plus (a)[1]; \
+00165   (A)[(skip)+0] = plus (a)[2]; \
+00166   (A)[(skip)+2] = minus (a)[0]; \
+00167   (A)[2*(skip)+0] = minus (a)[1]; \
+00168   (A)[2*(skip)+1] = plus (a)[0]; \
+00169 } while(0)
+00170 
+00171 
+00172 /*
+00173  * compute the distance between two 3D-vectors
+00174  */
+00175 
+00176 #ifdef __cplusplus
+00177 PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b)
+00178    { return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
+00179 #else
+00180 #define dDISTANCE(a,b) \
+00181    (dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
+00182 #endif
+00183 
+00184 
+00185 /*
+00186  * special case matrix multipication, with operator selection
+00187  */
+00188 
+00189 #define dMULTIPLYOP0_331(A,op,B,C) \
+00190 do { \
+00191   (A)[0] op dDOT((B),(C)); \
+00192   (A)[1] op dDOT((B+4),(C)); \
+00193   (A)[2] op dDOT((B+8),(C)); \
+00194 } while(0)
+00195 #define dMULTIPLYOP1_331(A,op,B,C) \
+00196 do { \
+00197   (A)[0] op dDOT41((B),(C)); \
+00198   (A)[1] op dDOT41((B+1),(C)); \
+00199   (A)[2] op dDOT41((B+2),(C)); \
+00200 } while(0)
+00201 #define dMULTIPLYOP0_133(A,op,B,C) \
+00202 do { \
+00203   (A)[0] op dDOT14((B),(C)); \
+00204   (A)[1] op dDOT14((B),(C+1)); \
+00205   (A)[2] op dDOT14((B),(C+2)); \
+00206 } while(0)
+00207 #define dMULTIPLYOP0_333(A,op,B,C) \
+00208 do { \
+00209   (A)[0] op dDOT14((B),(C)); \
+00210   (A)[1] op dDOT14((B),(C+1)); \
+00211   (A)[2] op dDOT14((B),(C+2)); \
+00212   (A)[4] op dDOT14((B+4),(C)); \
+00213   (A)[5] op dDOT14((B+4),(C+1)); \
+00214   (A)[6] op dDOT14((B+4),(C+2)); \
+00215   (A)[8] op dDOT14((B+8),(C)); \
+00216   (A)[9] op dDOT14((B+8),(C+1)); \
+00217   (A)[10] op dDOT14((B+8),(C+2)); \
+00218 } while(0)
+00219 #define dMULTIPLYOP1_333(A,op,B,C) \
+00220 do { \
+00221   (A)[0] op dDOT44((B),(C)); \
+00222   (A)[1] op dDOT44((B),(C+1)); \
+00223   (A)[2] op dDOT44((B),(C+2)); \
+00224   (A)[4] op dDOT44((B+1),(C)); \
+00225   (A)[5] op dDOT44((B+1),(C+1)); \
+00226   (A)[6] op dDOT44((B+1),(C+2)); \
+00227   (A)[8] op dDOT44((B+2),(C)); \
+00228   (A)[9] op dDOT44((B+2),(C+1)); \
+00229   (A)[10] op dDOT44((B+2),(C+2)); \
+00230 } while(0)
+00231 #define dMULTIPLYOP2_333(A,op,B,C) \
+00232 do { \
+00233   (A)[0] op dDOT((B),(C)); \
+00234   (A)[1] op dDOT((B),(C+4)); \
+00235   (A)[2] op dDOT((B),(C+8)); \
+00236   (A)[4] op dDOT((B+4),(C)); \
+00237   (A)[5] op dDOT((B+4),(C+4)); \
+00238   (A)[6] op dDOT((B+4),(C+8)); \
+00239   (A)[8] op dDOT((B+8),(C)); \
+00240   (A)[9] op dDOT((B+8),(C+4)); \
+00241   (A)[10] op dDOT((B+8),(C+8)); \
+00242 } while(0)
+00243 
+00244 #ifdef __cplusplus
+00245 
+00246 #define DECL template <class TA, class TB, class TC> PURE_INLINE void
+00247 
+00248 DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); }
+00249 DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); }
+00250 DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); }
+00251 DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); }
+00252 DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); }
+00253 DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); }
+00254 
+00255 DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); }
+00256 DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); }
+00257 DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); }
+00258 DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); }
+00259 DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); }
+00260 DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); }
+00261 
+00262 #undef DECL
+00263 
+00264 #else
+00265 
+00266 #define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+00267 #define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
+00268 #define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
+00269 #define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
+00270 #define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
+00271 #define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
+00272 
+00273 #define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
+00274 #define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
+00275 #define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
+00276 #define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
+00277 #define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
+00278 #define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
+00279 
+00280 #endif
+00281 
+00282 
+00283 #ifdef __cplusplus
+00284 extern "C" {
+00285 #endif
+00286 
+00287 /*
+00288  * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
+00289  */
+00290 ODE_API int  dSafeNormalize3 (dVector3 a);
+00291 ODE_API int  dSafeNormalize4 (dVector4 a);
+00292 
+00293 // For some reason demo_chain1.c does not understand "inline" keyword.
+00294 static __inline void _dNormalize3(dVector3 a)
+00295 {
+00296    int bNormalizationResult = dSafeNormalize3(a);
+00297    dIASSERT(bNormalizationResult);
+00298    dVARIABLEUSED(bNormalizationResult);
+00299 }
+00300 
+00301 static __inline void _dNormalize4(dVector4 a)
+00302 {
+00303    int bNormalizationResult = dSafeNormalize4(a);
+00304    dIASSERT(bNormalizationResult);
+00305    dVARIABLEUSED(bNormalizationResult);
+00306 }
+00307 
+00308 // For DLL export
+00309 ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec
+00310 ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec
+00311 
+00312 // For internal use
+00313 #define dNormalize3(a) _dNormalize3(a)
+00314 #define dNormalize4(a) _dNormalize4(a)
+00315 
+00316 /*
+00317  * given a unit length "normal" vector n, generate vectors p and q vectors
+00318  * that are an orthonormal basis for the plane space perpendicular to n.
+00319  * i.e. this makes p,q such that n,p,q are all perpendicular to each other.
+00320  * q will equal n x p. if n is not unit length then p will be unit length but
+00321  * q wont be.
+00322  */
+00323 
+00324 ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
+00325 
+00326 #ifdef __cplusplus
+00327 }
+00328 #endif
+00329 
+00330 #endif
+