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/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
#include <ode/config.h>
#include <ode/misc.h>
#include <ode/matrix.h>
//****************************************************************************
// random numbers
static unsigned long seed = 0;
unsigned long dRand()
{
seed = (1664525L*seed + 1013904223L) & 0xffffffff;
return seed;
}
unsigned long dRandGetSeed()
{
return seed;
}
void dRandSetSeed (unsigned long s)
{
seed = s;
}
int dTestRand()
{
unsigned long oldseed = seed;
int ret = 1;
seed = 0;
if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
dRand() != 0x6252e503) ret = 0;
seed = oldseed;
return ret;
}
// adam's all-int straightforward(?) dRandInt (0..n-1)
int dRandInt (int n)
{
// seems good; xor-fold and modulus
const unsigned long un = n;
unsigned long r = dRand();
// note: probably more aggressive than it needs to be -- might be
// able to get away without one or two of the innermost branches.
if (un <= 0x00010000UL) {
r ^= (r >> 16);
if (un <= 0x00000100UL) {
r ^= (r >> 8);
if (un <= 0x00000010UL) {
r ^= (r >> 4);
if (un <= 0x00000004UL) {
r ^= (r >> 2);
if (un <= 0x00000002UL) {
r ^= (r >> 1);
}
}
}
}
}
return (int) (r % un);
}
dReal dRandReal()
{
return ((dReal) dRand()) / ((dReal) 0xffffffff);
}
//****************************************************************************
// matrix utility stuff
void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f)
{
int i,j;
int skip = dPAD(m);
for (i=0; i<n; i++) {
for (j=0; j<m; j++) fprintf (f,fmt,A[i*skip+j]);
fprintf (f,"\n");
}
}
void dMakeRandomVector (dReal *A, int n, dReal range)
{
int i;
for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
}
void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
{
int i,j;
int skip = dPAD(m);
dSetZero (A,n*skip);
for (i=0; i<n; i++) {
for (j=0; j<m; j++) A[i*skip+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
}
}
void dClearUpperTriangle (dReal *A, int n)
{
int i,j;
int skip = dPAD(n);
for (i=0; i<n; i++) {
for (j=i+1; j<n; j++) A[i*skip+j] = 0;
}
}
dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
{
int i,j;
int skip = dPAD(m);
dReal diff,max;
max = 0;
for (i=0; i<n; i++) {
for (j=0; j<m; j++) {
diff = dFabs(A[i*skip+j] - B[i*skip+j]);
if (diff > max) max = diff;
}
}
return max;
}
dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
{
int i,j;
int skip = dPAD(n);
dReal diff,max;
max = 0;
for (i=0; i<n; i++) {
for (j=0; j<=i; j++) {
diff = dFabs(A[i*skip+j] - B[i*skip+j]);
if (diff > max) max = diff;
}
}
return max;
}
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