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-esac - -# Try without a prefix underscore, then with it. -for ac_symprfx in "" "_"; do - - # Transform symcode, sympat, and symprfx into a raw symbol and a C symbol. - symxfrm="\\1 $ac_symprfx\\2 \\2" - - # Write the raw and C identifiers. - if test "$lt_cv_nm_interface" = "MS dumpbin"; then - # Fake it for dumpbin and say T for any non-static function - # and D for any global variable. - # Also find C++ and __fastcall symbols from MSVC++, - # which start with @ or ?. - lt_cv_sys_global_symbol_pipe="$AWK ['"\ -" {last_section=section; section=\$ 3};"\ -" /Section length .*#relocs.*(pick any)/{hide[last_section]=1};"\ -" \$ 0!~/External *\|/{next};"\ -" / 0+ UNDEF /{next}; / UNDEF \([^|]\)*()/{next};"\ -" {if(hide[section]) next};"\ -" {f=0}; \$ 0~/\(\).*\|/{f=1}; {printf f ? \"T \" : \"D \"};"\ -" {split(\$ 0, a, /\||\r/); split(a[2], s)};"\ -" s[1]~/^[@?]/{print s[1], s[1]; next};"\ -" s[1]~prfx {split(s[1],t,\"@\"); print t[1], substr(t[1],length(prfx))}"\ -" ' prfx=^$ac_symprfx]" - else - lt_cv_sys_global_symbol_pipe="sed -n -e 's/^.*[[ ]]\($symcode$symcode*\)[[ ]][[ ]]*$ac_symprfx$sympat$opt_cr$/$symxfrm/p'" - fi - - # Check to see that the pipe works correctly. - pipe_works=no - - rm -f conftest* - cat > conftest.$ac_ext <<_LT_EOF -#ifdef __cplusplus -extern "C" { -#endif -char nm_test_var; -void nm_test_func(void); -void nm_test_func(void){} -#ifdef __cplusplus -} -#endif -int main(){nm_test_var='a';nm_test_func();return(0);} -_LT_EOF - - if AC_TRY_EVAL(ac_compile); then - # Now try to grab the symbols. - nlist=conftest.nm - if AC_TRY_EVAL(NM conftest.$ac_objext \| $lt_cv_sys_global_symbol_pipe \> $nlist) && test -s "$nlist"; then - # Try sorting and uniquifying the output. - if sort "$nlist" | uniq > "$nlist"T; then - mv -f "$nlist"T "$nlist" - else - rm -f "$nlist"T - fi - - # Make sure that we snagged all the symbols we need. - if $GREP ' nm_test_var$' "$nlist" >/dev/null; then - if $GREP ' nm_test_func$' "$nlist" >/dev/null; then - cat <<_LT_EOF > conftest.$ac_ext -#ifdef __cplusplus -extern "C" { -#endif - -_LT_EOF - # Now generate the symbol file. - eval "$lt_cv_sys_global_symbol_to_cdecl"' < "$nlist" | $GREP -v main >> conftest.$ac_ext' - - cat <<_LT_EOF >> conftest.$ac_ext - -/* The mapping between symbol names and symbols. */ -const struct { - const char *name; - void *address; -} -lt__PROGRAM__LTX_preloaded_symbols[[]] = -{ - { "@PROGRAM@", (void *) 0 }, -_LT_EOF - $SED "s/^$symcode$symcode* \(.*\) \(.*\)$/ {\"\2\", (void *) \&\2},/" < "$nlist" | $GREP -v main >> conftest.$ac_ext - cat <<\_LT_EOF >> conftest.$ac_ext - {0, (void *) 0} -}; - -/* This works around a problem in FreeBSD linker */ -#ifdef FREEBSD_WORKAROUND -static const void *lt_preloaded_setup() { - return lt__PROGRAM__LTX_preloaded_symbols; -} -#endif - -#ifdef __cplusplus -} -#endif -_LT_EOF - # Now try linking the two files. - mv conftest.$ac_objext conftstm.$ac_objext - lt_save_LIBS="$LIBS" - lt_save_CFLAGS="$CFLAGS" - LIBS="conftstm.$ac_objext" - CFLAGS="$CFLAGS$_LT_TAGVAR(lt_prog_compiler_no_builtin_flag, $1)" - if AC_TRY_EVAL(ac_link) && test -s conftest${ac_exeext}; then - pipe_works=yes - fi - LIBS="$lt_save_LIBS" - CFLAGS="$lt_save_CFLAGS" - else - echo "cannot find nm_test_func in $nlist" >&AS_MESSAGE_LOG_FD - fi - else - echo "cannot find nm_test_var in $nlist" >&AS_MESSAGE_LOG_FD - fi - else - echo "cannot run $lt_cv_sys_global_symbol_pipe" >&AS_MESSAGE_LOG_FD - fi - else - echo "$progname: failed program was:" >&AS_MESSAGE_LOG_FD - cat conftest.$ac_ext >&5 - fi - rm -rf conftest* conftst* - - # Do not use the global_symbol_pipe unless it works. - if test "$pipe_works" = yes; then - break - else - lt_cv_sys_global_symbol_pipe= - fi -done -]) -if test -z "$lt_cv_sys_global_symbol_pipe"; then - lt_cv_sys_global_symbol_to_cdecl= -fi -if test -z "$lt_cv_sys_global_symbol_pipe$lt_cv_sys_global_symbol_to_cdecl"; then - AC_MSG_RESULT(failed) -else - AC_MSG_RESULT(ok) -fi - -_LT_DECL([global_symbol_pipe], [lt_cv_sys_global_symbol_pipe], [1], - [Take the output of nm and produce a listing of raw symbols and C names]) -_LT_DECL([global_symbol_to_cdecl], [lt_cv_sys_global_symbol_to_cdecl], [1], - [Transform the output of nm in a proper C declaration]) -_LT_DECL([global_symbol_to_c_name_address], - [lt_cv_sys_global_symbol_to_c_name_address], [1], - [Transform the output of nm in a C name address pair]) -_LT_DECL([global_symbol_to_c_name_address_lib_prefix], - [lt_cv_sys_global_symbol_to_c_name_address_lib_prefix], [1], - [Transform the output of nm in a C name address pair when lib prefix is needed]) -]) # _LT_CMD_GLOBAL_SYMBOLS - - -# _LT_COMPILER_PIC([TAGNAME]) -# --------------------------- -m4_defun([_LT_COMPILER_PIC], -[m4_require([_LT_TAG_COMPILER])dnl -_LT_TAGVAR(lt_prog_compiler_wl, $1)= -_LT_TAGVAR(lt_prog_compiler_pic, $1)= -_LT_TAGVAR(lt_prog_compiler_static, $1)= - -AC_MSG_CHECKING([for $compiler option to produce PIC]) -m4_if([$1], [CXX], [ - # C++ specific cases for pic, static, wl, etc. - if test "$GXX" = yes; then - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-static' - - case $host_os in - aix*) - # All AIX code is PIC. - if test "$host_cpu" = ia64; then - # AIX 5 now supports IA64 processor - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - fi - ;; - - amigaos*) - case $host_cpu in - powerpc) - # see comment about AmigaOS4 .so support - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - m68k) - # FIXME: we need at least 68020 code to build shared libraries, but - # adding the `-m68020' flag to GCC prevents building anything better, - # like `-m68040'. - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-m68020 -resident32 -malways-restore-a4' - ;; - esac - ;; - - beos* | irix5* | irix6* | nonstopux* | osf3* | osf4* | osf5*) - # PIC is the default for these OSes. - ;; - mingw* | cygwin* | os2* | pw32* | cegcc*) - # This hack is so that the source file can tell whether it is being - # built for inclusion in a dll (and should export symbols for example). - # Although the cygwin gcc ignores -fPIC, still need this for old-style - # (--disable-auto-import) libraries - m4_if([$1], [GCJ], [], - [_LT_TAGVAR(lt_prog_compiler_pic, $1)='-DDLL_EXPORT']) - ;; - darwin* | rhapsody*) - # PIC is the default on this platform - # Common symbols not allowed in MH_DYLIB files - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fno-common' - ;; - *djgpp*) - # DJGPP does not support shared libraries at all - _LT_TAGVAR(lt_prog_compiler_pic, $1)= - ;; - interix[[3-9]]*) - # Interix 3.x gcc -fpic/-fPIC options generate broken code. - # Instead, we relocate shared libraries at runtime. - ;; - sysv4*MP*) - if test -d /usr/nec; then - _LT_TAGVAR(lt_prog_compiler_pic, $1)=-Kconform_pic - fi - ;; - hpux*) - # PIC is the default for 64-bit PA HP-UX, but not for 32-bit - # PA HP-UX. On IA64 HP-UX, PIC is the default but the pic flag - # sets the default TLS model and affects inlining. - case $host_cpu in - hppa*64*) - ;; - *) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - esac - ;; - *qnx* | *nto*) - # QNX uses GNU C++, but need to define -shared option too, otherwise - # it will coredump. - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC -shared' - ;; - *) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - esac - else - case $host_os in - aix[[4-9]]*) - # All AIX code is PIC. - if test "$host_cpu" = ia64; then - # AIX 5 now supports IA64 processor - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - else - _LT_TAGVAR(lt_prog_compiler_static, $1)='-bnso -bI:/lib/syscalls.exp' - fi - ;; - chorus*) - case $cc_basename in - cxch68*) - # Green Hills C++ Compiler - # _LT_TAGVAR(lt_prog_compiler_static, $1)="--no_auto_instantiation -u __main -u __premain -u _abort -r $COOL_DIR/lib/libOrb.a $MVME_DIR/lib/CC/libC.a $MVME_DIR/lib/classix/libcx.s.a" - ;; - esac - ;; - dgux*) - case $cc_basename in - ec++*) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC' - ;; - ghcx*) - # Green Hills C++ Compiler - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-pic' - ;; - *) - ;; - esac - ;; - freebsd* | dragonfly*) - # FreeBSD uses GNU C++ - ;; - hpux9* | hpux10* | hpux11*) - case $cc_basename in - CC*) - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_static, $1)='${wl}-a ${wl}archive' - if test "$host_cpu" != ia64; then - _LT_TAGVAR(lt_prog_compiler_pic, $1)='+Z' - fi - ;; - aCC*) - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_static, $1)='${wl}-a ${wl}archive' - case $host_cpu in - hppa*64*|ia64*) - # +Z the default - ;; - *) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='+Z' - ;; - esac - ;; - *) - ;; - esac - ;; - interix*) - # This is c89, which is MS Visual C++ (no shared libs) - # Anyone wants to do a port? - ;; - irix5* | irix6* | nonstopux*) - case $cc_basename in - CC*) - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-non_shared' - # CC pic flag -KPIC is the default. - ;; - *) - ;; - esac - ;; - linux* | k*bsd*-gnu) - case $cc_basename in - KCC*) - # KAI C++ Compiler - _LT_TAGVAR(lt_prog_compiler_wl, $1)='--backend -Wl,' - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - ecpc* ) - # old Intel C++ for x86_64 which still supported -KPIC. - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-static' - ;; - icpc* ) - # Intel C++, used to be incompatible with GCC. - # ICC 10 doesn't accept -KPIC any more. - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-static' - ;; - pgCC* | pgcpp*) - # Portland Group C++ compiler - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fpic' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - ;; - cxx*) - # Compaq C++ - # Make sure the PIC flag is empty. It appears that all Alpha - # Linux and Compaq Tru64 Unix objects are PIC. - _LT_TAGVAR(lt_prog_compiler_pic, $1)= - _LT_TAGVAR(lt_prog_compiler_static, $1)='-non_shared' - ;; - xlc* | xlC*) - # IBM XL 8.0 on PPC - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-qpic' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-qstaticlink' - ;; - *) - case `$CC -V 2>&1 | sed 5q` in - *Sun\ C*) - # Sun C++ 5.9 - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Qoption ld ' - ;; - esac - ;; - esac - ;; - lynxos*) - ;; - m88k*) - ;; - mvs*) - case $cc_basename in - cxx*) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-W c,exportall' - ;; - *) - ;; - esac - ;; - netbsd*) - ;; - *qnx* | *nto*) - # QNX uses GNU C++, but need to define -shared option too, otherwise - # it will coredump. - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC -shared' - ;; - osf3* | osf4* | osf5*) - case $cc_basename in - KCC*) - _LT_TAGVAR(lt_prog_compiler_wl, $1)='--backend -Wl,' - ;; - RCC*) - # Rational C++ 2.4.1 - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-pic' - ;; - cxx*) - # Digital/Compaq C++ - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - # Make sure the PIC flag is empty. It appears that all Alpha - # Linux and Compaq Tru64 Unix objects are PIC. - _LT_TAGVAR(lt_prog_compiler_pic, $1)= - _LT_TAGVAR(lt_prog_compiler_static, $1)='-non_shared' - ;; - *) - ;; - esac - ;; - psos*) - ;; - solaris*) - case $cc_basename in - CC*) - # Sun C++ 4.2, 5.x and Centerline C++ - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Qoption ld ' - ;; - gcx*) - # Green Hills C++ Compiler - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-PIC' - ;; - *) - ;; - esac - ;; - sunos4*) - case $cc_basename in - CC*) - # Sun C++ 4.x - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-pic' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - ;; - lcc*) - # Lucid - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-pic' - ;; - *) - ;; - esac - ;; - sysv5* | unixware* | sco3.2v5* | sco5v6* | OpenUNIX*) - case $cc_basename in - CC*) - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - ;; - esac - ;; - tandem*) - case $cc_basename in - NCC*) - # NonStop-UX NCC 3.20 - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC' - ;; - *) - ;; - esac - ;; - vxworks*) - ;; - *) - _LT_TAGVAR(lt_prog_compiler_can_build_shared, $1)=no - ;; - esac - fi -], -[ - if test "$GCC" = yes; then - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - _LT_TAGVAR(lt_prog_compiler_static, $1)='-static' - - case $host_os in - aix*) - # All AIX code is PIC. - if test "$host_cpu" = ia64; then - # AIX 5 now supports IA64 processor - _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic' - fi - ;; - - amigaos*) - case $host_cpu in - powerpc) - # see comment about AmigaOS4 .so support - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - m68k) - # FIXME: we need at least 68020 code to build shared libraries, but - # adding the `-m68020' flag to GCC prevents building anything better, - # like `-m68040'. - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-m68020 -resident32 -malways-restore-a4' - ;; - esac - ;; - - beos* | irix5* | irix6* | nonstopux* | osf3* | osf4* | osf5*) - # PIC is the default for these OSes. - ;; - - mingw* | cygwin* | pw32* | os2* | cegcc*) - # This hack is so that the source file can tell whether it is being - # built for inclusion in a dll (and should export symbols for example). - # Although the cygwin gcc ignores -fPIC, still need this for old-style - # (--disable-auto-import) libraries - m4_if([$1], [GCJ], [], - [_LT_TAGVAR(lt_prog_compiler_pic, $1)='-DDLL_EXPORT']) - ;; - - darwin* | rhapsody*) - # PIC is the default on this platform - # Common symbols not allowed in MH_DYLIB files - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fno-common' - ;; - - hpux*) - # PIC is the default for 64-bit PA HP-UX, but not for 32-bit - # PA HP-UX. On IA64 HP-UX, PIC is the default but the pic flag - # sets the default TLS model and affects inlining. - case $host_cpu in - hppa*64*) - # +Z the default - ;; - *) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - esac - ;; - - interix[[3-9]]*) - # Interix 3.x gcc -fpic/-fPIC options generate broken code. - # Instead, we relocate shared libraries at runtime. - ;; - - msdosdjgpp*) - # Just because we use GCC doesn't mean we suddenly get shared libraries - # on systems that don't support them. - _LT_TAGVAR(lt_prog_compiler_can_build_shared, $1)=no - enable_shared=no - ;; - - *nto* | *qnx*) - # QNX uses GNU C++, but need to define -shared option too, otherwise - # it will coredump. - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC -shared' - ;; - - sysv4*MP*) - if test -d /usr/nec; then - _LT_TAGVAR(lt_prog_compiler_pic, $1)=-Kconform_pic - fi - ;; - - *) - _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC' - ;; - esac - else - # PORTME Check for flag to pass linker flags through the system compiler. - case $host_os in - aix*) - _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,' - if test "$host_cpu" = ia64; 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We just wanted to have am__tar - # and am__untar set. - test -n "${am_cv_prog_tar_$1}" && break - - # tar/untar a dummy directory, and stop if the command works - rm -rf conftest.dir - mkdir conftest.dir - echo GrepMe > conftest.dir/file - AM_RUN_LOG([tardir=conftest.dir && eval $am__tar_ >conftest.tar]) - rm -rf conftest.dir - if test -s conftest.tar; then - AM_RUN_LOG([$am__untar /dev/null 2>&1 && break - fi -done -rm -rf conftest.dir - -AC_CACHE_VAL([am_cv_prog_tar_$1], [am_cv_prog_tar_$1=$_am_tool]) -AC_MSG_RESULT([$am_cv_prog_tar_$1])]) -AC_SUBST([am__tar]) -AC_SUBST([am__untar]) -]) # _AM_PROG_TAR - diff -Nru ode-0.11.1/autogen.sh ode-0.14/autogen.sh --- ode-0.11.1/autogen.sh 2008-06-05 02:41:49.000000000 +0000 +++ ode-0.14/autogen.sh 1970-01-01 00:00:00.000000000 +0000 @@ -1,52 +0,0 @@ -#!/bin/sh - -# The version nr detection is not working. -# It fails if there is a '-' char in the version nr e.g. -# We should not use it until fixed. - Bram - -## The reason this uses sed instead of "grep --only-matches" -## is because MinGW's grep is an old version and does not contain that flag. -#automake_version=`automake --version | grep --regexp='[+0-9].[+0-9].[+0-9]' | sed -n 's/[* ()A-Za-z]//g;p'` -#automake_mayor=${automake_version%.*.*} -#automake_minor=${automake_version%.*} -#automake_minor=${automake_minor##*.} -#automake_revision=${automake_version##*.} -#echo "AutoMake Version: $automake_mayor.$automake_minor.$automake_revision" -# -#if [ $automake_mayor -eq 1 ]; then -# if [ $automake_minor -lt 8 ]; then -# echo "Automake must be 1.8.2 or higher, please upgrade" -# exit -# else -# if [ $automake_minor -eq 8 ] && [ $automake_revision -lt 2 ]; then -# echo "Automake must be 1.8.2 or higher, please upgrade" -# exit -# fi -# fi -#fi - -echo "Please make sure that you use automake 1.10 or later" -echo "Warnings about underquoted definitions are harmless" - -echo "Running aclocal" -aclocal -I . || exit 1 -# on Mac libtoolize is called glibtoolize -LIBTOOLIZE=libtoolize -if [ `uname -s` = Darwin ]; then - LIBTOOLIZE=glibtoolize -fi -echo "Running $LIBTOOLIZE" -$LIBTOOLIZE --copy --force --automake || exit 1 -echo "Running autoheader" -autoheader || exit 1 -echo "Running automake" -automake --foreign --add-missing --copy || exit 1 -echo "Running autoconf" -autoconf || exit 1 - -echo "Running bootstrap in ou directory" -(cd ou && ./bootstrap) - -#./configure $* - -echo "Now you are ready to run ./configure" diff -Nru ode-0.11.1/bindings/python/demos/tutorial1.py ode-0.14/bindings/python/demos/tutorial1.py --- ode-0.11.1/bindings/python/demos/tutorial1.py 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/demos/tutorial1.py 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,49 @@ +#!/usr/bin/env python + +# http://pyode.sourceforge.net/tutorials/tutorial1.html + +# pyODE example 1: Getting started + +# modified by Gideon Klompje (removed literals and using +# 'ode.Mass.setSphereTotal' instead of 'ode.Mass.setSphere') + +import ode + +# Simulation constants +GRAVITY = (0, -9.81, 0) + +SPHERE_RADIUS = 0.05 +SPHERE_MASS = 1.0 +SPHERE_START_POS = (0, 2, 0) +SPHERE_FORCE = (0, 200, 0) # Initial force to apply to the sphere + +TIME_STEP = 0.04 +TIME_STOP = 2.0 # When to stop the simulation + +# Create a world object +world = ode.World() +world.setGravity(GRAVITY) + +# Create a spherical body inside the world +body = ode.Body(world) +mass = ode.Mass() +mass.setSphereTotal(SPHERE_MASS, SPHERE_RADIUS) +body.setMass(mass) + +body.setPosition(SPHERE_START_POS) +body.addForce(SPHERE_FORCE) + +# Do the simulation... +if __name__ == "__main__": + total_time = 0.0 + while total_time < TIME_STOP: + # output the body's position and velocity + x, y, z = body.getPosition() + u, v, w = body.getLinearVel() + print "%1.2fsec: pos=(%6.3f, %6.3f, %6.3f) vel=(%6.3f, %6.3f, %6.3f)" % \ + (total_time, x, y, z, u, v, w) + + # advance the simulation + world.step(TIME_STEP) + total_time += TIME_STEP + diff -Nru ode-0.11.1/bindings/python/demos/tutorial2.py ode-0.14/bindings/python/demos/tutorial2.py --- ode-0.11.1/bindings/python/demos/tutorial2.py 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/demos/tutorial2.py 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,135 @@ +#!/usr/bin/env python + +# http://pyode.sourceforge.net/tutorials/tutorial2.html + +# pyODE example 2: Connecting bodies with joints + +# modified by Gideon Klompje (removed literals and using +# 'ode.Mass.setSphereTotal' instead of 'ode.Mass.setSphere') + + +import ode +import pygame + +from pygame.locals import QUIT, KEYDOWN + +# Constants +WINDOW_RESOLUTION = (640, 480) + +DRAW_SCALE = WINDOW_RESOLUTION[0] / 5 +"""Factor to multiply physical coordinates by to obtain screen size in pixels""" + +DRAW_OFFSET = (WINDOW_RESOLUTION[0] / 2, 50) +"""Screen coordinates (in pixels) that map to the physical origin (0, 0, 0)""" + +BACKGROUND_COLOR = (255, 255, 255) + +GRAVITY = (0, -9.81, 0) + +SPHERE1_POSITION = (1, 0, 0) +SPHERE1_MASS = 1 +SPHERE1_RADIUS = 0.15 +SPHERE1_COLOR = (55, 0, 200) + +SPHERE2_POSITION = (2, 0, 0) +SPHERE2_MASS = 1 +SPHERE2_RADIUS = 0.15 +SPHERE2_COLOR = (55, 0, 200) + +JOINT1_ANCHOR = (0, 0, 0) +JOINT1_COLOR = (200, 0, 55) +JOINT1_WIDTH = 2 +"""Width of the line (in pixels) representing the joint""" + +JOINT2_ANCHOR = SPHERE1_POSITION +JOINT2_COLOR = (200, 0, 55) +JOINT2_WIDTH = 2 +"""Width of the line (in pixels) representing the joint""" + +TIME_STEP = 0.04 + +# Utility functions +def coord(x, y, integer=False): + """ + Convert world coordinates to pixel coordinates. Setting 'integer' to + True will return integer coordinates. + """ + xs = (DRAW_OFFSET[0] + DRAW_SCALE*x) + ys = (DRAW_OFFSET[1] - DRAW_SCALE*y) + + if integer: + return int(round(xs)), int(round(ys)) + else: + return xs, ys + +# Initialize pygame +pygame.init() + +# Open a display +screen = pygame.display.set_mode(WINDOW_RESOLUTION) + +# Create a world object +world = ode.World() +world.setGravity(GRAVITY) + +# Create two bodies +body1 = ode.Body(world) +M = ode.Mass() +M.setSphereTotal(SPHERE1_MASS, SPHERE1_RADIUS) +body1.setMass(M) +body1.setPosition(SPHERE1_POSITION) + +body2 = ode.Body(world) +M = ode.Mass() +M.setSphereTotal(SPHERE2_MASS, SPHERE2_RADIUS) +body2.setMass(M) +body2.setPosition(SPHERE2_POSITION) + +# Connect body1 with the static environment +j1 = ode.BallJoint(world) +j1.attach(body1, ode.environment) +j1.setAnchor(JOINT1_ANCHOR) + +# Connect body2 with body1 +j2 = ode.BallJoint(world) +j2.attach(body1, body2) +j2.setAnchor(JOINT2_ANCHOR) + +# Simulation loop... +if __name__ == "__main__": + fps = 1.0 / TIME_STEP + clk = pygame.time.Clock() + + sph1_rad = int(DRAW_SCALE * SPHERE1_RADIUS) + sph2_rad = int(DRAW_SCALE * SPHERE2_RADIUS) + + loopFlag = True + while loopFlag: + for e in pygame.event.get(): + if e.type==QUIT: + loopFlag=False + if e.type==KEYDOWN: + loopFlag=False + + # Clear the screen + screen.fill(BACKGROUND_COLOR) + + # Draw the two bodies and the lines representing the joints + x1, y1, z1 = body1.getPosition() + x2, y2, z2 = body2.getPosition() + xj1, yj1, zj1 = j1.getAnchor() + xj2, yj2, zj2 = j2.getAnchor() + + pygame.draw.line(screen, JOINT1_COLOR, coord(xj1, yj1), coord(x1, y1), JOINT1_WIDTH) + pygame.draw.line(screen, JOINT2_COLOR, coord(xj2, yj2), coord(x2, y2), JOINT2_WIDTH) + pygame.draw.circle(screen, SPHERE1_COLOR, coord(x1, y1, integer=True), sph1_rad, 0) + pygame.draw.circle(screen, SPHERE2_COLOR, coord(x2, y2, integer=True), sph2_rad, 0) + + pygame.display.flip() + + # Next simulation step + world.step(TIME_STEP) + + # Try to keep the specified framerate + clk.tick(fps) + diff -Nru ode-0.11.1/bindings/python/demos/tutorial3.py ode-0.14/bindings/python/demos/tutorial3.py --- ode-0.11.1/bindings/python/demos/tutorial3.py 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/demos/tutorial3.py 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,284 @@ +#!/usr/bin/env python + +# http://pyode.sourceforge.net/tutorials/tutorial3.html + +# pyODE example 3: Collision detection + +# Originally by Matthias Baas. +# Updated by Pierre Gay to work without pygame or cgkit. + +import sys, os, random, time +from math import * +from OpenGL.GL import * +from OpenGL.GLU import * +from OpenGL.GLUT import * + +import ode + +# geometric utility functions +def scalp (vec, scal): + vec[0] *= scal + vec[1] *= scal + vec[2] *= scal + +def length (vec): + return sqrt (vec[0]**2 + vec[1]**2 + vec[2]**2) + +# prepare_GL +def prepare_GL(): + """Prepare drawing. + """ + + # Viewport + glViewport(0,0,640,480) + + # Initialize + glClearColor(0.8,0.8,0.9,0) + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glEnable(GL_DEPTH_TEST) + glDisable(GL_LIGHTING) + glEnable(GL_LIGHTING) + glEnable(GL_NORMALIZE) + glShadeModel(GL_FLAT) + + # Projection + glMatrixMode(GL_PROJECTION) + glLoadIdentity() + gluPerspective (45,1.3333,0.2,20) + + # Initialize ModelView matrix + glMatrixMode(GL_MODELVIEW) + glLoadIdentity() + + # Light source + glLightfv(GL_LIGHT0,GL_POSITION,[0,0,1,0]) + glLightfv(GL_LIGHT0,GL_DIFFUSE,[1,1,1,1]) + glLightfv(GL_LIGHT0,GL_SPECULAR,[1,1,1,1]) + glEnable(GL_LIGHT0) + + # View transformation + gluLookAt (2.4, 3.6, 4.8, 0.5, 0.5, 0, 0, 1, 0) + +# draw_body +def draw_body(body): + """Draw an ODE body. + """ + + x,y,z = body.getPosition() + R = body.getRotation() + rot = [R[0], R[3], R[6], 0., + R[1], R[4], R[7], 0., + R[2], R[5], R[8], 0., + x, y, z, 1.0] + glPushMatrix() + glMultMatrixd(rot) + if body.shape=="box": + sx,sy,sz = body.boxsize + glScalef(sx, sy, sz) + glutSolidCube(1) + glPopMatrix() + + +# create_box +def create_box(world, space, density, lx, ly, lz): + """Create a box body and its corresponding geom.""" + + # Create body + body = ode.Body(world) + M = ode.Mass() + M.setBox(density, lx, ly, lz) + body.setMass(M) + + # Set parameters for drawing the body + body.shape = "box" + body.boxsize = (lx, ly, lz) + + # Create a box geom for collision detection + geom = ode.GeomBox(space, lengths=body.boxsize) + geom.setBody(body) + + return body, geom + +# drop_object +def drop_object(): + """Drop an object into the scene.""" + + global bodies, geom, counter, objcount + + body, geom = create_box(world, space, 1000, 1.0,0.2,0.2) + body.setPosition( (random.gauss(0,0.1),3.0,random.gauss(0,0.1)) ) + theta = random.uniform(0,2*pi) + ct = cos (theta) + st = sin (theta) + body.setRotation([ct, 0., -st, 0., 1., 0., st, 0., ct]) + bodies.append(body) + geoms.append(geom) + counter=0 + objcount+=1 + +# explosion +def explosion(): + """Simulate an explosion. + + Every object is pushed away from the origin. + The force is dependent on the objects distance from the origin. + """ + global bodies + + for b in bodies: + l=b.getPosition () + d = length (l) + a = max(0, 40000*(1.0-0.2*d*d)) + l = [l[0] / 4, l[1], l[2] /4] + scalp (l, a / length (l)) + b.addForce(l) + +# pull +def pull(): + """Pull the objects back to the origin. + + Every object will be pulled back to the origin. + Every couple of frames there'll be a thrust upwards so that + the objects won't stick to the ground all the time. + """ + global bodies, counter + + for b in bodies: + l=list (b.getPosition ()) + scalp (l, -1000 / length (l)) + b.addForce(l) + if counter%60==0: + b.addForce((0,10000,0)) + +# Collision callback +def near_callback(args, geom1, geom2): + """Callback function for the collide() method. + + This function checks if the given geoms do collide and + creates contact joints if they do. + """ + + # Check if the objects do collide + contacts = ode.collide(geom1, geom2) + + # Create contact joints + world,contactgroup = args + for c in contacts: + c.setBounce(0.2) + c.setMu(5000) + j = ode.ContactJoint(world, contactgroup, c) + j.attach(geom1.getBody(), geom2.getBody()) + + + +###################################################################### + +# Initialize Glut +glutInit ([]) + +# Open a window +glutInitDisplayMode (GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE) + +x = 0 +y = 0 +width = 640 +height = 480 +glutInitWindowPosition (x, y); +glutInitWindowSize (width, height); +glutCreateWindow ("testode") + +# Create a world object +world = ode.World() +world.setGravity( (0,-9.81,0) ) +world.setERP(0.8) +world.setCFM(1E-5) + +# Create a space object +space = ode.Space() + +# Create a plane geom which prevent the objects from falling forever +floor = ode.GeomPlane(space, (0,1,0), 0) + +# A list with ODE bodies +bodies = [] + +# The geoms for each of the bodies +geoms = [] + +# A joint group for the contact joints that are generated whenever +# two bodies collide +contactgroup = ode.JointGroup() + +# Some variables used inside the simulation loop +fps = 50 +dt = 1.0/fps +running = True +state = 0 +counter = 0 +objcount = 0 +lasttime = time.time() + + +# keyboard callback +def _keyfunc (c, x, y): + sys.exit (0) + +glutKeyboardFunc (_keyfunc) + +# draw callback +def _drawfunc (): + # Draw the scene + prepare_GL() + for b in bodies: + draw_body(b) + + glutSwapBuffers () + +glutDisplayFunc (_drawfunc) + +# idle callback +def _idlefunc (): + global counter, state, lasttime + + t = dt - (time.time() - lasttime) + if (t > 0): + time.sleep(t) + + counter += 1 + + if state==0: + if counter==20: + drop_object() + if objcount==30: + state=1 + counter=0 + # State 1: Explosion and pulling back the objects + elif state==1: + if counter==100: + explosion() + if counter>300: + pull() + if counter==500: + counter=20 + + glutPostRedisplay () + + # Simulate + n = 4 + + for i in range(n): + # Detect collisions and create contact joints + space.collide((world,contactgroup), near_callback) + + # Simulation step + world.step(dt/n) + + # Remove all contact joints + contactgroup.empty() + + lasttime = time.time() + +glutIdleFunc (_idlefunc) + +glutMainLoop () + diff -Nru ode-0.11.1/bindings/python/INSTALL.txt ode-0.14/bindings/python/INSTALL.txt --- ode-0.11.1/bindings/python/INSTALL.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/INSTALL.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,64 @@ +1. REQUIREMENTS: + +1. Python 2.4 or higher (http://www.python.org/) + - Tested with Python 2.7 (2.6 on earlier builds) +2. Cython 0.14.1** or higher (http://cython.org/) + - Tested with Cython 0.15 (0.14.1 on earlier builds) +3. ODE shared*** library (or static with -fPIC) + - See the notes on building ODE below. +4. pkg-config (http://www.freedesktop.org/wiki/Software/pkg-config) + - Windows executable (and GLib dependency) can be downloaded from + http://www.gtk.org/download/win32.php + - If you used premake to configure ODE, you may need to create an ode.pc file + in your PKG_CONFIG_PATH manually. See /ode.pc.in + + + +2. BUILDING ODE + + On certain systems (*nix) there is a requirement that a shared library + (such as the python module) contains only position-independent code + (PIC). In those cases, ODE needs to be either compiled as a shared library + too (--enable-shared), or as a static library with PIC (-fPIC). + + Once ODE is built and installed in your desired destination, proceed with + building the wrapper. + + + +3a. BUILDING WITH Visual Studio (Windows) + + python setup.py build_ext + + +3b. BUILDING WITH MINGW (Windows) + + python setup.py build_ext -c mingw32 + + +3c. BUILDING WITH GCC/G++ (Linux, OS X, etc.) + + python setup.py build_ext + + + +4. INSTALLATION + +4a. For system-wide installation (needs administrator privileges): + + python setup.py install + +4b. For user installation: + + python setup.py install --user + + + +5. DEMOS and DOCUMENTATION + + Try running the tutorials in the 'demos' directory. The tutorials were taken + from the PyODE website (http://pyode.sourceforge.net/). + + For usage documentation, please refer to the PyODE API documentation at + http://pyode.sourceforge.net/api-1.2.0/index.html. + diff -Nru ode-0.11.1/bindings/python/ode.pxd ode-0.14/bindings/python/ode.pxd --- ode-0.11.1/bindings/python/ode.pxd 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/ode.pxd 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,495 @@ +###################################################################### +# Python Open Dynamics Engine Wrapper +# Copyright (C) 2004 PyODE developers (see file AUTHORS) +# All rights reserved. +# +# 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. +# (2) The BSD-style license that is included with this library in +# the file LICENSE-BSD. +# +# 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 and LICENSE-BSD for more details. +###################################################################### + +cdef extern from "stdlib.h": + + void* malloc(long) + void free(void*) + +cdef extern from "stdio.h": + int printf(char*) + +# Include the basic floating point type -> dReal (either float or double) +#include "_precision.pyx" + +cdef extern from "ode/ode.h": + + ctypedef double dReal + + # Dummy structs + cdef struct dxWorld: + int _dummy + cdef struct dxSpace: + int _dummy + cdef struct dxBody: + int _dummy + cdef struct dxGeom: + int _dummy + cdef struct dxJoint: + int _dummy + cdef struct dxJointGroup: + int _dummy + cdef struct dxTriMeshData: + int _dummy + cdef struct dxHeightfieldData: + int _dummy + + # Types + ctypedef dxWorld* dWorldID + ctypedef dxSpace* dSpaceID + ctypedef dxBody* dBodyID + ctypedef dxGeom* dGeomID + ctypedef dxJoint* dJointID + ctypedef dxJointGroup* dJointGroupID + ctypedef dxTriMeshData* dTriMeshDataID + ctypedef dxHeightfieldData* dHeightfieldDataID + ctypedef dReal dVector3[4] + ctypedef dReal dVector4[4] + ctypedef dReal dMatrix3[4*3] + ctypedef dReal dMatrix4[4*4] + ctypedef dReal dMatrix6[8*6] + ctypedef dReal dQuaternion[4] + + cdef extern dReal dInfinity + cdef extern int dAMotorUser + cdef extern int dAMotorEuler + + ctypedef struct dMass: + dReal mass + dVector4 c + dMatrix3 I + + ctypedef struct dJointFeedback: + dVector3 f1 + dVector3 t1 + dVector3 f2 + dVector3 t2 + + ctypedef void dNearCallback(void* data, dGeomID o1, dGeomID o2) + ctypedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ) + + ctypedef struct dSurfaceParameters: + int mode + dReal mu + + dReal mu2 + dReal bounce + dReal bounce_vel + dReal soft_erp + dReal soft_cfm + dReal motion1,motion2 + dReal slip1,slip2 + + ctypedef struct dContactGeom: + dVector3 pos + dVector3 normal + dReal depth + dGeomID g1,g2 + + ctypedef struct dContact: + dSurfaceParameters surface + dContactGeom geom + dVector3 fdir1 + + + # World + dWorldID dWorldCreate() + void dWorldDestroy (dWorldID) + + void dCloseODE() + void dInitODE() + + void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z) + void dWorldGetGravity (dWorldID, dVector3 gravity) + void dWorldSetERP (dWorldID, dReal erp) + dReal dWorldGetERP (dWorldID) + void dWorldSetCFM (dWorldID, dReal cfm) + dReal dWorldGetCFM (dWorldID) + void dWorldStep (dWorldID, dReal stepsize) + void dWorldQuickStep (dWorldID, dReal stepsize) + void dWorldSetQuickStepNumIterations (dWorldID, int num) + int dWorldGetQuickStepNumIterations (dWorldID) + void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel) + dReal dWorldGetContactMaxCorrectingVel (dWorldID) + void dWorldSetContactSurfaceLayer (dWorldID, dReal depth) + dReal dWorldGetContactSurfaceLayer (dWorldID) + void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable) + int dWorldGetAutoDisableFlag (dWorldID) + void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold) + dReal dWorldGetAutoDisableLinearThreshold (dWorldID) + void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold) + dReal dWorldGetAutoDisableAngularThreshold (dWorldID) + void dWorldSetAutoDisableSteps (dWorldID, int steps) + int dWorldGetAutoDisableSteps (dWorldID) + void dWorldSetAutoDisableTime (dWorldID, dReal time) + dReal dWorldGetAutoDisableTime (dWorldID) + dReal dWorldGetLinearDamping (dWorldID) + void dWorldSetLinearDamping (dWorldID, dReal scale) + dReal dWorldGetAngularDamping (dWorldID) + void dWorldSetAngularDamping (dWorldID, dReal scale) + void dWorldImpulseToForce (dWorldID, dReal stepsize, + dReal ix, dReal iy, dReal iz, dVector3 force) + + # Body + dBodyID dBodyCreate (dWorldID) + void dBodyDestroy (dBodyID) + + void dBodySetData (dBodyID, void *data) + void *dBodyGetData (dBodyID) + + void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z) + void dBodySetRotation (dBodyID, dMatrix3 R) + void dBodySetQuaternion (dBodyID, dQuaternion q) + void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z) + void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z) + dReal * dBodyGetPosition (dBodyID) + dReal * dBodyGetRotation (dBodyID) + dReal * dBodyGetQuaternion (dBodyID) + dReal * dBodyGetLinearVel (dBodyID) + dReal * dBodyGetAngularVel (dBodyID) + + void dBodySetMass (dBodyID, dMass *mass) + void dBodyGetMass (dBodyID, dMass *mass) + + void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz) + void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz) + void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz) + void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz) + void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) + void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) + void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) + void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) + + dReal * dBodyGetForce (dBodyID) + dReal * dBodyGetTorque (dBodyID) + + void dBodySetForce(dBodyID, dReal x, dReal y, dReal z) + void dBodySetTorque(dBodyID, dReal x, dReal y, dReal z) + + void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) + void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz, dVector3 result) + void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result) + void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result) + void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result) + void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result) + + void dBodySetFiniteRotationMode (dBodyID, int mode) + void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z) + + int dBodyGetFiniteRotationMode (dBodyID) + void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result) + + int dBodyGetNumJoints (dBodyID b) + dJointID dBodyGetJoint (dBodyID, int index) + + void dBodyEnable (dBodyID) + void dBodyDisable (dBodyID) + int dBodyIsEnabled (dBodyID) + + void dBodySetGravityMode (dBodyID b, int mode) + int dBodyGetGravityMode (dBodyID b) + + void dBodySetDynamic (dBodyID) + void dBodySetKinematic (dBodyID) + int dBodyIsKinematic (dBodyID) + + void dBodySetMaxAngularSpeed (dBodyID, dReal max_speed) + + # Joints + dJointID dJointCreateBall (dWorldID, dJointGroupID) + dJointID dJointCreateHinge (dWorldID, dJointGroupID) + dJointID dJointCreateSlider (dWorldID, dJointGroupID) + dJointID dJointCreateContact (dWorldID, dJointGroupID, dContact *) + dJointID dJointCreateUniversal (dWorldID, dJointGroupID) + dJointID dJointCreateHinge2 (dWorldID, dJointGroupID) + dJointID dJointCreateFixed (dWorldID, dJointGroupID) + dJointID dJointCreateNull (dWorldID, dJointGroupID) + dJointID dJointCreateAMotor (dWorldID, dJointGroupID) + dJointID dJointCreateLMotor (dWorldID, dJointGroupID) + dJointID dJointCreatePlane2D (dWorldID, dJointGroupID) + + void dJointDestroy (dJointID) + + void dJointEnable (dJointID) + void dJointDisable (dJointID) + int dJointIsEnabled (dJointID) + + dJointGroupID dJointGroupCreate (int max_size) + void dJointGroupDestroy (dJointGroupID) + void dJointGroupEmpty (dJointGroupID) + + void dJointAttach (dJointID, dBodyID body1, dBodyID body2) + void dJointSetData (dJointID, void *data) + void *dJointGetData (dJointID) + int dJointGetType (dJointID) + dBodyID dJointGetBody (dJointID, int index) + + void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z) + void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z) + void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z) + void dJointSetHingeParam (dJointID, int parameter, dReal value) + void dJointAddHingeTorque(dJointID joint, dReal torque) + void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z) + void dJointSetSliderParam (dJointID, int parameter, dReal value) + void dJointAddSliderForce(dJointID joint, dReal force) + void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z) + void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z) + void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z) + void dJointSetHinge2Param (dJointID, int parameter, dReal value) + void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2) + void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z) + void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z) + void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z) + void dJointSetUniversalParam (dJointID, int parameter, dReal value) + void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2) + void dJointSetFixed (dJointID) + void dJointSetAMotorNumAxes (dJointID, int num) + void dJointSetAMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z) + void dJointSetAMotorAngle (dJointID, int anum, dReal angle) + void dJointSetAMotorParam (dJointID, int parameter, dReal value) + void dJointSetAMotorMode (dJointID, int mode) + void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3) + void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z) + void dJointSetLMotorNumAxes (dJointID, int num) + void dJointSetLMotorParam (dJointID, int parameter, dReal value) + + void dJointGetBallAnchor (dJointID, dVector3 result) + void dJointGetBallAnchor2 (dJointID, dVector3 result) + void dJointGetHingeAnchor (dJointID, dVector3 result) + void dJointGetHingeAnchor2 (dJointID, dVector3 result) + void dJointGetHingeAxis (dJointID, dVector3 result) + dReal dJointGetHingeParam (dJointID, int parameter) + dReal dJointGetHingeAngle (dJointID) + dReal dJointGetHingeAngleRate (dJointID) + dReal dJointGetSliderPosition (dJointID) + dReal dJointGetSliderPositionRate (dJointID) + void dJointGetSliderAxis (dJointID, dVector3 result) + dReal dJointGetSliderParam (dJointID, int parameter) + void dJointGetHinge2Anchor (dJointID, dVector3 result) + void dJointGetHinge2Anchor2 (dJointID, dVector3 result) + void dJointGetHinge2Axis1 (dJointID, dVector3 result) + void dJointGetHinge2Axis2 (dJointID, dVector3 result) + dReal dJointGetHinge2Param (dJointID, int parameter) + dReal dJointGetHinge2Angle1 (dJointID) + dReal dJointGetHinge2Angle1Rate (dJointID) + dReal dJointGetHinge2Angle2Rate (dJointID) + void dJointGetUniversalAnchor (dJointID, dVector3 result) + void dJointGetUniversalAnchor2 (dJointID, dVector3 result) + void dJointGetUniversalAxis1 (dJointID, dVector3 result) + void dJointGetUniversalAxis2 (dJointID, dVector3 result) + dReal dJointGetUniversalParam (dJointID, int parameter) + dReal dJointGetUniversalAngle1 (dJointID) + dReal dJointGetUniversalAngle2 (dJointID) + dReal dJointGetUniversalAngle1Rate (dJointID) + dReal dJointGetUniversalAngle2Rate (dJointID) + int dJointGetAMotorNumAxes (dJointID) + void dJointGetAMotorAxis (dJointID, int anum, dVector3 result) + int dJointGetAMotorAxisRel (dJointID, int anum) + dReal dJointGetAMotorAngle (dJointID, int anum) + dReal dJointGetAMotorAngleRate (dJointID, int anum) + dReal dJointGetAMotorParam (dJointID, int parameter) + int dJointGetAMotorMode (dJointID) + int dJointGetLMotorNumAxes (dJointID) + void dJointGetLMotorAxis (dJointID, int anum, dVector3 result) + dReal dJointGetLMotorParam (dJointID, int parameter) + void dJointSetPlane2DXParam (dJointID, int parameter, dReal value) + void dJointSetPlane2DYParam (dJointID, int parameter, dReal value) + void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value) + + void dJointSetFeedback (dJointID, dJointFeedback *) + dJointFeedback *dJointGetFeedback (dJointID) + + int dAreConnected (dBodyID, dBodyID) + + # Mass + void dMassSetZero (dMass *) + void dMassSetParameters (dMass *, dReal themass, + dReal cgx, dReal cgy, dReal cgz, + dReal I11, dReal I22, dReal I33, + dReal I12, dReal I13, dReal I23) + void dMassSetSphere (dMass *, dReal density, dReal radius) + void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius) + void dMassSetCapsule (dMass *, dReal density, int direction, dReal radius, dReal length) + void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction, dReal radius, dReal length) + void dMassSetCylinder (dMass *, dReal density, int direction, + dReal radius, dReal length) + void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction, + dReal radius, dReal length) + void dMassSetBox (dMass *, dReal density, + dReal lx, dReal ly, dReal lz) + void dMassSetBoxTotal (dMass *, dReal total_mass, + dReal lx, dReal ly, dReal lz) + void dMassAdjust (dMass *, dReal newmass) + void dMassTranslate (dMass *, dReal x, dReal y, dReal z) + void dMassRotate (dMass *, dMatrix3 R) + void dMassAdd (dMass *a, dMass *b) + + # Space +# dSpaceID dSimpleSpaceCreate(int space) +# dSpaceID dHashSpaceCreate(int space) + dSpaceID dSimpleSpaceCreate(dSpaceID space) + dSpaceID dHashSpaceCreate(dSpaceID space) + dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, + dVector3 Extents, int Depth) + + void dSpaceDestroy (dSpaceID) + void dSpaceAdd (dSpaceID, dGeomID) + void dSpaceRemove (dSpaceID, dGeomID) + int dSpaceQuery (dSpaceID, dGeomID) + void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback) + void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data, dNearCallback *callback) + + void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel) + void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel) + + void dSpaceSetCleanup (dSpaceID space, int mode) + int dSpaceGetCleanup (dSpaceID space) + + int dSpaceGetNumGeoms (dSpaceID) + dGeomID dSpaceGetGeom (dSpaceID, int i) + + # Geom + dGeomID dCreateSphere (dSpaceID space, dReal radius) + dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz) + dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) + dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length) + dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length) + dGeomID dCreateGeomGroup (dSpaceID space) + + void dGeomSphereSetRadius (dGeomID sphere, dReal radius) + void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz) + void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d) + void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length) + void dGeomCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length) + + dReal dGeomSphereGetRadius (dGeomID sphere) + void dGeomBoxGetLengths (dGeomID box, dVector3 result) + void dGeomPlaneGetParams (dGeomID plane, dVector4 result) + void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length) + void dGeomCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length) + + dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z) + dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z) + dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z) + dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z) + + dGeomID dCreateRay (dSpaceID space, dReal length) + void dGeomRaySetLength (dGeomID ray, dReal length) + dReal dGeomRayGetLength (dGeomID ray) + void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, + dReal dx, dReal dy, dReal dz) + void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir) + + void dGeomSetData (dGeomID, void *) + void *dGeomGetData (dGeomID) + void dGeomSetBody (dGeomID, dBodyID) + dBodyID dGeomGetBody (dGeomID) + void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z) + void dGeomSetRotation (dGeomID, dMatrix3 R) + void dGeomSetQuaternion (dGeomID, dQuaternion) + dReal * dGeomGetPosition (dGeomID) + dReal * dGeomGetRotation (dGeomID) + void dGeomGetQuaternion (dGeomID, dQuaternion result) + void dGeomSetOffsetPosition (dGeomID, dReal x, dReal y, dReal z) + void dGeomSetOffsetRotation (dGeomID, dMatrix3 R) + void dGeomClearOffset (dGeomID) + dReal * dGeomGetOffsetPosition (dGeomID) + dReal * dGeomGetOffsetRotation (dGeomID) + void dGeomDestroy (dGeomID) + void dGeomGetAABB (dGeomID, dReal aabb[6]) + dReal *dGeomGetSpaceAABB (dGeomID) + int dGeomIsSpace (dGeomID) + dSpaceID dGeomGetSpace (dGeomID) + int dGeomGetClass (dGeomID) + + void dGeomSetCategoryBits(dGeomID, unsigned long bits) + void dGeomSetCollideBits(dGeomID, unsigned long bits) + unsigned long dGeomGetCategoryBits(dGeomID) + unsigned long dGeomGetCollideBits(dGeomID) + + void dGeomEnable (dGeomID) + void dGeomDisable (dGeomID) + int dGeomIsEnabled (dGeomID) + + void dGeomGroupAdd (dGeomID group, dGeomID x) + void dGeomGroupRemove (dGeomID group, dGeomID x) + int dGeomGroupGetNumGeoms (dGeomID group) + dGeomID dGeomGroupGetGeom (dGeomID group, int i) + + dGeomID dCreateGeomTransform (dSpaceID space) + void dGeomTransformSetGeom (dGeomID g, dGeomID obj) + dGeomID dGeomTransformGetGeom (dGeomID g) + void dGeomTransformSetCleanup (dGeomID g, int mode) + int dGeomTransformGetCleanup (dGeomID g) + void dGeomTransformSetInfo (dGeomID g, int mode) + int dGeomTransformGetInfo (dGeomID g) + + int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip) + + # Trimesh + dTriMeshDataID dGeomTriMeshDataCreate() + void dGeomTriMeshDataDestroy(dTriMeshDataID g) + void dGeomTriMeshDataBuildSingle1 (dTriMeshDataID g, void* Vertices, + int VertexStride, int VertexCount, + void* Indices, int IndexCount, + int TriStride, void* Normals) + + void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, + dReal* Vertices, int VertexCount, + int* Indices, int IndexCount) + + dGeomID dCreateTriMesh (dSpaceID space, dTriMeshDataID Data, + void* Callback, + void* ArrayCallback, + void* RayCallback) + + void dGeomTriMeshSetData (dGeomID g, dTriMeshDataID Data) + + void dGeomTriMeshClearTCCache (dGeomID g) + + void dGeomTriMeshGetTriangle (dGeomID g, int Index, dVector3 *v0, + dVector3 *v1, dVector3 *v2) + + int dGeomTriMeshGetTriangleCount (dGeomID g) + + void dGeomTriMeshGetPoint (dGeomID g, int Index, dReal u, dReal v, + dVector3 Out) + + void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable) + int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass) + + # Heightfield + dHeightfieldDataID dGeomHeightfieldDataCreate() + void dGeomHeightfieldDataDestroy(dHeightfieldDataID g) + void dGeomHeightfieldDataBuildCallback(dHeightfieldDataID d, + void* pUserData, + dHeightfieldGetHeight* pCallback, + dReal width, dReal depth, + int widthSamples, int depthSamples, + dReal scale, dReal offset, + dReal thickness, int bWrap) + dGeomID dCreateHeightfield (dSpaceID space, dHeightfieldDataID data, + int bPlaceable) + diff -Nru ode-0.11.1/bindings/python/ode.pyx ode-0.14/bindings/python/ode.pyx --- ode-0.11.1/bindings/python/ode.pyx 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/ode.pyx 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,4401 @@ +###################################################################### +# Python Open Dynamics Engine Wrapper +# Copyright (C) 2004 PyODE developers (see file AUTHORS) +# All rights reserved. +# +# 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. +# (2) The BSD-style license that is included with this library in +# the file LICENSE-BSD. +# +# 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 and LICENSE-BSD for more details. +###################################################################### + +from ode cimport * + + +paramLoStop = 0 +paramHiStop = 1 +paramVel = 2 +paramFMax = 3 +paramFudgeFactor = 4 +paramBounce = 5 +paramCFM = 6 +paramStopERP = 7 +paramStopCFM = 8 +paramSuspensionERP = 9 +paramSuspensionCFM = 10 + +ParamLoStop = 0 +ParamHiStop = 1 +ParamVel = 2 +ParamFMax = 3 +ParamFudgeFactor = 4 +ParamBounce = 5 +ParamCFM = 6 +ParamStopERP = 7 +ParamStopCFM = 8 +ParamSuspensionERP = 9 +ParamSuspensionCFM = 10 + +ParamLoStop2 = 256 + 0 +ParamHiStop2 = 256 + 1 +ParamVel2 = 256 + 2 +ParamFMax2 = 256 + 3 +ParamFudgeFactor2 = 256 + 4 +ParamBounce2 = 256 + 5 +ParamCFM2 = 256 + 6 +ParamStopERP2 = 256 + 7 +ParamStopCFM2 = 256 + 8 +ParamSuspensionERP2 = 256 + 9 +ParamSuspensionCFM2 = 256 + 10 + +ParamLoStop3 = 512 + 0 +ParamHiStop3 = 512 + 1 +ParamVel3 = 512 + 2 +ParamFMax3 = 512 + 3 +ParamFudgeFactor3 = 512 + 4 +ParamBounce3 = 512 + 5 +ParamCFM3 = 512 + 6 +ParamStopERP3 = 512 + 7 +ParamStopCFM3 = 512 + 8 +ParamSuspensionERP3 = 512 + 9 +ParamSuspensionCFM3 = 512 + 10 + +ParamGroup = 256 + +ContactMu2 = 0x001 +ContactFDir1 = 0x002 +ContactBounce = 0x004 +ContactSoftERP = 0x008 +ContactSoftCFM = 0x010 +ContactMotion1 = 0x020 +ContactMotion2 = 0x040 +ContactSlip1 = 0x080 +ContactSlip2 = 0x100 + +ContactApprox0 = 0x0000 +ContactApprox1_1 = 0x1000 +ContactApprox1_2 = 0x2000 +ContactApprox1 = 0x3000 + +AMotorUser = dAMotorUser +AMotorEuler = dAMotorEuler + +Infinity = dInfinity + + +import weakref +_geom_c2py_lut = weakref.WeakValueDictionary() + + +cdef class Mass: + """Mass parameters of a rigid body. + + This class stores mass parameters of a rigid body which can be + accessed through the following attributes: + + - mass: The total mass of the body (float) + - c: The center of gravity position in body frame (3-tuple of floats) + - I: The 3x3 inertia tensor in body frame (3-tuple of 3-tuples) + + This class wraps the dMass structure from the C API. + + @ivar mass: The total mass of the body + @ivar c: The center of gravity position in body frame (cx, cy, cz) + @ivar I: The 3x3 inertia tensor in body frame ((I11, I12, I13), (I12, I22, I23), (I13, I23, I33)) + @type mass: float + @type c: 3-tuple of floats + @type I: 3-tuple of 3-tuples of floats + """ + cdef dMass _mass + + def __cinit__(self): + dMassSetZero(&self._mass) + + def setZero(self): + """setZero() + + Set all the mass parameters to zero.""" + dMassSetZero(&self._mass) + + def setParameters(self, mass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23): + """setParameters(mass, cgx, cgy, cgz, I11, I22, I33, I12, I13, I23) + + Set the mass parameters to the given values. + + @param mass: Total mass of the body. + @param cgx: Center of gravity position in the body frame (x component). + @param cgy: Center of gravity position in the body frame (y component). + @param cgz: Center of gravity position in the body frame (z component). + @param I11: Inertia tensor + @param I22: Inertia tensor + @param I33: Inertia tensor + @param I12: Inertia tensor + @param I13: Inertia tensor + @param I23: Inertia tensor + @type mass: float + @type cgx: float + @type cgy: float + @type cgz: float + @type I11: float + @type I22: float + @type I33: float + @type I12: float + @type I13: float + @type I23: float + """ + dMassSetParameters(&self._mass, mass, cgx, cgy, cgz, + I11, I22, I33, I12, I13, I23) + + def setSphere(self, density, radius): + """setSphere(density, radius) + + Set the mass parameters to represent a sphere of the given radius + and density, with the center of mass at (0,0,0) relative to the body. + + @param density: The density of the sphere + @param radius: The radius of the sphere + @type density: float + @type radius: float + """ + dMassSetSphere(&self._mass, density, radius) + + def setSphereTotal(self, total_mass, radius): + """setSphereTotal(total_mass, radius) + + Set the mass parameters to represent a sphere of the given radius + and mass, with the center of mass at (0,0,0) relative to the body. + + @param total_mass: The total mass of the sphere + @param radius: The radius of the sphere + @type total_mass: float + @type radius: float + """ + dMassSetSphereTotal(&self._mass, total_mass, radius) + + def setCapsule(self, density, direction, radius, length): + """setCapsule(density, direction, radius, length) + + Set the mass parameters to represent a capsule of the given parameters + and density, with the center of mass at (0,0,0) relative to the body. + The radius of the cylinder (and the spherical cap) is radius. The length + of the cylinder (not counting the spherical cap) is length. The + cylinder's long axis is oriented along the body's x, y or z axis + according to the value of direction (1=x, 2=y, 3=z). The first function + accepts the density of the object, the second accepts its total mass. + + @param density: The density of the capsule + @param direction: The direction of the capsule's cylinder (1=x axis, 2=y axis, 3=z axis) + @param radius: The radius of the capsule's cylinder + @param length: The length of the capsule's cylinder (without the caps) + @type density: float + @type direction: int + @type radius: float + @type length: float + """ + dMassSetCapsule(&self._mass, density, direction, radius, length) + + def setCapsuleTotal(self, total_mass, direction, radius, length): + """setCapsuleTotal(total_mass, direction, radius, length) + + Set the mass parameters to represent a capsule of the given parameters + and mass, with the center of mass at (0,0,0) relative to the body. The + radius of the cylinder (and the spherical cap) is radius. The length of + the cylinder (not counting the spherical cap) is length. The cylinder's + long axis is oriented along the body's x, y or z axis according to the + value of direction (1=x, 2=y, 3=z). The first function accepts the + density of the object, the second accepts its total mass. + + @param total_mass: The total mass of the capsule + @param direction: The direction of the capsule's cylinder (1=x axis, 2=y axis, 3=z axis) + @param radius: The radius of the capsule's cylinder + @param length: The length of the capsule's cylinder (without the caps) + @type total_mass: float + @type direction: int + @type radius: float + @type length: float + """ + dMassSetCapsuleTotal(&self._mass, total_mass, direction, + radius, length) + + def setCylinder(self, density, direction, r, h): + """setCylinder(density, direction, r, h) + + Set the mass parameters to represent a flat-ended cylinder of + the given parameters and density, with the center of mass at + (0,0,0) relative to the body. The radius of the cylinder is r. + The length of the cylinder is h. The cylinder's long axis is + oriented along the body's x, y or z axis according to the value + of direction (1=x, 2=y, 3=z). + + @param density: The density of the cylinder + @param direction: The direction of the cylinder (1=x axis, 2=y axis, 3=z axis) + @param r: The radius of the cylinder + @param h: The length of the cylinder + @type density: float + @type direction: int + @type r: float + @type h: float + """ + dMassSetCylinder(&self._mass, density, direction, r, h) + + def setCylinderTotal(self, total_mass, direction, r, h): + """setCylinderTotal(total_mass, direction, r, h) + + Set the mass parameters to represent a flat-ended cylinder of + the given parameters and mass, with the center of mass at + (0,0,0) relative to the body. The radius of the cylinder is r. + The length of the cylinder is h. The cylinder's long axis is + oriented along the body's x, y or z axis according to the value + of direction (1=x, 2=y, 3=z). + + @param total_mass: The total mass of the cylinder + @param direction: The direction of the cylinder (1=x axis, 2=y axis, 3=z axis) + @param r: The radius of the cylinder + @param h: The length of the cylinder + @type total_mass: float + @type direction: int + @type r: float + @type h: float + """ + dMassSetCylinderTotal(&self._mass, total_mass, direction, r, h) + + def setBox(self, density, lx, ly, lz): + """setBox(density, lx, ly, lz) + + Set the mass parameters to represent a box of the given + dimensions and density, with the center of mass at (0,0,0) + relative to the body. The side lengths of the box along the x, + y and z axes are lx, ly and lz. + + @param density: The density of the box + @param lx: The length along the x axis + @param ly: The length along the y axis + @param lz: The length along the z axis + @type density: float + @type lx: float + @type ly: float + @type lz: float + """ + dMassSetBox(&self._mass, density, lx, ly, lz) + + def setBoxTotal(self, total_mass, lx, ly, lz): + """setBoxTotal(total_mass, lx, ly, lz) + + Set the mass parameters to represent a box of the given + dimensions and mass, with the center of mass at (0,0,0) + relative to the body. The side lengths of the box along the x, + y and z axes are lx, ly and lz. + + @param total_mass: The total mass of the box + @param lx: The length along the x axis + @param ly: The length along the y axis + @param lz: The length along the z axis + @type total_mass: float + @type lx: float + @type ly: float + @type lz: float + """ + dMassSetBoxTotal(&self._mass, total_mass, lx, ly, lz) + + def adjust(self, newmass): + """adjust(newmass) + + Adjust the total mass. Given mass parameters for some object, + adjust them so the total mass is now newmass. This is useful + when using the setXyz() methods to set the mass parameters for + certain objects - they take the object density, not the total + mass. + + @param newmass: The new total mass + @type newmass: float + """ + dMassAdjust(&self._mass, newmass) + + def translate(self, t): + """translate(t) + + Adjust mass parameters. Given mass parameters for some object, + adjust them to represent the object displaced by (x,y,z) + relative to the body frame. + + @param t: Translation vector (x, y, z) + @type t: 3-tuple of floats + """ + dMassTranslate(&self._mass, t[0], t[1], t[2]) + +# def rotate(self, R): +# """ +# Given mass parameters for some object, adjust them to +# represent the object rotated by R relative to the body frame. +# """ +# pass + + def add(self, Mass b): + """add(b) + + Add the mass b to the mass object. Masses can also be added using + the + operator. + + @param b: The mass to add to this mass + @type b: Mass + """ + dMassAdd(&self._mass, &b._mass) + + def __getattr__(self, name): + if name == "mass": + return self._mass.mass + elif name == "c": + return self._mass.c[0], self._mass.c[1], self._mass.c[2] + elif name == "I": + return ((self._mass.I[0], self._mass.I[1], self._mass.I[2]), + (self._mass.I[4], self._mass.I[5], self._mass.I[6]), + (self._mass.I[8], self._mass.I[9], self._mass.I[10])) + else: + raise AttributeError("Mass object has no attribute '%s'" % name) + + def __setattr__(self, name, value): + if name == "mass": + self.adjust(value) + elif name == "c": + raise AttributeError("Use the setParameter() method to change c") + elif name == "I": + raise AttributeError("Use the setParameter() method to change I") + else: + raise AttributeError("Mass object has no attribute '%s" % name) + + def __add__(self, Mass b): + self.add(b) + return self + + def __str__(self): + m = str(self._mass.mass) + sc0 = str(self._mass.c[0]) + sc1 = str(self._mass.c[1]) + sc2 = str(self._mass.c[2]) + I11 = str(self._mass.I[0]) + I22 = str(self._mass.I[5]) + I33 = str(self._mass.I[10]) + I12 = str(self._mass.I[1]) + I13 = str(self._mass.I[2]) + I23 = str(self._mass.I[6]) + return ("Mass=%s\n" + "Cg=(%s, %s, %s)\n" + "I11=%s I22=%s I33=%s\n" + "I12=%s I13=%s I23=%s" % + (m, sc0, sc1, sc2, I11, I22, I33, I12, I13, I23)) +# return ("Mass=%s / " +# "Cg=(%s, %s, %s) / " +# "I11=%s I22=%s I33=%s " +# "I12=%s I13=%s I23=%s" % +# (m, sc0, sc1, sc2, I11, I22, I33, I12, I13, I23)) + + +cdef class Contact: + """This class represents a contact between two bodies in one point. + + A Contact object stores all the input parameters for a ContactJoint. + This class wraps the ODE dContact structure which has 3 components:: + + struct dContact { + dSurfaceParameters surface; + dContactGeom geom; + dVector3 fdir1; + }; + + This wrapper class provides methods to get and set the items of those + structures. + """ + + cdef dContact _contact + + def __cinit__(self): + self._contact.surface.mode = ContactBounce + self._contact.surface.mu = dInfinity + + self._contact.surface.bounce = 0.1 + + # getMode + def getMode(self): + """getMode() -> flags + + Return the contact flags. + """ + return self._contact.surface.mode + + # setMode + def setMode(self, flags): + """setMode(flags) + + Set the contact flags. The argument m is a combination of the + ContactXyz flags (ContactMu2, ContactBounce, ...). + + @param flags: Contact flags + @type flags: int + """ + self._contact.surface.mode = flags + + # getMu + def getMu(self): + """getMu() -> float + + Return the Coulomb friction coefficient. + """ + return self._contact.surface.mu + + # setMu + def setMu(self, mu): + """setMu(mu) + + Set the Coulomb friction coefficient. + + @param mu: Coulomb friction coefficient (0..Infinity) + @type mu: float + """ + self._contact.surface.mu = mu + + # getMu2 + def getMu2(self): + """getMu2() -> float + + Return the optional Coulomb friction coefficient for direction 2. + """ + return self._contact.surface.mu2 + + # setMu2 + def setMu2(self, mu): + """setMu2(mu) + + Set the optional Coulomb friction coefficient for direction 2. + + @param mu: Coulomb friction coefficient (0..Infinity) + @type mu: float + """ + self._contact.surface.mu2 = mu + + # getBounce + def getBounce(self): + """getBounce() -> float + + Return the restitution parameter. + """ + return self._contact.surface.bounce + + # setBounce + def setBounce(self, b): + """setBounce(b) + + @param b: Restitution parameter (0..1) + @type b: float + """ + self._contact.surface.bounce = b + + # getBounceVel + def getBounceVel(self): + """getBounceVel() -> float + + Return the minimum incoming velocity necessary for bounce. + """ + return self._contact.surface.bounce_vel + + # setBounceVel + def setBounceVel(self, bv): + """setBounceVel(bv) + + Set the minimum incoming velocity necessary for bounce. Incoming + velocities below this will effectively have a bounce parameter of 0. + + @param bv: Velocity + @type bv: float + """ + self._contact.surface.bounce_vel = bv + + # getSoftERP + def getSoftERP(self): + """getSoftERP() -> float + + Return the contact normal "softness" parameter. + """ + return self._contact.surface.soft_erp + + # setSoftERP + def setSoftERP(self, erp): + """setSoftERP(erp) + + Set the contact normal "softness" parameter. + + @param erp: Softness parameter + @type erp: float + """ + self._contact.surface.soft_erp = erp + + # getSoftCFM + def getSoftCFM(self): + """getSoftCFM() -> float + + Return the contact normal "softness" parameter. + """ + return self._contact.surface.soft_cfm + + # setSoftCFM + def setSoftCFM(self, cfm): + """setSoftCFM(cfm) + + Set the contact normal "softness" parameter. + + @param cfm: Softness parameter + @type cfm: float + """ + self._contact.surface.soft_cfm = cfm + + # getMotion1 + def getMotion1(self): + """getMotion1() -> float + + Get the surface velocity in friction direction 1. + """ + return self._contact.surface.motion1 + + # setMotion1 + def setMotion1(self, m): + """setMotion1(m) + + Set the surface velocity in friction direction 1. + + @param m: Surface velocity + @type m: float + """ + self._contact.surface.motion1 = m + + # getMotion2 + def getMotion2(self): + """getMotion2() -> float + + Get the surface velocity in friction direction 2. + """ + return self._contact.surface.motion2 + + # setMotion2 + def setMotion2(self, m): + """setMotion2(m) + + Set the surface velocity in friction direction 2. + + @param m: Surface velocity + @type m: float + """ + self._contact.surface.motion2 = m + + # getSlip1 + def getSlip1(self): + """getSlip1() -> float + + Get the coefficient of force-dependent-slip (FDS) for friction + direction 1. + """ + return self._contact.surface.slip1 + + # setSlip1 + def setSlip1(self, s): + """setSlip1(s) + + Set the coefficient of force-dependent-slip (FDS) for friction + direction 1. + + @param s: FDS coefficient + @type s: float + """ + self._contact.surface.slip1 = s + + # getSlip2 + def getSlip2(self): + """getSlip2() -> float + + Get the coefficient of force-dependent-slip (FDS) for friction + direction 2. + """ + return self._contact.surface.slip2 + + # setSlip2 + def setSlip2(self, s): + """setSlip2(s) + + Set the coefficient of force-dependent-slip (FDS) for friction + direction 1. + + @param s: FDS coefficient + @type s: float + """ + self._contact.surface.slip2 = s + + # getFDir1 + def getFDir1(self): + """getFDir1() -> (x, y, z) + + Get the "first friction direction" vector that defines a direction + along which frictional force is applied. + """ + return (self._contact.fdir1[0], + self._contact.fdir1[1], + self._contact.fdir1[2]) + + # setFDir1 + def setFDir1(self, fdir): + """setFDir1(fdir) + + Set the "first friction direction" vector that defines a direction + along which frictional force is applied. It must be of unit length + and perpendicular to the contact normal (so it is typically + tangential to the contact surface). + + @param fdir: Friction direction + @type fdir: 3-sequence of floats + """ + self._contact.fdir1[0] = fdir[0] + self._contact.fdir1[1] = fdir[1] + self._contact.fdir1[2] = fdir[2] + + # getContactGeomParams + def getContactGeomParams(self): + """getContactGeomParams() -> (pos, normal, depth, geom1, geom2) + + Get the ContactGeom structure of the contact. + + The return value is a tuple (pos, normal, depth, geom1, geom2) + where pos and normal are 3-tuples of floats and depth is a single + float. geom1 and geom2 are the Geom objects of the geoms in contact. + """ + cdef long id1, id2 + + pos = (self._contact.geom.pos[0], + self._contact.geom.pos[1], + self._contact.geom.pos[2]) + normal = (self._contact.geom.normal[0], + self._contact.geom.normal[1], + self._contact.geom.normal[2]) + depth = self._contact.geom.depth + + id1 = self._contact.geom.g1 + id2 = self._contact.geom.g2 + g1 = _geom_c2py_lut[id1] + g2 = _geom_c2py_lut[id2] + return pos, normal, depth, g1, g2 + + # setContactGeomParams + def setContactGeomParams(self, pos, normal, depth, g1=None, g2=None): + """setContactGeomParams(pos, normal, depth, geom1=None, geom2=None) + + Set the ContactGeom structure of the contact. + + @param pos: Contact position, in global coordinates + @type pos: 3-sequence of floats + @param normal: Unit length normal vector + @type normal: 3-sequence of floats + @param depth: Depth to which the two bodies inter-penetrate + @type depth: float + @param geom1: Geometry object 1 that collided + @type geom1: Geom + @param geom2: Geometry object 2 that collided + @type geom2: Geom + """ + + cdef long id + + self._contact.geom.pos[0] = pos[0] + self._contact.geom.pos[1] = pos[1] + self._contact.geom.pos[2] = pos[2] + self._contact.geom.normal[0] = normal[0] + self._contact.geom.normal[1] = normal[1] + self._contact.geom.normal[2] = normal[2] + self._contact.geom.depth = depth + if g1 != None: + id = g1._id() + self._contact.geom.g1 = id + else: + self._contact.geom.g1 = 0 + + if g2 != None: + id = g2._id() + self._contact.geom.g2 = id + else: + self._contact.geom.g2 = 0 + + +# World +cdef class World: + """Dynamics world. + + The world object is a container for rigid bodies and joints. + + + Constructor:: + + World() + """ + + cdef dWorldID wid + + def __cinit__(self): + self.wid = dWorldCreate() + + def __dealloc__(self): + if self.wid != NULL: + dWorldDestroy(self.wid) + + # setGravity + def setGravity(self, gravity): + """setGravity(gravity) + + Set the world's global gravity vector. + + @param gravity: Gravity vector + @type gravity: 3-sequence of floats + """ + dWorldSetGravity(self.wid, gravity[0], gravity[1], gravity[2]) + + # getGravity + def getGravity(self): + """getGravity() -> 3-tuple + + Return the world's global gravity vector as a 3-tuple of floats. + """ + cdef dVector3 g + dWorldGetGravity(self.wid, g) + return g[0], g[1], g[2] + + # setERP + def setERP(self, erp): + """setERP(erp) + + Set the global ERP value, that controls how much error + correction is performed in each time step. Typical values are + in the range 0.1-0.8. The default is 0.2. + + @param erp: Global ERP value + @type erp: float + """ + dWorldSetERP(self.wid, erp) + + # getERP + def getERP(self): + """getERP() -> float + + Get the global ERP value, that controls how much error + correction is performed in each time step. Typical values are + in the range 0.1-0.8. The default is 0.2. + """ + return dWorldGetERP(self.wid) + + # setCFM + def setCFM(self, cfm): + """setCFM(cfm) + + Set the global CFM (constraint force mixing) value. Typical + values are in the range 10E-9 - 1. The default is 10E-5 if + single precision is being used, or 10E-10 if double precision + is being used. + + @param cfm: Constraint force mixing value + @type cfm: float + """ + dWorldSetCFM(self.wid, cfm) + + # getCFM + def getCFM(self): + """getCFM() -> float + + Get the global CFM (constraint force mixing) value. Typical + values are in the range 10E-9 - 1. The default is 10E-5 if + single precision is being used, or 10E-10 if double precision + is being used. + """ + return dWorldGetCFM(self.wid) + + # step + def step(self, stepsize): + """step(stepsize) + + Step the world. This uses a "big matrix" method that takes + time on the order of O(m3) and memory on the order of O(m2), where m + is the total number of constraint rows. + + For large systems this will use a lot of memory and can be + very slow, but this is currently the most accurate method. + + @param stepsize: Time step + @type stepsize: float + """ + + dWorldStep(self.wid, stepsize) + + # quickStep + def quickStep(self, stepsize): + """quickStep(stepsize) + + Step the world. This uses an iterative method that takes time + on the order of O(m*N) and memory on the order of O(m), where m is + the total number of constraint rows and N is the number of + iterations. + + For large systems this is a lot faster than dWorldStep, but it + is less accurate. + + @param stepsize: Time step + @type stepsize: float + """ + dWorldQuickStep(self.wid, stepsize) + + # setQuickStepNumIterations + def setQuickStepNumIterations(self, num): + """setQuickStepNumIterations(num) + + Set the number of iterations that the QuickStep method + performs per step. More iterations will give a more accurate + solution, but will take longer to compute. The default is 20 + iterations. + + @param num: Number of iterations + @type num: int + """ + + dWorldSetQuickStepNumIterations(self.wid, num) + + # getQuickStepNumIterations + def getQuickStepNumIterations(self): + """getQuickStepNumIterations() -> int + + Get the number of iterations that the QuickStep method + performs per step. More iterations will give a more accurate + solution, but will take longer to compute. The default is 20 + iterations. + """ + return dWorldGetQuickStepNumIterations(self.wid) + + # setQuickStepNumIterations + def setContactMaxCorrectingVel(self, vel): + """setContactMaxCorrectingVel(vel) + + Set the maximum correcting velocity that contacts are allowed + to generate. The default value is infinity (i.e. no + limit). Reducing this value can help prevent "popping" of + deeply embedded objects. + + @param vel: Maximum correcting velocity + @type vel: float + """ + dWorldSetContactMaxCorrectingVel(self.wid, vel) + + # getQuickStepNumIterations + def getContactMaxCorrectingVel(self): + """getContactMaxCorrectingVel() -> float + + Get the maximum correcting velocity that contacts are allowed + to generate. The default value is infinity (i.e. no + limit). Reducing this value can help prevent "popping" of + deeply embedded objects. + + """ + return dWorldGetContactMaxCorrectingVel(self.wid) + + # setContactSurfaceLayer + def setContactSurfaceLayer(self, depth): + """setContactSurfaceLayer(depth) + + Set the depth of the surface layer around all geometry + objects. Contacts are allowed to sink into the surface layer + up to the given depth before coming to rest. The default value + is zero. Increasing this to some small value (e.g. 0.001) can + help prevent jittering problems due to contacts being + repeatedly made and broken. + + @param depth: Surface layer depth + @type depth: float + """ + dWorldSetContactSurfaceLayer(self.wid, depth) + + # getContactSurfaceLayer + def getContactSurfaceLayer(self): + """getContactSurfaceLayer() + + Get the depth of the surface layer around all geometry + objects. Contacts are allowed to sink into the surface layer + up to the given depth before coming to rest. The default value + is zero. Increasing this to some small value (e.g. 0.001) can + help prevent jittering problems due to contacts being + repeatedly made and broken. + """ + return dWorldGetContactSurfaceLayer(self.wid) + + # setAutoDisableFlag + def setAutoDisableFlag(self, flag): + """setAutoDisableFlag(flag) + + Set the default auto-disable flag for newly created bodies. + + @param flag: True = Do auto disable + @type flag: bool + """ + dWorldSetAutoDisableFlag(self.wid, flag) + + # getAutoDisableFlag + def getAutoDisableFlag(self): + """getAutoDisableFlag() -> bool + + Get the default auto-disable flag for newly created bodies. + """ + return dWorldGetAutoDisableFlag(self.wid) + + # setAutoDisableLinearThreshold + def setAutoDisableLinearThreshold(self, threshold): + """setAutoDisableLinearThreshold(threshold) + + Set the default auto-disable linear threshold for newly created + bodies. + + @param threshold: Linear threshold + @type threshold: float + """ + dWorldSetAutoDisableLinearThreshold(self.wid, threshold) + + # getAutoDisableLinearThreshold + def getAutoDisableLinearThreshold(self): + """getAutoDisableLinearThreshold() -> float + + Get the default auto-disable linear threshold for newly created + bodies. + """ + return dWorldGetAutoDisableLinearThreshold(self.wid) + + # setAutoDisableAngularThreshold + def setAutoDisableAngularThreshold(self, threshold): + """setAutoDisableAngularThreshold(threshold) + + Set the default auto-disable angular threshold for newly created + bodies. + + @param threshold: Angular threshold + @type threshold: float + """ + dWorldSetAutoDisableAngularThreshold(self.wid, threshold) + + # getAutoDisableAngularThreshold + def getAutoDisableAngularThreshold(self): + """getAutoDisableAngularThreshold() -> float + + Get the default auto-disable angular threshold for newly created + bodies. + """ + return dWorldGetAutoDisableAngularThreshold(self.wid) + + # setAutoDisableSteps + def setAutoDisableSteps(self, steps): + """setAutoDisableSteps(steps) + + Set the default auto-disable steps for newly created bodies. + + @param steps: Auto disable steps + @type steps: int + """ + dWorldSetAutoDisableSteps(self.wid, steps) + + # getAutoDisableSteps + def getAutoDisableSteps(self): + """getAutoDisableSteps() -> int + + Get the default auto-disable steps for newly created bodies. + """ + return dWorldGetAutoDisableSteps(self.wid) + + # setAutoDisableTime + def setAutoDisableTime(self, time): + """setAutoDisableTime(time) + + Set the default auto-disable time for newly created bodies. + + @param time: Auto disable time + @type time: float + """ + dWorldSetAutoDisableTime(self.wid, time) + + # getAutoDisableTime + def getAutoDisableTime(self): + """getAutoDisableTime() -> float + + Get the default auto-disable time for newly created bodies. + """ + return dWorldGetAutoDisableTime(self.wid) + + # setLinearDamping + def setLinearDamping(self, scale): + """setLinearDamping(scale) + + Set the world's linear damping scale. + @param scale The linear damping scale that is to be applied to bodies. + Default is 0 (no damping). Should be in the interval [0, 1]. + @type scale: float + """ + dWorldSetLinearDamping(self.wid, scale) + + # getLinearDamping + def getLinearDamping(self): + """getLinearDamping() -> float + + Get the world's linear damping scale. + """ + return dWorldGetLinearDamping(self.wid) + + # setAngularDamping + def setAngularDamping(self, scale): + """setAngularDamping(scale) + + Set the world's angular damping scale. + @param scale The angular damping scale that is to be applied to bodies. + Default is 0 (no damping). Should be in the interval [0, 1]. + @type scale: float + """ + dWorldSetAngularDamping(self.wid, scale) + + # getAngularDamping + def getAngularDamping(self): + """getAngularDamping() -> float + + Get the world's angular damping scale. + """ + return dWorldGetAngularDamping(self.wid) + + # impulseToForce + def impulseToForce(self, stepsize, impulse): + """impulseToForce(stepsize, impulse) -> 3-tuple + + If you want to apply a linear or angular impulse to a rigid + body, instead of a force or a torque, then you can use this + function to convert the desired impulse into a force/torque + vector before calling the dBodyAdd... function. + + @param stepsize: Time step + @param impulse: Impulse vector + @type stepsize: float + @type impulse: 3-tuple of floats + """ + cdef dVector3 force + dWorldImpulseToForce(self.wid, stepsize, + impulse[0], impulse[1], impulse[2], force) + return force[0], force[1], force[2] + + # createBody +# def createBody(self): +# return Body(self) + + # createBallJoint +# def createBallJoint(self, jointgroup=None): +# return BallJoint(self, jointgroup) + + # createHingeJoint +# def createHingeJoint(self, jointgroup=None): +# return HingeJoint(self, jointgroup) + + # createHinge2Joint +# def createHinge2Joint(self, jointgroup=None): +# return Hinge2Joint(self, jointgroup) + + # createSliderJoint +# def createSliderJoint(self, jointgroup=None): +# return SliderJoint(self, jointgroup) + + # createFixedJoint +# def createFixedJoint(self, jointgroup=None): +# return FixedJoint(self, jointgroup) + + # createContactJoint +# def createContactJoint(self, jointgroup, contact): +# return ContactJoint(self, jointgroup, contact) + + +# Body +cdef class Body: + """The rigid body class encapsulating the ODE body. + + This class represents a rigid body that has a location and orientation + in space and that stores the mass properties of an object. + + When creating a Body object you have to pass the world it belongs to + as argument to the constructor:: + + >>> import ode + >>> w = ode.World() + >>> b = ode.Body(w) + """ + + cdef dBodyID bid + # A reference to the world so that the world won't be destroyed while + # there are still joints using it. + cdef object world + + # A dictionary with user attributes + # (set via __getattr__ and __setattr__) + cdef object userattribs + + def __cinit__(self, World world not None): + self.bid = dBodyCreate(world.wid) + + def __init__(self, World world not None): + """Constructor. + + @param world: The world in which the body should be created. + @type world: World + """ + self.world = world + self.userattribs = {} + + def __dealloc__(self): + if self.bid != NULL: + dBodyDestroy(self.bid) + + def __getattr__(self, name): + try: + return self.userattribs[name] + except: + raise AttributeError("Body object has no attribute '%s'" % name) + + def __setattr__(self, name, value): + self.userattribs[name] = value + + def __delattr__(self, name): + try: + del self.userattribs[name] + except: + raise AttributeError("Body object has no attribute '%s'" % name) + + # setPosition + def setPosition(self, pos): + """setPosition(pos) + + Set the position of the body. + + @param pos: The new position + @type pos: 3-sequence of floats + """ + dBodySetPosition(self.bid, pos[0], pos[1], pos[2]) + + # getPosition + def getPosition(self): + """getPosition() -> 3-tuple + + Return the current position of the body. + """ + cdef dReal* p + # The "const" in the original return value is cast away + p = dBodyGetPosition(self.bid) + return p[0], p[1], p[2] + + # setRotation + def setRotation(self, R): + """setRotation(R) + + Set the orientation of the body. The rotation matrix must be + given as a sequence of 9 floats which are the elements of the + matrix in row-major order. + + @param R: Rotation matrix + @type R: 9-sequence of floats + """ + cdef dMatrix3 m + m[0] = R[0] + m[1] = R[1] + m[2] = R[2] + m[3] = 0 + m[4] = R[3] + m[5] = R[4] + m[6] = R[5] + m[7] = 0 + m[8] = R[6] + m[9] = R[7] + m[10] = R[8] + m[11] = 0 + dBodySetRotation(self.bid, m) + + # getRotation + def getRotation(self): + """getRotation() -> 9-tuple + + Return the current rotation matrix as a tuple of 9 floats (row-major + order). + """ + cdef dReal* m + # The "const" in the original return value is cast away + m = dBodyGetRotation(self.bid) + return m[0], m[1], m[2], m[4], m[5], m[6], m[8], m[9], m[10] + + # getQuaternion + def getQuaternion(self): + """getQuaternion() -> 4-tuple + + Return the current rotation as a quaternion. The return value + is a list of 4 floats. + """ + cdef dReal* q + q = dBodyGetQuaternion(self.bid) + return q[0], q[1], q[2], q[3] + + # setQuaternion + def setQuaternion(self, q): + """setQuaternion(q) + + Set the orientation of the body. The quaternion must be given as a + sequence of 4 floats. + + @param q: Quaternion + @type q: 4-sequence of floats + """ + cdef dQuaternion w + w[0] = q[0] + w[1] = q[1] + w[2] = q[2] + w[3] = q[3] + dBodySetQuaternion(self.bid, w) + + # setLinearVel + def setLinearVel(self, vel): + """setLinearVel(vel) + + Set the linear velocity of the body. + + @param vel: New velocity + @type vel: 3-sequence of floats + """ + dBodySetLinearVel(self.bid, vel[0], vel[1], vel[2]) + + # getLinearVel + def getLinearVel(self): + """getLinearVel() -> 3-tuple + + Get the current linear velocity of the body. + """ + cdef dReal* p + # The "const" in the original return value is cast away + p = dBodyGetLinearVel(self.bid) + return p[0], p[1], p[2] + + # setAngularVel + def setAngularVel(self, vel): + """setAngularVel(vel) + + Set the angular velocity of the body. + + @param vel: New angular velocity + @type vel: 3-sequence of floats + """ + dBodySetAngularVel(self.bid, vel[0], vel[1], vel[2]) + + # getAngularVel + def getAngularVel(self): + """getAngularVel() -> 3-tuple + + Get the current angular velocity of the body. + """ + cdef dReal* p + # The "const" in the original return value is cast away + p = dBodyGetAngularVel(self.bid) + return p[0], p[1], p[2] + + # setMass + def setMass(self, Mass mass): + """setMass(mass) + + Set the mass properties of the body. The argument mass must be + an instance of a Mass object. + + @param mass: Mass properties + @type mass: Mass + """ + dBodySetMass(self.bid, &mass._mass) + + # getMass + def getMass(self): + """getMass() -> mass + + Return the mass properties as a Mass object. + """ + cdef Mass m + m = Mass() + dBodyGetMass(self.bid, &m._mass) + return m + + # addForce + def addForce(self, f): + """addForce(f) + + Add an external force f given in absolute coordinates. The force + is applied at the center of mass. + + @param f: Force + @type f: 3-sequence of floats + """ + dBodyAddForce(self.bid, f[0], f[1], f[2]) + + # addTorque + def addTorque(self, t): + """addTorque(t) + + Add an external torque t given in absolute coordinates. + + @param t: Torque + @type t: 3-sequence of floats + """ + dBodyAddTorque(self.bid, t[0], t[1], t[2]) + + # addRelForce + def addRelForce(self, f): + """addRelForce(f) + + Add an external force f given in relative coordinates + (relative to the body's own frame of reference). The force + is applied at the center of mass. + + @param f: Force + @type f: 3-sequence of floats + """ + dBodyAddRelForce(self.bid, f[0], f[1], f[2]) + + # addRelTorque + def addRelTorque(self, t): + """addRelTorque(t) + + Add an external torque t given in relative coordinates + (relative to the body's own frame of reference). + + @param t: Torque + @type t: 3-sequence of floats + """ + dBodyAddRelTorque(self.bid, t[0], t[1], t[2]) + + # addForceAtPos + def addForceAtPos(self, f, p): + """addForceAtPos(f, p) + + Add an external force f at position p. Both arguments must be + given in absolute coordinates. + + @param f: Force + @param p: Position + @type f: 3-sequence of floats + @type p: 3-sequence of floats + """ + dBodyAddForceAtPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2]) + + # addForceAtRelPos + def addForceAtRelPos(self, f, p): + """addForceAtRelPos(f, p) + + Add an external force f at position p. f is given in absolute + coordinates and p in absolute coordinates. + + @param f: Force + @param p: Position + @type f: 3-sequence of floats + @type p: 3-sequence of floats + """ + dBodyAddForceAtRelPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2]) + + # addRelForceAtPos + def addRelForceAtPos(self, f, p): + """addRelForceAtPos(f, p) + + Add an external force f at position p. f is given in relative + coordinates and p in relative coordinates. + + @param f: Force + @param p: Position + @type f: 3-sequence of floats + @type p: 3-sequence of floats + """ + dBodyAddRelForceAtPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2]) + + # addRelForceAtRelPos + def addRelForceAtRelPos(self, f, p): + """addRelForceAtRelPos(f, p) + + Add an external force f at position p. Both arguments must be + given in relative coordinates. + + @param f: Force + @param p: Position + @type f: 3-sequence of floats + @type p: 3-sequence of floats + """ + dBodyAddRelForceAtRelPos(self.bid, f[0], f[1], f[2], p[0], p[1], p[2]) + + # getForce + def getForce(self): + """getForce() -> 3-tuple + + Return the current accumulated force. + """ + cdef dReal* f + # The "const" in the original return value is cast away + f = dBodyGetForce(self.bid) + return f[0], f[1], f[2] + + # getTorque + def getTorque(self): + """getTorque() -> 3-tuple + + Return the current accumulated torque. + """ + cdef dReal* f + # The "const" in the original return value is cast away + f = dBodyGetTorque(self.bid) + return f[0], f[1], f[2] + + # setForce + def setForce(self, f): + """setForce(f) + + Set the body force accumulation vector. + + @param f: Force + @type f: 3-tuple of floats + """ + dBodySetForce(self.bid, f[0], f[1], f[2]) + + # setTorque + def setTorque(self, t): + """setTorque(t) + + Set the body torque accumulation vector. + + @param t: Torque + @type t: 3-tuple of floats + """ + dBodySetTorque(self.bid, t[0], t[1], t[2]) + + # getRelPointPos + def getRelPointPos(self, p): + """getRelPointPos(p) -> 3-tuple + + Utility function that takes a point p on a body and returns + that point's position in global coordinates. The point p + must be given in body relative coordinates. + + @param p: Body point (local coordinates) + @type p: 3-sequence of floats + """ + + cdef dVector3 res + dBodyGetRelPointPos(self.bid, p[0], p[1], p[2], res) + return res[0], res[1], res[2] + + # getRelPointVel + def getRelPointVel(self, p): + """getRelPointVel(p) -> 3-tuple + + Utility function that takes a point p on a body and returns + that point's velocity in global coordinates. The point p + must be given in body relative coordinates. + + @param p: Body point (local coordinates) + @type p: 3-sequence of floats + """ + cdef dVector3 res + dBodyGetRelPointVel(self.bid, p[0], p[1], p[2], res) + return res[0], res[1], res[2] + + # getPointVel + def getPointVel(self, p): + """getPointVel(p) -> 3-tuple + + Utility function that takes a point p on a body and returns + that point's velocity in global coordinates. The point p + must be given in global coordinates. + + @param p: Body point (global coordinates) + @type p: 3-sequence of floats + """ + cdef dVector3 res + dBodyGetPointVel(self.bid, p[0], p[1], p[2], res) + return res[0], res[1], res[2] + + # getPosRelPoint + def getPosRelPoint(self, p): + """getPosRelPoint(p) -> 3-tuple + + This is the inverse of getRelPointPos(). It takes a point p in + global coordinates and returns the point's position in + body-relative coordinates. + + @param p: Body point (global coordinates) + @type p: 3-sequence of floats + """ + cdef dVector3 res + dBodyGetPosRelPoint(self.bid, p[0], p[1], p[2], res) + return res[0], res[1], res[2] + + # vectorToWorld + def vectorToWorld(self, v): + """vectorToWorld(v) -> 3-tuple + + Given a vector v expressed in the body coordinate system, rotate + it to the world coordinate system. + + @param v: Vector in body coordinate system + @type v: 3-sequence of floats + """ + cdef dVector3 res + dBodyVectorToWorld(self.bid, v[0], v[1], v[2], res) + return res[0], res[1], res[2] + + # vectorFromWorld + def vectorFromWorld(self, v): + """vectorFromWorld(v) -> 3-tuple + + Given a vector v expressed in the world coordinate system, rotate + it to the body coordinate system. + + @param v: Vector in world coordinate system + @type v: 3-sequence of floats + """ + cdef dVector3 res + dBodyVectorFromWorld(self.bid, v[0], v[1], v[2], res) + return res[0], res[1], res[2] + + # Enable + def enable(self): + """enable() + + Manually enable a body. + """ + dBodyEnable(self.bid) + + # Disable + def disable(self): + """disable() + + Manually disable a body. Note that a disabled body that is connected + through a joint to an enabled body will be automatically re-enabled + at the next simulation step. + """ + dBodyDisable(self.bid) + + # isEnabled + def isEnabled(self): + """isEnabled() -> bool + + Check if a body is currently enabled. + """ + return dBodyIsEnabled(self.bid) + + # setFiniteRotationMode + def setFiniteRotationMode(self, mode): + """setFiniteRotationMode(mode) + + This function controls the way a body's orientation is updated at + each time step. The mode argument can be: + + - 0: An "infinitesimal" orientation update is used. This is + fast to compute, but it can occasionally cause inaccuracies + for bodies that are rotating at high speed, especially when + those bodies are joined to other bodies. This is the default + for every new body that is created. + + - 1: A "finite" orientation update is used. This is more + costly to compute, but will be more accurate for high speed + rotations. Note however that high speed rotations can result + in many types of error in a simulation, and this mode will + only fix one of those sources of error. + + @param mode: Rotation mode (0/1) + @type mode: int + """ + dBodySetFiniteRotationMode(self.bid, mode) + + # getFiniteRotationMode + def getFiniteRotationMode(self): + """getFiniteRotationMode() -> mode (0/1) + + Return the current finite rotation mode of a body (0 or 1). + See setFiniteRotationMode(). + """ + return dBodyGetFiniteRotationMode(self.bid) + + # setFiniteRotationAxis + def setFiniteRotationAxis(self, a): + """setFiniteRotationAxis(a) + + Set the finite rotation axis of the body. This axis only has a + meaning when the finite rotation mode is set + (see setFiniteRotationMode()). + + @param a: Axis + @type a: 3-sequence of floats + """ + dBodySetFiniteRotationAxis(self.bid, a[0], a[1], a[2]) + + # getFiniteRotationAxis + def getFiniteRotationAxis(self): + """getFiniteRotationAxis() -> 3-tuple + + Return the current finite rotation axis of the body. + """ + cdef dVector3 p + # The "const" in the original return value is cast away + dBodyGetFiniteRotationAxis(self.bid, p) + return p[0], p[1], p[2] + + # getNumJoints + def getNumJoints(self): + """getNumJoints() -> int + + Return the number of joints that are attached to this body. + """ + return dBodyGetNumJoints(self.bid) + + # setGravityMode + def setGravityMode(self, mode): + """setGravityMode(mode) + + Set whether the body is influenced by the world's gravity + or not. If mode is True it is, otherwise it isn't. + Newly created bodies are always influenced by the world's gravity. + + @param mode: Gravity mode + @type mode: bool + """ + dBodySetGravityMode(self.bid, mode) + + # getGravityMode + def getGravityMode(self): + """getGravityMode() -> bool + + Return True if the body is influenced by the world's gravity. + """ + return dBodyGetGravityMode(self.bid) + + def setDynamic(self): + """setDynamic() + + Set a body to the (default) "dynamic" state, instead of "kinematic". + See setKinematic() for more information. + """ + dBodySetDynamic(self.bid) + + def setKinematic(self): + """setKinematic() + + Set the kinematic state of the body (change it into a kinematic body) + + Kinematic bodies behave as if they had infinite mass. This means they don't react + to any force (gravity, constraints or user-supplied); they simply follow + velocity to reach the next position. [from ODE wiki] + + """ + dBodySetKinematic(self.bid) + + def isKinematic(self): + """isKinematic() -> bool + + Return True if the body is kinematic (not influenced by other forces). + + Kinematic bodies behave as if they had infinite mass. This means they don't react + to any force (gravity, constraints or user-supplied); they simply follow + velocity to reach the next position. [from ODE wiki] + + """ + return dBodyIsKinematic(self.bid) + + def setMaxAngularSpeed(self, max_speed): + """setMaxAngularSpeed(max_speed) + + You can also limit the maximum angular speed. In contrast to the damping + functions, the angular velocity is affected before the body is moved. + This means that it will introduce errors in joints that are forcing the + body to rotate too fast. Some bodies have naturally high angular + velocities (like cars' wheels), so you may want to give them a very high + (like the default, dInfinity) limit. + + """ + dBodySetMaxAngularSpeed(self.bid, max_speed) + + +# JointGroup +cdef class JointGroup: + """Joint group. + + Constructor:: + + JointGroup() + """ + + # JointGroup ID + cdef dJointGroupID gid + # A list of Python joints that were added to the group + cdef object jointlist + + def __cinit__(self): + self.gid = dJointGroupCreate(0) + + def __init__(self): + self.jointlist = [] + + def __dealloc__(self): + if self.gid != NULL: + for j in self.jointlist: + j._destroyed() + dJointGroupDestroy(self.gid) + + # empty + def empty(self): + """empty() + + Destroy all joints in the group. + """ + dJointGroupEmpty(self.gid) + for j in self.jointlist: + j._destroyed() + self.jointlist = [] + + def _addjoint(self, j): + """_addjoint(j) + + Add a joint to the group. This is an internal method that is + called by the joints. The group has to know the Python + wrappers because it has to notify them when the group is + emptied (so that the ODE joints won't get destroyed + twice). The notification is done by calling _destroyed() on + the Python joints. + + @param j: The joint to add + @type j: Joint + """ + self.jointlist.append(j) + + +###################################################################### + +# Joint +cdef class Joint: + """Base class for all joint classes.""" + + # Joint id as returned by dJointCreateXxx() + cdef dJointID jid + # A reference to the world so that the world won't be destroyed while + # there are still joints using it. + cdef object world + # The feedback buffer + cdef dJointFeedback* feedback + + cdef object body1 + cdef object body2 + + # A dictionary with user attributes + # (set via __getattr__ and __setattr__) + cdef object userattribs + + def __cinit__(self, *a, **kw): + self.jid = NULL + self.world = None + self.feedback = NULL + self.body1 = None + self.body2 = None + self.userattribs = {} + + def __init__(self, *a, **kw): + raise NotImplementedError("Joint base class can't be used directly") + + def __dealloc__(self): + self.setFeedback(False) + if self.jid != NULL: + dJointDestroy(self.jid) + + def __getattr__(self, name): + try: + return self.userattribs[name] + except: + raise AttributeError("Joint object has no attribute '%s'" % name) + + def __setattr__(self, name, value): + self.userattribs[name] = value + + def __delattr__(self, name): + try: + del self.userattribs[name] + except: + raise AttributeError("Joint object has no attribute '%s'" % name) + + # _destroyed + def _destroyed(self): + """Notify the joint object about an external destruction of the ODE joint. + + This method has to be called when the underlying ODE object + was destroyed by someone else (e.g. by a joint group). The Python + wrapper will then refrain from destroying it again. + """ + self.jid = NULL + + # enable + def enable(self): + """enable() + + Enable the joint. Disabled joints are completely ignored during the + simulation. Disabled joints don't lose the already computed information + like anchors and axes. + """ + dJointEnable(self.jid) + + # disable + def disable(self): + """disable() + + Disable the joint. Disabled joints are completely ignored during the + simulation. Disabled joints don't lose the already computed information + like anchors and axes. + """ + dJointDisable(self.jid) + + # isEnabled + def isEnabled(self): + """isEnabled() -> bool + + Determine whether the joint is enabled. Disabled joints are completely + ignored during the simulation. Disabled joints don't lose the already + computed information like anchors and axes. + """ + return dJointIsEnabled(self.jid) + + # attach + def attach(self, Body body1, Body body2): + """attach(body1, body2) + + Attach the joint to some new bodies. A body can be attached + to the environment by passing None as second body. + + @param body1: First body + @param body2: Second body + @type body1: Body + @type body2: Body + """ + cdef dBodyID id1, id2 + + if body1 == None: + id1 = NULL + else: + id1 = body1.bid + + if body2 == None: + id2 = NULL + else: + id2 = body2.bid + + self.body1 = body1 + self.body2 = body2 + dJointAttach(self.jid, id1, id2) + + # getBody + def getBody(self, index): + """getBody(index) -> Body + + Return the bodies that this joint connects. If index is 0 the + "first" body will be returned, corresponding to the body1 + argument of the attach() method. If index is 1 the "second" body + will be returned, corresponding to the body2 argument of the + attach() method. + + @param index: Bodx index (0 or 1). + @type index: int + """ + + if index == 0: + return self.body1 + elif index == 1: + return self.body2 + else: + raise IndexError() + + # setFeedback + def setFeedback(self, flag=1): + """setFeedback(flag=True) + + Create a feedback buffer. If flag is True then a buffer is + allocated and the forces/torques applied by the joint can + be read using the getFeedback() method. If flag is False the + buffer is released. + + @param flag: Specifies whether a buffer should be created or released + @type flag: bool + """ + + if flag: + # Was there already a buffer allocated? then we're finished + if self.feedback != NULL: + return + # Allocate a buffer and pass it to ODE + self.feedback = malloc(sizeof(dJointFeedback)) + if self.feedback == NULL: + raise MemoryError("can't allocate feedback buffer") + dJointSetFeedback(self.jid, self.feedback) + else: + if self.feedback != NULL: + # Free a previously allocated buffer + dJointSetFeedback(self.jid, NULL) + free(self.feedback) + self.feedback = NULL + + # getFeedback + def getFeedback(self): + """getFeedback() -> (force1, torque1, force2, torque2) + + Get the forces/torques applied by the joint. If feedback is + activated (i.e. setFeedback(True) was called) then this method + returns a tuple (force1, torque1, force2, torque2) with the + forces and torques applied to body 1 and body 2. The + forces/torques are given as 3-tuples. + + If feedback is deactivated then the method always returns None. + """ + cdef dJointFeedback* fb + + fb = dJointGetFeedback(self.jid) + if fb == NULL: + return None + + f1 = (fb.f1[0], fb.f1[1], fb.f1[2]) + t1 = (fb.t1[0], fb.t1[1], fb.t1[2]) + f2 = (fb.f2[0], fb.f2[1], fb.f2[2]) + t2 = (fb.t2[0], fb.t2[1], fb.t2[2]) + return f1, t1, f2, t2 + +###################################################################### + + +# BallJoint +cdef class BallJoint(Joint): + """Ball joint. + + Constructor:: + + BallJoint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateBall(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setAnchor + def setAnchor(self, pos): + """setAnchor(pos) + + Set the joint anchor point which must be specified in world + coordinates. + + @param pos: Anchor position + @type pos: 3-sequence of floats + """ + dJointSetBallAnchor(self.jid, pos[0], pos[1], pos[2]) + + # getAnchor + def getAnchor(self): + """getAnchor() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This + returns the point on body 1. If the joint is perfectly + satisfied, this will be the same as the point on body 2. + """ + + cdef dVector3 p + dJointGetBallAnchor(self.jid, p) + return p[0], p[1], p[2] + + # getAnchor2 + def getAnchor2(self): + """getAnchor2() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This + returns the point on body 2. If the joint is perfectly + satisfied, this will be the same as the point on body 1. + """ + + cdef dVector3 p + dJointGetBallAnchor2(self.jid, p) + return p[0], p[1], p[2] + + # setParam + def setParam(self, param, value): + pass + + # getParam + def getParam(self, param): + return 0.0 + + +# HingeJoint +cdef class HingeJoint(Joint): + """Hinge joint. + + Constructor:: + + HingeJoint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateHinge(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setAnchor + def setAnchor(self, pos): + """setAnchor(pos) + + Set the hinge anchor which must be given in world coordinates. + + @param pos: Anchor position + @type pos: 3-sequence of floats + """ + dJointSetHingeAnchor(self.jid, pos[0], pos[1], pos[2]) + + # getAnchor + def getAnchor(self): + """getAnchor() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This returns + the point on body 1. If the joint is perfectly satisfied, this + will be the same as the point on body 2. + """ + cdef dVector3 p + dJointGetHingeAnchor(self.jid, p) + return p[0], p[1], p[2] + + # getAnchor2 + def getAnchor2(self): + """getAnchor2() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This returns + the point on body 2. If the joint is perfectly satisfied, this + will be the same as the point on body 1. + """ + cdef dVector3 p + dJointGetHingeAnchor2(self.jid, p) + return p[0], p[1], p[2] + + # setAxis + def setAxis(self, axis): + """setAxis(axis) + + Set the hinge axis. + + @param axis: Hinge axis + @type axis: 3-sequence of floats + """ + dJointSetHingeAxis(self.jid, axis[0], axis[1], axis[2]) + + # getAxis + def getAxis(self): + """getAxis() -> 3-tuple of floats + + Get the hinge axis. + """ + cdef dVector3 a + dJointGetHingeAxis(self.jid, a) + return a[0], a[1], a[2] + + # getAngle + def getAngle(self): + """getAngle() -> float + + Get the hinge angle. The angle is measured between the two + bodies, or between the body and the static environment. The + angle will be between -pi..pi. + + When the hinge anchor or axis is set, the current position of + the attached bodies is examined and that position will be the + zero angle. + """ + + return dJointGetHingeAngle(self.jid) + + # getAngleRate + def getAngleRate(self): + """getAngleRate() -> float + + Get the time derivative of the angle. + """ + return dJointGetHingeAngleRate(self.jid) + + # addTorque + def addTorque(self, torque): + """addTorque(torque) + + Applies the torque about the hinge axis. + + @param torque: Torque magnitude + @type torque: float + """ + dJointAddHingeTorque(self.jid, torque) + + # setParam + def setParam(self, param, value): + """setParam(param, value) + + Set limit/motor parameters for the joint. + + param is one of ParamLoStop, ParamHiStop, ParamVel, ParamFMax, + ParamFudgeFactor, ParamBounce, ParamCFM, ParamStopERP, ParamStopCFM, + ParamSuspensionERP, ParamSuspensionCFM. + + These parameter names can be optionally followed by a digit (2 + or 3) to indicate the second or third set of parameters. + + @param param: Selects the parameter to set + @param value: Parameter value + @type param: int + @type value: float + """ + + dJointSetHingeParam(self.jid, param, value) + + # getParam + def getParam(self, param): + """getParam(param) -> float + + Get limit/motor parameters for the joint. + + param is one of ParamLoStop, ParamHiStop, ParamVel, ParamFMax, + ParamFudgeFactor, ParamBounce, ParamCFM, ParamStopERP, ParamStopCFM, + ParamSuspensionERP, ParamSuspensionCFM. + + These parameter names can be optionally followed by a digit (2 + or 3) to indicate the second or third set of parameters. + + @param param: Selects the parameter to read + @type param: int + """ + return dJointGetHingeParam(self.jid, param) + + +# SliderJoint +cdef class SliderJoint(Joint): + """Slider joint. + + Constructor:: + + SlideJoint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateSlider(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setAxis + def setAxis(self, axis): + """setAxis(axis) + + Set the slider axis parameter. + + @param axis: Slider axis + @type axis: 3-sequence of floats + """ + dJointSetSliderAxis(self.jid, axis[0], axis[1], axis[2]) + + # getAxis + def getAxis(self): + """getAxis() -> 3-tuple of floats + + Get the slider axis parameter. + """ + cdef dVector3 a + dJointGetSliderAxis(self.jid, a) + return a[0], a[1], a[2] + + # getPosition + def getPosition(self): + """getPosition() -> float + + Get the slider linear position (i.e. the slider's "extension"). + + When the axis is set, the current position of the attached + bodies is examined and that position will be the zero + position. + """ + + return dJointGetSliderPosition(self.jid) + + # getPositionRate + def getPositionRate(self): + """getPositionRate() -> float + + Get the time derivative of the position. + """ + return dJointGetSliderPositionRate(self.jid) + + # addForce + def addForce(self, force): + """addForce(force) + + Applies the given force in the slider's direction. + + @param force: Force magnitude + @type force: float + """ + dJointAddSliderForce(self.jid, force) + + # setParam + def setParam(self, param, value): + dJointSetSliderParam(self.jid, param, value) + + # getParam + def getParam(self, param): + return dJointGetSliderParam(self.jid, param) + + +# UniversalJoint +cdef class UniversalJoint(Joint): + """Universal joint. + + Constructor:: + + UniversalJoint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateUniversal(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setAnchor + def setAnchor(self, pos): + """setAnchor(pos) + + Set the universal anchor. + + @param pos: Anchor position + @type pos: 3-sequence of floats + """ + dJointSetUniversalAnchor(self.jid, pos[0], pos[1], pos[2]) + + # getAnchor + def getAnchor(self): + """getAnchor() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This returns + the point on body 1. If the joint is perfectly satisfied, this + will be the same as the point on body 2. + """ + + cdef dVector3 p + dJointGetUniversalAnchor(self.jid, p) + return p[0], p[1], p[2] + + # getAnchor2 + def getAnchor2(self): + """getAnchor2() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This returns + the point on body 2. If the joint is perfectly satisfied, this + will be the same as the point on body 1. + """ + + cdef dVector3 p + dJointGetUniversalAnchor2(self.jid, p) + return p[0], p[1], p[2] + + # setAxis1 + def setAxis1(self, axis): + """setAxis1(axis) + + Set the first universal axis. Axis 1 and axis 2 should be + perpendicular to each other. + + @param axis: Joint axis + @type axis: 3-sequence of floats + """ + dJointSetUniversalAxis1(self.jid, axis[0], axis[1], axis[2]) + + # getAxis1 + def getAxis1(self): + """getAxis1() -> 3-tuple of floats + + Get the first univeral axis. + """ + cdef dVector3 a + dJointGetUniversalAxis1(self.jid, a) + return a[0], a[1], a[2] + + # setAxis2 + def setAxis2(self, axis): + """setAxis2(axis) + + Set the second universal axis. Axis 1 and axis 2 should be + perpendicular to each other. + + @param axis: Joint axis + @type axis: 3-sequence of floats + """ + dJointSetUniversalAxis2(self.jid, axis[0], axis[1], axis[2]) + + # getAxis2 + def getAxis2(self): + """getAxis2() -> 3-tuple of floats + + Get the second univeral axis. + """ + cdef dVector3 a + dJointGetUniversalAxis2(self.jid, a) + return a[0], a[1], a[2] + + # addTorques + def addTorques(self, torque1, torque2): + """addTorques(torque1, torque2) + + Applies torque1 about axis 1, and torque2 about axis 2. + + @param torque1: Torque 1 magnitude + @param torque2: Torque 2 magnitude + @type torque1: float + @type torque2: float + """ + dJointAddUniversalTorques(self.jid, torque1, torque2) + + def getAngle1(self): + return dJointGetUniversalAngle1(self.jid) + + def getAngle2(self): + return dJointGetUniversalAngle2(self.jid) + + def getAngle1Rate(self): + return dJointGetUniversalAngle1Rate(self.jid) + + def getAngle2Rate(self): + return dJointGetUniversalAngle2Rate(self.jid) + + # setParam + def setParam(self, param, value): + dJointSetUniversalParam(self.jid, param, value) + + # getParam + def getParam(self, param): + return dJointGetUniversalParam(self.jid, param) + + +# Hinge2Joint +cdef class Hinge2Joint(Joint): + """Hinge2 joint. + + Constructor:: + + Hinge2Joint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateHinge2(world.wid, jgid) + + def __init__(self, World world, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setAnchor + def setAnchor(self, pos): + """setAnchor(pos) + + Set the hinge-2 anchor. + + @param pos: Anchor position + @type pos: 3-sequence of floats + """ + dJointSetHinge2Anchor(self.jid, pos[0], pos[1], pos[2]) + + # getAnchor + def getAnchor(self): + """getAnchor() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This returns + the point on body 1. If the joint is perfectly satisfied, this + will be the same as the point on body 2. + """ + + cdef dVector3 p + dJointGetHinge2Anchor(self.jid, p) + return p[0], p[1], p[2] + + # getAnchor2 + def getAnchor2(self): + """getAnchor2() -> 3-tuple of floats + + Get the joint anchor point, in world coordinates. This returns + the point on body 2. If the joint is perfectly satisfied, this + will be the same as the point on body 1. + """ + + cdef dVector3 p + dJointGetHinge2Anchor2(self.jid, p) + return p[0], p[1], p[2] + + # setAxis1 + def setAxis1(self, axis): + """setAxis1(axis) + + Set the first hinge-2 axis. Axis 1 and axis 2 must not lie + along the same line. + + @param axis: Joint axis + @type axis: 3-sequence of floats + """ + + dJointSetHinge2Axis1(self.jid, axis[0], axis[1], axis[2]) + + # getAxis1 + def getAxis1(self): + """getAxis1() -> 3-tuple of floats + + Get the first hinge-2 axis. + """ + cdef dVector3 a + dJointGetHinge2Axis1(self.jid, a) + return a[0], a[1], a[2] + + # setAxis2 + def setAxis2(self, axis): + """setAxis2(axis) + + Set the second hinge-2 axis. Axis 1 and axis 2 must not lie + along the same line. + + @param axis: Joint axis + @type axis: 3-sequence of floats + """ + dJointSetHinge2Axis2(self.jid, axis[0], axis[1], axis[2]) + + # getAxis2 + def getAxis2(self): + """getAxis2() -> 3-tuple of floats + + Get the second hinge-2 axis. + """ + cdef dVector3 a + dJointGetHinge2Axis2(self.jid, a) + return a[0], a[1], a[2] + + # getAngle + def getAngle1(self): + """getAngle1() -> float + + Get the first hinge-2 angle (around axis 1). + + When the anchor or axis is set, the current position of the + attached bodies is examined and that position will be the zero + angle. + """ + return dJointGetHinge2Angle1(self.jid) + + # getAngle1Rate + def getAngle1Rate(self): + """getAngle1Rate() -> float + + Get the time derivative of the first hinge-2 angle. + """ + return dJointGetHinge2Angle1Rate(self.jid) + + # getAngle2Rate + def getAngle2Rate(self): + """getAngle2Rate() -> float + + Get the time derivative of the second hinge-2 angle. + """ + return dJointGetHinge2Angle2Rate(self.jid) + + # addTorques + def addTorques(self, torque1, torque2): + """addTorques(torque1, torque2) + + Applies torque1 about axis 1, and torque2 about axis 2. + + @param torque1: Torque 1 magnitude + @param torque2: Torque 2 magnitude + @type torque1: float + @type torque2: float + """ + dJointAddHinge2Torques(self.jid, torque1, torque2) + + # setParam + def setParam(self, param, value): + dJointSetHinge2Param(self.jid, param, value) + + # getParam + def getParam(self, param): + return dJointGetHinge2Param(self.jid, param) + + +# FixedJoint +cdef class FixedJoint(Joint): + """Fixed joint. + + Constructor:: + + FixedJoint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateFixed(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setFixed + def setFixed(self): + """setFixed() + + Call this on the fixed joint after it has been attached to + remember the current desired relative offset and desired + relative rotation between the bodies. + """ + dJointSetFixed(self.jid) + + +# ContactJoint +cdef class ContactJoint(Joint): + """Contact joint. + + Constructor:: + + ContactJoint(world, jointgroup, contact) + """ + + def __cinit__(self, World world not None, jointgroup, Contact contact): + cdef JointGroup jg + cdef dJointGroupID jgid + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateContact(world.wid, jgid, &contact._contact) + + def __init__(self, World world not None, jointgroup, Contact contact): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + +# AMotor +cdef class AMotor(Joint): + """AMotor joint. + + Constructor:: + + AMotor(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateAMotor(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setMode + def setMode(self, mode): + """setMode(mode) + + Set the angular motor mode. mode must be either AMotorUser or + AMotorEuler. + + @param mode: Angular motor mode + @type mode: int + """ + dJointSetAMotorMode(self.jid, mode) + + # getMode + def getMode(self): + """getMode() + + Return the angular motor mode (AMotorUser or AMotorEuler). + """ + return dJointGetAMotorMode(self.jid) + + # setNumAxes + def setNumAxes(self, int num): + """setNumAxes(num) + + Set the number of angular axes that will be controlled by the AMotor. + num may be in the range from 0 to 3. + + @param num: Number of axes (0-3) + @type num: int + """ + dJointSetAMotorNumAxes(self.jid, num) + + # getNumAxes + def getNumAxes(self): + """getNumAxes() -> int + + Get the number of angular axes that are controlled by the AMotor. + """ + return dJointGetAMotorNumAxes(self.jid) + + # setAxis + def setAxis(self, int anum, int rel, axis): + """setAxis(anum, rel, axis) + + Set an AMotor axis. + + The anum argument selects the axis to change (0,1 or 2). + Each axis can have one of three "relative orientation" modes, + selected by rel: + + 0: The axis is anchored to the global frame. + 1: The axis is anchored to the first body. + 2: The axis is anchored to the second body. + + The axis vector is always specified in global coordinates + regardless of the setting of rel. + + @param anum: Axis number + @param rel: Relative orientation mode + @param axis: Axis + @type anum: int + @type rel: int + @type axis: 3-sequence of floats + """ + dJointSetAMotorAxis(self.jid, anum, rel, axis[0], axis[1], axis[2]) + + # getAxis + def getAxis(self, int anum): + """getAxis(anum) + + Get an AMotor axis. + + @param anum: Axis index (0-2) + @type anum: int + """ + cdef dVector3 a + dJointGetAMotorAxis(self.jid, anum, a) + return a[0], a[1], a[2] + + # getAxisRel + def getAxisRel(self, int anum): + """getAxisRel(anum) -> int + + Get the relative mode of an axis. + + @param anum: Axis index (0-2) + @type anum: int + """ + return dJointGetAMotorAxisRel(self.jid, anum) + + # setAngle + def setAngle(self, int anum, angle): + """setAngle(anum, angle) + + Tell the AMotor what the current angle is along axis anum. + + @param anum: Axis index + @param angle: Angle + @type anum: int + @type angle: float + """ + dJointSetAMotorAngle(self.jid, anum, angle) + + # getAngle + def getAngle(self, int anum): + """getAngle(anum) -> float + + Return the current angle for axis anum. + + @param anum: Axis index + @type anum: int + """ + return dJointGetAMotorAngle(self.jid, anum) + + # getAngleRate + def getAngleRate(self, int anum): + """getAngleRate(anum) -> float + + Return the current angle rate for axis anum. + + @param anum: Axis index + @type anum: int + """ + return dJointGetAMotorAngleRate(self.jid, anum) + + # addTorques + def addTorques(self, torque0, torque1, torque2): + """addTorques(torque0, torque1, torque2) + + Applies torques about the AMotor's axes. + + @param torque0: Torque 0 magnitude + @param torque1: Torque 1 magnitude + @param torque2: Torque 2 magnitude + @type torque0: float + @type torque1: float + @type torque2: float + """ + dJointAddAMotorTorques(self.jid, torque0, torque1, torque2) + + # setParam + def setParam(self, param, value): + dJointSetAMotorParam(self.jid, param, value) + + # getParam + def getParam(self, param): + return dJointGetAMotorParam(self.jid, param) + + +# LMotor +cdef class LMotor(Joint): + """LMotor joint. + + Constructor:: + + LMotor(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreateLMotor(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + # setNumAxes + def setNumAxes(self, int num): + """setNumAxes(num) + + Set the number of angular axes that will be controlled by the LMotor. + num may be in the range from 0 to 3. + + @param num: Number of axes (0-3) + @type num: int + """ + dJointSetLMotorNumAxes(self.jid, num) + + # getNumAxes + def getNumAxes(self): + """getNumAxes() -> int + + Get the number of angular axes that are controlled by the LMotor. + """ + return dJointGetLMotorNumAxes(self.jid) + + # setAxis + def setAxis(self, int anum, int rel, axis): + """setAxis(anum, rel, axis) + + Set an LMotor axis. + + The anum argument selects the axis to change (0,1 or 2). + Each axis can have one of three "relative orientation" modes, + selected by rel: + + 0: The axis is anchored to the global frame. + 1: The axis is anchored to the first body. + 2: The axis is anchored to the second body. + + @param anum: Axis number + @param rel: Relative orientation mode + @param axis: Axis + @type anum: int + @type rel: int + @type axis: 3-sequence of floats + """ + dJointSetLMotorAxis(self.jid, anum, rel, axis[0], axis[1], axis[2]) + + # getAxis + def getAxis(self, int anum): + """getAxis(anum) + + Get an LMotor axis. + + @param anum: Axis index (0-2) + @type anum: int + """ + cdef dVector3 a + dJointGetLMotorAxis(self.jid, anum, a) + return a[0], a[1], a[2] + + # setParam + def setParam(self, param, value): + dJointSetLMotorParam(self.jid, param, value) + + # getParam + def getParam(self, param): + return dJointGetLMotorParam(self.jid, param) + + +# Plane2DJoint +cdef class Plane2DJoint(Joint): + """Plane-2D Joint. + + Constructor:: + + Plane2DJoint(world, jointgroup=None) + """ + + def __cinit__(self, World world not None, jointgroup=None): + cdef JointGroup jg + cdef dJointGroupID jgid + + jgid = NULL + if jointgroup != None: + jg = jointgroup + jgid = jg.gid + self.jid = dJointCreatePlane2D(world.wid, jgid) + + def __init__(self, World world not None, jointgroup=None): + self.world = world + if jointgroup != None: + jointgroup._addjoint(self) + + def setXParam(self, param, value): + dJointSetPlane2DXParam(self.jid, param, value) + + def setYParam(self, param, value): + dJointSetPlane2DYParam(self.jid, param, value) + + def setAngleParam(self, param, value): + dJointSetPlane2DAngleParam(self.jid, param, value) + + +# Geom base class +cdef class GeomObject: + """This is the abstract base class for all geom objects. + """ + + # The id of the geom object as returned by dCreateXxxx() + cdef dGeomID gid + # The space in which the geom was placed (or None). This reference + # is kept so that the space won't be destroyed while there are still + # geoms around that might use it. + cdef object space + # The body that the geom was attached to (or None). + cdef object body + + # A dictionary with user defined attributes + cdef object attribs + + cdef object __weakref__ + + def __cinit__(self, *a, **kw): + self.gid = NULL + self.space = None + self.body = None + self.attribs = {} + + def __init__(self, *a, **kw): + raise NotImplementedError( + "GeomObject base class can't be used directly") + + def __dealloc__(self): + if self.gid != NULL: + dGeomDestroy(self.gid) + self.gid = NULL + + def __getattr__(self, name): + if name in self.attribs: + return self.attribs[name] + else: + raise AttributeError("geom has no attribute '%s'" % name) + + def __setattr__(self, name, val): + self.attribs[name] = val + + def __delattr__(self, name): + if name in self.attribs: + del self.attribs[name] + else: + raise AttributeError("geom has no attribute '%s'" % name) + + def _id(self): + """_id() -> int + + Return the internal id of the geom (dGeomID) as returned by + the dCreateXyz() functions. + + This method has to be overwritten in derived methods. + """ + raise NotImplementedError("Bug: The _id() method is not implemented") + + def placeable(self): + """placeable() -> bool + + Returns True if the geom object is a placeable geom. + + This method has to be overwritten in derived methods. + """ + return False + + def setBody(self, Body body): + """setBody(body) + + Set the body associated with a placeable geom. + + @param body: The Body object or None. + @type body: Body + """ + + if not self.placeable(): + raise ValueError( + "Non-placeable geoms cannot have a body associated to them") + + if body == None: + dGeomSetBody(self.gid, NULL) + else: + dGeomSetBody(self.gid, body.bid) + self.body = body + + def getBody(self): + """getBody() -> Body + + Get the body associated with this geom. + """ + if not self.placeable(): + return environment + + return self.body + + def setPosition(self, pos): + """setPosition(pos) + + Set the position of the geom. If the geom is attached to a body, + the body's position will also be changed. + + @param pos: Position + @type pos: 3-sequence of floats + """ + if not self.placeable(): + raise ValueError("Cannot set a position on non-placeable geoms") + dGeomSetPosition(self.gid, pos[0], pos[1], pos[2]) + + def getPosition(self): + """getPosition() -> 3-tuple + + Get the current position of the geom. If the geom is attached to + a body the returned value is the body's position. + """ + if not self.placeable(): + raise ValueError("Non-placeable geoms do not have a position") + + cdef dReal* p + p = dGeomGetPosition(self.gid) + return p[0], p[1], p[2] + + def setRotation(self, R): + """setRotation(R) + + Set the orientation of the geom. If the geom is attached to a body, + the body's orientation will also be changed. + + @param R: Rotation matrix + @type R: 9-sequence of floats + """ + if not self.placeable(): + raise ValueError("Cannot set a rotation on non-placeable geoms") + + cdef dMatrix3 m + m[0] = R[0] + m[1] = R[1] + m[2] = R[2] + m[3] = 0 + m[4] = R[3] + m[5] = R[4] + m[6] = R[5] + m[7] = 0 + m[8] = R[6] + m[9] = R[7] + m[10] = R[8] + m[11] = 0 + dGeomSetRotation(self.gid, m) + + def getRotation(self): + """getRotation() -> 9-tuple + + Get the current orientation of the geom. If the geom is attached to + a body the returned value is the body's orientation. + """ + if not self.placeable(): + raise ValueError("Non-placeable geoms do not have a rotation") + + cdef dReal* m + m = dGeomGetRotation(self.gid) + return [m[0], m[1], m[2], m[4], m[5], m[6], m[8], m[9], m[10]] + + def getQuaternion(self): + """getQuaternion() -> (w,x,y,z) + + Get the current orientation of the geom. If the geom is attached to + a body the returned value is the body's orientation. + """ + if not self.placeable(): + raise ValueError("Non-placeable geoms do not have an orientation") + + cdef dQuaternion q + dGeomGetQuaternion(self.gid, q) + return q[0], q[1], q[2], q[3] + + def setQuaternion(self, q): + """setQuaternion(q) + + Set the orientation of the geom. If the geom is attached to a body, + the body's orientation will also be changed. + + @param q: Quaternion (w,x,y,z) + @type q: 4-sequence of floats + """ + if not self.placeable(): + raise ValueError("Cannot set a quaternion on non-placeable geoms") + + cdef dQuaternion cq + cq[0] = q[0] + cq[1] = q[1] + cq[2] = q[2] + cq[3] = q[3] + dGeomSetQuaternion(self.gid, cq) + + def setOffsetPosition(self, pos): + """setOffsetPosition(pos) + + Set the offset position of the geom. The geom must be attached to a + body. If the geom did not have an offset, it is automatically created. + This sets up an additional (local) transformation for the geom, since + geoms attached to a body share their global position and rotation. + + @param pos: Position + @type pos: 3-sequence of floats + """ + if self.body == None: + raise ValueError("Cannot set an offset position on a geom before " + "calling setBody") + dGeomSetOffsetPosition(self.gid, pos[0], pos[1], pos[2]) + + def getOffsetPosition(self): + """getOffsetPosition() -> 3-tuple + + Get the offset position of the geom. + """ + cdef dReal* p + p = dGeomGetOffsetPosition(self.gid) + return (p[0],p[1],p[2]) + + def setOffsetRotation(self, R): + """setOffsetRotation(R) + + Set the offset rotation of the geom. The geom must be attached to a + body. If the geom did not have an offset, it is automatically created. + This sets up an additional (local) transformation for the geom, since + geoms attached to a body share their global position and rotation. + + @param R: Rotation matrix + @type R: 9-sequence of floats + """ + if self.body == None: + raise ValueError("Cannot set an offset rotation on a geom before " + "calling setBody") + + cdef dMatrix3 m + m[0] = R[0] + m[1] = R[1] + m[2] = R[2] + m[3] = 0 + m[4] = R[3] + m[5] = R[4] + m[6] = R[5] + m[7] = 0 + m[8] = R[6] + m[9] = R[7] + m[10] = R[8] + m[11] = 0 + dGeomSetOffsetRotation(self.gid, m) + + def getOffsetRotation(self): + """getOffsetRotation() -> 9-tuple + + Get the offset rotation of the geom. + """ + cdef dReal* m + m = dGeomGetOffsetRotation(self.gid) + return [m[0], m[1], m[2], m[4], m[5], m[6], m[8], m[9], m[10]] + + def clearOffset(self): + """clearOffset() + + Disable the offset transform of the geom. + """ + dGeomClearOffset(self.gid) + + def getAABB(self): + """getAABB() -> 6-tuple + + Return an axis aligned bounding box that surrounds the geom. + The return value is a 6-tuple (minx, maxx, miny, maxy, minz, maxz). + """ + cdef dReal aabb[6] + + dGeomGetAABB(self.gid, aabb) + return aabb[0], aabb[1], aabb[2], aabb[3], aabb[4], aabb[5] + + def isSpace(self): + """isSpace() -> bool + + Return 1 if the given geom is a space, or 0 if not.""" + return dGeomIsSpace(self.gid) + + def getSpace(self): + """getSpace() -> Space + + Return the space that the given geometry is contained in, + or return None if it is not contained in any space.""" + return self.space + + def setCollideBits(self, bits): + """setCollideBits(bits) + + Set the "collide" bitfields for this geom. + + @param bits: Collide bit field + @type bits: int/long + """ + dGeomSetCollideBits(self.gid, long(bits)) + + def setCategoryBits(self, bits): + """setCategoryBits(bits) + + Set the "category" bitfields for this geom. + + @param bits: Category bit field + @type bits: int/long + """ + dGeomSetCategoryBits(self.gid, long(bits)) + + def getCollideBits(self): + """getCollideBits() -> long + + Return the "collide" bitfields for this geom. + """ + return dGeomGetCollideBits(self.gid) + + def getCategoryBits(self): + """getCategoryBits() -> long + + Return the "category" bitfields for this geom. + """ + return dGeomGetCategoryBits(self.gid) + + def enable(self): + """enable() + + Enable the geom.""" + dGeomEnable(self.gid) + + def disable(self): + """disable() + + Disable the geom.""" + dGeomDisable(self.gid) + + def isEnabled(self): + """isEnabled() -> bool + + Return True if the geom is enabled.""" + return dGeomIsEnabled(self.gid) + + +# _SpaceIterator +class _SpaceIterator: + """Iterates over the geoms inside a Space. + """ + + def __init__(self, space): + self.space = space + self.idx = 0 + + def __iter__(self): + return self + + def next(self): + if self.idx >= self.space.getNumGeoms(): + raise StopIteration + else: + res = self.space.getGeom(self.idx) + self.idx = self.idx + 1 + return res + + +# SpaceBase +cdef class SpaceBase(GeomObject): + """Space class (container for geometry objects). + + A Space object is a container for geometry objects which are used + to do collision detection. + The space does high level collision culling, which means that it + can identify which pairs of geometry objects are potentially + touching. + + This Space class can be used for both, a SimpleSpace and a HashSpace + (see ODE documentation). + + >>> space = Space(type=0) # Create a SimpleSpace + >>> space = Space(type=1) # Create a HashSpace + """ + + # The id of the space. Actually this is a copy of the value in self.gid + # (as the Space is derived from GeomObject) which can be used without + # casting whenever a *space* id is required. + cdef dSpaceID sid + + # Dictionary with Geomobjects. Key is the ID (geom._id()) and the value + # is the geom object (Python wrapper). This is used in collide_callback() +# cdef object geom_dict + + def __cinit__(self, *a, **kw): + pass + + def __init__(self, *a, **kw): + raise NotImplementedError("The SpaceBase class can't be used directly") + + def __dealloc__(self): + if self.gid != NULL: + dSpaceDestroy(self.sid) + self.sid = NULL + self.gid = NULL + +# def _addgeom(self, geom): +# """Insert the geom object into the dictionary (internal method). +# +# This method has to called in the constructor of a geom object. +# """ +# self.geom_dict[geom._id()]=geom + +# def _id2geom(self, id): +# """Get the Python wrapper that corresponds to an ID. +# +# The ID is the integer value, as returned by geom._id(). +# If the ID is unknown then None is returned. +# """ +# if id in self.geom_dict: +# return self.geom_dict[id] +# else: +# return None + + def _id(self): + cdef long id + id = self.sid + return id + + def __len__(self): + return self.getNumGeoms() + + def __iter__(self): + return _SpaceIterator(self) + + def add(self, GeomObject geom): + """add(geom) + + Add a geom to a space. This does nothing if the geom is + already in the space. + + @param geom: Geom object to add + @type geom: GeomObject + """ + + dSpaceAdd(self.sid, geom.gid) + + def remove(self, GeomObject geom): + """remove(geom) + + Remove a geom from a space. + + @param geom: Geom object to remove + @type geom: GeomObject + """ + dSpaceRemove(self.sid, geom.gid) + + def query(self, GeomObject geom): + """query(geom) -> bool + + Return True if the given geom is in the space. + + @param geom: Geom object to check + @type geom: GeomObject + """ + return dSpaceQuery(self.sid, geom.gid) + + def getNumGeoms(self): + """getNumGeoms() -> int + + Return the number of geoms contained within the space. + """ + return dSpaceGetNumGeoms(self.sid) + + def getGeom(self, int idx): + """getGeom(idx) -> GeomObject + + Return the geom with the given index contained within the space. + + @param idx: Geom index (0,1,...,getNumGeoms()-1) + @type idx: int + """ + cdef dGeomID gid + + # Check the index + if idx < 0 or idx >= dSpaceGetNumGeoms(self.sid): + raise IndexError("geom index out of range") + + gid = dSpaceGetGeom(self.sid, idx) + if gid not in _geom_c2py_lut: + raise RuntimeError( + "geom id cannot be translated to a Python object") + + return _geom_c2py_lut[gid] + + def collide(self, arg, callback): + """collide(arg, callback) + + Call a callback function one or more times, for all + potentially intersecting objects in the space. The callback + function takes 3 arguments: + + def NearCallback(arg, geom1, geom2): + + The arg parameter is just passed on to the callback function. + Its meaning is user defined. The geom1 and geom2 arguments are + the geometry objects that may be near each other. The callback + function can call the function collide() (not the Space + method) on geom1 and geom2, perhaps first determining + whether to collide them at all based on other information. + + @param arg: A user argument that is passed to the callback function + @param callback: Callback function + @type callback: callable + """ + + cdef void* data + cdef object tup + tup = (callback, arg) + data = tup + dSpaceCollide(self.sid, data, collide_callback) + + +# Callback function for the dSpaceCollide() call in the Space.collide() method +# The data parameter is a tuple (Python-Callback, Arguments). +# The function calls a Python callback function with 3 arguments: +# def callback(UserArg, Geom1, Geom2) +# Geom1 and Geom2 are instances of GeomXyz classes. +cdef void collide_callback(void* data, dGeomID o1, dGeomID o2): + cdef object tup +# cdef Space space + cdef long id1, id2 + +# if (dGeomGetBody(o1)==dGeomGetBody(o2)): +# return + + tup = data + callback, arg = tup + id1 = o1 + id2 = o2 + g1 = _geom_c2py_lut[id1] + g2 = _geom_c2py_lut[id2] + callback(arg, g1, g2) + + +# SimpleSpace +cdef class SimpleSpace(SpaceBase): + """Simple space. + + This does not do any collision culling - it simply checks every + possible pair of geoms for intersection, and reports the pairs + whose AABBs overlap. The time required to do intersection testing + for n objects is O(n**2). This should not be used for large numbers + of objects, but it can be the preferred algorithm for a small + number of objects. This is also useful for debugging potential + problems with the collision system. + """ + + def __cinit__(self, space=None): + cdef SpaceBase sp + cdef dSpaceID parentid + + parentid = NULL + if space != None: + sp = space + parentid = sp.sid + + self.sid = dSimpleSpaceCreate(parentid) + + # Copy the ID + self.gid = self.sid + + dSpaceSetCleanup(self.sid, 0) + _geom_c2py_lut[self.sid] = self + + def __init__(self, space=None): + pass + +# HashSpace +cdef class HashSpace(SpaceBase): + """Multi-resolution hash table space. + + This uses an internal data structure that records how each geom + overlaps cells in one of several three dimensional grids. Each + grid has cubical cells of side lengths 2**i, where i is an integer + that ranges from a minimum to a maximum value. The time required + to do intersection testing for n objects is O(n) (as long as those + objects are not clustered together too closely), as each object + can be quickly paired with the objects around it. + """ + + def __cinit__(self, space=None): + cdef SpaceBase sp + cdef dSpaceID parentid + + parentid = NULL + if space != None: + sp = space + parentid = sp.sid + + self.sid = dHashSpaceCreate(parentid) + + # Copy the ID + self.gid = self.sid + + dSpaceSetCleanup(self.sid, 0) + _geom_c2py_lut[self.sid] = self + + def __init__(self, space=None): + pass + + def setLevels(self, int minlevel, int maxlevel): + """setLevels(minlevel, maxlevel) + + Sets the size of the smallest and largest cell used in the + hash table. The actual size will be 2^minlevel and 2^maxlevel + respectively. + """ + + if minlevel > maxlevel: + raise ValueError( + "minlevel (%d) must be less than or equal to maxlevel (%d)" % + (minlevel, maxlevel)) + + dHashSpaceSetLevels(self.sid, minlevel, maxlevel) + + def getLevels(self): + """getLevels() -> (minlevel, maxlevel) + + Gets the size of the smallest and largest cell used in the + hash table. The actual size is 2^minlevel and 2^maxlevel + respectively. + """ + + cdef int minlevel + cdef int maxlevel + dHashSpaceGetLevels(self.sid, &minlevel, &maxlevel) + return minlevel, maxlevel + + +# QuadTreeSpace +cdef class QuadTreeSpace(SpaceBase): + """Quadtree space. + + This uses a pre-allocated hierarchical grid-based AABB tree to + quickly cull collision checks. It's exceptionally quick for large + amounts of objects in landscape-shaped worlds. The amount of + memory used is 4**depth * 32 bytes. + + Currently getGeom() is not implemented for the quadtree space. + """ + + def __cinit__(self, center, extents, depth, space=None): + cdef SpaceBase sp + cdef dSpaceID parentid + cdef dVector3 c + cdef dVector3 e + + parentid = NULL + if space != None: + sp = space + parentid = sp.sid + + c[0] = center[0] + c[1] = center[1] + c[2] = center[2] + e[0] = extents[0] + e[1] = extents[1] + e[2] = extents[2] + self.sid = dQuadTreeSpaceCreate(parentid, c, e, depth) + + # Copy the ID + self.gid = self.sid + + dSpaceSetCleanup(self.sid, 0) + _geom_c2py_lut[self.sid] = self + + def __init__(self, center, extents, depth, space=None): + pass + + +def Space(space_type=0): + """Space factory function. + + Depending on the type argument this function either returns a + SimpleSpace (space_type=0) or a HashSpace (space_type=1). + + This function is provided to remain compatible with previous + versions of PyODE where there was only one Space class. + + >>> space = Space(space_type=0) # Create a SimpleSpace + >>> space = Space(space_type=1) # Create a HashSpace + """ + if space_type == 0: + return SimpleSpace() + elif space_type == 1: + return HashSpace() + else: + raise ValueError("Unknown space type (%d)" % space_type) + + +# GeomSphere +cdef class GeomSphere(GeomObject): + """Sphere geometry. + + This class represents a sphere centered at the origin. + + Constructor:: + + GeomSphere(space=None, radius=1.0) + """ + + def __cinit__(self, space=None, radius=1.0): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateSphere(sid, radius) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None, radius=1.0): + self.space = space + self.body = None + + def placeable(self): + return True + + def _id(self): + cdef long id + id = self.gid + return id + + def setRadius(self, radius): + """setRadius(radius) + + Set the radius of the sphere. + + @param radius: New radius + @type radius: float + """ + dGeomSphereSetRadius(self.gid, radius) + + def getRadius(self): + """getRadius() -> float + + Return the radius of the sphere. + """ + return dGeomSphereGetRadius(self.gid) + + def pointDepth(self, p): + """pointDepth(p) -> float + + Return the depth of the point p in the sphere. Points inside + the geom will have positive depth, points outside it will have + negative depth, and points on the surface will have zero + depth. + + @param p: Point + @type p: 3-sequence of floats + """ + return dGeomSpherePointDepth(self.gid, p[0], p[1], p[2]) + + +# GeomBox +cdef class GeomBox(GeomObject): + """Box geometry. + + This class represents a box centered at the origin. + + Constructor:: + + GeomBox(space=None, lengths=(1.0, 1.0, 1.0)) + """ + + def __cinit__(self, space=None, lengths=(1.0, 1.0, 1.0)): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateBox(sid, lengths[0], lengths[1], lengths[2]) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None, lengths=(1.0, 1.0, 1.0)): + self.space = space + self.body = None + + def placeable(self): + return True + + def _id(self): + cdef long id + id = self.gid + return id + + def setLengths(self, lengths): + dGeomBoxSetLengths(self.gid, lengths[0], lengths[1], lengths[2]) + + def getLengths(self): + cdef dVector3 res + dGeomBoxGetLengths(self.gid, res) + return res[0], res[1], res[2] + + def pointDepth(self, p): + """pointDepth(p) -> float + + Return the depth of the point p in the box. Points inside the + geom will have positive depth, points outside it will have + negative depth, and points on the surface will have zero + depth. + + @param p: Point + @type p: 3-sequence of floats + """ + return dGeomBoxPointDepth(self.gid, p[0], p[1], p[2]) + + +# GeomPlane +cdef class GeomPlane(GeomObject): + """Plane geometry. + + This class represents an infinite plane. The plane equation is: + n.x*x + n.y*y + n.z*z = dist + + This object can't be attached to a body. + If you call getBody() on this object it always returns ode.environment. + + Constructor:: + + GeomPlane(space=None, normal=(0,0,1), dist=0) + + """ + + def __cinit__(self, space=None, normal=(0, 0, 1), dist=0): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreatePlane(sid, normal[0], normal[1], normal[2], dist) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None, normal=(0, 0, 1), dist=0): + self.space = space + + def _id(self): + cdef long id + id = self.gid + return id + + def setParams(self, normal, dist): + dGeomPlaneSetParams(self.gid, normal[0], normal[1], normal[2], dist) + + def getParams(self): + cdef dVector4 res + dGeomPlaneGetParams(self.gid, res) + return ((res[0], res[1], res[2]), res[3]) + + def pointDepth(self, p): + """pointDepth(p) -> float + + Return the depth of the point p in the plane. Points inside the + geom will have positive depth, points outside it will have + negative depth, and points on the surface will have zero + depth. + + @param p: Point + @type p: 3-sequence of floats + """ + return dGeomPlanePointDepth(self.gid, p[0], p[1], p[2]) + + +# GeomCapsule +cdef class GeomCapsule(GeomObject): + """Capped cylinder geometry. + + This class represents a capped cylinder aligned along the local Z axis + and centered at the origin. + + Constructor:: + + GeomCapsule(space=None, radius=0.5, length=1.0) + + The length parameter does not include the caps. + """ + + def __cinit__(self, space=None, radius=0.5, length=1.0): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateCapsule(sid, radius, length) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None, radius=0.5, length=1.0): + self.space = space + self.body = None + + def placeable(self): + return True + + def _id(self): + cdef long id + id = self.gid + return id + + def setParams(self, radius, length): + dGeomCapsuleSetParams(self.gid, radius, length) + + def getParams(self): + cdef dReal radius, length + dGeomCapsuleGetParams(self.gid, &radius, &length) + return radius, length + + def pointDepth(self, p): + """pointDepth(p) -> float + + Return the depth of the point p in the cylinder. Points inside the + geom will have positive depth, points outside it will have + negative depth, and points on the surface will have zero + depth. + + @param p: Point + @type p: 3-sequence of floats + """ + return dGeomCapsulePointDepth(self.gid, p[0], p[1], p[2]) + +GeomCCylinder = GeomCapsule # backwards compatibility + + +# GeomCylinder +cdef class GeomCylinder(GeomObject): + """Plain cylinder geometry. + + This class represents an uncapped cylinder aligned along the local Z axis + and centered at the origin. + + Constructor:: + + GeomCylinder(space=None, radius=0.5, length=1.0) + """ + + def __cinit__(self, space=None, radius=0.5, length=1.0): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateCylinder(sid, radius, length) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None, radius=0.5, length=1.0): + self.space = space + self.body = None + + def placeable(self): + return True + + def _id(self): + cdef long id + id = self.gid + return id + + def setParams(self, radius, length): + dGeomCylinderSetParams(self.gid, radius, length) + + def getParams(self): + cdef dReal radius, length + dGeomCylinderGetParams(self.gid, &radius, &length) + return radius, length + + ## dGeomCylinderPointDepth not implemented upstream in ODE 0.7 + + +# GeomRay +cdef class GeomRay(GeomObject): + """Ray object. + + A ray is different from all the other geom classes in that it does + not represent a solid object. It is an infinitely thin line that + starts from the geom's position and extends in the direction of + the geom's local Z-axis. + + Constructor:: + + GeomRay(space=None, rlen=1.0) + + """ + + def __cinit__(self, space=None, rlen=1.0): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateRay(sid, rlen) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None, rlen=1.0): + self.space = space + self.body = None + + def _id(self): + cdef long id + id = self.gid + return id + + def placeable(self): + return True + + def setLength(self, rlen): + '''setLength(rlen) + + Set length of the ray. + + @param rlen: length of the ray + @type rlen: float''' + dGeomRaySetLength(self.gid, rlen) + + def getLength(self): + '''getLength() -> length + + Get the length of the ray. + + @returns: length of the ray (float)''' + return dGeomRayGetLength(self.gid) + + def set(self, p, u): + '''set(p, u) + + Set the position and rotation of a ray. + + @param p: position + @type p: 3-sequence of floats + @param u: rotation + @type u: 3-sequence of floats''' + dGeomRaySet(self.gid, p[0], p[1], p[2], u[0], u[1], u[2]) + + def get(self): + '''get() -> ((p[0], p[1], p[2]), (u[0], u[1], u[2])) + + Return the position and rotation as a pair of + tuples. + + @returns: position and rotation''' + cdef dVector3 start + cdef dVector3 dir + dGeomRayGet(self.gid, start, dir) + return (start[0], start[1], start[2]), (dir[0], dir[1], dir[2]) + + +# GeomTransform +cdef class GeomTransform(GeomObject): + """GeomTransform. + + A geometry transform "T" is a geom that encapsulates another geom + "E", allowing E to be positioned and rotated arbitrarily with + respect to its point of reference. + + Constructor:: + + GeomTransform(space=None) + """ + + cdef object geom + + def __cinit__(self, space=None): + cdef SpaceBase sp + cdef dSpaceID sid + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateGeomTransform(sid) + # Set cleanup mode to 0 as a contained geom will be deleted + # by its Python wrapper class + dGeomTransformSetCleanup(self.gid, 0) +# if space != None: +# space._addgeom(self) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, space=None): + self.space = space + self.body = None + self.geom = None + + self.attribs = {} + + def placeable(self): + return True + + def _id(self): + cdef long id + id = self.gid + return id + + def setGeom(self, GeomObject geom not None): + """setGeom(geom) + + Set the geom that the geometry transform encapsulates. + A ValueError exception is thrown if a) the geom is not placeable, + b) the geom was already inserted into a space or c) the geom is + already associated with a body. + + @param geom: Geom object to encapsulate + @type geom: GeomObject + """ + cdef long id + + if not geom.placeable(): + raise ValueError( + "Only placeable geoms can be encapsulated by a GeomTransform") + if dGeomGetSpace(geom.gid) != 0: + raise ValueError( + "The encapsulated geom was already inserted into a space") + if dGeomGetBody(geom.gid) != 0: + raise ValueError( + "The encapsulated geom is already associated with a body") + + id = geom._id() + dGeomTransformSetGeom(self.gid, id) + self.geom = geom + + def getGeom(self): + """getGeom() -> GeomObject + + Get the geom that the geometry transform encapsulates. + """ + return self.geom + + def setInfo(self, int mode): + """setInfo(mode) + + Set the "information" mode of the geometry transform. + + With mode 0, when a transform object is collided with another + object, the geom field of the ContactGeom structure is set to the + geom that is encapsulated by the transform object. + + With mode 1, the geom field of the ContactGeom structure is set + to the transform object itself. + + @param mode: Information mode (0 or 1) + @type mode: int + """ + if mode < 0 or mode > 1: + raise ValueError( + "Invalid information mode (%d). Must be either 0 or 1." % mode) + dGeomTransformSetInfo(self.gid, mode) + + def getInfo(self): + """getInfo() -> int + + Get the "information" mode of the geometry transform (0 or 1). + + With mode 0, when a transform object is collided with another + object, the geom field of the ContactGeom structure is set to the + geom that is encapsulated by the transform object. + + With mode 1, the geom field of the ContactGeom structure is set + to the transform object itself. + """ + return dGeomTransformGetInfo(self.gid) + +###################################################################### + + +cdef class TriMeshData: + """This class stores the mesh data. + """ + + cdef dTriMeshDataID tmdid + cdef dReal* vertex_buffer + cdef int* face_buffer + + def __cinit__(self): + self.tmdid = dGeomTriMeshDataCreate() + self.vertex_buffer = NULL + self.face_buffer = NULL + + def __dealloc__(self): + if self.tmdid != NULL: + dGeomTriMeshDataDestroy(self.tmdid) + if self.vertex_buffer != NULL: + free(self.vertex_buffer) + if self.face_buffer != NULL: + free(self.face_buffer) + + def build(self, verts, faces): + """build(verts, faces) + + @param verts: Vertices + @type verts: Sequence of 3-sequences of floats + @param faces: Face definitions (three indices per face) + @type faces: Sequence of 3-sequences of ints + """ + cdef int numverts + cdef int numfaces + cdef dReal* vp + cdef int* fp + cdef int a, b, c + + numverts = len(verts) + numfaces = len(faces) + # Allocate the vertex and face buffer + self.vertex_buffer = malloc(numverts * 4 * sizeof(dReal)) + self.face_buffer = malloc(numfaces * 3 * sizeof(int)) + + # Fill the vertex buffer + vp = self.vertex_buffer + for v in verts: + vp[0] = v[0] + vp[1] = v[1] + vp[2] = v[2] + vp[3] = 0 + vp = vp + 4 + + # Fill the face buffer + fp = self.face_buffer + for f in faces: + a = f[0] + b = f[1] + c = f[2] + if (a < 0 or b < 0 or c < 0 or a >= numverts or b >= numverts or c >= numverts): + raise ValueError("Vertex index out of range") + fp[0] = a + fp[1] = b + fp[2] = c + fp = fp + 3 + + # Pass the data to ODE + dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, + self.face_buffer, numfaces * 3) + +###################################################################### + + +# GeomTriMesh +cdef class GeomTriMesh(GeomObject): + """TriMesh object. + + To construct the trimesh geom you need a TriMeshData object that + stores the actual mesh. This object has to be passed as first + argument to the constructor. + + Constructor:: + + GeomTriMesh(data, space=None) + """ + + # Keep a reference to the data + cdef TriMeshData data + + def __cinit__(self, TriMeshData data not None, space=None): + cdef SpaceBase sp + cdef dSpaceID sid + + self.data = data + + sid = NULL + if space != None: + sp = space + sid = sp.sid + self.gid = dCreateTriMesh(sid, data.tmdid, NULL, NULL, NULL) + + _geom_c2py_lut[self.gid] = self + + def __init__(self, TriMeshData data not None, space=None): + self.space = space + self.body = None + + def placeable(self): + return True + + def _id(self): + cdef long id + id = self.gid + return id + + def clearTCCache(self): + """clearTCCache() + + Clears the internal temporal coherence caches. + """ + dGeomTriMeshClearTCCache(self.gid) + + def getTriangle(self, int idx): + """getTriangle(idx) -> (v0, v1, v2) + + @param idx: Triangle index + @type idx: int + """ + + cdef dVector3 v0, v1, v2 + cdef dVector3* vp0 + cdef dVector3* vp1 + cdef dVector3* vp2 + + vp0 = v0 + vp1 = v1 + vp2 = v2 + + dGeomTriMeshGetTriangle(self.gid, idx, vp0, vp1, vp2) + return ((v0[0], v0[1], v0[2]), + (v1[0], v1[1], v1[2]), + (v2[0], v2[1], v2[2])) + + def getTriangleCount(self): + """getTriangleCount() -> n + + Returns the number of triangles in the TriMesh.""" + + return dGeomTriMeshGetTriangleCount(self.gid) + +###################################################################### + + +def collide(geom1, geom2): + """collide(geom1, geom2) -> contacts + + Generate contact information for two objects. + + Given two geometry objects that potentially touch (geom1 and geom2), + generate contact information for them. Internally, this just calls + the correct class-specific collision functions for geom1 and geom2. + + [flags specifies how contacts should be generated if the objects + touch. Currently the lower 16 bits of flags specifies the maximum + number of contact points to generate. If this number is zero, this + function just pretends that it is one - in other words you can not + ask for zero contacts. All other bits in flags must be zero. In + the future the other bits may be used to select other contact + generation strategies.] + + If the objects touch, this returns a list of Contact objects, + otherwise it returns an empty list. + + @param geom1: First Geom + @type geom1: GeomObject + @param geom2: Second Geom + @type geom2: GeomObject + @returns: Returns a list of Contact objects. + """ + + cdef dContactGeom c[150] + cdef long id1 + cdef long id2 + cdef int i, n + cdef Contact cont + + id1 = geom1._id() + id2 = geom2._id() + + n = dCollide(id1, id2, 150, c, sizeof(dContactGeom)) + res = [] + i = 0 + while i < n: + cont = Contact() + cont._contact.geom = c[i] + res.append(cont) + i = i + 1 + + return res + + +def collide2(geom1, geom2, arg, callback): + """collide2(geom1, geom2, arg, callback) + + Calls the callback for all potentially intersecting pairs that contain + one geom from geom1 and one geom from geom2. + + @param geom1: First Geom + @type geom1: GeomObject + @param geom2: Second Geom + @type geom2: GeomObject + @param arg: A user argument that is passed to the callback function + @param callback: Callback function + @type callback: callable + """ + cdef void* data + cdef object tup + cdef long id1 + cdef long id2 + + id1 = geom1._id() + id2 = geom2._id() + + tup = (callback, arg) + data = tup + # collide_callback is defined in space.pyx + dSpaceCollide2(id1, id2, data, collide_callback) + + +def areConnected(Body body1, Body body2): + """areConnected(body1, body2) -> bool + + Return True if the two bodies are connected together by a joint, + otherwise return False. + + @param body1: First body + @type body1: Body + @param body2: Second body + @type body2: Body + @returns: True if the bodies are connected + """ + + if body1 is environment: + return False + if body2 is environment: + return False + + return bool(dAreConnected( body1.bid, body2.bid)) + + +def CloseODE(): + """CloseODE() + + Deallocate some extra memory used by ODE that can not be deallocated + using the normal destroy functions. + """ + dCloseODE() + + +def InitODE(): + '''InitODE() + + Initialize some ODE internals. This will be called for you when you + "import ode", but you should call this again if you CloseODE().''' + dInitODE() + + +#environment = Body(None) +environment = None +InitODE() diff -Nru ode-0.11.1/bindings/python/setup.py ode-0.14/bindings/python/setup.py --- ode-0.11.1/bindings/python/setup.py 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/setup.py 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,48 @@ +#! /usr/bin/env python +from distutils.core import setup +from distutils.extension import Extension +from subprocess import Popen, PIPE, CalledProcessError + + +try: + from Cython.Distutils import build_ext +except ImportError: + raise SystemExit("Requires Cython (http://cython.org/)") + +try: + ode_cflags = Popen( + ["pkg-config", "--cflags", "ode"], + stdout=PIPE).stdout.read().decode('ascii').split() + ode_libs = Popen( + ["pkg-config", "--libs", "ode"], + stdout=PIPE).stdout.read().decode('ascii').split() +except (OSError, CalledProcessError): + raise SystemExit("Failed to find ODE with 'pkg-config'. Please make sure " + "that it is installed and available on your system path.") + +ode_ext = Extension("ode", ["ode.pyx"], + extra_compile_args=ode_cflags, + extra_link_args=ode_libs) + +if __name__ == "__main__": + setup( + name="Open Dynamics Engine", + version="0.12", + author="Gideon Klompje", +# author_email="", +# maintainer="", +# maintainer_email="", + url="http://www.ode.org", + description="Bindings for the Open Dynamics Engine", + long_description=( + "A free, industrial quality library for simulating articulated " + "rigid body dynamics - for example ground vehicles, legged " + "creatures, and moving objects in VR environments. It's fast, " + "flexible & robust. Built-in collision detection."), +# download_url="https://opende.svn.sourceforge.net/svnroot/opende", +# classifiers=[], +# platforms=[], + license="BSD License, GNU Lesser General Public License (LGPL)", + cmdclass={"build_ext": build_ext}, + ext_modules=[ode_ext] + ) diff -Nru ode-0.11.1/bindings/python/TODO.txt ode-0.14/bindings/python/TODO.txt --- ode-0.11.1/bindings/python/TODO.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bindings/python/TODO.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,15 @@ +CODE: +* (setup.py) add package information (version, authors, etc.) +* (setup.py) add 'install' action +* (setup.py) add configurable ODE DLL (currently hard-coded to default single precision) +* (ode.pxd) clean up, add more comments +* (ode.pyx) refactor for a more Pythonic implementation (e.g. replace getters and setters with + properties)? +* (?) Add option to build bindings in ODE's makefiles + + +DOCS: + +* Update and include API docs from PyODE +* Adapt and include PyODE tutorials/demos +* Update license text in ode.pxd and ode.pyx diff -Nru ode-0.11.1/bootstrap ode-0.14/bootstrap --- ode-0.11.1/bootstrap 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/bootstrap 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,28 @@ +#!/bin/sh + +echo "Please make sure that you use automake 1.11 or later" + echo "Warnings about underquoted definitions are harmless" +if [ `uname -s` = Darwin ]; then + echo "On OSX, install latest libtool, as the OS provided glibtoolize will not work" +fi + +echo "Running aclocal" +aclocal -I m4 --install || exit 1 +echo "Running libtoolize" +libtoolize --copy --automake --install || exit 1 +echo "Running autoheader" +autoheader || exit 1 +echo "Running automake" +automake --foreign --add-missing --copy || exit 1 +echo "Running autoconf" +autoconf || exit 1 + +echo "Running bootstrap in ou directory" +(cd ou && ./bootstrap) + +if [ -d libccd ]; then + echo "Running bootstrap in libccd directory" + (cd libccd && ./bootstrap) +fi; + +echo "Now you are ready to run ./configure" diff -Nru ode-0.11.1/build/config-default.h ode-0.14/build/config-default.h --- ode-0.11.1/build/config-default.h 2009-05-24 16:44:32.000000000 +0000 +++ ode-0.14/build/config-default.h 2015-12-18 14:09:27.000000000 +0000 @@ -18,22 +18,24 @@ * 32 bit indices. Use the dTriIndex type to * detect the correct index size. * - * dUSE_MALLOC_FOR_ALLOCA (experimental)- - * Use malloc() instead of alloca(). Slower, - * but allows for larger systems and more - * graceful out-of-memory handling. + * dTRIMESH_OPCODE_USE_NEWOLD_TRIMESH_TRIMESH_COLLIDER + * Use old implementation of trimesh-trimesh collider + * (for backward compatibility only) * - * dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER (experimental)- - * Use an alternative trimesh-trimesh collider - * which should yield better results. + * dOU_ENABLED + * dATOMICS_ENABLED + * dTLS_ENABLED + * Use generic features of OU library, atomic API + * and TLS API respectively. + * Generic features and atomic API are always enabled, + * unless threading interface support is disabled. + * Using TLS for global variables allows calling ODE + * collision detection functions from multiple threads. * - * dOU_ENABLED (experimental) - * dATOMICS_ENABLED (experimental) - * dTLS_ENABLED (experimental) - * Use generic features of OU library, atomic - * API and TLS API respectively. Using TLS for - * global variables allows calling ODE from - * multiple threads. + * dBUILTIN_THREADING_IMPL_ENABLED + * Include built-in multithreaded threading + * implementation (still must be created and assigned + * to be used). * ******************************************************************/ @@ -43,12 +45,13 @@ #define dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER 0 -/* #define dUSE_MALLOC_FOR_ALLOCA */ - /* #define dOU_ENABLED 1 */ /* #define dATOMICS_ENABLED 1 */ /* #define dTLS_ENABLED 1 */ +/* #define dTHREADING_INTF_DISABLED 1 */ +/* #define dBUILTIN_THREADING_IMPL_ENABLED 1 */ + /****************************************************************** * SYSTEM SETTINGS - you shouldn't need to change these. If you @@ -95,17 +98,6 @@ #include #endif -// 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 - -#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 #ifdef dSINGLE #define dEpsilon FLT_EPSILON @@ -134,4 +126,7 @@ #endif +#include "typedefs.h" + + #endif Binary files /tmp/tmpNfaSSr/5EcxXHrCux/ode-0.11.1/build/premake4.exe and /tmp/tmpNfaSSr/_koI2QKgiP/ode-0.14/build/premake4.exe differ diff -Nru ode-0.11.1/build/premake4.lua ode-0.14/build/premake4.lua --- ode-0.11.1/build/premake4.lua 2009-05-24 16:44:32.000000000 +0000 +++ ode-0.14/build/premake4.lua 2015-12-18 14:09:27.000000000 +0000 @@ -4,6 +4,8 @@ -- For more information on Premake: http://industriousone.com/premake ---------------------------------------------------------------------- + ode_version = "0.14" + ---------------------------------------------------------------------- -- Demo list: add/remove demos from here and the rest of the build -- should just work. @@ -18,9 +20,12 @@ "collision", "crash", "cylvssphere", + "dball", + "dhinge", "feedback", "friction", "gyroscopic", + "gyro2", "heightfield", "hinge", "I", @@ -33,17 +38,21 @@ "ode", "piston", "plane2d", + "rfriction", "slider", "space", "space_stress", "step", + "transmission" } local trimesh_demos = { "basket", "cyl", + "moving_convex", "moving_trimesh", - "trimesh", + "tracks", + "trimesh" } if not _OPTIONS["no-trimesh"] then @@ -77,6 +86,11 @@ } newoption { + trigger = "with-libccd", + description = "Uses libccd for handling some collision tests absent in ODE." + } + + newoption { trigger = "no-dif", description = "Exclude DIF (Dynamics Interchange Format) exports" } @@ -87,13 +101,18 @@ } newoption { - trigger = "no-alloca", - description = "Use heap memory instead of the stack (experimental)" + trigger = "with-ou", + description = "Use TLS for global caches (allows threaded collision checks for separated spaces)" } - + + newoption { + trigger = "with-builtin-threading-impl", + description = "Include built-in multithreaded threading implementation (still must be created and assigned to be used)" + } + newoption { - trigger = "enable-ou", - description = "Use TLS for global variables (experimental)" + trigger = "no-threading-intf", + description = "Disable threading interface support (external implementations may not be assigned; overrides with-builtin-threading-impl)" } newoption { @@ -107,22 +126,75 @@ } newoption { - trigger = "to", - value = "path", + trigger = "to", + value = "path", description = "Set the output location for the generated project files" } + + newoption { + trigger = "only-shared", + description = "Only build shared (DLL) version of the library" + } + + newoption { + trigger = "only-static", + description = "Only build static versions of the library" + } + newoption { + trigger = "only-single", + description = "Only use single-precision math" + } + + newoption { + trigger = "only-double", + description = "Only use double-precision math" + } + -- always clean all of the optional components and toolsets if _ACTION == "clean" then _OPTIONS["with-demos"] = "" _OPTIONS["with-tests"] = "" - for action in pairs(premake.actions) do - os.rmdir(action) + for action in premake.action.each() do + os.rmdir(action.trigger) end + os.remove("../ode/src/config.h") + os.remove("../include/ode/version.h") + os.remove("../include/ode/precision.h") + os.remove("../libccd/src/ccd/precision.h") + end + + -- special validation for Xcode + if _ACTION == "xcode3" and (not _OPTIONS["only-static"] and not _OPTIONS["only-shared"]) then + error( + "Xcode does not support different library types in a single project.\n" .. + "Please use one of the flags: --only-static or --only-shared", 0) + end + + -- build the list of configurations, based on the flags. Ends up + -- with configurations like "Debug", "DebugSingle" or "DebugSingleShared" + local configs = { "Debug", "Release" } + + local function addconfigs(...) + local newconfigs = { } + for _, root in ipairs(configs) do + for _, suffix in ipairs(arg) do + table.insert(newconfigs, root .. suffix) + end + end + configs = newconfigs end + if not _OPTIONS["only-single"] and not _OPTIONS["only-double"] then + addconfigs("Single", "Double") + end + + if not _OPTIONS["only-shared"] and not _OPTIONS["only-static"] then + addconfigs("DLL", "Lib") + end + ---------------------------------------------------------------------- -- The solution, and solution-wide settings ---------------------------------------------------------------------- @@ -137,27 +209,25 @@ "../include", "../ode/src" } - - -- define all the possible build configurations - configurations { - "DebugSingleDLL", "ReleaseSingleDLL", - "DebugSingleLib", "ReleaseSingleLib", - "DebugDoubleDLL", "ReleaseDoubleDLL", - "DebugDoubleLib", "ReleaseDoubleLib" - } + + defines { "_MT" } + + -- apply the configuration list built above + configurations (configs) configuration { "Debug*" } defines { "_DEBUG" } flags { "Symbols" } configuration { "Release*" } + defines { "NDEBUG", "dNODEBUG" } flags { "OptimizeSpeed", "NoFramePointer" } configuration { "*Single*" } - defines { "dSINGLE" } + defines { "dIDESINGLE", "CCD_IDESINGLE" } configuration { "*Double*" } - defines { "dDOUBLE" } + defines { "dIDEDOUBLE", "CCD_IDEDOUBLE" } configuration { "Windows" } defines { "WIN32" } @@ -175,6 +245,10 @@ configuration { "vs*" } defines { "_CRT_SECURE_NO_DEPRECATE" } + -- enable M_* macros from math.h + configuration { "vs*" } + defines { "_USE_MATH_DEFINES" } + -- don't remember why we had to do this configuration { "vs2002 or vs2003", "*Lib" } flags { "StaticRuntime" } @@ -217,14 +291,14 @@ project "ode" - kind "StaticLib" + -- kind "StaticLib" location ( _OPTIONS["to"] or _ACTION ) includedirs { "../ode/src/joints", "../OPCODE", "../GIMPACT/include", - "../ou/include" + "../libccd/src" } files { @@ -240,6 +314,25 @@ "../ode/src/collision_std.cpp", } + if _OPTIONS["with-ou"] or not _OPTIONS["no-threading-intf"] then + includedirs { "../ou/include" } + files { "../ou/include/**.h", "../ou/src/**.h", "../ou/src/**.cpp" } + defines { "_OU_NAMESPACE=odeou" } + + if _ACTION == "gmake" and ( os.get() == "linux" or os.get() == "bsd" ) then + buildoptions { "-pthread" } + linkoptions { "-pthread" } + end + + if _ACTION == "gmake" and os.get() == "windows" then + buildoptions { "-mthreads" } + linkoptions { "-mthreads" } + end + + -- TODO: MacOSX probably needs something too + end + + configuration { "no-dif" } excludes { "../ode/src/export-dif.cpp" } @@ -256,7 +349,8 @@ "../ode/src/collision_trimesh_ray.cpp", "../ode/src/collision_trimesh_sphere.cpp", "../ode/src/collision_trimesh_trimesh.cpp", - "../ode/src/collision_trimesh_plane.cpp" + "../ode/src/collision_trimesh_plane.cpp", + "../ode/src/collision_convex_trimesh.cpp" } configuration { "not no-trimesh", "with-gimpact or all-collis-libs" } @@ -265,45 +359,55 @@ configuration { "not no-trimesh", "not with-gimpact" } files { "../OPCODE/**.h", "../OPCODE/**.cpp" } - configuration { "enable-ou" } - files { "../ou/**.h", "../ou/**.cpp" } - defines { "_OU_NAMESPACE=odeou" } - + configuration { "with-libccd" } + files { "../libccd/src/ccd/*.h", "../libccd/src/*.c" } + defines { "dLIBCCD_ENABLED", "dLIBCCD_INTERNAL", + "dLIBCCD_BOX_CYL", "dLIBCCD_CYL_CYL", "dLIBCCD_CAP_CYL", "dLIBCCD_CONVEX_BOX", + "dLIBCCD_CONVEX_CAP", "dLIBCCD_CONVEX_CYL", "dLIBCCD_CONVEX_SPHERE", "dLIBCCD_CONVEX_CONVEX" } + + configuration { "not with-libccd" } + excludes { "../ode/src/collision_libccd.cpp", "../ode/src/collision_libccd.h" } + configuration { "windows" } links { "user32" } - configuration { "*Lib" } + configuration { "only-static or *Lib" } kind "StaticLib" defines "ODE_LIB" - configuration { "*DLL" } + configuration { "only-shared or *DLL" } kind "SharedLib" defines "ODE_DLL" + configuration { "*DLL" } + defines "_DLL" + + configuration { "Debug" } + targetname "oded" + + configuration { "Release" } + targetname "ode" + configuration { "DebugSingle*" } targetname "ode_singled" - defines "dSINGLE" configuration { "ReleaseSingle*" } targetname "ode_single" - defines "dSINGLE" configuration { "DebugDouble*" } targetname "ode_doubled" - defines "dDOUBLE" configuration { "ReleaseDouble*" } targetname "ode_double" - defines "dDOUBLE" ---------------------------------------------------------------------- --- Write a custom to src/ode, based on the supplied flags +-- Write a custom to build, based on the supplied flags ---------------------------------------------------------------------- - if _ACTION then - io.input("config-default.h") - local text = io.read("*a") + if _ACTION and _ACTION ~= "clean" then + local infile = io.open("config-default.h", "r") + local text = infile:read("*a") if _OPTIONS["no-trimesh"] then text = string.gsub(text, "#define dTRIMESH_ENABLED 1", "/* #define dTRIMESH_ENABLED 1 */") @@ -312,16 +416,21 @@ text = string.gsub(text, "#define dTRIMESH_OPCODE 1", "#define dTRIMESH_GIMPACT 1") end - if _OPTIONS["no-alloca"] then - text = string.gsub(text, "/%* #define dUSE_MALLOC_FOR_ALLOCA %*/", "#define dUSE_MALLOC_FOR_ALLOCA") - end - - if _OPTIONS["enable-ou"] then + if _OPTIONS["with-ou"] or not _OPTIONS["no-threading-intf"] then text = string.gsub(text, "/%* #define dOU_ENABLED 1 %*/", "#define dOU_ENABLED 1") text = string.gsub(text, "/%* #define dATOMICS_ENABLED 1 %*/", "#define dATOMICS_ENABLED 1") + end + + if _OPTIONS["with-ou"] then text = string.gsub(text, "/%* #define dTLS_ENABLED 1 %*/", "#define dTLS_ENABLED 1") end + if _OPTIONS["no-threading-intf"] then + text = string.gsub(text, "/%* #define dTHREADING_INTF_DISABLED 1 %*/", "#define dTHREADING_INTF_DISABLED 1") + elseif _OPTIONS["with-builtin-threading-impl"] then + text = string.gsub(text, "/%* #define dBUILTIN_THREADING_IMPL_ENABLED 1 %*/", "#define dBUILTIN_THREADING_IMPL_ENABLED 1") + end + if _OPTIONS["16bit-indices"] then text = string.gsub(text, "#define dTRIMESH_16BIT_INDICES 0", "#define dTRIMESH_16BIT_INDICES 1") end @@ -330,9 +439,41 @@ text = string.gsub(text, "#define dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER 0", "#define dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER 1") end - io.output("../ode/src/config.h") - io.write(text) - io.close() + local outfile = io.open("../ode/src/config.h", "w") + outfile:write(text) + outfile:close() + end + +---------------------------- +-- Write precision headers +---------------------------- + if _ACTION and _ACTION ~= "clean" then + function generateheader(headerfile, placeholder, precstr) + local outfile = io.open(headerfile, "w") + for i in io.lines(headerfile .. ".in") + do + local j,_ = string.gsub(i, placeholder, precstr) + --print("writing " .. j .. " into " .. headerfile) + outfile:write(j .. "\n") + end + outfile:close() + end + + function generate(precstr) + generateheader("../include/ode/precision.h", "@ODE_PRECISION@", "d" .. precstr) + generateheader("../libccd/src/ccd/precision.h", "@CCD_PRECISION@", "CCD_" .. precstr) + end + + if _OPTIONS["only-single"] then + generate("SINGLE") + elseif _OPTIONS["only-double"] then + generate("DOUBLE") + else + generate("UNDEFINEDPRECISION") + end + + generateheader("../include/ode/version.h", "@ODE_VERSION@", ode_version) + end @@ -351,15 +492,15 @@ "../drawstuff/src/internal.h", "../drawstuff/src/drawstuff.cpp" } - + configuration { "Debug*" } targetname "drawstuffd" - configuration { "*Lib" } + configuration { "only-static or *Lib" } kind "StaticLib" defines { "DS_LIB" } - configuration { "*DLL" } + configuration { "only-shared or *DLL" } kind "SharedLib" defines { "DS_DLL", "USRDLL" } @@ -377,7 +518,6 @@ links { "X11", "GL", "GLU" } end - ---------------------------------------------------------------------- diff -Nru ode-0.11.1/CHANGELOG.txt ode-0.14/CHANGELOG.txt --- ode-0.11.1/CHANGELOG.txt 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/CHANGELOG.txt 2015-12-18 14:09:27.000000000 +0000 @@ -8,21 +8,352 @@ * keep the format consistent (79 char width, M/D/Y date format). ------------------------------------------------------------------------------ -05/24/09 Daniel K. O. +11/28/2015 Oleh Derevenko + * Convex-Trimesh collider added (libccd+GIMPACT only)(by Piotr Piastucki) + * dCreateConvex() and dGeomSetConvex() public APIs changed to expect + their parameter arrays as const pointers + +11/01/2015 Oleh Derevenko + * OPCODE mesh colliders' input coordinates have been offset to + mesh-relative frames to decrease potential computational errors + (suggested by luckytrashsc2@g***l.com) + +08/05/2015 Oleh Derevenko + * Implemented change to return highest depth contacts subset for GIMPACT + in cases if contacts count exceeds requested maximum (as suggested in + the issue #36 by Piotr Piastucki) + +11/17/2014 Daniel K. O. + * Added support for using libccd from the system (if found via + pkg-config) + +11/10/2014 Oleh Derevenko + * Floating point division by zero in capsule-ray collision routine + in case if the ray axis was parallel the cylinder and the ray started + from within it fixed (issue #26) + +11/08/2014 Oleh Derevenko + * Threading support has been extended to complete implementation + of QuickStep + +10/29/2014 Daniel K. O. + * Added dJointSetDBallDistance + +10/19/2014 Oleh Derevenko + * Built-in threading implementation compilation fixed for OSX + (clock_gettime() is missing from the system - reported by Bram) + +08/10/2014 Oleh Derevenko + * Declarations of dWorld[Get/Set]AutoDisableLinearAverageThreshold and + dWorld[Get/Set]AutoDisableAngularAverageThreshold have been removed + from public headers (were orphaned since rev.1052) + +07/16/2014 Oleh Derevenko + * Two fixes by Francesco Cat applied (fixes for mistakes made during + code style improvements in the past) + +02/27/14 Daniel K. O. + * Added dODE_VERSION macro to public headers (issue #24). + +02/11/14 Daniel K. O. + * Added dJointGetHinge2Angle2 (issue #12). + +02/07/14 Daniel K. O. + * Added dWorldSetData/dWorldGetData (issue #21). + +01/31/14 Daniel K. O. + * Applied patch #185: Stable, implicit gyroscopic forces. + +01/27/14 Daniel K. O. + * Fixed cylinder AABB computation. + +01/25/14 Daniel K. O. + * Removed ALLOCA calls from dHashSpace; it should not depend + on stack size limits anymore. + +12/06/13 Daniel K. O. + * Applied patch #181: fix some bugs in AMotor joint. + * Applied patch #186: fix some bugs in PU joint. + * Applied patch #182: Transmission joint. + * Applied patch #184: implement rolling friction for contacts. + +08/08/13 Oleh Derevenko + * Joint feedback forces application fixed in QuickStep implementation + (was broken since revision #1919 in old repository (#1927 in new one)) + +08/04/13 Oleh Derevenko + * Bugfix #89 by Luc applied (dJointAddSliderForce() adds a zero force + when the parent body is NULL) + +05/18/13 Oleh Derevenko + * OU library has been included in ODE at revision #46 instead of + being used as an external link due to difficulties using external + references with new protocol used for storage at SF. + +03/03/13 Oleh Derevenko + * Fixed issue with "findex==-1" constraints being intermixed with + "findex!=-1" ones during constraints random reordering in QuickStep. + +02/03/13 Oleh Derevenko + * [u]int[8/16/32] renamed to contain "d" prefix so that global namespace + was not polluted with these names unconditionally. + If your project depended on these types other than just for passing + parameters to ODE calls, add similar typedefs for yourself in some + of your project's global headers. + +01/02/13 Oleh Derevenko + * Applied patch #183 by Joseph Cooper (complementary matrix + calculation fix). + +12/28/12 Oleh Derevenko + * A bug with heightfield data assigned to a wrong field in + dGeomHeightfieldSetHeightfieldData fixed (bug report #88 by Luc). + +12/18/12 Oleh Derevenko + * Fixed issue with some kinds of joints (Ball, DBall, DHinge, Fixed) + might overwrite world ERP value with their custom ERP during + getInfo2() call and that inappropriate value would then be passed + to subsequent joints in solver instead of world ERP. + +12/01/12 Oleh Derevenko + * Fixed issues reported in patches #151 and #22 (collisions with + SAPSpace and QuadTreeSpace might not work because geometries list + was misused in them). + * Applied patch #160 "IsPointInPolygon in convex.cpp returns wrong + results" (by Janis Rucis) + +11/25/12 Oleh Derevenko + * Configuration option --disable-threading-intf added + (--no-threading-intf for Windows/Premake). This allows disabling + threading interface support (external implementations may not be + assigned) but eliminates dependency on OU and use of atomics in + steppers. + +11/05/12 Oleh Derevenko + * Fixed zero comparisons in OPCODE to use relative error instead of + absolute epsilon value (found by Bill Sellers) + +06/08/12 Daniel K. O. + * Removed the need for defining dSINGLE/dDOUBLE; this is stored now in + the generated ode/precision.h header. + * Some code cleanup to get rid of GCC warnings. + +05/30/12 Daniel K. O. + * Made drawstuff draw shadows for lines. + * Fixed dhinge's last constraint to properly handle rotations. + +05/03/12 Daniel K. O. + * Added two new joints: Double Ball and Double Hinge. + +04/22/12 Daniel K. O. + * Fixed plane2d joint: uninitialized variables (reported by Dimitris + Papavasiliou) + +04/14/12 Oleh Derevenko + * Assertion checking macros moved into library private headers. + +04/13/12 Daniel K. O. + * Applied patch from bug #3431829 - better handling of capsule-box with + deep penetrations. + * Fixed zero-mu issues: now either mu or mu2 can be set to zero. + +03/17/12 Oleh Derevenko + * Threaded execution support interface added. Optional built-in threading + implementation added. + Internal threading implementation is excluded by default and to be used, + it must be enabled with configure/premake. + At present, if threading interface is assigned to a world, island + selection and stepping is performed in multiple threads (one thread per + island). + +03/12/12 Oleh Derevenko + * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of + dNextAfter()/dCopySign() corrected to avoid creating conflicts with + other libraries. + +02/03/12 Oleh Derevenko + * Assertion checking macros moved from common.h to error.h + +12/18/11 Oleh Derevenko + * dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its + expression in release mode) to be used to assert variable value + which is not used further in text while avoiding compiler warning. + * dICHECK macro added (same as dIASSERT but evaluates its expression and + raises assertion fault regardless of compilation mode) to be used to + generate a fault in cases when error is very unlikely but must be + handled and handling is very troublesome (e.g. failure to lock a mutex + due to lack of resources). + +12/07/11 Oleh Derevenko + * Partially fixed size_t to integer conversion warnings + * Fixed type signedness and added casts to size_t wherever necessary + in Step/QuickStep + +11/04/11 Daniel K. O. + * Applied patch #3429454 - fix compilation on some platforms. + +10/28/11 Daniel K. O. + * Fixed a box-capsule bug: more reasonable normal for deep penetrations + (contributed by Georg Martius.) + +10/27/11 Daniel K. O. + * Disabled merging of contacts for trimesh-sphere by default. + * Added new demo: demo_tracks. + +10/17/11 Daniel K. O. + * Added python bindings, contributed by Gideon Klompje. + * Updated some build scripts. + * Changed spheres distribution in demo_space_stress. + +05/17/11 Oleh Derevenko + * A typo in step.cpp fixed (assignment operator in a conditional + instead of comparison) (reported by Bram Stolk) + +01/29/11 Oleh Derevenko + * Heightfield zone boundaries calculation code fixed to also consider + whole next cell after the AABB if the AABB ends exactly at the cell + boundary. + +01/23/11 Daniel K. O. + * Applied patch from Daniel Fiser, add libccd collider for + box-cylinder. + +01/20/11 Daniel K. O. + * Applied patch from Daniel Fiser, fix infinite loop in libccd caused + by numerical problems. + +01/06/11 Daniel K. O. + * Applied patch from Daniel Fiser, efficient libccd tests when using + CONTACTS_UNIMPORTANT. + +12/17/10 Daniel K. O. + * Applied patches from Daniel Fiser for new colliders based on libccd. + +11/08/10 Daniel K. O. + * Applied patches from Daniel Fiser to incorporate libccd for + Cylinder-Cylinder collision tests. + +08/21/10 Oleh Derevenko + * Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo + which caused segmentation fault (by Kyle McKay). + dTestSolveLCP() fixed to avoid exceeding allocated memory pool + (by Kyle McKay). + +07/19/10 Oleh Derevenko + * Patch applied (#3030783) to fix drawstuff dimensions being ignored + in OSX GLUT port (by Danny Price). + + Daniel K. O. + * Applied patch #2991622: dGeomGetRelPointPos, dGeomGetPosRelPoint, + dGeomVectorToWorld, and dGeomVectorFromWorld. + +07/16/10 Daniel K. O. + * Fixed bug #2937076: don't try to build demos if drawstuff is disabled. + +05/02/10 Oleh Derevenko + * Missing extern "C" wrapper has been added to include/ode/export-dif.h + (reported by Danny Price). The change affects dWorldExportDIF() public + function. + +05/02/10 Oleh Derevenko + * Patch applied (#2995450) to generate up to four contacts for box- + plane collision test (by alexdu) and fix contact depths. + +05/02/10 Oleh Derevenko + * dGeomLowLevelControl function added with ability to change/query OPCODE + trimesh-sphere contact merging behavior at runtime. + +02/18/10 Daniel K. O. + * Fixed bug affecting disabled joints and dWorldStep. + +01/16/10 Oleh Derevenko + * Patch applied (#2931174) to make demos work for recent MacOS. + * Patch applied (#2931177) to fix the demos' framerate on X11. + +12/20/09 Oleh Derevenko + * QuadTreeSpace implementation corrected to avoid object-block relation + ambiguity due to numeric errors. + +12/04/09 Oleh Derevenko + * odecpp classes changed to be inheritable and easily expandable + +11/29/09 Oleh Derevenko + * Improvement for trimesh-plane collision (also used in trimesh-heightfield) + to exclude mesh vertices that have already generated contacts from further + examination and contact generation in other triangles (suggested by LR). + +10/25/09 Oleh Derevenko + * Macros changed to static inline functions in odemath.h and related files. + Some code duplication has been eliminated across the files. + + * Fixed handling of --disable-asserts and --enable-double-precision + (absence of --enable-double-precision) in configure script. The script + was not appending compiler defines correctly. + + * dWorldStep implementation changed to remove allocation on stack. + dUSE_MALLOC_FOR_ALLOCA define has been removed as well as corresponding + configuration parameter. Also dMemoryFlag public variable has been removed. + (look for presence of ODE_EXT_malloc_not_alloca configuration string if + your application is dependent on that variable). + +09/05/09 Oleh Derevenko + * dWorldStepFast1 API removed along with dWorld[Get/Set]AutoEnableDepthSF1 + +08/29/09 Oleh Derevenko + * Fixed uninitialized floating point array used in computations. + +08/12/09 Oleh Derevenko + * A typo fixed in dGeomCopyOffsetRotation() (final_posr was used instead + of offset_posr). Reported by Tilmann. + +08/11/09 Daniel K. O. + * Made sure neither dSINGLE or dDOUBLE is defined by default; the user + should always explicitly specify the precision. + +06/27/09 Oleh Derevenko + * New functions have been added: + - dWorldUseSharedWorkingMemory + - dWorldCleanupWorkingMemory + - dWorldSetStepMemoryReservationPolicy + - dWorldSetStepMemoryManager + +06/25/09 Remi Ricard (papaDoc) + * Add limit to the to the second axis of the universal joint + for the pu joint. + +06/14/09 Oleh Derevenko + * dWorldQuickStep re-implemented to avoid memory allocation on stack. + Also several optimizations have been made to decrease memory + requirements and optimize algorithm implementation of dWorldQuickStep. + dWorldStep still remains with old memory allocation however new APIs + mentioned below are fully functional for it. + Both dWorldStep and dWorldQuickStep have been changed to return boolean + success status. + + * dInitODE2() changed to automatically call + AllocateODEDataForThread(dAllocateFlagBasicData) after library + initialization as this is a required initialization minimum that + must always be performed anyway. + +06/05/09 Daniel K. O. + * Removed aliasing issues from OPCODE/Ice, plus some other warnings. + Now it builds on gcc 4.3.2 with '-Wall -Werror -O3". - * Made the new trimesh collider the default. - * Added a "-texturepath" option to drawstuff. +05/30/09 Oleh Derevenko + * A minor memory usage optimization for QuickStep. -05/18/09 Oleh Derevenko +05/24/09 Daniel K. O. + * Made the new trimesh collider the default. + * Added a "-texturepath" option to drawstuff. - * Heightfield rotation fixed to avoid NaNs while rotating infinite - MIN/MAX heights. +05/18/09 Oleh Derevenko + * Heightfield rotation fixed to avoid NaNs while rotating infinite + MIN/MAX heights. 05/03/09 Oleh Derevenko - - * Incorrect parameter order fixed on contact merging in Sphere-Trimesh - collisions. The bug resulted in merged contact remaining with normal - of first contact found. Thanks to Dimitris Papavasiliou for reporting. + * Incorrect parameter order fixed on contact merging in Sphere-Trimesh + collisions. The bug resulted in merged contact remaining with normal + of first contact found. Thanks to Dimitris Papavasiliou for reporting. 04/23/09 Daniel K. O. * Fixed bug #2685170: use the C99 __func__ instead of __FUNCTION__ when @@ -141,7 +472,7 @@ dJointAttach(jId, 0, bId). The body was not push in the right direction to move back between the limits. -10/29/08 Oleh_Derevenko +10/29/08 Oleh Derevenko * Premake scripts changed to only include chosen collision library sources in project on Windows. --all-collis-libs premake option @@ -272,18 +603,18 @@ * Applied patch #1335202: Contact Joint Motion (with some corrections), and added demo_motion. -05/01/08 Oleh_Derevenko +05/01/08 Oleh Derevenko * Memory leak in GIMPACT fixed (reported by Derek) -04/28/08 Oleh_Derevenko +04/28/08 Oleh Derevenko * Added possibility to collide a space of lower sublevel as a geometry against another space of a higher level with dSpaceCollide2. dSpaceSetSublevel/dSpaceGetSublevel are used for sublevel assignment/ retrieval. -04/27/08 Oleh_Derevenko +04/27/08 Oleh Derevenko * Fixed incorrect memory copying which could lead to memory corruption in GIMPACT (luckily, in unused code) @@ -294,12 +625,12 @@ * Implemented support for ability to run collision detection from multiple threads for separate spaces. -04/14/08 Oleh_Derevenko +04/14/08 Oleh Derevenko * Fixed possible memory corruption in new trimesh-trimesh collider in case if two degenerated triangles are checked against each other. -04/12/08 Oleh_Derevenko +04/12/08 Oleh Derevenko * Fixed sporadic assertion failure on vector normalization caused by small triangles degenerating into segments during space diff -Nru ode-0.11.1/compile ode-0.14/compile --- ode-0.11.1/compile 2009-05-24 22:15:37.000000000 +0000 +++ ode-0.14/compile 1970-01-01 00:00:00.000000000 +0000 @@ -1,142 +0,0 @@ -#! /bin/sh -# Wrapper for compilers which do not understand `-c -o'. - -scriptversion=2005-05-14.22 - -# Copyright (C) 1999, 2000, 2003, 2004, 2005 Free Software Foundation, Inc. -# Written by Tom Tromey . -# -# This program is free software; you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 2, or (at your option) -# any later version. -# -# This program 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 -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software -# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - -# As a special exception to the GNU General Public License, if you -# distribute this file as part of a program that contains a -# configuration script generated by Autoconf, you may include it under -# the same distribution terms that you use for the rest of that program. - -# This file is maintained in Automake, please report -# bugs to or send patches to -# . - -case $1 in - '') - echo "$0: No command. Try \`$0 --help' for more information." 1>&2 - exit 1; - ;; - -h | --h*) - cat <<\EOF -Usage: compile [--help] [--version] PROGRAM [ARGS] - -Wrapper for compilers which do not understand `-c -o'. -Remove `-o dest.o' from ARGS, run PROGRAM with the remaining -arguments, and rename the output as expected. - -If you are trying to build a whole package this is not the -right script to run: please start by reading the file `INSTALL'. - -Report bugs to . -EOF - exit $? - ;; - -v | --v*) - echo "compile $scriptversion" - exit $? - ;; -esac - -ofile= -cfile= -eat= - -for arg -do - if test -n "$eat"; then - eat= - else - case $1 in - -o) - # configure might choose to run compile as `compile cc -o foo foo.c'. - # So we strip `-o arg' only if arg is an object. - eat=1 - case $2 in - *.o | *.obj) - ofile=$2 - ;; - *) - set x "$@" -o "$2" - shift - ;; - esac - ;; - *.c) - cfile=$1 - set x "$@" "$1" - shift - ;; - *) - set x "$@" "$1" - shift - ;; - esac - fi - shift -done - -if test -z "$ofile" || test -z "$cfile"; then - # If no `-o' option was seen then we might have been invoked from a - # pattern rule where we don't need one. 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See the GNU -# General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software -# Foundation, Inc., 51 Franklin Street - Fifth Floor, Boston, MA -# 02110-1301, USA. -# -# As a special exception to the GNU General Public License, if you -# distribute this file as part of a program that contains a -# configuration script generated by Autoconf, you may include it under -# the same distribution terms that you use for the rest of that program. - - -# Originally written by Per Bothner . -# Please send patches to . Submit a context -# diff and a properly formatted ChangeLog entry. -# -# This script attempts to guess a canonical system name similar to -# config.sub. If it succeeds, it prints the system name on stdout, and -# exits with 0. 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- Tek43[0-9][0-9]:UTek:*:*) # Tektronix 4300 system running UTek (BSD) - echo m68k-tektronix-bsd - exit ;; - *:IRIX*:*:*) - echo mips-sgi-irix`echo ${UNAME_RELEASE}|sed -e 's/-/_/g'` - exit ;; - ????????:AIX?:[12].1:2) # AIX 2.2.1 or AIX 2.1.1 is RT/PC AIX. - echo romp-ibm-aix # uname -m gives an 8 hex-code CPU id - exit ;; # Note that: echo "'`uname -s`'" gives 'AIX ' - i*86:AIX:*:*) - echo i386-ibm-aix - exit ;; - ia64:AIX:*:*) - if [ -x /usr/bin/oslevel ] ; then - IBM_REV=`/usr/bin/oslevel` - else - IBM_REV=${UNAME_VERSION}.${UNAME_RELEASE} - fi - echo ${UNAME_MACHINE}-ibm-aix${IBM_REV} - exit ;; - *:AIX:2:3) - if grep bos325 /usr/include/stdio.h >/dev/null 2>&1; then - eval $set_cc_for_build - sed 's/^ //' << EOF >$dummy.c - #include - - main() - { - if (!__power_pc()) - exit(1); - puts("powerpc-ibm-aix3.2.5"); - exit(0); - } -EOF - if $CC_FOR_BUILD -o $dummy $dummy.c && SYSTEM_NAME=`$dummy` - then - echo "$SYSTEM_NAME" - else - echo rs6000-ibm-aix3.2.5 - fi - elif grep bos324 /usr/include/stdio.h >/dev/null 2>&1; then - echo rs6000-ibm-aix3.2.4 - else - echo rs6000-ibm-aix3.2 - fi - exit ;; - *:AIX:*:[456]) - IBM_CPU_ID=`/usr/sbin/lsdev -C -c processor -S available | sed 1q | awk '{ print $1 }'` - if /usr/sbin/lsattr -El ${IBM_CPU_ID} | grep ' POWER' >/dev/null 2>&1; then - IBM_ARCH=rs6000 - else - IBM_ARCH=powerpc - fi - if [ -x /usr/bin/oslevel ] ; then - IBM_REV=`/usr/bin/oslevel` - else - IBM_REV=${UNAME_VERSION}.${UNAME_RELEASE} - fi - echo ${IBM_ARCH}-ibm-aix${IBM_REV} - exit ;; - *:AIX:*:*) - echo rs6000-ibm-aix - exit ;; - ibmrt:4.4BSD:*|romp-ibm:BSD:*) - echo romp-ibm-bsd4.4 - exit ;; - ibmrt:*BSD:*|romp-ibm:BSD:*) # covers RT/PC BSD and - echo romp-ibm-bsd${UNAME_RELEASE} # 4.3 with uname added to - exit ;; # report: romp-ibm BSD 4.3 - *:BOSX:*:*) - echo rs6000-bull-bosx - exit ;; - DPX/2?00:B.O.S.:*:*) - echo m68k-bull-sysv3 - exit ;; - 9000/[34]??:4.3bsd:1.*:*) - echo m68k-hp-bsd - exit ;; - hp300:4.4BSD:*:* | 9000/[34]??:4.3bsd:2.*:*) - echo m68k-hp-bsd4.4 - exit ;; - 9000/[34678]??:HP-UX:*:*) - HPUX_REV=`echo ${UNAME_RELEASE}|sed -e 's/[^.]*.[0B]*//'` - case "${UNAME_MACHINE}" in - 9000/31? ) HP_ARCH=m68000 ;; - 9000/[34]?? ) HP_ARCH=m68k ;; - 9000/[678][0-9][0-9]) - if [ -x /usr/bin/getconf ]; then - sc_cpu_version=`/usr/bin/getconf SC_CPU_VERSION 2>/dev/null` - sc_kernel_bits=`/usr/bin/getconf SC_KERNEL_BITS 2>/dev/null` - case "${sc_cpu_version}" in - 523) HP_ARCH="hppa1.0" ;; # CPU_PA_RISC1_0 - 528) HP_ARCH="hppa1.1" ;; # CPU_PA_RISC1_1 - 532) # CPU_PA_RISC2_0 - case "${sc_kernel_bits}" in - 32) HP_ARCH="hppa2.0n" ;; - 64) HP_ARCH="hppa2.0w" ;; - '') HP_ARCH="hppa2.0" ;; # HP-UX 10.20 - esac ;; - esac - fi - if [ "${HP_ARCH}" = "" ]; then - eval $set_cc_for_build - sed 's/^ //' << EOF >$dummy.c - - #define _HPUX_SOURCE - #include - #include - - int main () - { - #if defined(_SC_KERNEL_BITS) - long bits = sysconf(_SC_KERNEL_BITS); - #endif - long cpu = sysconf (_SC_CPU_VERSION); - - switch (cpu) - { - case CPU_PA_RISC1_0: puts ("hppa1.0"); break; - case CPU_PA_RISC1_1: puts ("hppa1.1"); break; - case CPU_PA_RISC2_0: - #if defined(_SC_KERNEL_BITS) - switch (bits) - { - case 64: puts ("hppa2.0w"); break; - case 32: puts ("hppa2.0n"); break; - default: puts ("hppa2.0"); break; - } break; - #else /* !defined(_SC_KERNEL_BITS) */ - puts ("hppa2.0"); break; - #endif - default: puts ("hppa1.0"); break; - } - exit (0); - } -EOF - (CCOPTS= $CC_FOR_BUILD -o $dummy $dummy.c 2>/dev/null) && HP_ARCH=`$dummy` - test -z "$HP_ARCH" && HP_ARCH=hppa - fi ;; - esac - if [ ${HP_ARCH} = "hppa2.0w" ] - then - eval $set_cc_for_build - - # hppa2.0w-hp-hpux* has a 64-bit kernel and a compiler generating - # 32-bit code. hppa64-hp-hpux* has the same kernel and a compiler - # generating 64-bit code. GNU and HP use different nomenclature: - # - # $ CC_FOR_BUILD=cc ./config.guess - # => hppa2.0w-hp-hpux11.23 - # $ CC_FOR_BUILD="cc +DA2.0w" ./config.guess - # => hppa64-hp-hpux11.23 - - if echo __LP64__ | (CCOPTS= $CC_FOR_BUILD -E - 2>/dev/null) | - grep __LP64__ >/dev/null - then - HP_ARCH="hppa2.0w" - else - HP_ARCH="hppa64" - fi - fi - echo ${HP_ARCH}-hp-hpux${HPUX_REV} - exit ;; - ia64:HP-UX:*:*) - HPUX_REV=`echo ${UNAME_RELEASE}|sed -e 's/[^.]*.[0B]*//'` - echo ia64-hp-hpux${HPUX_REV} - exit ;; - 3050*:HI-UX:*:*) - eval $set_cc_for_build - sed 's/^ //' << EOF >$dummy.c - #include - int - main () - { - long cpu = sysconf (_SC_CPU_VERSION); - /* The order matters, because CPU_IS_HP_MC68K erroneously returns - true for CPU_PA_RISC1_0. CPU_IS_PA_RISC returns correct - results, however. */ - if (CPU_IS_PA_RISC (cpu)) - { - switch (cpu) - { - case CPU_PA_RISC1_0: puts ("hppa1.0-hitachi-hiuxwe2"); break; - case CPU_PA_RISC1_1: puts ("hppa1.1-hitachi-hiuxwe2"); break; - case CPU_PA_RISC2_0: puts ("hppa2.0-hitachi-hiuxwe2"); break; - default: puts ("hppa-hitachi-hiuxwe2"); break; - } - } - else if (CPU_IS_HP_MC68K (cpu)) - puts ("m68k-hitachi-hiuxwe2"); - else puts ("unknown-hitachi-hiuxwe2"); - exit (0); - } -EOF - $CC_FOR_BUILD -o $dummy $dummy.c && SYSTEM_NAME=`$dummy` && - { echo "$SYSTEM_NAME"; exit; } - echo unknown-hitachi-hiuxwe2 - exit ;; - 9000/7??:4.3bsd:*:* | 9000/8?[79]:4.3bsd:*:* ) - echo hppa1.1-hp-bsd - exit ;; - 9000/8??:4.3bsd:*:*) - echo hppa1.0-hp-bsd - exit ;; - *9??*:MPE/iX:*:* | *3000*:MPE/iX:*:*) - echo hppa1.0-hp-mpeix - exit ;; - hp7??:OSF1:*:* | hp8?[79]:OSF1:*:* ) - echo hppa1.1-hp-osf - exit ;; - hp8??:OSF1:*:*) - echo hppa1.0-hp-osf - exit ;; - i*86:OSF1:*:*) - if [ -x /usr/sbin/sysversion ] ; then - echo ${UNAME_MACHINE}-unknown-osf1mk - else - echo ${UNAME_MACHINE}-unknown-osf1 - fi - exit ;; - parisc*:Lites*:*:*) - echo hppa1.1-hp-lites - exit ;; - C1*:ConvexOS:*:* | convex:ConvexOS:C1*:*) - echo c1-convex-bsd - exit ;; - C2*:ConvexOS:*:* | convex:ConvexOS:C2*:*) - if getsysinfo -f scalar_acc - then echo c32-convex-bsd - else echo c2-convex-bsd - fi - exit ;; - C34*:ConvexOS:*:* | convex:ConvexOS:C34*:*) - echo c34-convex-bsd - exit ;; - C38*:ConvexOS:*:* | convex:ConvexOS:C38*:*) - echo c38-convex-bsd - exit ;; - C4*:ConvexOS:*:* | convex:ConvexOS:C4*:*) - echo c4-convex-bsd - exit ;; - CRAY*Y-MP:*:*:*) - echo ymp-cray-unicos${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/' - exit ;; - CRAY*[A-Z]90:*:*:*) - echo ${UNAME_MACHINE}-cray-unicos${UNAME_RELEASE} \ - | sed -e 's/CRAY.*\([A-Z]90\)/\1/' \ - -e y/ABCDEFGHIJKLMNOPQRSTUVWXYZ/abcdefghijklmnopqrstuvwxyz/ \ - -e 's/\.[^.]*$/.X/' - exit ;; - CRAY*TS:*:*:*) - echo t90-cray-unicos${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/' - exit ;; - CRAY*T3E:*:*:*) - echo alphaev5-cray-unicosmk${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/' - exit ;; - CRAY*SV1:*:*:*) - echo sv1-cray-unicos${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/' - exit ;; - *:UNICOS/mp:*:*) - echo craynv-cray-unicosmp${UNAME_RELEASE} | sed -e 's/\.[^.]*$/.X/' - exit ;; - F30[01]:UNIX_System_V:*:* | F700:UNIX_System_V:*:*) - FUJITSU_PROC=`uname -m | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz'` - FUJITSU_SYS=`uname -p | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz' | sed -e 's/\///'` - FUJITSU_REL=`echo ${UNAME_RELEASE} | sed -e 's/ /_/'` - echo "${FUJITSU_PROC}-fujitsu-${FUJITSU_SYS}${FUJITSU_REL}" - exit ;; - 5000:UNIX_System_V:4.*:*) - FUJITSU_SYS=`uname -p | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz' | sed -e 's/\///'` - FUJITSU_REL=`echo ${UNAME_RELEASE} | tr 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' 'abcdefghijklmnopqrstuvwxyz' | sed -e 's/ /_/'` - echo "sparc-fujitsu-${FUJITSU_SYS}${FUJITSU_REL}" - exit ;; - i*86:BSD/386:*:* | i*86:BSD/OS:*:* | *:Ascend\ Embedded/OS:*:*) - echo ${UNAME_MACHINE}-pc-bsdi${UNAME_RELEASE} - exit ;; - sparc*:BSD/OS:*:*) - echo sparc-unknown-bsdi${UNAME_RELEASE} - exit ;; - *:BSD/OS:*:*) - echo ${UNAME_MACHINE}-unknown-bsdi${UNAME_RELEASE} - exit ;; - *:FreeBSD:*:*) - case ${UNAME_MACHINE} in - pc98) - echo i386-unknown-freebsd`echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'` ;; - amd64) - echo x86_64-unknown-freebsd`echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'` ;; - *) - echo ${UNAME_MACHINE}-unknown-freebsd`echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'` ;; - esac - exit ;; - i*:CYGWIN*:*) - echo ${UNAME_MACHINE}-pc-cygwin - exit ;; - *:MINGW*:*) - echo ${UNAME_MACHINE}-pc-mingw32 - exit ;; - i*:windows32*:*) - # uname -m includes "-pc" on this system. - echo ${UNAME_MACHINE}-mingw32 - exit ;; - i*:PW*:*) - echo ${UNAME_MACHINE}-pc-pw32 - exit ;; - *:Interix*:[3456]*) - case ${UNAME_MACHINE} in - x86) - echo i586-pc-interix${UNAME_RELEASE} - exit ;; - EM64T | authenticamd | genuineintel) - echo x86_64-unknown-interix${UNAME_RELEASE} - exit ;; - IA64) - echo ia64-unknown-interix${UNAME_RELEASE} - exit ;; - esac ;; - [345]86:Windows_95:* | [345]86:Windows_98:* | [345]86:Windows_NT:*) - echo i${UNAME_MACHINE}-pc-mks - exit ;; - i*:Windows_NT*:* | Pentium*:Windows_NT*:*) - # How do we know it's Interix rather than the generic POSIX subsystem? - # It also conflicts with pre-2.0 versions of AT&T UWIN. Should we - # UNAME_MACHINE based on the output of uname instead of i386? - echo i586-pc-interix - exit ;; - i*:UWIN*:*) - echo ${UNAME_MACHINE}-pc-uwin - exit ;; - amd64:CYGWIN*:*:* | x86_64:CYGWIN*:*:*) - echo x86_64-unknown-cygwin - exit ;; - p*:CYGWIN*:*) - echo powerpcle-unknown-cygwin - exit ;; - prep*:SunOS:5.*:*) - echo powerpcle-unknown-solaris2`echo ${UNAME_RELEASE}|sed -e 's/[^.]*//'` - exit ;; - *:GNU:*:*) - # the GNU system - echo `echo ${UNAME_MACHINE}|sed -e 's,[-/].*$,,'`-unknown-gnu`echo ${UNAME_RELEASE}|sed -e 's,/.*$,,'` - exit ;; - *:GNU/*:*:*) - # other systems with GNU libc and userland - echo ${UNAME_MACHINE}-unknown-`echo ${UNAME_SYSTEM} | sed 's,^[^/]*/,,' | tr '[A-Z]' '[a-z]'``echo ${UNAME_RELEASE}|sed -e 's/[-(].*//'`-gnu - exit ;; - i*86:Minix:*:*) - echo ${UNAME_MACHINE}-pc-minix - exit ;; - arm*:Linux:*:*) - eval $set_cc_for_build - if echo __ARM_EABI__ | $CC_FOR_BUILD -E - 2>/dev/null \ - | grep -q __ARM_EABI__ - then - echo ${UNAME_MACHINE}-unknown-linux-gnu - else - echo ${UNAME_MACHINE}-unknown-linux-gnueabi - fi - exit ;; - avr32*:Linux:*:*) - echo ${UNAME_MACHINE}-unknown-linux-gnu - exit ;; - cris:Linux:*:*) - echo cris-axis-linux-gnu - exit ;; - crisv32:Linux:*:*) - echo crisv32-axis-linux-gnu - exit ;; - frv:Linux:*:*) - echo frv-unknown-linux-gnu - exit ;; - ia64:Linux:*:*) - echo ${UNAME_MACHINE}-unknown-linux-gnu - exit ;; - m32r*:Linux:*:*) - echo ${UNAME_MACHINE}-unknown-linux-gnu - exit ;; - m68*:Linux:*:*) - echo ${UNAME_MACHINE}-unknown-linux-gnu - exit ;; - mips:Linux:*:*) - eval $set_cc_for_build - sed 's/^ //' << EOF >$dummy.c - #undef CPU - #undef mips - #undef mipsel - #if defined(__MIPSEL__) || defined(__MIPSEL) || defined(_MIPSEL) || defined(MIPSEL) - CPU=mipsel - #else - #if defined(__MIPSEB__) || defined(__MIPSEB) || defined(_MIPSEB) || defined(MIPSEB) - CPU=mips - #else - CPU= - #endif - #endif -EOF - eval "`$CC_FOR_BUILD -E $dummy.c 2>/dev/null | sed -n ' - /^CPU/{ - s: ::g - p - }'`" - test x"${CPU}" != x && { echo "${CPU}-unknown-linux-gnu"; exit; } - ;; - mips64:Linux:*:*) - eval $set_cc_for_build - sed 's/^ //' << EOF >$dummy.c - #undef CPU - #undef mips64 - #undef mips64el - #if defined(__MIPSEL__) || defined(__MIPSEL) || defined(_MIPSEL) || defined(MIPSEL) - CPU=mips64el - #else - #if defined(__MIPSEB__) || defined(__MIPSEB) || defined(_MIPSEB) || defined(MIPSEB) - CPU=mips64 - #else - CPU= - #endif - #endif -EOF - eval "`$CC_FOR_BUILD -E $dummy.c 2>/dev/null | sed -n ' - /^CPU/{ - s: ::g - p - }'`" - test x"${CPU}" != x && { echo "${CPU}-unknown-linux-gnu"; exit; } - ;; - or32:Linux:*:*) - echo or32-unknown-linux-gnu - exit ;; - ppc:Linux:*:*) - echo powerpc-unknown-linux-gnu - exit ;; - ppc64:Linux:*:*) - echo powerpc64-unknown-linux-gnu - exit ;; - alpha:Linux:*:*) - case `sed -n '/^cpu model/s/^.*: \(.*\)/\1/p' < /proc/cpuinfo` in - EV5) UNAME_MACHINE=alphaev5 ;; - EV56) UNAME_MACHINE=alphaev56 ;; - PCA56) UNAME_MACHINE=alphapca56 ;; - PCA57) UNAME_MACHINE=alphapca56 ;; - EV6) UNAME_MACHINE=alphaev6 ;; - EV67) UNAME_MACHINE=alphaev67 ;; - EV68*) UNAME_MACHINE=alphaev68 ;; - esac - objdump --private-headers /bin/sh | grep ld.so.1 >/dev/null - if test "$?" = 0 ; then LIBC="libc1" ; else LIBC="" ; fi - echo ${UNAME_MACHINE}-unknown-linux-gnu${LIBC} - exit ;; - padre:Linux:*:*) - echo sparc-unknown-linux-gnu - exit ;; - parisc:Linux:*:* | hppa:Linux:*:*) - # Look for CPU level - case `grep '^cpu[^a-z]*:' /proc/cpuinfo 2>/dev/null | cut -d' ' -f2` in - PA7*) echo hppa1.1-unknown-linux-gnu ;; - PA8*) echo hppa2.0-unknown-linux-gnu ;; - *) echo hppa-unknown-linux-gnu ;; 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We also -### recognize some manufacturers as not being operating systems, so we -### can provide default operating systems below. -case $os in - -sun*os*) - # Prevent following clause from handling this invalid input. - ;; - -dec* | -mips* | -sequent* | -encore* | -pc532* | -sgi* | -sony* | \ - -att* | -7300* | -3300* | -delta* | -motorola* | -sun[234]* | \ - -unicom* | -ibm* | -next | -hp | -isi* | -apollo | -altos* | \ - -convergent* | -ncr* | -news | -32* | -3600* | -3100* | -hitachi* |\ - -c[123]* | -convex* | -sun | -crds | -omron* | -dg | -ultra | -tti* | \ - -harris | -dolphin | -highlevel | -gould | -cbm | -ns | -masscomp | \ - -apple | -axis | -knuth | -cray) - os= - basic_machine=$1 - ;; - -sim | -cisco | -oki | -wec | -winbond) - os= - basic_machine=$1 - ;; - -scout) - ;; - -wrs) - os=-vxworks - basic_machine=$1 - ;; - -chorusos*) - os=-chorusos - basic_machine=$1 - ;; - -chorusrdb) - os=-chorusrdb - basic_machine=$1 - ;; - -hiux*) - os=-hiuxwe2 - ;; - -sco6) - os=-sco5v6 - basic_machine=`echo $1 | sed -e 's/86-.*/86-pc/'` - ;; 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- -psos*) - os=-psos - ;; - -mint | -mint[0-9]*) - basic_machine=m68k-atari - os=-mint - ;; -esac - -# Decode aliases for certain CPU-COMPANY combinations. -case $basic_machine in - # Recognize the basic CPU types without company name. - # Some are omitted here because they have special meanings below. - 1750a | 580 \ - | a29k \ - | alpha | alphaev[4-8] | alphaev56 | alphaev6[78] | alphapca5[67] \ - | alpha64 | alpha64ev[4-8] | alpha64ev56 | alpha64ev6[78] | alpha64pca5[67] \ - | am33_2.0 \ - | arc | arm | arm[bl]e | arme[lb] | armv[2345] | armv[345][lb] | avr | avr32 \ - | bfin \ - | c4x | clipper \ - | d10v | d30v | dlx | dsp16xx \ - | fido | fr30 | frv \ - | h8300 | h8500 | hppa | hppa1.[01] | hppa2.0 | hppa2.0[nw] | hppa64 \ - | i370 | i860 | i960 | ia64 \ - | ip2k | iq2000 \ - | m32c | m32r | m32rle | m68000 | m68k | m88k \ - | maxq | mb | microblaze | mcore | mep | metag \ - | mips | mipsbe | mipseb | mipsel | mipsle \ - | mips16 \ - | mips64 | mips64el \ - | mips64octeon | mips64octeonel \ - | mips64orion | mips64orionel \ - | mips64r5900 | mips64r5900el \ - | mips64vr | mips64vrel \ - | mips64vr4100 | mips64vr4100el \ - | mips64vr4300 | mips64vr4300el \ - | mips64vr5000 | mips64vr5000el \ - | mips64vr5900 | mips64vr5900el \ - | mipsisa32 | mipsisa32el \ - | mipsisa32r2 | mipsisa32r2el \ - | mipsisa64 | mipsisa64el \ - | mipsisa64r2 | mipsisa64r2el \ - | mipsisa64sb1 | mipsisa64sb1el \ - | mipsisa64sr71k | mipsisa64sr71kel \ - | mipstx39 | mipstx39el \ - | mn10200 | mn10300 \ - | mt \ - | msp430 \ - | nios | nios2 \ - | ns16k | ns32k \ - | or32 \ - | pdp10 | pdp11 | pj | pjl \ - | powerpc | powerpc64 | powerpc64le | powerpcle | ppcbe \ - | pyramid \ - | score \ - | sh | sh[1234] | sh[24]a | sh[23]e | sh[34]eb | sheb | shbe | shle | sh[1234]le | sh3ele \ - | sh64 | sh64le \ - | sparc | sparc64 | sparc64b | sparc64v | sparc86x | sparclet | sparclite \ - | sparcv8 | sparcv9 | sparcv9b | sparcv9v \ - | spu | strongarm \ - | tahoe | thumb | tic4x | tic80 | tron \ - | v850 | v850e \ - | we32k \ - | x86 | xc16x | xscale | xscalee[bl] | xstormy16 | xtensa \ - | z8k | z80) - basic_machine=$basic_machine-unknown - ;; - m6811 | m68hc11 | m6812 | m68hc12) - # Motorola 68HC11/12. - basic_machine=$basic_machine-unknown - os=-none - ;; - m88110 | m680[12346]0 | m683?2 | m68360 | m5200 | v70 | w65 | z8k) - ;; - ms1) - basic_machine=mt-unknown - ;; - - # We use `pc' rather than `unknown' - # because (1) that's what they normally are, and - # (2) the word "unknown" tends to confuse beginning users. - i*86 | x86_64) - basic_machine=$basic_machine-pc - ;; - # Object if more than one company name word. - *-*-*) - echo Invalid configuration \`$1\': machine \`$basic_machine\' not recognized 1>&2 - exit 1 - ;; - # Recognize the basic CPU types with company name. - 580-* \ - | a29k-* \ - | alpha-* | alphaev[4-8]-* | alphaev56-* | alphaev6[78]-* \ - | alpha64-* | alpha64ev[4-8]-* | alpha64ev56-* | alpha64ev6[78]-* \ - | alphapca5[67]-* | alpha64pca5[67]-* | arc-* \ - | arm-* | armbe-* | armle-* | armeb-* | armv*-* \ - | avr-* | avr32-* \ - | bfin-* | bs2000-* \ - | c[123]* | c30-* | [cjt]90-* | c4x-* | c54x-* | c55x-* | c6x-* \ - | clipper-* | craynv-* | cydra-* \ - | d10v-* | d30v-* | dlx-* \ - | elxsi-* \ - | f30[01]-* | f700-* | fido-* | fr30-* | frv-* | fx80-* \ - | h8300-* | h8500-* \ - | hppa-* | hppa1.[01]-* | hppa2.0-* | hppa2.0[nw]-* | hppa64-* \ - | i*86-* | i860-* | i960-* | ia64-* \ - | ip2k-* | iq2000-* \ - | m32c-* | m32r-* | m32rle-* \ - | m68000-* | m680[012346]0-* | m68360-* | m683?2-* | m68k-* \ - | m88110-* | m88k-* | maxq-* | mcore-* | metag-* \ - | mips-* | mipsbe-* | mipseb-* | mipsel-* | mipsle-* \ - | mips16-* \ - | mips64-* | mips64el-* \ - | mips64octeon-* | mips64octeonel-* \ - | mips64orion-* | mips64orionel-* \ - | mips64r5900-* | mips64r5900el-* \ - | mips64vr-* | mips64vrel-* \ - | mips64vr4100-* | mips64vr4100el-* \ - | mips64vr4300-* | mips64vr4300el-* \ - | mips64vr5000-* | mips64vr5000el-* \ - | mips64vr5900-* | mips64vr5900el-* \ - | mipsisa32-* | mipsisa32el-* \ - | mipsisa32r2-* | mipsisa32r2el-* \ - | mipsisa64-* | mipsisa64el-* \ - | mipsisa64r2-* | mipsisa64r2el-* \ - | mipsisa64sb1-* | mipsisa64sb1el-* \ - | mipsisa64sr71k-* | mipsisa64sr71kel-* \ - | mipstx39-* | mipstx39el-* \ - | mmix-* \ - | mt-* \ - | msp430-* \ - | nios-* | nios2-* \ - | none-* | np1-* | ns16k-* | ns32k-* \ - | orion-* \ - | pdp10-* | pdp11-* | pj-* | pjl-* | pn-* | power-* \ - | powerpc-* | powerpc64-* | powerpc64le-* | powerpcle-* | ppcbe-* \ - | pyramid-* \ - | romp-* | rs6000-* \ - | sh-* | sh[1234]-* | sh[24]a-* | sh[23]e-* | sh[34]eb-* | sheb-* | shbe-* \ - | shle-* | sh[1234]le-* | sh3ele-* | sh64-* | sh64le-* \ - | sparc-* | sparc64-* | sparc64b-* | sparc64v-* | sparc86x-* | sparclet-* \ - | sparclite-* \ - | sparcv8-* | sparcv9-* | sparcv9b-* | sparcv9v-* | strongarm-* | sv1-* | sx?-* \ - | tahoe-* | thumb-* \ - | tic30-* | tic4x-* | tic54x-* | tic55x-* | tic6x-* | tic80-* | tile-* \ - | tron-* \ - | v850-* | v850e-* | vax-* \ - | we32k-* \ - | x86-* | x86_64-* | xc16x-* | xps100-* | xscale-* | xscalee[bl]-* \ - | xstormy16-* | xtensa*-* \ - | ymp-* \ - | z8k-* | z80-*) - ;; - # Recognize the basic CPU types without company name, with glob match. - xtensa*) - basic_machine=$basic_machine-unknown - ;; - # Recognize the various machine names and aliases which stand - # for a CPU type and a company and sometimes even an OS. - 386bsd) - basic_machine=i386-unknown - os=-bsd - ;; - 3b1 | 7300 | 7300-att | att-7300 | pc7300 | safari | unixpc) - basic_machine=m68000-att - ;; - 3b*) - basic_machine=we32k-att - ;; - a29khif) - basic_machine=a29k-amd - os=-udi - ;; - abacus) - basic_machine=abacus-unknown - ;; - adobe68k) - basic_machine=m68010-adobe - os=-scout - ;; - alliant | fx80) - basic_machine=fx80-alliant - ;; - altos | altos3068) - basic_machine=m68k-altos - ;; - am29k) - basic_machine=a29k-none - os=-bsd - ;; - amd64) - basic_machine=x86_64-pc - ;; - amd64-*) - basic_machine=x86_64-`echo $basic_machine | sed 's/^[^-]*-//'` - ;; - amdahl) - basic_machine=580-amdahl - os=-sysv - ;; - amiga | amiga-*) - basic_machine=m68k-unknown - ;; - amigaos | amigados) - basic_machine=m68k-unknown - os=-amigaos - ;; - amigaunix | amix) - basic_machine=m68k-unknown - os=-sysv4 - ;; - apollo68) - basic_machine=m68k-apollo - os=-sysv - ;; - apollo68bsd) - basic_machine=m68k-apollo - os=-bsd - ;; - aux) - basic_machine=m68k-apple - os=-aux - ;; - balance) - basic_machine=ns32k-sequent - os=-dynix - ;; - blackfin) - basic_machine=bfin-unknown - os=-linux - ;; - blackfin-*) - basic_machine=bfin-`echo $basic_machine | sed 's/^[^-]*-//'` - os=-linux - ;; - c90) - basic_machine=c90-cray - os=-unicos - ;; - cegcc) - basic_machine=arm-unknown - os=-cegcc - ;; - convex-c1) - basic_machine=c1-convex - os=-bsd - ;; - convex-c2) - basic_machine=c2-convex - os=-bsd - ;; - convex-c32) - basic_machine=c32-convex - os=-bsd - ;; - convex-c34) - basic_machine=c34-convex - os=-bsd - ;; - convex-c38) - basic_machine=c38-convex - os=-bsd - ;; - cray | j90) - basic_machine=j90-cray - os=-unicos - ;; - craynv) - basic_machine=craynv-cray - os=-unicosmp - ;; - cr16) - basic_machine=cr16-unknown - os=-elf - ;; - crds | unos) - basic_machine=m68k-crds - ;; - crisv32 | crisv32-* | etraxfs*) - basic_machine=crisv32-axis - ;; - cris | cris-* | etrax*) - basic_machine=cris-axis - ;; - crx) - basic_machine=crx-unknown - os=-elf - ;; - da30 | da30-*) - basic_machine=m68k-da30 - ;; - decstation | decstation-3100 | pmax | pmax-* | pmin | dec3100 | decstatn) - basic_machine=mips-dec - ;; - decsystem10* | dec10*) - basic_machine=pdp10-dec - os=-tops10 - ;; - decsystem20* | dec20*) - basic_machine=pdp10-dec - os=-tops20 - ;; - delta | 3300 | motorola-3300 | motorola-delta \ - | 3300-motorola | delta-motorola) - basic_machine=m68k-motorola - ;; - delta88) - basic_machine=m88k-motorola - os=-sysv3 - ;; - dicos) - basic_machine=i686-pc - os=-dicos - ;; - djgpp) - basic_machine=i586-pc - os=-msdosdjgpp - ;; - dpx20 | dpx20-*) - basic_machine=rs6000-bull - os=-bosx - ;; - dpx2* | dpx2*-bull) - basic_machine=m68k-bull - os=-sysv3 - ;; - ebmon29k) - basic_machine=a29k-amd - os=-ebmon - ;; - elxsi) - basic_machine=elxsi-elxsi - os=-bsd - ;; - encore | umax | mmax) - basic_machine=ns32k-encore - ;; - es1800 | OSE68k | ose68k | ose | OSE) - basic_machine=m68k-ericsson - os=-ose - ;; - fx2800) - basic_machine=i860-alliant - ;; - genix) - basic_machine=ns32k-ns - ;; - gmicro) - basic_machine=tron-gmicro - os=-sysv - ;; - go32) - basic_machine=i386-pc - os=-go32 - ;; - h3050r* | hiux*) - basic_machine=hppa1.1-hitachi - os=-hiuxwe2 - ;; - h8300hms) - basic_machine=h8300-hitachi - os=-hms - ;; - h8300xray) - basic_machine=h8300-hitachi - os=-xray - ;; - h8500hms) - basic_machine=h8500-hitachi - os=-hms - ;; - harris) - basic_machine=m88k-harris - os=-sysv3 - ;; - hp300-*) - basic_machine=m68k-hp - ;; - hp300bsd) - basic_machine=m68k-hp - os=-bsd - ;; - hp300hpux) - basic_machine=m68k-hp - os=-hpux - ;; - hp3k9[0-9][0-9] | hp9[0-9][0-9]) - basic_machine=hppa1.0-hp - ;; - hp9k2[0-9][0-9] | hp9k31[0-9]) - basic_machine=m68000-hp - ;; - hp9k3[2-9][0-9]) - basic_machine=m68k-hp - ;; - hp9k6[0-9][0-9] | hp6[0-9][0-9]) - basic_machine=hppa1.0-hp - ;; - hp9k7[0-79][0-9] | hp7[0-79][0-9]) - basic_machine=hppa1.1-hp - ;; - hp9k78[0-9] | hp78[0-9]) - # FIXME: really hppa2.0-hp - basic_machine=hppa1.1-hp - ;; - hp9k8[67]1 | hp8[67]1 | hp9k80[24] | hp80[24] | hp9k8[78]9 | hp8[78]9 | hp9k893 | hp893) - # FIXME: really hppa2.0-hp - basic_machine=hppa1.1-hp - ;; - hp9k8[0-9][13679] | hp8[0-9][13679]) - basic_machine=hppa1.1-hp - ;; - hp9k8[0-9][0-9] | hp8[0-9][0-9]) - basic_machine=hppa1.0-hp - ;; - hppa-next) - os=-nextstep3 - ;; - hppaosf) - basic_machine=hppa1.1-hp - os=-osf - ;; - hppro) - basic_machine=hppa1.1-hp - os=-proelf - ;; - i370-ibm* | ibm*) - basic_machine=i370-ibm - ;; -# I'm not sure what "Sysv32" means. Should this be sysv3.2? - i*86v32) - basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'` - os=-sysv32 - ;; - i*86v4*) - basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'` - os=-sysv4 - ;; - i*86v) - basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'` - os=-sysv - ;; - i*86sol2) - basic_machine=`echo $1 | sed -e 's/86.*/86-pc/'` - os=-solaris2 - ;; - i386mach) - basic_machine=i386-mach - os=-mach - ;; - i386-vsta | vsta) - basic_machine=i386-unknown - os=-vsta - ;; - iris | iris4d) - basic_machine=mips-sgi - case $os in - -irix*) - ;; - *) - os=-irix4 - ;; - esac - ;; - isi68 | isi) - basic_machine=m68k-isi - os=-sysv - ;; - m68knommu) - basic_machine=m68k-unknown - os=-linux - ;; - m68knommu-*) - basic_machine=m68k-`echo $basic_machine | sed 's/^[^-]*-//'` - os=-linux - ;; - m88k-omron*) - basic_machine=m88k-omron - ;; - magnum | m3230) - basic_machine=mips-mips - os=-sysv - ;; - merlin) - basic_machine=ns32k-utek - os=-sysv - ;; - mingw32) - basic_machine=i386-pc - os=-mingw32 - ;; - mingw32ce) - basic_machine=arm-unknown - os=-mingw32ce - ;; - miniframe) - basic_machine=m68000-convergent - ;; - *mint | -mint[0-9]* | *MiNT | *MiNT[0-9]*) - basic_machine=m68k-atari - os=-mint - ;; - mips3*-*) - basic_machine=`echo $basic_machine | sed -e 's/mips3/mips64/'` - ;; - mips3*) - basic_machine=`echo $basic_machine | sed -e 's/mips3/mips64/'`-unknown - ;; - monitor) - basic_machine=m68k-rom68k - os=-coff - ;; - morphos) - basic_machine=powerpc-unknown - os=-morphos - ;; - msdos) - basic_machine=i386-pc - os=-msdos - ;; - ms1-*) - basic_machine=`echo $basic_machine | sed -e 's/ms1-/mt-/'` - ;; - mvs) - basic_machine=i370-ibm - os=-mvs - ;; - ncr3000) - basic_machine=i486-ncr - os=-sysv4 - ;; - netbsd386) - basic_machine=i386-unknown - os=-netbsd - ;; - netwinder) - basic_machine=armv4l-rebel - os=-linux - ;; - news | news700 | news800 | news900) - basic_machine=m68k-sony - os=-newsos - ;; - news1000) - basic_machine=m68030-sony - os=-newsos - ;; - news-3600 | risc-news) - basic_machine=mips-sony - os=-newsos - ;; - necv70) - basic_machine=v70-nec - os=-sysv - ;; - next | m*-next ) - basic_machine=m68k-next - case $os in - -nextstep* ) - ;; - -ns2*) - os=-nextstep2 - ;; - *) - os=-nextstep3 - ;; - esac - ;; - nh3000) - basic_machine=m68k-harris - os=-cxux - ;; - nh[45]000) - basic_machine=m88k-harris - os=-cxux - ;; - nindy960) - basic_machine=i960-intel - os=-nindy - ;; - mon960) - basic_machine=i960-intel - os=-mon960 - ;; - nonstopux) - basic_machine=mips-compaq - os=-nonstopux - ;; - np1) - basic_machine=np1-gould - ;; - nsr-tandem) - basic_machine=nsr-tandem - ;; - op50n-* | op60c-*) - basic_machine=hppa1.1-oki - os=-proelf - ;; - openrisc | openrisc-*) - basic_machine=or32-unknown - ;; - os400) - basic_machine=powerpc-ibm - os=-os400 - ;; - OSE68000 | ose68000) - basic_machine=m68000-ericsson - os=-ose - ;; - os68k) - basic_machine=m68k-none - os=-os68k - ;; - pa-hitachi) - basic_machine=hppa1.1-hitachi - os=-hiuxwe2 - ;; - paragon) - basic_machine=i860-intel - os=-osf - ;; - parisc) - basic_machine=hppa-unknown - os=-linux - ;; - parisc-*) - basic_machine=hppa-`echo $basic_machine | sed 's/^[^-]*-//'` - os=-linux - ;; - pbd) - basic_machine=sparc-tti - ;; - pbb) - basic_machine=m68k-tti - ;; - pc532 | pc532-*) - basic_machine=ns32k-pc532 - ;; - pc98) - basic_machine=i386-pc - ;; - pc98-*) - basic_machine=i386-`echo $basic_machine | sed 's/^[^-]*-//'` - ;; - pentium | p5 | k5 | k6 | nexgen | viac3) - basic_machine=i586-pc - ;; - pentiumpro | p6 | 6x86 | athlon | athlon_*) - basic_machine=i686-pc - ;; - pentiumii | pentium2 | pentiumiii | pentium3) - basic_machine=i686-pc - ;; - pentium4) - basic_machine=i786-pc - ;; - pentium-* | p5-* | k5-* | k6-* | nexgen-* | viac3-*) - basic_machine=i586-`echo $basic_machine | sed 's/^[^-]*-//'` - ;; - pentiumpro-* | p6-* | 6x86-* | athlon-*) - basic_machine=i686-`echo $basic_machine | sed 's/^[^-]*-//'` - ;; - pentiumii-* | pentium2-* | pentiumiii-* | pentium3-*) - basic_machine=i686-`echo $basic_machine | sed 's/^[^-]*-//'` - ;; - pentium4-*) - basic_machine=i786-`echo $basic_machine | sed 's/^[^-]*-//'` - ;; - pn) - basic_machine=pn-gould - ;; - power) basic_machine=power-ibm - ;; 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Start with version information of `0:0:0' for each libtool library. +# +# 2. Update the version information only immediately before a public +# release of your software. More frequent updates are unnecessary, +# and only guarantee that the current interface number gets larger +# faster. +# +# 3. If the library source code has changed at all since the last +# update, then increment REVISION (`C:R:A' becomes `C:r+1:A'). +# +# 4. If any interfaces have been added, removed, or changed since the +# last update, increment CURRENT, and set REVISION to 0. +# +# 5. If any interfaces have been added since the last public release, +# then increment AGE. +# +# 6. If any interfaces have been removed since the last public release, +# then set AGE to 0. +CURRENT=6 +REVISION=0 +AGE=0 + +AC_ARG_ENABLE(version-info, + AS_HELP_STRING([--disable-version-info], + [don't encode version information in the generated library]), + version_info=$enableval, + version_info=yes) +if test x$version_info = xyes +then + ODE_VERSION_INFO="-version-info $CURRENT:$REVISION:$AGE" +else + ODE_VERSION_INFO="-avoid-version" +fi +AC_SUBST(ODE_VERSION_INFO) + + +AC_CONFIG_SRCDIR([ode/src/ode.cpp]) +AC_CONFIG_MACRO_DIR([m4]) + +AC_CANONICAL_HOST + +AM_INIT_AUTOMAKE([1.10 foreign]) +AC_CONFIG_HEADERS([ode/src/config.h]) + +dnl This is needed because we have subdirectories +AC_PROG_MAKE_SET +AC_PROG_CXX +AC_PROG_CC +AM_PROG_CC_C_O +AC_PROG_CPP +AC_PROG_AWK +AC_PROG_INSTALL +AC_PROG_LN_S +AC_PROG_MKDIR_P +LT_INIT([disable-shared win32-dll]) +AC_CHECK_TOOLS([WINDRES], [windres]) + +AC_C_BIGENDIAN +AC_C_INLINE +AC_C_VOLATILE +PKG_PROG_PKG_CONFIG + +AC_ARG_VAR([DOXYGEN], [set to doxygen binary to generate doxygen docs]) +AC_CHECK_PROGS([DOXYGEN], [doxygen]) +AM_CONDITIONAL([HAVE_DOXYGEN], [test x$DOXYGEN = xdoxygen]) + + +dnl this may NOT be the machine on which the code is going to run in, +dnl so allow users to compile programs for their target machine. +pentium=no +cpu64=no +case "$host_cpu" in + i586 | i686 | i786 ) + pentium=yes + AC_DEFINE(PENTIUM,1,[compiling for a pentium on a gcc-based platform?]) + ;; + x86_64* ) + pentium=yes + cpu64=yes + AC_DEFINE(X86_64_SYSTEM,1,[compiling for a X86_64 system on a gcc-based platform?]) + ;; +esac + +AM_CONDITIONAL(X86_64_SYSTEM, test x$cpu64 = xyes) + + + + + + +dnl check for required headers +AC_CHECK_HEADERS( [alloca.h stdio.h inttypes.h stdint.h stdlib.h math.h \ + string.h stdarg.h malloc.h float.h time.h sys/time.h \ + limits.h stddef.h]) + + +opcode=no +gimpact=no +AC_ARG_WITH(trimesh, AS_HELP_STRING([--with-trimesh=@<:@opcode|gimpact|none@:>@], + [use the specified system for trimesh support @<:@default=opcode@:>@]), + trimesh=$withval,trimesh=opcode +) +if test "$trimesh" = opcode +then + opcode=yes +fi +if test "$trimesh" = gimpact +then + gimpact=yes +fi + +AM_CONDITIONAL(OPCODE, test $opcode = yes) +AM_CONDITIONAL(GIMPACT, test $gimpact = yes) +AM_CONDITIONAL(TRIMESH, test $opcode = yes -o $gimpact = yes) + + +AC_MSG_CHECKING(if double precision is requested) +AC_ARG_ENABLE(double-precision, + AS_HELP_STRING([--enable-double-precision], + [Configure ODE to work with double precision, if not specified, single precision is used @<:@default=no@:>@]), + usedouble=$enableval,usedouble=no) +AC_MSG_RESULT([$usedouble]) +if test "$usedouble" = yes; +then + ODE_PRECISION=dDOUBLE +else + ODE_PRECISION=dSINGLE +fi +AC_SUBST(ODE_PRECISION) + + +AC_ARG_WITH([drawstuff], + AS_HELP_STRING([--with-drawstuff=X11|Win32|OSX|none], + [force a particular drawstuff implementation or disable it.[default=autodetect]]), + [drawstuff=$withval],[drawstuff=]) + +dnl Set some Platform Specific Variables +EXTRA_LIBTOOL_LDFLAGS= +case "$host_os" in + cygwin* | mingw*) + if test "x$drawstuff" = x + then + drawstuff="Win32" # if in a Windows enviroment + fi + EXTRA_LIBTOOL_LDFLAGS="-no-undefined" + ;; + *apple* | *darwin*) # For Mac OS X + if test "x$drawstuff" = x + then + drawstuff="OSX" + fi + dnl We need to use C++ compilation and linking for ode on Mac + dnl Might as well do it for all code. + CC="$CXX" + LINK="$CXXLINK" + ;; + *) + if test "x$drawstuff" = x + then + drawstuff="X11" # if anything else default to X11 + fi + ;; +esac +AC_SUBST(EXTRA_LIBTOOL_LDFLAGS) + + +dnl Set Drawstuff variables +AC_MSG_CHECKING([which drawstuff lib to build]) +AC_MSG_RESULT($drawstuff) + +if test "x$drawstuff" = "xX11" +then + # The built-in macro, X_PATH, causes too many problems, these days everyone uses Xorg, + # so we can ask pkg-config to find it for us. + PKG_CHECK_MODULES(X11, x11, [], [drawstuff="none"]) +fi + +dnl Check for OpenGL +if test "x$drawstuff" = "xOSX"; then + AC_DEFINE([HAVE_APPLE_OPENGL_FRAMEWORK], [1], + [Use the Apple OpenGL framework.]) + GL_LIBS="-framework OpenGL -framework GLUT" +elif test "x$drawstuff" != "xnone"; then + have_gl_headers=yes + AC_CHECK_HEADERS(GL/gl.h GL/glu.h GL/glext.h, , + [have_gl_headers=no], + [[#ifdef WIN32 + #include + #endif + #if HAVE_GL_GL_H + #include + #endif + #if HAVE_GL_GLU_H + #include + #endif + ]]) + have_gl=no + have_glu=no + TEMP_LDFLAGS="$LDFLAGS" + AC_CHECK_LIB(GL, main, [GL_LIBS="-lGL"; have_gl=yes]) + AC_CHECK_LIB(GLU, main, [GL_LIBS="-lGLU $GL_LIBS"; have_glu=yes], , -lGL) + AC_CHECK_LIB(opengl32, main, [GL_LIBS="-lopengl32"; have_gl=yes]) + AC_CHECK_LIB(glu32, main, [GL_LIBS="-lglu32 $GL_LIBS"; have_glu=yes], , -lopengl32) + LDFLAGS="$TEMP_LDFLAGS" + if test $have_gl = no -o $have_glu = no -o $have_gl_headers = no; then + drawstuff="none" + fi +fi +AC_SUBST(GL_LIBS) + +dnl Set Conditionals +AM_CONDITIONAL(WIN32, test x$drawstuff = xWin32) +AM_CONDITIONAL(X11, test x$drawstuff = xX11) +AM_CONDITIONAL(OSX, test x$drawstuff = xOSX) +AM_CONDITIONAL(ENABLE_DRAWSTUFF, test x$drawstuff != xnone) + +dnl Check if we want to build demos +AC_MSG_CHECKING(if demos should be built) +AC_ARG_ENABLE(demos, + AS_HELP_STRING([--disable-demos], [don't build demos]), + enable_demos=$enableval,enable_demos=yes) +if test x$drawstuff = xnone -a x$enable_demos = xyes ; then + enable_demos=no + AC_MSG_RESULT($enable_demos) + AC_MSG_WARN([Demos will not be built because OpenGL doesn't seem to work. See `config.log' for details.]) +else + AC_MSG_RESULT($enable_demos) +fi + + +dnl stdc++ is required when linking C programs against ode +AC_CHECK_LIB(stdc++,main,[LIBSTDCXX="-lstdc++"],[LIBSTDCXX=]) +AC_SUBST(LIBSTDCXX) +AC_CHECK_LIB(pthread,main,[LIBS="$LIBS -lpthread"]) + + +dnl test if we will build demos +AM_CONDITIONAL(ENABLE_DEMOS, test x$enable_demos = xyes) + + +dnl Check if the user wants the old timesh collider +old_trimesh=no +AC_ARG_ENABLE([old-trimesh], AS_HELP_STRING([--enable-old-trimesh],[enable use of the old trimesh collider]), + [old_trimesh=$enableval] + ) +if test x$old_trimesh = xyes -a $trimesh = opcode; then + AC_DEFINE(dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER, 1, + [Use the old trimesh-trimesh collider]) +else + old_trimesh=no +fi + + +dnl Check if the user wants to profile ODE using gprof +AC_MSG_CHECKING(for gprof) +AC_ARG_ENABLE([gprof], + AS_HELP_STRING([--enable-gprof],[enable profiling with gprof]), + gprof=$enableval, + gprof=no) +if test "$gprof" != no +then + CFLAGS="-pg $CFLAGS" + CXXFLAGS="-pg $CXXFLAGS" + AC_MSG_RESULT(enabled) + AC_CHECK_LIB(gmon, main,[LIBS="$LIBS -lgmon"]) +else + AC_MSG_RESULT(no) +fi + +# Checks for typedefs, structures, and compiler characteristics. +AC_HEADER_STDBOOL +AC_C_INLINE +AC_TYPE_INT32_T +AC_FUNC_OBSTACK +AC_TYPE_SIZE_T +AC_TYPE_UINT32_T + +dnl Check for autoscan sugested functions +AC_CHECK_LIB(m, [main]) +AC_CHECK_LIB(sunmath, [main]) +AC_CHECK_FUNCS([floor memmove memset sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf strchr strstr pthread_attr_setstacklazy clock_gettime]) +AC_FUNC_ALLOCA + +AC_ARG_ENABLE([threading-intf], + AS_HELP_STRING([--disable-threading-intf], + [disable threading interface support (external implementations may not be assigned; overrides --enable-builtin-threading-impl)] + ), + threading_intf=$enableval,threading_intf=yes) +AC_ARG_ENABLE([ou], + AS_HELP_STRING([--enable-ou], + [use TLS for global caches (allows threaded collision checks for isolated spaces)] + ), + use_ou_tls=$enableval,use_ou_tls=no) +use_ou="no" +if test x$use_ou_tls = xyes -o x$threading_intf = xyes +then + use_ou="yes" +fi +if test x$use_ou = xyes +then + OU_NAMESPACE=odeou + AC_CONFIG_COMMANDS_POST([export OU_NAMESPACE=odeou]) + AC_DEFINE([_OU_NAMESPACE],[odeou],[libou namespace for ODE]) + AC_DEFINE([dOU_ENABLED],[1],[Generic OU features are enabled]) + AC_DEFINE([dATOMICS_ENABLED],[1],[Atomic API of OU is enabled]) + if test x$use_ou_tls = xyes + then + AC_DEFINE([dTLS_ENABLED],[1],[Thread Local Storage API of OU is enabled]) + fi + + case "$host_os" in + cygwin* | mingw*) + targetos=_OU_TARGET_OS_WINDOWS + ;; + *qnx*) + targetos=_OU_TARGET_OS_QNX + ;; + *apple* | *darwin*) + targetos=_OU_TARGET_OS_MAC + ;; + *sunos*) + targetos=_OU_TARGET_OS_SUNOS + ;; + *aix*) + targetos=_OU_TARGET_OS_AIX + ;; + *) + targetos=_OU_TARGET_OS_GENUNIX + ;; + esac + + if test $targetos = _OU_TARGET_OS_MAC + then + MAC_OS_X_VERSION=1000 + AC_CHECK_FUNC([OSAtomicAdd32Barrier], [MAC_OS_X_VERSION=1040]) + AC_CHECK_FUNC([OSAtomicAnd32OrigBarrier], [MAC_OS_X_VERSION=1050]) + AC_DEFINE_UNQUOTED(MAC_OS_X_VERSION, $MAC_OS_X_VERSION, [Mac OS X version setting for OU Library]) + fi + + if test $targetos = _OU_TARGET_OS_SUNOS + then + AC_CHECK_FUNC(atomic_inc_32_nv, [], + [targetos=_OU_TARGET_OS_GENUNIX]) + fi + + AC_DEFINE_UNQUOTED(_OU_TARGET_OS, $targetos, [Target OS setting for OU Library]) +fi +AC_CONFIG_SUBDIRS([ou]) +AM_CONDITIONAL(ENABLE_OU, test x$use_ou = xyes) + +if test x$threading_intf = xyes +then + AC_ARG_ENABLE([builtin-threading-impl], + AS_HELP_STRING([--enable-builtin-threading-impl], + [include built-in multithreaded threading implementation (still must be created and assigned to be used)] + ), + use_builtin_threading_impl=$enableval,use_builtin_threading_impl=no) + if test x$use_builtin_threading_impl = xyes + then + AC_DEFINE([dBUILTIN_THREADING_IMPL_ENABLED],[1],[Built-in multithreaded threading implementation included]) + fi +else + AC_DEFINE([dTHREADING_INTF_DISABLED],[1],[Threading interface is disabled]) + use_builtin_threading_impl=no +fi + +col_cylinder_cylinder=none +col_box_cylinder=default +col_capsule_cylinder=none +col_convex_box=none +col_convex_capsule=none +col_convex_cylinder=none +col_convex_sphere=default +col_convex_convex=default + + +use_libccd=no +libccd_all=no +AC_ARG_ENABLE(libccd, AS_HELP_STRING([--enable-libccd], + [enable all libccd colliders (except box-cylinder)]), + libccd_all=$enableval) +if test x$libccd_all = xyes +then + col_cylinder_cylinder=libccd + col_capsule_cylinder=libccd + col_convex_box=libccd + col_convex_capsule=libccd + col_convex_cylinder=libccd + col_convex_sphere=libccd + col_convex_convex=libccd + use_libccd=yes +fi + + +AC_ARG_WITH([cylinder-cylinder], AS_HELP_STRING([--with-cylinder-cylinder=@<:@none,libccd@:>@], [use specific collider for cylinder-cylinder]), + col_cylinder_cylinder=$withval) + +AC_ARG_WITH([box-cylinder], + AS_HELP_STRING([--with-box-cylinder=@<:@default,libccd@:>@], [use specific collider for box-cylinder]), + col_box_cylinder=$withval) + +AC_ARG_WITH([capsule-cylinder], AS_HELP_STRING([--with-capsule-cylinder=@<:@none,libccd@:>@], [use specific collider for capsule-cylinder]), + col_capsule_cylinder=$withval) + +AC_ARG_WITH([convex-box], AS_HELP_STRING([--with-convex-box=@<:@none,libccd@:>@], [use specific collider for convex-box]), + col_convex_box=$withval) + +AC_ARG_WITH([convex-capsule], AS_HELP_STRING([--with-convex-capsule=@<:@none,libccd@:>@], [use specific collider for convex-capsule]), + col_convex_capsule=$withval) + +AC_ARG_WITH([convex-cylinder], AS_HELP_STRING([--with-convex-cylinder=@<:@none,libccd@:>@], [use specific collider for convex-cylinder]), + col_convex_cylinder=$withval) + +AC_ARG_WITH([convex-sphere], AS_HELP_STRING([--with-convex-sphere=@<:@default,libccd@:>@], [use specific collider for convex-sphere]), + col_convex_sphere=$withval) + +AC_ARG_WITH([convex-convex], AS_HELP_STRING([--with-convex-convex=@<:@default,libccd@:>@], [use specific collider for convex-convex]), + col_convex_convex=$withval) + +if test x$col_cylinder_cylinder = xlibccd -o \ + x$col_box_cylinder = xlibccd -o \ + x$col_capsule_cylinder = xlibccd -o \ + x$col_convex_box = xlibccd -o \ + x$col_convex_capsule = libccd -o \ + x$col_convex_cylinder = xlibccd -o \ + x$col_convex_sphere = libccd -o \ + x$col_convex_convex = libccd +then + use_libccd=yes +fi + + +libccd_source=internal + +AC_ARG_WITH(libccd, + [AS_HELP_STRING([--with-libccd=@<:@internal|system@:>@], + [use the specified libccd @<:@default=system@:>@])], + [libccd_source=$withval], + [libccd_source=system]) + +if test x$use_libccd = xyes +then + if test x$libccd_source = xsystem + then + PKG_CHECK_MODULES(CCD, ccd, ,[libccd_source=internal]) + fi +fi + +if test x$use_libccd = xyes +then + if test x$libccd_source = xinternal + then + AC_CONFIG_SUBDIRS([libccd]) + fi +fi + +AM_CONDITIONAL(LIBCCD, test x$use_libccd != xno) +AM_CONDITIONAL(LIBCCD_INTERNAL, test x$libccd_source = xinternal) +AM_CONDITIONAL(LIBCCD_BOX_CYL, test x$col_box_cylinder = xlibccd) +AM_CONDITIONAL(LIBCCD_CYL_CYL, test x$col_cylinder_cylinder = xlibccd) +AM_CONDITIONAL(LIBCCD_CAP_CYL, test x$col_capsule_cylinder = xlibccd) +AM_CONDITIONAL(LIBCCD_CONVEX_BOX, test x$col_convex_box = xlibccd) +AM_CONDITIONAL(LIBCCD_CONVEX_CAP, test x$col_convex_capsule = xlibccd) +AM_CONDITIONAL(LIBCCD_CONVEX_CYL, test x$col_convex_cylinder = xlibccd) +AM_CONDITIONAL(LIBCCD_CONVEX_SPHERE, test x$col_convex_sphere = xlibccd) +AM_CONDITIONAL(LIBCCD_CONVEX_CONVEX, test x$col_convex_convex = xlibccd) + + + +AC_ARG_ENABLE([asserts], + AS_HELP_STRING([--disable-asserts], + [disables debug error checking]), + asserts=$enableval,asserts=yes) +if test x$asserts = xno +then + CPPFLAGS="$CPPFLAGS -DdNODEBUG" + if test x$use_ou = xyes + then + CPPFLAGS="$CPPFLAGS -DNDEBUG" + fi +fi + + +dnl include found system headers into config.h +AH_TOP([ +#ifndef ODE_CONFIG_H +#define ODE_CONFIG_H +]) +AH_BOTTOM([ + +#ifdef HAVE_ALLOCA_H +#include +#endif +#ifdef HAVE_MALLOC_H +#include +#endif +#ifdef HAVE_STDINT_H +#include +#endif +#ifdef HAVE_INTTYPES_H +#include +#endif + +/* an integer type that we can safely cast a pointer to and + * from without loss of bits. + */ +typedef uintptr_t intP; + + +#ifdef dSINGLE + #define dEpsilon FLT_EPSILON +#else + #define dEpsilon DBL_EPSILON +#endif + + +#include "typedefs.h" + + +#endif /* #define ODE_CONFIG_H */ +]) + +dnl Finally write our Makefiles +AC_CONFIG_FILES([ + Makefile + drawstuff/Makefile + drawstuff/src/Makefile + drawstuff/dstest/Makefile + include/Makefile + include/drawstuff/Makefile + include/ode/Makefile + include/ode/version.h + include/ode/precision.h + ode/Makefile + ode/doc/Doxyfile + ode/doc/Makefile + ode/src/Makefile + ode/src/joints/Makefile + ode/demo/Makefile + OPCODE/Makefile + OPCODE/Ice/Makefile + GIMPACT/Makefile + GIMPACT/include/Makefile + GIMPACT/include/GIMPACT/Makefile + GIMPACT/src/Makefile + tests/Makefile + tests/joints/Makefile + tests/UnitTest++/Makefile + tests/UnitTest++/src/Makefile + tests/UnitTest++/src/Posix/Makefile + tests/UnitTest++/src/Win32/Makefile + ode-config + ode.pc + ]) +AC_OUTPUT + +chmod +x ode-config + +BUILDDIR=`pwd` + +dnl Print some useful information +echo "Configuration:" +echo " Build system type: $build" +echo " Host system type: $host" +echo " Use double precision: $usedouble" +echo " Use drawstuff: $drawstuff" +echo " Demos enabled: $enable_demos" +echo " Use OPCODE: $opcode" +echo " Use GIMPACT: $gimpact" +echo " Use libccd: $use_libccd" + +if test x$use_libccd = xyes +then +echo " libccd source: $libccd_source" +fi + +echo " Custom colliders:" +echo " cylinder-cylinder: $col_cylinder_cylinder" +echo " box-cylinder: $col_box_cylinder" +echo " capsule-cylinder: $col_capsule_cylinder" +echo " convex-box: $col_convex_box" +echo " convex-capsule: $col_convex_capsule" +echo " convex-cylinder: $col_convex_cylinder" +echo " convex-sphere: $col_convex_sphere" +echo " convex-convex: $col_convex_convex" +echo " Is target a Pentium: $pentium" +echo " Is target x86-64: $cpu64" +echo " Use old opcode trimesh collider: $old_trimesh" +echo " TLS for global caches: $use_ou_tls" +echo " Threading intf enabled: $threading_intf" +echo " Built-in threading included: $use_builtin_threading_impl" +echo " Enable debug error check: $asserts" +echo " Headers will be installed in $includedir/ode" +echo " Libraries will be installed in $libdir" +echo " Building in directory $BUILDDIR" + diff -Nru ode-0.11.1/configure.in ode-0.14/configure.in --- ode-0.11.1/configure.in 2009-05-24 17:35:26.000000000 +0000 +++ ode-0.14/configure.in 1970-01-01 00:00:00.000000000 +0000 @@ -1,457 +0,0 @@ -dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram -AC_INIT([ODE],[0.11.1],[ode@ode.org]) -# AC_CONFIG_SRCDIR([ode/src/ode.cpp]) -ODE_RELEASE=0.11.1 -AC_SUBST(ODE_RELEASE) - -# Those are instructions from the Libtool manual: -# 1. Start with version information of `0:0:0' for each libtool library. -# -# 2. Update the version information only immediately before a public -# release of your software. More frequent updates are unnecessary, -# and only guarantee that the current interface number gets larger -# faster. -# -# 3. If the library source code has changed at all since the last -# update, then increment REVISION (`C:R:A' becomes `C:r+1:A'). -# -# 4. If any interfaces have been added, removed, or changed since the -# last update, increment CURRENT, and set REVISION to 0. -# -# 5. If any interfaces have been added since the last public release, -# then increment AGE. -# -# 6. If any interfaces have been removed since the last public release, -# then set AGE to 0. -CURRENT=2 -REVISION=1 -AGE=1 - -AC_ARG_ENABLE(version-info, - AS_HELP_STRING([--disable-version-info], - [don't encode version information in the generated library]), - version_info=$enableval, - version_info=yes) -if test x$version_info = xyes -then - ODE_VERSION_INFO="-version-info $CURRENT:$REVISION:$AGE" -else - ODE_VERSION_INFO="-avoid-version" -fi -AC_SUBST(ODE_VERSION_INFO) - - - -AC_CANONICAL_HOST - -AM_INIT_AUTOMAKE(1.10 foreign) -AC_CONFIG_HEADERS([ode/src/config.h]) - -dnl This is needed because we have subdirectories -AC_PROG_MAKE_SET -AC_PROG_CXX -AC_PROG_CC -AM_PROG_CC_C_O -AC_PROG_CPP -AC_PROG_AWK -AC_PROG_INSTALL -AC_PROG_LN_S -AC_PROG_MKDIR_P -AC_DISABLE_SHARED -AC_LIBTOOL_WIN32_DLL -AC_PROG_LIBTOOL -AC_CHECK_TOOLS([WINDRES], [windres]) - -AC_C_BIGENDIAN -AC_C_INLINE -AC_C_VOLATILE -AC_HEADER_STDBOOL -AC_TYPE_SIZE_T - -dnl Check if we want to build demos -AC_MSG_CHECKING(if demos should be built) -AC_ARG_ENABLE(demos, - AS_HELP_STRING([--disable-demos], [don't build demos]), - enable_demos=$enableval,enable_demos=yes) -AC_MSG_RESULT($enable_demos) - - - -dnl this may NOT be the machine on which the code is going to run in, -dnl so allow users to compile programs for their target machine. -pentium=no -cpu64=no -case "$host_cpu" in - i586 | i686 | i786 ) - pentium=yes - AC_DEFINE(PENTIUM,1,[compiling for a pentium on a gcc-based platform?]) - ;; - x86_64* ) - pentium=yes - cpu64=yes - AC_DEFINE(X86_64_SYSTEM,1,[compiling for a X86_64 system on a gcc-based platform?]) - ;; -esac - -AM_CONDITIONAL(X86_64_SYSTEM, test x$cpu64 = xyes) - - - - - - -dnl check for required headers -AC_CHECK_HEADERS( alloca.h stdio.h stdint.h stdlib.h math.h string.h stdarg.h malloc.h float.h time.h sys/time.h ) - - -opcode=no -gimpact=no -AC_ARG_WITH(trimesh, AS_HELP_STRING([--with-trimesh=[opcode|gimpact|none]], - [use the specified system for trimesh support @<:@default=opcode@:>@]), - trimesh=$withval,trimesh=opcode -) -if test "$trimesh" = opcode -then - opcode=yes -fi -if test "$trimesh" = gimpact -then - gimpact=yes -fi - -AM_CONDITIONAL(OPCODE, test $opcode = yes) -AM_CONDITIONAL(GIMPACT, test $gimpact = yes) -AM_CONDITIONAL(TRIMESH, test $opcode = yes -o $gimpact = yes) - - -AC_MSG_CHECKING(if double precision is requested) -AC_ARG_ENABLE(double-precision, - AS_HELP_STRING([--enable-double-precision], - [Configure ODE to work with double precision, if not specified, single precision is used] - ), - precision=$enableval,precision=no) -AC_MSG_RESULT([$precision]) -if test "$precision" = yes; -then - ODE_PRECISION=-DdDOUBLE -else - ODE_PRECISION=-DdSINGLE -fi - -CPPFLAGS+=" $ODE_PRECISION" -AC_SUBST(ODE_PRECISION) - - -AC_ARG_WITH([drawstuff],AS_HELP_STRING([--with-drawstuff=X11|Win32|OSX|none],[force a particular drawstuff implementation or disable it.]), - [drawstuff=$withval],[drawstuff=]) - -dnl Set some Platform Specific Variables -EXTRA_LIBTOOL_LDFLAGS= -case "$host_os" in - cygwin* | mingw*) - if test x"$drawstuff" = x - then - drawstuff="Win32" # if in a Windows enviroment - fi - EXTRA_LIBTOOL_LDFLAGS="-no-undefined" - ;; - *apple* | *darwin*) # For Mac OS X - if test x"$drawstuff" = x - then - drawstuff="OSX" - fi - dnl We need to use C++ compilation and linking for ode on Mac - dnl Might as well do it for all code. - CC="$CXX" - LINK="$CXXLINK" - ;; - *) - if test x"$drawstuff" = x - then - drawstuff="X11" # if anything else default to X11 - fi - ;; -esac -AC_SUBST(EXTRA_LIBTOOL_LDFLAGS) -AM_CONDITIONAL(ENABLE_DRAWSTUFF, test x$drawstuff != xnone) - - -dnl Set Conditionals -AM_CONDITIONAL(WIN32, test x$drawstuff = xWin32) -AM_CONDITIONAL(X11, test x$drawstuff = xX11) -AM_CONDITIONAL(OSX, test x$drawstuff = xOSX) -dnl Set Drawstuff variables -AC_MSG_CHECKING(which drawstuff lib to build) -AC_MSG_RESULT($drawstuff) - -if test "x$drawstuff" = "xX11" -then - AC_PATH_XTRA -fi - -dnl Check for OpenGL -if test "x$drawstuff" = "xOSX"; then - AC_DEFINE([HAVE_APPLE_OPENGL_FRAMEWORK], [1], - [Use the Apple OpenGL framework.]) - GL_LIBS="-framework OpenGL -framework Carbon -framework AGL" -else - have_gl_headers=yes - AC_CHECK_HEADERS(GL/gl.h GL/glu.h GL/glext.h, , - [have_gl_headers=no], - [[#ifdef WIN32 - #include - #endif - #if HAVE_GL_GL_H - #include - #endif - #if HAVE_GL_GLU_H - #include - #endif - ]]) - have_gl=no - have_glu=no - TEMP_LDFLAGS="$LDFLAGS" - AC_CHECK_LIB(GL, main, [GL_LIBS="-lGL"; have_gl=yes]) - AC_CHECK_LIB(GLU, main, [GL_LIBS="-lGLU $GL_LIBS"; have_glu=yes], , -lGL) - AC_CHECK_LIB(opengl32, main, [GL_LIBS="-lopengl32"; have_gl=yes]) - AC_CHECK_LIB(glu32, main, [GL_LIBS="-lglu32 $GL_LIBS"; have_glu=yes], , -lopengl32) - LDFLAGS="$TEMP_LDFLAGS" - if test $have_gl = no -o $have_glu = no -o $have_gl_headers = no; then - if test x$enable_demos = xyes; then - AC_MSG_WARN([Demos will not be built because OpenGL doesn't seem to work. See `config.log' for details.]) - fi - enable_demos=no - fi -fi -AC_SUBST(GL_LIBS) - - -dnl stdc++ is required when linking C programs against ode -AC_CHECK_LIB(stdc++,main,[LIBSTDCXX="-lstdc++"],[LIBSTDCXX=]) -AC_SUBST(LIBSTDCXX) -AC_CHECK_LIB(pthread,main,[LIBS="$LIBS -lpthread"]) - - -dnl test if we will build demos -AM_CONDITIONAL(ENABLE_DEMOS, test x$enable_demos = xyes) - - -dnl Check if the user wants the old timesh collider -old_trimesh=no -AC_ARG_ENABLE([old-trimesh], AS_HELP_STRING([--enable-old-trimesh],[enable use of the old trimesh collider]), - [old_trimesh=$enableval] - ) -if test x$old_trimesh = xyes -a $trimesh = opcode; then - AC_DEFINE(dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER, 1, - [Use the old trimesh-trimesh collider]) -else - old_trimesh=no -fi - - -dnl Check if the user wants to profile ODE using gprof -AC_MSG_CHECKING(for gprof) -AC_ARG_ENABLE([gprof], - AS_HELP_STRING([--enable-gprof],[enable profiling with gprof]), - gprof=$enableval, - gprof=no) -if test "$gprof" != no -then - CFLAGS="-pg $CFLAGS" - CXXFLAGS="-pg $CXXFLAGS" - AC_MSG_RESULT(enabled) - AC_CHECK_LIB(gmon, main,[LIBS="$LIBS -lgmon"]) -else - AC_MSG_RESULT(no) -fi - -dnl Check for autoscan sugested functions -AC_CHECK_LIB(m, [main]) -AC_CHECK_LIB(sunmath, [main]) -AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf]) -AC_FUNC_ALLOCA -AC_FUNC_MALLOC -AC_FUNC_OBSTACK -AC_FUNC_REALLOC -AC_FUNC_SELECT_ARGTYPES -AC_FUNC_VPRINTF - -AC_MSG_CHECKING(if alloca should be emulated by malloc) -AC_ARG_ENABLE([malloc], - AS_HELP_STRING([--enable-malloc], - [use malloc to emulate alloca (more portable but slower)] - ), - usemalloc=$enableval, usemalloc=no) -if test "$usemalloc" != no -then - AC_DEFINE([dUSE_MALLOC_FOR_ALLOCA],[1],[use malloc() instead of alloca()]) - AC_MSG_RESULT($usemalloc) -else - AC_MSG_RESULT(no) -fi - -AC_ARG_ENABLE([ou], - AS_HELP_STRING([--enable-ou], - [EXPERIMENTAL: use TLS for global variables to allow for running ODE in multiple threads simultaneously] - ), - use_ou=$enableval,use_ou=no) -if test x$use_ou = xyes -then - OU_NAMESPACE=odeou - AC_CONFIG_COMMANDS_POST([export OU_NAMESPACE=odeou]) - AC_DEFINE([_OU_NAMESPACE],[odeou],[libou namespace for ODE]) - AC_DEFINE([dOU_ENABLED],[1],[Generic OU features are enabled]) - AC_DEFINE([dATOMICS_ENABLED],[1],[Atomic API of OU is enabled]) - AC_DEFINE([dTLS_ENABLED],[1],[Thread Local Storage API of OU is enabled]) - - case "$host_os" in - cygwin* | mingw*) - targetos=_OU_TARGET_OS_WINDOWS - ;; - *qnx*) - targetos=_OU_TARGET_OS_QNX - ;; - *apple* | *darwin*) - targetos=_OU_TARGET_OS_MAC - ;; - *sunos*) - targetos=_OU_TARGET_OS_SUNOS - ;; - *aix*) - targetos=_OU_TARGET_OS_AIX - ;; - *) - targetos=_OU_TARGET_OS_GENUNIX - ;; - esac - - if test $targetos = _OU_TARGET_OS_MAC - then - MAC_OS_X_VERSION=1000 - AC_CHECK_FUNC([OSAtomicAdd32Barrier], [MAC_OS_X_VERSION=1040]) - AC_CHECK_FUNC([OSAtomicAnd32OrigBarrier], [MAC_OS_X_VERSION=1050]) - AC_DEFINE_UNQUOTED(MAC_OS_X_VERSION, $MAC_OS_X_VERSION, [Mac OS X version setting for OU Library]) - fi - - if test $targetos = _OU_TARGET_OS_SUNOS - then - AC_CHECK_FUNC(atomic_inc_32_nv, [], - [targetos=_OU_TARGET_OS_GENUNIX]) - fi - - AC_DEFINE_UNQUOTED(_OU_TARGET_OS, $targetos, [Target OS setting for OU Library]) -fi -AC_CONFIG_SUBDIRS([ou]) -AM_CONDITIONAL(ENABLE_OU, test x$use_ou = xyes) - - -AC_ARG_ENABLE([asserts], - AS_HELP_STRING([--disable-asserts], - [disables debug error checking]), - asserts=$enableval,asserts=yes) -if test x$asserts = xno -then - CPPFLAGS="$CPPFLAGS -DdNODEBUG" - if test x$use_ou = xyes - then - CPPFLAGS="$CPPFLAGS -DNDEBUG" - fi -fi - - -dnl include found system headers into config.h -AH_TOP([ -#ifndef ODE_CONFIG_H -#define ODE_CONFIG_H -]) -AH_BOTTOM([ - -#ifdef HAVE_ALLOCA_H -#include -#endif -#ifdef HAVE_MALLOC_H -#include -#endif -#ifdef HAVE_STDINT_H -#include -#endif - -/* an integer type that we can safely cast a pointer to and - * from without loss of bits. - */ -typedef uintptr_t intP; - - -// 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 - -#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 - -#ifdef dSINGLE - #define dEpsilon FLT_EPSILON -#else - #define dEpsilon DBL_EPSILON -#endif - - -#endif /* #define ODE_CONFIG_H */ -]) - -dnl Finally write our Makefiles -AC_CONFIG_FILES([ - Makefile - include/Makefile - include/ode/Makefile - include/drawstuff/Makefile - ode/Makefile - ode/src/Makefile - ode/src/joints/Makefile - drawstuff/Makefile - drawstuff/src/Makefile - drawstuff/dstest/Makefile - ode/demo/Makefile - OPCODE/Makefile - OPCODE/Ice/Makefile - GIMPACT/Makefile - GIMPACT/include/Makefile - GIMPACT/include/GIMPACT/Makefile - GIMPACT/src/Makefile - tests/Makefile - tests/UnitTest++/Makefile - tests/UnitTest++/src/Makefile - tests/UnitTest++/src/Posix/Makefile - tests/UnitTest++/src/Win32/Makefile - ode-config - ode.pc - ]) -AC_OUTPUT - -chmod +x ode-config - -BUILDDIR=`pwd` - -dnl Print some useful information -echo "Configuration:" -echo " Build system type: $build" -echo " Host system type: $host" -echo " Use double precision: $precision" -echo " Use drawstuff: $drawstuff" -echo " Demos enabled: $enable_demos" -echo " Use OPCODE: $opcode" -echo " Use GIMPACT: $gimpact" -echo " Is target a Pentium: $pentium" -echo " Is target x86-64: $cpu64" -echo " Use old opcode trimesh collider: $old_trimesh" -echo " TLS for global data: $use_ou" -echo " Enable debug error check: $asserts" -echo " Headers will be installed in $includedir/ode" -echo " Libraries will be installed in $libdir" -echo " Building in directory $BUILDDIR" - diff -Nru ode-0.11.1/contrib/BreakableJoints/common.h ode-0.14/contrib/BreakableJoints/common.h --- ode-0.11.1/contrib/BreakableJoints/common.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/common.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,337 @@ +/************************************************************************* + * * + * 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 +#include + +#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 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()", __FUNCTION__); +#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)") + +/* floating point data type, vector, matrix and quaternion types */ + +#if defined(dSINGLE) +typedef float dReal; +#elif defined(dDOUBLE) +typedef double dReal; +#else +#error You must #define dSINGLE or dDOUBLE +#endif + + +/* 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) ((float)(1.0f/(x))) /* reciprocal */ +#define dSqrt(x) ((float)sqrt(x)) /* square root */ +#define dRecipSqrt(x) ((float)(1.0f/sqrt(x))) /* reciprocal square root */ +#define dSin(x) ((float)sin(x)) /* sine */ +#define dCos(x) ((float)cos(x)) /* cosine */ +#define dFabs(x) ((float)fabs(x)) /* absolute value */ +#define dAtan2(y,x) ((float)atan2((y),(x))) /* arc tangent with 2 args */ + +#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)) + +#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(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1)))))) + + +/* 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 +}; + +/******************** breakable joint contribution ***********************/ +/* joint break callback function */ +typedef void dJointBreakCallback (dJointID joint); + +/* joint break modes */ +enum { + // if this flag is set, the joint wil break + dJOINT_BROKEN = 0x0001, + // if this flag is set, the joint wil be deleted when it breaks + dJOINT_DELETE_ON_BREAK = 0x0002, + // if this flag is set, the joint can break at a certain force on body 1 + dJOINT_BREAK_AT_B1_FORCE = 0x0004, + // if this flag is set, the joint can break at a certain torque on body 1 + dJOINT_BREAK_AT_B1_TORQUE = 0x0008, + // if this flag is set, the joint can break at a certain force on body 2 + dJOINT_BREAK_AT_B2_FORCE = 0x0010, + // if this flag is set, the joint can break at a certain torque on body 2 + dJOINT_BREAK_AT_B2_TORQUE = 0x0020 +}; +/*************************************************************************/ + +/* 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, + +#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, + +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 diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/common.h.diff ode-0.14/contrib/BreakableJoints/diff/common.h.diff --- ode-0.11.1/contrib/BreakableJoints/diff/common.h.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/common.h.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,21 @@ +208,227d207 +< /******************** breakable joint contribution ***********************/ +< /* joint break callback function */ +< typedef void dJointBreakCallback (dJointID joint); +< +< /* joint break modes */ +< enum { +< // if this flag is set, the joint wil break +< dJOINT_BROKEN = 0x0001, +< // if this flag is set, the joint wil be deleted when it breaks +< dJOINT_DELETE_ON_BREAK = 0x0002, +< // if this flag is set, the joint can break at a certain force on body 1 +< dJOINT_BREAK_AT_B1_FORCE = 0x0004, +< // if this flag is set, the joint can break at a certain torque on body 1 +< dJOINT_BREAK_AT_B1_TORQUE = 0x0008, +< // if this flag is set, the joint can break at a certain force on body 2 +< dJOINT_BREAK_AT_B2_FORCE = 0x0010, +< // if this flag is set, the joint can break at a certain torque on body 2 +< dJOINT_BREAK_AT_B2_TORQUE = 0x0020 +< }; +< /*************************************************************************/ diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/joint.cpp.diff ode-0.14/contrib/BreakableJoints/diff/joint.cpp.diff --- ode-0.11.1/contrib/BreakableJoints/diff/joint.cpp.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/joint.cpp.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,148 @@ +2659,2804d2658 +< +< /******************** breakable joint contribution ***********************/ +< extern "C" void dJointSetBreakable (dxJoint *joint, int b) { +< dAASSERT(joint); +< if (b) { +< // we want this joint to be breakable but we must first check if it +< // was already breakable +< if (!joint->breakInfo) { +< // allocate a dxJointBreakInfo struct +< joint->breakInfo = new dxJointBreakInfo; +< joint->breakInfo->flags = 0; +< for (int i = 0; i < 3; i++) { +< joint->breakInfo->b1MaxF[0] = 0; +< joint->breakInfo->b1MaxT[0] = 0; +< joint->breakInfo->b2MaxF[0] = 0; +< joint->breakInfo->b2MaxT[0] = 0; +< } +< joint->breakInfo->callback = 0; +< } +< else { +< // the joint was already breakable +< return; +< } +< } +< else { +< // we want this joint to be unbreakable mut we must first check if +< // it is alreay unbreakable +< if (joint->breakInfo) { +< // deallocate the dxJointBreakInfo struct +< delete joint->breakInfo; +< joint->breakInfo = 0; +< } +< else { +< // the joint was already unbreakable +< return; +< } +< } +< } +< +< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointSetBreakCallback called on unbreakable joint"); +< } +< # endif +< joint->breakInfo->callback = callbackFunc; +< } +< +< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointSetBreakMode called on unbreakable joint"); +< } +< # endif +< joint->breakInfo->flags = mode; +< } +< +< extern "C" int dJointGetBreakMode (dxJoint *joint) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointGetBreakMode called on unbreakable joint"); +< } +< # endif +< return joint->breakInfo->flags; +< } +< +< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointSetBreakForce called on unbreakable joint"); +< } +< # endif +< if (body) { +< joint->breakInfo->b2MaxF[0] = x; +< joint->breakInfo->b2MaxF[1] = y; +< joint->breakInfo->b2MaxF[2] = z; +< } +< else { +< joint->breakInfo->b1MaxF[0] = x; +< joint->breakInfo->b1MaxF[1] = y; +< joint->breakInfo->b1MaxF[2] = z; +< } +< } +< +< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointSetBreakTorque called on unbreakable joint"); +< } +< # endif +< if (body) { +< joint->breakInfo->b2MaxT[0] = x; +< joint->breakInfo->b2MaxT[1] = y; +< joint->breakInfo->b2MaxT[2] = z; +< } +< else { +< joint->breakInfo->b1MaxT[0] = x; +< joint->breakInfo->b1MaxT[1] = y; +< joint->breakInfo->b1MaxT[2] = z; +< } +< } +< +< extern "C" int dJointIsBreakable (dxJoint *joint) { +< dAASSERT(joint); +< return joint->breakInfo != 0; +< } +< +< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointGetBreakForce called on unbreakable joint"); +< } +< # endif +< if (body) +< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i]; +< else +< for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i]; +< } +< +< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) { +< dAASSERT(joint); +< # ifndef dNODEBUG +< // only works for a breakable joint +< if (!joint->breakInfo) { +< dDebug (0, "dJointGetBreakTorque called on unbreakable joint"); +< } +< # endif +< if (body) +< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i]; +< else +< for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i]; +< } +< /*************************************************************************/ +< +\ No newline at end of file diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/joint.h.diff ode-0.14/contrib/BreakableJoints/diff/joint.h.diff --- ode-0.11.1/contrib/BreakableJoints/diff/joint.h.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/joint.h.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,18 @@ +61,70d60 +< /******************** breakable joint contribution ***********************/ +< struct dxJointBreakInfo : public dBase { +< int flags; +< dReal b1MaxF[3]; // maximum force on body 1 +< dReal b1MaxT[3]; // maximum torque on body 1 +< dReal b2MaxF[3]; // maximum force on body 2 +< dReal b2MaxT[3]; // maximum torque on body 2 +< dJointBreakCallback *callback; // function that is called when this joint breaks +< }; +< /*************************************************************************/ +135,140d124 +< +< /******************** breakable joint contribution ***********************/ +< // optional break info structure. if this is not NULL the the joint is +< // breakable. +< dxJointBreakInfo *breakInfo; +< /*************************************************************************/ diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/objects.h.diff ode-0.14/contrib/BreakableJoints/diff/objects.h.diff --- ode-0.11.1/contrib/BreakableJoints/diff/objects.h.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/objects.h.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,13 @@ +168,179d167 +< /******************** breakable joint contribution ***********************/ +< void dJointSetBreakable (dJointID, int b); +< void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc); +< void dJointSetBreakMode (dJointID, int mode); +< int dJointGetBreakMode (dJointID); +< void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z); +< void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z); +< int dJointIsBreakable (dJointID); +< void dJointGetBreakForce (dJointID, int body, dReal *force); +< void dJointGetBreakTorque (dJointID, int body, dReal *torque); +< /*************************************************************************/ +< diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/ode.cpp.diff ode-0.14/contrib/BreakableJoints/diff/ode.cpp.diff --- ode-0.11.1/contrib/BreakableJoints/diff/ode.cpp.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/ode.cpp.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,28 @@ +212,230d211 +< /******************** breakable joint contribution ***********************/ +< dxJoint* nextJ; +< if (!world->firstjoint) +< nextJ = 0; +< else +< nextJ = (dxJoint*)world->firstjoint->next; +< for (j=world->firstjoint; j; j=nextJ) { +< nextJ = (dxJoint*)j->next; +< // check if joint is breakable and broken +< if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { +< // detach (break) the joint +< dJointAttach (j, 0, 0); +< // call the callback function if it is set +< if (j->breakInfo->callback) j->breakInfo->callback (j); +< // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set +< if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); +< } +< } +< /*************************************************************************/ +931,933d911 +< /******************** breakable joint contribution ***********************/ +< j->breakInfo = 0; +< /*************************************************************************/ +1011,1013d988 +< /******************** breakable joint contribution ***********************/ +< if (j->breakInfo) delete j->breakInfo; +< /*************************************************************************/ diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/step.cpp.diff ode-0.14/contrib/BreakableJoints/diff/step.cpp.diff --- ode-0.11.1/contrib/BreakableJoints/diff/step.cpp.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/step.cpp.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,130 @@ +966,1066c966,989 +< /******************** breakable joint contribution ***********************/ +< // this saves us a few dereferences +< dxJointBreakInfo *jBI = joint[i]->breakInfo; +< // we need joint feedback if the joint is breakable or if the user +< // requested feedback. +< if (jBI||fb) { +< // we need feedback on the amount of force that this joint is +< // applying to the bodies. we use a slightly slower computation +< // that splits out the force components and puts them in the +< // feedback structure. +< dJointFeedback temp_fb; // temporary storage for joint feedback +< dReal data1[8],data2[8]; +< Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); +< dReal *cf1 = cforce + 8*b1->tag; +< cf1[0] += (temp_fb.f1[0] = data1[0]); +< cf1[1] += (temp_fb.f1[1] = data1[1]); +< cf1[2] += (temp_fb.f1[2] = data1[2]); +< cf1[4] += (temp_fb.t1[0] = data1[4]); +< cf1[5] += (temp_fb.t1[1] = data1[5]); +< cf1[6] += (temp_fb.t1[2] = data1[6]); +< if (b2) { +< Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); +< dReal *cf2 = cforce + 8*b2->tag; +< cf2[0] += (temp_fb.f2[0] = data2[0]); +< cf2[1] += (temp_fb.f2[1] = data2[1]); +< cf2[2] += (temp_fb.f2[2] = data2[2]); +< cf2[4] += (temp_fb.t2[0] = data2[4]); +< cf2[5] += (temp_fb.t2[1] = data2[5]); +< cf2[6] += (temp_fb.t2[2] = data2[6]); +< } +< // if the user requested so we must copy the feedback information to +< // the feedback struct that the user suplied. +< if (fb) { +< // copy temp_fb to fb +< fb->f1[0] = temp_fb.f1[0]; +< fb->f1[1] = temp_fb.f1[1]; +< fb->f1[2] = temp_fb.f1[2]; +< fb->t1[0] = temp_fb.t1[0]; +< fb->t1[1] = temp_fb.t1[1]; +< fb->t1[2] = temp_fb.t1[2]; +< if (b2) { +< fb->f2[0] = temp_fb.f2[0]; +< fb->f2[1] = temp_fb.f2[1]; +< fb->f2[2] = temp_fb.f2[2]; +< fb->t2[0] = temp_fb.t2[0]; +< fb->t2[1] = temp_fb.t2[1]; +< fb->t2[2] = temp_fb.t2[2]; +< } +< } +< // if the joint is breakable we need to check the breaking conditions +< if (jBI) { +< dReal relCF1[3]; +< dReal relCT1[3]; +< // multiply the force and torque vectors by the rotation matrix of body 1 +< dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]); +< dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]); +< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { +< // check if the force is to high +< for (int i = 0; i < 3; i++) { +< if (relCF1[i] > jBI->b1MaxF[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { +< // check if the torque is to high +< for (int i = 0; i < 3; i++) { +< if (relCT1[i] > jBI->b1MaxT[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< if (b2) { +< dReal relCF2[3]; +< dReal relCT2[3]; +< // multiply the force and torque vectors by the rotation matrix of body 2 +< dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]); +< dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]); +< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { +< // check if the force is to high +< for (int i = 0; i < 3; i++) { +< if (relCF2[i] > jBI->b2MaxF[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { +< // check if the torque is to high +< for (int i = 0; i < 3; i++) { +< if (relCT2[i] > jBI->b2MaxT[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< } +< doneCheckingBreaks: +< ; +--- +> if (fb) { +> // the user has requested feedback on the amount of force that this +> // joint is applying to the bodies. we use a slightly slower +> // computation that splits out the force components and puts them +> // in the feedback structure. +> dReal data1[8],data2[8]; +> Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); +> dReal *cf1 = cforce + 8*b1->tag; +> cf1[0] += (fb->f1[0] = data1[0]); +> cf1[1] += (fb->f1[1] = data1[1]); +> cf1[2] += (fb->f1[2] = data1[2]); +> cf1[4] += (fb->t1[0] = data1[4]); +> cf1[5] += (fb->t1[1] = data1[5]); +> cf1[6] += (fb->t1[2] = data1[6]); +> if (b2){ +> Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); +> dReal *cf2 = cforce + 8*b2->tag; +> cf2[0] += (fb->f2[0] = data2[0]); +> cf2[1] += (fb->f2[1] = data2[1]); +> cf2[2] += (fb->f2[2] = data2[2]); +> cf2[4] += (fb->t2[0] = data2[4]); +> cf2[5] += (fb->t2[1] = data2[5]); +> cf2[6] += (fb->t2[2] = data2[6]); +> } +1068,1069d990 +< } +< /*************************************************************************/ diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/stepfast.cpp.diff ode-0.14/contrib/BreakableJoints/diff/stepfast.cpp.diff --- ode-0.11.1/contrib/BreakableJoints/diff/stepfast.cpp.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/stepfast.cpp.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,143 @@ +587,598c587,593 +< /******************** breakable joint contribution ***********************/ +< // this saves us a few dereferences +< dxJointBreakInfo *jBI = joint->breakInfo; +< // we need joint feedback if the joint is breakable or if the user +< // requested feedback. +< if (jBI||fb) { +< // we need feedback on the amount of force that this joint is +< // applying to the bodies. we use a slightly slower computation +< // that splits out the force components and puts them in the +< // feedback structure. +< dJointFeedback temp_fb; // temporary storage for joint feedback +< dReal data1[8],data2[8]; +--- +> if (fb) +> { +> // the user has requested feedback on the amount of force that this +> // joint is applying to the bodies. we use a slightly slower +> // computation that splits out the force components and puts them +> // in the feedback structure. +> dReal data1[8], data2[8]; +603,608c598,603 +< cf1[0] = (temp_fb.f1[0] = data1[0]); +< cf1[1] = (temp_fb.f1[1] = data1[1]); +< cf1[2] = (temp_fb.f1[2] = data1[2]); +< cf1[4] = (temp_fb.t1[0] = data1[4]); +< cf1[5] = (temp_fb.t1[1] = data1[5]); +< cf1[6] = (temp_fb.t1[2] = data1[6]); +--- +> cf1[0] = (fb->f1[0] = data1[0]); +> cf1[1] = (fb->f1[1] = data1[1]); +> cf1[2] = (fb->f1[2] = data1[2]); +> cf1[4] = (fb->t1[0] = data1[4]); +> cf1[5] = (fb->t1[1] = data1[5]); +> cf1[6] = (fb->t1[2] = data1[6]); +614,691c609,614 +< cf2[0] = (temp_fb.f2[0] = data2[0]); +< cf2[1] = (temp_fb.f2[1] = data2[1]); +< cf2[2] = (temp_fb.f2[2] = data2[2]); +< cf2[4] = (temp_fb.t2[0] = data2[4]); +< cf2[5] = (temp_fb.t2[1] = data2[5]); +< cf2[6] = (temp_fb.t2[2] = data2[6]); +< } +< // if the user requested so we must copy the feedback information to +< // the feedback struct that the user suplied. +< if (fb) { +< // copy temp_fb to fb +< fb->f1[0] = temp_fb.f1[0]; +< fb->f1[1] = temp_fb.f1[1]; +< fb->f1[2] = temp_fb.f1[2]; +< fb->t1[0] = temp_fb.t1[0]; +< fb->t1[1] = temp_fb.t1[1]; +< fb->t1[2] = temp_fb.t1[2]; +< if (body[1]) { +< fb->f2[0] = temp_fb.f2[0]; +< fb->f2[1] = temp_fb.f2[1]; +< fb->f2[2] = temp_fb.f2[2]; +< fb->t2[0] = temp_fb.t2[0]; +< fb->t2[1] = temp_fb.t2[1]; +< fb->t2[2] = temp_fb.t2[2]; +< } +< } +< // if the joint is breakable we need to check the breaking conditions +< if (jBI) { +< dReal relCF1[3]; +< dReal relCT1[3]; +< // multiply the force and torque vectors by the rotation matrix of body 1 +< dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]); +< dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]); +< if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { +< // check if the force is to high +< for (int i = 0; i < 3; i++) { +< if (relCF1[i] > jBI->b1MaxF[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { +< // check if the torque is to high +< for (int i = 0; i < 3; i++) { +< if (relCT1[i] > jBI->b1MaxT[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< if (body[1]) { +< dReal relCF2[3]; +< dReal relCT2[3]; +< // multiply the force and torque vectors by the rotation matrix of body 2 +< dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]); +< dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]); +< if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { +< // check if the force is to high +< for (int i = 0; i < 3; i++) { +< if (relCF2[i] > jBI->b2MaxF[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { +< // check if the torque is to high +< for (int i = 0; i < 3; i++) { +< if (relCT2[i] > jBI->b2MaxT[i]) { +< jBI->flags |= dJOINT_BROKEN; +< goto doneCheckingBreaks; +< } +< } +< } +< } +< doneCheckingBreaks: +< ; +--- +> cf2[0] = (fb->f2[0] = data2[0]); +> cf2[1] = (fb->f2[1] = data2[1]); +> cf2[2] = (fb->f2[2] = data2[2]); +> cf2[4] = (fb->t2[0] = data2[4]); +> cf2[5] = (fb->t2[1] = data2[5]); +> cf2[6] = (fb->t2[2] = data2[6]); +694d616 +< /*************************************************************************/ +1178,1196d1099 +< /******************** breakable joint contribution ***********************/ +< dxJoint* nextJ; +< if (!world->firstjoint) +< nextJ = 0; +< else +< nextJ = (dxJoint*)world->firstjoint->next; +< for (j=world->firstjoint; j; j=nextJ) { +< nextJ = (dxJoint*)j->next; +< // check if joint is breakable and broken +< if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { +< // detach (break) the joint +< dJointAttach (j, 0, 0); +< // call the callback function if it is set +< if (j->breakInfo->callback) j->breakInfo->callback (j); +< // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set +< if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); +< } +< } +< /*************************************************************************/ diff -Nru ode-0.11.1/contrib/BreakableJoints/diff/test_buggy.cpp.diff ode-0.14/contrib/BreakableJoints/diff/test_buggy.cpp.diff --- ode-0.11.1/contrib/BreakableJoints/diff/test_buggy.cpp.diff 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/diff/test_buggy.cpp.diff 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,16 @@ +266,270d265 +< +< // breakable joints contribution +< dJointSetBreakable (joint[i], 1); +< dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_FORCE); +< dJointSetBreakForce (joint[i], 0.5); +298c293 +< ground_box = dCreateBox (space,2,1.5,5); +--- +> ground_box = dCreateBox (space,2,1.5,1); +300,301c295,296 +< dRFromAxisAndAngle (R,0,1,0,-0.85); +< dGeomSetPosition (ground_box,5,0,-1); +--- +> dRFromAxisAndAngle (R,0,1,0,-0.15); +> dGeomSetPosition (ground_box,2,0,-0.34); diff -Nru ode-0.11.1/contrib/BreakableJoints/joint.cpp ode-0.14/contrib/BreakableJoints/joint.cpp --- ode-0.11.1/contrib/BreakableJoints/joint.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/joint.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,2803 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* + +design note: the general principle for giving a joint the option of connecting +to the static environment (i.e. the absolute frame) is to check the second +body (joint->node[1].body), and if it is zero then behave as if its body +transform is the identity. + +*/ + +#include +#include +#include +#include "joint.h" + +//**************************************************************************** +// externs + +extern "C" void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); +extern "C" void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); + +//**************************************************************************** +// utility + +// set three "ball-and-socket" rows in the constraint equation, and the +// corresponding right hand side. + +static inline void setBall (dxJoint *joint, dxJoint::Info2 *info, + dVector3 anchor1, dVector3 anchor2) +{ + // anchor points in global coordinates with respect to body PORs. + dVector3 a1,a2; + + int s = info->rowskip; + + // set jacobian + info->J1l[0] = 1; + info->J1l[s+1] = 1; + info->J1l[2*s+2] = 1; + dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1); + dCROSSMAT (info->J1a,a1,s,-,+); + if (joint->node[1].body) { + info->J2l[0] = -1; + info->J2l[s+1] = -1; + info->J2l[2*s+2] = -1; + dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2); + dCROSSMAT (info->J2a,a2,s,+,-); + } + + // set right hand side + dReal k = info->fps * info->erp; + if (joint->node[1].body) { + for (int j=0; j<3; j++) { + info->c[j] = k * (a2[j] + joint->node[1].body->pos[j] - + a1[j] - joint->node[0].body->pos[j]); + } + } + else { + for (int j=0; j<3; j++) { + info->c[j] = k * (anchor2[j] - a1[j] - + joint->node[0].body->pos[j]); + } + } +} + + +// this is like setBall(), except that `axis' is a unit length vector +// (in global coordinates) that should be used for the first jacobian +// position row (the other two row vectors will be derived from this). +// `erp1' is the erp value to use along the axis. + +static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info, + dVector3 anchor1, dVector3 anchor2, + dVector3 axis, dReal erp1) +{ + // anchor points in global coordinates with respect to body PORs. + dVector3 a1,a2; + + int i,s = info->rowskip; + + // get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0], + // [0 1 0] and [0 0 1], which makes everything much easier. + dVector3 q1,q2; + dPlaneSpace (axis,q1,q2); + + // set jacobian + for (i=0; i<3; i++) info->J1l[i] = axis[i]; + for (i=0; i<3; i++) info->J1l[s+i] = q1[i]; + for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i]; + dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1); + dCROSS (info->J1a,=,a1,axis); + dCROSS (info->J1a+s,=,a1,q1); + dCROSS (info->J1a+2*s,=,a1,q2); + if (joint->node[1].body) { + for (i=0; i<3; i++) info->J2l[i] = -axis[i]; + for (i=0; i<3; i++) info->J2l[s+i] = -q1[i]; + for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i]; + dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2); + dCROSS (info->J2a,= -,a2,axis); + dCROSS (info->J2a+s,= -,a2,q1); + dCROSS (info->J2a+2*s,= -,a2,q2); + } + + // set right hand side - measure error along (axis,q1,q2) + dReal k1 = info->fps * erp1; + dReal k = info->fps * info->erp; + + for (i=0; i<3; i++) a1[i] += joint->node[0].body->pos[i]; + if (joint->node[1].body) { + for (i=0; i<3; i++) a2[i] += joint->node[1].body->pos[i]; + info->c[0] = k1 * (dDOT(axis,a2) - dDOT(axis,a1)); + info->c[1] = k * (dDOT(q1,a2) - dDOT(q1,a1)); + info->c[2] = k * (dDOT(q2,a2) - dDOT(q2,a1)); + } + else { + info->c[0] = k1 * (dDOT(axis,anchor2) - dDOT(axis,a1)); + info->c[1] = k * (dDOT(q1,anchor2) - dDOT(q1,a1)); + info->c[2] = k * (dDOT(q2,anchor2) - dDOT(q2,a1)); + } +} + + +// set three orientation rows in the constraint equation, and the +// corresponding right hand side. + +static void setFixedOrientation(dxJoint *joint, dxJoint::Info2 *info, dQuaternion qrel, int start_row) +{ + int s = info->rowskip; + int start_index = start_row * s; + + // 3 rows to make body rotations equal + info->J1a[start_index] = 1; + info->J1a[start_index + s + 1] = 1; + info->J1a[start_index + s*2+2] = 1; + if (joint->node[1].body) { + info->J2a[start_index] = -1; + info->J2a[start_index + s+1] = -1; + info->J2a[start_index + s*2+2] = -1; + } + + // compute the right hand side. the first three elements will result in + // relative angular velocity of the two bodies - this is set to bring them + // back into alignment. the correcting angular velocity is + // |angular_velocity| = angle/time = erp*theta / stepsize + // = (erp*fps) * theta + // angular_velocity = |angular_velocity| * u + // = (erp*fps) * theta * u + // where rotation along unit length axis u by theta brings body 2's frame + // to qrel with respect to body 1's frame. using a small angle approximation + // for sin(), this gives + // angular_velocity = (erp*fps) * 2 * v + // where the quaternion of the relative rotation between the two bodies is + // q = [cos(theta/2) sin(theta/2)*u] = [s v] + + // get qerr = relative rotation (rotation error) between two bodies + dQuaternion qerr,e; + if (joint->node[1].body) { + dQuaternion qq; + dQMultiply1 (qq,joint->node[0].body->q,joint->node[1].body->q); + dQMultiply2 (qerr,qq,qrel); + } + else { + dQMultiply3 (qerr,joint->node[0].body->q,qrel); + } + if (qerr[0] < 0) { + qerr[1] = -qerr[1]; // adjust sign of qerr to make theta small + qerr[2] = -qerr[2]; + qerr[3] = -qerr[3]; + } + dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding! + dReal k = info->fps * info->erp; + info->c[start_row] = 2*k * e[0]; + info->c[start_row+1] = 2*k * e[1]; + info->c[start_row+2] = 2*k * e[2]; +} + + +// compute anchor points relative to bodies + +static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z, + dVector3 anchor1, dVector3 anchor2) +{ + if (j->node[0].body) { + dReal q[4]; + q[0] = x - j->node[0].body->pos[0]; + q[1] = y - j->node[0].body->pos[1]; + q[2] = z - j->node[0].body->pos[2]; + q[3] = 0; + dMULTIPLY1_331 (anchor1,j->node[0].body->R,q); + if (j->node[1].body) { + q[0] = x - j->node[1].body->pos[0]; + q[1] = y - j->node[1].body->pos[1]; + q[2] = z - j->node[1].body->pos[2]; + q[3] = 0; + dMULTIPLY1_331 (anchor2,j->node[1].body->R,q); + } + else { + anchor2[0] = x; + anchor2[1] = y; + anchor2[2] = z; + } + } + anchor1[3] = 0; + anchor2[3] = 0; +} + + +// compute axes relative to bodies. either axis1 or axis2 can be 0. + +static void setAxes (dxJoint *j, dReal x, dReal y, dReal z, + dVector3 axis1, dVector3 axis2) +{ + if (j->node[0].body) { + dReal q[4]; + q[0] = x; + q[1] = y; + q[2] = z; + q[3] = 0; + dNormalize3 (q); + if (axis1) { + dMULTIPLY1_331 (axis1,j->node[0].body->R,q); + axis1[3] = 0; + } + if (axis2) { + if (j->node[1].body) { + dMULTIPLY1_331 (axis2,j->node[1].body->R,q); + } + else { + axis2[0] = x; + axis2[1] = y; + axis2[2] = z; + } + axis2[3] = 0; + } + } +} + + +static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1) +{ + if (j->node[0].body) { + dMULTIPLY0_331 (result,j->node[0].body->R,anchor1); + result[0] += j->node[0].body->pos[0]; + result[1] += j->node[0].body->pos[1]; + result[2] += j->node[0].body->pos[2]; + } +} + + +static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2) +{ + if (j->node[1].body) { + dMULTIPLY0_331 (result,j->node[1].body->R,anchor2); + result[0] += j->node[1].body->pos[0]; + result[1] += j->node[1].body->pos[1]; + result[2] += j->node[1].body->pos[2]; + } + else { + result[0] = anchor2[0]; + result[1] = anchor2[1]; + result[2] = anchor2[2]; + } +} + + +static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1) +{ + if (j->node[0].body) { + dMULTIPLY0_331 (result,j->node[0].body->R,axis1); + } +} + + +static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2) +{ + if (j->node[1].body) { + dMULTIPLY0_331 (result,j->node[1].body->R,axis2); + } + else { + result[0] = axis2[0]; + result[1] = axis2[1]; + result[2] = axis2[2]; + } +} + + +static dReal getHingeAngleFromRelativeQuat (dQuaternion qrel, dVector3 axis) +{ + // the angle between the two bodies is extracted from the quaternion that + // represents the relative rotation between them. recall that a quaternion + // q is: + // [s,v] = [ cos(theta/2) , sin(theta/2) * u ] + // where s is a scalar and v is a 3-vector. u is a unit length axis and + // theta is a rotation along that axis. we can get theta/2 by: + // theta/2 = atan2 ( sin(theta/2) , cos(theta/2) ) + // but we can't get sin(theta/2) directly, only its absolute value, i.e.: + // |v| = |sin(theta/2)| * |u| + // = |sin(theta/2)| + // using this value will have a strange effect. recall that there are two + // quaternion representations of a given rotation, q and -q. typically as + // a body rotates along the axis it will go through a complete cycle using + // one representation and then the next cycle will use the other + // representation. this corresponds to u pointing in the direction of the + // hinge axis and then in the opposite direction. the result is that theta + // will appear to go "backwards" every other cycle. here is a fix: if u + // points "away" from the direction of the hinge (motor) axis (i.e. more + // than 90 degrees) then use -q instead of q. this represents the same + // rotation, but results in the cos(theta/2) value being sign inverted. + + // extract the angle from the quaternion. cost2 = cos(theta/2), + // sint2 = |sin(theta/2)| + dReal cost2 = qrel[0]; + dReal sint2 = dSqrt (qrel[1]*qrel[1]+qrel[2]*qrel[2]+qrel[3]*qrel[3]); + dReal theta = (dDOT(qrel+1,axis) >= 0) ? // @@@ padding assumptions + (2 * dAtan2(sint2,cost2)) : // if u points in direction of axis + (2 * dAtan2(sint2,-cost2)); // if u points in opposite direction + + // the angle we get will be between 0..2*pi, but we want to return angles + // between -pi..pi + if (theta > M_PI) theta -= 2*M_PI; + + // the angle we've just extracted has the wrong sign + theta = -theta; + + return theta; +} + + +// given two bodies (body1,body2), the hinge axis that they are connected by +// w.r.t. body1 (axis), and the initial relative orientation between them +// (q_initial), return the relative rotation angle. the initial relative +// orientation corresponds to an angle of zero. if body2 is 0 then measure the +// angle between body1 and the static frame. +// +// this will not return the correct angle if the bodies rotate along any axis +// other than the given hinge axis. + +static dReal getHingeAngle (dxBody *body1, dxBody *body2, dVector3 axis, + dQuaternion q_initial) +{ + // get qrel = relative rotation between the two bodies + dQuaternion qrel; + if (body2) { + dQuaternion qq; + dQMultiply1 (qq,body1->q,body2->q); + dQMultiply2 (qrel,qq,q_initial); + } + else { + // pretend body2->q is the identity + dQMultiply3 (qrel,body1->q,q_initial); + } + + return getHingeAngleFromRelativeQuat (qrel,axis); +} + +//**************************************************************************** +// dxJointLimitMotor + +void dxJointLimitMotor::init (dxWorld *world) +{ + vel = 0; + fmax = 0; + lostop = -dInfinity; + histop = dInfinity; + fudge_factor = 1; + normal_cfm = world->global_cfm; + stop_erp = world->global_erp; + stop_cfm = world->global_cfm; + bounce = 0; + limit = 0; + limit_err = 0; +} + + +void dxJointLimitMotor::set (int num, dReal value) +{ + switch (num) { + case dParamLoStop: + if (value <= histop) lostop = value; + break; + case dParamHiStop: + if (value >= lostop) histop = value; + break; + case dParamVel: + vel = value; + break; + case dParamFMax: + if (value >= 0) fmax = value; + break; + case dParamFudgeFactor: + if (value >= 0 && value <= 1) fudge_factor = value; + break; + case dParamBounce: + bounce = value; + break; + case dParamCFM: + normal_cfm = value; + break; + case dParamStopERP: + stop_erp = value; + break; + case dParamStopCFM: + stop_cfm = value; + break; + } +} + + +dReal dxJointLimitMotor::get (int num) +{ + switch (num) { + case dParamLoStop: return lostop; + case dParamHiStop: return histop; + case dParamVel: return vel; + case dParamFMax: return fmax; + case dParamFudgeFactor: return fudge_factor; + case dParamBounce: return bounce; + case dParamCFM: return normal_cfm; + case dParamStopERP: return stop_erp; + case dParamStopCFM: return stop_cfm; + default: return 0; + } +} + + +int dxJointLimitMotor::testRotationalLimit (dReal angle) +{ + if (angle <= lostop) { + limit = 1; + limit_err = angle - lostop; + return 1; + } + else if (angle >= histop) { + limit = 2; + limit_err = angle - histop; + return 1; + } + else { + limit = 0; + return 0; + } +} + + +int dxJointLimitMotor::addLimot (dxJoint *joint, + dxJoint::Info2 *info, int row, + dVector3 ax1, int rotational) +{ + int srow = row * info->rowskip; + + // if the joint is powered, or has joint limits, add in the extra row + int powered = fmax > 0; + if (powered || limit) { + dReal *J1 = rotational ? info->J1a : info->J1l; + dReal *J2 = rotational ? info->J2a : info->J2l; + + J1[srow+0] = ax1[0]; + J1[srow+1] = ax1[1]; + J1[srow+2] = ax1[2]; + if (joint->node[1].body) { + J2[srow+0] = -ax1[0]; + J2[srow+1] = -ax1[1]; + J2[srow+2] = -ax1[2]; + } + + // linear limot torque decoupling step: + // + // if this is a linear limot (e.g. from a slider), we have to be careful + // that the linear constraint forces (+/- ax1) applied to the two bodies + // do not create a torque couple. in other words, the points that the + // constraint force is applied at must lie along the same ax1 axis. + // a torque couple will result in powered or limited slider-jointed free + // bodies from gaining angular momentum. + // the solution used here is to apply the constraint forces at the point + // halfway between the body centers. there is no penalty (other than an + // extra tiny bit of computation) in doing this adjustment. note that we + // only need to do this if the constraint connects two bodies. + + dVector3 ltd; // Linear Torque Decoupling vector (a torque) + if (!rotational && joint->node[1].body) { + dVector3 c; + c[0]=REAL(0.5)*(joint->node[1].body->pos[0]-joint->node[0].body->pos[0]); + c[1]=REAL(0.5)*(joint->node[1].body->pos[1]-joint->node[0].body->pos[1]); + c[2]=REAL(0.5)*(joint->node[1].body->pos[2]-joint->node[0].body->pos[2]); + dCROSS (ltd,=,c,ax1); + info->J1a[srow+0] = ltd[0]; + info->J1a[srow+1] = ltd[1]; + info->J1a[srow+2] = ltd[2]; + info->J2a[srow+0] = ltd[0]; + info->J2a[srow+1] = ltd[1]; + info->J2a[srow+2] = ltd[2]; + } + + // if we're limited low and high simultaneously, the joint motor is + // ineffective + if (limit && (lostop == histop)) powered = 0; + + if (powered) { + info->cfm[row] = normal_cfm; + if (! limit) { + info->c[row] = vel; + info->lo[row] = -fmax; + info->hi[row] = fmax; + } + else { + // the joint is at a limit, AND is being powered. if the joint is + // being powered into the limit then we apply the maximum motor force + // in that direction, because the motor is working against the + // immovable limit. if the joint is being powered away from the limit + // then we have problems because actually we need *two* lcp + // constraints to handle this case. so we fake it and apply some + // fraction of the maximum force. the fraction to use can be set as + // a fudge factor. + + dReal fm = fmax; + if (vel > 0) fm = -fm; + + // if we're powering away from the limit, apply the fudge factor + if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) fm *= fudge_factor; + + if (rotational) { + dBodyAddTorque (joint->node[0].body,-fm*ax1[0],-fm*ax1[1], + -fm*ax1[2]); + if (joint->node[1].body) + dBodyAddTorque (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]); + } + else { + dBodyAddForce (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],-fm*ax1[2]); + if (joint->node[1].body) { + dBodyAddForce (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]); + + // linear limot torque decoupling step: refer to above discussion + dBodyAddTorque (joint->node[0].body,-fm*ltd[0],-fm*ltd[1], + -fm*ltd[2]); + dBodyAddTorque (joint->node[1].body,-fm*ltd[0],-fm*ltd[1], + -fm*ltd[2]); + } + } + } + } + + if (limit) { + dReal k = info->fps * stop_erp; + info->c[row] = -k * limit_err; + info->cfm[row] = stop_cfm; + + if (lostop == histop) { + // limited low and high simultaneously + info->lo[row] = -dInfinity; + info->hi[row] = dInfinity; + } + else { + if (limit == 1) { + // low limit + info->lo[row] = 0; + info->hi[row] = dInfinity; + } + else { + // high limit + info->lo[row] = -dInfinity; + info->hi[row] = 0; + } + + // deal with bounce + if (bounce > 0) { + // calculate joint velocity + dReal vel; + if (rotational) { + vel = dDOT(joint->node[0].body->avel,ax1); + if (joint->node[1].body) + vel -= dDOT(joint->node[1].body->avel,ax1); + } + else { + vel = dDOT(joint->node[0].body->lvel,ax1); + if (joint->node[1].body) + vel -= dDOT(joint->node[1].body->lvel,ax1); + } + + // only apply bounce if the velocity is incoming, and if the + // resulting c[] exceeds what we already have. + if (limit == 1) { + // low limit + if (vel < 0) { + dReal newc = -bounce * vel; + if (newc > info->c[row]) info->c[row] = newc; + } + } + else { + // high limit - all those computations are reversed + if (vel > 0) { + dReal newc = -bounce * vel; + if (newc < info->c[row]) info->c[row] = newc; + } + } + } + } + } + return 1; + } + else return 0; +} + +//**************************************************************************** +// ball and socket + +static void ballInit (dxJointBall *j) +{ + dSetZero (j->anchor1,4); + dSetZero (j->anchor2,4); +} + + +static void ballGetInfo1 (dxJointBall *j, dxJoint::Info1 *info) +{ + info->m = 3; + info->nub = 3; +} + + +static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info) +{ + setBall (joint,info,joint->anchor1,joint->anchor2); +} + + +extern "C" void dJointSetBallAnchor (dxJointBall *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball"); + setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); +} + + +extern "C" void dJointGetBallAnchor (dxJointBall *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball"); + if (joint->flags & dJOINT_REVERSE) + getAnchor2 (joint,result,joint->anchor2); + else + getAnchor (joint,result,joint->anchor1); +} + + +extern "C" void dJointGetBallAnchor2 (dxJointBall *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball"); + if (joint->flags & dJOINT_REVERSE) + getAnchor (joint,result,joint->anchor1); + else + getAnchor2 (joint,result,joint->anchor2); +} + + +dxJoint::Vtable __dball_vtable = { + sizeof(dxJointBall), + (dxJoint::init_fn*) ballInit, + (dxJoint::getInfo1_fn*) ballGetInfo1, + (dxJoint::getInfo2_fn*) ballGetInfo2, + dJointTypeBall}; + +//**************************************************************************** +// hinge + +static void hingeInit (dxJointHinge *j) +{ + dSetZero (j->anchor1,4); + dSetZero (j->anchor2,4); + dSetZero (j->axis1,4); + j->axis1[0] = 1; + dSetZero (j->axis2,4); + j->axis2[0] = 1; + dSetZero (j->qrel,4); + j->limot.init (j->world); +} + + +static void hingeGetInfo1 (dxJointHinge *j, dxJoint::Info1 *info) +{ + info->nub = 5; + + // see if joint is powered + if (j->limot.fmax > 0) + info->m = 6; // powered hinge needs an extra constraint row + else info->m = 5; + + // see if we're at a joint limit. + if ((j->limot.lostop >= -M_PI || j->limot.histop <= M_PI) && + j->limot.lostop <= j->limot.histop) { + dReal angle = getHingeAngle (j->node[0].body,j->node[1].body,j->axis1, + j->qrel); + if (j->limot.testRotationalLimit (angle)) info->m = 6; + } +} + + +static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info) +{ + // set the three ball-and-socket rows + setBall (joint,info,joint->anchor1,joint->anchor2); + + // set the two hinge rows. the hinge axis should be the only unconstrained + // rotational axis, the angular velocity of the two bodies perpendicular to + // the hinge axis should be equal. thus the constraint equations are + // p*w1 - p*w2 = 0 + // q*w1 - q*w2 = 0 + // where p and q are unit vectors normal to the hinge axis, and w1 and w2 + // are the angular velocity vectors of the two bodies. + + dVector3 ax1; // length 1 joint axis in global coordinates, from 1st body + dVector3 p,q; // plane space vectors for ax1 + dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); + dPlaneSpace (ax1,p,q); + + int s3=3*info->rowskip; + int s4=4*info->rowskip; + + info->J1a[s3+0] = p[0]; + info->J1a[s3+1] = p[1]; + info->J1a[s3+2] = p[2]; + info->J1a[s4+0] = q[0]; + info->J1a[s4+1] = q[1]; + info->J1a[s4+2] = q[2]; + + if (joint->node[1].body) { + info->J2a[s3+0] = -p[0]; + info->J2a[s3+1] = -p[1]; + info->J2a[s3+2] = -p[2]; + info->J2a[s4+0] = -q[0]; + info->J2a[s4+1] = -q[1]; + info->J2a[s4+2] = -q[2]; + } + + // compute the right hand side of the constraint equation. set relative + // body velocities along p and q to bring the hinge back into alignment. + // if ax1,ax2 are the unit length hinge axes as computed from body1 and + // body2, we need to rotate both bodies along the axis u = (ax1 x ax2). + // if `theta' is the angle between ax1 and ax2, we need an angular velocity + // along u to cover angle erp*theta in one step : + // |angular_velocity| = angle/time = erp*theta / stepsize + // = (erp*fps) * theta + // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| + // = (erp*fps) * theta * (ax1 x ax2) / sin(theta) + // ...as ax1 and ax2 are unit length. if theta is smallish, + // theta ~= sin(theta), so + // angular_velocity = (erp*fps) * (ax1 x ax2) + // ax1 x ax2 is in the plane space of ax1, so we project the angular + // velocity to p and q to find the right hand side. + + dVector3 ax2,b; + if (joint->node[1].body) { + dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); + } + else { + ax2[0] = joint->axis2[0]; + ax2[1] = joint->axis2[1]; + ax2[2] = joint->axis2[2]; + } + dCROSS (b,=,ax1,ax2); + dReal k = info->fps * info->erp; + info->c[3] = k * dDOT(b,p); + info->c[4] = k * dDOT(b,q); + + // if the hinge is powered, or has joint limits, add in the stuff + joint->limot.addLimot (joint,info,5,ax1,1); +} + + +// compute initial relative rotation body1 -> body2, or env -> body1 + +static void hingeComputeInitialRelativeRotation (dxJointHinge *joint) +{ + if (joint->node[0].body) { + if (joint->node[1].body) { + dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); + } + else { + // set joint->qrel to the transpose of the first body q + joint->qrel[0] = joint->node[0].body->q[0]; + for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; + } + } +} + + +extern "C" void dJointSetHingeAnchor (dxJointHinge *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); + hingeComputeInitialRelativeRotation (joint); +} + + +extern "C" void dJointSetHingeAxis (dxJointHinge *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + setAxes (joint,x,y,z,joint->axis1,joint->axis2); + hingeComputeInitialRelativeRotation (joint); +} + + +extern "C" void dJointGetHingeAnchor (dxJointHinge *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + if (joint->flags & dJOINT_REVERSE) + getAnchor2 (joint,result,joint->anchor2); + else + getAnchor (joint,result,joint->anchor1); +} + + +extern "C" void dJointGetHingeAnchor2 (dxJointHinge *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + if (joint->flags & dJOINT_REVERSE) + getAnchor (joint,result,joint->anchor1); + else + getAnchor2 (joint,result,joint->anchor2); +} + + +extern "C" void dJointGetHingeAxis (dxJointHinge *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + getAxis (joint,result,joint->axis1); +} + + +extern "C" void dJointSetHingeParam (dxJointHinge *joint, + int parameter, dReal value) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + joint->limot.set (parameter,value); +} + + +extern "C" dReal dJointGetHingeParam (dxJointHinge *joint, int parameter) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + return joint->limot.get (parameter); +} + + +extern "C" dReal dJointGetHingeAngle (dxJointHinge *joint) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge"); + if (joint->node[0].body) { + dReal ang = getHingeAngle (joint->node[0].body,joint->node[1].body,joint->axis1, + joint->qrel); + if (joint->flags & dJOINT_REVERSE) + return -ang; + else + return ang; + } + else return 0; +} + + +extern "C" dReal dJointGetHingeAngleRate (dxJointHinge *joint) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge"); + if (joint->node[0].body) { + dVector3 axis; + dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1); + dReal rate = dDOT(axis,joint->node[0].body->avel); + if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); + if (joint->flags & dJOINT_REVERSE) rate = - rate; + return rate; + } + else return 0; +} + + +extern "C" void dJointAddHingeTorque (dxJointHinge *joint, dReal torque) +{ + dVector3 axis; + dAASSERT(joint); + dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge"); + + if (joint->flags & dJOINT_REVERSE) + torque = -torque; + + getAxis (joint,axis,joint->axis1); + axis[0] *= torque; + axis[1] *= torque; + axis[2] *= torque; + + if (joint->node[0].body != 0) + dBodyAddTorque (joint->node[0].body, axis[0], axis[1], axis[2]); + if (joint->node[1].body != 0) + dBodyAddTorque(joint->node[1].body, -axis[0], -axis[1], -axis[2]); +} + + +dxJoint::Vtable __dhinge_vtable = { + sizeof(dxJointHinge), + (dxJoint::init_fn*) hingeInit, + (dxJoint::getInfo1_fn*) hingeGetInfo1, + (dxJoint::getInfo2_fn*) hingeGetInfo2, + dJointTypeHinge}; + +//**************************************************************************** +// slider + +static void sliderInit (dxJointSlider *j) +{ + dSetZero (j->axis1,4); + j->axis1[0] = 1; + dSetZero (j->qrel,4); + dSetZero (j->offset,4); + j->limot.init (j->world); +} + + +extern "C" dReal dJointGetSliderPosition (dxJointSlider *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + + // get axis1 in global coordinates + dVector3 ax1,q; + dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); + + if (joint->node[1].body) { + // get body2 + offset point in global coordinates + dMULTIPLY0_331 (q,joint->node[1].body->R,joint->offset); + for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - q[i] - + joint->node[1].body->pos[i]; + } + else { + for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - + joint->offset[i]; + + } + return dDOT(ax1,q); +} + + +extern "C" dReal dJointGetSliderPositionRate (dxJointSlider *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + + // get axis1 in global coordinates + dVector3 ax1; + dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); + + if (joint->node[1].body) { + return dDOT(ax1,joint->node[0].body->lvel) - + dDOT(ax1,joint->node[1].body->lvel); + } + else { + return dDOT(ax1,joint->node[0].body->lvel); + } +} + + +static void sliderGetInfo1 (dxJointSlider *j, dxJoint::Info1 *info) +{ + info->nub = 5; + + // see if joint is powered + if (j->limot.fmax > 0) + info->m = 6; // powered slider needs an extra constraint row + else info->m = 5; + + // see if we're at a joint limit. + j->limot.limit = 0; + if ((j->limot.lostop > -dInfinity || j->limot.histop < dInfinity) && + j->limot.lostop <= j->limot.histop) { + // measure joint position + dReal pos = dJointGetSliderPosition (j); + if (pos <= j->limot.lostop) { + j->limot.limit = 1; + j->limot.limit_err = pos - j->limot.lostop; + info->m = 6; + } + else if (pos >= j->limot.histop) { + j->limot.limit = 2; + j->limot.limit_err = pos - j->limot.histop; + info->m = 6; + } + } +} + + +static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info) +{ + int i,s = info->rowskip; + int s2=2*s,s3=3*s,s4=4*s; + + // pull out pos and R for both bodies. also get the `connection' + // vector pos2-pos1. + + dReal *pos1,*pos2,*R1,*R2; + dVector3 c; + pos1 = joint->node[0].body->pos; + R1 = joint->node[0].body->R; + if (joint->node[1].body) { + pos2 = joint->node[1].body->pos; + R2 = joint->node[1].body->R; + for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i]; + } + else { + pos2 = 0; + R2 = 0; + } + + // 3 rows to make body rotations equal + setFixedOrientation(joint, info, joint->qrel, 0); + + // remaining two rows. we want: vel2 = vel1 + w1 x c ... but this would + // result in three equations, so we project along the planespace vectors + // so that sliding along the slider axis is disregarded. for symmetry we + // also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2. + + dVector3 ax1; // joint axis in global coordinates (unit length) + dVector3 p,q; // plane space of ax1 + dMULTIPLY0_331 (ax1,R1,joint->axis1); + dPlaneSpace (ax1,p,q); + if (joint->node[1].body) { + dVector3 tmp; + dCROSS (tmp, = REAL(0.5) * ,c,p); + for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i]; + for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i]; + dCROSS (tmp, = REAL(0.5) * ,c,q); + for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i]; + for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i]; + for (i=0; i<3; i++) info->J2l[s3+i] = -p[i]; + for (i=0; i<3; i++) info->J2l[s4+i] = -q[i]; + } + for (i=0; i<3; i++) info->J1l[s3+i] = p[i]; + for (i=0; i<3; i++) info->J1l[s4+i] = q[i]; + + // compute last two elements of right hand side. we want to align the offset + // point (in body 2's frame) with the center of body 1. + dReal k = info->fps * info->erp; + if (joint->node[1].body) { + dVector3 ofs; // offset point in global coordinates + dMULTIPLY0_331 (ofs,R2,joint->offset); + for (i=0; i<3; i++) c[i] += ofs[i]; + info->c[3] = k * dDOT(p,c); + info->c[4] = k * dDOT(q,c); + } + else { + dVector3 ofs; // offset point in global coordinates + for (i=0; i<3; i++) ofs[i] = joint->offset[i] - pos1[i]; + info->c[3] = k * dDOT(p,ofs); + info->c[4] = k * dDOT(q,ofs); + } + + // if the slider is powered, or has joint limits, add in the extra row + joint->limot.addLimot (joint,info,5,ax1,0); +} + + +extern "C" void dJointSetSliderAxis (dxJointSlider *joint, + dReal x, dReal y, dReal z) +{ + int i; + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + setAxes (joint,x,y,z,joint->axis1,0); + + // compute initial relative rotation body1 -> body2, or env -> body1 + // also compute center of body1 w.r.t body 2 + if (joint->node[1].body) { + dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); + dVector3 c; + for (i=0; i<3; i++) + c[i] = joint->node[0].body->pos[i] - joint->node[1].body->pos[i]; + dMULTIPLY1_331 (joint->offset,joint->node[1].body->R,c); + } + else { + // set joint->qrel to the transpose of the first body's q + joint->qrel[0] = joint->node[0].body->q[0]; + for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; + for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->pos[i]; + } +} + + +extern "C" void dJointGetSliderAxis (dxJointSlider *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + getAxis (joint,result,joint->axis1); +} + + +extern "C" void dJointSetSliderParam (dxJointSlider *joint, + int parameter, dReal value) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + joint->limot.set (parameter,value); +} + + +extern "C" dReal dJointGetSliderParam (dxJointSlider *joint, int parameter) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + return joint->limot.get (parameter); +} + + +extern "C" void dJointAddSliderForce (dxJointSlider *joint, dReal force) +{ + dVector3 axis; + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider"); + + if (joint->flags & dJOINT_REVERSE) + force -= force; + + getAxis (joint,axis,joint->axis1); + axis[0] *= force; + axis[1] *= force; + axis[2] *= force; + + if (joint->node[0].body != 0) + dBodyAddForce (joint->node[0].body,axis[0],axis[1],axis[2]); + if (joint->node[1].body != 0) + dBodyAddForce(joint->node[1].body, -axis[0], -axis[1], -axis[2]); +} + + +dxJoint::Vtable __dslider_vtable = { + sizeof(dxJointSlider), + (dxJoint::init_fn*) sliderInit, + (dxJoint::getInfo1_fn*) sliderGetInfo1, + (dxJoint::getInfo2_fn*) sliderGetInfo2, + dJointTypeSlider}; + +//**************************************************************************** +// contact + +static void contactInit (dxJointContact *j) +{ + // default frictionless contact. hmmm, this info gets overwritten straight + // away anyway, so why bother? +#if 0 /* so don't bother ;) */ + j->contact.surface.mode = 0; + j->contact.surface.mu = 0; + dSetZero (j->contact.geom.pos,4); + dSetZero (j->contact.geom.normal,4); + j->contact.geom.depth = 0; +#endif +} + + +static void contactGetInfo1 (dxJointContact *j, dxJoint::Info1 *info) +{ + // make sure mu's >= 0, then calculate number of constraint rows and number + // of unbounded rows. + int m = 1, nub=0; + if (j->contact.surface.mu < 0) j->contact.surface.mu = 0; + if (j->contact.surface.mode & dContactMu2) { + if (j->contact.surface.mu > 0) m++; + if (j->contact.surface.mu2 < 0) j->contact.surface.mu2 = 0; + if (j->contact.surface.mu2 > 0) m++; + if (j->contact.surface.mu == dInfinity) nub ++; + if (j->contact.surface.mu2 == dInfinity) nub ++; + } + else { + if (j->contact.surface.mu > 0) m += 2; + if (j->contact.surface.mu == dInfinity) nub += 2; + } + + j->the_m = m; + info->m = m; + info->nub = nub; +} + + +static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info) +{ + int i,s = info->rowskip; + int s2 = 2*s; + + // get normal, with sign adjusted for body1/body2 polarity + dVector3 normal; + if (j->flags & dJOINT_REVERSE) { + normal[0] = - j->contact.geom.normal[0]; + normal[1] = - j->contact.geom.normal[1]; + normal[2] = - j->contact.geom.normal[2]; + } + else { + normal[0] = j->contact.geom.normal[0]; + normal[1] = j->contact.geom.normal[1]; + normal[2] = j->contact.geom.normal[2]; + } + normal[3] = 0; // @@@ hmmm + + // c1,c2 = contact points with respect to body PORs + dVector3 c1,c2; + for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->pos[i]; + + // set jacobian for normal + info->J1l[0] = normal[0]; + info->J1l[1] = normal[1]; + info->J1l[2] = normal[2]; + dCROSS (info->J1a,=,c1,normal); + if (j->node[1].body) { + for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] - + j->node[1].body->pos[i]; + info->J2l[0] = -normal[0]; + info->J2l[1] = -normal[1]; + info->J2l[2] = -normal[2]; + dCROSS (info->J2a,= -,c2,normal); + } + + // set right hand side and cfm value for normal + dReal erp = info->erp; + if (j->contact.surface.mode & dContactSoftERP) + erp = j->contact.surface.soft_erp; + dReal k = info->fps * erp; + info->c[0] = k*j->contact.geom.depth; + if (j->contact.surface.mode & dContactSoftCFM) + info->cfm[0] = j->contact.surface.soft_cfm; + + // deal with bounce + if (j->contact.surface.mode & dContactBounce) { + // calculate outgoing velocity (-ve for incoming contact) + dReal outgoing = dDOT(info->J1l,j->node[0].body->lvel) + + dDOT(info->J1a,j->node[0].body->avel); + if (j->node[1].body) { + outgoing += dDOT(info->J2l,j->node[1].body->lvel) + + dDOT(info->J2a,j->node[1].body->avel); + } + // only apply bounce if the outgoing velocity is greater than the + // threshold, and if the resulting c[0] exceeds what we already have. + if (j->contact.surface.bounce_vel >= 0 && + (-outgoing) > j->contact.surface.bounce_vel) { + dReal newc = - j->contact.surface.bounce * outgoing; + if (newc > info->c[0]) info->c[0] = newc; + } + } + + // set LCP limits for normal + info->lo[0] = 0; + info->hi[0] = dInfinity; + + // now do jacobian for tangential forces + dVector3 t1,t2; // two vectors tangential to normal + + // first friction direction + if (j->the_m >= 2) { + if (j->contact.surface.mode & dContactFDir1) { // use fdir1 ? + t1[0] = j->contact.fdir1[0]; + t1[1] = j->contact.fdir1[1]; + t1[2] = j->contact.fdir1[2]; + dCROSS (t2,=,normal,t1); + } + else { + dPlaneSpace (normal,t1,t2); + } + info->J1l[s+0] = t1[0]; + info->J1l[s+1] = t1[1]; + info->J1l[s+2] = t1[2]; + dCROSS (info->J1a+s,=,c1,t1); + if (j->node[1].body) { + info->J2l[s+0] = -t1[0]; + info->J2l[s+1] = -t1[1]; + info->J2l[s+2] = -t1[2]; + dCROSS (info->J2a+s,= -,c2,t1); + } + // set right hand side + if (j->contact.surface.mode & dContactMotion1) { + info->c[1] = j->contact.surface.motion1; + } + // set LCP bounds and friction index. this depends on the approximation + // mode + info->lo[1] = -j->contact.surface.mu; + info->hi[1] = j->contact.surface.mu; + if (j->contact.surface.mode & dContactApprox1_1) info->findex[1] = 0; + + // set slip (constraint force mixing) + if (j->contact.surface.mode & dContactSlip1) + info->cfm[1] = j->contact.surface.slip1; + } + + // second friction direction + if (j->the_m >= 3) { + info->J1l[s2+0] = t2[0]; + info->J1l[s2+1] = t2[1]; + info->J1l[s2+2] = t2[2]; + dCROSS (info->J1a+s2,=,c1,t2); + if (j->node[1].body) { + info->J2l[s2+0] = -t2[0]; + info->J2l[s2+1] = -t2[1]; + info->J2l[s2+2] = -t2[2]; + dCROSS (info->J2a+s2,= -,c2,t2); + } + // set right hand side + if (j->contact.surface.mode & dContactMotion2) { + info->c[2] = j->contact.surface.motion2; + } + // set LCP bounds and friction index. this depends on the approximation + // mode + if (j->contact.surface.mode & dContactMu2) { + info->lo[2] = -j->contact.surface.mu2; + info->hi[2] = j->contact.surface.mu2; + } + else { + info->lo[2] = -j->contact.surface.mu; + info->hi[2] = j->contact.surface.mu; + } + if (j->contact.surface.mode & dContactApprox1_2) info->findex[2] = 0; + + // set slip (constraint force mixing) + if (j->contact.surface.mode & dContactSlip2) + info->cfm[2] = j->contact.surface.slip2; + } +} + + +dxJoint::Vtable __dcontact_vtable = { + sizeof(dxJointContact), + (dxJoint::init_fn*) contactInit, + (dxJoint::getInfo1_fn*) contactGetInfo1, + (dxJoint::getInfo2_fn*) contactGetInfo2, + dJointTypeContact}; + +//**************************************************************************** +// hinge 2. note that this joint must be attached to two bodies for it to work + +static dReal measureHinge2Angle (dxJointHinge2 *joint) +{ + dVector3 a1,a2; + dMULTIPLY0_331 (a1,joint->node[1].body->R,joint->axis2); + dMULTIPLY1_331 (a2,joint->node[0].body->R,a1); + dReal x = dDOT(joint->v1,a2); + dReal y = dDOT(joint->v2,a2); + return -dAtan2 (y,x); +} + + +static void hinge2Init (dxJointHinge2 *j) +{ + dSetZero (j->anchor1,4); + dSetZero (j->anchor2,4); + dSetZero (j->axis1,4); + j->axis1[0] = 1; + dSetZero (j->axis2,4); + j->axis2[1] = 1; + j->c0 = 0; + j->s0 = 0; + + dSetZero (j->v1,4); + j->v1[0] = 1; + dSetZero (j->v2,4); + j->v2[1] = 1; + + j->limot1.init (j->world); + j->limot2.init (j->world); + + j->susp_erp = j->world->global_erp; + j->susp_cfm = j->world->global_cfm; + + j->flags |= dJOINT_TWOBODIES; +} + + +static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info) +{ + info->m = 4; + info->nub = 4; + + // see if we're powered or at a joint limit for axis 1 + int atlimit=0; + if ((j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) && + j->limot1.lostop <= j->limot1.histop) { + dReal angle = measureHinge2Angle (j); + if (j->limot1.testRotationalLimit (angle)) atlimit = 1; + } + if (atlimit || j->limot1.fmax > 0) info->m++; + + // see if we're powering axis 2 (we currently never limit this axis) + j->limot2.limit = 0; + if (j->limot2.fmax > 0) info->m++; +} + + +// macro that computes ax1,ax2 = axis 1 and 2 in global coordinates (they are +// relative to body 1 and 2 initially) and then computes the constrained +// rotational axis as the cross product of ax1 and ax2. +// the sin and cos of the angle between axis 1 and 2 is computed, this comes +// from dot and cross product rules. + +#define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \ + dVector3 ax1,ax2; \ + dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); \ + dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); \ + dCROSS (axis,=,ax1,ax2); \ + sin_angle = dSqrt (axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); \ + cos_angle = dDOT (ax1,ax2); + + +static void hinge2GetInfo2 (dxJointHinge2 *joint, dxJoint::Info2 *info) +{ + // get information we need to set the hinge row + dReal s,c; + dVector3 q; + HINGE2_GET_AXIS_INFO (q,s,c); + dNormalize3 (q); // @@@ quicker: divide q by s ? + + // set the three ball-and-socket rows (aligned to the suspension axis ax1) + setBall2 (joint,info,joint->anchor1,joint->anchor2,ax1,joint->susp_erp); + + // set the hinge row + int s3=3*info->rowskip; + info->J1a[s3+0] = q[0]; + info->J1a[s3+1] = q[1]; + info->J1a[s3+2] = q[2]; + if (joint->node[1].body) { + info->J2a[s3+0] = -q[0]; + info->J2a[s3+1] = -q[1]; + info->J2a[s3+2] = -q[2]; + } + + // compute the right hand side for the constrained rotational DOF. + // axis 1 and axis 2 are separated by an angle `theta'. the desired + // separation angle is theta0. sin(theta0) and cos(theta0) are recorded + // in the joint structure. the correcting angular velocity is: + // |angular_velocity| = angle/time = erp*(theta0-theta) / stepsize + // = (erp*fps) * (theta0-theta) + // (theta0-theta) can be computed using the following small-angle-difference + // approximation: + // theta0-theta ~= tan(theta0-theta) + // = sin(theta0-theta)/cos(theta0-theta) + // = (c*s0 - s*c0) / (c*c0 + s*s0) + // = c*s0 - s*c0 assuming c*c0 + s*s0 ~= 1 + // where c = cos(theta), s = sin(theta) + // c0 = cos(theta0), s0 = sin(theta0) + + dReal k = info->fps * info->erp; + info->c[3] = k * (joint->c0 * s - joint->s0 * c); + + // if the axis1 hinge is powered, or has joint limits, add in more stuff + int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1); + + // if the axis2 hinge is powered, add in more stuff + joint->limot2.addLimot (joint,info,row,ax2,1); + + // set parameter for the suspension + info->cfm[0] = joint->susp_cfm; +} + + +// compute vectors v1 and v2 (embedded in body1), used to measure angle +// between body 1 and body 2 + +static void makeHinge2V1andV2 (dxJointHinge2 *joint) +{ + if (joint->node[0].body) { + // get axis 1 and 2 in global coords + dVector3 ax1,ax2,v; + dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); + dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); + + // don't do anything if the axis1 or axis2 vectors are zero or the same + if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0) || + (ax2[0]==0 && ax2[1]==0 && ax2[2]==0) || + (ax1[0]==ax2[0] && ax1[1]==ax2[1] && ax1[2]==ax2[2])) return; + + // modify axis 2 so it's perpendicular to axis 1 + dReal k = dDOT(ax1,ax2); + for (int i=0; i<3; i++) ax2[i] -= k*ax1[i]; + dNormalize3 (ax2); + + // make v1 = modified axis2, v2 = axis1 x (modified axis2) + dCROSS (v,=,ax1,ax2); + dMULTIPLY1_331 (joint->v1,joint->node[0].body->R,ax2); + dMULTIPLY1_331 (joint->v2,joint->node[0].body->R,v); + } +} + + +extern "C" void dJointSetHinge2Anchor (dxJointHinge2 *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); + makeHinge2V1andV2 (joint); +} + + +extern "C" void dJointSetHinge2Axis1 (dxJointHinge2 *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[0].body) { + dReal q[4]; + q[0] = x; + q[1] = y; + q[2] = z; + q[3] = 0; + dNormalize3 (q); + dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q); + joint->axis1[3] = 0; + + // compute the sin and cos of the angle between axis 1 and axis 2 + dVector3 ax; + HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0); + } + makeHinge2V1andV2 (joint); +} + + +extern "C" void dJointSetHinge2Axis2 (dxJointHinge2 *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[1].body) { + dReal q[4]; + q[0] = x; + q[1] = y; + q[2] = z; + q[3] = 0; + dNormalize3 (q); + dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q); + joint->axis1[3] = 0; + + // compute the sin and cos of the angle between axis 1 and axis 2 + dVector3 ax; + HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0); + } + makeHinge2V1andV2 (joint); +} + + +extern "C" void dJointSetHinge2Param (dxJointHinge2 *joint, + int parameter, dReal value) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if ((parameter & 0xff00) == 0x100) { + joint->limot2.set (parameter & 0xff,value); + } + else { + if (parameter == dParamSuspensionERP) joint->susp_erp = value; + else if (parameter == dParamSuspensionCFM) joint->susp_cfm = value; + else joint->limot1.set (parameter,value); + } +} + + +extern "C" void dJointGetHinge2Anchor (dxJointHinge2 *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->flags & dJOINT_REVERSE) + getAnchor2 (joint,result,joint->anchor2); + else + getAnchor (joint,result,joint->anchor1); +} + + +extern "C" void dJointGetHinge2Anchor2 (dxJointHinge2 *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->flags & dJOINT_REVERSE) + getAnchor (joint,result,joint->anchor1); + else + getAnchor2 (joint,result,joint->anchor2); +} + + +extern "C" void dJointGetHinge2Axis1 (dxJointHinge2 *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[0].body) { + dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis1); + } +} + + +extern "C" void dJointGetHinge2Axis2 (dxJointHinge2 *joint, dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[1].body) { + dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis2); + } +} + + +extern "C" dReal dJointGetHinge2Param (dxJointHinge2 *joint, int parameter) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if ((parameter & 0xff00) == 0x100) { + return joint->limot2.get (parameter & 0xff); + } + else { + if (parameter == dParamSuspensionERP) return joint->susp_erp; + else if (parameter == dParamSuspensionCFM) return joint->susp_cfm; + else return joint->limot1.get (parameter); + } +} + + +extern "C" dReal dJointGetHinge2Angle1 (dxJointHinge2 *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[0].body) return measureHinge2Angle (joint); + else return 0; +} + + +extern "C" dReal dJointGetHinge2Angle1Rate (dxJointHinge2 *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[0].body) { + dVector3 axis; + dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1); + dReal rate = dDOT(axis,joint->node[0].body->avel); + if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); + return rate; + } + else return 0; +} + + +extern "C" dReal dJointGetHinge2Angle2Rate (dxJointHinge2 *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + if (joint->node[0].body && joint->node[1].body) { + dVector3 axis; + dMULTIPLY0_331 (axis,joint->node[1].body->R,joint->axis2); + dReal rate = dDOT(axis,joint->node[0].body->avel); + if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel); + return rate; + } + else return 0; +} + + +extern "C" void dJointAddHinge2Torques (dxJointHinge2 *joint, dReal torque1, dReal torque2) +{ + dVector3 axis1, axis2; + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2"); + + if (joint->node[0].body && joint->node[1].body) { + dMULTIPLY0_331 (axis1,joint->node[0].body->R,joint->axis1); + dMULTIPLY0_331 (axis2,joint->node[1].body->R,joint->axis2); + axis1[0] = axis1[0] * torque1 + axis2[0] * torque2; + axis1[1] = axis1[1] * torque1 + axis2[1] * torque2; + axis1[2] = axis1[2] * torque1 + axis2[2] * torque2; + dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]); + dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]); + } +} + + +dxJoint::Vtable __dhinge2_vtable = { + sizeof(dxJointHinge2), + (dxJoint::init_fn*) hinge2Init, + (dxJoint::getInfo1_fn*) hinge2GetInfo1, + (dxJoint::getInfo2_fn*) hinge2GetInfo2, + dJointTypeHinge2}; + +//**************************************************************************** +// universal + +// I just realized that the universal joint is equivalent to a hinge 2 joint with +// perfectly stiff suspension. By comparing the hinge 2 implementation to +// the universal implementation, you may be able to improve this +// implementation (or, less likely, the hinge2 implementation). + +static void universalInit (dxJointUniversal *j) +{ + dSetZero (j->anchor1,4); + dSetZero (j->anchor2,4); + dSetZero (j->axis1,4); + j->axis1[0] = 1; + dSetZero (j->axis2,4); + j->axis2[1] = 1; + dSetZero(j->qrel1,4); + dSetZero(j->qrel2,4); + j->limot1.init (j->world); + j->limot2.init (j->world); +} + + +static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2) +{ + // This says "ax1 = joint->node[0].body->R * joint->axis1" + dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); + + if (joint->node[1].body) { + dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); + } + else { + ax2[0] = joint->axis2[0]; + ax2[1] = joint->axis2[1]; + ax2[2] = joint->axis2[2]; + } +} + + +static dReal getUniversalAngle1(dxJointUniversal *joint) +{ + if (joint->node[0].body) { + // length 1 joint axis in global coordinates, from each body + dVector3 ax1, ax2; + dMatrix3 R; + dQuaternion qcross, qq, qrel; + + getUniversalAxes (joint,ax1,ax2); + + // It should be possible to get both angles without explicitly + // constructing the rotation matrix of the cross. Basically, + // orientation of the cross about axis1 comes from body 2, + // about axis 2 comes from body 1, and the perpendicular + // axis can come from the two bodies somehow. (We don't really + // want to assume it's 90 degrees, because in general the + // constraints won't be perfectly satisfied, or even very well + // satisfied.) + // + // However, we'd need a version of getHingeAngleFromRElativeQuat() + // that CAN handle when its relative quat is rotated along a direction + // other than the given axis. What I have here works, + // although it's probably much slower than need be. + + dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); + dRtoQ (R,qcross); + + // This code is essential the same as getHingeAngle(), see the comments + // there for details. + + // get qrel = relative rotation between node[0] and the cross + dQMultiply1 (qq,joint->node[0].body->q,qcross); + dQMultiply2 (qrel,qq,joint->qrel1); + + return getHingeAngleFromRelativeQuat(qrel, joint->axis1); + } + return 0; +} + + +static dReal getUniversalAngle2(dxJointUniversal *joint) +{ + if (joint->node[0].body) { + // length 1 joint axis in global coordinates, from each body + dVector3 ax1, ax2; + dMatrix3 R; + dQuaternion qcross, qq, qrel; + + getUniversalAxes (joint,ax1,ax2); + + // It should be possible to get both angles without explicitly + // constructing the rotation matrix of the cross. Basically, + // orientation of the cross about axis1 comes from body 2, + // about axis 2 comes from body 1, and the perpendicular + // axis can come from the two bodies somehow. (We don't really + // want to assume it's 90 degrees, because in general the + // constraints won't be perfectly satisfied, or even very well + // satisfied.) + // + // However, we'd need a version of getHingeAngleFromRElativeQuat() + // that CAN handle when its relative quat is rotated along a direction + // other than the given axis. What I have here works, + // although it's probably much slower than need be. + + dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); + dRtoQ(R, qcross); + + if (joint->node[1].body) { + dQMultiply1 (qq, joint->node[1].body->q, qcross); + dQMultiply2 (qrel,qq,joint->qrel2); + } + else { + // pretend joint->node[1].body->q is the identity + dQMultiply2 (qrel,qcross, joint->qrel2); + } + + return - getHingeAngleFromRelativeQuat(qrel, joint->axis2); + } + return 0; +} + + +static void universalGetInfo1 (dxJointUniversal *j, dxJoint::Info1 *info) +{ + info->nub = 4; + info->m = 4; + + // see if we're powered or at a joint limit. + bool constraint1 = j->limot1.fmax > 0; + bool constraint2 = j->limot2.fmax > 0; + + bool limiting1 = (j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) && + j->limot1.lostop <= j->limot1.histop; + bool limiting2 = (j->limot2.lostop >= -M_PI || j->limot2.histop <= M_PI) && + j->limot2.lostop <= j->limot2.histop; + + // We need to call testRotationLimit() even if we're motored, since it + // records the result. + if (limiting1 || limiting2) { + dReal angle1, angle2; + angle1 = getUniversalAngle1(j); + angle2 = getUniversalAngle2(j); + if (limiting1 && j->limot1.testRotationalLimit (angle1)) constraint1 = true; + if (limiting2 && j->limot2.testRotationalLimit (angle2)) constraint2 = true; + } + if (constraint1) + info->m++; + if (constraint2) + info->m++; +} + + +static void universalGetInfo2 (dxJointUniversal *joint, dxJoint::Info2 *info) +{ + // set the three ball-and-socket rows + setBall (joint,info,joint->anchor1,joint->anchor2); + + // set the universal joint row. the angular velocity about an axis + // perpendicular to both joint axes should be equal. thus the constraint + // equation is + // p*w1 - p*w2 = 0 + // where p is a vector normal to both joint axes, and w1 and w2 + // are the angular velocity vectors of the two bodies. + + // length 1 joint axis in global coordinates, from each body + dVector3 ax1, ax2; + dVector3 ax2_temp; + // length 1 vector perpendicular to ax1 and ax2. Neither body can rotate + // about this. + dVector3 p; + dReal k; + + getUniversalAxes(joint, ax1, ax2); + k = dDOT(ax1, ax2); + ax2_temp[0] = ax2[0] - k*ax1[0]; + ax2_temp[1] = ax2[1] - k*ax1[1]; + ax2_temp[2] = ax2[2] - k*ax1[2]; + dCROSS(p, =, ax1, ax2_temp); + dNormalize3(p); + + int s3=3*info->rowskip; + + info->J1a[s3+0] = p[0]; + info->J1a[s3+1] = p[1]; + info->J1a[s3+2] = p[2]; + + if (joint->node[1].body) { + info->J2a[s3+0] = -p[0]; + info->J2a[s3+1] = -p[1]; + info->J2a[s3+2] = -p[2]; + } + + // compute the right hand side of the constraint equation. set relative + // body velocities along p to bring the axes back to perpendicular. + // If ax1, ax2 are unit length joint axes as computed from body1 and + // body2, we need to rotate both bodies along the axis p. If theta + // is the angle between ax1 and ax2, we need an angular velocity + // along p to cover the angle erp * (theta - Pi/2) in one step: + // + // |angular_velocity| = angle/time = erp*(theta - Pi/2) / stepsize + // = (erp*fps) * (theta - Pi/2) + // + // if theta is close to Pi/2, + // theta - Pi/2 ~= cos(theta), so + // |angular_velocity| ~= (erp*fps) * (ax1 dot ax2) + + info->c[3] = info->fps * info->erp * - dDOT(ax1, ax2); + + // if the first angle is powered, or has joint limits, add in the stuff + int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1); + + // if the second angle is powered, or has joint limits, add in more stuff + joint->limot2.addLimot (joint,info,row,ax2,1); +} + + +static void universalComputeInitialRelativeRotations (dxJointUniversal *joint) +{ + if (joint->node[0].body) { + dVector3 ax1, ax2; + dMatrix3 R; + dQuaternion qcross; + + getUniversalAxes(joint, ax1, ax2); + + // Axis 1. + dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]); + dRtoQ(R, qcross); + dQMultiply1 (joint->qrel1, joint->node[0].body->q, qcross); + + // Axis 2. + dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]); + dRtoQ(R, qcross); + if (joint->node[1].body) { + dQMultiply1 (joint->qrel2, joint->node[1].body->q, qcross); + } + else { + // set joint->qrel to qcross + for (int i=0; i<4; i++) joint->qrel2[i] = qcross[i]; + } + } +} + + +extern "C" void dJointSetUniversalAnchor (dxJointUniversal *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2); + universalComputeInitialRelativeRotations(joint); +} + + +extern "C" void dJointSetUniversalAxis1 (dxJointUniversal *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + setAxes (joint,x,y,z,NULL,joint->axis2); + else + setAxes (joint,x,y,z,joint->axis1,NULL); + universalComputeInitialRelativeRotations(joint); +} + + +extern "C" void dJointSetUniversalAxis2 (dxJointUniversal *joint, + dReal x, dReal y, dReal z) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + setAxes (joint,x,y,z,joint->axis1,NULL); + else + setAxes (joint,x,y,z,NULL,joint->axis2); + universalComputeInitialRelativeRotations(joint); +} + + +extern "C" void dJointGetUniversalAnchor (dxJointUniversal *joint, + dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + getAnchor2 (joint,result,joint->anchor2); + else + getAnchor (joint,result,joint->anchor1); +} + + +extern "C" void dJointGetUniversalAnchor2 (dxJointUniversal *joint, + dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + getAnchor (joint,result,joint->anchor1); + else + getAnchor2 (joint,result,joint->anchor2); +} + + +extern "C" void dJointGetUniversalAxis1 (dxJointUniversal *joint, + dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + getAxis2 (joint,result,joint->axis2); + else + getAxis (joint,result,joint->axis1); +} + + +extern "C" void dJointGetUniversalAxis2 (dxJointUniversal *joint, + dVector3 result) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(result,"bad result argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + getAxis (joint,result,joint->axis1); + else + getAxis2 (joint,result,joint->axis2); +} + + +extern "C" void dJointSetUniversalParam (dxJointUniversal *joint, + int parameter, dReal value) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if ((parameter & 0xff00) == 0x100) { + joint->limot2.set (parameter & 0xff,value); + } + else { + joint->limot1.set (parameter,value); + } +} + + +extern "C" dReal dJointGetUniversalParam (dxJointUniversal *joint, int parameter) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if ((parameter & 0xff00) == 0x100) { + return joint->limot2.get (parameter & 0xff); + } + else { + return joint->limot1.get (parameter); + } +} + + +extern "C" dReal dJointGetUniversalAngle1 (dxJointUniversal *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + return getUniversalAngle2 (joint); + else + return getUniversalAngle1 (joint); +} + + +extern "C" dReal dJointGetUniversalAngle2 (dxJointUniversal *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + if (joint->flags & dJOINT_REVERSE) + return getUniversalAngle1 (joint); + else + return getUniversalAngle2 (joint); +} + + +extern "C" dReal dJointGetUniversalAngle1Rate (dxJointUniversal *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + + if (joint->node[0].body) { + dVector3 axis; + + if (joint->flags & dJOINT_REVERSE) + getAxis2 (joint,axis,joint->axis2); + else + getAxis (joint,axis,joint->axis1); + + dReal rate = dDOT(axis, joint->node[0].body->avel); + if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel); + return rate; + } + return 0; +} + + +extern "C" dReal dJointGetUniversalAngle2Rate (dxJointUniversal *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + + if (joint->node[0].body) { + dVector3 axis; + + if (joint->flags & dJOINT_REVERSE) + getAxis (joint,axis,joint->axis1); + else + getAxis2 (joint,axis,joint->axis2); + + dReal rate = dDOT(axis, joint->node[0].body->avel); + if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel); + return rate; + } + return 0; +} + + +extern "C" void dJointAddUniversalTorques (dxJointUniversal *joint, dReal torque1, dReal torque2) +{ + dVector3 axis1, axis2; + dAASSERT(joint); + dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal"); + + if (joint->flags & dJOINT_REVERSE) { + dReal temp = torque1; + torque1 = - torque2; + torque2 = - temp; + } + + getAxis (joint,axis1,joint->axis1); + getAxis2 (joint,axis2,joint->axis2); + axis1[0] = axis1[0] * torque1 + axis2[0] * torque2; + axis1[1] = axis1[1] * torque1 + axis2[1] * torque2; + axis1[2] = axis1[2] * torque1 + axis2[2] * torque2; + + if (joint->node[0].body != 0) + dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]); + if (joint->node[1].body != 0) + dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]); +} + + + + + +dxJoint::Vtable __duniversal_vtable = { + sizeof(dxJointUniversal), + (dxJoint::init_fn*) universalInit, + (dxJoint::getInfo1_fn*) universalGetInfo1, + (dxJoint::getInfo2_fn*) universalGetInfo2, + dJointTypeUniversal}; + +//**************************************************************************** +// angular motor + +static void amotorInit (dxJointAMotor *j) +{ + int i; + j->num = 0; + j->mode = dAMotorUser; + for (i=0; i<3; i++) { + j->rel[i] = 0; + dSetZero (j->axis[i],4); + j->limot[i].init (j->world); + j->angle[i] = 0; + } + dSetZero (j->reference1,4); + dSetZero (j->reference2,4); + + j->flags |= dJOINT_TWOBODIES; +} + + +// compute the 3 axes in global coordinates + +static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3]) +{ + if (joint->mode == dAMotorEuler) { + // special handling for euler mode + dMULTIPLY0_331 (ax[0],joint->node[0].body->R,joint->axis[0]); + dMULTIPLY0_331 (ax[2],joint->node[1].body->R,joint->axis[2]); + dCROSS (ax[1],=,ax[2],ax[0]); + dNormalize3 (ax[1]); + } + else { + for (int i=0; i < joint->num; i++) { + if (joint->rel[i] == 1) { + // relative to b1 + dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]); + } + if (joint->rel[i] == 2) { + // relative to b2 + dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]); + } + else { + // global - just copy it + ax[i][0] = joint->axis[i][0]; + ax[i][1] = joint->axis[i][1]; + ax[i][2] = joint->axis[i][2]; + } + } + } +} + + +static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3]) +{ + // assumptions: + // global axes already calculated --> ax + // axis[0] is relative to body 1 --> global ax[0] + // axis[2] is relative to body 2 --> global ax[2] + // ax[1] = ax[2] x ax[0] + // original ax[0] and ax[2] are perpendicular + // reference1 is perpendicular to ax[0] (in body 1 frame) + // reference2 is perpendicular to ax[2] (in body 2 frame) + // all ax[] and reference vectors are unit length + + // calculate references in global frame + dVector3 ref1,ref2; + dMULTIPLY0_331 (ref1,joint->node[0].body->R,joint->reference1); + dMULTIPLY0_331 (ref2,joint->node[1].body->R,joint->reference2); + + // get q perpendicular to both ax[0] and ref1, get first euler angle + dVector3 q; + dCROSS (q,=,ax[0],ref1); + joint->angle[0] = -dAtan2 (dDOT(ax[2],q),dDOT(ax[2],ref1)); + + // get q perpendicular to both ax[0] and ax[1], get second euler angle + dCROSS (q,=,ax[0],ax[1]); + joint->angle[1] = -dAtan2 (dDOT(ax[2],ax[0]),dDOT(ax[2],q)); + + // get q perpendicular to both ax[1] and ax[2], get third euler angle + dCROSS (q,=,ax[1],ax[2]); + joint->angle[2] = -dAtan2 (dDOT(ref2,ax[1]), dDOT(ref2,q)); +} + + +// set the reference vectors as follows: +// * reference1 = current axis[2] relative to body 1 +// * reference2 = current axis[0] relative to body 2 +// this assumes that: +// * axis[0] is relative to body 1 +// * axis[2] is relative to body 2 + +static void amotorSetEulerReferenceVectors (dxJointAMotor *j) +{ + if (j->node[0].body && j->node[1].body) { + dVector3 r; // axis[2] and axis[0] in global coordinates + dMULTIPLY0_331 (r,j->node[1].body->R,j->axis[2]); + dMULTIPLY1_331 (j->reference1,j->node[0].body->R,r); + dMULTIPLY0_331 (r,j->node[0].body->R,j->axis[0]); + dMULTIPLY1_331 (j->reference2,j->node[1].body->R,r); + } +} + + +static void amotorGetInfo1 (dxJointAMotor *j, dxJoint::Info1 *info) +{ + info->m = 0; + info->nub = 0; + + // compute the axes and angles, if in euler mode + if (j->mode == dAMotorEuler) { + dVector3 ax[3]; + amotorComputeGlobalAxes (j,ax); + amotorComputeEulerAngles (j,ax); + } + + // see if we're powered or at a joint limit for each axis + for (int i=0; i < j->num; i++) { + if (j->limot[i].testRotationalLimit (j->angle[i]) || + j->limot[i].fmax > 0) { + info->m++; + } + } +} + + +static void amotorGetInfo2 (dxJointAMotor *joint, dxJoint::Info2 *info) +{ + int i; + + // compute the axes (if not global) + dVector3 ax[3]; + amotorComputeGlobalAxes (joint,ax); + + // in euler angle mode we do not actually constrain the angular velocity + // along the axes axis[0] and axis[2] (although we do use axis[1]) : + // + // to get constrain w2-w1 along ...not + // ------ --------------------- ------ + // d(angle[0])/dt = 0 ax[1] x ax[2] ax[0] + // d(angle[1])/dt = 0 ax[1] + // d(angle[2])/dt = 0 ax[0] x ax[1] ax[2] + // + // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0. + // to prove the result for angle[0], write the expression for angle[0] from + // GetInfo1 then take the derivative. to prove this for angle[2] it is + // easier to take the euler rate expression for d(angle[2])/dt with respect + // to the components of w and set that to 0. + + dVector3 *axptr[3]; + axptr[0] = &ax[0]; + axptr[1] = &ax[1]; + axptr[2] = &ax[2]; + + dVector3 ax0_cross_ax1; + dVector3 ax1_cross_ax2; + if (joint->mode == dAMotorEuler) { + dCROSS (ax0_cross_ax1,=,ax[0],ax[1]); + axptr[2] = &ax0_cross_ax1; + dCROSS (ax1_cross_ax2,=,ax[1],ax[2]); + axptr[0] = &ax1_cross_ax2; + } + + int row=0; + for (i=0; i < joint->num; i++) { + row += joint->limot[i].addLimot (joint,info,row,*(axptr[i]),1); + } +} + + +extern "C" void dJointSetAMotorNumAxes (dxJointAMotor *joint, int num) +{ + dAASSERT(joint && num >= 0 && num <= 3); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + if (joint->mode == dAMotorEuler) { + joint->num = 3; + } + else { + if (num < 0) num = 0; + if (num > 3) num = 3; + joint->num = num; + } +} + + +extern "C" void dJointSetAMotorAxis (dxJointAMotor *joint, int anum, int rel, + dReal x, dReal y, dReal z) +{ + dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + if (anum < 0) anum = 0; + if (anum > 2) anum = 2; + joint->rel[anum] = rel; + + // x,y,z is always in global coordinates regardless of rel, so we may have + // to convert it to be relative to a body + dVector3 r; + r[0] = x; + r[1] = y; + r[2] = z; + r[3] = 0; + if (rel > 0) { + if (rel==1) { + dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->R,r); + } + else { + dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->R,r); + } + } + else { + joint->axis[anum][0] = r[0]; + joint->axis[anum][1] = r[1]; + joint->axis[anum][2] = r[2]; + } + dNormalize3 (joint->axis[anum]); + if (joint->mode == dAMotorEuler) amotorSetEulerReferenceVectors (joint); +} + + +extern "C" void dJointSetAMotorAngle (dxJointAMotor *joint, int anum, + dReal angle) +{ + dAASSERT(joint && anum >= 0 && anum < 3); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + if (joint->mode == dAMotorUser) { + if (anum < 0) anum = 0; + if (anum > 3) anum = 3; + joint->angle[anum] = angle; + } +} + + +extern "C" void dJointSetAMotorParam (dxJointAMotor *joint, int parameter, + dReal value) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + int anum = parameter >> 8; + if (anum < 0) anum = 0; + if (anum > 2) anum = 2; + parameter &= 0xff; + joint->limot[anum].set (parameter, value); +} + + +extern "C" void dJointSetAMotorMode (dxJointAMotor *joint, int mode) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + joint->mode = mode; + if (joint->mode == dAMotorEuler) { + joint->num = 3; + amotorSetEulerReferenceVectors (joint); + } +} + + +extern "C" int dJointGetAMotorNumAxes (dxJointAMotor *joint) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + return joint->num; +} + + +extern "C" void dJointGetAMotorAxis (dxJointAMotor *joint, int anum, + dVector3 result) +{ + dAASSERT(joint && anum >= 0 && anum < 3); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + if (anum < 0) anum = 0; + if (anum > 2) anum = 2; + if (joint->rel[anum] > 0) { + if (joint->rel[anum]==1) { + dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis[anum]); + } + else { + dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis[anum]); + } + } + else { + result[0] = joint->axis[anum][0]; + result[1] = joint->axis[anum][1]; + result[2] = joint->axis[anum][2]; + } +} + + +extern "C" int dJointGetAMotorAxisRel (dxJointAMotor *joint, int anum) +{ + dAASSERT(joint && anum >= 0 && anum < 3); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + if (anum < 0) anum = 0; + if (anum > 2) anum = 2; + return joint->rel[anum]; +} + + +extern "C" dReal dJointGetAMotorAngle (dxJointAMotor *joint, int anum) +{ + dAASSERT(joint && anum >= 0 && anum < 3); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + if (anum < 0) anum = 0; + if (anum > 3) anum = 3; + return joint->angle[anum]; +} + + +extern "C" dReal dJointGetAMotorAngleRate (dxJointAMotor *joint, int anum) +{ + // @@@ + dDebug (0,"not yet implemented"); + return 0; +} + + +extern "C" dReal dJointGetAMotorParam (dxJointAMotor *joint, int parameter) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + int anum = parameter >> 8; + if (anum < 0) anum = 0; + if (anum > 2) anum = 2; + parameter &= 0xff; + return joint->limot[anum].get (parameter); +} + + +extern "C" int dJointGetAMotorMode (dxJointAMotor *joint) +{ + dAASSERT(joint); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + return joint->mode; +} + + +extern "C" void dJointAddAMotorTorques (dxJointAMotor *joint, dReal torque1, dReal torque2, dReal torque3) +{ + dVector3 axes[3]; + dAASSERT(joint); + dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor"); + + if (joint->num == 0) + return; + dUASSERT((joint->flags & dJOINT_REVERSE) == 0, "dJointAddAMotorTorques not yet implemented for reverse AMotor joints"); + + amotorComputeGlobalAxes (joint,axes); + axes[0][0] *= torque1; + axes[0][1] *= torque1; + axes[0][2] *= torque1; + if (joint->num >= 2) { + axes[0][0] += axes[1][0] * torque2; + axes[0][1] += axes[1][0] * torque2; + axes[0][2] += axes[1][0] * torque2; + if (joint->num >= 3) { + axes[0][0] += axes[2][0] * torque3; + axes[0][1] += axes[2][0] * torque3; + axes[0][2] += axes[2][0] * torque3; + } + } + + if (joint->node[0].body != 0) + dBodyAddTorque (joint->node[0].body,axes[0][0],axes[0][1],axes[0][2]); + if (joint->node[1].body != 0) + dBodyAddTorque(joint->node[1].body, -axes[0][0], -axes[0][1], -axes[0][2]); +} + + +dxJoint::Vtable __damotor_vtable = { + sizeof(dxJointAMotor), + (dxJoint::init_fn*) amotorInit, + (dxJoint::getInfo1_fn*) amotorGetInfo1, + (dxJoint::getInfo2_fn*) amotorGetInfo2, + dJointTypeAMotor}; + +//**************************************************************************** +// fixed joint + +static void fixedInit (dxJointFixed *j) +{ + dSetZero (j->offset,4); + dSetZero (j->qrel,4); +} + + +static void fixedGetInfo1 (dxJointFixed *j, dxJoint::Info1 *info) +{ + info->m = 6; + info->nub = 6; +} + + +static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info) +{ + int s = info->rowskip; + + // Three rows for orientation + setFixedOrientation(joint, info, joint->qrel, 3); + + // Three rows for position. + // set jacobian + info->J1l[0] = 1; + info->J1l[s+1] = 1; + info->J1l[2*s+2] = 1; + + dVector3 ofs; + dMULTIPLY0_331 (ofs,joint->node[0].body->R,joint->offset); + if (joint->node[1].body) { + dCROSSMAT (info->J1a,ofs,s,+,-); + info->J2l[0] = -1; + info->J2l[s+1] = -1; + info->J2l[2*s+2] = -1; + } + + // set right hand side for the first three rows (linear) + dReal k = info->fps * info->erp; + if (joint->node[1].body) { + for (int j=0; j<3; j++) + info->c[j] = k * (joint->node[1].body->pos[j] - + joint->node[0].body->pos[j] + ofs[j]); + } + else { + for (int j=0; j<3; j++) + info->c[j] = k * (joint->offset[j] - joint->node[0].body->pos[j]); + } +} + + +extern "C" void dJointSetFixed (dxJointFixed *joint) +{ + dUASSERT(joint,"bad joint argument"); + dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not fixed"); + int i; + + // This code is taken from sJointSetSliderAxis(), we should really put the + // common code in its own function. + // compute the offset between the bodies + if (joint->node[0].body) { + if (joint->node[1].body) { + dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q); + dReal ofs[4]; + for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i]; + for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i]; + dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs); + } + else { + // set joint->qrel to the transpose of the first body's q + joint->qrel[0] = joint->node[0].body->q[0]; + for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i]; + for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->pos[i]; + } + } +} + + +dxJoint::Vtable __dfixed_vtable = { + sizeof(dxJointFixed), + (dxJoint::init_fn*) fixedInit, + (dxJoint::getInfo1_fn*) fixedGetInfo1, + (dxJoint::getInfo2_fn*) fixedGetInfo2, + dJointTypeFixed}; + +//**************************************************************************** +// null joint + +static void nullGetInfo1 (dxJointNull *j, dxJoint::Info1 *info) +{ + info->m = 0; + info->nub = 0; +} + + +static void nullGetInfo2 (dxJointNull *joint, dxJoint::Info2 *info) +{ + dDebug (0,"this should never get called"); +} + + +dxJoint::Vtable __dnull_vtable = { + sizeof(dxJointNull), + (dxJoint::init_fn*) 0, + (dxJoint::getInfo1_fn*) nullGetInfo1, + (dxJoint::getInfo2_fn*) nullGetInfo2, + dJointTypeNull}; + +/******************** breakable joint contribution ***********************/ +extern "C" void dJointSetBreakable (dxJoint *joint, int b) { + dAASSERT(joint); + if (b) { + // we want this joint to be breakable but we must first check if it + // was already breakable + if (!joint->breakInfo) { + // allocate a dxJointBreakInfo struct + joint->breakInfo = new dxJointBreakInfo; + joint->breakInfo->flags = 0; + for (int i = 0; i < 3; i++) { + joint->breakInfo->b1MaxF[0] = 0; + joint->breakInfo->b1MaxT[0] = 0; + joint->breakInfo->b2MaxF[0] = 0; + joint->breakInfo->b2MaxT[0] = 0; + } + joint->breakInfo->callback = 0; + } + else { + // the joint was already breakable + return; + } + } + else { + // we want this joint to be unbreakable mut we must first check if + // it is alreay unbreakable + if (joint->breakInfo) { + // deallocate the dxJointBreakInfo struct + delete joint->breakInfo; + joint->breakInfo = 0; + } + else { + // the joint was already unbreakable + return; + } + } +} + +extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointSetBreakCallback called on unbreakable joint"); + } +# endif + joint->breakInfo->callback = callbackFunc; +} + +extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointSetBreakMode called on unbreakable joint"); + } +# endif + joint->breakInfo->flags = mode; +} + +extern "C" int dJointGetBreakMode (dxJoint *joint) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointGetBreakMode called on unbreakable joint"); + } +# endif + return joint->breakInfo->flags; +} + +extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointSetBreakForce called on unbreakable joint"); + } +# endif + if (body) { + joint->breakInfo->b2MaxF[0] = x; + joint->breakInfo->b2MaxF[1] = y; + joint->breakInfo->b2MaxF[2] = z; + } + else { + joint->breakInfo->b1MaxF[0] = x; + joint->breakInfo->b1MaxF[1] = y; + joint->breakInfo->b1MaxF[2] = z; + } +} + +extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointSetBreakTorque called on unbreakable joint"); + } +# endif + if (body) { + joint->breakInfo->b2MaxT[0] = x; + joint->breakInfo->b2MaxT[1] = y; + joint->breakInfo->b2MaxT[2] = z; + } + else { + joint->breakInfo->b1MaxT[0] = x; + joint->breakInfo->b1MaxT[1] = y; + joint->breakInfo->b1MaxT[2] = z; + } +} + +extern "C" int dJointIsBreakable (dxJoint *joint) { + dAASSERT(joint); + return joint->breakInfo != 0; +} + +extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointGetBreakForce called on unbreakable joint"); + } +# endif + if (body) + for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i]; + else + for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i]; +} + +extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) { + dAASSERT(joint); +# ifndef dNODEBUG + // only works for a breakable joint + if (!joint->breakInfo) { + dDebug (0, "dJointGetBreakTorque called on unbreakable joint"); + } +# endif + if (body) + for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i]; + else + for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i]; +} +/*************************************************************************/ diff -Nru ode-0.11.1/contrib/BreakableJoints/joint.h ode-0.14/contrib/BreakableJoints/joint.h --- ode-0.11.1/contrib/BreakableJoints/joint.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/joint.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,282 @@ +/************************************************************************* + * * + * 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_JOINT_H_ +#define _ODE_JOINT_H_ + + +#include "objects.h" +#include +#include "obstack.h" + + +// joint flags +enum { + // if this flag is set, the joint was allocated in a joint group + dJOINT_INGROUP = 1, + + // if this flag is set, the joint was attached with arguments (0,body). + // our convention is to treat all attaches as (body,0), i.e. so node[0].body + // is always nonzero, so this flag records the fact that the arguments were + // swapped. + dJOINT_REVERSE = 2, + + // if this flag is set, the joint can not have just one body attached to it, + // it must have either zero or two bodies attached. + dJOINT_TWOBODIES = 4 +}; + + +// there are two of these nodes in the joint, one for each connection to a +// body. these are node of a linked list kept by each body of it's connecting +// joints. but note that the body pointer in each node points to the body that +// makes use of the *other* node, not this node. this trick makes it a bit +// easier to traverse the body/joint graph. + +struct dxJointNode { + dxJoint *joint; // pointer to enclosing dxJoint object + dxBody *body; // *other* body this joint is connected to + dxJointNode *next; // next node in body's list of connected joints +}; + +/******************** breakable joint contribution ***********************/ +struct dxJointBreakInfo : public dBase { + int flags; + dReal b1MaxF[3]; // maximum force on body 1 + dReal b1MaxT[3]; // maximum torque on body 1 + dReal b2MaxF[3]; // maximum force on body 2 + dReal b2MaxT[3]; // maximum torque on body 2 + dJointBreakCallback *callback; // function that is called when this joint breaks +}; +/*************************************************************************/ + +struct dxJoint : public dObject { + // naming convention: the "first" body this is connected to is node[0].body, + // and the "second" body is node[1].body. if this joint is only connected + // to one body then the second body is 0. + + // info returned by getInfo1 function. the constraint dimension is m (<=6). + // i.e. that is the total number of rows in the jacobian. `nub' is the + // number of unbounded variables (which have lo,hi = -/+ infinity). + + struct Info1 { + int m,nub; + }; + + // info returned by getInfo2 function + + struct Info2 { + // integrator parameters: frames per second (1/stepsize), default error + // reduction parameter (0..1). + dReal fps,erp; + + // for the first and second body, pointers to two (linear and angular) + // n*3 jacobian sub matrices, stored by rows. these matrices will have + // been initialized to 0 on entry. if the second body is zero then the + // J2xx pointers may be 0. + dReal *J1l,*J1a,*J2l,*J2a; + + // elements to jump from one row to the next in J's + int rowskip; + + // right hand sides of the equation J*v = c + cfm * lambda. cfm is the + // "constraint force mixing" vector. c is set to zero on entry, cfm is + // set to a constant value (typically very small or zero) value on entry. + dReal *c,*cfm; + + // lo and hi limits for variables (set to -/+ infinity on entry). + dReal *lo,*hi; + + // findex vector for variables. see the LCP solver interface for a + // description of what this does. this is set to -1 on entry. + // note that the returned indexes are relative to the first index of + // the constraint. + int *findex; + }; + + // virtual function table: size of the joint structure, function pointers. + // we do it this way instead of using C++ virtual functions because + // sometimes we need to allocate joints ourself within a memory pool. + + typedef void init_fn (dxJoint *joint); + typedef void getInfo1_fn (dxJoint *joint, Info1 *info); + typedef void getInfo2_fn (dxJoint *joint, Info2 *info); + struct Vtable { + int size; + init_fn *init; + getInfo1_fn *getInfo1; + getInfo2_fn *getInfo2; + int typenum; // a dJointTypeXXX type number + }; + + Vtable *vtable; // virtual function table + int flags; // dJOINT_xxx flags + dxJointNode node[2]; // connections to bodies. node[1].body can be 0 + dJointFeedback *feedback; // optional feedback structure + + /******************** breakable joint contribution ***********************/ + // optional break info structure. if this is not NULL the the joint is + // breakable. + dxJointBreakInfo *breakInfo; + /*************************************************************************/ +}; + + +// joint group. NOTE: any joints in the group that have their world destroyed +// will have their world pointer set to 0. + +struct dxJointGroup : public dBase { + int num; // number of joints on the stack + dObStack stack; // a stack of (possibly differently sized) dxJoint +}; // objects. + + +// common limit and motor information for a single joint axis of movement +struct dxJointLimitMotor { + dReal vel,fmax; // powered joint: velocity, max force + dReal lostop,histop; // joint limits, relative to initial position + dReal fudge_factor; // when powering away from joint limits + dReal normal_cfm; // cfm to use when not at a stop + dReal stop_erp,stop_cfm; // erp and cfm for when at joint limit + dReal bounce; // restitution factor + // variables used between getInfo1() and getInfo2() + int limit; // 0=free, 1=at lo limit, 2=at hi limit + dReal limit_err; // if at limit, amount over limit + + void init (dxWorld *); + void set (int num, dReal value); + dReal get (int num); + int testRotationalLimit (dReal angle); + int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row, + dVector3 ax1, int rotational); +}; + + +// ball and socket + +struct dxJointBall : public dxJoint { + dVector3 anchor1; // anchor w.r.t first body + dVector3 anchor2; // anchor w.r.t second body +}; +extern struct dxJoint::Vtable __dball_vtable; + + +// hinge + +struct dxJointHinge : public dxJoint { + dVector3 anchor1; // anchor w.r.t first body + dVector3 anchor2; // anchor w.r.t second body + dVector3 axis1; // axis w.r.t first body + dVector3 axis2; // axis w.r.t second body + dQuaternion qrel; // initial relative rotation body1 -> body2 + dxJointLimitMotor limot; // limit and motor information +}; +extern struct dxJoint::Vtable __dhinge_vtable; + + +// universal + +struct dxJointUniversal : public dxJoint { + dVector3 anchor1; // anchor w.r.t first body + dVector3 anchor2; // anchor w.r.t second body + dVector3 axis1; // axis w.r.t first body + dVector3 axis2; // axis w.r.t second body + dQuaternion qrel1; // initial relative rotation body1 -> virtual cross piece + dQuaternion qrel2; // initial relative rotation virtual cross piece -> body2 + dxJointLimitMotor limot1; // limit and motor information for axis1 + dxJointLimitMotor limot2; // limit and motor information for axis2 +}; +extern struct dxJoint::Vtable __duniversal_vtable; + + +// slider. if body2 is 0 then qrel is the absolute rotation of body1 and +// offset is the position of body1 center along axis1. + +struct dxJointSlider : public dxJoint { + dVector3 axis1; // axis w.r.t first body + dQuaternion qrel; // initial relative rotation body1 -> body2 + dVector3 offset; // point relative to body2 that should be + // aligned with body1 center along axis1 + dxJointLimitMotor limot; // limit and motor information +}; +extern struct dxJoint::Vtable __dslider_vtable; + + +// contact + +struct dxJointContact : public dxJoint { + int the_m; // number of rows computed by getInfo1 + dContact contact; +}; +extern struct dxJoint::Vtable __dcontact_vtable; + + +// hinge 2 + +struct dxJointHinge2 : public dxJoint { + dVector3 anchor1; // anchor w.r.t first body + dVector3 anchor2; // anchor w.r.t second body + dVector3 axis1; // axis 1 w.r.t first body + dVector3 axis2; // axis 2 w.r.t second body + dReal c0,s0; // cos,sin of desired angle between axis 1,2 + dVector3 v1,v2; // angle ref vectors embedded in first body + dxJointLimitMotor limot1; // limit+motor info for axis 1 + dxJointLimitMotor limot2; // limit+motor info for axis 2 + dReal susp_erp,susp_cfm; // suspension parameters (erp,cfm) +}; +extern struct dxJoint::Vtable __dhinge2_vtable; + + +// angular motor + +struct dxJointAMotor : public dxJoint { + int num; // number of axes (0..3) + int mode; // a dAMotorXXX constant + int rel[3]; // what the axes are relative to (global,b1,b2) + dVector3 axis[3]; // three axes + dxJointLimitMotor limot[3]; // limit+motor info for axes + dReal angle[3]; // user-supplied angles for axes + // these vectors are used for calculating euler angles + dVector3 reference1; // original axis[2], relative to body 1 + dVector3 reference2; // original axis[0], relative to body 2 +}; +extern struct dxJoint::Vtable __damotor_vtable; + + +// fixed + +struct dxJointFixed : public dxJoint { + dQuaternion qrel; // initial relative rotation body1 -> body2 + dVector3 offset; // relative offset between the bodies +}; +extern struct dxJoint::Vtable __dfixed_vtable; + + +// null joint, for testing only + +struct dxJointNull : public dxJoint { +}; +extern struct dxJoint::Vtable __dnull_vtable; + + + +#endif diff -Nru ode-0.11.1/contrib/BreakableJoints/objects.h ode-0.14/contrib/BreakableJoints/objects.h --- ode-0.11.1/contrib/BreakableJoints/objects.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/objects.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,252 @@ +/************************************************************************* + * * + * 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_OBJECTS_H_ +#define _ODE_OBJECTS_H_ + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* world */ + +dWorldID dWorldCreate(); +void dWorldDestroy (dWorldID); + +void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z); +void dWorldGetGravity (dWorldID, dVector3 gravity); +void dWorldSetERP (dWorldID, dReal erp); +dReal dWorldGetERP (dWorldID); +void dWorldSetCFM (dWorldID, dReal cfm); +dReal dWorldGetCFM (dWorldID); +void dWorldStep (dWorldID, dReal stepsize); +void dWorldImpulseToForce (dWorldID, dReal stepsize, + dReal ix, dReal iy, dReal iz, dVector3 force); + +/* StepFast1 functions */ + +void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations); +void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth); + +int dWorldGetAutoEnableDepthSF1(dWorldID); + +void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold); + +/* These functions are not yet implemented by ODE. */ +/* +dReal dBodyGetAutoDisableThresholdSF1(dBodyID); + +void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps); + +int dBodyGetAutoDisableStepsSF1(dBodyID); + +void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable); + +int dBodyGetAutoDisableSF1(dBodyID); +*/ + +/* bodies */ + +dBodyID dBodyCreate (dWorldID); +void dBodyDestroy (dBodyID); + +void dBodySetData (dBodyID, void *data); +void *dBodyGetData (dBodyID); + +void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z); +void dBodySetRotation (dBodyID, const dMatrix3 R); +void dBodySetQuaternion (dBodyID, const dQuaternion q); +void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z); +void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z); +const dReal * dBodyGetPosition (dBodyID); +const dReal * dBodyGetRotation (dBodyID); /* ptr to 4x3 rot matrix */ +const dReal * dBodyGetQuaternion (dBodyID); +const dReal * dBodyGetLinearVel (dBodyID); +const dReal * dBodyGetAngularVel (dBodyID); + +void dBodySetMass (dBodyID, const dMass *mass); +void dBodyGetMass (dBodyID, dMass *mass); + +void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz); +void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz); +void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz); +void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz); +void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); +void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); +void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); +void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz); + +const dReal * dBodyGetForce (dBodyID); +const dReal * dBodyGetTorque (dBodyID); +void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z); +void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z); + +void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result); +void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result); +void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result); +void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result); +void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result); +void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz, + dVector3 result); + +void dBodySetFiniteRotationMode (dBodyID, int mode); +void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z); + +int dBodyGetFiniteRotationMode (dBodyID); +void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result); + +int dBodyGetNumJoints (dBodyID b); +dJointID dBodyGetJoint (dBodyID, int index); + +void dBodyEnable (dBodyID); +void dBodyDisable (dBodyID); +int dBodyIsEnabled (dBodyID); + +void dBodySetGravityMode (dBodyID b, int mode); +int dBodyGetGravityMode (dBodyID b); + + +/* joints */ + +dJointID dJointCreateBall (dWorldID, dJointGroupID); +dJointID dJointCreateHinge (dWorldID, dJointGroupID); +dJointID dJointCreateSlider (dWorldID, dJointGroupID); +dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *); +dJointID dJointCreateHinge2 (dWorldID, dJointGroupID); +dJointID dJointCreateUniversal (dWorldID, dJointGroupID); +dJointID dJointCreateFixed (dWorldID, dJointGroupID); +dJointID dJointCreateNull (dWorldID, dJointGroupID); +dJointID dJointCreateAMotor (dWorldID, dJointGroupID); + +void dJointDestroy (dJointID); + +dJointGroupID dJointGroupCreate (int max_size); +void dJointGroupDestroy (dJointGroupID); +void dJointGroupEmpty (dJointGroupID); + +void dJointAttach (dJointID, dBodyID body1, dBodyID body2); +void dJointSetData (dJointID, void *data); +void *dJointGetData (dJointID); +int dJointGetType (dJointID); +dBodyID dJointGetBody (dJointID, int index); + +void dJointSetFeedback (dJointID, dJointFeedback *); +dJointFeedback *dJointGetFeedback (dJointID); + +/******************** breakable joint contribution ***********************/ +void dJointSetBreakable (dJointID, int b); +void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc); +void dJointSetBreakMode (dJointID, int mode); +int dJointGetBreakMode (dJointID); +void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z); +void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z); +int dJointIsBreakable (dJointID); +void dJointGetBreakForce (dJointID, int body, dReal *force); +void dJointGetBreakTorque (dJointID, int body, dReal *torque); +/*************************************************************************/ + +void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z); +void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z); +void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z); +void dJointSetHingeParam (dJointID, int parameter, dReal value); +void dJointAddHingeTorque(dJointID joint, dReal torque); +void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z); +void dJointSetSliderParam (dJointID, int parameter, dReal value); +void dJointAddSliderForce(dJointID joint, dReal force); +void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z); +void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z); +void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z); +void dJointSetHinge2Param (dJointID, int parameter, dReal value); +void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2); +void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z); +void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z); +void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z); +void dJointSetUniversalParam (dJointID, int parameter, dReal value); +void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2); +void dJointSetFixed (dJointID); +void dJointSetAMotorNumAxes (dJointID, int num); +void dJointSetAMotorAxis (dJointID, int anum, int rel, + dReal x, dReal y, dReal z); +void dJointSetAMotorAngle (dJointID, int anum, dReal angle); +void dJointSetAMotorParam (dJointID, int parameter, dReal value); +void dJointSetAMotorMode (dJointID, int mode); +void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3); + +void dJointGetBallAnchor (dJointID, dVector3 result); +void dJointGetBallAnchor2 (dJointID, dVector3 result); +void dJointGetHingeAnchor (dJointID, dVector3 result); +void dJointGetHingeAnchor2 (dJointID, dVector3 result); +void dJointGetHingeAxis (dJointID, dVector3 result); +dReal dJointGetHingeParam (dJointID, int parameter); +dReal dJointGetHingeAngle (dJointID); +dReal dJointGetHingeAngleRate (dJointID); +dReal dJointGetSliderPosition (dJointID); +dReal dJointGetSliderPositionRate (dJointID); +void dJointGetSliderAxis (dJointID, dVector3 result); +dReal dJointGetSliderParam (dJointID, int parameter); +void dJointGetHinge2Anchor (dJointID, dVector3 result); +void dJointGetHinge2Anchor2 (dJointID, dVector3 result); +void dJointGetHinge2Axis1 (dJointID, dVector3 result); +void dJointGetHinge2Axis2 (dJointID, dVector3 result); +dReal dJointGetHinge2Param (dJointID, int parameter); +dReal dJointGetHinge2Angle1 (dJointID); +dReal dJointGetHinge2Angle1Rate (dJointID); +dReal dJointGetHinge2Angle2Rate (dJointID); +void dJointGetUniversalAnchor (dJointID, dVector3 result); +void dJointGetUniversalAnchor2 (dJointID, dVector3 result); +void dJointGetUniversalAxis1 (dJointID, dVector3 result); +void dJointGetUniversalAxis2 (dJointID, dVector3 result); +dReal dJointGetUniversalParam (dJointID, int parameter); +dReal dJointGetUniversalAngle1 (dJointID); +dReal dJointGetUniversalAngle2 (dJointID); +dReal dJointGetUniversalAngle1Rate (dJointID); +dReal dJointGetUniversalAngle2Rate (dJointID); +int dJointGetAMotorNumAxes (dJointID); +void dJointGetAMotorAxis (dJointID, int anum, dVector3 result); +int dJointGetAMotorAxisRel (dJointID, int anum); +dReal dJointGetAMotorAngle (dJointID, int anum); +dReal dJointGetAMotorAngleRate (dJointID, int anum); +dReal dJointGetAMotorParam (dJointID, int parameter); +int dJointGetAMotorMode (dJointID); + +int dAreConnected (dBodyID, dBodyID); +int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type); + + +#ifdef __cplusplus +} +#endif + +#endif diff -Nru ode-0.11.1/contrib/BreakableJoints/ode.cpp ode-0.14/contrib/BreakableJoints/ode.cpp --- ode-0.11.1/contrib/BreakableJoints/ode.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/ode.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1404 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +#ifdef _MSC_VER +#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" +#endif + +// this source file is mostly concerned with the data structures, not the +// numerics. + +#include "objects.h" +#include +#include "joint.h" +#include +#include +#include "step.h" +#include +#include + +// misc defines +#define ALLOCA dALLOCA16 + +//**************************************************************************** +// utility + +static inline void initObject (dObject *obj, dxWorld *w) +{ + obj->world = w; + obj->next = 0; + obj->tome = 0; + obj->userdata = 0; + obj->tag = 0; +} + + +// add an object `obj' to the list who's head pointer is pointed to by `first'. + +static inline void addObjectToList (dObject *obj, dObject **first) +{ + obj->next = *first; + obj->tome = first; + if (*first) (*first)->tome = &obj->next; + (*first) = obj; +} + + +// remove the object from the linked list + +static inline void removeObjectFromList (dObject *obj) +{ + if (obj->next) obj->next->tome = obj->tome; + *(obj->tome) = obj->next; + // safeguard + obj->next = 0; + obj->tome = 0; +} + + +// remove the joint from neighbour lists of all connected bodies + +static void removeJointReferencesFromAttachedBodies (dxJoint *j) +{ + for (int i=0; i<2; i++) { + dxBody *body = j->node[i].body; + if (body) { + dxJointNode *n = body->firstjoint; + dxJointNode *last = 0; + while (n) { + if (n->joint == j) { + if (last) last->next = n->next; + else body->firstjoint = n->next; + break; + } + last = n; + n = n->next; + } + } + } + j->node[0].body = 0; + j->node[0].next = 0; + j->node[1].body = 0; + j->node[1].next = 0; +} + +//**************************************************************************** +// island processing + +// this groups all joints and bodies in a world into islands. all objects +// in an island are reachable by going through connected bodies and joints. +// each island can be simulated separately. +// note that joints that are not attached to anything will not be included +// in any island, an so they do not affect the simulation. +// +// this function starts new island from unvisited bodies. however, it will +// never start a new islands from a disabled body. thus islands of disabled +// bodies will not be included in the simulation. disabled bodies are +// re-enabled if they are found to be part of an active island. + +static void processIslands (dxWorld *world, dReal stepsize) +{ + dxBody *b,*bb,**body; + dxJoint *j,**joint; + + // nothing to do if no bodies + if (world->nb <= 0) return; + + // make arrays for body and joint lists (for a single island) to go into + body = (dxBody**) ALLOCA (world->nb * sizeof(dxBody*)); + joint = (dxJoint**) ALLOCA (world->nj * sizeof(dxJoint*)); + int bcount = 0; // number of bodies in `body' + int jcount = 0; // number of joints in `joint' + + // set all body/joint tags to 0 + for (b=world->firstbody; b; b=(dxBody*)b->next) b->tag = 0; + for (j=world->firstjoint; j; j=(dxJoint*)j->next) j->tag = 0; + + // allocate a stack of unvisited bodies in the island. the maximum size of + // the stack can be the lesser of the number of bodies or joints, because + // new bodies are only ever added to the stack by going through untagged + // joints. all the bodies in the stack must be tagged! + int stackalloc = (world->nj < world->nb) ? world->nj : world->nb; + dxBody **stack = (dxBody**) ALLOCA (stackalloc * sizeof(dxBody*)); + + for (bb=world->firstbody; bb; bb=(dxBody*)bb->next) { + // get bb = the next enabled, untagged body, and tag it + if (bb->tag || (bb->flags & dxBodyDisabled)) continue; + bb->tag = 1; + + // tag all bodies and joints starting from bb. + int stacksize = 0; + b = bb; + body[0] = bb; + bcount = 1; + jcount = 0; + goto quickstart; + while (stacksize > 0) { + b = stack[--stacksize]; // pop body off stack + body[bcount++] = b; // put body on body list + quickstart: + + // traverse and tag all body's joints, add untagged connected bodies + // to stack + for (dxJointNode *n=b->firstjoint; n; n=n->next) { + if (!n->joint->tag) { + n->joint->tag = 1; + joint[jcount++] = n->joint; + if (n->body && !n->body->tag) { + n->body->tag = 1; + stack[stacksize++] = n->body; + } + } + } + dIASSERT(stacksize <= world->nb); + dIASSERT(stacksize <= world->nj); + } + + // now do something with body and joint lists + dInternalStepIsland (world,body,bcount,joint,jcount,stepsize); + + // what we've just done may have altered the body/joint tag values. + // we must make sure that these tags are nonzero. + // also make sure all bodies are in the enabled state. + int i; + for (i=0; itag = 1; + body[i]->flags &= ~dxBodyDisabled; + } + for (i=0; itag = 1; + } + + // if debugging, check that all objects (except for disabled bodies, + // unconnected joints, and joints that are connected to disabled bodies) + // were tagged. +# ifndef dNODEBUG + for (b=world->firstbody; b; b=(dxBody*)b->next) { + if (b->flags & dxBodyDisabled) { + if (b->tag) dDebug (0,"disabled body tagged"); + } + else { + if (!b->tag) dDebug (0,"enabled body not tagged"); + } + } + for (j=world->firstjoint; j; j=(dxJoint*)j->next) { + if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled)==0) || + (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled)==0)) { + if (!j->tag) dDebug (0,"attached enabled joint not tagged"); + } + else { + if (j->tag) dDebug (0,"unattached or disabled joint tagged"); + } + } +# endif + /******************** breakable joint contribution ***********************/ + dxJoint* nextJ; + if (!world->firstjoint) + nextJ = 0; + else + nextJ = (dxJoint*)world->firstjoint->next; + for (j=world->firstjoint; j; j=nextJ) { + nextJ = (dxJoint*)j->next; + // check if joint is breakable and broken + if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { + // detach (break) the joint + dJointAttach (j, 0, 0); + // call the callback function if it is set + if (j->breakInfo->callback) j->breakInfo->callback (j); + // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set + if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); + } + } + /*************************************************************************/ +} + +//**************************************************************************** +// debugging + +// see if an object list loops on itself (if so, it's bad). + +static int listHasLoops (dObject *first) +{ + if (first==0 || first->next==0) return 0; + dObject *a=first,*b=first->next; + int skip=0; + while (b) { + if (a==b) return 1; + b = b->next; + if (skip) a = a->next; + skip ^= 1; + } + return 0; +} + + +// check the validity of the world data structures + +static void checkWorld (dxWorld *w) +{ + dxBody *b; + dxJoint *j; + + // check there are no loops + if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops"); + if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops"); + + // check lists are well formed (check `tome' pointers) + for (b=w->firstbody; b; b=(dxBody*)b->next) { + if (b->next && b->next->tome != &b->next) + dDebug (0,"bad tome pointer in body list"); + } + for (j=w->firstjoint; j; j=(dxJoint*)j->next) { + if (j->next && j->next->tome != &j->next) + dDebug (0,"bad tome pointer in joint list"); + } + + // check counts + int n = 0; + for (b=w->firstbody; b; b=(dxBody*)b->next) n++; + if (w->nb != n) dDebug (0,"body count incorrect"); + n = 0; + for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++; + if (w->nj != n) dDebug (0,"joint count incorrect"); + + // set all tag values to a known value + static int count = 0; + count++; + for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count; + for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count; + + // check all body/joint world pointers are ok + for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w) + dDebug (0,"bad world pointer in body list"); + for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w) + dDebug (0,"bad world pointer in joint list"); + + /* + // check for half-connected joints - actually now these are valid + for (j=w->firstjoint; j; j=(dxJoint*)j->next) { + if (j->node[0].body || j->node[1].body) { + if (!(j->node[0].body && j->node[1].body)) + dDebug (0,"half connected joint found"); + } + } + */ + + // check that every joint node appears in the joint lists of both bodies it + // attaches + for (j=w->firstjoint; j; j=(dxJoint*)j->next) { + for (int i=0; i<2; i++) { + if (j->node[i].body) { + int ok = 0; + for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) { + if (n->joint == j) ok = 1; + } + if (ok==0) dDebug (0,"joint not in joint list of attached body"); + } + } + } + + // check all body joint lists (correct body ptrs) + for (b=w->firstbody; b; b=(dxBody*)b->next) { + for (dxJointNode *n=b->firstjoint; n; n=n->next) { + if (&n->joint->node[0] == n) { + if (n->joint->node[1].body != b) + dDebug (0,"bad body pointer in joint node of body list (1)"); + } + else { + if (n->joint->node[0].body != b) + dDebug (0,"bad body pointer in joint node of body list (2)"); + } + if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body"); + } + } + + // check all body pointers in joints, check they are distinct + for (j=w->firstjoint; j; j=(dxJoint*)j->next) { + if (j->node[0].body && (j->node[0].body == j->node[1].body)) + dDebug (0,"non-distinct body pointers in joint"); + if ((j->node[0].body && j->node[0].body->tag != count) || + (j->node[1].body && j->node[1].body->tag != count)) + dDebug (0,"bad body pointer in joint"); + } +} + + +void dWorldCheck (dxWorld *w) +{ + checkWorld (w); +} + +//**************************************************************************** +// body + +dxBody *dBodyCreate (dxWorld *w) +{ + dAASSERT (w); + dxBody *b = new dxBody; + initObject (b,w); + b->firstjoint = 0; + b->flags = 0; + b->geom = 0; + dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0); + dSetZero (b->invI,4*3); + b->invI[0] = 1; + b->invI[5] = 1; + b->invI[10] = 1; + b->invMass = 1; + dSetZero (b->pos,4); + dSetZero (b->q,4); + b->q[0] = 1; + dRSetIdentity (b->R); + dSetZero (b->lvel,4); + dSetZero (b->avel,4); + dSetZero (b->facc,4); + dSetZero (b->tacc,4); + dSetZero (b->finite_rot_axis,4); + addObjectToList (b,(dObject **) &w->firstbody); + w->nb++; + return b; +} + + +void dBodyDestroy (dxBody *b) +{ + dAASSERT (b); + + // all geoms that link to this body must be notified that the body is about + // to disappear. note that the call to dGeomSetBody(geom,0) will result in + // dGeomGetBodyNext() returning 0 for the body, so we must get the next body + // before setting the body to 0. + dxGeom *next_geom = 0; + for (dxGeom *geom = b->geom; geom; geom = next_geom) { + next_geom = dGeomGetBodyNext (geom); + dGeomSetBody (geom,0); + } + + // detach all neighbouring joints, then delete this body. + dxJointNode *n = b->firstjoint; + while (n) { + // sneaky trick to speed up removal of joint references (black magic) + n->joint->node[(n == n->joint->node)].body = 0; + + dxJointNode *next = n->next; + n->next = 0; + removeJointReferencesFromAttachedBodies (n->joint); + n = next; + } + removeObjectFromList (b); + b->world->nb--; + delete b; +} + + +void dBodySetData (dBodyID b, void *data) +{ + dAASSERT (b); + b->userdata = data; +} + + +void *dBodyGetData (dBodyID b) +{ + dAASSERT (b); + return b->userdata; +} + + +void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z) +{ + dAASSERT (b); + b->pos[0] = x; + b->pos[1] = y; + b->pos[2] = z; + + // notify all attached geoms that this body has moved + for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) + dGeomMoved (geom); +} + + +void dBodySetRotation (dBodyID b, const dMatrix3 R) +{ + dAASSERT (b && R); + dQuaternion q; + dRtoQ (R,q); + dNormalize4 (q); + b->q[0] = q[0]; + b->q[1] = q[1]; + b->q[2] = q[2]; + b->q[3] = q[3]; + dQtoR (b->q,b->R); + + // notify all attached geoms that this body has moved + for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) + dGeomMoved (geom); +} + + +void dBodySetQuaternion (dBodyID b, const dQuaternion q) +{ + dAASSERT (b && q); + b->q[0] = q[0]; + b->q[1] = q[1]; + b->q[2] = q[2]; + b->q[3] = q[3]; + dNormalize4 (b->q); + dQtoR (b->q,b->R); + + // notify all attached geoms that this body has moved + for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) + dGeomMoved (geom); +} + + +void dBodySetLinearVel (dBodyID b, dReal x, dReal y, dReal z) +{ + dAASSERT (b); + b->lvel[0] = x; + b->lvel[1] = y; + b->lvel[2] = z; +} + + +void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z) +{ + dAASSERT (b); + b->avel[0] = x; + b->avel[1] = y; + b->avel[2] = z; +} + + +const dReal * dBodyGetPosition (dBodyID b) +{ + dAASSERT (b); + return b->pos; +} + + +const dReal * dBodyGetRotation (dBodyID b) +{ + dAASSERT (b); + return b->R; +} + + +const dReal * dBodyGetQuaternion (dBodyID b) +{ + dAASSERT (b); + return b->q; +} + + +const dReal * dBodyGetLinearVel (dBodyID b) +{ + dAASSERT (b); + return b->lvel; +} + + +const dReal * dBodyGetAngularVel (dBodyID b) +{ + dAASSERT (b); + return b->avel; +} + + +void dBodySetMass (dBodyID b, const dMass *mass) +{ + dAASSERT (b && mass); + memcpy (&b->mass,mass,sizeof(dMass)); + if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) { + dDEBUGMSG ("inertia must be positive definite"); + dRSetIdentity (b->invI); + } + b->invMass = dRecip(b->mass.mass); +} + + +void dBodyGetMass (dBodyID b, dMass *mass) +{ + dAASSERT (b && mass); + memcpy (mass,&b->mass,sizeof(dMass)); +} + + +void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz) +{ + dAASSERT (b); + b->facc[0] += fx; + b->facc[1] += fy; + b->facc[2] += fz; +} + + +void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz) +{ + dAASSERT (b); + b->tacc[0] += fx; + b->tacc[1] += fy; + b->tacc[2] += fz; +} + + +void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz) +{ + dAASSERT (b); + dVector3 t1,t2; + t1[0] = fx; + t1[1] = fy; + t1[2] = fz; + t1[3] = 0; + dMULTIPLY0_331 (t2,b->R,t1); + b->facc[0] += t2[0]; + b->facc[1] += t2[1]; + b->facc[2] += t2[2]; +} + + +void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz) +{ + dAASSERT (b); + dVector3 t1,t2; + t1[0] = fx; + t1[1] = fy; + t1[2] = fz; + t1[3] = 0; + dMULTIPLY0_331 (t2,b->R,t1); + b->tacc[0] += t2[0]; + b->tacc[1] += t2[1]; + b->tacc[2] += t2[2]; +} + + +void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) +{ + dAASSERT (b); + b->facc[0] += fx; + b->facc[1] += fy; + b->facc[2] += fz; + dVector3 f,q; + f[0] = fx; + f[1] = fy; + f[2] = fz; + q[0] = px - b->pos[0]; + q[1] = py - b->pos[1]; + q[2] = pz - b->pos[2]; + dCROSS (b->tacc,+=,q,f); +} + + +void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) +{ + dAASSERT (b); + dVector3 prel,f,p; + f[0] = fx; + f[1] = fy; + f[2] = fz; + f[3] = 0; + prel[0] = px; + prel[1] = py; + prel[2] = pz; + prel[3] = 0; + dMULTIPLY0_331 (p,b->R,prel); + b->facc[0] += f[0]; + b->facc[1] += f[1]; + b->facc[2] += f[2]; + dCROSS (b->tacc,+=,p,f); +} + + +void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) +{ + dAASSERT (b); + dVector3 frel,f; + frel[0] = fx; + frel[1] = fy; + frel[2] = fz; + frel[3] = 0; + dMULTIPLY0_331 (f,b->R,frel); + b->facc[0] += f[0]; + b->facc[1] += f[1]; + b->facc[2] += f[2]; + dVector3 q; + q[0] = px - b->pos[0]; + q[1] = py - b->pos[1]; + q[2] = pz - b->pos[2]; + dCROSS (b->tacc,+=,q,f); +} + + +void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, + dReal px, dReal py, dReal pz) +{ + dAASSERT (b); + dVector3 frel,prel,f,p; + frel[0] = fx; + frel[1] = fy; + frel[2] = fz; + frel[3] = 0; + prel[0] = px; + prel[1] = py; + prel[2] = pz; + prel[3] = 0; + dMULTIPLY0_331 (f,b->R,frel); + dMULTIPLY0_331 (p,b->R,prel); + b->facc[0] += f[0]; + b->facc[1] += f[1]; + b->facc[2] += f[2]; + dCROSS (b->tacc,+=,p,f); +} + + +const dReal * dBodyGetForce (dBodyID b) +{ + dAASSERT (b); + return b->facc; +} + + +const dReal * dBodyGetTorque (dBodyID b) +{ + dAASSERT (b); + return b->tacc; +} + + +void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z) +{ + dAASSERT (b); + b->facc[0] = x; + b->facc[1] = y; + b->facc[2] = z; +} + + +void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z) +{ + dAASSERT (b); + b->tacc[0] = x; + b->tacc[1] = y; + b->tacc[2] = z; +} + + +void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz, + dVector3 result) +{ + dAASSERT (b); + dVector3 prel,p; + prel[0] = px; + prel[1] = py; + prel[2] = pz; + prel[3] = 0; + dMULTIPLY0_331 (p,b->R,prel); + result[0] = p[0] + b->pos[0]; + result[1] = p[1] + b->pos[1]; + result[2] = p[2] + b->pos[2]; +} + + +void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz, + dVector3 result) +{ + dAASSERT (b); + dVector3 prel,p; + prel[0] = px; + prel[1] = py; + prel[2] = pz; + prel[3] = 0; + dMULTIPLY0_331 (p,b->R,prel); + result[0] = b->lvel[0]; + result[1] = b->lvel[1]; + result[2] = b->lvel[2]; + dCROSS (result,+=,b->avel,p); +} + + +void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz, + dVector3 result) +{ + dAASSERT (b); + dVector3 p; + p[0] = px - b->pos[0]; + p[1] = py - b->pos[1]; + p[2] = pz - b->pos[2]; + p[3] = 0; + result[0] = b->lvel[0]; + result[1] = b->lvel[1]; + result[2] = b->lvel[2]; + dCROSS (result,+=,b->avel,p); +} + + +void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz, + dVector3 result) +{ + dAASSERT (b); + dVector3 prel; + prel[0] = px - b->pos[0]; + prel[1] = py - b->pos[1]; + prel[2] = pz - b->pos[2]; + prel[3] = 0; + dMULTIPLY1_331 (result,b->R,prel); +} + + +void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz, + dVector3 result) +{ + dAASSERT (b); + dVector3 p; + p[0] = px; + p[1] = py; + p[2] = pz; + p[3] = 0; + dMULTIPLY0_331 (result,b->R,p); +} + + +void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz, + dVector3 result) +{ + dAASSERT (b); + dVector3 p; + p[0] = px; + p[1] = py; + p[2] = pz; + p[3] = 0; + dMULTIPLY1_331 (result,b->R,p); +} + + +void dBodySetFiniteRotationMode (dBodyID b, int mode) +{ + dAASSERT (b); + b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis); + if (mode) { + b->flags |= dxBodyFlagFiniteRotation; + if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 || + b->finite_rot_axis[2] != 0) { + b->flags |= dxBodyFlagFiniteRotationAxis; + } + } +} + + +void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z) +{ + dAASSERT (b); + b->finite_rot_axis[0] = x; + b->finite_rot_axis[1] = y; + b->finite_rot_axis[2] = z; + if (x != 0 || y != 0 || z != 0) { + dNormalize3 (b->finite_rot_axis); + b->flags |= dxBodyFlagFiniteRotationAxis; + } + else { + b->flags &= ~dxBodyFlagFiniteRotationAxis; + } +} + + +int dBodyGetFiniteRotationMode (dBodyID b) +{ + dAASSERT (b); + return ((b->flags & dxBodyFlagFiniteRotation) != 0); +} + + +void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result) +{ + dAASSERT (b); + result[0] = b->finite_rot_axis[0]; + result[1] = b->finite_rot_axis[1]; + result[2] = b->finite_rot_axis[2]; +} + + +int dBodyGetNumJoints (dBodyID b) +{ + dAASSERT (b); + int count=0; + for (dxJointNode *n=b->firstjoint; n; n=n->next, count++); + return count; +} + + +dJointID dBodyGetJoint (dBodyID b, int index) +{ + dAASSERT (b); + int i=0; + for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) { + if (i == index) return n->joint; + } + return 0; +} + + +void dBodyEnable (dBodyID b) +{ + dAASSERT (b); + b->flags &= ~dxBodyDisabled; +} + + +void dBodyDisable (dBodyID b) +{ + dAASSERT (b); + b->flags |= dxBodyDisabled; +} + + +int dBodyIsEnabled (dBodyID b) +{ + dAASSERT (b); + return ((b->flags & dxBodyDisabled) == 0); +} + + +void dBodySetGravityMode (dBodyID b, int mode) +{ + dAASSERT (b); + if (mode) b->flags &= ~dxBodyNoGravity; + else b->flags |= dxBodyNoGravity; +} + + +int dBodyGetGravityMode (dBodyID b) +{ + dAASSERT (b); + return ((b->flags & dxBodyNoGravity) == 0); +} + +//**************************************************************************** +// joints + +static void dJointInit (dxWorld *w, dxJoint *j) +{ + dIASSERT (w && j); + initObject (j,w); + j->vtable = 0; + j->flags = 0; + j->node[0].joint = j; + j->node[0].body = 0; + j->node[0].next = 0; + j->node[1].joint = j; + j->node[1].body = 0; + j->node[1].next = 0; + addObjectToList (j,(dObject **) &w->firstjoint); + w->nj++; +} + + +static dxJoint *createJoint (dWorldID w, dJointGroupID group, + dxJoint::Vtable *vtable) +{ + dIASSERT (w && vtable); + dxJoint *j; + if (group) { + j = (dxJoint*) group->stack.alloc (vtable->size); + group->num++; + } + else j = (dxJoint*) dAlloc (vtable->size); + dJointInit (w,j); + j->vtable = vtable; + if (group) j->flags |= dJOINT_INGROUP; + if (vtable->init) vtable->init (j); + j->feedback = 0; + /******************** breakable joint contribution ***********************/ + j->breakInfo = 0; + /*************************************************************************/ + return j; +} + + +dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__dball_vtable); +} + + +dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__dhinge_vtable); +} + + +dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__dslider_vtable); +} + + +dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group, + const dContact *c) +{ + dAASSERT (w && c); + dxJointContact *j = (dxJointContact *) + createJoint (w,group,&__dcontact_vtable); + j->contact = *c; + return j; +} + + +dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__dhinge2_vtable); +} + + +dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__duniversal_vtable); +} + + +dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__dfixed_vtable); +} + + +dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__dnull_vtable); +} + + +dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group) +{ + dAASSERT (w); + return createJoint (w,group,&__damotor_vtable); +} + + +void dJointDestroy (dxJoint *j) +{ + dAASSERT (j); + if (j->flags & dJOINT_INGROUP) return; + removeJointReferencesFromAttachedBodies (j); + removeObjectFromList (j); + /******************** breakable joint contribution ***********************/ + if (j->breakInfo) delete j->breakInfo; + /*************************************************************************/ + j->world->nj--; + dFree (j,j->vtable->size); +} + + +dJointGroupID dJointGroupCreate (int max_size) +{ + // not any more ... dUASSERT (max_size > 0,"max size must be > 0"); + dxJointGroup *group = new dxJointGroup; + group->num = 0; + return group; +} + + +void dJointGroupDestroy (dJointGroupID group) +{ + dAASSERT (group); + dJointGroupEmpty (group); + delete group; +} + + +void dJointGroupEmpty (dJointGroupID group) +{ + // the joints in this group are detached starting from the most recently + // added (at the top of the stack). this helps ensure that the various + // linked lists are not traversed too much, as the joints will hopefully + // be at the start of those lists. + // if any group joints have their world pointer set to 0, their world was + // previously destroyed. no special handling is required for these joints. + + dAASSERT (group); + int i; + dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*)); + dxJoint *j = (dxJoint*) group->stack.rewind(); + for (i=0; i < group->num; i++) { + jlist[i] = j; + j = (dxJoint*) (group->stack.next (j->vtable->size)); + } + for (i=group->num-1; i >= 0; i--) { + if (jlist[i]->world) { + removeJointReferencesFromAttachedBodies (jlist[i]); + removeObjectFromList (jlist[i]); + jlist[i]->world->nj--; + } + } + group->num = 0; + group->stack.freeAll(); +} + + +void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2) +{ + // check arguments + dUASSERT (joint,"bad joint argument"); + dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2"); + dxWorld *world = joint->world; + dUASSERT ( (!body1 || body1->world == world) && + (!body2 || body2->world == world), + "joint and bodies must be in same world"); + + // check if the joint can not be attached to just one body + dUASSERT (!((joint->flags & dJOINT_TWOBODIES) && + ((body1 != 0) ^ (body2 != 0))), + "joint can not be attached to just one body"); + + // remove any existing body attachments + if (joint->node[0].body || joint->node[1].body) { + removeJointReferencesFromAttachedBodies (joint); + } + + // if a body is zero, make sure that it is body2, so 0 --> node[1].body + if (body1==0) { + body1 = body2; + body2 = 0; + joint->flags |= dJOINT_REVERSE; + } + else { + joint->flags &= (~dJOINT_REVERSE); + } + + // attach to new bodies + joint->node[0].body = body1; + joint->node[1].body = body2; + if (body1) { + joint->node[1].next = body1->firstjoint; + body1->firstjoint = &joint->node[1]; + } + else joint->node[1].next = 0; + if (body2) { + joint->node[0].next = body2->firstjoint; + body2->firstjoint = &joint->node[0]; + } + else { + joint->node[0].next = 0; + } +} + + +void dJointSetData (dxJoint *joint, void *data) +{ + dAASSERT (joint); + joint->userdata = data; +} + + +void *dJointGetData (dxJoint *joint) +{ + dAASSERT (joint); + return joint->userdata; +} + + +int dJointGetType (dxJoint *joint) +{ + dAASSERT (joint); + return joint->vtable->typenum; +} + + +dBodyID dJointGetBody (dxJoint *joint, int index) +{ + dAASSERT (joint); + if (index >= 0 && index < 2) return joint->node[index].body; + else return 0; +} + + +void dJointSetFeedback (dxJoint *joint, dJointFeedback *f) +{ + dAASSERT (joint); + joint->feedback = f; +} + + +dJointFeedback *dJointGetFeedback (dxJoint *joint) +{ + dAASSERT (joint); + return joint->feedback; +} + + +int dAreConnected (dBodyID b1, dBodyID b2) +{ + dAASSERT (b1 && b2); + // look through b1's neighbour list for b2 + for (dxJointNode *n=b1->firstjoint; n; n=n->next) { + if (n->body == b2) return 1; + } + return 0; +} + + +int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type) +{ + dAASSERT (b1 && b2); + // look through b1's neighbour list for b2 + for (dxJointNode *n=b1->firstjoint; n; n=n->next) { + if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1; + } + return 0; +} + +//**************************************************************************** +// world + +dxWorld * dWorldCreate() +{ + dxWorld *w = new dxWorld; + w->firstbody = 0; + w->firstjoint = 0; + w->nb = 0; + w->nj = 0; + dSetZero (w->gravity,4); + w->global_erp = REAL(0.2); +#if defined(dSINGLE) + w->global_cfm = 1e-5f; +#elif defined(dDOUBLE) + w->global_cfm = 1e-10; +#else + #error dSINGLE or dDOUBLE must be defined +#endif + return w; +} + + +void dWorldDestroy (dxWorld *w) +{ + // delete all bodies and joints + dAASSERT (w); + dxBody *nextb, *b = w->firstbody; + while (b) { + nextb = (dxBody*) b->next; + delete b; + b = nextb; + } + dxJoint *nextj, *j = w->firstjoint; + while (j) { + nextj = (dxJoint*)j->next; + if (j->flags & dJOINT_INGROUP) { + // the joint is part of a group, so "deactivate" it instead + j->world = 0; + j->node[0].body = 0; + j->node[0].next = 0; + j->node[1].body = 0; + j->node[1].next = 0; + dMessage (0,"warning: destroying world containing grouped joints"); + } + else { + dFree (j,j->vtable->size); + } + j = nextj; + } + delete w; +} + + +void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z) +{ + dAASSERT (w); + w->gravity[0] = x; + w->gravity[1] = y; + w->gravity[2] = z; +} + + +void dWorldGetGravity (dWorldID w, dVector3 g) +{ + dAASSERT (w); + g[0] = w->gravity[0]; + g[1] = w->gravity[1]; + g[2] = w->gravity[2]; +} + + +void dWorldSetERP (dWorldID w, dReal erp) +{ + dAASSERT (w); + w->global_erp = erp; +} + + +dReal dWorldGetERP (dWorldID w) +{ + dAASSERT (w); + return w->global_erp; +} + + +void dWorldSetCFM (dWorldID w, dReal cfm) +{ + dAASSERT (w); + w->global_cfm = cfm; +} + + +dReal dWorldGetCFM (dWorldID w) +{ + dAASSERT (w); + return w->global_cfm; +} + + +void dWorldStep (dWorldID w, dReal stepsize) +{ + dUASSERT (w,"bad world argument"); + dUASSERT (stepsize > 0,"stepsize must be > 0"); + processIslands (w,stepsize); +} + + +void dWorldImpulseToForce (dWorldID w, dReal stepsize, + dReal ix, dReal iy, dReal iz, + dVector3 force) +{ + dAASSERT (w); + stepsize = dRecip(stepsize); + force[0] = stepsize * ix; + force[1] = stepsize * iy; + force[2] = stepsize * iz; + // @@@ force[3] = 0; +} + +//**************************************************************************** +// testing + +#define NUM 100 + +#define DO(x) + + +extern "C" void dTestDataStructures() +{ + int i; + DO(printf ("testDynamicsStuff()\n")); + + dBodyID body [NUM]; + int nb = 0; + dJointID joint [NUM]; + int nj = 0; + + for (i=0; i 0.5) { + DO(printf ("creating body\n")); + body[nb] = dBodyCreate (w); + DO(printf ("\t--> %p\n",body[nb])); + nb++; + checkWorld (w); + DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); + } + if (nj < NUM && nb > 2 && dRandReal() > 0.5) { + dBodyID b1 = body [dRand() % nb]; + dBodyID b2 = body [dRand() % nb]; + if (b1 != b2) { + DO(printf ("creating joint, attaching to %p,%p\n",b1,b2)); + joint[nj] = dJointCreateBall (w,0); + DO(printf ("\t-->%p\n",joint[nj])); + checkWorld (w); + dJointAttach (joint[nj],b1,b2); + nj++; + checkWorld (w); + DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); + } + } + if (nj > 0 && nb > 2 && dRandReal() > 0.5) { + dBodyID b1 = body [dRand() % nb]; + dBodyID b2 = body [dRand() % nb]; + if (b1 != b2) { + int k = dRand() % nj; + DO(printf ("reattaching joint %p\n",joint[k])); + dJointAttach (joint[k],b1,b2); + checkWorld (w); + DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); + } + } + if (nb > 0 && dRandReal() > 0.5) { + int k = dRand() % nb; + DO(printf ("destroying body %p\n",body[k])); + dBodyDestroy (body[k]); + checkWorld (w); + for (; k < (NUM-1); k++) body[k] = body[k+1]; + nb--; + DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); + } + if (nj > 0 && dRandReal() > 0.5) { + int k = dRand() % nj; + DO(printf ("destroying joint %p\n",joint[k])); + dJointDestroy (joint[k]); + checkWorld (w); + for (; k < (NUM-1); k++) joint[k] = joint[k+1]; + nj--; + DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); + } + } + + /* + printf ("creating world\n"); + dWorldID w = dWorldCreate(); + checkWorld (w); + printf ("creating body\n"); + dBodyID b1 = dBodyCreate (w); + checkWorld (w); + printf ("creating body\n"); + dBodyID b2 = dBodyCreate (w); + checkWorld (w); + printf ("creating joint\n"); + dJointID j = dJointCreateBall (w); + checkWorld (w); + printf ("attaching joint\n"); + dJointAttach (j,b1,b2); + checkWorld (w); + printf ("destroying joint\n"); + dJointDestroy (j); + checkWorld (w); + printf ("destroying body\n"); + dBodyDestroy (b1); + checkWorld (w); + printf ("destroying body\n"); + dBodyDestroy (b2); + checkWorld (w); + printf ("destroying world\n"); + dWorldDestroy (w); + */ +} diff -Nru ode-0.11.1/contrib/BreakableJoints/README.txt ode-0.14/contrib/BreakableJoints/README.txt --- ode-0.11.1/contrib/BreakableJoints/README.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/README.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,110 @@ +Breakable Joints + +================================================================================ + +Description: +This is a small addition to ODE that makes joints breakable. Breakable means +that if a force on a joint is to high it wil break. I have included a modified +version of test_buggy.cpp (test_breakable.cpp) so you can see it for your self. +Just drive your buggy into an obstacle and enjoy! + +================================================================================ + +Installation instructions: +- copy joint.h, joint.cpp, ode.cpp and step.cpp to the ode/src/ directory +- copy common.h and object.h to the include/ directory +- copy test_breakable.cpp to the ode/test/ directory +- add test_breakable.cpp to the ODE_TEST_SRC_CPP object in the makefile. +- make ode-lib +- make ode-test +You can also use the diffs. The above files will quickly go out of sync with the +rest of ODE but the diffs wil remain valid longer. + +================================================================================ + +Functions: +dJointSetBreakable (dJointID joint, int b) + If b is 1 the joint is made breakable. If b is 0 the joint is made + unbreakable. + +void dJointSetBreakCallback (dJointID joint, dJointBreakCallback *callbackFunc) + Sets the callback function for this joint. If a funtion is set it will be + called if the joint is broken but before it is actually detached or deleted. + +void dJointSetBreakMode (dJointID joint, int mode) + Use this functions to set some flags. These flags can be ORred ( | ) + together; ie. dJointSetBreakMode (someJoint, +dJOINT_BREAK_AT_B1_FORCE|dJOINT_DELETE_ON_BREAK) + dJOINT_DELETE_ON_BREAK - If the joint breaks it wil be deleted. + dJOINT_BREAK_AT_B1_FORCE - If the force on body 1 is to high the joint will + break + dJOINT_BREAK_AT_B1_TORQUE - If the torque on body 1 is to high the joint will + break + dJOINT_BREAK_AT_B2_FORCE - If the force on body 2 is to high the joint will + break + dJOINT_BREAK_AT_B2_TORQUE - If the torque on body 2 is to high the joint will + break + +void dJointSetBreakForce (dJointID joint, int body, dReal x, dReal y, dReal z) + With this function you can set the maximum force for a body connected to this + joint. A value of 0 for body means body 1, 1 means body 2. The force is + relative to the bodies rotation. + +void dJointSetBreakTorque (dJointID joint, int body, dReal x, dReal y, dReal z) + With this function you can set the maximum torque for a body connected to this + joint. A value of 0 for body means body 1, 1 means body 2. The torque is + relative to the bodies rotation. + +int dJointIsBreakable (dJointID joint) + Returns 1 if this joint is breakable, 0 otherwise. + +int dJointGetBreakMode (dJointID joint) + Returns the breakmode flag. + +void dJointGetBreakForce (dJointID joint, int body, dReal *force) + Returns the force at what this joint will break. A value of 0 for body means + body 1, 1 means body 2. force must have enough space for 3 dReal values. + +void dJointGetBreakTorque (dJointID joint, int body, dReal *torque) + Returns the torque at what this joint will break. A value of 0 for body + means body 1, 1 means body 2. force must have enough space for 3 dReal + values. + +================================================================================ + +The callback function is defined like this (in common.h): +void dJointBreakCallback (dJointID); + +================================================================================ + +Problems, known bugs & other issues: +- If the timestep is very small then joints get a lot weaker. They can even fall + apart! +- I have tested all this with the latest checkout from CVS (at the time of + writing ofcourse). I haven't tested it with earlier versions of ODE. +- I have modified the code that fills the jointfeedback struct. I haven't tested + if it still works. +- I'm not sure if the forces are really relative to the connected bodies. +- There are some memory leaks in the test_breakable.cpp example. + +================================================================================ + +Bugfixes and changes: +09/08/2003 +- I fixed a bug when there where 0 joints in the simulation + +06/12/2003 +- dJointGetBreakMode() added, by vadim_mcagon@hotmail.com + +11/03/2004 +- Updated files to work with latest CVS checkout. +- Added support for dWorldStepFast1() +- Added separate test_breakable.cpp example. +- Updated the code that breaks and destroys a joint. + +================================================================================ + +Send me an e-mail if you have any suggestions, ideas, bugs, bug-fixes, anything! +e-mail: roelvandijk@home.nl + +Roel van Dijk - 11/03/2004 diff -Nru ode-0.11.1/contrib/BreakableJoints/step.cpp ode-0.14/contrib/BreakableJoints/step.cpp --- ode-0.11.1/contrib/BreakableJoints/step.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/step.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1170 @@ +/************************************************************************* + * * + * 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 "objects.h" +#include "joint.h" +#include +#include +#include +#include +#include +#include +#include "lcp.h" + +//**************************************************************************** +// misc defines + +#define FAST_FACTOR +//#define TIMING + +#define ALLOCA dALLOCA16 + +//**************************************************************************** +// debugging - comparison of various vectors and matrices produced by the +// slow and fast versions of the stepper. + +//#define COMPARE_METHODS + +#ifdef COMPARE_METHODS +#include "testing.h" +dMatrixComparison comparator; +#endif + +//**************************************************************************** +// special matrix multipliers + +// this assumes the 4th and 8th rows of B and C are zero. + +static void Multiply2_p8r (dReal *A, dReal *B, dReal *C, + int p, int r, int Askip) +{ + int i,j; + dReal sum,*bb,*cc; + dIASSERT (p>0 && r>0 && A && B && C); + bb = B; + for (i=p; i; i--) { + cc = C; + for (j=r; j; j--) { + sum = bb[0]*cc[0]; + sum += bb[1]*cc[1]; + sum += bb[2]*cc[2]; + sum += bb[4]*cc[4]; + sum += bb[5]*cc[5]; + sum += bb[6]*cc[6]; + *(A++) = sum; + cc += 8; + } + A += Askip - r; + bb += 8; + } +} + + +// this assumes the 4th and 8th rows of B and C are zero. + +static void MultiplyAdd2_p8r (dReal *A, dReal *B, dReal *C, + int p, int r, int Askip) +{ + int i,j; + dReal sum,*bb,*cc; + dIASSERT (p>0 && r>0 && A && B && C); + bb = B; + for (i=p; i; i--) { + cc = C; + for (j=r; j; j--) { + sum = bb[0]*cc[0]; + sum += bb[1]*cc[1]; + sum += bb[2]*cc[2]; + sum += bb[4]*cc[4]; + sum += bb[5]*cc[5]; + sum += bb[6]*cc[6]; + *(A++) += sum; + cc += 8; + } + A += Askip - r; + bb += 8; + } +} + + +// this assumes the 4th and 8th rows of B are zero. + +static void Multiply0_p81 (dReal *A, dReal *B, dReal *C, int p) +{ + int i; + dIASSERT (p>0 && A && B && C); + dReal sum; + for (i=p; i; i--) { + sum = B[0]*C[0]; + sum += B[1]*C[1]; + sum += B[2]*C[2]; + sum += B[4]*C[4]; + sum += B[5]*C[5]; + sum += B[6]*C[6]; + *(A++) = sum; + B += 8; + } +} + + +// this assumes the 4th and 8th rows of B are zero. + +static void MultiplyAdd0_p81 (dReal *A, dReal *B, dReal *C, int p) +{ + int i; + dIASSERT (p>0 && A && B && C); + dReal sum; + for (i=p; i; i--) { + sum = B[0]*C[0]; + sum += B[1]*C[1]; + sum += B[2]*C[2]; + sum += B[4]*C[4]; + sum += B[5]*C[5]; + sum += B[6]*C[6]; + *(A++) += sum; + B += 8; + } +} + + +// this assumes the 4th and 8th rows of B are zero. + +static void MultiplyAdd1_8q1 (dReal *A, dReal *B, dReal *C, int q) +{ + int k; + dReal sum; + dIASSERT (q>0 && A && B && C); + sum = 0; + for (k=0; k0 && A && B && C); + sum = 0; + for (k=0; kpos[j] += h * b->lvel[j]; + + if (b->flags & dxBodyFlagFiniteRotation) { + dVector3 irv; // infitesimal rotation vector + dQuaternion q; // quaternion for finite rotation + + if (b->flags & dxBodyFlagFiniteRotationAxis) { + // split the angular velocity vector into a component along the finite + // rotation axis, and a component orthogonal to it. + dVector3 frv,irv; // finite rotation vector + dReal k = dDOT (b->finite_rot_axis,b->avel); + frv[0] = b->finite_rot_axis[0] * k; + frv[1] = b->finite_rot_axis[1] * k; + frv[2] = b->finite_rot_axis[2] * k; + irv[0] = b->avel[0] - frv[0]; + irv[1] = b->avel[1] - frv[1]; + irv[2] = b->avel[2] - frv[2]; + + // make a rotation quaternion q that corresponds to frv * h. + // compare this with the full-finite-rotation case below. + h *= REAL(0.5); + dReal theta = k * h; + q[0] = dCos(theta); + dReal s = sinc(theta) * h; + q[1] = frv[0] * s; + q[2] = frv[1] * s; + q[3] = frv[2] * s; + } + else { + // make a rotation quaternion q that corresponds to w * h + dReal wlen = dSqrt (b->avel[0]*b->avel[0] + b->avel[1]*b->avel[1] + + b->avel[2]*b->avel[2]); + h *= REAL(0.5); + dReal theta = wlen * h; + q[0] = dCos(theta); + dReal s = sinc(theta) * h; + q[1] = b->avel[0] * s; + q[2] = b->avel[1] * s; + q[3] = b->avel[2] * s; + } + + // do the finite rotation + dQuaternion q2; + dQMultiply0 (q2,q,b->q); + for (j=0; j<4; j++) b->q[j] = q2[j]; + + // do the infitesimal rotation if required + if (b->flags & dxBodyFlagFiniteRotationAxis) { + dReal dq[4]; + dWtoDQ (irv,b->q,dq); + for (j=0; j<4; j++) b->q[j] += h * dq[j]; + } + } + else { + // the normal way - do an infitesimal rotation + dReal dq[4]; + dWtoDQ (b->avel,b->q,dq); + for (j=0; j<4; j++) b->q[j] += h * dq[j]; + } + + // normalize the quaternion and convert it to a rotation matrix + dNormalize4 (b->q); + dQtoR (b->q,b->R); + + // notify all attached geoms that this body has moved + for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) + dGeomMoved (geom); +} + +//**************************************************************************** +// the slow, but sure way +// note that this does not do any joint feedback! + +// given lists of bodies and joints that form an island, perform a first +// order timestep. +// +// `body' is the body array, `nb' is the size of the array. +// `_joint' is the body array, `nj' is the size of the array. + +void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb, + dxJoint * const *_joint, int nj, dReal stepsize) +{ + int i,j,k; + int n6 = 6*nb; + +# ifdef TIMING + dTimerStart("preprocessing"); +# endif + + // number all bodies in the body list - set their tag values + for (i=0; itag = i; + + // make a local copy of the joint array, because we might want to modify it. + // (the "dxJoint *const*" declaration says we're allowed to modify the joints + // but not the joint array, because the caller might need it unchanged). + dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*)); + memcpy (joint,_joint,nj * sizeof(dxJoint*)); + + // for all bodies, compute the inertia tensor and its inverse in the global + // frame, and compute the rotational force and add it to the torque + // accumulator. + // @@@ check computation of rotational force. + dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); + dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); + + //dSetZero (I,3*nb*4); + //dSetZero (invI,3*nb*4); + for (i=0; imass.I,body[i]->R); + dMULTIPLY0_333 (I+i*12,body[i]->R,tmp); + // compute inverse inertia tensor in global frame + dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R); + dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp); + // compute rotational force + dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); + dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); + } + + // add the gravity force to all bodies + for (i=0; iflags & dxBodyNoGravity)==0) { + body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; + body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; + body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; + } + } + + // get m = total constraint dimension, nub = number of unbounded variables. + // create constraint offset array and number-of-rows array for all joints. + // the constraints are re-ordered as follows: the purely unbounded + // constraints, the mixed unbounded + LCP constraints, and last the purely + // LCP constraints. + // + // joints with m=0 are inactive and are removed from the joints array + // entirely, so that the code that follows does not consider them. + int m = 0; + dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1)); + int *ofs = (int*) ALLOCA (nj*sizeof(int)); + for (i=0, j=0; jvtable->getInfo1 (joint[j],info+i); + dIASSERT (info[i].m >= 0 && info[i].m <= 6 && + info[i].nub >= 0 && info[i].nub <= info[i].m); + if (info[i].m > 0) { + joint[i] = joint[j]; + i++; + } + } + nj = i; + + // the purely unbounded constraints + for (i=0; i 0 && info[i].nub < info[i].m) { + ofs[i] = m; + m += info[i].m; + } + // the purely LCP constraints + for (i=0; iinvMass; + MM[nskip+1] = body[i]->invMass; + MM[2*nskip+2] = body[i]->invMass; + MM += 3*nskip+3; + for (j=0; j<3; j++) for (k=0; k<3; k++) { + MM[j*nskip+k] = invI[i*12+j*4+k]; + } + } + + // assemble some body vectors: fe = external forces, v = velocities + dReal *fe = (dReal*) ALLOCA (n6 * sizeof(dReal)); + dReal *v = (dReal*) ALLOCA (n6 * sizeof(dReal)); + //dSetZero (fe,n6); + //dSetZero (v,n6); + for (i=0; ifacc[j]; + for (j=0; j<3; j++) fe[i*6+3+j] = body[i]->tacc[j]; + for (j=0; j<3; j++) v[i*6+j] = body[i]->lvel[j]; + for (j=0; j<3; j++) v[i*6+3+j] = body[i]->avel[j]; + } + + // this will be set to the velocity update + dReal *vnew = (dReal*) ALLOCA (n6 * sizeof(dReal)); + dSetZero (vnew,n6); + + // if there are constraints, compute cforce + if (m > 0) { + // create a constraint equation right hand side vector `c', a constraint + // force mixing vector `cfm', and LCP low and high bound vectors, and an + // 'findex' vector. + dReal *c = (dReal*) ALLOCA (m*sizeof(dReal)); + dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal)); + dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal)); + dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal)); + int *findex = (int*) alloca (m*sizeof(int)); + dSetZero (c,m); + dSetValue (cfm,m,world->global_cfm); + dSetValue (lo,m,-dInfinity); + dSetValue (hi,m, dInfinity); + for (i=0; iglobal_erp; + for (i=0; inode[0].body->tag; + Jinfo.J1a = Jinfo.J1l + 3; + if (joint[i]->node[1].body) { + Jinfo.J2l = J + nskip*ofs[i] + 6*joint[i]->node[1].body->tag; + Jinfo.J2a = Jinfo.J2l + 3; + } + else { + Jinfo.J2l = 0; + Jinfo.J2a = 0; + } + Jinfo.c = c + ofs[i]; + Jinfo.cfm = cfm + ofs[i]; + Jinfo.lo = lo + ofs[i]; + Jinfo.hi = hi + ofs[i]; + Jinfo.findex = findex + ofs[i]; + joint[i]->vtable->getInfo2 (joint[i],&Jinfo); + // adjust returned findex values for global index numbering + for (j=0; j= 0) findex[ofs[i] + j] += ofs[i]; + } + } + + // compute A = J*invM*J' +# ifdef TIMING + dTimerNow ("compute A"); +# endif + dReal *JinvM = (dReal*) ALLOCA (m*nskip*sizeof(dReal)); + //dSetZero (JinvM,m*nskip); + dMultiply0 (JinvM,J,invM,m,n6,n6); + int mskip = dPAD(m); + dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); + //dSetZero (A,m*mskip); + dMultiply2 (A,JinvM,J,m,n6,m); + + // add cfm to the diagonal of A + for (i=0; ilvel[j] = vnew[i*6+j]; + for (j=0; j<3; j++) body[i]->avel[j] = vnew[i*6+3+j]; + } + + // update the position and orientation from the new linear/angular velocity + // (over the given timestep) +# ifdef TIMING + dTimerNow ("update position"); +# endif + for (i=0; ifacc[0] = 0; + body[i]->facc[1] = 0; + body[i]->facc[2] = 0; + body[i]->facc[3] = 0; + body[i]->tacc[0] = 0; + body[i]->tacc[1] = 0; + body[i]->tacc[2] = 0; + body[i]->tacc[3] = 0; + } + +# ifdef TIMING + dTimerEnd(); + if (m > 0) dTimerReport (stdout,1); +# endif +} + +//**************************************************************************** +// an optimized version of dInternalStepIsland1() + +void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb, + dxJoint * const *_joint, int nj, dReal stepsize) +{ + int i,j,k; +# ifdef TIMING + dTimerStart("preprocessing"); +# endif + + dReal stepsize1 = dRecip(stepsize); + + // number all bodies in the body list - set their tag values + for (i=0; itag = i; + + // make a local copy of the joint array, because we might want to modify it. + // (the "dxJoint *const*" declaration says we're allowed to modify the joints + // but not the joint array, because the caller might need it unchanged). + dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*)); + memcpy (joint,_joint,nj * sizeof(dxJoint*)); + + // for all bodies, compute the inertia tensor and its inverse in the global + // frame, and compute the rotational force and add it to the torque + // accumulator. I and invI are vertically stacked 3x4 matrices, one per body. + // @@@ check computation of rotational force. + dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); + dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal)); + + //dSetZero (I,3*nb*4); + //dSetZero (invI,3*nb*4); + for (i=0; imass.I,body[i]->R); + dMULTIPLY0_333 (I+i*12,body[i]->R,tmp); + // compute inverse inertia tensor in global frame + dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R); + dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp); + // compute rotational force + dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel); + dCROSS (body[i]->tacc,-=,body[i]->avel,tmp); + } + + // add the gravity force to all bodies + for (i=0; iflags & dxBodyNoGravity)==0) { + body[i]->facc[0] += body[i]->mass.mass * world->gravity[0]; + body[i]->facc[1] += body[i]->mass.mass * world->gravity[1]; + body[i]->facc[2] += body[i]->mass.mass * world->gravity[2]; + } + } + + // get m = total constraint dimension, nub = number of unbounded variables. + // create constraint offset array and number-of-rows array for all joints. + // the constraints are re-ordered as follows: the purely unbounded + // constraints, the mixed unbounded + LCP constraints, and last the purely + // LCP constraints. this assists the LCP solver to put all unbounded + // variables at the start for a quick factorization. + // + // joints with m=0 are inactive and are removed from the joints array + // entirely, so that the code that follows does not consider them. + // also number all active joints in the joint list (set their tag values). + // inactive joints receive a tag value of -1. + + int m = 0; + dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1)); + int *ofs = (int*) ALLOCA (nj*sizeof(int)); + for (i=0, j=0; jvtable->getInfo1 (joint[j],info+i); + dIASSERT (info[i].m >= 0 && info[i].m <= 6 && + info[i].nub >= 0 && info[i].nub <= info[i].m); + if (info[i].m > 0) { + joint[i] = joint[j]; + joint[i]->tag = i; + i++; + } + else { + joint[j]->tag = -1; + } + } + nj = i; + + // the purely unbounded constraints + for (i=0; i 0 && info[i].nub < info[i].m) { + ofs[i] = m; + m += info[i].m; + } + // the purely LCP constraints + for (i=0; i 0) { + // create a constraint equation right hand side vector `c', a constraint + // force mixing vector `cfm', and LCP low and high bound vectors, and an + // 'findex' vector. + dReal *c = (dReal*) ALLOCA (m*sizeof(dReal)); + dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal)); + dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal)); + dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal)); + int *findex = (int*) alloca (m*sizeof(int)); + dSetZero (c,m); + dSetValue (cfm,m,world->global_cfm); + dSetValue (lo,m,-dInfinity); + dSetValue (hi,m, dInfinity); + for (i=0; iglobal_erp; + for (i=0; ivtable->getInfo2 (joint[i],&Jinfo); + // adjust returned findex values for global index numbering + for (j=0; j= 0) findex[ofs[i] + j] += ofs[i]; + } + } + + // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same + // format as J so we just go through the constraints in J multiplying by + // the appropriate scalars and matrices. +# ifdef TIMING + dTimerNow ("compute A"); +# endif + dReal *JinvM = (dReal*) ALLOCA (2*m*8*sizeof(dReal)); + dSetZero (JinvM,2*m*8); + for (i=0; inode[0].body->tag; + dReal body_invMass = body[b]->invMass; + dReal *body_invI = invI + b*12; + dReal *Jsrc = J + 2*8*ofs[i]; + dReal *Jdst = JinvM + 2*8*ofs[i]; + for (j=info[i].m-1; j>=0; j--) { + for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; + dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); + Jsrc += 8; + Jdst += 8; + } + if (joint[i]->node[1].body) { + b = joint[i]->node[1].body->tag; + body_invMass = body[b]->invMass; + body_invI = invI + b*12; + for (j=info[i].m-1; j>=0; j--) { + for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass; + dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI); + Jsrc += 8; + Jdst += 8; + } + } + } + + // now compute A = JinvM * J'. A's rows and columns are grouped by joint, + // i.e. in the same way as the rows of J. block (i,j) of A is only nonzero + // if joints i and j have at least one body in common. this fact suggests + // the algorithm used to fill A: + // + // for b = all bodies + // n = number of joints attached to body b + // for i = 1..n + // for j = i+1..n + // ii = actual joint number for i + // jj = actual joint number for j + // // (ii,jj) will be set to all pairs of joints around body b + // compute blockwise: A(ii,jj) += JinvM(ii) * J(jj)' + // + // this algorithm catches all pairs of joints that have at least one body + // in common. it does not compute the diagonal blocks of A however - + // another similar algorithm does that. + + int mskip = dPAD(m); + dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal)); + dSetZero (A,m*mskip); + for (i=0; ifirstjoint; n1; n1=n1->next) { + for (dxJointNode *n2=n1->next; n2; n2=n2->next) { + // get joint numbers and ensure ofs[j1] >= ofs[j2] + int j1 = n1->joint->tag; + int j2 = n2->joint->tag; + if (ofs[j1] < ofs[j2]) { + int tmp = j1; + j1 = j2; + j2 = tmp; + } + + // if either joint was tagged as -1 then it is an inactive (m=0) + // joint that should not be considered + if (j1==-1 || j2==-1) continue; + + // determine if body i is the 1st or 2nd body of joints j1 and j2 + int jb1 = (joint[j1]->node[1].body == body[i]); + int jb2 = (joint[j2]->node[1].body == body[i]); + // jb1/jb2 must be 0 for joints with only one body + dIASSERT(joint[j1]->node[1].body || jb1==0); + dIASSERT(joint[j2]->node[1].body || jb2==0); + + // set block of A + MultiplyAdd2_p8r (A + ofs[j1]*mskip + ofs[j2], + JinvM + 2*8*ofs[j1] + jb1*8*info[j1].m, + J + 2*8*ofs[j2] + jb2*8*info[j2].m, + info[j1].m,info[j2].m, mskip); + } + } + } + // compute diagonal blocks of A + for (i=0; inode[1].body) { + MultiplyAdd2_p8r (A + ofs[i]*(mskip+1), + JinvM + 2*8*ofs[i] + 8*info[i].m, + J + 2*8*ofs[i] + 8*info[i].m, + info[i].m,info[i].m, mskip); + } + } + + // add cfm to the diagonal of A + for (i=0; iinvMass; + dReal *body_invI = invI + i*12; + for (j=0; j<3; j++) tmp1[i*8+j] = body[i]->facc[j] * body_invMass + + body[i]->lvel[j] * stepsize1; + dMULTIPLY0_331 (tmp1 + i*8 + 4,body_invI,body[i]->tacc); + for (j=0; j<3; j++) tmp1[i*8+4+j] += body[i]->avel[j] * stepsize1; + } + // put J*tmp1 into rhs + dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal)); + //dSetZero (rhs,m); + for (i=0; inode[0].body->tag, info[i].m); + if (joint[i]->node[1].body) { + MultiplyAdd0_p81 (rhs+ofs[i],JJ + 8*info[i].m, + tmp1 + 8*joint[i]->node[1].body->tag, info[i].m); + } + } + // complete rhs + for (i=0; inode[0].body; + dxBody* b2 = joint[i]->node[1].body; + dJointFeedback *fb = joint[i]->feedback; + +/******************** breakable joint contribution ***********************/ + // this saves us a few dereferences + dxJointBreakInfo *jBI = joint[i]->breakInfo; + // we need joint feedback if the joint is breakable or if the user + // requested feedback. + if (jBI||fb) { + // we need feedback on the amount of force that this joint is + // applying to the bodies. we use a slightly slower computation + // that splits out the force components and puts them in the + // feedback structure. + dJointFeedback temp_fb; // temporary storage for joint feedback + dReal data1[8],data2[8]; + Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m); + dReal *cf1 = cforce + 8*b1->tag; + cf1[0] += (temp_fb.f1[0] = data1[0]); + cf1[1] += (temp_fb.f1[1] = data1[1]); + cf1[2] += (temp_fb.f1[2] = data1[2]); + cf1[4] += (temp_fb.t1[0] = data1[4]); + cf1[5] += (temp_fb.t1[1] = data1[5]); + cf1[6] += (temp_fb.t1[2] = data1[6]); + if (b2) { + Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m); + dReal *cf2 = cforce + 8*b2->tag; + cf2[0] += (temp_fb.f2[0] = data2[0]); + cf2[1] += (temp_fb.f2[1] = data2[1]); + cf2[2] += (temp_fb.f2[2] = data2[2]); + cf2[4] += (temp_fb.t2[0] = data2[4]); + cf2[5] += (temp_fb.t2[1] = data2[5]); + cf2[6] += (temp_fb.t2[2] = data2[6]); + } + // if the user requested so we must copy the feedback information to + // the feedback struct that the user suplied. + if (fb) { + // copy temp_fb to fb + fb->f1[0] = temp_fb.f1[0]; + fb->f1[1] = temp_fb.f1[1]; + fb->f1[2] = temp_fb.f1[2]; + fb->t1[0] = temp_fb.t1[0]; + fb->t1[1] = temp_fb.t1[1]; + fb->t1[2] = temp_fb.t1[2]; + if (b2) { + fb->f2[0] = temp_fb.f2[0]; + fb->f2[1] = temp_fb.f2[1]; + fb->f2[2] = temp_fb.f2[2]; + fb->t2[0] = temp_fb.t2[0]; + fb->t2[1] = temp_fb.t2[1]; + fb->t2[2] = temp_fb.t2[2]; + } + } + // if the joint is breakable we need to check the breaking conditions + if (jBI) { + dReal relCF1[3]; + dReal relCT1[3]; + // multiply the force and torque vectors by the rotation matrix of body 1 + dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]); + dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]); + if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { + // check if the force is to high + for (int i = 0; i < 3; i++) { + if (relCF1[i] > jBI->b1MaxF[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { + // check if the torque is to high + for (int i = 0; i < 3; i++) { + if (relCT1[i] > jBI->b1MaxT[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + if (b2) { + dReal relCF2[3]; + dReal relCT2[3]; + // multiply the force and torque vectors by the rotation matrix of body 2 + dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]); + dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]); + if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { + // check if the force is to high + for (int i = 0; i < 3; i++) { + if (relCF2[i] > jBI->b2MaxF[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { + // check if the torque is to high + for (int i = 0; i < 3; i++) { + if (relCT2[i] > jBI->b2MaxT[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + } + doneCheckingBreaks: + ; + } + } +/*************************************************************************/ + else { + // no feedback is required, let's compute cforce the faster way + MultiplyAdd1_8q1 (cforce + 8*b1->tag,JJ, lambda+ofs[i], info[i].m); + if (b2) { + MultiplyAdd1_8q1 (cforce + 8*b2->tag, + JJ + 8*info[i].m, lambda+ofs[i], info[i].m); + } + } + } + } + + // compute the velocity update +# ifdef TIMING + dTimerNow ("compute velocity update"); +# endif + + // add fe to cforce + for (i=0; ifacc[j]; + for (j=0; j<3; j++) cforce[i*8+4+j] += body[i]->tacc[j]; + } + // multiply cforce by stepsize + for (i=0; i < nb*8; i++) cforce[i] *= stepsize; + // add invM * cforce to the body velocity + for (i=0; iinvMass; + dReal *body_invI = invI + i*12; + for (j=0; j<3; j++) body[i]->lvel[j] += body_invMass * cforce[i*8+j]; + dMULTIPLYADD0_331 (body[i]->avel,body_invI,cforce+i*8+4); + } + + // update the position and orientation from the new linear/angular velocity + // (over the given timestep) +# ifdef TIMING + dTimerNow ("update position"); +# endif + for (i=0; ilvel[j]; + for (j=0; j<3; j++) tmp_vnew[i*6+3+j] = body[i]->avel[j]; + } + comparator.nextMatrix (tmp_vnew,nb*6,1,0,"vnew"); +# endif + +# ifdef TIMING + dTimerNow ("tidy up"); +# endif + + // zero all force accumulators + for (i=0; ifacc[0] = 0; + body[i]->facc[1] = 0; + body[i]->facc[2] = 0; + body[i]->facc[3] = 0; + body[i]->tacc[0] = 0; + body[i]->tacc[1] = 0; + body[i]->tacc[2] = 0; + body[i]->tacc[3] = 0; + } + +# ifdef TIMING + dTimerEnd(); + if (m > 0) dTimerReport (stdout,1); +# endif +} + +//**************************************************************************** + +void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb, + dxJoint * const *joint, int nj, dReal stepsize) +{ +# ifndef COMPARE_METHODS + dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize); +# endif + +# ifdef COMPARE_METHODS + int i; + + // save body state + dxBody *state = (dxBody*) ALLOCA (nb*sizeof(dxBody)); + for (i=0; i +#include +#include +#include +#include +#include +#include +#include "lcp.h" +#include "step.h" + + +// misc defines + +#define ALLOCA dALLOCA16 + +#define RANDOM_JOINT_ORDER +//#define FAST_FACTOR //use a factorization approximation to the LCP solver (fast, theoretically less accurate) +#define SLOW_LCP //use the old LCP solver +//#define NO_ISLANDS //does not perform island creation code (3~4% of simulation time), body disabling doesn't work +//#define TIMING + + +static int autoEnableDepth = 2; + +void dWorldSetAutoEnableDepthSF1 (dxWorld *world, int autodepth) +{ + if (autodepth > 0) + autoEnableDepth = autodepth; + else + autoEnableDepth = 0; +} + +int dWorldGetAutoEnableDepthSF1 (dxWorld *world) +{ + return autoEnableDepth; +} + +//little bit of math.... the _sym_ functions assume the return matrix will be symmetric +static void +Multiply2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip) +{ + int i, j; + dReal sum, *aa, *ad, *bb, *cc; + dIASSERT (p > 0 && A && B && C); + bb = B; + for (i = 0; i < p; i++) + { + //aa is going accross the matrix, ad down + aa = ad = A; + cc = C; + for (j = i; j < p; j++) + { + sum = bb[0] * cc[0]; + sum += bb[1] * cc[1]; + sum += bb[2] * cc[2]; + sum += bb[4] * cc[4]; + sum += bb[5] * cc[5]; + sum += bb[6] * cc[6]; + *(aa++) = *ad = sum; + ad += Askip; + cc += 8; + } + bb += 8; + A += Askip + 1; + C += 8; + } +} + +static void +MultiplyAdd2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip) +{ + int i, j; + dReal sum, *aa, *ad, *bb, *cc; + dIASSERT (p > 0 && A && B && C); + bb = B; + for (i = 0; i < p; i++) + { + //aa is going accross the matrix, ad down + aa = ad = A; + cc = C; + for (j = i; j < p; j++) + { + sum = bb[0] * cc[0]; + sum += bb[1] * cc[1]; + sum += bb[2] * cc[2]; + sum += bb[4] * cc[4]; + sum += bb[5] * cc[5]; + sum += bb[6] * cc[6]; + *(aa++) += sum; + *ad += sum; + ad += Askip; + cc += 8; + } + bb += 8; + A += Askip + 1; + C += 8; + } +} + + +// this assumes the 4th and 8th rows of B are zero. + +static void +Multiply0_p81 (dReal * A, dReal * B, dReal * C, int p) +{ + int i; + dIASSERT (p > 0 && A && B && C); + dReal sum; + for (i = p; i; i--) + { + sum = B[0] * C[0]; + sum += B[1] * C[1]; + sum += B[2] * C[2]; + sum += B[4] * C[4]; + sum += B[5] * C[5]; + sum += B[6] * C[6]; + *(A++) = sum; + B += 8; + } +} + + +// this assumes the 4th and 8th rows of B are zero. + +static void +MultiplyAdd0_p81 (dReal * A, dReal * B, dReal * C, int p) +{ + int i; + dIASSERT (p > 0 && A && B && C); + dReal sum; + for (i = p; i; i--) + { + sum = B[0] * C[0]; + sum += B[1] * C[1]; + sum += B[2] * C[2]; + sum += B[4] * C[4]; + sum += B[5] * C[5]; + sum += B[6] * C[6]; + *(A++) += sum; + B += 8; + } +} + + +// this assumes the 4th and 8th rows of B are zero. + +static void +Multiply1_8q1 (dReal * A, dReal * B, dReal * C, int q) +{ + int k; + dReal sum; + dIASSERT (q > 0 && A && B && C); + sum = 0; + for (k = 0; k < q; k++) + sum += B[k * 8] * C[k]; + A[0] = sum; + sum = 0; + for (k = 0; k < q; k++) + sum += B[1 + k * 8] * C[k]; + A[1] = sum; + sum = 0; + for (k = 0; k < q; k++) + sum += B[2 + k * 8] * C[k]; + A[2] = sum; + sum = 0; + for (k = 0; k < q; k++) + sum += B[4 + k * 8] * C[k]; + A[4] = sum; + sum = 0; + for (k = 0; k < q; k++) + sum += B[5 + k * 8] * C[k]; + A[5] = sum; + sum = 0; + for (k = 0; k < q; k++) + sum += B[6 + k * 8] * C[k]; + A[6] = sum; +} + +//**************************************************************************** +// body rotation + +// return sin(x)/x. this has a singularity at 0 so special handling is needed +// for small arguments. + +static inline dReal +sinc (dReal x) +{ + // if |x| < 1e-4 then use a taylor series expansion. this two term expansion + // is actually accurate to one LS bit within this range if double precision + // is being used - so don't worry! + if (dFabs (x) < 1.0e-4) + return REAL (1.0) - x * x * REAL (0.166666666666666666667); + else + return dSin (x) / x; +} + + +// given a body b, apply its linear and angular rotation over the time +// interval h, thereby adjusting its position and orientation. + +static inline void +moveAndRotateBody (dxBody * b, dReal h) +{ + int j; + + // handle linear velocity + for (j = 0; j < 3; j++) + b->pos[j] += h * b->lvel[j]; + + if (b->flags & dxBodyFlagFiniteRotation) + { + dVector3 irv; // infitesimal rotation vector + dQuaternion q; // quaternion for finite rotation + + if (b->flags & dxBodyFlagFiniteRotationAxis) + { + // split the angular velocity vector into a component along the finite + // rotation axis, and a component orthogonal to it. + dVector3 frv, irv; // finite rotation vector + dReal k = dDOT (b->finite_rot_axis, b->avel); + frv[0] = b->finite_rot_axis[0] * k; + frv[1] = b->finite_rot_axis[1] * k; + frv[2] = b->finite_rot_axis[2] * k; + irv[0] = b->avel[0] - frv[0]; + irv[1] = b->avel[1] - frv[1]; + irv[2] = b->avel[2] - frv[2]; + + // make a rotation quaternion q that corresponds to frv * h. + // compare this with the full-finite-rotation case below. + h *= REAL (0.5); + dReal theta = k * h; + q[0] = dCos (theta); + dReal s = sinc (theta) * h; + q[1] = frv[0] * s; + q[2] = frv[1] * s; + q[3] = frv[2] * s; + } + else + { + // make a rotation quaternion q that corresponds to w * h + dReal wlen = dSqrt (b->avel[0] * b->avel[0] + b->avel[1] * b->avel[1] + b->avel[2] * b->avel[2]); + h *= REAL (0.5); + dReal theta = wlen * h; + q[0] = dCos (theta); + dReal s = sinc (theta) * h; + q[1] = b->avel[0] * s; + q[2] = b->avel[1] * s; + q[3] = b->avel[2] * s; + } + + // do the finite rotation + dQuaternion q2; + dQMultiply0 (q2, q, b->q); + for (j = 0; j < 4; j++) + b->q[j] = q2[j]; + + // do the infitesimal rotation if required + if (b->flags & dxBodyFlagFiniteRotationAxis) + { + dReal dq[4]; + dWtoDQ (irv, b->q, dq); + for (j = 0; j < 4; j++) + b->q[j] += h * dq[j]; + } + } + else + { + // the normal way - do an infitesimal rotation + dReal dq[4]; + dWtoDQ (b->avel, b->q, dq); + for (j = 0; j < 4; j++) + b->q[j] += h * dq[j]; + } + + // normalize the quaternion and convert it to a rotation matrix + dNormalize4 (b->q); + dQtoR (b->q, b->R); + + // notify all attached geoms that this body has moved + for (dxGeom * geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) + dGeomMoved (geom); +} + +//**************************************************************************** +//This is an implementation of the iterated/relaxation algorithm. +//Here is a quick overview of the algorithm per Sergi Valverde's posts to the +//mailing list: +// +// for i=0..N-1 do +// for c = 0..C-1 do +// Solve constraint c-th +// Apply forces to constraint bodies +// next +// next +// Integrate bodies + +void +dInternalStepFast (dxWorld * world, dxBody * body[2], dReal * GI[2], dReal * GinvI[2], dxJoint * joint, dxJoint::Info1 info, dxJoint::Info2 Jinfo, dReal stepsize) +{ + int i, j, k; +# ifdef TIMING + dTimerNow ("constraint preprocessing"); +# endif + + dReal stepsize1 = dRecip (stepsize); + + int m = info.m; + // nothing to do if no constraints. + if (m <= 0) + return; + + int nub = 0; + if (info.nub == info.m) + nub = m; + + // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same + // format as J so we just go through the constraints in J multiplying by + // the appropriate scalars and matrices. +# ifdef TIMING + dTimerNow ("compute A"); +# endif + dReal JinvM[2 * 6 * 8]; + //dSetZero (JinvM, 2 * m * 8); + + dReal *Jsrc = Jinfo.J1l; + dReal *Jdst = JinvM; + if (body[0]) + { + for (j = m - 1; j >= 0; j--) + { + for (k = 0; k < 3; k++) + Jdst[k] = Jsrc[k] * body[0]->invMass; + dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[0]); + Jsrc += 8; + Jdst += 8; + } + } + if (body[1]) + { + Jsrc = Jinfo.J2l; + Jdst = JinvM + 8 * m; + for (j = m - 1; j >= 0; j--) + { + for (k = 0; k < 3; k++) + Jdst[k] = Jsrc[k] * body[1]->invMass; + dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[1]); + Jsrc += 8; + Jdst += 8; + } + } + + + // now compute A = JinvM * J'. + int mskip = dPAD (m); + dReal A[6 * 8]; + //dSetZero (A, 6 * 8); + + if (body[0]) + Multiply2_sym_p8p (A, JinvM, Jinfo.J1l, m, mskip); + if (body[1]) + MultiplyAdd2_sym_p8p (A, JinvM + 8 * m, Jinfo.J2l, m, mskip); + + // add cfm to the diagonal of A + for (i = 0; i < m; i++) + A[i * mskip + i] += Jinfo.cfm[i] * stepsize1; + + // compute the right hand side `rhs' +# ifdef TIMING + dTimerNow ("compute rhs"); +# endif + dReal tmp1[16]; + //dSetZero (tmp1, 16); + // put v/h + invM*fe into tmp1 + for (i = 0; i < 2; i++) + { + if (!body[i]) + continue; + for (j = 0; j < 3; j++) + tmp1[i * 8 + j] = body[i]->facc[j] * body[i]->invMass + body[i]->lvel[j] * stepsize1; + dMULTIPLY0_331 (tmp1 + i * 8 + 4, GinvI[i], body[i]->tacc); + for (j = 0; j < 3; j++) + tmp1[i * 8 + 4 + j] += body[i]->avel[j] * stepsize1; + } + // put J*tmp1 into rhs + dReal rhs[6]; + //dSetZero (rhs, 6); + + if (body[0]) + Multiply0_p81 (rhs, Jinfo.J1l, tmp1, m); + if (body[1]) + MultiplyAdd0_p81 (rhs, Jinfo.J2l, tmp1 + 8, m); + + // complete rhs + for (i = 0; i < m; i++) + rhs[i] = Jinfo.c[i] * stepsize1 - rhs[i]; + +#ifdef SLOW_LCP + // solve the LCP problem and get lambda. + // this will destroy A but that's okay +# ifdef TIMING + dTimerNow ("solving LCP problem"); +# endif + dReal *lambda = (dReal *) ALLOCA (m * sizeof (dReal)); + dReal *residual = (dReal *) ALLOCA (m * sizeof (dReal)); + dReal lo[6], hi[6]; + memcpy (lo, Jinfo.lo, m * sizeof (dReal)); + memcpy (hi, Jinfo.hi, m * sizeof (dReal)); + dSolveLCP (m, A, lambda, rhs, residual, nub, lo, hi, Jinfo.findex); +#endif + + // LCP Solver replacement: + // This algorithm goes like this: + // Do a straightforward LDLT factorization of the matrix A, solving for + // A*x = rhs + // For each x[i] that is outside of the bounds of lo[i] and hi[i], + // clamp x[i] into that range. + // Substitute into A the now known x's + // subtract the residual away from the rhs. + // Remove row and column i from L, updating the factorization + // place the known x's at the end of the array, keeping up with location in p + // Repeat until all constraints have been clamped or all are within bounds + // + // This is probably only faster in the single joint case where only one repeat is + // the norm. + +#ifdef FAST_FACTOR + // factorize A (L*D*L'=A) +# ifdef TIMING + dTimerNow ("factorize A"); +# endif + dReal d[6]; + dReal L[6 * 8]; + memcpy (L, A, m * mskip * sizeof (dReal)); + dFactorLDLT (L, d, m, mskip); + + // compute lambda +# ifdef TIMING + dTimerNow ("compute lambda"); +# endif + + int left = m; //constraints left to solve. + int remove[6]; + dReal lambda[6]; + dReal x[6]; + int p[6]; + for (i = 0; i < 6; i++) + p[i] = i; + while (true) + { + memcpy (x, rhs, left * sizeof (dReal)); + dSolveLDLT (L, d, x, left, mskip); + + int fixed = 0; + for (i = 0; i < left; i++) + { + j = p[i]; + remove[i] = false; + // This isn't the exact same use of findex as dSolveLCP.... since x[findex] + // may change after I've already clamped x[i], but it should be close + if (Jinfo.findex[j] > -1) + { + dReal f = fabs (Jinfo.hi[j] * x[p[Jinfo.findex[j]]]); + if (x[i] > f) + x[i] = f; + else if (x[i] < -f) + x[i] = -f; + else + continue; + } + else + { + if (x[i] > Jinfo.hi[j]) + x[i] = Jinfo.hi[j]; + else if (x[i] < Jinfo.lo[j]) + x[i] = Jinfo.lo[j]; + else + continue; + } + remove[i] = true; + fixed++; + } + if (fixed == 0 || fixed == left) //no change or all constraints solved + break; + + for (i = 0; i < left; i++) //sub in to right hand side. + if (remove[i]) + for (j = 0; j < left; j++) + if (!remove[j]) + rhs[j] -= A[j * mskip + i] * x[i]; + + for (int r = left - 1; r >= 0; r--) //eliminate row/col for fixed variables + { + if (remove[r]) + { + //dRemoveLDLT adapted for use without row pointers. + if (r == left - 1) + { + left--; + continue; // deleting last row/col is easy + } + else if (r == 0) + { + dReal a[6]; + for (i = 0; i < left; i++) + a[i] = -A[i * mskip]; + a[0] += REAL (1.0); + dLDLTAddTL (L, d, a, left, mskip); + } + else + { + dReal t[6]; + dReal a[6]; + for (i = 0; i < r; i++) + t[i] = L[r * mskip + i] / d[i]; + for (i = 0; i < left - r; i++) + a[i] = dDot (L + (r + i) * mskip, t, r) - A[(r + i) * mskip + r]; + a[0] += REAL (1.0); + dLDLTAddTL (L + r * mskip + r, d + r, a, left - r, mskip); + } + + dRemoveRowCol (L, left, mskip, r); + //end dRemoveLDLT + + left--; + if (r < (left - 1)) + { + dReal tx = x[r]; + memmove (d + r, d + r + 1, (left - r) * sizeof (dReal)); + memmove (rhs + r, rhs + r + 1, (left - r) * sizeof (dReal)); + //x will get written over by rhs anyway, no need to move it around + //just store the fixed value we just discovered in it. + x[left] = tx; + for (i = 0; i < m; i++) + if (p[i] > r && p[i] <= left) + p[i]--; + p[r] = left; + } + } + } + } + + for (i = 0; i < m; i++) + lambda[i] = x[p[i]]; +# endif + // compute the constraint force `cforce' +# ifdef TIMING + dTimerNow ("compute constraint force"); +#endif + + // compute cforce = J'*lambda + dJointFeedback *fb = joint->feedback; + dReal cforce[16]; + //dSetZero (cforce, 16); + +/******************** breakable joint contribution ***********************/ + // this saves us a few dereferences + dxJointBreakInfo *jBI = joint->breakInfo; + // we need joint feedback if the joint is breakable or if the user + // requested feedback. + if (jBI||fb) { + // we need feedback on the amount of force that this joint is + // applying to the bodies. we use a slightly slower computation + // that splits out the force components and puts them in the + // feedback structure. + dJointFeedback temp_fb; // temporary storage for joint feedback + dReal data1[8],data2[8]; + if (body[0]) + { + Multiply1_8q1 (data1, Jinfo.J1l, lambda, m); + dReal *cf1 = cforce; + cf1[0] = (temp_fb.f1[0] = data1[0]); + cf1[1] = (temp_fb.f1[1] = data1[1]); + cf1[2] = (temp_fb.f1[2] = data1[2]); + cf1[4] = (temp_fb.t1[0] = data1[4]); + cf1[5] = (temp_fb.t1[1] = data1[5]); + cf1[6] = (temp_fb.t1[2] = data1[6]); + } + if (body[1]) + { + Multiply1_8q1 (data2, Jinfo.J2l, lambda, m); + dReal *cf2 = cforce + 8; + cf2[0] = (temp_fb.f2[0] = data2[0]); + cf2[1] = (temp_fb.f2[1] = data2[1]); + cf2[2] = (temp_fb.f2[2] = data2[2]); + cf2[4] = (temp_fb.t2[0] = data2[4]); + cf2[5] = (temp_fb.t2[1] = data2[5]); + cf2[6] = (temp_fb.t2[2] = data2[6]); + } + // if the user requested so we must copy the feedback information to + // the feedback struct that the user suplied. + if (fb) { + // copy temp_fb to fb + fb->f1[0] = temp_fb.f1[0]; + fb->f1[1] = temp_fb.f1[1]; + fb->f1[2] = temp_fb.f1[2]; + fb->t1[0] = temp_fb.t1[0]; + fb->t1[1] = temp_fb.t1[1]; + fb->t1[2] = temp_fb.t1[2]; + if (body[1]) { + fb->f2[0] = temp_fb.f2[0]; + fb->f2[1] = temp_fb.f2[1]; + fb->f2[2] = temp_fb.f2[2]; + fb->t2[0] = temp_fb.t2[0]; + fb->t2[1] = temp_fb.t2[1]; + fb->t2[2] = temp_fb.t2[2]; + } + } + // if the joint is breakable we need to check the breaking conditions + if (jBI) { + dReal relCF1[3]; + dReal relCT1[3]; + // multiply the force and torque vectors by the rotation matrix of body 1 + dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]); + dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]); + if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) { + // check if the force is to high + for (int i = 0; i < 3; i++) { + if (relCF1[i] > jBI->b1MaxF[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) { + // check if the torque is to high + for (int i = 0; i < 3; i++) { + if (relCT1[i] > jBI->b1MaxT[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + if (body[1]) { + dReal relCF2[3]; + dReal relCT2[3]; + // multiply the force and torque vectors by the rotation matrix of body 2 + dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]); + dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]); + if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) { + // check if the force is to high + for (int i = 0; i < 3; i++) { + if (relCF2[i] > jBI->b2MaxF[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) { + // check if the torque is to high + for (int i = 0; i < 3; i++) { + if (relCT2[i] > jBI->b2MaxT[i]) { + jBI->flags |= dJOINT_BROKEN; + goto doneCheckingBreaks; + } + } + } + } + doneCheckingBreaks: + ; + } + } +/*************************************************************************/ + else + { + // no feedback is required, let's compute cforce the faster way + if (body[0]) + Multiply1_8q1 (cforce, Jinfo.J1l, lambda, m); + if (body[1]) + Multiply1_8q1 (cforce + 8, Jinfo.J2l, lambda, m); + } + + for (i = 0; i < 2; i++) + { + if (!body[i]) + continue; + for (j = 0; j < 3; j++) + { + body[i]->facc[j] += cforce[i * 8 + j]; + body[i]->tacc[j] += cforce[i * 8 + 4 + j]; + } + } +} + +void +dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoint * const *_joints, int nj, dReal stepsize, int maxiterations) +{ +# ifdef TIMING + dTimerNow ("preprocessing"); +# endif + dxBody *bodyPair[2], *body; + dReal *GIPair[2], *GinvIPair[2]; + dxJoint *joint; + int iter, b, j, i; + dReal ministep = stepsize / maxiterations; + + // make a local copy of the joint array, because we might want to modify it. + // (the "dxJoint *const*" declaration says we're allowed to modify the joints + // but not the joint array, because the caller might need it unchanged). + dxJoint **joints = (dxJoint **) ALLOCA (nj * sizeof (dxJoint *)); + memcpy (joints, _joints, nj * sizeof (dxJoint *)); + + // get m = total constraint dimension, nub = number of unbounded variables. + // create constraint offset array and number-of-rows array for all joints. + // the constraints are re-ordered as follows: the purely unbounded + // constraints, the mixed unbounded + LCP constraints, and last the purely + // LCP constraints. this assists the LCP solver to put all unbounded + // variables at the start for a quick factorization. + // + // joints with m=0 are inactive and are removed from the joints array + // entirely, so that the code that follows does not consider them. + // also number all active joints in the joint list (set their tag values). + // inactive joints receive a tag value of -1. + + int m = 0; + dxJoint::Info1 * info = (dxJoint::Info1 *) ALLOCA (nj * sizeof (dxJoint::Info1)); + int *ofs = (int *) ALLOCA (nj * sizeof (int)); + for (i = 0, j = 0; j < nj; j++) + { // i=dest, j=src + joints[j]->vtable->getInfo1 (joints[j], info + i); + dIASSERT (info[i].m >= 0 && info[i].m <= 6 && info[i].nub >= 0 && info[i].nub <= info[i].m); + if (info[i].m > 0) + { + joints[i] = joints[j]; + joints[i]->tag = i; + i++; + } + else + { + joints[j]->tag = -1; + } + } + nj = i; + + // the purely unbounded constraints + for (i = 0; i < nj; i++) + { + ofs[i] = m; + m += info[i].m; + } + dReal *c = NULL; + dReal *cfm = NULL; + dReal *lo = NULL; + dReal *hi = NULL; + int *findex = NULL; + + dReal *J = NULL; + dxJoint::Info2 * Jinfo = NULL; + + if (m) + { + // create a constraint equation right hand side vector `c', a constraint + // force mixing vector `cfm', and LCP low and high bound vectors, and an + // 'findex' vector. + c = (dReal *) ALLOCA (m * sizeof (dReal)); + cfm = (dReal *) ALLOCA (m * sizeof (dReal)); + lo = (dReal *) ALLOCA (m * sizeof (dReal)); + hi = (dReal *) ALLOCA (m * sizeof (dReal)); + findex = (int *) ALLOCA (m * sizeof (int)); + dSetZero (c, m); + dSetValue (cfm, m, world->global_cfm); + dSetValue (lo, m, -dInfinity); + dSetValue (hi, m, dInfinity); + for (i = 0; i < m; i++) + findex[i] = -1; + + // get jacobian data from constraints. a (2*m)x8 matrix will be created + // to store the two jacobian blocks from each constraint. it has this + // format: + // + // l l l 0 a a a 0 \ . + // l l l 0 a a a 0 }-- jacobian body 1 block for joint 0 (3 rows) + // l l l 0 a a a 0 / + // l l l 0 a a a 0 \ . + // l l l 0 a a a 0 }-- jacobian body 2 block for joint 0 (3 rows) + // l l l 0 a a a 0 / + // l l l 0 a a a 0 }--- jacobian body 1 block for joint 1 (1 row) + // l l l 0 a a a 0 }--- jacobian body 2 block for joint 1 (1 row) + // etc... + // + // (lll) = linear jacobian data + // (aaa) = angular jacobian data + // +# ifdef TIMING + dTimerNow ("create J"); +# endif + J = (dReal *) ALLOCA (2 * m * 8 * sizeof (dReal)); + dSetZero (J, 2 * m * 8); + Jinfo = (dxJoint::Info2 *) ALLOCA (nj * sizeof (dxJoint::Info2)); + for (i = 0; i < nj; i++) + { + Jinfo[i].rowskip = 8; + Jinfo[i].fps = dRecip (stepsize); + Jinfo[i].erp = world->global_erp; + Jinfo[i].J1l = J + 2 * 8 * ofs[i]; + Jinfo[i].J1a = Jinfo[i].J1l + 4; + Jinfo[i].J2l = Jinfo[i].J1l + 8 * info[i].m; + Jinfo[i].J2a = Jinfo[i].J2l + 4; + Jinfo[i].c = c + ofs[i]; + Jinfo[i].cfm = cfm + ofs[i]; + Jinfo[i].lo = lo + ofs[i]; + Jinfo[i].hi = hi + ofs[i]; + Jinfo[i].findex = findex + ofs[i]; + //joints[i]->vtable->getInfo2 (joints[i], Jinfo+i); + } + + } + + dReal *saveFacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal)); + dReal *saveTacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal)); + dReal *globalI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal)); + dReal *globalInvI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal)); + for (b = 0; b < nb; b++) + { + for (i = 0; i < 4; i++) + { + saveFacc[b * 4 + i] = bodies[b]->facc[i]; + saveTacc[b * 4 + i] = bodies[b]->tacc[i]; + bodies[b]->tag = b; + } + } + + for (iter = 0; iter < maxiterations; iter++) + { +# ifdef TIMING + dTimerNow ("applying inertia and gravity"); +# endif + dReal tmp[12] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + for (b = 0; b < nb; b++) + { + body = bodies[b]; + + // for all bodies, compute the inertia tensor and its inverse in the global + // frame, and compute the rotational force and add it to the torque + // accumulator. I and invI are vertically stacked 3x4 matrices, one per body. + // @@@ check computation of rotational force. + + // compute inertia tensor in global frame + dMULTIPLY2_333 (tmp, body->mass.I, body->R); + dMULTIPLY0_333 (globalI + b * 12, body->R, tmp); + // compute inverse inertia tensor in global frame + dMULTIPLY2_333 (tmp, body->invI, body->R); + dMULTIPLY0_333 (globalInvI + b * 12, body->R, tmp); + + for (i = 0; i < 4; i++) + body->tacc[i] = saveTacc[b * 4 + i]; + // compute rotational force + dMULTIPLY0_331 (tmp, globalI + b * 12, body->avel); + dCROSS (body->tacc, -=, body->avel, tmp); + + // add the gravity force to all bodies + if ((body->flags & dxBodyNoGravity) == 0) + { + body->facc[0] = saveFacc[b * 4 + 0] + body->mass.mass * world->gravity[0]; + body->facc[1] = saveFacc[b * 4 + 1] + body->mass.mass * world->gravity[1]; + body->facc[2] = saveFacc[b * 4 + 2] + body->mass.mass * world->gravity[2]; + body->facc[3] = 0; + } + + } + +#ifdef RANDOM_JOINT_ORDER +#ifdef TIMING + dTimerNow ("randomizing joint order"); +#endif + //randomize the order of the joints by looping through the array + //and swapping the current joint pointer with a random one before it. + for (j = 0; j < nj; j++) + { + joint = joints[j]; + dxJoint::Info1 i1 = info[j]; + dxJoint::Info2 i2 = Jinfo[j]; + int r = rand () % (j + 1); + joints[j] = joints[r]; + info[j] = info[r]; + Jinfo[j] = Jinfo[r]; + joints[r] = joint; + info[r] = i1; + Jinfo[r] = i2; + } +#endif + + //now iterate through the random ordered joint array we created. + for (j = 0; j < nj; j++) + { +#ifdef TIMING + dTimerNow ("setting up joint"); +#endif + joint = joints[j]; + bodyPair[0] = joint->node[0].body; + bodyPair[1] = joint->node[1].body; + + if (bodyPair[0] && (bodyPair[0]->flags & dxBodyDisabled)) + bodyPair[0] = 0; + if (bodyPair[1] && (bodyPair[1]->flags & dxBodyDisabled)) + bodyPair[1] = 0; + + //if this joint is not connected to any enabled bodies, skip it. + if (!bodyPair[0] && !bodyPair[1]) + continue; + + if (bodyPair[0]) + { + GIPair[0] = globalI + bodyPair[0]->tag * 12; + GinvIPair[0] = globalInvI + bodyPair[0]->tag * 12; + } + if (bodyPair[1]) + { + GIPair[1] = globalI + bodyPair[1]->tag * 12; + GinvIPair[1] = globalInvI + bodyPair[1]->tag * 12; + } + + joints[j]->vtable->getInfo2 (joints[j], Jinfo + j); + + //dInternalStepIslandFast is an exact copy of the old routine with one + //modification: the calculated forces are added back to the facc and tacc + //vectors instead of applying them to the bodies and moving them. + if (info[j].m > 0) + { + dInternalStepFast (world, bodyPair, GIPair, GinvIPair, joint, info[j], Jinfo[j], ministep); + } + } + // } +# ifdef TIMING + dTimerNow ("moving bodies"); +# endif + //Now we can simulate all the free floating bodies, and move them. + for (b = 0; b < nb; b++) + { + body = bodies[b]; + + for (i = 0; i < 4; i++) + { + body->facc[i] *= ministep; + body->tacc[i] *= ministep; + } + + //apply torque + dMULTIPLYADD0_331 (body->avel, globalInvI + b * 12, body->tacc); + + //apply force + for (i = 0; i < 3; i++) + body->lvel[i] += body->invMass * body->facc[i]; + + //move It! + moveAndRotateBody (body, ministep); + } + } + for (b = 0; b < nb; b++) + for (j = 0; j < 4; j++) + bodies[b]->facc[j] = bodies[b]->tacc[j] = 0; +} + + +#ifdef NO_ISLANDS + +// Since the iterative algorithm doesn't care about islands of bodies, this is a +// faster algorithm that just sends it all the joints and bodies in one array. +// It's downfall is it's inability to handle disabled bodies as well as the old one. +static void +processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations) +{ + // nothing to do if no bodies + if (world->nb <= 0) + return; + +# ifdef TIMING + dTimerStart ("creating joint and body arrays"); +# endif + dxBody **bodies, *body; + dxJoint **joints, *joint; + joints = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *)); + bodies = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *)); + + int nj = 0; + for (joint = world->firstjoint; joint; joint = (dxJoint *) joint->next) + joints[nj++] = joint; + + int nb = 0; + for (body = world->firstbody; body; body = (dxBody *) body->next) + bodies[nb++] = body; + + dInternalStepIslandFast (world, bodies, nb, joints, nj, stepsize, maxiterations); +# ifdef TIMING + dTimerEnd (); + dTimerReport (stdout, 1); +# endif +} + +#else + +//**************************************************************************** +// island processing + +// this groups all joints and bodies in a world into islands. all objects +// in an island are reachable by going through connected bodies and joints. +// each island can be simulated separately. +// note that joints that are not attached to anything will not be included +// in any island, an so they do not affect the simulation. +// +// this function starts new island from unvisited bodies. however, it will +// never start a new islands from a disabled body. thus islands of disabled +// bodies will not be included in the simulation. disabled bodies are +// re-enabled if they are found to be part of an active island. + +static void +processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations) +{ +#ifdef TIMING + dTimerStart ("Island Setup"); +#endif + dxBody *b, *bb, **body; + dxJoint *j, **joint; + + // nothing to do if no bodies + if (world->nb <= 0) + return; + + // make arrays for body and joint lists (for a single island) to go into + body = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *)); + joint = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *)); + int bcount = 0; // number of bodies in `body' + int jcount = 0; // number of joints in `joint' + int tbcount = 0; + int tjcount = 0; + + // set all body/joint tags to 0 + for (b = world->firstbody; b; b = (dxBody *) b->next) + b->tag = 0; + for (j = world->firstjoint; j; j = (dxJoint *) j->next) + j->tag = 0; + + // allocate a stack of unvisited bodies in the island. the maximum size of + // the stack can be the lesser of the number of bodies or joints, because + // new bodies are only ever added to the stack by going through untagged + // joints. all the bodies in the stack must be tagged! + int stackalloc = (world->nj < world->nb) ? world->nj : world->nb; + dxBody **stack = (dxBody **) ALLOCA (stackalloc * sizeof (dxBody *)); + int *autostack = (int *) ALLOCA (stackalloc * sizeof (int)); + + for (bb = world->firstbody; bb; bb = (dxBody *) bb->next) + { +#ifdef TIMING + dTimerNow ("Island Processing"); +#endif + // get bb = the next enabled, untagged body, and tag it + if (bb->tag || (bb->flags & dxBodyDisabled)) + continue; + bb->tag = 1; + + // tag all bodies and joints starting from bb. + int stacksize = 0; + int autoDepth = autoEnableDepth; + b = bb; + body[0] = bb; + bcount = 1; + jcount = 0; + goto quickstart; + while (stacksize > 0) + { + b = stack[--stacksize]; // pop body off stack + autoDepth = autostack[stacksize]; + body[bcount++] = b; // put body on body list + quickstart: + + // traverse and tag all body's joints, add untagged connected bodies + // to stack + for (dxJointNode * n = b->firstjoint; n; n = n->next) + { + if (!n->joint->tag) + { + int thisDepth = autoEnableDepth; + n->joint->tag = 1; + joint[jcount++] = n->joint; + if (n->body && !n->body->tag) + { + if (n->body->flags & dxBodyDisabled) + thisDepth = autoDepth - 1; + if (thisDepth < 0) + continue; + n->body->flags &= ~dxBodyDisabled; + n->body->tag = 1; + autostack[stacksize] = thisDepth; + stack[stacksize++] = n->body; + } + } + } + dIASSERT (stacksize <= world->nb); + dIASSERT (stacksize <= world->nj); + } + + // now do something with body and joint lists + dInternalStepIslandFast (world, body, bcount, joint, jcount, stepsize, maxiterations); + + // what we've just done may have altered the body/joint tag values. + // we must make sure that these tags are nonzero. + // also make sure all bodies are in the enabled state. + int i; + for (i = 0; i < bcount; i++) + { + body[i]->tag = 1; + body[i]->flags &= ~dxBodyDisabled; + } + for (i = 0; i < jcount; i++) + joint[i]->tag = 1; + + tbcount += bcount; + tjcount += jcount; + } + +#ifdef TIMING + dMessage(0, "Total joints processed: %i, bodies: %i", tjcount, tbcount); +#endif + + // if debugging, check that all objects (except for disabled bodies, + // unconnected joints, and joints that are connected to disabled bodies) + // were tagged. +# ifndef dNODEBUG + for (b = world->firstbody; b; b = (dxBody *) b->next) + { + if (b->flags & dxBodyDisabled) + { + if (b->tag) + dDebug (0, "disabled body tagged"); + } + else + { + if (!b->tag) + dDebug (0, "enabled body not tagged"); + } + } + for (j = world->firstjoint; j; j = (dxJoint *) j->next) + { + if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled) == 0) || (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled) == 0)) + { + if (!j->tag) + dDebug (0, "attached enabled joint not tagged"); + } + else + { + if (j->tag) + dDebug (0, "unattached or disabled joint tagged"); + } + } +# endif + /******************** breakable joint contribution ***********************/ + dxJoint* nextJ; + if (!world->firstjoint) + nextJ = 0; + else + nextJ = (dxJoint*)world->firstjoint->next; + for (j=world->firstjoint; j; j=nextJ) { + nextJ = (dxJoint*)j->next; + // check if joint is breakable and broken + if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { + // detach (break) the joint + dJointAttach (j, 0, 0); + // call the callback function if it is set + if (j->breakInfo->callback) j->breakInfo->callback (j); + // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set + if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); + } + } + /*************************************************************************/ + +# ifdef TIMING + dTimerEnd (); + dTimerReport (stdout, 1); +# endif +} + +#endif + + +void dWorldStepFast1 (dWorldID w, dReal stepsize, int maxiterations) +{ + dUASSERT (w, "bad world argument"); + dUASSERT (stepsize > 0, "stepsize must be > 0"); + processIslandsFast (w, stepsize, maxiterations); +} diff -Nru ode-0.11.1/contrib/BreakableJoints/test_breakable.cpp ode-0.14/contrib/BreakableJoints/test_breakable.cpp --- ode-0.11.1/contrib/BreakableJoints/test_breakable.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/BreakableJoints/test_breakable.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,416 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* + +buggy with suspension. +this also shows you how to use geom groups. + +*/ + + +#include + +#include +#include + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// select correct drawing functions + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCappedCylinder dsDrawCappedCylinderD +#endif + + +// some constants + +#define LENGTH 0.7 // chassis length +#define WIDTH 0.4 // chassis width +#define HEIGHT 0.2 // chassis height +#define RADIUS 0.22 // wheel radius +#define STARTZ 0.4 // starting height of chassis +#define CMASS 1 // chassis mass +#define WMASS 0.2 // wheel mass + +// dynamics and collision objects (chassis, 4 wheels, environment, obstacles, chain) +static dWorldID world; +static dSpaceID space; + +// chain stuff +static const float chain_radius = 0.1; +static const float chain_mass = 0.1; +static const int chain_num = 10; +static dBodyID chain_body[chain_num]; +static dGeomID chain_geom[chain_num]; +static dJointID chain_joint[chain_num-1]; + +// 1 chasses, 4 wheels +static dBodyID body[5]; +// joint[0] is left front wheel, joint[1] is right front wheel +static dJointID joint[4]; +static int joint_exists[4]; +static dJointGroupID contactgroup; +static dGeomID ground; +static dSpaceID car_space; +static dGeomID box[1]; +static dGeomID sphere[4]; +static dGeomID ground_box; +static const int obstacle_num = 25; +static dGeomID obstacle[obstacle_num]; + +// things that the user controls + +static dReal speed=0,steer=0; // user commands + + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + int i,n; + +// // do not collide objects that are connected +// dBodyID b1 = dGeomGetBody (o1), +// b2 = dGeomGetBody (o2); +// if (b1 && b2 && dAreConnected(b1, b2)) return; + + const int N = 10; + dContact contact[N]; + n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); + if (n > 0) { + for (i=0; i 0.1) v = 0.1; + if (v < -0.1) v = -0.1; + v *= 10.0; + dJointSetHinge2Param (joint[i],dParamVel,v); + dJointSetHinge2Param (joint[i],dParamFMax,0.2); + dJointSetHinge2Param (joint[i],dParamLoStop,-0.75); + dJointSetHinge2Param (joint[i],dParamHiStop,0.75); + dJointSetHinge2Param (joint[i],dParamFudgeFactor,0.1); + } + } + + dSpaceCollide (space,0,&nearCallback); + //dWorldStep (world,0.05); + dWorldStepFast1 (world,0.05,5); + + // remove all contact joints + dJointGroupEmpty (contactgroup); + } + + dsSetColor (0,1,1); + dsSetTexture (DS_WOOD); + dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; + dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); + dsSetColor (1,1,1); + for (i=1; i<=4; i++) + dsDrawCylinder (dBodyGetPosition(body[i]), + dBodyGetRotation(body[i]), + 0.2, + RADIUS); + + dVector3 ss; + dGeomBoxGetLengths (ground_box,ss); + dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); + + dsSetColor (1,0,0); + for (i=0; i +#include + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// select correct drawing functions + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCappedCylinder dsDrawCappedCylinderD +#endif + + +// some constants + +#define LENGTH 0.7 // chassis length +#define WIDTH 0.5 // chassis width +#define HEIGHT 0.2 // chassis height +#define RADIUS 0.18 // wheel radius +#define STARTZ 0.5 // starting height of chassis +#define CMASS 1 // chassis mass +#define WMASS 0.2 // wheel mass + + +// dynamics and collision objects (chassis, 3 wheels, environment) + +static dWorldID world; +static dSpaceID space; +static dBodyID body[4]; +static dJointID joint[3]; // joint[0] is the front wheel +static dJointGroupID contactgroup; +static dGeomID ground; +static dSpaceID car_space; +static dGeomID box[1]; +static dGeomID sphere[3]; +static dGeomID ground_box; + + +// things that the user controls + +static dReal speed=0,steer=0; // user commands + + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + int i,n; + + // only collide things with the ground + int g1 = (o1 == ground || o1 == ground_box); + int g2 = (o2 == ground || o2 == ground_box); + if (!(g1 ^ g2)) return; + + const int N = 10; + dContact contact[N]; + n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); + if (n > 0) { + for (i=0; i 0.1) v = 0.1; + if (v < -0.1) v = -0.1; + v *= 10.0; + dJointSetHinge2Param (joint[0],dParamVel,v); + dJointSetHinge2Param (joint[0],dParamFMax,0.2); + dJointSetHinge2Param (joint[0],dParamLoStop,-0.75); + dJointSetHinge2Param (joint[0],dParamHiStop,0.75); + dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1); + + dSpaceCollide (space,0,&nearCallback); + dWorldStep (world,0.05); + + // remove all contact joints + dJointGroupEmpty (contactgroup); + } + + dsSetColor (0,1,1); + dsSetTexture (DS_WOOD); + dReal sides[3] = {LENGTH,WIDTH,HEIGHT}; + dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides); + dsSetColor (1,1,1); + for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]), + dBodyGetRotation(body[i]),0.02f,RADIUS); + + dVector3 ss; + dGeomBoxGetLengths (ground_box,ss); + dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss); + + /* + printf ("%.10f %.10f %.10f %.10f\n", + dJointGetHingeAngle (joint[1]), + dJointGetHingeAngle (joint[2]), + dJointGetHingeAngleRate (joint[1]), + dJointGetHingeAngleRate (joint[2])); + */ +} + + +int main (int argc, char **argv) +{ + int i; + dMass m; + + // setup pointers to drawstuff callback functions + dsFunctions fn; + fn.version = DS_VERSION; + fn.start = &start; + fn.step = &simLoop; + fn.command = &command; + fn.stop = 0; + fn.path_to_textures = "../../drawstuff/textures"; + if(argc==2) + { + fn.path_to_textures = argv[1]; + } + + // create world + + world = dWorldCreate(); + space = dHashSpaceCreate (0); + contactgroup = dJointGroupCreate (0); + dWorldSetGravity (world,0,0,-0.5); + ground = dCreatePlane (space,0,0,1,0); + + // chassis body + body[0] = dBodyCreate (world); + dBodySetPosition (body[0],0,0,STARTZ); + dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT); + dMassAdjust (&m,CMASS); + dBodySetMass (body[0],&m); + box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT); + dGeomSetBody (box[0],body[0]); + + // wheel bodies + for (i=1; i<=3; i++) { + body[i] = dBodyCreate (world); + dQuaternion q; + dQFromAxisAndAngle (q,1,0,0,M_PI*0.5); + dBodySetQuaternion (body[i],q); + dMassSetSphere (&m,1,RADIUS); + dMassAdjust (&m,WMASS); + dBodySetMass (body[i],&m); + sphere[i-1] = dCreateSphere (0,RADIUS); + dGeomSetBody (sphere[i-1],body[i]); + } + dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5); + dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5); + dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5); + + // front wheel hinge + /* + joint[0] = dJointCreateHinge2 (world,0); + dJointAttach (joint[0],body[0],body[1]); + const dReal *a = dBodyGetPosition (body[1]); + dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]); + dJointSetHinge2Axis1 (joint[0],0,0,1); + dJointSetHinge2Axis2 (joint[0],0,1,0); + */ + + // front and back wheel hinges + for (i=0; i<3; i++) { + joint[i] = dJointCreateHinge2 (world,0); + dJointAttach (joint[i],body[0],body[i+1]); + const dReal *a = dBodyGetPosition (body[i+1]); + dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]); + dJointSetHinge2Axis1 (joint[i],0,0,1); + dJointSetHinge2Axis2 (joint[i],0,1,0); + + // breakable joints contribution + // the wheels can break + dJointSetBreakable (joint[i], 1); + // the wheels wil break at a specific force + dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_B1_FORCE|dJOINT_BREAK_AT_B2_FORCE); + // specify the force for the first body connected to the joint ... + dJointSetBreakForce (joint[i], 0, 1.5, 1.5, 1.5); + // and for the second body + dJointSetBreakForce (joint[i], 1, 1.5, 1.5, 1.5); + } + + // set joint suspension + for (i=0; i<3; i++) { + dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4); + dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8); + } + + // lock back wheels along the steering axis + for (i=1; i<3; i++) { + // set stops to make sure wheels always stay in alignment + dJointSetHinge2Param (joint[i],dParamLoStop,0); + dJointSetHinge2Param (joint[i],dParamHiStop,0); + // the following alternative method is no good as the wheels may get out + // of alignment: + // dJointSetHinge2Param (joint[i],dParamVel,0); + // dJointSetHinge2Param (joint[i],dParamFMax,dInfinity); + } + + // create car space and add it to the top level space + car_space = dSimpleSpaceCreate (space); + dSpaceSetCleanup (car_space,0); + dSpaceAdd (car_space,box[0]); + dSpaceAdd (car_space,sphere[0]); + dSpaceAdd (car_space,sphere[1]); + dSpaceAdd (car_space,sphere[2]); + + // environment + ground_box = dCreateBox (space,2,1.5,1); + dMatrix3 R; + dRFromAxisAndAngle (R,0,1,0,-0.15); + dGeomSetPosition (ground_box,2,0,-0.34); + dGeomSetRotation (ground_box,R); + + // run simulation + dsSimulationLoop (argc,argv,352,288,&fn); + + dJointGroupDestroy (contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); + dGeomDestroy (box[0]); + dGeomDestroy (sphere[0]); + dGeomDestroy (sphere[1]); + dGeomDestroy (sphere[2]); + + return 0; +} diff -Nru ode-0.11.1/contrib/dCylinder/dCylinder.cpp ode-0.14/contrib/dCylinder/dCylinder.cpp --- ode-0.11.1/contrib/dCylinder/dCylinder.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dCylinder/dCylinder.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1445 @@ +#include +#include "dCylinder.h" +// given a pointer `p' to a dContactGeom, return the dContactGeom at +// p + skip bytes. + +struct dxCylinder { // cylinder + dReal radius,lz; // radius, length along y axis // +}; + +int dCylinderClassUser = -1; + +#define NUMC_MASK (0xffff) + +#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) + +///////////////////////////////////////////////////////////////////////////////////////////////// +/////////////////////////////circleIntersection////////////////////////////////////////////////// +//this does following: +//takes two circles as normals to planes n1,n2, center points cp1,cp2,and radiuses r1,r2 +//finds line on which circles' planes intersect +//finds four points O1,O2 - intersection between the line and sphere with center cp1 radius r1 +// O3,O4 - intersection between the line and sphere with center cp2 radius r2 +//returns false if there is no intersection +//computes distances O1-O3, O1-O4, O2-O3, O2-O4 +//in "point" returns mean point between intersection points with smallest distance +///////////////////////////////////////////////////////////////////////////////////////////////// +inline bool circleIntersection(const dReal* n1,const dReal* cp1,dReal r1,const dReal* n2,const dReal* cp2,dReal r2,dVector3 point){ +dReal c1=dDOT14(cp1,n1); +dReal c2=dDOT14(cp2,n2); +dReal cos=dDOT44(n1,n2); +dReal cos_2=cos*cos; +dReal sin_2=1-cos_2; +dReal p1=(c1-c2*cos)/sin_2; +dReal p2=(c2-c1*cos)/sin_2; +dVector3 lp={p1*n1[0]+p2*n2[0],p1*n1[4]+p2*n2[4],p1*n1[8]+p2*n2[8]}; +dVector3 n; +dCROSS144(n,=,n1,n2); +dVector3 LC1={lp[0]-cp1[0],lp[1]-cp1[1],lp[2]-cp1[2]}; +dVector3 LC2={lp[0]-cp2[0],lp[1]-cp2[1],lp[2]-cp2[2]}; +dReal A,B,C,B_A,B_A_2,D; +dReal t1,t2,t3,t4; +A=dDOT(n,n); +B=dDOT(LC1,n); +C=dDOT(LC1,LC1)-r1*r1; +B_A=B/A; +B_A_2=B_A*B_A; +D=B_A_2-C; +if(D<0.f){ //somewhat strange solution + //- it is needed to set some + //axis to sepparate cylinders + //when their edges approach + t1=-B_A+sqrtf(-D); + t2=-B_A-sqrtf(-D); +// return false; + } +else{ +t1=-B_A-sqrtf(D); +t2=-B_A+sqrtf(D); +} +B=dDOT(LC2,n); +C=dDOT(LC2,LC2)-r2*r2; +B_A=B/A; +B_A_2=B_A*B_A; +D=B_A_2-C; + +if(D<0.f) { + t3=-B_A+sqrtf(-D); + t4=-B_A-sqrtf(-D); +// return false; + } +else{ +t3=-B_A-sqrtf(D); +t4=-B_A+sqrtf(D); +} +dVector3 O1={lp[0]+n[0]*t1,lp[1]+n[1]*t1,lp[2]+n[2]*t1}; +dVector3 O2={lp[0]+n[0]*t2,lp[1]+n[1]*t2,lp[2]+n[2]*t2}; + +dVector3 O3={lp[0]+n[0]*t3,lp[1]+n[1]*t3,lp[2]+n[2]*t3}; +dVector3 O4={lp[0]+n[0]*t4,lp[1]+n[1]*t4,lp[2]+n[2]*t4}; + +dVector3 L1_3={O3[0]-O1[0],O3[1]-O1[1],O3[2]-O1[2]}; +dVector3 L1_4={O4[0]-O1[0],O4[1]-O1[1],O4[2]-O1[2]}; + +dVector3 L2_3={O3[0]-O2[0],O3[1]-O2[1],O3[2]-O2[2]}; +dVector3 L2_4={O4[0]-O2[0],O4[1]-O2[1],O4[2]-O2[2]}; + + +dReal l1_3=dDOT(L1_3,L1_3); +dReal l1_4=dDOT(L1_4,L1_4); + +dReal l2_3=dDOT(L2_3,L2_3); +dReal l2_4=dDOT(L2_4,L2_4); + + +if (l1_3 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = norm; \ + invert_normal = ((expr1) < 0); \ + *code = (cc); \ + } + + s = -dInfinity; + invert_normal = 0; + *code = 0; + + // separating axis = cylinder ax u2 + //used when a box vertex touches a flat face of the cylinder + TEST (pp[1],(hlz + B1*Q21 + B2*Q22 + B3*Q23),R1+1,0); + + + // separating axis = box axis v1,v2,v3 + //used when cylinder edge touches box face + //there is two ways to compute sQ: sQ21=sqrtf(1.f-Q21*Q21); or sQ21=sqrtf(Q23*Q23+Q22*Q22); + //if we did not need Q23 and Q22 the first way might be used to quiken the routine but then it need to + //check if Q21<=1.f, becouse it may slightly exeed 1.f. + + + sQ21=sqrtf(Q23*Q23+Q22*Q22); + TEST (dDOT41(R2+0,p),(radius*sQ21 + hlz*Q21 + B1),R2+0,1); + + sQ22=sqrtf(Q23*Q23+Q21*Q21); + TEST (dDOT41(R2+1,p),(radius*sQ22 + hlz*Q22 + B2),R2+1,2); + + sQ23=sqrtf(Q22*Q22+Q21*Q21); + TEST (dDOT41(R2+2,p),(radius*sQ23 + hlz*Q23 + B3),R2+2,3); + + +#undef TEST +#define TEST(expr1,expr2,n1,n2,n3,cc) \ + s2 = dFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \ + invert_normal = ((expr1) < 0); \ + *code = (cc); \ + } + + + +// separating axis is a normal to the cylinder axis passing across the nearest box vertex +//used when a box vertex touches the lateral surface of the cylinder + +dReal proj,boxProj,cos,sin,cos1,cos3; +dVector3 tAx,Ax,pb; +{ +//making Ax which is perpendicular to cyl ax to box position// +proj=dDOT14(p2,R1+1)-dDOT14(p1,R1+1); + +Ax[0]=p2[0]-p1[0]-R1[1]*proj; +Ax[1]=p2[1]-p1[1]-R1[5]*proj; +Ax[2]=p2[2]-p1[2]-R1[9]*proj; +dNormalize3(Ax); +//using Ax find box vertex which is nearest to the cylinder axis + dReal sign; + + for (i=0; i<3; i++) pb[i] = p2[i]; + sign = (dDOT14(Ax,R2+0) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4]; + sign = (dDOT14(Ax,R2+1) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1]; + sign = (dDOT14(Ax,R2+2) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2]; + +//building axis which is normal to cylinder ax to the nearest box vertex +proj=dDOT14(pb,R1+1)-dDOT14(p1,R1+1); + +Ax[0]=pb[0]-p1[0]-R1[1]*proj; +Ax[1]=pb[1]-p1[1]-R1[5]*proj; +Ax[2]=pb[2]-p1[2]-R1[9]*proj; +dNormalize3(Ax); +} + +boxProj=dFabs(dDOT14(Ax,R2+0)*B1)+ + dFabs(dDOT14(Ax,R2+1)*B2)+ + dFabs(dDOT14(Ax,R2+2)*B3); + +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(radius+boxProj),Ax[0],Ax[1],Ax[2],4); + + +//next three test used to handle collisions between cylinder circles and box ages +proj=dDOT14(p1,R2+0)-dDOT14(p2,R2+0); + +tAx[0]=-p1[0]+p2[0]+R2[0]*proj; +tAx[1]=-p1[1]+p2[1]+R2[4]*proj; +tAx[2]=-p1[2]+p2[2]+R2[8]*proj; +dNormalize3(tAx); + +//now tAx is normal to first ax of the box to cylinder center +//making perpendicular to tAx lying in the plane which is normal to the cylinder axis +//it is tangent in the point where projection of tAx on cylinder's ring intersect edge circle + +cos=dDOT14(tAx,R1+0); +sin=dDOT14(tAx,R1+2); +tAx[0]=R1[2]*cos-R1[0]*sin; +tAx[1]=R1[6]*cos-R1[4]*sin; +tAx[2]=R1[10]*cos-R1[8]*sin; + + +//use cross between tAx and first ax of the box as separating axix + +dCROSS114(Ax,=,tAx,R2+0); +dNormalize3(Ax); + +boxProj=dFabs(dDOT14(Ax,R2+1)*B2)+ + dFabs(dDOT14(Ax,R2+0)*B1)+ + dFabs(dDOT14(Ax,R2+2)*B3); + + cos=dFabs(dDOT14(Ax,R1+1)); + cos1=dDOT14(Ax,R1+0); + cos3=dDOT14(Ax,R1+2); + sin=sqrtf(cos1*cos1+cos3*cos3); + +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],5); + + +//same thing with the second axis of the box +proj=dDOT14(p1,R2+1)-dDOT14(p2,R2+1); + +tAx[0]=-p1[0]+p2[0]+R2[1]*proj; +tAx[1]=-p1[1]+p2[1]+R2[5]*proj; +tAx[2]=-p1[2]+p2[2]+R2[9]*proj; +dNormalize3(tAx); + + +cos=dDOT14(tAx,R1+0); +sin=dDOT14(tAx,R1+2); +tAx[0]=R1[2]*cos-R1[0]*sin; +tAx[1]=R1[6]*cos-R1[4]*sin; +tAx[2]=R1[10]*cos-R1[8]*sin; + +dCROSS114(Ax,=,tAx,R2+1); +dNormalize3(Ax); + +boxProj=dFabs(dDOT14(Ax,R2+0)*B1)+ + dFabs(dDOT14(Ax,R2+1)*B2)+ + dFabs(dDOT14(Ax,R2+2)*B3); + + cos=dFabs(dDOT14(Ax,R1+1)); + cos1=dDOT14(Ax,R1+0); + cos3=dDOT14(Ax,R1+2); + sin=sqrtf(cos1*cos1+cos3*cos3); +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],6); + +//same thing with the third axis of the box +proj=dDOT14(p1,R2+2)-dDOT14(p2,R2+2); + +Ax[0]=-p1[0]+p2[0]+R2[2]*proj; +Ax[1]=-p1[1]+p2[1]+R2[6]*proj; +Ax[2]=-p1[2]+p2[2]+R2[10]*proj; +dNormalize3(tAx); + +cos=dDOT14(tAx,R1+0); +sin=dDOT14(tAx,R1+2); +tAx[0]=R1[2]*cos-R1[0]*sin; +tAx[1]=R1[6]*cos-R1[4]*sin; +tAx[2]=R1[10]*cos-R1[8]*sin; + +dCROSS114(Ax,=,tAx,R2+2); +dNormalize3(Ax); +boxProj=dFabs(dDOT14(Ax,R2+1)*B2)+ + dFabs(dDOT14(Ax,R2+2)*B3)+ + dFabs(dDOT14(Ax,R2+0)*B1); + + cos=dFabs(dDOT14(Ax,R1+1)); + cos1=dDOT14(Ax,R1+0); + cos3=dDOT14(Ax,R1+2); + sin=sqrtf(cos1*cos1+cos3*cos3); +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],7); + + +#undef TEST + +// note: cross product axes need to be scaled when s is computed. +// normal (n1,n2,n3) is relative to box 1. + +#define TEST(expr1,expr2,n1,n2,n3,cc) \ + s2 = dFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \ + if (l > 0) { \ + s2 /= l; \ + if (s2 > s) { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \ + invert_normal = ((expr1) < 0); \ + *code = (cc); \ + } \ + } + +//crosses between cylinder axis and box axes + // separating axis = u2 x (v1,v2,v3) + TEST(pp[0]*R31-pp[2]*R11,(radius+B2*Q23+B3*Q22),R31,0,-R11,8); + TEST(pp[0]*R32-pp[2]*R12,(radius+B1*Q23+B3*Q21),R32,0,-R12,9); + TEST(pp[0]*R33-pp[2]*R13,(radius+B1*Q22+B2*Q21),R33,0,-R13,10); + + +#undef TEST + + // if we get to this point, the boxes interpenetrate. compute the normal + // in global coordinates. + if (normalR) { + normal[0] = normalR[0]; + normal[1] = normalR[4]; + normal[2] = normalR[8]; + } + else { + if(*code>7) dMULTIPLY0_331 (normal,R1,normalC); + else {normal[0] =normalC[0];normal[1] = normalC[1];normal[2] = normalC[2];} + } + if (invert_normal) { + normal[0] = -normal[0]; + normal[1] = -normal[1]; + normal[2] = -normal[2]; + } + *depth = -s; + + // compute contact point(s) + + if (*code > 7) { + //find point on the cylinder pa deepest along normal + dVector3 pa; + dReal sign, cos1,cos3,factor; + + + for (i=0; i<3; i++) pa[i] = p1[i]; + + cos1 = dDOT14(normal,R1+0); + cos3 = dDOT14(normal,R1+2) ; + factor=sqrtf(cos1*cos1+cos3*cos3); + + cos1/=factor; + cos3/=factor; + + for (i=0; i<3; i++) pa[i] += cos1 * radius * R1[i*4]; + + sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) pa[i] += sign * hlz * R1[i*4+1]; + + + for (i=0; i<3; i++) pa[i] += cos3 * radius * R1[i*4+2]; + + // find vertex of the box deepest along normal + dVector3 pb; + for (i=0; i<3; i++) pb[i] = p2[i]; + sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4]; + sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1]; + sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2]; + + + dReal alpha,beta; + dVector3 ua,ub; + for (i=0; i<3; i++) ua[i] = R1[1 + i*4]; + for (i=0; i<3; i++) ub[i] = R2[*code-8 + i*4]; + + lineClosestApproach (pa,ua,pb,ub,&alpha,&beta); + for (i=0; i<3; i++) pa[i] += ua[i]*alpha; + for (i=0; i<3; i++) pb[i] += ub[i]*beta; + + for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]); + contact[0].depth = *depth; + return 1; + } + + + if(*code==4){ + for (i=0; i<3; i++) contact[0].pos[i] = pb[i]; + contact[0].depth = *depth; + return 1; + } + + + dVector3 vertex; + if (*code == 0) { + + dReal sign; + for (i=0; i<3; i++) vertex[i] = p2[i]; + sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) vertex[i] += sign * B1 * R2[i*4]; + sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) vertex[i] += sign * B2 * R2[i*4+1]; + sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0); + for (i=0; i<3; i++) vertex[i] += sign * B3 * R2[i*4+2]; + } + else { + + dReal sign,cos1,cos3,factor; + for (i=0; i<3; i++) vertex[i] = p1[i]; + cos1 = dDOT14(normal,R1+0) ; + cos3 = dDOT14(normal,R1+2); + factor=sqrtf(cos1*cos1+cos3*cos3); + factor= factor ? factor : 1.f; + cos1/=factor; + cos3/=factor; + for (i=0; i<3; i++) vertex[i] += cos1 * radius * R1[i*4]; + + sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) vertex[i] += sign * hlz * R1[i*4+1]; + + for (i=0; i<3; i++) vertex[i] += cos3 * radius * R1[i*4+2]; + } + for (i=0; i<3; i++) contact[0].pos[i] = vertex[i]; + contact[0].depth = *depth; + return 1; +} + +//**************************************************************************** + +extern "C" int dCylCyl (const dVector3 p1, const dMatrix3 R1, + const dReal radius1,const dReal lz1, const dVector3 p2, + const dMatrix3 R2, const dReal radius2,const dReal lz2, + dVector3 normal, dReal *depth, int *code, + int maxc, dContactGeom *contact, int skip) +{ + dVector3 p,pp1,pp2,normalC; + const dReal *normalR = 0; + dReal hlz1,hlz2,s,s2; + int i,invert_normal; + + // get vector from centers of box 1 to box 2, relative to box 1 + p[0] = p2[0] - p1[0]; + p[1] = p2[1] - p1[1]; + p[2] = p2[2] - p1[2]; + dMULTIPLY1_331 (pp1,R1,p); // get pp1 = p relative to body 1 + dMULTIPLY1_331 (pp2,R2,p); + // get side lengths / 2 + hlz1 = lz1*REAL(0.5); + hlz2 = lz2*REAL(0.5); + + dReal proj,cos,sin,cos1,cos3; + + + +#define TEST(expr1,expr2,norm,cc) \ + s2 = dFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = norm; \ + invert_normal = ((expr1) < 0); \ + *code = (cc); \ + } + + s = -dInfinity; + invert_normal = 0; + *code = 0; + + cos=dFabs(dDOT44(R1+1,R2+1)); + sin=sqrtf(1.f-(cos>1.f ? 1.f : cos)); + + TEST (pp1[1],(hlz1 + radius2*sin + hlz2*cos ),R1+1,0);//pp + + TEST (pp2[1],(radius1*sin + hlz1*cos + hlz2),R2+1,1); + + + + // note: cross product axes need to be scaled when s is computed. + +#undef TEST +#define TEST(expr1,expr2,n1,n2,n3,cc) \ + s2 = dFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \ + invert_normal = ((expr1) < 0); \ + *code = (cc); \ + } + + +dVector3 tAx,Ax,pa,pb; + +//cross between cylinders' axes +dCROSS144(Ax,=,R1+1,R2+1); +dNormalize3(Ax); +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius1+radius2,Ax[0],Ax[1],Ax[2],6); + + +{ + + dReal sign, factor; + + //making ax which is perpendicular to cyl1 ax passing across cyl2 position// + //(project p on cyl1 flat surface ) + for (i=0; i<3; i++) pb[i] = p2[i]; + //cos1 = dDOT14(p,R1+0); + //cos3 = dDOT14(p,R1+2) ; + tAx[0]=pp1[0]*R1[0]+pp1[2]*R1[2]; + tAx[1]=pp1[0]*R1[4]+pp1[2]*R1[6]; + tAx[2]=pp1[0]*R1[8]+pp1[2]*R1[10]; + dNormalize3(tAx); + +//find deepest point pb of cyl2 on opposite direction of tAx + cos1 = dDOT14(tAx,R2+0); + cos3 = dDOT14(tAx,R2+2) ; + factor=sqrtf(cos1*cos1+cos3*cos3); + cos1/=factor; + cos3/=factor; + for (i=0; i<3; i++) pb[i] -= cos1 * radius2 * R2[i*4]; + + sign = (dDOT14(tAx,R2+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) pb[i] -= sign * hlz2 * R2[i*4+1]; + + for (i=0; i<3; i++) pb[i] -= cos3 * radius2 * R2[i*4+2]; + +//making perpendicular to cyl1 ax passing across pb + proj=dDOT14(pb,R1+1)-dDOT14(p1,R1+1); + + Ax[0]=pb[0]-p1[0]-R1[1]*proj; + Ax[1]=pb[1]-p1[1]-R1[5]*proj; + Ax[2]=pb[2]-p1[2]-R1[9]*proj; + +} + +dNormalize3(Ax); + + + cos=dFabs(dDOT14(Ax,R2+1)); + cos1=dDOT14(Ax,R2+0); + cos3=dDOT14(Ax,R2+2); + sin=sqrtf(cos1*cos1+cos3*cos3); + +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius1+cos*hlz2+sin*radius2,Ax[0],Ax[1],Ax[2],3); + + + +{ + + dReal sign, factor; + + for (i=0; i<3; i++) pa[i] = p1[i]; + + //making ax which is perpendicular to cyl2 ax passing across cyl1 position// + //(project p on cyl2 flat surface ) + //cos1 = dDOT14(p,R2+0); + //cos3 = dDOT14(p,R2+2) ; + tAx[0]=pp2[0]*R2[0]+pp2[2]*R2[2]; + tAx[1]=pp2[0]*R2[4]+pp2[2]*R2[6]; + tAx[2]=pp2[0]*R2[8]+pp2[2]*R2[10]; + dNormalize3(tAx); + + cos1 = dDOT14(tAx,R1+0); + cos3 = dDOT14(tAx,R1+2) ; + factor=sqrtf(cos1*cos1+cos3*cos3); + cos1/=factor; + cos3/=factor; + +//find deepest point pa of cyl2 on direction of tAx + for (i=0; i<3; i++) pa[i] += cos1 * radius1 * R1[i*4]; + + sign = (dDOT14(tAx,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) pa[i] += sign * hlz1 * R1[i*4+1]; + + + for (i=0; i<3; i++) pa[i] += cos3 * radius1 * R1[i*4+2]; + + proj=dDOT14(pa,R2+1)-dDOT14(p2,R2+1); + + Ax[0]=pa[0]-p2[0]-R2[1]*proj; + Ax[1]=pa[1]-p2[1]-R2[5]*proj; + Ax[2]=pa[2]-p2[2]-R2[9]*proj; + +} +dNormalize3(Ax); + + + + cos=dFabs(dDOT14(Ax,R1+1)); + cos1=dDOT14(Ax,R1+0); + cos3=dDOT14(Ax,R1+2); + sin=sqrtf(cos1*cos1+cos3*cos3); + +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius2+cos*hlz1+sin*radius1,Ax[0],Ax[1],Ax[2],4); + + +////test circl + +//@ this needed to set right normal when cylinders edges intersect +//@ the most precise axis for this test may be found as a line between nearest points of two +//@ circles. But it needs comparatively a lot of computation. +//@ I use a trick which lets not to solve quadric equation. +//@ In the case when cylinder eidges touches the test below rather accurate. +//@ I still not sure about problems with sepparation but they have not been revealed during testing. +dVector3 point; +{ + dVector3 ca,cb; + dReal sign; + for (i=0; i<3; i++) ca[i] = p1[i]; + for (i=0; i<3; i++) cb[i] = p2[i]; +//find two nearest flat rings + sign = (pp1[1] > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) ca[i] += sign * hlz1 * R1[i*4+1]; + + sign = (pp2[1] > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) cb[i] -= sign * hlz2 * R2[i*4+1]; + + dVector3 tAx,tAx1; + circleIntersection(R1+1,ca,radius1,R2+1,cb,radius2,point); + + Ax[0]=point[0]-ca[0]; + Ax[1]=point[1]-ca[1]; + Ax[2]=point[2]-ca[2]; + + cos1 = dDOT14(Ax,R1+0); + cos3 = dDOT14(Ax,R1+2) ; + + tAx[0]=cos3*R1[0]-cos1*R1[2]; + tAx[1]=cos3*R1[4]-cos1*R1[6]; + tAx[2]=cos3*R1[8]-cos1*R1[10]; + + Ax[0]=point[0]-cb[0]; + Ax[1]=point[1]-cb[1]; + Ax[2]=point[2]-cb[2]; + + + cos1 = dDOT14(Ax,R2+0); + cos3 = dDOT14(Ax,R2+2) ; + + tAx1[0]=cos3*R2[0]-cos1*R2[2]; + tAx1[1]=cos3*R2[4]-cos1*R2[6]; + tAx1[2]=cos3*R2[8]-cos1*R2[10]; + dCROSS(Ax,=,tAx,tAx1); + + + + +dNormalize3(Ax); +dReal cyl1Pr,cyl2Pr; + + cos=dFabs(dDOT14(Ax,R1+1)); + cos1=dDOT14(Ax,R1+0); + cos3=dDOT14(Ax,R1+2); + sin=sqrtf(cos1*cos1+cos3*cos3); + cyl1Pr=cos*hlz1+sin*radius1; + + cos=dFabs(dDOT14(Ax,R2+1)); + cos1=dDOT14(Ax,R2+0); + cos3=dDOT14(Ax,R2+2); + sin=sqrtf(cos1*cos1+cos3*cos3); + cyl2Pr=cos*hlz2+sin*radius2; +TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],cyl1Pr+cyl2Pr,Ax[0],Ax[1],Ax[2],5); + + +} + + +#undef TEST + + + + // if we get to this point, the cylinders interpenetrate. compute the normal + // in global coordinates. + if (normalR) { + normal[0] = normalR[0]; + normal[1] = normalR[4]; + normal[2] = normalR[8]; + } + else { + normal[0] =normalC[0];normal[1] = normalC[1];normal[2] = normalC[2]; + } + if (invert_normal) { + normal[0] = -normal[0]; + normal[1] = -normal[1]; + normal[2] = -normal[2]; + } + + *depth = -s; + + // compute contact point(s) + + if(*code==3){ + for (i=0; i<3; i++) contact[0].pos[i] = pb[i]; + contact[0].depth = *depth; + return 1; + } + + if(*code==4){ + for (i=0; i<3; i++) contact[0].pos[i] = pa[i]; + contact[0].depth = *depth; + return 1; + } + + if(*code==5){ + for (i=0; i<3; i++) contact[0].pos[i] = point[i]; + contact[0].depth = *depth; + return 1; + } + +if (*code == 6) { + dVector3 pa; + dReal sign, cos1,cos3,factor; + + + for (i=0; i<3; i++) pa[i] = p1[i]; + + cos1 = dDOT14(normal,R1+0); + cos3 = dDOT14(normal,R1+2) ; + factor=sqrtf(cos1*cos1+cos3*cos3); + + cos1/=factor; + cos3/=factor; + + for (i=0; i<3; i++) pa[i] += cos1 * radius1 * R1[i*4]; + + sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) pa[i] += sign * hlz1 * R1[i*4+1]; + + + for (i=0; i<3; i++) pa[i] += cos3 * radius1 * R1[i*4+2]; + + // find a point pb on the intersecting edge of cylinder 2 + dVector3 pb; + for (i=0; i<3; i++) pb[i] = p2[i]; + cos1 = dDOT14(normal,R2+0); + cos3 = dDOT14(normal,R2+2) ; + factor=sqrtf(cos1*cos1+cos3*cos3); + + cos1/=factor; + cos3/=factor; + + for (i=0; i<3; i++) pb[i] -= cos1 * radius2 * R2[i*4]; + + sign = (dDOT14(normal,R2+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) pb[i] -= sign * hlz2 * R2[i*4+1]; + + + for (i=0; i<3; i++) pb[i] -= cos3 * radius2 * R2[i*4+2]; + + + dReal alpha,beta; + dVector3 ua,ub; + for (i=0; i<3; i++) ua[i] = R1[1 + i*4]; + for (i=0; i<3; i++) ub[i] = R2[1 + i*4]; + lineClosestApproach (pa,ua,pb,ub,&alpha,&beta); + for (i=0; i<3; i++) pa[i] += ua[i]*alpha; + for (i=0; i<3; i++) pb[i] += ub[i]*beta; + + for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]); + contact[0].depth = *depth; + return 1; + } + + // okay, we have a face-something intersection (because the separating + // axis is perpendicular to a face). + + // @@@ temporary: make deepest point on the "other" cylinder the contact point. + // @@@ this kind of works, but we need multiple contact points for stability, + // @@@ especially for face-face contact. + + dVector3 vertex; + if (*code == 0) { + // flat face from cylinder 1 touches a edge/face from cylinder 2. + dReal sign,cos1,cos3,factor; + for (i=0; i<3; i++) vertex[i] = p2[i]; + cos1 = dDOT14(normal,R2+0) ; + cos3 = dDOT14(normal,R2+2); + factor=sqrtf(cos1*cos1+cos3*cos3); + + cos1/=factor; + cos3/=factor; + for (i=0; i<3; i++) vertex[i] -= cos1 * radius2 * R2[i*4]; + + sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) vertex[i] -= sign * hlz2 * R2[i*4+1]; + + for (i=0; i<3; i++) vertex[i] -= cos3 * radius2 * R2[i*4+2]; + } + else { + // flat face from cylinder 2 touches a edge/face from cylinder 1. + dReal sign,cos1,cos3,factor; + for (i=0; i<3; i++) vertex[i] = p1[i]; + cos1 = dDOT14(normal,R1+0) ; + cos3 = dDOT14(normal,R1+2); + factor=sqrtf(cos1*cos1+cos3*cos3); + + cos1/=factor; + cos3/=factor; + for (i=0; i<3; i++) vertex[i] += cos1 * radius1 * R1[i*4]; + + sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) vertex[i] += sign * hlz1 * R1[i*4+1]; + + for (i=0; i<3; i++) vertex[i] += cos3 * radius1 * R1[i*4+2]; + } + for (i=0; i<3; i++) contact[0].pos[i] = vertex[i]; + contact[0].depth = *depth; + return 1; +} + +//**************************************************************************** + + +int dCollideCylS (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip) +{ + + + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (dGeomGetClass(o2) == dSphereClass); + dIASSERT (dGeomGetClass(o1) == dCylinderClassUser); + const dReal* p1=dGeomGetPosition(o1); + const dReal* p2=dGeomGetPosition(o2); + const dReal* R=dGeomGetRotation(o1); + dVector3 p,normalC,normal; + const dReal *normalR = 0; + dReal cylRadius; + dReal hl; + dGeomCylinderGetParams(o1,&cylRadius,&hl); + dReal sphereRadius; + sphereRadius=dGeomSphereGetRadius(o2); + + int i,invert_normal; + + // get vector from centers of cyl to shere + p[0] = p2[0] - p1[0]; + p[1] = p2[1] - p1[1]; + p[2] = p2[2] - p1[2]; + +dReal s,s2; +unsigned char code; +#define TEST(expr1,expr2,norm,cc) \ + s2 = dFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = norm; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } + + s = -dInfinity; + invert_normal = 0; + code = 0; + + // separating axis cyl ax + + TEST (dDOT14(p,R+1),sphereRadius+hl,R+1,2); + // note: cross product axes need to be scaled when s is computed. + // normal (n1,n2,n3) is relative to +#undef TEST +#define TEST(expr1,expr2,n1,n2,n3,cc) \ + s2 = dFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } + +//making ax which is perpendicular to cyl1 ax to sphere center// + +dReal proj,cos,sin,cos1,cos3; +dVector3 Ax; + proj=dDOT14(p2,R+1)-dDOT14(p1,R+1); + + Ax[0]=p2[0]-p1[0]-R[1]*proj; + Ax[1]=p2[1]-p1[1]-R[5]*proj; + Ax[2]=p2[2]-p1[2]-R[9]*proj; +dNormalize3(Ax); +TEST(dDOT(p,Ax),sphereRadius+cylRadius,Ax[0],Ax[1],Ax[2],9); + + +Ax[0]=p[0]; +Ax[1]=p[1]; +Ax[2]=p[2]; +dNormalize3(Ax); + + dVector3 pa; + dReal sign, factor; + for (i=0; i<3; i++) pa[i] = p1[i]; + + cos1 = dDOT14(Ax,R+0); + cos3 = dDOT14(Ax,R+2) ; + factor=sqrtf(cos1*cos1+cos3*cos3); + cos1/=factor; + cos3/=factor; + for (i=0; i<3; i++) pa[i] += cos1 * cylRadius * R[i*4]; + sign = (dDOT14(normal,R+1) > 0) ? REAL(1.0) : REAL(-1.0); + for (i=0; i<3; i++) pa[i] += sign * hl * R[i*4+1]; + for (i=0; i<3; i++) pa[i] += cos3 * cylRadius * R[i*4+2]; + +Ax[0]=p2[0]-pa[0]; +Ax[1]=p2[1]-pa[1]; +Ax[2]=p2[2]-pa[2]; +dNormalize3(Ax); + + cos=dFabs(dDOT14(Ax,R+1)); + cos1=dDOT14(Ax,R+0); + cos3=dDOT14(Ax,R+2); + sin=sqrtf(cos1*cos1+cos3*cos3); +TEST(dDOT(p,Ax),sphereRadius+cylRadius*sin+hl*cos,Ax[0],Ax[1],Ax[2],14); + + +#undef TEST + + if (normalR) { + normal[0] = normalR[0]; + normal[1] = normalR[4]; + normal[2] = normalR[8]; + } + else { + + normal[0] = normalC[0]; + normal[1] = normalC[1]; + normal[2] = normalC[2]; + } + if (invert_normal) { + normal[0] = -normal[0]; + normal[1] = -normal[1]; + normal[2] = -normal[2]; + } + // compute contact point(s) +contact->depth=-s; +contact->normal[0]=-normal[0]; +contact->normal[1]=-normal[1]; +contact->normal[2]=-normal[2]; +contact->g1=const_cast (o1); +contact->g2=const_cast (o2); +contact->pos[0]=p2[0]-normal[0]*sphereRadius; +contact->pos[1]=p2[1]-normal[1]*sphereRadius; +contact->pos[2]=p2[2]-normal[2]*sphereRadius; +return 1; +} + + + +int dCollideCylB (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip) +{ + dVector3 normal; + dReal depth; + int code; + dReal cylRadius,cylLength; + dVector3 boxSides; + dGeomCylinderGetParams(o1,&cylRadius,&cylLength); + dGeomBoxGetLengths(o2,boxSides); + int num = dCylBox(dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius,cylLength, + dGeomGetPosition(o2),dGeomGetRotation(o2),boxSides, + normal,&depth,&code,flags & NUMC_MASK,contact,skip); + for (int i=0; inormal[0] = -normal[0]; + CONTACT(contact,i*skip)->normal[1] = -normal[1]; + CONTACT(contact,i*skip)->normal[2] = -normal[2]; + CONTACT(contact,i*skip)->g1 = const_cast (o1); + CONTACT(contact,i*skip)->g2 = const_cast (o2); + } + return num; +} + +int dCollideCylCyl (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip) +{ + dVector3 normal; + dReal depth; + int code; +dReal cylRadius1,cylRadius2; +dReal cylLength1,cylLength2; +dGeomCylinderGetParams(o1,&cylRadius1,&cylLength1); +dGeomCylinderGetParams(o2,&cylRadius2,&cylLength2); +int num = dCylCyl (dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius1,cylLength1, + dGeomGetPosition(o2),dGeomGetRotation(o2),cylRadius2,cylLength2, + normal,&depth,&code,flags & NUMC_MASK,contact,skip); + + for (int i=0; inormal[0] = -normal[0]; + CONTACT(contact,i*skip)->normal[1] = -normal[1]; + CONTACT(contact,i*skip)->normal[2] = -normal[2]; + CONTACT(contact,i*skip)->g1 = const_cast (o1); + CONTACT(contact,i*skip)->g2 = const_cast (o2); + } + return num; +} + +struct dxPlane { + dReal p[4]; +}; + + +int dCollideCylPlane + ( + dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip){ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (dGeomGetClass(o1) == dCylinderClassUser); + dIASSERT (dGeomGetClass(o2) == dPlaneClass); + contact->g1 = const_cast (o1); + contact->g2 = const_cast (o2); + + unsigned int ret = 0; + + dReal radius; + dReal hlz; + dGeomCylinderGetParams(o1,&radius,&hlz); + hlz /= 2; + + const dReal *R = dGeomGetRotation(o1);// rotation of cylinder + const dReal* p = dGeomGetPosition(o1); + dVector4 n; // normal vector + dReal pp; + dGeomPlaneGetParams (o2, n); + pp=n[3]; + dReal cos1,sin1; + cos1=dFabs(dDOT14(n,R+1)); + +cos1=cos10 ? hlz*R[1]:-hlz*R[1]; + pos[1]-= A2>0 ? hlz*R[5]:-hlz*R[5]; + pos[2]-= A2>0 ? hlz*R[9]:-hlz*R[9]; + + + + contact->pos[0] = pos[0]; + contact->pos[1] = pos[1]; + contact->pos[2] = pos[2]; + contact->depth = outDepth; + ret=1; + +if(dFabs(Q2)>M_SQRT1_2){ + + CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*A1*R[0]; + CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*A1*R[4]; + CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*A1*R[8]; + CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q1*2.f*A1); + + if(CONTACT(contact,ret*skip)->depth>0.f) + ret++; + + + CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*A3*R[2]; + CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*A3*R[6]; + CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*A3*R[10]; + CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q3*2.f*A3); + + if(CONTACT(contact,ret*skip)->depth>0.f) ret++; +} else { + + CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*(A2>0 ? hlz*R[1]:-hlz*R[1]); + CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*(A2>0 ? hlz*R[5]:-hlz*R[5]); + CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*(A2>0 ? hlz*R[9]:-hlz*R[9]); + CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q2*2.f*A2); + + if(CONTACT(contact,ret*skip)->depth>0.f) ret++; +} + + + + for (unsigned int i=0; ig1 = const_cast (o1); + CONTACT(contact,i*skip)->g2 = const_cast (o2); + CONTACT(contact,i*skip)->normal[0] =n[0]; + CONTACT(contact,i*skip)->normal[1] =n[1]; + CONTACT(contact,i*skip)->normal[2] =n[2]; + } + return ret; +} + +int dCollideCylRay(dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip) { + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (dGeomGetClass(o1) == dCylinderClassUser); + dIASSERT (dGeomGetClass(o2) == dRayClass); + contact->g1 = const_cast (o1); + contact->g2 = const_cast (o2); + dReal radius; + dReal lz; + dGeomCylinderGetParams(o1,&radius,&lz); + dReal lz2=lz*REAL(0.5); + const dReal *R = dGeomGetRotation(o1); // rotation of the cylinder + const dReal *p = dGeomGetPosition(o1); // position of the cylinder + dVector3 start,dir; + dGeomRayGet(o2,start,dir); // position and orientation of the ray + dReal length = dGeomRayGetLength(o2); + + // compute some useful info + dVector3 cs,q,r; + dReal C,k; + cs[0] = start[0] - p[0]; + cs[1] = start[1] - p[1]; + cs[2] = start[2] - p[2]; + k = dDOT41(R+1,cs); // position of ray start along cyl axis (Y) + q[0] = k*R[0*4+1] - cs[0]; + q[1] = k*R[1*4+1] - cs[1]; + q[2] = k*R[2*4+1] - cs[2]; + C = dDOT(q,q) - radius*radius; + // if C < 0 then ray start position within infinite extension of cylinder + // if ray start position is inside the cylinder + int inside_cyl=0; + if (C<0 && !(k<-lz2 || k>lz2)) inside_cyl=1; + // compute ray collision with infinite cylinder, except for the case where + // the ray is outside the cylinder but within the infinite cylinder + // (it that case the ray can only hit endcaps) + if (!inside_cyl && C < 0) { + // set k to cap position to check + if (k < 0) k = -lz2; else k = lz2; + } + else { + dReal uv = dDOT41(R+1,dir); + r[0] = uv*R[0*4+1] - dir[0]; + r[1] = uv*R[1*4+1] - dir[1]; + r[2] = uv*R[2*4+1] - dir[2]; + dReal A = dDOT(r,r); + dReal B = 2*dDOT(q,r); + k = B*B-4*A*C; + if (k < 0) { + // the ray does not intersect the infinite cylinder, but if the ray is + // inside and parallel to the cylinder axis it may intersect the end + // caps. set k to cap position to check. + if (!inside_cyl) return 0; + if (uv < 0) k = -lz2; else k = lz2; + } + else { + k = dSqrt(k); + A = dRecip (2*A); + dReal alpha = (-B-k)*A; + if (alpha < 0) { + alpha = (-B+k)*A; + if (alpha<0) return 0; + } + if (alpha>length) return 0; + // the ray intersects the infinite cylinder. check to see if the + // intersection point is between the caps + contact->pos[0] = start[0] + alpha*dir[0]; + contact->pos[1] = start[1] + alpha*dir[1]; + contact->pos[2] = start[2] + alpha*dir[2]; + q[0] = contact->pos[0] - p[0]; + q[1] = contact->pos[1] - p[1]; + q[2] = contact->pos[2] - p[2]; + k = dDOT14(q,R+1); + dReal nsign = inside_cyl ? -1 : 1; + if (k >= -lz2 && k <= lz2) { + contact->normal[0] = nsign * (contact->pos[0] - + (p[0] + k*R[0*4+1])); + contact->normal[1] = nsign * (contact->pos[1] - + (p[1] + k*R[1*4+1])); + contact->normal[2] = nsign * (contact->pos[2] - + (p[2] + k*R[2*4+1])); + dNormalize3 (contact->normal); + contact->depth = alpha; + return 1; + } + // the infinite cylinder intersection point is not between the caps. + // set k to cap position to check. + if (k < 0) k = -lz2; else k = lz2; + } + } + // check for ray intersection with the caps. k must indicate the cap + // position to check + // perform a ray plan interesection + // R+1 is the plan normal + q[0] = start[0] - (p[0] + k*R[0*4+1]); + q[1] = start[1] - (p[1] + k*R[1*4+1]); + q[2] = start[2] - (p[2] + k*R[2*4+1]); + dReal alpha = -dDOT14(q,R+1); + dReal k2 = dDOT14(dir,R+1); + if (k2==0) return 0; // ray parallel to the plane + alpha/=k2; + if (alpha<0 || alpha>length) return 0; // too short + contact->pos[0]=start[0]+alpha*dir[0]; + contact->pos[1]=start[1]+alpha*dir[1]; + contact->pos[2]=start[2]+alpha*dir[2]; + dReal nsign = (k<0)?-1:1; + contact->normal[0]=nsign*R[0*4+1]; + contact->normal[1]=nsign*R[1*4+1]; + contact->normal[2]=nsign*R[2*4+1]; + contact->depth=alpha; + return 1; +} + +static dColliderFn * dCylinderColliderFn (int num) +{ + if (num == dBoxClass) return (dColliderFn *) &dCollideCylB; + else if (num == dSphereClass) return (dColliderFn *) &dCollideCylS; + else if (num == dCylinderClassUser) return (dColliderFn *) &dCollideCylCyl; + else if (num == dPlaneClass) return (dColliderFn *) &dCollideCylPlane; + else if (num == dRayClass) return (dColliderFn *) &dCollideCylRay; + return 0; +} + + +static void dCylinderAABB (dxGeom *geom, dReal aabb[6]) +{ + dReal radius,lz; + dGeomCylinderGetParams(geom,&radius,&lz); +const dReal* R= dGeomGetRotation(geom); +const dReal* pos= dGeomGetPosition(geom); + dReal xrange = dFabs (R[0] *radius) + + REAL(0.5) *dFabs (R[1] * lz) + dFabs (R[2] * radius); + + dReal yrange = dFabs (R[4] *radius) + + REAL(0.5) * dFabs (R[5] * lz) + dFabs (R[6] * radius); + + dReal zrange = dFabs (R[8] * radius) + + REAL(0.5) *dFabs (R[9] * lz) + dFabs (R[10] * radius); + + aabb[0] = pos[0] - xrange; + aabb[1] = pos[0] + xrange; + aabb[2] = pos[1] - yrange; + aabb[3] = pos[1] + yrange; + aabb[4] = pos[2] - zrange; + aabb[5] = pos[2] + zrange; +} + +dxGeom *dCreateCylinder (dSpaceID space, dReal r, dReal lz) +{ + dAASSERT (r > 0 && lz > 0); + if (dCylinderClassUser == -1) + { + dGeomClass c; + c.bytes = sizeof (dxCylinder); + c.collider = &dCylinderColliderFn; + c.aabb = &dCylinderAABB; + c.aabb_test = 0; + c.dtor = 0; + dCylinderClassUser=dCreateGeomClass (&c); + + } + + dGeomID g = dCreateGeom (dCylinderClassUser); + if (space) dSpaceAdd (space,g); + dxCylinder *c = (dxCylinder*) dGeomGetClassData(g); + + c->radius = r; + c->lz = lz; + return g; +} + + + +void dGeomCylinderSetParams (dGeomID g, dReal radius, dReal length) +{ + dUASSERT (g && dGeomGetClass(g) == dCylinderClassUser,"argument not a cylinder"); + dAASSERT (radius > 0 && length > 0); + dxCylinder *c = (dxCylinder*) dGeomGetClassData(g); + c->radius = radius; + c->lz = length; +} + + + +void dGeomCylinderGetParams (dGeomID g, dReal *radius, dReal *length) +{ + dUASSERT (g && dGeomGetClass(g) == dCylinderClassUser ,"argument not a cylinder"); + dxCylinder *c = (dxCylinder*) dGeomGetClassData(g); + *radius = c->radius; + *length = c->lz; +} + +/* +void dMassSetCylinder (dMass *m, dReal density, + dReal radius, dReal length) +{ + dAASSERT (m); + dMassSetZero (m); + dReal M = length*M_PI*radius*radius*density; + m->mass = M; + m->_I(0,0) = M/REAL(4.0) * (ly*ly + lz*lz); + m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz); + m->_I(2,2) = M/REAL(4.0) * (lx*lx + ly*ly); + +# ifndef dNODEBUG + checkMass (m); +# endif +} +*/ diff -Nru ode-0.11.1/contrib/dCylinder/dCylinder.h ode-0.14/contrib/dCylinder/dCylinder.h --- ode-0.11.1/contrib/dCylinder/dCylinder.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dCylinder/dCylinder.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,14 @@ + +#ifndef dCylinder_h +#define dCylinder_h + +struct dxCylinder; +extern int dCylinderClassUser; + + +dxGeom *dCreateCylinder (dSpaceID space, dReal r, dReal lz); +void dGeomCylinderSetParams (dGeomID g, dReal radius, dReal length); + +void dGeomCylinderGetParams (dGeomID g, dReal *radius, dReal *length); +#endif //dCylinder_h + diff -Nru ode-0.11.1/contrib/dCylinder/readme.txt ode-0.14/contrib/dCylinder/readme.txt --- ode-0.11.1/contrib/dCylinder/readme.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dCylinder/readme.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,62 @@ +readme.txt + +WARNING: THIS IS NOT VERY RELIABLE CODE. IT HAS BUGS. YOUR + SUCCESS MAY VARY. CONTRIBUTIONS OF FIXES/REWRITES ARE + WELCOME. + +/////////////////////////////////////////////////////////////////////// + +Cylinder geometry class. + +New in this version: + +Cylinder class implemented as User Geometry Class so it now can be +used with old and new ODE collision detection. + +Cylinder - Ray has been contributed by Olivier Michel. + +THE IDENTIFIER dCylinderClass HAS BEEN REPLACED BY dCylinderClassUser + +to avoid conflict with dCylinderClass in the enum definite in collision.h + +/////////////////////////////////////////////////////////////////////// +The dCylinder class includes the following collisions: + +Cylinder - Box +Cylinder - Cylinder +Cylinder - Sphere +Cylinder - Plane +Cylinder - Ray (contributed by Olivier Michel) + +Cylinder aligned along axis - Y when created. (Not like Capped +Cylinder which aligned along axis - Z). + +Interface is just the same as Capped Cylinder has. + +Use functions which have one "C" instead of double "C". + +to create: +dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); + +to set params: +void dGeomCylinderSetParams (dGeomID cylinder, + dReal radius, dReal length); + + +to get params: +void dGeomCylinderGetParams (dGeomID cylinder, + dReal *radius, dReal *length); + +Return in radius and length the parameters of the given cylinder. + +Identification number of the class: + dCylinderClassUser + + I do not include a function that sets inertia tensor for cylinder. + One may use existing ODE functions dMassSetCappedCylinder or dMassSetBox. + To set exact tensor for cylinder use dMassSetParameters. + Remember cylinder aligned along axis - Y. + + /////////////////////////////////////////////////////////////////////////// + Konstantin Slipchenko + February 5, 2002 diff -Nru ode-0.11.1/contrib/DotNetManaged/AssemblyInfo.cpp ode-0.14/contrib/DotNetManaged/AssemblyInfo.cpp --- ode-0.11.1/contrib/DotNetManaged/AssemblyInfo.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/AssemblyInfo.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,58 @@ +#include "stdafx.h" + +using namespace System::Reflection; +using namespace System::Runtime::CompilerServices; + +// +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +// +[assembly:AssemblyTitleAttribute("")]; +[assembly:AssemblyDescriptionAttribute("")]; +[assembly:AssemblyConfigurationAttribute("")]; +[assembly:AssemblyCompanyAttribute("")]; +[assembly:AssemblyProductAttribute("")]; +[assembly:AssemblyCopyrightAttribute("")]; +[assembly:AssemblyTrademarkAttribute("")]; +[assembly:AssemblyCultureAttribute("")]; + +// +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +// You can specify all the value or you can default the Revision and Build Numbers +// by using the '*' as shown below: + +[assembly:AssemblyVersionAttribute("1.0.*")]; + +// +// In order to sign your assembly you must specify a key to use. Refer to the +// Microsoft .NET Framework documentation for more information on assembly signing. +// +// Use the attributes below to control which key is used for signing. +// +// Notes: +// (*) If no key is specified, the assembly is not signed. +// (*) KeyName refers to a key that has been installed in the Crypto Service +// Provider (CSP) on your machine. KeyFile refers to a file which contains +// a key. +// (*) If the KeyFile and the KeyName values are both specified, the +// following processing occurs: +// (1) If the KeyName can be found in the CSP, that key is used. +// (2) If the KeyName does not exist and the KeyFile does exist, the key +// in the KeyFile is installed into the CSP and used. +// (*) In order to create a KeyFile, you can use the sn.exe (Strong Name) utility. +// When specifying the KeyFile, the location of the KeyFile should be +// relative to the project directory. +// (*) Delay Signing is an advanced option - see the Microsoft .NET Framework +// documentation for more information on this. +// +[assembly:AssemblyDelaySignAttribute(false)]; +[assembly:AssemblyKeyFileAttribute("")]; +[assembly:AssemblyKeyNameAttribute("")]; + diff -Nru ode-0.11.1/contrib/DotNetManaged/Body.cpp ode-0.14/contrib/DotNetManaged/Body.cpp --- ode-0.11.1/contrib/DotNetManaged/Body.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Body.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,322 @@ +#include "StdAfx.h" + +#include +#include "Body.h" + +namespace ODEManaged +{ + + //Constructors + + Body::Body(void) + { + _id = 0; + } + + Body::Body(World &world) + { + _id = dBodyCreate(world.Id()); + } + + + //Destructor + + Body::~Body(void) + { + dBodyDestroy(this->_id); + } + + + //Methods + + //Id + dBodyID Body::Id() + { + return _id; + } + + + //SetData + void Body::SetData(void *data) + { + dBodySetData(this->_id, data); + } + + //GetData + void *Body::GetData(void) + { + return dBodyGetData(this->_id); + } + + + //SetPosition + void Body::SetPosition (double x, double y, double z) + { + dBodySetPosition(this->_id, x, y, z); + } + + + //Overloaded GetPosition + Vector3 Body::GetPosition(void) + { + Vector3 retVal; + const dReal *temp; + temp = dBodyGetPosition(this->_id); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + }; + + void Body::GetPosition(double position __gc[]) + { + const dReal *temp; + temp = dBodyGetPosition(this->_id); + position[0] = temp[0]; + position[1] = temp[1]; + position[2] = temp[2]; + } + + + //SetRotationIdentity + void Body::SetRotationIdentity(void) + { + dMatrix3 temp; + dRSetIdentity(temp); + dBodySetRotation(this->_id, temp); + } + + + //SetRotation (left handed system=>transpose) + void Body::SetRotation(Matrix3 rotation) + { + dMatrix3 temp; + temp[0] = rotation.m11; + temp[4] = rotation.m12; + temp[8] = rotation.m13; + temp[1] = rotation.m21; + temp[5] = rotation.m22; + temp[9] = rotation.m23; + temp[2] = rotation.m31; + temp[6] = rotation.m32; + temp[10] = rotation.m33; + dBodySetRotation(this->_id, temp); + } + + //GetRotation (left handed system=>transpose) + Matrix3 Body::GetRotation(void) + { + Matrix3 retVal; + //const dMatrix3 *m; + const dReal *temp; + temp = dBodyGetRotation(this->_id); + retVal.m11 = temp[0]; + retVal.m12 = temp[4]; + retVal.m13 = temp[8]; + retVal.m21 = temp[1]; + retVal.m22 = temp[5]; + retVal.m23 = temp[9]; + retVal.m31 = temp[2]; + retVal.m32 = temp[6]; + retVal.m33 = temp[10]; + return retVal; + } + + + //Overloaded SetMass + void Body::SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia) + { + dMass *temp = new dMass(); + dMassSetParameters(temp, mass, + centerOfGravity.x, + centerOfGravity.y, + centerOfGravity.z, + inertia.m11, inertia.m22, + inertia.m33, inertia.m12, + inertia.m13, inertia.m23); + + dBodySetMass(this->_id, temp); + } + + + //SetMassSphere + void Body::SetMassSphere(double density, double radius) + { + dMass *temp = new dMass(); + dMassSetSphere(temp, density, radius); + dBodySetMass(this->_id, temp); + } + + + //SetMassBox + void Body::SetMassBox(double density, double sideX, double sideY, double sideZ) + { + dMass *temp = new dMass(); + dMassSetBox(temp, density, sideX, sideY, sideZ); + dBodySetMass(this->_id, temp); + } + + + //SetMassCappedCylinder + void Body::SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength) + { + dMass *temp = new dMass(); + dMassSetCappedCylinder(temp, density, axis, + cylinderRadius, + cylinderLength); + + dBodySetMass(this->_id, temp); + } + + + //AddForce + void Body::AddForce(double fX, double fY, double fZ) + { + dBodyAddForce(this->_id, fX, fY, fZ); + } + + + //AddRelForce + void Body::AddRelForce(double fX, double fY, double fZ) + { + dBodyAddRelForce(this->_id, fX,fY,fZ); + } + + + //AddForceAtPos + void Body::AddForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ) + { + dBodyAddForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ); + } + + + //AddRelForceAtPos + void Body::AddRelForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ) + { + dBodyAddRelForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ); + } + + + //AddRelForceAtRelPos + void Body::AddRelForceAtRelPos(double fX, double fY, double fZ, double pX, double pY, double pZ) + { + dBodyAddRelForceAtRelPos(this->_id, fX, fY, fZ, pX, pY, pZ); + } + + + //ApplyLinearVelocityDrag + void Body::ApplyLinearVelocityDrag(double dragCoef) + { + const dReal *temp; + double fX; + double fY; + double fZ; + temp = dBodyGetLinearVel(this->_id); + fX = temp[0]*dragCoef*-1; + fY = temp[1]*dragCoef*-1; + fZ = temp[2]*dragCoef*-1; + dBodyAddForce(this->_id, fX, fY, fZ); + } + + + //ApplyAngularVelocityDrag + void Body::ApplyAngularVelocityDrag(double dragCoef) + { + const dReal *temp; + double fX; + double fY; + double fZ; + temp = dBodyGetAngularVel(this->_id); + fX = temp[0]*dragCoef*-1; + fY = temp[1]*dragCoef*-1; + fZ = temp[2]*dragCoef*-1; + dBodyAddTorque(this->_id, fX, fY, fZ); + } + + + //AddTorque + void Body::AddTorque(double fX, double fY, double fZ) + { + dBodyAddTorque(this->_id, fX, fY, fZ); + } + + + //AddRelTorque + void Body::AddRelTorque(double fX, double fY, double fZ) + { + dBodyAddRelTorque(this->_id, fX,fY,fZ); + } + + + //SetLinearVelocity + void Body::SetLinearVelocity(double x, double y, double z) + { + dBodySetLinearVel(this->_id, x, y, z); + } + + + //GetLinearVelocity + Vector3 Body::GetLinearVelocity(void) + { + Vector3 retVal; + const dReal *temp; + temp = dBodyGetLinearVel(this->_id); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //SetAngularVelocity + void Body::SetAngularVelocity(double x, double y, double z) + { + dBodySetAngularVel(this->_id, x, y, z); + } + + //GetAngularVelocity + Vector3 Body::GetAngularVelocity(void) + { + Vector3 retVal; + const dReal *temp; + temp = dBodyGetAngularVel(this->_id); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //GetRelPointPos + Vector3 Body::GetRelPointPos(double pX, double pY, double pZ) + { + Vector3 retVal; + dVector3 temp; + dBodyGetRelPointPos(this->_id, pX, pY, pZ, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //GetRelPointVel + Vector3 Body::GetRelPointVel(double pX, double pY, double pZ) + { + Vector3 retVal; + dVector3 temp; + dBodyGetRelPointVel(this->_id, pX, pY, pZ, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //ConnectedTo + int Body::ConnectedTo(const Body &b) + { + return dAreConnected(this->_id, b._id); + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/Body.h ode-0.14/contrib/DotNetManaged/Body.h --- ode-0.11.1/contrib/DotNetManaged/Body.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Body.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,76 @@ +#pragma once + +#include "World.h" +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class Body + { + public: + + //Constructors and Destructors + + Body(void); + Body(World &world); + + ~Body(void); + + + //Public Methods + + dBodyID Id(); + void SetData (void *data); + void *GetData (void); + + //POSITION + void SetPosition(double x, double y, double z); + Vector3 GetPosition(void); + void GetPosition(double position __gc[]); + + //ROTATION + void SetRotationIdentity(void); + void SetRotation(Matrix3 rotation); + Matrix3 GetRotation(void); + + //MASS + void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia); + void SetMassSphere(double density, double radius); + void SetMassBox(double density, double sideX, double sideY, double sideZ); + void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength); + + //FORCE AND TORQUE + void AddForce(double fX, double fY, double fZ); + void AddRelForce(double fX, double fY, double fZ); + void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ); + void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ); + void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ); + void ApplyLinearVelocityDrag(double dragCoef); + void ApplyAngularVelocityDrag(double dragCoef); + + + void AddTorque(double fX, double fY, double fZ); + void AddRelTorque(double fX, double fY, double fZ); + + //LINEAR VELOCITY + void SetLinearVelocity (double x, double y, double z); + Vector3 GetLinearVelocity(void); + + //ANGULAR VELOCITY + void SetAngularVelocity (double x, double y, double z); + Vector3 GetAngularVelocity(void); + + //POINT + Vector3 GetRelPointPos(double pX, double pY, double pZ); + Vector3 GetRelPointVel(double pX, double pY, double pZ); + + //CONNECTED TO + int ConnectedTo (const Body &b); + + private: + + dBodyID _id; + + }; +} + diff -Nru ode-0.11.1/contrib/DotNetManaged/CommonMgd.h ode-0.14/contrib/DotNetManaged/CommonMgd.h --- ode-0.11.1/contrib/DotNetManaged/CommonMgd.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/CommonMgd.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,43 @@ +#pragma once + +namespace ODEManaged +{ + + __value public struct Vector3 + { + double x; + double y; + double z; + }; + + + __value public struct Vector4 + { + double W; + double x; + double y; + double z; + }; + + + __value public struct Matrix3 + { + double m11; + double m12; + double m13; + double m21; + double m22; + double m23; + double m31; + double m32; + double m33; + }; + + //__value public struct NearCallback + //{ + // void *data; + // dGeomID o1; + // dGeomID o2; + //}; + +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/DotNetManaged/DotNetManaged.sln ode-0.14/contrib/DotNetManaged/DotNetManaged.sln --- ode-0.11.1/contrib/DotNetManaged/DotNetManaged.sln 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/DotNetManaged.sln 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,21 @@ +Microsoft Visual Studio Solution File, Format Version 7.00 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DotNetManaged", "DotNetManaged.vcproj", "{4B75AC19-971A-4CC6-A4F5-0695C9F8562F}" +EndProject +Global + GlobalSection(SolutionConfiguration) = preSolution + ConfigName.0 = Debug + ConfigName.1 = Release + EndGlobalSection + GlobalSection(ProjectDependencies) = postSolution + EndGlobalSection + GlobalSection(ProjectConfiguration) = postSolution + {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.ActiveCfg = Debug|Win32 + {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.Build.0 = Debug|Win32 + {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.ActiveCfg = Release|Win32 + {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + EndGlobalSection + GlobalSection(ExtensibilityAddIns) = postSolution + EndGlobalSection +EndGlobal diff -Nru ode-0.11.1/contrib/DotNetManaged/DotNetManaged.vcproj ode-0.14/contrib/DotNetManaged/DotNetManaged.vcproj --- ode-0.11.1/contrib/DotNetManaged/DotNetManaged.vcproj 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/DotNetManaged.vcproj 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,379 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff -Nru ode-0.11.1/contrib/DotNetManaged/Geom.cpp ode-0.14/contrib/DotNetManaged/Geom.cpp --- ode-0.11.1/contrib/DotNetManaged/Geom.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Geom.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,219 @@ + +#include "StdAfx.h" + +#include +#include "Geom.h" + + +namespace ODEManaged +{ + + //Constructors + + Geom::Geom(void) + { + _id = 0; + } + + + //Destructor + + Geom::~Geom(void) + { + dGeomDestroy(this->_id); + } + + + //Methods + + //Id + dGeomID Geom::Id(void) + { + return _id; + } + + + //GetBody + dBodyID Geom::GetBody(void) + { + return dGeomGetBody(this->_id); + } + + + //Overloaded SetBody + void Geom::SetBody(Body &body) + { + dGeomSetBody(this->_id, body.Id()); + } + + //void Geom::SetBody(dBodyID b) + //{ + // dGeomSetBody(this->_id, b); + //} + + + //SetPosition + void Geom::SetPosition(double x, double y, double z) + { + dGeomSetPosition(this->_id, x, y, z); + } + + + //SetRotation + void Geom::SetRotation(Matrix3 rotation) + { + dMatrix3 temp; + temp[0] = rotation.m11; + temp[4] = rotation.m12; + temp[8] = rotation.m13; + temp[1] = rotation.m21; + temp[5] = rotation.m22; + temp[9] = rotation.m23; + temp[2] = rotation.m31; + temp[6] = rotation.m32; + temp[10] = rotation.m33; + dGeomSetRotation(_id, temp); + } + + + //Destroy + void Geom::Destroy() + { + if(this->_id) dGeomDestroy(this->_id); + _id = 0; + } + + + //SetData + void Geom::SetData(void *data) + { + dGeomSetData(this->_id, data); + } + + + //GetData + void *Geom::GetData(void) + { + return dGeomGetData(this->_id); + } + + + //GetPosition + Vector3 Geom::GetPosition(void) + { + Vector3 retVal; + const dReal *temp; + temp = dGeomGetPosition(this->_id); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //GetRotation (left handed system=>transpose) + Matrix3 Geom::GetRotation(void) + { + Matrix3 retVal; + const dReal *temp; + temp = dGeomGetRotation(this->_id); + retVal.m11 = temp[0]; + retVal.m12 = temp[4]; + retVal.m13 = temp[8]; + retVal.m21 = temp[1]; + retVal.m22 = temp[5]; + retVal.m23 = temp[9]; + retVal.m31 = temp[2]; + retVal.m32 = temp[6]; + retVal.m33 = temp[10]; + return retVal; + } + + + //CreateSphere + void Geom::CreateSphere(Space &space, double radius) + { + if(this->_id) dGeomDestroy(this->_id); + _id = dCreateSphere(space.Id(), radius); + } + + + //CreateBox + void Geom::CreateBox(Space &space, double lx, double ly, double lz) + { + if(this->_id) dGeomDestroy(this->_id); + _id = dCreateBox(space.Id(), lx, ly, lz); + } + + + //CreatePlane + void Geom::CreatePlane(Space &space, double a, double b, double c, double d) + { + if(this->_id) dGeomDestroy(this->_id); + _id = dCreatePlane(space.Id(), a, b, c, d); + } + + + //CreateCCylinder + void Geom::CreateCCylinder(Space &space, double radius, double length) + { + if(this->_id) dGeomDestroy(this->_id); + _id = dCreateCCylinder(space.Id(), radius, length); + } + + + //SphereGetRadius + double Geom::SphereGetRadius(void) + { + return dGeomSphereGetRadius(this->_id); + } + + + //BoxGetLengths + Vector3 Geom::BoxGetLengths(void) + { + Vector3 retVal; + dVector3 temp; + dGeomBoxGetLengths(this->_id, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //PlaneGetParams + Vector4 Geom::PlaneGetParams(void) + { + Vector4 retVal; + dVector4 temp; + dGeomPlaneGetParams(this->_id, temp); + retVal.W = temp[0]; + retVal.x = temp[1]; + retVal.y = temp[2]; + retVal.z = temp[3]; + return retVal; + } + + + //CCylinderGetParams + void Geom::CCylinderGetParams(double *radius, double *length) + { + dGeomCCylinderGetParams(this->_id, radius, length); + } + + + //GetClass + int Geom::GetClass(void) + { + return dGeomGetClass(this->_id); + } + +} + + + + + + + diff -Nru ode-0.11.1/contrib/DotNetManaged/Geom.h ode-0.14/contrib/DotNetManaged/Geom.h --- ode-0.11.1/contrib/DotNetManaged/Geom.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Geom.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,75 @@ +#pragma once + +#include "Body.h" +#include "Space.h" +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class Geom + { + public: + + + //Constructor + + Geom (void); + + + //Destructor + + ~Geom (void); + + + //Methods + + //Basic Stuff + + dGeomID Id (void); + dBodyID GetBody (void); + + //Overloaded SetBody + void SetBody (Body &body); + /*void SetBody (dBodyID b);*/ + + Vector3 GetPosition (void); + void SetPosition (double x, double y, double z); + + Matrix3 GetRotation (void); + void SetRotation (Matrix3 rotation); + + void SetData (void *data); + void *GetData (void); + + + //Create Objects + + void CreateSphere (Space &space, double radius); + void CreateBox (Space &space, double lx, double ly, double lz); + void CreatePlane (Space &space, double a, double b, double c, double d); + void CreateCCylinder (Space &space, double radius, double length); + + + //Destroy Objects + + void Destroy (void); + + + //Get Object's Parameters + + double SphereGetRadius (void); + Vector3 BoxGetLengths (void); + Vector4 PlaneGetParams (void); + void CCylinderGetParams (double *radius, double *length); + int GetClass (void); + + + //Properties + + private: + + dGeomID _id; + + }; + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointAMotor.cpp ode-0.14/contrib/DotNetManaged/JointAMotor.cpp --- ode-0.11.1/contrib/DotNetManaged/JointAMotor.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointAMotor.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,162 @@ +#include "StdAfx.h" + +#include +#include "JointAMotor.h" + +namespace ODEManaged +{ + + //Constructors + + JointAMotor::JointAMotor(void) : Joint(){} + + + JointAMotor::JointAMotor(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateAMotor(world.Id(), 0); + } + + + JointAMotor::JointAMotor(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateAMotor(world.Id(), jointGroup.Id()); + } + + + //Destructor + + JointAMotor::~JointAMotor(void){} + + + //Methods + + //Overloaded Create + void JointAMotor::Create(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateAMotor(world.Id(), jointGroup.Id()); + } + + void JointAMotor::Create(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateAMotor(world.Id(), 0); + } + + + //Overloaded Attach + void JointAMotor::Attach(Body &body1, Body &body2) + { + dJointAttach(this->_id, body1.Id(), body2.Id()); + } + + void JointAMotor::Attach(Body &body1) + { + dJointAttach(this->_id, body1.Id(), 0); + } + + + //SetNumAxes + + void JointAMotor::SetNumAxes(int num) + { + dJointSetAMotorNumAxes(this->_id, num); + } + + + //GetNumAxes + + int JointAMotor::GetNumAxes(void) + { + return dJointGetAMotorNumAxes(this->_id); + } + + + //SetAxis + + void JointAMotor::SetAxis(int anum, int rel, double x, double y ,double z) + { + dJointSetAMotorAxis(this->_id, anum, rel, x, y, z); + } + + + //GetAxis + + Vector3 JointAMotor::GetAxis(int anum) + { + Vector3 retVal; + dVector3 temp; + dJointGetAMotorAxis(this->_id, anum, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //SetAngle + + void JointAMotor::SetAngle(int anum, double angle) + { + dJointSetAMotorAngle(this->_id, anum, angle); + } + + + //GetAngle + + double JointAMotor::GetAngle(int anum) + { + return dJointGetAMotorAngle(this->_id, anum); + } + + + //SetParam + + void JointAMotor::SetParam(int parameter, double value) + { + dJointSetAMotorParam(this->_id, parameter, value); + } + + + //GetParam + + double JointAMotor::GetParam(int parameter) + { + return dJointGetAMotorParam(this->_id, parameter); + } + + + //SetMode + + void JointAMotor::SetMode(int mode) + { + dJointSetAMotorMode(this->_id, mode); + } + + + //GetMode + + int JointAMotor::GetMode(void) + { + return dJointGetAMotorMode(this->_id); + } + + + //GetAxisRel + + int JointAMotor::GetAxisRel(int anum) + { + return dJointGetAMotorAxisRel(this->_id, anum); + } + + + //GetAngleRate + + double JointAMotor::GetAngleRate(int anum) + { + return dJointGetAMotorAngleRate(this->_id, anum); + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointAMotor.h ode-0.14/contrib/DotNetManaged/JointAMotor.h --- ode-0.11.1/contrib/DotNetManaged/JointAMotor.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointAMotor.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,62 @@ +#pragma once + +#include "Joint.h" + +namespace ODEManaged +{ + __gc public class JointAMotor : public Joint + { + public: + + + //Constructors + + JointAMotor (void); + JointAMotor (World &world); + JointAMotor (World &world, JointGroup &jointGroup); + + + //Destructor + + virtual ~JointAMotor (void); + + + //Methods + + //Basic Stuff + + //Overloaded Create + void Create (World &world, JointGroup &jointGroup); + void Create (World &world); + + void SetNumAxes (int num); + int GetNumAxes (void); + + void SetAxis (int anum, int rel, double x, double y, double z); + Vector3 GetAxis (int anum); + + void SetAngle (int anum, double angle); + double GetAngle (int anum); + + void SetMode (int mode); + int GetMode (void); + + int GetAxisRel (int anum); + double GetAngleRate (int anum); + + //Overloaded Attach + void Attach (Body &body1, Body &body2); + void Attach (Body &body1); + + + //Movement Parameters + + void SetParam (int parameter, double value); + double GetParam (int parameter); + + + + + + }; +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointBall.cpp ode-0.14/contrib/DotNetManaged/JointBall.cpp --- ode-0.11.1/contrib/DotNetManaged/JointBall.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointBall.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,79 @@ +#include "StdAfx.h" + +#include +#include "jointball.h" + +namespace ODEManaged +{ + + //Constructors + + JointBall::JointBall(void) : Joint(){} + + + JointBall::JointBall(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateBall(world.Id(), 0); + } + + + JointBall::JointBall(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateBall(world.Id(), jointGroup.Id()); + } + + + //Destructor + + JointBall::~JointBall(void){} + + + //Methods + + //Overloaded Create + void JointBall::Create(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateBall(world.Id(), jointGroup.Id()); + } + + void JointBall::Create(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateBall(world.Id(), 0); + } + + + //Overloaded Attach + void JointBall::Attach(Body &body1, Body &body2) + { + dJointAttach(this->_id, body1.Id(), body2.Id()); + } + + void JointBall::Attach(Body &body1) + { + dJointAttach(this->_id, body1.Id(), 0); + } + + + //SetAnchor + void JointBall::SetAnchor(double x, double y ,double z) + { + dJointSetBallAnchor(this->_id, x, y, z); + } + + //GetAnchor + Vector3 JointBall::GetAnchor(void) + { + Vector3 retVal; + dVector3 temp; + dJointGetBallAnchor(this->_id,temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointBall.h ode-0.14/contrib/DotNetManaged/JointBall.h --- ode-0.11.1/contrib/DotNetManaged/JointBall.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointBall.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,38 @@ +#pragma once + +#include "Joint.h" + +namespace ODEManaged +{ + __gc public class JointBall : public Joint + { + public: + + //Constructors + + JointBall(void); + JointBall(World &world); + JointBall(World &world, JointGroup &jointGroup); + + + //Destructors + + virtual ~JointBall(void); + + + //Methods + + //Overloaded Create + void Create(World &world, JointGroup &jointGroup); + void Create(World &world); + + //Overloaded Attach + void Attach(Body &body1, Body &body2); + void Attach(Body &body1); + + void SetAnchor(double x, double y, double z); + Vector3 GetAnchor(void); + + }; + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/Joint.cpp ode-0.14/contrib/DotNetManaged/Joint.cpp --- ode-0.11.1/contrib/DotNetManaged/Joint.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Joint.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,35 @@ +#include "StdAfx.h" + +#include +#include "joint.h" +#include "CommonMgd.h" +#include "world.h" + +namespace ODEManaged +{ + + //Constructor + + Joint::Joint(void) + { + _id=0; + } + + + //Destructor + + Joint::~Joint(void) + { + dJointDestroy(this->_id); + } + + + //Methods + + //Id + dJointID Joint::Id(void) + { + return _id; + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointFixed.cpp ode-0.14/contrib/DotNetManaged/JointFixed.cpp --- ode-0.11.1/contrib/DotNetManaged/JointFixed.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointFixed.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,67 @@ +#include "StdAfx.h" + +#include +#include "jointfixed.h" + +namespace ODEManaged +{ + + //Constructors + + JointFixed::JointFixed(void) : Joint(){} + + + JointFixed::JointFixed(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateFixed(world.Id(),0); + } + + + JointFixed::JointFixed(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateFixed(world.Id(), jointGroup.Id()); + } + + + //Destructor + + JointFixed::~JointFixed(void){} + + + //Methods + + //Overloaded Create + void JointFixed::Create(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateFixed(world.Id(), jointGroup.Id()); + } + + void JointFixed::Create(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateFixed(world.Id(), 0); + } + + + //Overloaded Attach + void JointFixed::Attach(Body &body1, Body &body2) + { + dJointAttach(this->_id, body1.Id(), body2.Id()); + } + + void JointFixed::Attach(Body &body1) + { + dJointAttach(this->_id, body1.Id(), 0); + } + + + //Fixed + void JointFixed::SetFixed(void) + { + dJointSetFixed(this->_id); + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointFixed.h ode-0.14/contrib/DotNetManaged/JointFixed.h --- ode-0.11.1/contrib/DotNetManaged/JointFixed.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointFixed.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,37 @@ +#pragma once + +#include "Joint.h" + +namespace ODEManaged +{ + __gc public class JointFixed : public Joint + { + public: + + //Constructors + + JointFixed(void); + JointFixed(World &world); + JointFixed(World &world, JointGroup &jointGroup); + + + //Destructor + + virtual ~JointFixed(void); + + + //Methods + + //Overloaded Create + void Create(World &world, JointGroup &jointGroup); + void Create(World &world); + + //Overloaded Attach + void Attach(Body &body1, Body &body2); + void Attach(Body &body1); + + void SetFixed(void); + + }; + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointGroup.cpp ode-0.14/contrib/DotNetManaged/JointGroup.cpp --- ode-0.11.1/contrib/DotNetManaged/JointGroup.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointGroup.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,53 @@ +#include "StdAfx.h" + +#include +#include "jointgroup.h" + +namespace ODEManaged +{ + + //Constructors + + JointGroup::JointGroup(void) + { + _id=0; + } + + JointGroup::JointGroup (int maxSize) + { + _id = dJointGroupCreate(maxSize); + } + + + //Destructor + + JointGroup::~JointGroup(void) + { + dJointGroupDestroy(this->_id); + } + + + //Methods + + //ID + dJointGroupID JointGroup::Id() + { + return _id; + } + + + //Create + void JointGroup::Create (int maxSize) + { + if(_id) dJointGroupDestroy(_id); + _id = dJointGroupCreate(maxSize); + } + + + //Empty + void JointGroup::Empty (void) + { + dJointGroupEmpty(this->_id); + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointGroup.h ode-0.14/contrib/DotNetManaged/JointGroup.h --- ode-0.11.1/contrib/DotNetManaged/JointGroup.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointGroup.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,33 @@ +#pragma once + +namespace ODEManaged +{ + __gc public class JointGroup + { + public: + + //Constructors + + JointGroup(void); + JointGroup(int maxSize); + + + //Destructor + + ~JointGroup(void); + + + //Methods + + dJointGroupID Id(void); + void Create(int maxSize); + void Empty(void); + + + private: + + dJointGroupID _id; + + }; + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/Joint.h ode-0.14/contrib/DotNetManaged/Joint.h --- ode-0.11.1/contrib/DotNetManaged/Joint.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Joint.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,21 @@ +#pragma once + +#include "JointGroup.h" +#include "World.h" +#include "Body.h" + +namespace ODEManaged +{ + __gc public class Joint + { + protected: + //Constructor and Destructor Defenition + Joint(void); + ~Joint(void); + + //Public Methods + dJointID Id(void); + + dJointID _id; + }; +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointHinge2.cpp ode-0.14/contrib/DotNetManaged/JointHinge2.cpp --- ode-0.11.1/contrib/DotNetManaged/JointHinge2.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointHinge2.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,133 @@ +#include "StdAfx.h" + +#include +#include "jointhinge2.h" + +namespace ODEManaged +{ + //Constructors + JointHinge2::JointHinge2(void) : Joint(){} + + JointHinge2::JointHinge2(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge2(world.Id(),0); + } + + JointHinge2::JointHinge2(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge2(world.Id(), jointGroup.Id()); + } + + //Destructor + JointHinge2::~JointHinge2(void){} + + //CreateHinge2 (overload 1) + void JointHinge2::Create(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge2(world.Id(), jointGroup.Id()); + } + + //CreateHinge2 (overload 2) + void JointHinge2::Create(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge2(world.Id(),0); + } + + //SetAnchor1 + void JointHinge2::SetAnchor (double x, double y ,double z) + { + dJointSetHinge2Anchor(_id, x,y,z); + } + + //GetAnchor1 + Vector3 JointHinge2::GetAnchor() + { + Vector3 retVal; + dVector3 temp; + dJointGetHinge2Anchor(_id,temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + //SetAxis1 + void JointHinge2::SetAxis1 (double x, double y ,double z) + { + dJointSetHinge2Axis1(_id, x,y,z); + } + + //GetAxis1 + Vector3 JointHinge2::GetAxis1() + { + Vector3 retVal; + dVector3 temp; + dJointGetHinge2Axis1(_id,temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + //SetAxis2 + void JointHinge2::SetAxis2 (double x, double y ,double z) + { + dJointSetHinge2Axis2(_id, x,y,z); + } + + //GetAxis2 + Vector3 JointHinge2::GetAxis2() + { + Vector3 retVal; + dVector3 temp; + dJointGetHinge2Axis2(_id,temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + //GetAngle1 + double JointHinge2::GetAngle1 () + { + return dJointGetHinge2Angle1(this->_id); + } + + //GetAngle1Rate + double JointHinge2::GetAngle1Rate () + { + return dJointGetHinge2Angle1Rate(this->_id); + } + + ////GetAngle hmm, this doesn't exist + //double JointHinge2::GetAngle2 () + //{ + // return dJointGetHinge2Angle2(this->_id); + //} + + //GetAngle2Rate + double JointHinge2::GetAngle2Rate () + { + return dJointGetHinge2Angle2Rate(this->_id); + } + + + //Attach (overload 1) + void JointHinge2::Attach (Body &body1, Body &body2) + { + dJointAttach(_id, body1.Id(),body2.Id()); + } + + //Attach (overload 2) + //TODO: possibly add an overload that takes anchor as a param also. + void JointHinge2::Attach (Body &body1) + { + dJointAttach(_id, body1.Id(),0); + } + + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointHinge2.h ode-0.14/contrib/DotNetManaged/JointHinge2.h --- ode-0.11.1/contrib/DotNetManaged/JointHinge2.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointHinge2.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,48 @@ +#pragma once + +#include "Joint.h" +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class JointHinge2 : public Joint + { + public: + + + //Constructors + + JointHinge2 (void); + JointHinge2 (World &world); + JointHinge2 (World &world, JointGroup &jointGroup); + + //Destructors + + virtual ~JointHinge2 (void); + + + //Methods + + //Overloaded Hinge.Create + void Create (World &world, JointGroup &jointGroup); + void Create (World &world); + + void SetAnchor (double x, double y, double z); + Vector3 GetAnchor (void); + + void SetAxis1 (double x, double y, double z); + Vector3 GetAxis1 (void); + + void SetAxis2 (double x, double y, double z); + Vector3 GetAxis2 (void); + + double GetAngle1 (void); + double GetAngle1Rate (void); + + //double GetAngle2 (void); + double GetAngle2Rate (void); + + void Attach (Body &body1, Body &body2); + void Attach( Body &body1); + }; +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointHinge.cpp ode-0.14/contrib/DotNetManaged/JointHinge.cpp --- ode-0.11.1/contrib/DotNetManaged/JointHinge.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointHinge.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,121 @@ +#include "stdafx.h" + +#include +#include "jointhinge.h" + +namespace ODEManaged +{ + + //Constructors + + JointHinge::JointHinge(void) : Joint(){} + + + JointHinge::JointHinge(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge(world.Id(), 0); + } + + + JointHinge::JointHinge(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge(world.Id(), jointGroup.Id()); + } + + + //Destructor + + JointHinge::~JointHinge(void){} + + + //Methods + + //Overloaded Create + void JointHinge::Create(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge(world.Id(), jointGroup.Id()); + } + + void JointHinge::Create(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateHinge(world.Id(), 0); + } + + + //Overloaded Attach + void JointHinge::Attach(Body &body1, Body &body2) + { + dJointAttach(this->_id, body1.Id(), body2.Id()); + } + + void JointHinge::Attach(Body &body1) + { + dJointAttach(this->_id, body1.Id(), 0); + } + + + //SetAxis + void JointHinge::SetAxis(double x, double y, double z) + { + dJointSetHingeAxis(this->_id, x, y, z); + } + + //GetAxis + Vector3 JointHinge::GetAxis(void) + { + Vector3 retVal; + dVector3 temp; + dJointGetHingeAxis(this->_id, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //SetAnchor + void JointHinge::SetAnchor(double x, double y, double z) + { + dJointSetHingeAnchor(this->_id, x, y, z); + } + + //GetAnchor + Vector3 JointHinge::GetAnchor(void) + { + Vector3 retVal; + dVector3 temp; + dJointGetHingeAnchor(this->_id, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //Movement Parameters + + //SetAllMovParams + void JointHinge::SetAllMovParams(double LoStop, double HiStop, + double Velocity, double MaxForce, + double FudgeFactor, double Bounce, + double StopERP, double StopCFM) + { + if (LoStop > -3.141592653 && LoStop <= 0) + dJointSetHingeParam(this->_id, dParamLoStop, LoStop); + + if (HiStop < 3.141592653 && HiStop >= 0) + dJointSetHingeParam(this->_id, dParamHiStop, HiStop); + + dJointSetHingeParam(this->_id, dParamVel, Velocity); + dJointSetHingeParam(this->_id, dParamFMax, MaxForce); + dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor); + dJointSetHingeParam(this->_id, dParamBounce, Bounce); + dJointSetHingeParam(this->_id, dParamStopERP, StopERP); + dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM); + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointHinge.h ode-0.14/contrib/DotNetManaged/JointHinge.h --- ode-0.11.1/contrib/DotNetManaged/JointHinge.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointHinge.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,195 @@ +#pragma once + +#include "Joint.h" +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class JointHinge : public Joint + { + public: + + //Constructors + + JointHinge(void); + JointHinge(World &world); + JointHinge(World &world, JointGroup &jointGroup); + + + //Destructor + + virtual~JointHinge(void); + + + //Methods + + //Overloaded Create + void Create(World &world, JointGroup &jointGroup); + void Create(World &world); + + //Overloaded Attach + void Attach(Body &body1, Body &body2); + void Attach(Body &body1); + + void SetAnchor(double x, double y, double z); + Vector3 GetAnchor(void); + + void SetAxis(double x, double y, double z); + Vector3 GetAxis(void); + + void SetAllMovParams(double LoStop, double HiStop, + double Velocity, double MaxForce, + double FudgeFactor, double Bounce, + double StopERP, double StopCFM); + + + //Properties + + //LoStop + __property double get_LoStop(void) + { + return dJointGetHingeParam(this->_id, dParamLoStop); + } + + __property void set_LoStop(double value) + { + if (value > -3.141592653 && value <= 0) + dJointSetHingeParam(this->_id, dParamLoStop, value); + } + + + //HiStop + __property double get_HiStop(void) + { + return dJointGetHingeParam(this->_id, dParamHiStop); + } + + __property void set_HiStop(double value) + { + if (value < 3.141592653 && value >= 0) + dJointSetHingeParam(this->_id, dParamHiStop, value); + } + + + //Velocity + __property double get_Velocity(void) + { + return dJointGetHingeParam(this->_id, dParamVel); + } + + __property void set_Velocity(double value) + { + dJointSetHingeParam(this->_id, dParamVel, value); + } + + + //MaxForce + __property double get_MaxForce(void) + { + return dJointGetHingeParam(this->_id, dParamFMax); + } + + __property void set_MaxForce(double value) + { + dJointSetHingeParam(this->_id, dParamFMax, value); + } + + + //FudgeFactor + __property double get_FudgeFactor(void) + { + return dJointGetHingeParam(this->_id, dParamFudgeFactor); + } + + __property void set_FudgeFactor(double value) + { + dJointSetHingeParam(this->_id, dParamFudgeFactor, value); + } + + + //Bounce + __property double get_Bounce(void) + { + return dJointGetHingeParam(this->_id, dParamBounce); + } + + __property void set_Bounce(double value) + { + dJointSetHingeParam(this->_id, dParamBounce, value); + } + + + //StopERP + __property double get_StopERP(void) + { + return dJointGetHingeParam(this->_id, dParamStopERP); + } + + __property void set_StopERP(double value) + { + dJointSetHingeParam(this->_id, dParamStopERP, value); + } + + + //StopCFM + __property double get_StopCFM(void) + { + return dJointGetHingeParam(this->_id, dParamStopCFM); + } + + __property void set_StopCFM(double value) + { + dJointSetHingeParam(this->_id, dParamStopCFM, value); + } + + + //GetAngle + __property double get_Angle(void) + { + return dJointGetHingeAngle(this->_id); + } + + + //GetAngleRate + __property double get_AngleRate(void) + { + return dJointGetHingeAngleRate(this->_id); + } + + }; + +} + +// void SetSuspensionERP(double value); +// double GetSuspensionERP(void); + +// void SetSuspensionCFM(double value); +// double GetSuspensionCFM(void); + +/* + //SetSuspensionERP + void JointHinge::SetSuspensionERP(double value) + { + dJointSetHingeParam(this->_id, dParamSuspensionERP, value); + } + + //GetSuspensionERP + double JointHinge::GetSuspensionERP(void) + { + return dJointGetHingeParam(this->_id, dParamSuspensionERP); + } + + + //SetSuspensionCFM + void JointHinge::SetSuspensionCFM(double value) + { + dJointSetHingeParam(this->_id, dParamSuspensionCFM, value); + } + + //GetSuspensionCFM + double JointHinge::GetSuspensionCFM(void) + { + return dJointGetHingeParam(this->_id, dParamSuspensionCFM); + } + +*/ diff -Nru ode-0.11.1/contrib/DotNetManaged/JointSlider.cpp ode-0.14/contrib/DotNetManaged/JointSlider.cpp --- ode-0.11.1/contrib/DotNetManaged/JointSlider.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointSlider.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,102 @@ +#include "StdAfx.h" + +#include +#include "jointslider.h" + +namespace ODEManaged +{ + + //Constructors + + JointSlider::JointSlider(void) : Joint(){} + + + JointSlider::JointSlider(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateSlider(world.Id(), 0); + } + + + JointSlider::JointSlider(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateSlider(world.Id(), jointGroup.Id()); + } + + + //Destructor + + JointSlider::~JointSlider(void){} + + + //Methods + + //Overloaded Create + void JointSlider::Create(World &world, JointGroup &jointGroup) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateSlider(world.Id(), jointGroup.Id()); + } + + void JointSlider::Create(World &world) + { + if(this->_id) dJointDestroy(this->_id); + _id = dJointCreateSlider(world.Id(), 0); + } + + + //Overloaded Attach + void JointSlider::Attach(Body &body1, Body &body2) + { + dJointAttach(this->_id, body1.Id(), body2.Id()); + } + + void JointSlider::Attach(Body &body1) + { + dJointAttach(this->_id, body1.Id(), 0); + } + + + //SetAxis + void JointSlider::SetAxis(double x, double y, double z) + { + dJointSetSliderAxis(this->_id, x, y, z); + } + + //GetAxis + Vector3 JointSlider::GetAxis(void) + { + Vector3 retVal; + dVector3 temp; + dJointGetSliderAxis(this->_id, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + + //Movement Parameters + + //SetAllMovParams + void JointSlider::SetAllMovParams(double LoStop, double HiStop, + double Velocity, double MaxForce, + double FudgeFactor, double Bounce, + double StopERP, double StopCFM) + { + if (LoStop <= 0) + dJointSetHingeParam(this->_id, dParamLoStop, LoStop); + + if (HiStop >= 0) + dJointSetHingeParam(this->_id, dParamHiStop, HiStop); + + dJointSetSliderParam(this->_id, dParamVel, Velocity); + dJointSetSliderParam(this->_id, dParamFMax, MaxForce); + dJointSetSliderParam(this->_id, dParamFudgeFactor, FudgeFactor); + dJointSetSliderParam(this->_id, dParamBounce, Bounce); + dJointSetSliderParam(this->_id, dParamStopERP, StopERP); + dJointSetSliderParam(this->_id, dParamStopCFM, StopCFM); + } + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/JointSlider.h ode-0.14/contrib/DotNetManaged/JointSlider.h --- ode-0.11.1/contrib/DotNetManaged/JointSlider.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/JointSlider.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,158 @@ +#pragma once + +#include "Joint.h" +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class JointSlider : public Joint + { + public: + + + //Constructors + + JointSlider(void); + JointSlider(World &world); + JointSlider(World &world, JointGroup &jointGroup); + + + //Destructors + + virtual ~JointSlider(void); + + + //Methods + + //Overloaded Create + void Create(World &world, JointGroup &jointGroup); + void Create(World &world); + + //Overloaded Attach + void Attach(Body &body1, Body &body2); + void Attach(Body &body1); + + void SetAxis(double x, double y, double z); + Vector3 GetAxis(void); + + void SetAllMovParams(double LoStop, double HiStop, + double Velocity, double MaxForce, + double FudgeFactor, double Bounce, + double StopERP, double StopCFM); + + + //Properties + + //LoStop + __property double get_LoStop(void) + { + return dJointGetSliderParam(this->_id, dParamLoStop); + } + + __property void set_LoStop(double value) + { + if (value <=0) + dJointSetSliderParam(this->_id, dParamLoStop, value); + } + + + //HiStop + __property double get_HiStop(void) + { + return dJointGetSliderParam(this->_id, dParamHiStop); + } + + __property void set_HiStop(double value) + { + if (value >= 0) + dJointSetSliderParam(this->_id, dParamHiStop, value); + } + + + //Velocity + __property double get_Velocity(void) + { + return dJointGetSliderParam(this->_id, dParamVel); + } + + __property void set_Velocity(double value) + { + dJointSetSliderParam(this->_id, dParamVel, value); + } + + + //MaxForce + __property double get_MaxForce(void) + { + return dJointGetSliderParam(this->_id, dParamFMax); + } + + __property void set_MaxForce(double value) + { + dJointSetSliderParam(this->_id, dParamFMax, value); + } + + + //FudgeFactor + __property double get_FudgeFactor(void) + { + return dJointGetSliderParam(this->_id, dParamFudgeFactor); + } + + __property void set_FudgeFactor(double value) + { + dJointSetSliderParam(this->_id, dParamFudgeFactor, value); + } + + + //Bounce + __property double get_Bounce(void) + { + return dJointGetSliderParam(this->_id, dParamBounce); + } + + __property void set_Bounce(double value) + { + dJointSetSliderParam(this->_id, dParamBounce, value); + } + + + //StopERP + __property double get_StopERP(void) + { + return dJointGetSliderParam(this->_id, dParamStopERP); + } + + __property void set_StopERP(double value) + { + dJointSetSliderParam(this->_id, dParamStopERP, value); + } + + + //StopCFM + __property double get_StopCFM(void) + { + return dJointGetSliderParam(this->_id, dParamStopCFM); + } + + __property void set_StopCFM(double value) + { + dJointSetSliderParam(this->_id, dParamStopCFM, value); + } + + + //GetAngle + __property double get_Position(void) + { + return dJointGetSliderPosition(this->_id); + } + + + //GetAngleRate + __property double get_PositionRate(void) + { + return dJointGetSliderPositionRate(this->_id); + } + + }; +} Binary files /tmp/tmpNfaSSr/5EcxXHrCux/ode-0.11.1/contrib/DotNetManaged/Release/ode.dll and /tmp/tmpNfaSSr/_koI2QKgiP/ode-0.14/contrib/DotNetManaged/Release/ode.dll differ diff -Nru ode-0.11.1/contrib/DotNetManaged/Space.cpp ode-0.14/contrib/DotNetManaged/Space.cpp --- ode-0.11.1/contrib/DotNetManaged/Space.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Space.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,53 @@ +#include "StdAfx.h" + +#include +#include "Space.h" +#include "TEST.h" + +namespace ODEManaged +{ + + //Constructor + + Space::Space(void) + { + _id = dSimpleSpaceCreate(); + } + + Space::Space(int minlevel, int maxlevel) + { + _id = dHashSpaceCreate(); + dHashSpaceSetLevels(this->_id, minlevel, maxlevel); + } + + + //Destructor + + Space::~Space(void) + { + dSpaceDestroy(this->_id); + } + + + //Methods + + //Id + dSpaceID Space::Id() + { + return _id; + } + + + //Collide + void Space::Collide(void *data, dNearCallback *callback) + { + dSpaceCollide(this->_id, data, callback); + } + + + + + + + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/Space.h ode-0.14/contrib/DotNetManaged/Space.h --- ode-0.11.1/contrib/DotNetManaged/Space.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Space.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,33 @@ +#pragma once + +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class Space + { + public: + + //Constructor + + Space(void); + Space(int minlevel, int maxlevel); + + //Destructor + + ~Space(void); + + + //Methods + + dSpaceID Id(void); + void Collide(void *data, dNearCallback *callback); + + + private: + + dSpaceID _id; + + }; + +} diff -Nru ode-0.11.1/contrib/DotNetManaged/Stdafx.cpp ode-0.14/contrib/DotNetManaged/Stdafx.cpp --- ode-0.11.1/contrib/DotNetManaged/Stdafx.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Stdafx.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,5 @@ +// stdafx.cpp : source file that includes just the standard includes +// ODEManaged.pch will be the pre-compiled header +// stdafx.obj will contain the pre-compiled type information + +#include "stdafx.h" diff -Nru ode-0.11.1/contrib/DotNetManaged/Stdafx.h ode-0.14/contrib/DotNetManaged/Stdafx.h --- ode-0.11.1/contrib/DotNetManaged/Stdafx.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/Stdafx.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,12 @@ +// stdafx.h : include file for standard system include files, +// or project specific include files that are used frequently, +// but are changed infrequently + +#pragma once + +#using + + + + + diff -Nru ode-0.11.1/contrib/DotNetManaged/TEST.h ode-0.14/contrib/DotNetManaged/TEST.h --- ode-0.11.1/contrib/DotNetManaged/TEST.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/TEST.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,17 @@ + +#pragma once + +#include "CommonMgd.h" + +namespace ODEManaged +{ + +void RnearCallback(void *data, dGeomID o1, dGeomID o2) + { + } + +} + + + + diff -Nru ode-0.11.1/contrib/DotNetManaged/World.cpp ode-0.14/contrib/DotNetManaged/World.cpp --- ode-0.11.1/contrib/DotNetManaged/World.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/World.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,74 @@ +#include "StdAfx.h" + +#include +#include "World.h" + +namespace ODEManaged +{ + + //Constructor + + World::World(void) + { + /*dWorldID _temp = dWorldCreate(); + _id = _temp;*/ + _id = dWorldCreate(); + } + + + //Destructor + + World::~World(void) + { + dWorldDestroy(this->_id); + } + + + //Methods + + //Id + dWorldID World::Id() + { + return _id; + } + + + //SetGravity + void World::SetGravity(double x, double y, double z) + { + dWorldSetGravity(this->_id, x, y, z); + } + + + //Overloaded GetGravity + Vector3 World::GetGravity(void) + { + Vector3 retVal; + dVector3 temp; + dWorldGetGravity(this->_id, temp); + retVal.x = temp[0]; + retVal.y = temp[1]; + retVal.z = temp[2]; + return retVal; + } + + void World::GetGravity(double gravity __gc[]) + { + dVector3 temp; + dWorldGetGravity(this->_id, temp); + gravity[0] = temp[0]; + gravity[1] = temp[1]; + gravity[2] = temp[2]; + } + + + //Step + void World::Step(double stepSize) + { + dWorldStep(this->_id, stepSize); + } + +} + + + diff -Nru ode-0.11.1/contrib/DotNetManaged/World.h ode-0.14/contrib/DotNetManaged/World.h --- ode-0.11.1/contrib/DotNetManaged/World.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/DotNetManaged/World.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,67 @@ +#pragma once + +#include "CommonMgd.h" + +namespace ODEManaged +{ + __gc public class World + { + public: + + //Constructor + + World(void); + + + //Destructor + + ~World(void); + + + // Methods + + dWorldID Id(void); + + void SetGravity(double x, double y, double z); + + //Overloaded GetGravity + Vector3 GetGravity(void); + void GetGravity(double gravity __gc[]); + + void Step(double stepSize); + + + //Properties + + //Constraint Force Mixing + __property void set_CFM(double cfm) + { + dWorldSetCFM(this->_id,cfm); + } + + __property double get_CFM(void) + { + return dWorldGetCFM(this->_id); + } + + + //Error Reduction Parameter + __property void set_ERP(double erp) + { + dWorldSetERP(this->_id,erp); + } + + __property double get_ERP(void) + { + return dWorldGetERP(this->_id); + } + + + private: + + dWorldID _id; + + }; + +} + diff -Nru ode-0.11.1/contrib/dRay/dRay_Box.cpp ode-0.14/contrib/dRay/dRay_Box.cpp --- ode-0.11.1/contrib/dRay/dRay_Box.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/dRay_Box.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,134 @@ +// Ripped from Magic Software + +#include "Include\dRay.h" +#include "dxRay.h" + +bool Clip(dReal Denom, dReal Numer, dReal& T0, dReal& T1){ + // Return value is 'true' if line segment intersects the current test + // plane. Otherwise 'false' is returned in which case the line segment + // is entirely clipped. + + if (Denom > REAL(0.0)){ + if (Numer > Denom * T1){ + return false; + } + + if (Numer > Denom * T0){ + T0 = Numer / Denom; + } + return true; + } + else if (Denom < REAL(0.0)){ + if (Numer > Denom * T0){ + return false; + } + + if (Numer > Denom * T1){ + T1 = Numer / Denom; + } + return true; + } + else return Numer <= REAL(0.0); +} + +bool FindIntersection(const dVector3 Origin, const dVector3 Direction, const dVector3 Extents, dReal& T0, dReal& T1){ + dReal SaveT0 = T0; + dReal SaveT1 = T1; + + bool NotEntirelyClipped = + Clip(+Direction[0], -Origin[0] - Extents[0], T0, T1) && + Clip(-Direction[0], +Origin[0] - Extents[0], T0, T1) && + Clip(+Direction[1], -Origin[1] - Extents[1], T0, T1) && + Clip(-Direction[1], +Origin[1] - Extents[1], T0, T1) && + Clip(+Direction[2], -Origin[2] - Extents[2], T0, T1) && + Clip(-Direction[2], +Origin[2] - Extents[2], T0, T1); + + return NotEntirelyClipped && (T0 != SaveT0 || T1 != SaveT1); +} + +int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){ + const dVector3& Position = *(const dVector3*)dGeomGetPosition(BoxGeom); + const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(BoxGeom); + dVector3 Extents; + dGeomBoxGetLengths(BoxGeom, Extents); + Extents[0] /= 2; + Extents[1] /= 2; + Extents[2] /= 2; + Extents[3] /= 2; + + dVector3 Origin, Direction; + dGeomRayGet(RayGeom, Origin, Direction); + dReal Length = dGeomRayGetLength(RayGeom); + + dVector3 Diff; + Diff[0] = Origin[0] - Position[0]; + Diff[1] = Origin[1] - Position[1]; + Diff[2] = Origin[2] - Position[2]; + Diff[3] = Origin[3] - Position[3]; + + Direction[0] *= Length; + Direction[1] *= Length; + Direction[2] *= Length; + Direction[3] *= Length; + + dVector3 Rot[3]; + Decompose(Rotation, Rot); + + dVector3 TransOrigin; + TransOrigin[0] = dDOT(Diff, Rot[0]); + TransOrigin[1] = dDOT(Diff, Rot[1]); + TransOrigin[2] = dDOT(Diff, Rot[2]); + TransOrigin[3] = REAL(0.0); + + dVector3 TransDirection; + TransDirection[0] = dDOT(Direction, Rot[0]); + TransDirection[1] = dDOT(Direction, Rot[1]); + TransDirection[2] = dDOT(Direction, Rot[2]); + TransDirection[3] = REAL(0.0); + + dReal T[2]; + T[0] = 0.0f; + T[1] = dInfinity; + + bool Intersect = FindIntersection(TransOrigin, TransDirection, Extents, T[0], T[1]); + + if (Intersect){ + if (T[0] > REAL(0.0)){ + dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride); + Contact0->pos[0] = Origin[0] + T[0] * Direction[0]; + Contact0->pos[1] = Origin[1] + T[0] * Direction[1]; + Contact0->pos[2] = Origin[2] + T[0] * Direction[2]; + Contact0->pos[3] = Origin[3] + T[0] * Direction[3]; + //Contact0->normal = 0; + Contact0->depth = 0.0f; + Contact0->g1 = RayGeom; + Contact0->g2 = BoxGeom; + + dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride); + Contact1->pos[0] = Origin[0] + T[1] * Direction[0]; + Contact1->pos[1] = Origin[1] + T[1] * Direction[1]; + Contact1->pos[2] = Origin[2] + T[1] * Direction[2]; + Contact1->pos[3] = Origin[3] + T[1] * Direction[3]; + //Contact1->normal = 0; + Contact1->depth = 0.0f; + Contact1->g1 = RayGeom; + Contact1->g2 = BoxGeom; + + return 2; + } + else{ + dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride); + Contact->pos[0] = Origin[0] + T[1] * Direction[0]; + Contact->pos[1] = Origin[1] + T[1] * Direction[1]; + Contact->pos[2] = Origin[2] + T[1] * Direction[2]; + Contact->pos[3] = Origin[3] + T[1] * Direction[3]; + //Contact->normal = 0; + Contact->depth = 0.0f; + Contact->g1 = RayGeom; + Contact->g2 = BoxGeom; + + return 1; + } + } + else return 0; +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/dRay/dRay_CCylinder.cpp ode-0.14/contrib/dRay/dRay_CCylinder.cpp --- ode-0.11.1/contrib/dRay/dRay_CCylinder.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/dRay_CCylinder.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,199 @@ +// Ripped from Magic Software + +#include "Include\dRay.h" +#include "dxRay.h" + +int Find(const dVector3 Origin, dVector3 Direction, dReal Length, const dVector3 CCPos, const dMatrix3 CCRot, dReal CCRadius, dReal CCLength, dReal T[2]){ + dVector3 U, V, W; + Decompose(CCRot, U, V, W); + + dVector3 CCOrigin; + CCOrigin[0] = CCPos[0] - (W[0] * CCLength / 2); + CCOrigin[1] = CCPos[1] - (W[1] * CCLength / 2); + CCOrigin[2] = CCPos[2] - (W[2] * CCLength / 2); + CCOrigin[3] = CCPos[3] - (W[3] * CCLength / 2); + + dVector3 D; + D[0] = dDOT(U, Direction); + D[1] = dDOT(V, Direction); + D[2] = dDOT(W, Direction); + + dReal DMag = Length; + dReal InvDMag = REAL(1.0) / DMag; + + dVector3 Diff; + Diff[0] = Origin[0] - CCOrigin[0]; + Diff[1] = Origin[1] - CCOrigin[1]; + Diff[2] = Origin[2] - CCOrigin[2]; + Diff[3] = Origin[3] - CCOrigin[3]; + + dVector3 P; + P[0] = dDOT(U, Diff); + P[1] = dDOT(V, Diff); + P[2] = dDOT(W, Diff); + + dReal CCRadiusSq = CCRadius * CCRadius; + + dReal Epsilon = 1e-12f; + + if (dFabs(D[2]) >= REAL(1.0) - Epsilon){ // line is parallel to capsule axis + dReal Discr = CCRadiusSq - P[0] * P[0] - P[1] * P[1]; + + if (Discr >= REAL(0.0)){ + dReal Root = dSqrt(Discr); + T[0] = (-P[2] + Root) * InvDMag; + T[1] = (CCLength - P[2] + Root) * InvDMag; + return 2; + } + else return 0; + } + + // test intersection with infinite cylinder + dReal A = D[0] * D[0] + D[1] * D[1]; + dReal B = P[0] * D[0] + P[1] * D[1]; + dReal C = P[0] * P[0] + P[1] * P[1] - CCRadiusSq; + dReal Discr = B * B - A * C; + if (Discr < REAL(0.0)){ // line does not intersect infinite cylinder + return 0; + } + + int Count = 0; + + if (Discr > REAL(0.0)){ // line intersects infinite cylinder in two places + dReal Root = dSqrt(Discr); + dReal Inv = REAL(1.0) / A; + + dReal TTemp = (-B - Root) * Inv; + + dReal Tmp = P[2] + TTemp * D[2]; + if (REAL(0.0) <= Tmp && Tmp <= CCLength){ + T[Count++] = TTemp * InvDMag; + } + + + TTemp = (-B + Root) * Inv; + Tmp = P[2] + TTemp * D[2]; + if (REAL(0.0) <= Tmp && Tmp <= CCLength){ + T[Count++] = TTemp * InvDMag; + } + + if (Count == 2){ // line intersects capsule wall in two places + return 2; + } + } + else{ // line is tangent to infinite cylinder + dReal TTemp = -B / A; + dReal Tmp = P[2] + TTemp * D[2]; + if (REAL(0.0) <= Tmp && Tmp <= CCLength){ + T[0] = TTemp * InvDMag; + return 1; + } + } + + // test intersection with bottom hemisphere + // fA = 1 + B += P[2] * D[2]; + C += P[2] * P[2]; + Discr = B * B - C; + if (Discr > REAL(0.0)){ + dReal Root = dSqrt(Discr); + dReal TTemp = -B - Root; + dReal Tmp = P[2] + TTemp * D[2]; + if (Tmp <= REAL(0.0)){ + T[Count++] = TTemp * InvDMag; + if (Count == 2){ + return 2; + } + } + + TTemp = -B + Root; + Tmp = P[2] + TTemp * D[2]; + if (Tmp <= REAL(0.0)){ + T[Count++] = TTemp * InvDMag; + if (Count == 2){ + return 2; + } + } + } + else if (Discr == REAL(0.0)){ + dReal TTemp = -B; + dReal Tmp = P[2] + TTemp * D[2]; + if (Tmp <= REAL(0.0)){ + T[Count++] = TTemp * InvDMag; + if (Count == 2){ + return 2; + } + } + } + + // test intersection with top hemisphere + // fA = 1 + B -= D[2] * CCLength; + C += CCLength * (CCLength - REAL(2.0) * P[2]); + + Discr = B * B - C; + if (Discr > REAL(0.0)){ + dReal Root = dSqrt(Discr); + dReal TTemp = -B - Root; + dReal Tmp = P[2] + TTemp * D[2]; + if (Tmp >= CCLength){ + + T[Count++] = TTemp * InvDMag; + if (Count == 2){ + return 2; + } + } + + TTemp = -B + Root; + Tmp = P[2] + TTemp * D[2]; + if (Tmp >= CCLength){ + T[Count++] = TTemp * InvDMag; + if (Count == 2){ + return 2; + } + } + } + else if (Discr == REAL(0.0)){ + dReal TTemp = -B; + dReal Tmp = P[2] + TTemp * D[2]; + if (Tmp >= CCLength){ + T[Count++] = TTemp * InvDMag; + if (Count == 2){ + return 2; + } + } + } + return Count; +} + +int dCollideCCR(dxGeom* RayGeom, dxGeom* CCGeom, int Flags, dContactGeom* Contacts, int Stride){ + const dVector3& CCPos = *(const dVector3*)dGeomGetPosition(CCGeom); + const dMatrix3& CCRot = *(const dMatrix3*)dGeomGetRotation(CCGeom); + + dReal CCRadius, CCLength; + dGeomCCylinderGetParams(CCGeom, &CCRadius, &CCLength); + + dVector3 Origin, Direction; + dGeomRayGet(RayGeom, Origin, Direction); + dReal Length = dGeomRayGetLength(RayGeom); + + dReal T[2]; + int Count = Find(Origin, Direction, Length, CCPos, CCRot, CCRadius, CCLength, T); + int ContactCount = 0; + for (int i = 0; i < Count; i++){ + if (T[i] >= 0.0){ + dContactGeom* Contact = CONTACT(Flags, Contacts, ContactCount, Stride); + Contact->pos[0] = Origin[0] + T[i] * Direction[0] * Length; + Contact->pos[1] = Origin[1] + T[i] * Direction[1] * Length; + Contact->pos[2] = Origin[2] + T[i] * Direction[2] * Length; + Contact->pos[3] = Origin[3] + T[i] * Direction[3] * Length; + //Contact->normal = 0; + Contact->depth = 0.0f; + Contact->g1 = RayGeom; + Contact->g2 = CCGeom; + + ContactCount++; + } + } + return ContactCount; +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/dRay/dRay.cpp ode-0.14/contrib/dRay/dRay.cpp --- ode-0.11.1/contrib/dRay/dRay.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/dRay.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,119 @@ +#include "Include\dRay.h" +#include "dxRay.h" + +int dRayClass = -1; + +void dAABBRay(dxGeom* Ray, dReal AABB[6]){ + dVector3 Start, End; + dGeomRayGet(Ray, Start, End); + dReal Length = dGeomRayGetLength(Ray); + + End[0] = Start[0] + End[0] * Length; + End[1] = Start[1] + End[1] * Length; + End[2] = Start[2] + End[2] * Length; + End[3] = Start[3] + End[3] * Length; + + if (Start[0] < End[0]){ + AABB[0] = Start[0]; + AABB[1] = End[0]; + } + else{ + AABB[0] = End[0]; + AABB[1] = Start[0]; + } + + if (Start[1] < End[1]){ + AABB[2] = Start[1]; + AABB[3] = End[1]; + } + else{ + AABB[2] = End[1]; + AABB[3] = Start[1]; + } + + if (Start[2] < End[2]){ + AABB[4] = Start[2]; + AABB[5] = End[2]; + } + else{ + AABB[4] = End[2]; + AABB[5] = Start[2]; + } + // Should we tweak the box to have a minimum size for axis aligned lines? How small should it be? +} + +dColliderFn* dRayColliderFn(int num){ + if (num == dPlaneClass) return (dColliderFn*)&dCollidePR; + if (num == dSphereClass) return (dColliderFn*)&dCollideSR; + if (num == dBoxClass) return (dColliderFn*)&dCollideBR; + if (num == dCCylinderClass) return (dColliderFn*)&dCollideCCR; + return 0; +} + +dxGeom* dGeomCreateRay(dSpaceID space, dReal Length){ + if (dRayClass == -1){ + dGeomClass c; + c.bytes = sizeof(dxRay); + c.collider = &dRayColliderFn; + c.aabb = &dAABBRay; + c.aabb_test = 0; + c.dtor = 0; + + dRayClass = dCreateGeomClass(&c); + } + + dxGeom* g = dCreateGeom(dRayClass); + if (space) dSpaceAdd(space, g); + + dGeomRaySetLength(g, Length); + return g; +} + +void dGeomRaySetLength(dxGeom* g, dReal Length){ + ((dxRay*)dGeomGetClassData(g))->Length = Length; +} + +dReal dGeomRayGetLength(dxGeom* g){ + return ((dxRay*)dGeomGetClassData(g))->Length; +} + +void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction){ + dGeomSetPosition(g, Origin[0], Origin[1], Origin[2]); + + dVector3 Up, Right; + dPlaneSpace(Direction, Up, Right); + + Origin[3] = Up[3] = Right[3] = REAL(0.0); + + dMatrix3 Rotation; + Rotation[0 * 4 + 0] = Right[0]; + Rotation[1 * 4 + 0] = Right[1]; + Rotation[2 * 4 + 0] = Right[2]; + Rotation[3 * 4 + 0] = Right[3]; + + Rotation[0 * 4 + 1] = Up[0]; + Rotation[1 * 4 + 1] = Up[1]; + Rotation[2 * 4 + 1] = Up[2]; + Rotation[3 * 4 + 1] = Up[3]; + + Rotation[0 * 4 + 2] = Direction[0]; + Rotation[1 * 4 + 2] = Direction[1]; + Rotation[2 * 4 + 2] = Direction[2]; + Rotation[3 * 4 + 2] = Direction[3]; + + dGeomSetRotation(g, Rotation); +} + +void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction){ + const dReal* Position = dGeomGetPosition(g); + Origin[0] = Position[0]; + Origin[1] = Position[1]; + Origin[2] = Position[2]; + Origin[3] = Position[3]; + + const dReal* Rotation = dGeomGetRotation(g); + Direction[0] = Rotation[0 * 4 + 2]; + Direction[1] = Rotation[1 * 4 + 2]; + Direction[2] = Rotation[2 * 4 + 2]; + Direction[3] = Rotation[3 * 4 + 2]; +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/dRay/dRay_Plane.cpp ode-0.14/contrib/dRay/dRay_Plane.cpp --- ode-0.11.1/contrib/dRay/dRay_Plane.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/dRay_Plane.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,35 @@ +// Ripped from Paul Bourke + +#include "Include\dRay.h" +#include "dxRay.h" + +int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contact, int Stride){ + dVector3 Plane; + dGeomPlaneGetParams(PlaneGeom, Plane); + + dVector3 Origin, Direction; + dGeomRayGet(RayGeom, Origin, Direction); + + dReal Length = dGeomRayGetLength(RayGeom); + + dReal Denom = Plane[0] * Direction[0] + Plane[1] * Direction[1] + Plane[2] * Direction[2]; + if (dFabs(Denom) < 0.00001f){ + return 0; // Ray never hits + } + + float T = -(Plane[3] + Plane[0] * Origin[0] + Plane[1] * Origin[1] + Plane[2] * Origin[2]) / Denom; + + if (T < 0 || T > Length){ + return 0; // Ray hits but not within boundaries + } + + Contact->pos[0] = Origin[0] + T * Direction[0]; + Contact->pos[1] = Origin[1] + T * Direction[1]; + Contact->pos[2] = Origin[2] + T * Direction[2]; + Contact->pos[3] = REAL(0.0); + //Contact->normal = 0; + Contact->depth = 0.0f; + Contact->g1 = RayGeom; + Contact->g2 = PlaneGeom; + return 1; +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/dRay/dRay_Sphere.cpp ode-0.14/contrib/dRay/dRay_Sphere.cpp --- ode-0.11.1/contrib/dRay/dRay_Sphere.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/dRay_Sphere.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,95 @@ +// Ripped from Magic Software + +#include "Include\dRay.h" +#include "dxRay.h" + +int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){ + const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom); + dReal Radius = dGeomSphereGetRadius(SphereGeom); + + dVector3 Origin, Direction; + dGeomRayGet(RayGeom, Origin, Direction); + dReal Length = dGeomRayGetLength(RayGeom); + + dVector3 Diff; + Diff[0] = Origin[0] - Position[0]; + Diff[1] = Origin[1] - Position[1]; + Diff[2] = Origin[2] - Position[2]; + Diff[3] = Origin[3] - Position[3]; + + Direction[0] *= Length; + Direction[1] *= Length; + Direction[2] *= Length; + Direction[3] *= Length; + + dReal A = Length * Length; + dReal B = dDOT(Diff, Direction); + dReal C = dDOT(Diff, Diff) - (Radius * Radius); + + dReal Discr = B * B - A * C; + if (Discr < REAL(0.0)){ + return 0; + } + else if (Discr > REAL(0.0)){ + dReal T[2]; + dReal Root = dSqrt(Discr); + dReal InvA = REAL(1.0) / A; + T[0] = (-B - Root) * InvA; + T[1] = (-B + Root) * InvA; + + if (T[0] >= REAL(0.0)){ + dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride); + Contact0->pos[0] = Origin[0] + T[0] * Direction[0]; + Contact0->pos[1] = Origin[1] + T[0] * Direction[1]; + Contact0->pos[2] = Origin[2] + T[0] * Direction[2]; + Contact0->pos[3] = Origin[3] + T[0] * Direction[3]; + //Contact0->normal = 0; + Contact0->depth = 0.0f; + Contact0->g1 = RayGeom; + Contact0->g2 = SphereGeom; + + dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride); + Contact1->pos[0] = Origin[0] + T[1] * Direction[0]; + Contact1->pos[1] = Origin[1] + T[1] * Direction[1]; + Contact1->pos[2] = Origin[2] + T[1] * Direction[2]; + Contact1->pos[3] = Origin[3] + T[1] * Direction[3]; + //Contact1->normal = 0; + Contact1->depth = 0.0f; + Contact1->g1 = RayGeom; + Contact1->g2 = SphereGeom; + + return 2; + } + else if (T[1] >= REAL(0.0)){ + dContactGeom* Contact = CONTACT(Flags, Contacts, 1, Stride); + Contact->pos[0] = Origin[0] + T[1] * Direction[0]; + Contact->pos[1] = Origin[1] + T[1] * Direction[1]; + Contact->pos[2] = Origin[2] + T[1] * Direction[2]; + Contact->pos[3] = Origin[3] + T[1] * Direction[3]; + //Contact->normal = 0; + Contact->depth = 0.0f; + Contact->g1 = RayGeom; + Contact->g2 = SphereGeom; + + return 1; + } + else return 0; + } + else{ + dReal T; + T = -B / A; + if (T >= REAL(0.0)){ + dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride); + Contact->pos[0] = Origin[0] + T * Direction[0]; + Contact->pos[1] = Origin[1] + T * Direction[1]; + Contact->pos[2] = Origin[2] + T * Direction[2]; + Contact->pos[3] = Origin[3] + T * Direction[3]; + //Contact->normal = 0; + Contact->depth = 0.0f; + Contact->g1 = RayGeom; + Contact->g2 = SphereGeom; + return 1; + } + else return 0; + } +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/dRay/dxRay.h ode-0.14/contrib/dRay/dxRay.h --- ode-0.11.1/contrib/dRay/dxRay.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/dxRay.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,32 @@ +struct dxRay{ + dReal Length; +}; + +inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){ + Right[0] = Matrix[0 * 4 + 0]; + Right[1] = Matrix[1 * 4 + 0]; + Right[2] = Matrix[2 * 4 + 0]; + Right[3] = Matrix[3 * 4 + 0]; + Up[0] = Matrix[0 * 4 + 1]; + Up[1] = Matrix[1 * 4 + 1]; + Up[2] = Matrix[2 * 4 + 1]; + Up[3] = Matrix[3 * 4 + 1]; + Direction[0] = Matrix[0 * 4 + 2]; + Direction[1] = Matrix[1 * 4 + 2]; + Direction[2] = Matrix[2 * 4 + 2]; + Direction[3] = Matrix[3 * 4 + 2]; +} + +inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){ + Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]); +} + +inline dContactGeom* CONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){ + dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff)); + return ((dContactGeom*)(((char*)Contacts) + (Index * Stride))); +} + +int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contacts, int Stride); +int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride); +int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride); +int dCollideCCR(dxGeom* RayGeom, dxGeom* CCylinderGeom, int Flags, dContactGeom* Contacts, int Stride); \ No newline at end of file diff -Nru ode-0.11.1/contrib/dRay/Include/dRay.h ode-0.14/contrib/dRay/Include/dRay.h --- ode-0.11.1/contrib/dRay/Include/dRay.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/Include/dRay.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,15 @@ +#include "ode\ode.h" + +/* Class ID */ +extern int dRayClass; + +/* Creates a ray */ +dxGeom* dGeomCreateRay(dSpaceID space, dReal Length); + +/* Set/Get length */ +void dGeomRaySetLength(dxGeom* g, dReal Length); +dReal dGeomRayGetLength(dxGeom* g); + +/* Utility function to override the ray's pos + rot */ +void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction); +void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction); diff -Nru ode-0.11.1/contrib/dRay/README.txt ode-0.14/contrib/dRay/README.txt --- ode-0.11.1/contrib/dRay/README.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/README.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,16 @@ +From: "Erwin de Vries" +To: +Subject: [ODE] dRay class +Date: Thu, 25 Jul 2002 13:05:28 +0200 + +Yesterday and today i've written a dRay class. It interacts with dPlane, +dSphere, dBox and dCCylinder. It does not generate full contact information. +It only generates the pos member. I dont think its useful to anyone to go +through hoops and find a reasonable normal and penetration depth, as i dont +think anyone will want to use it for dynamics. Just for CD. + +It should compile in single and double precision mode, and should be +platform independant. I hope. + +The next Tri-Collider release using Opcode 1.1 will also implement a ray +collision function along with some other not too interesting improvements. diff -Nru ode-0.11.1/contrib/dRay/Test/test_ray.cpp ode-0.14/contrib/dRay/Test/test_ray.cpp --- ode-0.11.1/contrib/dRay/Test/test_ray.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/dRay/Test/test_ray.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1372 @@ +/************************************************************************* + + + * * + + + * 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 + + +#include + + +#include + + + + + +#ifdef _MSC_VER + + +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints + + +#endif + + + + + +// select correct drawing functions + + + + + +#ifdef dDOUBLE + + +#define dsDrawBox dsDrawBoxD + + +#define dsDrawSphere dsDrawSphereD + + +#define dsDrawCylinder dsDrawCylinderD + + +#define dsDrawCappedCylinder dsDrawCappedCylinderD + + +#endif + + + + + + + + +// some constants + + + + + +#define NUM 20 // max number of objects + + +#define DENSITY (5.0) // density of all objects + + +#define GPB 3 // maximum number of geometries per body + + + + + + + + +// dynamics and collision objects + + + + + +struct MyObject { + + + dBodyID body; // the body + + + dGeomID geom[GPB]; // geometries representing this body + + +}; + + + + + +static int num=0; // number of objects in simulation + + +static int nextobj=0; // next object to recycle if num==NUM + + +static dWorldID world; + + +static dSpaceID space; + + +static MyObject obj[NUM]; + + +static dJointGroupID contactgroup; + + +static int selected = -1; // selected object + + + + + +static dGeomID* Rays; + + +static int RayCount; + + + + + +// this is called by dSpaceCollide when two objects in space are + + +// potentially colliding. + + + + + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) + + +{ + + + int i; + + + // if (o1->body && o2->body) return; + + + + + + // exit without doing anything if the two bodies are connected by a joint + + + dBodyID b1 = dGeomGetBody(o1); + + + dBodyID b2 = dGeomGetBody(o2); + + + if (b1 && b2 && dAreConnected (b1,b2)) return; + + + + + + dContact contact[32]; // up to 3 contacts per box + + + for (i=0; i<32; i++) { + + + contact[i].surface.mode = dContactBounce; //dContactMu2; + + + contact[i].surface.mu = dInfinity; + + + contact[i].surface.mu2 = 0; + + + contact[i].surface.bounce = 0.5; + + + contact[i].surface.bounce_vel = 0.1; + + + } + + + if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { + + + dMatrix3 RI; + + + dRSetIdentity (RI); + + + const dReal ss[3] = {0.02,0.02,0.02}; + + + for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); + + + else return c; + + +} + + + + + + + + +// called when a key pressed + + + + + +static void command (int cmd) + + +{ + + + int i,j,k; + + + dReal sides[3]; + + + dMass m; + + + + + + cmd = locase (cmd); + + + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') { + + + if (num < NUM) { + + + i = num; + + + num++; + + + } + + + else { + + + i = nextobj; + + + nextobj++; + + + if (nextobj >= num) nextobj = 0; + + + + + + // destroy the body and geoms for slot i + + + dBodyDestroy (obj[i].body); + + + for (k=0; k < GPB; k++) { + + + if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); + + + } + + + memset (&obj[i],0,sizeof(obj[i])); + + + } + + + + + + obj[i].body = dBodyCreate (world); + + + for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; + + + + + + dBodySetPosition (obj[i].body, + + + dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1); + + + dMatrix3 R; + + + dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + + + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + + + dBodySetRotation (obj[i].body,R); + + + dBodySetData (obj[i].body,(void*) i); + + + + + + if (cmd == 'b') { + + + dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); + + + obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); + + + } + + + else if (cmd == 'c') { + + + sides[0] *= 0.5; + + + dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); + + + obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); + + + } + + + else if (cmd == 's') { + + + sides[0] *= 0.5; + + + dMassSetSphere (&m,DENSITY,sides[0]); + + + obj[i].geom[0] = dCreateSphere (space,sides[0]); + + + } + + + else if (cmd == 'x') { + + + dGeomID g2[GPB]; // encapsulated geometries + + + dReal dpos[GPB][3]; // delta-positions for encapsulated geometries + + + + + + // start accumulating masses for the encapsulated geometries + + + dMass m2; + + + dMassSetZero (&m); + + + + + + // set random delta positions + + + for (j=0; j= num) selected = 0; + + + if (selected < 0) selected = 0; + + + } + + + else if (cmd == 'd' && selected >= 0 && selected < num) { + + + dBodyDisable (obj[selected].body); + + + } + + + else if (cmd == 'e' && selected >= 0 && selected < num) { + + + dBodyEnable (obj[selected].body); + + + } + + +} + + + + + + + + +// draw a geom + + + + + +void drawGeom (dGeomID g, const dReal *pos, const dReal *R) + + +{ + + + if (!g) return; + + + if (!pos) pos = dGeomGetPosition (g); + + + if (!R) R = dGeomGetRotation (g); + + + + + + int type = dGeomGetClass (g); + + + if (type == dBoxClass) { + + + dVector3 sides; + + + dGeomBoxGetLengths (g,sides); + + + dsDrawBox (pos,R,sides); + + + } + + + else if (type == dSphereClass) { + + + dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); + + + } + + + else if (type == dCCylinderClass) { + + + dReal radius,length; + + + dGeomCCylinderGetParams (g,&radius,&length); + + + dsDrawCappedCylinder (pos,R,length,radius); + + + } + + + else if (type == dGeomTransformClass) { + + + dGeomID g2 = dGeomTransformGetGeom (g); + + + const dReal *pos2 = dGeomGetPosition (g2); + + + const dReal *R2 = dGeomGetRotation (g2); + + + dVector3 actual_pos; + + + dMatrix3 actual_R; + + + dMULTIPLY0_331 (actual_pos,R,pos2); + + + actual_pos[0] += pos[0]; + + + actual_pos[1] += pos[1]; + + + actual_pos[2] += pos[2]; + + + dMULTIPLY0_333 (actual_R,R,R2); + + + drawGeom (g2,actual_pos,actual_R); + + + } + + +} + + + + + + + + +// simulation loop + + + + + +static void simLoop (int pause) + + +{ + + + dsSetColor (0,0,2); + + + dSpaceCollide (space,0,&nearCallback); + + + if (!pause) dWorldStep (world,0.05); + + + + + + // remove all contact joints + + + dJointGroupEmpty (contactgroup); + + + + + + dsSetColor (1,1,0); + + + dsSetTexture (DS_WOOD); + + + for (int i=0; i +#include +#include +#include +#include +#include +#include +#include +#include +#include "objects.h" +#include "array.h" +#include "geom_internal.h" + +// given a pointer `p' to a dContactGeom, return the dContactGeom at +// p + skip bytes. + +#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) + + +// ############################################################################ + +int dGeomTransformGroupClass = -1; +// ############################################################################ + +struct dxGeomTransformGroup { + dArray parts; // all the geoms that make up the group + dVector3 relativePosition; + dMatrix3 relativeRotation; +}; +// ############################################################################ + +void dGeomTransformGroupSetRelativePosition (dxGeom *g, dReal x, dReal y, dReal z) +{ + dAASSERT (g); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + transformGroup->relativePosition[0] = x; + transformGroup->relativePosition[1] = y; + transformGroup->relativePosition[2] = z; +} +// ############################################################################ + +void dGeomTransformGroupSetRelativeRotation (dxGeom *g, const dMatrix3 R) +{ + dAASSERT (g); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + memcpy (transformGroup->relativeRotation,R,sizeof(dMatrix3)); +} +// ############################################################################ + +const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g) +{ + dAASSERT (g); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + return transformGroup->relativePosition; +} +// ############################################################################ + +const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g) +{ + dAASSERT (g); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + return transformGroup->relativeRotation; +} +// ############################################################################ + +static void computeFinalTransformation (const dxGeom *tg, const dxGeom *part) +{ + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(tg); + dMULTIPLY0_331 (part->pos,tg->R,transformGroup->relativePosition); + part->pos[0] += tg->pos[0]; + part->pos[1] += tg->pos[1]; + part->pos[2] += tg->pos[2]; + dMULTIPLY0_333 (part->R,tg->R,transformGroup->relativeRotation); +} +// ############################################################################ + +int dCollideTransformGroup (const dxGeom *o1, const dxGeom *o2, int flags, + dContactGeom *contact, int skip) +{ + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(o1); + if (transformGroup->parts.size() == 0) + { + return 0; + } + int numleft = flags & NUMC_MASK; + if (numleft == 0) numleft = 1; + flags &= ~NUMC_MASK; + int num=0, i=0; + while (i < transformGroup->parts.size() && numleft > 0) + { + dUASSERT (transformGroup->parts[i]->spaceid==0, + "GeomTransformGroup encapsulated object must not be in a space"); + dUASSERT (transformGroup->parts[i]->body==0, + "GeomTransformGroup encapsulated object must not be attached to a body"); + if (!o1->space_aabb) + { + computeFinalTransformation (o1, transformGroup->parts[i]); + } + dxBody *bodyBackup = transformGroup->parts[i]->body; + transformGroup->parts[i]->body = o1->body; + int n = dCollide (transformGroup->parts[i],const_cast(o2), + flags | numleft,contact,skip); + transformGroup->parts[i]->body = bodyBackup; + contact = CONTACT (contact,skip*n); + numleft -= n; + num += n; + i++; + } + return num; +} +// ############################################################################ + +static dColliderFn * dGeomTransformGroupColliderFn (int num) +{ + return (dColliderFn *) &dCollideTransformGroup; +} +// ############################################################################ + +static void dGeomTransformGroupAABB (dxGeom *geom, dReal aabb[6]) +{ + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); + aabb[0] = dInfinity; + aabb[1] = -dInfinity; + aabb[2] = dInfinity; + aabb[3] = -dInfinity; + aabb[4] = dInfinity; + aabb[5] = -dInfinity; + int i,j; + for (i=0; i < transformGroup->parts.size(); i++) + { + computeFinalTransformation (geom, transformGroup->parts[i]); + dReal aabb2[6]; + transformGroup->parts[i]->_class->aabb (transformGroup->parts[i],aabb2); + for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j]; + for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j]; + } +} +// ############################################################################ + +static void dGeomTransformGroupDtor (dxGeom *geom) +{ + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); + transformGroup->parts.~dArray(); +} +// ############################################################################ + +dxGeom *dCreateGeomTransformGroup (dSpaceID space) +{ + if (dGeomTransformGroupClass == -1) { + dGeomClass c; + c.bytes = sizeof (dxGeomTransformGroup); + c.collider = &dGeomTransformGroupColliderFn; + c.aabb = &dGeomTransformGroupAABB; + c.aabb_test = 0; + c.dtor = dGeomTransformGroupDtor; + dGeomTransformGroupClass = dCreateGeomClass (&c); + } + dxGeom *g = dCreateGeom (dGeomTransformGroupClass); + if (space) + { + dSpaceAdd (space,g); + } + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + transformGroup->parts.constructor(); + dSetZero (transformGroup->relativePosition,4); + dRSetIdentity (transformGroup->relativeRotation); + return g; +} +// ############################################################################ + +void dGeomTransformGroupAddGeom (dxGeom *g, dxGeom *obj) +{ + dUASSERT (g && g->_class->num == dGeomTransformGroupClass, + "argument not a geom TransformGroup"); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + transformGroup->parts.push (obj); +} +// ############################################################################ + +void dGeomTransformGroupRemoveGeom (dxGeom *g, dxGeom *obj) +{ + dUASSERT (g && g->_class->num == dGeomTransformGroupClass, + "argument not a geom TransformGroup"); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + for (int i=0; i < transformGroup->parts.size(); i++) { + if (transformGroup->parts[i] == obj) { + transformGroup->parts.remove (i); + return; + } + } +} +// ############################################################################ + +dxGeom * dGeomTransformGroupGetGeom (dxGeom *g, int i) +{ + dUASSERT (g && g->_class->num == dGeomTransformGroupClass, + "argument not a geom TransformGroup"); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + dAASSERT (i >= 0 && i < transformGroup->parts.size()); + return transformGroup->parts[i]; +} +// ############################################################################ + +int dGeomTransformGroupGetNumGeoms (dxGeom *g) +{ + dUASSERT (g && g->_class->num == dGeomTransformGroupClass, + "argument not a geom TransformGroup"); + dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); + return transformGroup->parts.size(); +} diff -Nru ode-0.11.1/contrib/GeomTransformGroup/GeomTransformGroup.h ode-0.14/contrib/GeomTransformGroup/GeomTransformGroup.h --- ode-0.11.1/contrib/GeomTransformGroup/GeomTransformGroup.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/GeomTransformGroup/GeomTransformGroup.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,29 @@ + +/* ************************************************************************ */ +/* + grouped and transformed geometry functions + author: Tim Schmidt tisch@uni-paderborn.de +*/ + + +#ifdef __cplusplus +extern "C" { +#endif + + +extern int dGeomTransformGroupClass; + +void dGeomTransformGroupSetRelativePosition (dGeomID g, dReal x, dReal y, dReal z); +void dGeomTransformGroupSetRelativeRotation (dGeomID g, const dMatrix3 R); +const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g); +const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g); +dGeomID dCreateGeomTransformGroup (dSpaceID space); +void dGeomTransformGroupAddGeom (dGeomID tg, dGeomID obj); +void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj); +dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i); +int dGeomTransformGroupGetNumGeoms (dGeomID tg); + + +#ifdef __cplusplus +} +#endif diff -Nru ode-0.11.1/contrib/GeomTransformGroup/README.txt ode-0.14/contrib/GeomTransformGroup/README.txt --- ode-0.11.1/contrib/GeomTransformGroup/README.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/GeomTransformGroup/README.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,148 @@ +README for GeomTransformGroup by Tim Schmidt. +--------------------------------------------- + +This is a patch to add the dGeomTransformGroup object to the list of geometry +objects. + +It should work with the cvs version of the ode library from 07/24/2002. + +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + +comment by russ smith: this code is easy to use with the rest of ODE. +simply copy GeomTransformGroup.cpp to ode/src and copy GeomTransformGroup.h +to include/ode. then add GeomTransformGroup.cpp to the ODE_SRC variable +in the makefile. rebuild, and you're done! of course i could have done all +this for you, but i prefer to keep GeomTransformGroup separated from the +rest of ODE for now while other issues with the collision system are +resolved. + +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + + +Description: + +The dGeomTransformGroup is an adaption of the TransformGroup known from +Java3D (and maybe other libraries with a similar scene graph representation). +It can be used to build an arbitrarily structured tree of objects that are +each positioned relative to the particular parent node. + +If you have a plane for example, there is one root node associated with the +plane's body and another three transformgroups placed 'under' this node. One +with the fuselage (cappedcylinder) under it and two with the underlying wings +(flat boxes). And if you want to add engines, simply put them 'next to' the +wings under another two transformgroups. + +bodyTG ---> associated with dBody + | + +--fuselageTG + | | + | +--fuselageCylinder + | + +--leftwingTG + | | + | +--wingBox + | | + | +--leftengineTG + | | + | +--leftengineCylinder + | + +--rightwingTG + | + +--wingBox + | + +--rightengineTG + | + +--rightengineCylinder + +This is a method to easily compose objects without the necessity of always +calculating global coordinates. But apart from this there is something else +that makes dGeomTransformGroups very valuable. + +Maybe you remember that some users reported the problem of acquiring the +correct bodies to be attached by a contactjoint in the nearCallback when +using dGeomGroups and dGeomTransforms at the same time. This results from the +fact that dGeomGroups are not associated with bodies while all other +geometries are. + +So, as you can see in the nearCallback of the the test_buggy demo you have to +attach the contactjoint with the bodies that you get from the geometries that +are stored in the contact struct (-> dGeomGetBody(contacts[i].geom.g1)). +Normally you would do this by asking o1 and o2 directly with dGeomGetBody(o1) +and dGeomGetBody(o2) respectively. + +As a first approach you can overcome that problem by testing o1 and o2 if +they are groups or not to find out how to get the corresponding bodies. + +However this will fail if you want grouped transforms that are constructed +out of dGeomTransforms encapsulated in a dGeomGroup. According to the test +you use contacts[i].geom.g1 to get the right body. Unfortunately g1 is +encapsulated in a transform and therefore not attached to any body. In this +case the dGeomTransform 'in the middle' would have been the right object to +be asked for the body. + +You may now conclude that it is a good idea to unwrap the group encapsulated +geoms at the beginning of the nearcallback and use dGeomGetBody(o1) +consistently. But keep in mind that this also means not to invoke +dCollide(..) on groups at all and therefore not to expoit the capability of +dGeomGroups to speed up collision detection by the creation of bounding boxes +around the encapsulated geometry. + +Everything becomes even worse if you create a dGeomTransform that contains a +dGeomGroup of geoms. The function that cares about the collision of +transforms with other objects uses the position and rotation of the +respective encapsulated object to compute its final position and orientation. +Unfortunately dGeomGroups do not have a position and rotation, so the result +will not be what you have expected. + +Here the dGeomTransformGroups comes into operation, because it combines the +advantages and capabilities of the dGeomGroup and the dGeomTransform. +And as an effect of synergy it is now even possible to set the position of a +group of geoms with one single command. +Even nested encapsulations of dGeomTransformGroups in dGeomTransformGroups +should be possible (to be honest, I have not tried that so far ;-) ). + +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + +API: + +dGeomID dCreateGeomTransformGroup (dSpaceID space); + - create a GeomTransformGroup + +void dGeomTransformGroupAddGeom (dGeomID tg, dGeomID obj); + - Comparable to dGeomTransformSetGeom or dGeomGroupAdd + - add objects to this group + +void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj); + - remove objects from this group + +void dGeomTransformGroupSetRelativePosition + (dGeomID g, dReal x, dReal y, dReal z); +void dGeomTransformGroupSetRelativeRotation + (dGeomID g, const dMatrix3 R); + - Comparable to setting the position and rotation of all the + dGeomTransform encapsulated geometry. The difference + is that it is global with respect to this group and therefore + affects all geoms in this group. + - The relative position and rotation are attributes of the + transformgroup, so the position and rotation of the individual + geoms are not changed + +const dReal * dGeomTransformGroupGetRelativePosition (dGeomID g); +const dReal * dGeomTransformGroupGetRelativeRotation (dGeomID g); + - get the relative position and rotation + +dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i); + - Comparable to dGeomGroupGetGeom + - get a specific geom of the group + +int dGeomTransformGroupGetNumGeoms (dGeomID tg); + - Comparable to dGeomGroupGetNumGeoms + - get the number of geoms in the group + + +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + +Tim Schmidt +student of computer science +University of Paderborn, Germany +tisch@uni-paderborn.de diff -Nru ode-0.11.1/contrib/InteractiveCollisions/AUTHORS ode-0.14/contrib/InteractiveCollisions/AUTHORS --- ode-0.11.1/contrib/InteractiveCollisions/AUTHORS 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/AUTHORS 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1 @@ +Daniel K. O. diff -Nru ode-0.11.1/contrib/InteractiveCollisions/bootstrap ode-0.14/contrib/InteractiveCollisions/bootstrap --- ode-0.11.1/contrib/InteractiveCollisions/bootstrap 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/bootstrap 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,7 @@ +#!/bin/sh +libtoolize +aclocal +autoconf +autoheader +automake -a +(echo "Running ./bootstrap in dependencies/AntTweakBar" && cd deps/AntTweakBar && ./bootstrap) diff -Nru ode-0.11.1/contrib/InteractiveCollisions/ChangeLog ode-0.14/contrib/InteractiveCollisions/ChangeLog --- ode-0.11.1/contrib/InteractiveCollisions/ChangeLog 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/ChangeLog 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1 @@ +2011-11-13 First version. diff -Nru ode-0.11.1/contrib/InteractiveCollisions/configure.ac ode-0.14/contrib/InteractiveCollisions/configure.ac --- ode-0.11.1/contrib/InteractiveCollisions/configure.ac 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/configure.ac 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,49 @@ +# -*- Autoconf -*- +# Process this file with autoconf to produce a configure script. + +AC_PREREQ([2.68]) +AC_INIT([interactive-collision], [0.1], [danielosmari@users.sourceforge.net]) +AC_CONFIG_SRCDIR([src/main.cpp]) +AC_CONFIG_HEADERS([config.h]) + +AM_INIT_AUTOMAKE + +LT_INIT + +# Checks for programs. +AC_PROG_CC +AC_PROG_CXX +PKG_PROG_PKG_CONFIG +AC_LANG(C++) + +# Checks for libraries. +PKG_CHECK_MODULES(ODE, ode) +PKG_CHECK_MODULES(OPENGL, gl glu) +PKG_CHECK_MODULES(GLFW, libglfw, [have_glfw=true], [have_glfw=false]) + +AM_CONDITIONAL([GLFW], [test x$have_glfw = xtrue]) +if test x$have_glfw = xtrue +then + AC_DEFINE([USE_GLFW], [1], [define if GLFW is available]) +fi + +# TODO: when I get around implementing other backends... +# PKG_CHECK_MODULES(SDL, sdl, AC_DEFINE(HAVE_SDL)) +# PKG_CHECK_MODULES(GLUT, glut, AC_DEFINE(HAVE_GLUT)) + +# Checks for header files. +AC_CHECK_HEADERS + +# Checks for typedefs, structures, and compiler characteristics. + +# Checks for library functions. +AC_CHECK_FUNCS([atexit]) +AC_CHECK_FUNCS([sqrt]) +AC_HEADER_STDBOOL + +AC_CONFIG_SUBDIRS([deps/AntTweakBar]) + +AC_CONFIG_FILES([Makefile + deps/Makefile + src/Makefile]) +AC_OUTPUT diff -Nru ode-0.11.1/contrib/InteractiveCollisions/COPYING ode-0.14/contrib/InteractiveCollisions/COPYING --- ode-0.11.1/contrib/InteractiveCollisions/COPYING 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/COPYING 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +. diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/AntTweakBar_Doc.url ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/AntTweakBar_Doc.url --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/AntTweakBar_Doc.url 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/AntTweakBar_Doc.url 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,3 @@ +[InternetShortcut] +URL=http://www.antisphere.com/Wiki/tools:anttweakbar +Modified=C043A0DCA0FFC801E7 diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/bootstrap ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/bootstrap --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/bootstrap 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/bootstrap 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ +#!/bin/sh +libtoolize +aclocal +autoconf +automake -a + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/ChangeLog.txt ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/ChangeLog.txt --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/ChangeLog.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/ChangeLog.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,178 @@ +--- AntTweakBar library release notes --- + +* Version 1.14 (2011/03/26) + - Added 64 bit version of the library. + - Added multiple windows support (Inspired by comments and code from Evan F. + and Ivo H.) + - Better MacOSX support (Thanks to Alexis DH., Fabrice N., Diederick H., + Alec J.). + - Improved readability of overlapped transparent bars. Content of overlapped + regions is clipped and not drawn. This behavior can be disabled using + the bar parameter "overlap". + - Added support for Direct3D11. + - Added support for SDL 1.3 integration in addition to SDL 1.2. + ABI modification: TwEventSDL takes SDL version as an additional parameter. + - Added support for SFML 1.6 integration. + - Added support for GLFW 2.7 integration in addition to GLFW 2.6. This may + imply changing the calling convention of event callbacks. Can be done by + defining GLFW_CDECL before including AntTweakBar.h if needed. + - Added function TwKeyTest that checks if a key event would be processed by + AntTweakBar but without processing it. Needed to fix bad handling report of + WM_KEYUP and WM_KEYDOWN in TwEventWin (Thanks to Ryan DB. for reporting it). + - Added check sign for vars of type boolean. + - Added new bar parameter "buttonalign" to center or left-align buttons + (Suggested by Michael R.). + - Allowed values column width to be adjusted to fit its content. This is done + by setting the bar parameter valueswidth=fit (Requested by Koshmaar and + Michael R.). The user can also click in the left or right area near the + value width slider to fit column content. + - Added new helper function TwDefineEnumFromString to ease the defining of an + enum through a string of comma-separated enum values (Thanks to Bruno L. + for the suggestion and code). + - Fixed compilation issues with gcc4 (missing includes, warnings). + - Fixes for the fedora package maintained by Sean Middleditch. + - Fixed rotation widget display and interaction issues when the library is + compiled with gcc -O3 (Thanks to Ares L. for reporting this). + - Fixed SDL key event SDLK_RETURN handling after a bar is minimized (Thanks + to Sean M. for reporting this). + - Fixed issue with SDL_ShowCursor (Thanks to Hugues M. for reporting it). + - Fixed DirectX10 resource issue. + - Store and restore GL_TEXTURE_COORD_ARRAY state (Thanks to Jerry J. for + reporting this). + - Fixed mouse click repetition issue with passive event loop (Thanks to + Bruno L. for reporting it). + - Fixed issue with mouse button event when glut windows doesn't have focus + (Thanks to Scott J. for the fix). + - Reset enum content each time the var parameter "enum" is set using TwDefine + or TwSetParam (Following Carsten W. and Sulaiman remarks). + - Fixed memory corruption when more than one std_string are defined in a + custom struct (Thanks to Sulaiman for reporting it). + - Fixed mouse position issue with Direct3D9 fullscreen mode in TwSimpleDX9 + (Thanks to Paolo S. for pointing this out). + - Fixed ignored double-click in TwEvenWin (Thanks to H. Seungho for this). + +* Version 1.13 (2009/04/19) + - Now compiles on Mac OSX (Many thanks to Evan F. for rewritting the OS + specific code, and to Tyler S. and Konstantin L. for their feedback). + - Added functions TwGetBarCount, TwGetBarByIndex, TwGetBarByName, + TwRefreshBar. + - Fixed bug related to var of type TW_TYPE_STDSTRING on Windows: Microsoft + implementation of std::string does not have the same size in Debug and + Release mode (hidden member added for debugging), which caused a crash when + mixing the Release version of AntTweakBar with a program compiled in Debug + mode (Thanks to Minh D. for reporting it). + - Added function TwGetParam and TwSetParam to allow access to the parameters + defining the behavior of bars and variables. + - Changed the bar/var parameters without value (like "show"/"hide") to + parameters with value ("visible=true or false") to be compatible with the + new TwGetParam and TwSetParam functions (the old syntax is still kept + for backward compatibility). + - Arrow keys and Return key can now be used to navigate and tweak values. + - Bars can now be moved partly outside of the window. They can still be + constrained to be fully contained in the window by setting the parameter + "contained=true". + - Added another way to move a bar by pressing mouse middle button in the bar. + +* Version 1.12 (2008/09/27) + - Added new var types TW_TYPE_QUAT* and TW_TYPE_DIR* allowing for the + interactive tweaking of rotations (through quaternions) and 3D vectors + (directions). + - Better management of transparent tweak bars. New bar parameters added: + alpha=n text=dark/light. + - Default color scheme changed (now transparent by default). To reactivate the + previous scheme, call TwDefine("GLOBAL colorscheme=0") before creating bars. + - Added paramters to manage the bar behavior: resizable, movable, iconifiable, + fontresizable, alwaystop, alwaysbottom, visible, iconified (following + Jeppe F. B. feedback). + - Added functions TwSetBottomBar and TwGetBottomBar. + - The library can now be recompiled without requiring to install GLUT, GLFW + and SDL. + - New var parameters arrow, arrowcolor, axisx, axusy, axisz and showval added + for quaternion and direction types. + - Msvc specific keyword removed from PrefTimer (thanks to Tim J. for pointing + this out). + - Fixed bug related to popup behavior when the help bar is visible. + - GL_TEXTURE_RECTANGLE_ARB/EXT state is now saved and restored by TwDraw + (thanks to Cyril C. for suggesting this). + - glBlendFunc and glBlendEquationEXT are now saved and restored by TwDraw + (thanks to Sebastion B. for reporting the problem). + - Fixed bug related cursor visibility state with SDL (Thanks to Jeppe F. B. + for reporting it). + +* Version 1.11 (2007/12/10) + - Now DirectX10 is also supported in addition to OpenGL and DirectX9. + Initialization of AntTweakBar with DX10: TwInit(TW_DIRECT3D10, d3d10Device). + - A new example that uses DirectX10 has been added: see TwSimpleDX10 in the + examples directory. + - Recap for string variables added to the doc. See + http://www.antisphere.com/Wiki/tools:anttweakbar:varstring + - An example that illustrates the use of the different types of string + variables has been added. See TwString in the examples directory. + - Added some code for multi-thread safety (thanks to Daniel 'DrUiD' B. for + the tip). + - Cleanup of the Help bar. Now only variables having help are displayed in + the Help bar. + - Function TwHandleErrors documented. + - Separators don't require a name anymore. + - Var parameter 'order' becomes 'colororder', and its values become 'rgba' and + 'argb' (order=ogl and order=dx still exist but are deprecated). + - A small icon added for variables of type bool. + - Function TwCopyCDStringToLibrary added. + - The keyword 'GLOBAL' has been added for TwDefine commands that don't apply + to a specific tweak bar (suggested by Koshmaar). + - TwEventWin32 becomes TwEventWin (a #define has been added to keep + compatibility with previous applications). + - TwWindowSize(0,0) now releases graphics resources allocated by AntTweakBar + (may be useful for Direct3D applications, before resizing for instance). + - A wrong assert removed from TwMgr.cpp (thanks to Chris W. for reporting it). + - Some slight cosmetic changes (again). + +* Version 1.10 (2007/08/31) + - Variable values can now also be entered and edited via keyboard input + (implementation based on modifications made by Laury M., thank you Laury). + - Variables of type string are now handled: 3 types of string added + TW_TYPE_CSSTRING, TW_TYPE_CDSTRING and TW_STDSTRING. + - Text selection and copy/paste added. + - Position of bar icons is modifiable (cf. TwBar paramters iconPos, iconAlign + and iconMargin). + - Separators can be added in a bar (TwAddSeparator). + - OpenGL: states related to 3D textures and multitexturing are now saved and + restored by TwDraw (thanks to Dylan D. for pointing this out). + - Selected element of a listbox now highlighted. + - ReadOnly and ReadWrite behavior of buttons revisited. + - Documentation improved (examples for TwType, new functions documented,...). + - Some slight cosmetic changes. + +* Version 1.05 (2007/03/01) + - Listbox and rotoslider buttons added. + - Icon resources (AntTweakBar.rc) no more required for static linkage (thanks + to Joe C. for pointing this out). + - Fixed a rotoslider precision problem when mouse button is released. + +* Version 1.04 (2006/12/16) + - OpenGL: Vertex buffer object state and Vertex/fragment program and object + states are now reset and restored by TwDraw (thanks to Dylan D. and Siva K. + for pointing this out). + - Fixed problem that occurs when an initialized variable of type float/double + is displayed. + +* Version 1.03 (2006/10/28) + - Medium font antialiased. + - Now also compiles on 64 bits x86 platform (thanks to Herling G. for this). + - Slight changes to avoid visual 8 secure crt warnings. + - Corrected behaviour if min/max values are not defined. + - Modif to avoid looping to max value when reaching zero with unsigned types. + - Min/max/step parameters for type TW_TYPE_CHAR now read ascii codes (not + characters). + - Added FPU precision control (because DirectX changes it). + - Fixed problem that occurs when the lib is initialized/uninitialized more + than once (thanks Lukasz P. for reporting it). + - Distribution follows Savannah's recommendations. + +* Version 1.02 (2006/09/27) + - Library sources released. + +* Version 1.01 (2006/09/14) + - First official release. + + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/configure.ac ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/configure.ac --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/configure.ac 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/configure.ac 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,41 @@ +# -*- Autoconf -*- +# Process this file with autoconf to produce a configure script. + +AC_PREREQ([2.68]) +AC_INIT([AntTweakBar], [1.14]) +AC_CONFIG_SRCDIR([include/AntTweakBar.h]) + +AM_INIT_AUTOMAKE(foreign) + +LT_INIT + +# Checks for programs. +AC_PROG_CXX +AC_PROG_AWK +AC_PROG_CC +AC_PROG_CPP +AC_PROG_INSTALL +AC_PROG_LN_S +AC_PROG_MAKE_SET +PKG_PROG_PKG_CONFIG + +# Checks for libraries. +PKG_CHECK_MODULES(OPENGL, gl glu) + +# Checks for header files. +AC_CHECK_HEADERS([malloc.h memory.h stddef.h sys/time.h unistd.h]) + +# Checks for typedefs, structures, and compiler characteristics. +AC_HEADER_STDBOOL +AC_C_INLINE +AC_TYPE_INT64_T +AC_TYPE_SIZE_T +AC_CHECK_TYPES([ptrdiff_t]) + +# Checks for library functions. +AC_CHECK_FUNCS([gettimeofday memset sqrt strstr]) + +AC_CONFIG_FILES([Makefile + include/Makefile + src/Makefile]) +AC_OUTPUT diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/include/AntTweakBar.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/include/AntTweakBar.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/include/AntTweakBar.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/include/AntTweakBar.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,370 @@ +// ---------------------------------------------------------------------------- +// +// @file AntTweakBar.h +// +// @brief AntTweakBar is a light and intuitive graphical user interface +// that can be readily integrated into OpenGL and DirectX +// applications in order to interactively tweak parameters. +// +// @author Philippe Decaudin - http://www.antisphere.com +// +// @doc http://www.antisphere.com/Wiki/tools:anttweakbar +// +// @license This file is part of the AntTweakBar library. +// AntTweakBar is a free software released under the zlib license. +// For conditions of distribution and use, see License.txt +// +// ---------------------------------------------------------------------------- + + +#if !defined TW_INCLUDED +#define TW_INCLUDED + +#include + +#define TW_VERSION 114 // Version Mmm : M=Major mm=minor (e.g., 102 is version 1.02) + + +#ifdef __cplusplus +# if defined(_MSC_VER) +# pragma warning(push) +# pragma warning(disable: 4995 4530) +# include +# pragma warning(pop) +# else +# include +# endif + extern "C" { +#endif // __cplusplus + + +// ---------------------------------------------------------------------------- +// OS specific definitions +// ---------------------------------------------------------------------------- + +#if defined(_WIN32) || defined(_WIN64) +# define TW_CALL __stdcall +# define TW_CDECL_CALL __cdecl +# define TW_EXPORT_API __declspec(dllexport) +# define TW_IMPORT_API __declspec(dllimport) +#else +# define TW_CALL +# define TW_CDECL_CALL +# define TW_EXPORT_API +# define TW_IMPORT_API +#endif + +#if defined TW_EXPORTS +# define TW_API TW_EXPORT_API +#elif defined TW_STATIC +# define TW_API +# if defined(_MSC_VER) && !defined(TW_NO_LIB_PRAGMA) +# ifdef _WIN64 +# pragma comment(lib, "AntTweakBarStatic64") +# else +# pragma comment(lib, "AntTweakBarStatic") +# endif +# endif +#else +# define TW_API TW_IMPORT_API +# if defined(_MSC_VER) && !defined(TW_NO_LIB_PRAGMA) +# ifdef _WIN64 +# pragma comment(lib, "AntTweakBar64") +# else +# pragma comment(lib, "AntTweakBar") +# endif +# endif +#endif + + +// ---------------------------------------------------------------------------- +// Bar functions and definitions +// ---------------------------------------------------------------------------- + +typedef struct CTwBar TwBar; // structure CTwBar is not exposed. + +TW_API TwBar * TW_CALL TwNewBar(const char *barName); +TW_API int TW_CALL TwDeleteBar(TwBar *bar); +TW_API int TW_CALL TwDeleteAllBars(); +TW_API int TW_CALL TwSetTopBar(const TwBar *bar); +TW_API TwBar * TW_CALL TwGetTopBar(); +TW_API int TW_CALL TwSetBottomBar(const TwBar *bar); +TW_API TwBar * TW_CALL TwGetBottomBar(); +TW_API const char * TW_CALL TwGetBarName(TwBar *bar); +TW_API int TW_CALL TwGetBarCount(); +TW_API TwBar * TW_CALL TwGetBarByIndex(int barIndex); +TW_API TwBar * TW_CALL TwGetBarByName(const char *barName); +TW_API int TW_CALL TwRefreshBar(TwBar *bar); + + +// ---------------------------------------------------------------------------- +// Var functions and definitions +// ---------------------------------------------------------------------------- + +typedef enum ETwType +{ + TW_TYPE_UNDEF = 0, +#ifdef __cplusplus + TW_TYPE_BOOLCPP = 1, +#endif // __cplusplus + TW_TYPE_BOOL8 = 2, + TW_TYPE_BOOL16, + TW_TYPE_BOOL32, + TW_TYPE_CHAR, + TW_TYPE_INT8, + TW_TYPE_UINT8, + TW_TYPE_INT16, + TW_TYPE_UINT16, + TW_TYPE_INT32, + TW_TYPE_UINT32, + TW_TYPE_FLOAT, + TW_TYPE_DOUBLE, + TW_TYPE_COLOR32, // 32 bits color. Order is RGBA if API is OpenGL or Direct3D10, and inversed if API is Direct3D9 (can be modified by defining 'colorOrder=...', see doc) + TW_TYPE_COLOR3F, // 3 floats color. Order is RGB. + TW_TYPE_COLOR4F, // 4 floats color. Order is RGBA. + TW_TYPE_CDSTRING, // Null-terminated C Dynamic String (pointer to an array of char dynamically allocated with malloc/realloc/strdup) +#ifdef __cplusplus + TW_TYPE_STDSTRING = (0x2fff0000+sizeof(std::string)), // C++ STL string (std::string) +#endif // __cplusplus + TW_TYPE_QUAT4F = TW_TYPE_CDSTRING+2, // 4 floats encoding a quaternion {qx,qy,qz,qs} + TW_TYPE_QUAT4D, // 4 doubles encoding a quaternion {qx,qy,qz,qs} + TW_TYPE_DIR3F, // direction vector represented by 3 floats + TW_TYPE_DIR3D // direction vector represented by 3 doubles +} TwType; +#define TW_TYPE_CSSTRING(n) ((TwType)(0x30000000+((n)&0xfffffff))) // Null-terminated C Static String of size n (defined as char[n], with n<2^28) + +typedef void (TW_CALL * TwSetVarCallback)(const void *value, void *clientData); +typedef void (TW_CALL * TwGetVarCallback)(void *value, void *clientData); +typedef void (TW_CALL * TwButtonCallback)(void *clientData); + +TW_API int TW_CALL TwAddVarRW(TwBar *bar, const char *name, TwType type, void *var, const char *def); +TW_API int TW_CALL TwAddVarRO(TwBar *bar, const char *name, TwType type, const void *var, const char *def); +TW_API int TW_CALL TwAddVarCB(TwBar *bar, const char *name, TwType type, TwSetVarCallback setCallback, TwGetVarCallback getCallback, void *clientData, const char *def); +TW_API int TW_CALL TwAddButton(TwBar *bar, const char *name, TwButtonCallback callback, void *clientData, const char *def); +TW_API int TW_CALL TwAddSeparator(TwBar *bar, const char *name, const char *def); +TW_API int TW_CALL TwRemoveVar(TwBar *bar, const char *name); +TW_API int TW_CALL TwRemoveAllVars(TwBar *bar); + +typedef struct CTwEnumVal +{ + int Value; + const char * Label; +} TwEnumVal; +typedef struct CTwStructMember +{ + const char * Name; + TwType Type; + size_t Offset; + const char * DefString; +} TwStructMember; +typedef void (TW_CALL * TwSummaryCallback)(char *summaryString, size_t summaryMaxLength, const void *value, void *clientData); + +TW_API int TW_CALL TwDefine(const char *def); +TW_API TwType TW_CALL TwDefineEnum(const char *name, const TwEnumVal *enumValues, unsigned int nbValues); +TW_API TwType TW_CALL TwDefineEnumFromString(const char *name, const char *enumString); +TW_API TwType TW_CALL TwDefineStruct(const char *name, const TwStructMember *structMembers, unsigned int nbMembers, size_t structSize, TwSummaryCallback summaryCallback, void *summaryClientData); + +typedef void (TW_CALL * TwCopyCDStringToClient)(char **destinationClientStringPtr, const char *sourceString); +TW_API void TW_CALL TwCopyCDStringToClientFunc(TwCopyCDStringToClient copyCDStringFunc); +TW_API void TW_CALL TwCopyCDStringToLibrary(char **destinationLibraryStringPtr, const char *sourceClientString); +#ifdef __cplusplus +typedef void (TW_CALL * TwCopyStdStringToClient)(std::string& destinationClientString, const std::string& sourceString); +TW_API void TW_CALL TwCopyStdStringToClientFunc(TwCopyStdStringToClient copyStdStringToClientFunc); +TW_API void TW_CALL TwCopyStdStringToLibrary(std::string& destinationLibraryString, const std::string& sourceClientString); +#endif // __cplusplus + +typedef enum ETwParamValueType +{ + TW_PARAM_INT32, + TW_PARAM_FLOAT, + TW_PARAM_DOUBLE, + TW_PARAM_CSTRING // Null-terminated array of char (ie, c-string) +} TwParamValueType; +TW_API int TW_CALL TwGetParam(TwBar *bar, const char *varName, const char *paramName, TwParamValueType paramValueType, unsigned int outValueMaxCount, void *outValues); +TW_API int TW_CALL TwSetParam(TwBar *bar, const char *varName, const char *paramName, TwParamValueType paramValueType, unsigned int inValueCount, const void *inValues); + + +// ---------------------------------------------------------------------------- +// Management functions and definitions +// ---------------------------------------------------------------------------- + +typedef enum ETwGraphAPI +{ + TW_OPENGL = 1, + TW_DIRECT3D9 = 2, + TW_DIRECT3D10 = 3, + TW_DIRECT3D11 = 4 +} TwGraphAPI; + +TW_API int TW_CALL TwInit(TwGraphAPI graphAPI, void *device); +TW_API int TW_CALL TwTerminate(); + +TW_API int TW_CALL TwDraw(); +TW_API int TW_CALL TwWindowSize(int width, int height); + +TW_API int TW_CALL TwSetCurrentWindow(int windowID); // multi-windows support +TW_API int TW_CALL TwGetCurrentWindow(); +TW_API int TW_CALL TwWindowExists(int windowID); + +typedef enum ETwKeyModifier +{ + TW_KMOD_NONE = 0x0000, // same codes as SDL keysym.mod + TW_KMOD_SHIFT = 0x0003, + TW_KMOD_CTRL = 0x00c0, + TW_KMOD_ALT = 0x0100, + TW_KMOD_META = 0x0c00 +} TwKeyModifier; +typedef enum EKeySpecial +{ + TW_KEY_BACKSPACE = '\b', + TW_KEY_TAB = '\t', + TW_KEY_CLEAR = 0x0c, + TW_KEY_RETURN = '\r', + TW_KEY_PAUSE = 0x13, + TW_KEY_ESCAPE = 0x1b, + TW_KEY_SPACE = ' ', + TW_KEY_DELETE = 0x7f, + TW_KEY_UP = 273, // same codes and order as SDL 1.2 keysym.sym + TW_KEY_DOWN, + TW_KEY_RIGHT, + TW_KEY_LEFT, + TW_KEY_INSERT, + TW_KEY_HOME, + TW_KEY_END, + TW_KEY_PAGE_UP, + TW_KEY_PAGE_DOWN, + TW_KEY_F1, + TW_KEY_F2, + TW_KEY_F3, + TW_KEY_F4, + TW_KEY_F5, + TW_KEY_F6, + TW_KEY_F7, + TW_KEY_F8, + TW_KEY_F9, + TW_KEY_F10, + TW_KEY_F11, + TW_KEY_F12, + TW_KEY_F13, + TW_KEY_F14, + TW_KEY_F15, + TW_KEY_LAST +} TwKeySpecial; + +TW_API int TW_CALL TwKeyPressed(int key, int modifiers); +TW_API int TW_CALL TwKeyTest(int key, int modifiers); + +typedef enum ETwMouseAction +{ + TW_MOUSE_RELEASED, + TW_MOUSE_PRESSED +} TwMouseAction; +typedef enum ETwMouseButtonID +{ + TW_MOUSE_LEFT = 1, // same code as SDL_BUTTON_LEFT + TW_MOUSE_MIDDLE = 2, // same code as SDL_BUTTON_MIDDLE + TW_MOUSE_RIGHT = 3 // same code as SDL_BUTTON_RIGHT +} TwMouseButtonID; + +TW_API int TW_CALL TwMouseButton(TwMouseAction action, TwMouseButtonID button); +TW_API int TW_CALL TwMouseMotion(int mouseX, int mouseY); +TW_API int TW_CALL TwMouseWheel(int pos); + +TW_API const char * TW_CALL TwGetLastError(); +typedef void (TW_CALL * TwErrorHandler)(const char *errorMessage); +TW_API void TW_CALL TwHandleErrors(TwErrorHandler errorHandler); + + +// ---------------------------------------------------------------------------- +// Helper functions to translate events from some common window management +// frameworks to AntTweakBar. +// They call TwKeyPressed, TwMouse* and TwWindowSize for you (implemented in +// files TwEventWin.c TwEventSDL*.c TwEventGLFW.c TwEventGLUT.c) +// ---------------------------------------------------------------------------- + +// For Windows message proc +#ifndef _W64 // Microsoft specific (detection of 64 bits portability issues) +# define _W64 +#endif // _W64 +#ifdef _WIN64 + TW_API int TW_CALL TwEventWin(void *wnd, unsigned int msg, unsigned __int64 _W64 wParam, __int64 _W64 lParam); +#else + TW_API int TW_CALL TwEventWin(void *wnd, unsigned int msg, unsigned int _W64 wParam, int _W64 lParam); +#endif +#define TwEventWin32 TwEventWin // For compatibility with AntTweakBar versions prior to 1.11 + +// For libSDL event loop +TW_API int TW_CALL TwEventSDL(const void *sdlEvent, unsigned char sdlMajorVersion, unsigned char sdlMinorVersion); + +// For GLFW event callbacks +// Define GLFW_CDECL before including AntTweakBar.h if your version of GLFW uses cdecl calling convensions +#ifdef GLFW_CDECL + TW_API int TW_CDECL_CALL TwEventMouseButtonGLFWcdecl(int glfwButton, int glfwAction); + TW_API int TW_CDECL_CALL TwEventKeyGLFWcdecl(int glfwKey, int glfwAction); + TW_API int TW_CDECL_CALL TwEventCharGLFWcdecl(int glfwChar, int glfwAction); + TW_API int TW_CDECL_CALL TwEventMousePosGLFWcdecl(int mouseX, int mouseY); + TW_API int TW_CDECL_CALL TwEventMouseWheelGLFWcdecl(int wheelPos); +# define TwEventMouseButtonGLFW TwEventMouseButtonGLFWcdecl +# define TwEventKeyGLFW TwEventKeyGLFWcdecl +# define TwEventCharGLFW TwEventCharGLFWcdecl +# define TwEventMousePosGLFW TwEventMousePosGLFWcdecl +# define TwEventMouseWheelGLFW TwEventMouseWheelGLFWcdecl +#else + TW_API int TW_CALL TwEventMouseButtonGLFW(int glfwButton, int glfwAction); + TW_API int TW_CALL TwEventKeyGLFW(int glfwKey, int glfwAction); + TW_API int TW_CALL TwEventCharGLFW(int glfwChar, int glfwAction); +# define TwEventMousePosGLFW TwMouseMotion +# define TwEventMouseWheelGLFW TwMouseWheel +#endif + +// For GLUT event callbacks (Windows calling convention for GLUT callbacks is cdecl) +#if defined(_WIN32) || defined(_WIN64) +# define TW_GLUT_CALL TW_CDECL_CALL +#else +# define TW_GLUT_CALL +#endif +TW_API int TW_GLUT_CALL TwEventMouseButtonGLUT(int glutButton, int glutState, int mouseX, int mouseY); +TW_API int TW_GLUT_CALL TwEventMouseMotionGLUT(int mouseX, int mouseY); +TW_API int TW_GLUT_CALL TwEventKeyboardGLUT(unsigned char glutKey, int mouseX, int mouseY); +TW_API int TW_GLUT_CALL TwEventSpecialGLUT(int glutKey, int mouseX, int mouseY); +TW_API int TW_CALL TwGLUTModifiersFunc(int (TW_CALL *glutGetModifiersFunc)(void)); +typedef void (TW_GLUT_CALL *GLUTmousebuttonfun)(int glutButton, int glutState, int mouseX, int mouseY); +typedef void (TW_GLUT_CALL *GLUTmousemotionfun)(int mouseX, int mouseY); +typedef void (TW_GLUT_CALL *GLUTkeyboardfun)(unsigned char glutKey, int mouseX, int mouseY); +typedef void (TW_GLUT_CALL *GLUTspecialfun)(int glutKey, int mouseX, int mouseY); + +// For SFML event loop +TW_API int TW_CALL TwEventSFML(const void *sfmlEvent, unsigned char sfmlMajorVersion, unsigned char sfmlMinorVersion); + + +// ---------------------------------------------------------------------------- +// Make sure the types have the right sizes +// ---------------------------------------------------------------------------- + +#define TW_COMPILE_TIME_ASSERT(name, x) typedef int TW_DUMMY_ ## name[(x) * 2 - 1] + +TW_COMPILE_TIME_ASSERT(TW_CHAR, sizeof(char) == 1); +TW_COMPILE_TIME_ASSERT(TW_SHORT, sizeof(short) == 2); +TW_COMPILE_TIME_ASSERT(TW_INT, sizeof(int) == 4); +TW_COMPILE_TIME_ASSERT(TW_FLOAT, sizeof(float) == 4); +TW_COMPILE_TIME_ASSERT(TW_DOUBLE, sizeof(double) == 8); + +// Check pointer size on Windows +#if !defined(_WIN64) && defined(_WIN32) + // If the following assert failed, the platform is not 32-bit and _WIN64 is not defined. + // When targetting 64-bit Windows platform, _WIN64 must be defined. + TW_COMPILE_TIME_ASSERT(TW_PTR32, sizeof(void*) == 4); +#elif defined(_WIN64) + // If the following assert failed, _WIN64 is defined but the targeted platform is not 64-bit. + TW_COMPILE_TIME_ASSERT(TW_PTR64, sizeof(void*) == 8); +#endif + +// --------------------------------------------------------------------------- + + +#ifdef __cplusplus + } // extern "C" +#endif // __cplusplus + + +#endif // !defined TW_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/include/Makefile.am ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/include/Makefile.am --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/include/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/include/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,2 @@ +noinst_HEADERS = AntTweakBar.h + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/License.txt ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/License.txt --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/License.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/License.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,24 @@ +--- AntTweakBar license --- + +Copyright (C) 2005-2011 Philippe Decaudin + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the +use of this software. + +Permission is granted to anyone to use this software for any purpose, including +commercial applications, and to alter it and redistribute it freely, subject to +the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim +that you wrote the original software. If you use this software in a product, +an acknowledgment in the product documentation would be appreciated but is not +required. + +2. Altered source versions must be plainly marked as such, and must not be +misrepresented as being the original software. + +3. This notice may not be removed or altered from any source distribution. + + +http://www.antisphere.com diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/Makefile.am ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/Makefile.am --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,4 @@ +AUTOMAKE_OPTIONS = foreign + +SUBDIRS = include src + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/Readme.txt ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/Readme.txt --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/Readme.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/Readme.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,15 @@ +--- AntTweakBar development library --- + + +AntTweakBar is a small and easy-to-use C/C++ library that allows programmers +to quickly add a light and intuitive GUI into OpenGL and DirectX based +graphic programs to interactively tweak parameters. + +This package includes the development version of the AntTweakBar library +for Windows, GNU/Linux and OSX, and some program examples (sources + binaries). + +For installation and documentation please refer to: +http://www.antisphere.com/Wiki/tools:anttweakbar + + +Philippe Decaudin - http://www.antisphere.com diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/AntPerfTimer.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/AntPerfTimer.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/AntPerfTimer.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/AntPerfTimer.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,56 @@ +// --------------------------------------------------------------------------- +// +// @file AntPerfTimer.h +// @brief A performance (precision) timer for benchs +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: No cpp file is needed, everything is defined in this header +// +// --------------------------------------------------------------------------- + +#if !defined ANT_PERF_TIMER_INCLUDED +#define ANT_PERF_TIMER_INCLUDED + +#ifndef __cplusplus +# error This is a C++ header +#endif // __cplusplus + + +#if defined(WIN32) || defined(WIN64) || defined(_WIN32) || defined(_WIN64) + + #include + #include + + struct PerfTimer + { + inline PerfTimer() { if( !QueryPerformanceFrequency(&Freq) ) MessageBox(NULL, _T("Precision timer not supported"), _T("Problem"), MB_ICONEXCLAMATION); Reset(); } + inline void Reset() { QueryPerformanceCounter(&Start); } + inline double GetTime() { if( QueryPerformanceCounter(&End) ) return ((double)End.QuadPart - (double)Start.QuadPart)/((double)Freq.QuadPart); else return 0; } + protected: + LARGE_INTEGER Start, End, Freq; + }; + +#else // !_WIN (-> LINUX) + + #include + #include + + struct PerfTimer + { + inline PerfTimer() { Reset(); } + inline void Reset() { gettimeofday(&Start, &TZ); } + inline double GetTime() { gettimeofday(&End,&TZ); + double t1 = (double)Start.tv_sec + (double)Start.tv_usec/(1000*1000); + double t2 = (double)End.tv_sec + (double)End.tv_usec/(1000*1000); + return t2-t1; } + protected: + struct timeval Start, End; + struct timezone TZ; + }; + +#endif // _WIN + + +#endif // ANT_PERF_TIMER_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/d3d10vs2003.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/d3d10vs2003.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/d3d10vs2003.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/d3d10vs2003.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,46 @@ +// Workaround to include D3D10.h with VS2003 +#ifndef __out +#define __out +#endif +#ifndef __in +#define __in +#endif +#ifndef __inout +#define __inout +#endif +#ifndef __in_opt +#define __in_opt +#endif +#ifndef __out_opt +#define __out_opt +#endif +#ifndef __inout_opt +#define __inout_opt +#endif +#ifndef __in_ecount +#define __in_ecount(x) +#endif +#ifndef __in_ecount_opt +#define __in_ecount_opt(x) +#endif +#ifndef __out_ecount +#define __out_ecount(x) +#endif +#ifndef __out_ecount_opt +#define __out_ecount_opt(x) +#endif +#ifndef __inout_ecount +#define __inout_ecount(x) +#endif +#ifndef __inout_ecount_opt +#define __inout_ecount_opt(x) +#endif +#ifndef __in_bcount_opt +#define __in_bcount_opt(x) +#endif +#ifndef __out_bcount_opt +#define __out_bcount_opt(x) +#endif +#ifndef __inout_bcount_opt +#define __inout_bcount_opt(x) +#endif diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,489 @@ +// --------------------------------------------------------------------------- +// +// @file LoadOGLCore.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "LoadOGLCore.h" + +// --------------------------------------------------------------------------- + +#define ANT_NB_OGL_CORE_FUNC_MAX 512 + +struct COGLCoreFuncRec +{ + const char * m_Name; + GLCore::PFNOpenGL * m_FuncPtr; + COGLCoreFuncRec() : m_Name(NULL), m_FuncPtr(NULL) {} +}; +COGLCoreFuncRec g_OGLCoreFuncRec[ANT_NB_OGL_CORE_FUNC_MAX]; +int g_NbOGLCoreFunc = 0; +#if defined(ANT_WINDOWS) +HMODULE g_OGLCoreModule = NULL; +#endif + +// --------------------------------------------------------------------------- + +// GL 1.0 +ANT_GL_CORE_IMPL(glCullFace) +ANT_GL_CORE_IMPL(glFrontFace) +ANT_GL_CORE_IMPL(glHint) +ANT_GL_CORE_IMPL(glLineWidth) +ANT_GL_CORE_IMPL(glPointSize) +ANT_GL_CORE_IMPL(glPolygonMode) +ANT_GL_CORE_IMPL(glScissor) +ANT_GL_CORE_IMPL(glTexParameterf) +ANT_GL_CORE_IMPL(glTexParameterfv) +ANT_GL_CORE_IMPL(glTexParameteri) +ANT_GL_CORE_IMPL(glTexParameteriv) +ANT_GL_CORE_IMPL(glTexImage1D) +ANT_GL_CORE_IMPL(glTexImage2D) +ANT_GL_CORE_IMPL(glDrawBuffer) +ANT_GL_CORE_IMPL(glClear) +ANT_GL_CORE_IMPL(glClearColor) +ANT_GL_CORE_IMPL(glClearStencil) +ANT_GL_CORE_IMPL(glClearDepth) +ANT_GL_CORE_IMPL(glStencilMask) +ANT_GL_CORE_IMPL(glColorMask) +ANT_GL_CORE_IMPL(glDepthMask) +ANT_GL_CORE_IMPL(glDisable) +ANT_GL_CORE_IMPL(glEnable) +ANT_GL_CORE_IMPL(glFinish) +ANT_GL_CORE_IMPL(glFlush) +ANT_GL_CORE_IMPL(glBlendFunc) +ANT_GL_CORE_IMPL(glLogicOp) +ANT_GL_CORE_IMPL(glStencilFunc) +ANT_GL_CORE_IMPL(glStencilOp) +ANT_GL_CORE_IMPL(glDepthFunc) +ANT_GL_CORE_IMPL(glPixelStoref) +ANT_GL_CORE_IMPL(glPixelStorei) +ANT_GL_CORE_IMPL(glReadBuffer) +ANT_GL_CORE_IMPL(glReadPixels) +ANT_GL_CORE_IMPL(glGetBooleanv) +ANT_GL_CORE_IMPL(glGetDoublev) +ANT_GL_CORE_IMPL(glGetError) +ANT_GL_CORE_IMPL(glGetFloatv) +ANT_GL_CORE_IMPL(glGetIntegerv) +ANT_GL_CORE_IMPL(glGetString) +ANT_GL_CORE_IMPL(glGetTexImage) +ANT_GL_CORE_IMPL(glGetTexParameterfv) +ANT_GL_CORE_IMPL(glGetTexParameteriv) +ANT_GL_CORE_IMPL(glGetTexLevelParameterfv) +ANT_GL_CORE_IMPL(glGetTexLevelParameteriv) +ANT_GL_CORE_IMPL(glIsEnabled) +ANT_GL_CORE_IMPL(glDepthRange) +ANT_GL_CORE_IMPL(glViewport) +// GL 1.1 +ANT_GL_CORE_IMPL(glDrawArrays) +ANT_GL_CORE_IMPL(glDrawElements) +ANT_GL_CORE_IMPL(glGetPointerv) +ANT_GL_CORE_IMPL(glPolygonOffset) +ANT_GL_CORE_IMPL(glCopyTexImage1D) +ANT_GL_CORE_IMPL(glCopyTexImage2D) +ANT_GL_CORE_IMPL(glCopyTexSubImage1D) +ANT_GL_CORE_IMPL(glCopyTexSubImage2D) +ANT_GL_CORE_IMPL(glTexSubImage1D) +ANT_GL_CORE_IMPL(glTexSubImage2D) +ANT_GL_CORE_IMPL(glBindTexture) +ANT_GL_CORE_IMPL(glDeleteTextures) +ANT_GL_CORE_IMPL(glGenTextures) +ANT_GL_CORE_IMPL(glIsTexture) +// GL 1.2 +ANT_GL_CORE_IMPL(glBlendColor) +ANT_GL_CORE_IMPL(glBlendEquation) +ANT_GL_CORE_IMPL(glDrawRangeElements) +ANT_GL_CORE_IMPL(glTexImage3D) +ANT_GL_CORE_IMPL(glTexSubImage3D) +ANT_GL_CORE_IMPL(glCopyTexSubImage3D) +// GL 1.3 +ANT_GL_CORE_IMPL(glActiveTexture) +ANT_GL_CORE_IMPL(glSampleCoverage) +ANT_GL_CORE_IMPL(glCompressedTexImage3D) +ANT_GL_CORE_IMPL(glCompressedTexImage2D) +ANT_GL_CORE_IMPL(glCompressedTexImage1D) +ANT_GL_CORE_IMPL(glCompressedTexSubImage3D) +ANT_GL_CORE_IMPL(glCompressedTexSubImage2D) +ANT_GL_CORE_IMPL(glCompressedTexSubImage1D) +ANT_GL_CORE_IMPL(glGetCompressedTexImage) +// GL 1.4 +ANT_GL_CORE_IMPL(glBlendFuncSeparate) +ANT_GL_CORE_IMPL(glMultiDrawArrays) +ANT_GL_CORE_IMPL(glMultiDrawElements) +ANT_GL_CORE_IMPL(glPointParameterf) +ANT_GL_CORE_IMPL(glPointParameterfv) +ANT_GL_CORE_IMPL(glPointParameteri) +ANT_GL_CORE_IMPL(glPointParameteriv) +// GL 1.5 +ANT_GL_CORE_IMPL(glGenQueries) +ANT_GL_CORE_IMPL(glDeleteQueries) +ANT_GL_CORE_IMPL(glIsQuery) +ANT_GL_CORE_IMPL(glBeginQuery) +ANT_GL_CORE_IMPL(glEndQuery) +ANT_GL_CORE_IMPL(glGetQueryiv) +ANT_GL_CORE_IMPL(glGetQueryObjectiv) +ANT_GL_CORE_IMPL(glGetQueryObjectuiv) +ANT_GL_CORE_IMPL(glBindBuffer) +ANT_GL_CORE_IMPL(glDeleteBuffers) +ANT_GL_CORE_IMPL(glGenBuffers) +ANT_GL_CORE_IMPL(glIsBuffer) +ANT_GL_CORE_IMPL(glBufferData) +ANT_GL_CORE_IMPL(glBufferSubData) +ANT_GL_CORE_IMPL(glGetBufferSubData) +ANT_GL_CORE_IMPL(glMapBuffer) +ANT_GL_CORE_IMPL(glUnmapBuffer) +ANT_GL_CORE_IMPL(glGetBufferParameteriv) +ANT_GL_CORE_IMPL(glGetBufferPointerv) +// GL 2.0 +ANT_GL_CORE_IMPL(glBlendEquationSeparate) +ANT_GL_CORE_IMPL(glDrawBuffers) +ANT_GL_CORE_IMPL(glStencilOpSeparate) +ANT_GL_CORE_IMPL(glStencilFuncSeparate) +ANT_GL_CORE_IMPL(glStencilMaskSeparate) +ANT_GL_CORE_IMPL(glAttachShader) +ANT_GL_CORE_IMPL(glBindAttribLocation) +ANT_GL_CORE_IMPL(glCompileShader) +ANT_GL_CORE_IMPL(glCreateProgram) +ANT_GL_CORE_IMPL(glCreateShader) +ANT_GL_CORE_IMPL(glDeleteProgram) +ANT_GL_CORE_IMPL(glDeleteShader) +ANT_GL_CORE_IMPL(glDetachShader) +ANT_GL_CORE_IMPL(glDisableVertexAttribArray) +ANT_GL_CORE_IMPL(glEnableVertexAttribArray) +ANT_GL_CORE_IMPL(glGetActiveAttrib) +ANT_GL_CORE_IMPL(glGetActiveUniform) +ANT_GL_CORE_IMPL(glGetAttachedShaders) +ANT_GL_CORE_IMPL(glGetAttribLocation) +ANT_GL_CORE_IMPL(glGetProgramiv) +ANT_GL_CORE_IMPL(glGetProgramInfoLog) +ANT_GL_CORE_IMPL(glGetShaderiv) +ANT_GL_CORE_IMPL(glGetShaderInfoLog) +ANT_GL_CORE_IMPL(glGetShaderSource) +ANT_GL_CORE_IMPL(glGetUniformLocation) +ANT_GL_CORE_IMPL(glGetUniformfv) +ANT_GL_CORE_IMPL(glGetUniformiv) +ANT_GL_CORE_IMPL(glGetVertexAttribdv) +ANT_GL_CORE_IMPL(glGetVertexAttribfv) +ANT_GL_CORE_IMPL(glGetVertexAttribiv) +ANT_GL_CORE_IMPL(glGetVertexAttribPointerv) +ANT_GL_CORE_IMPL(glIsProgram) +ANT_GL_CORE_IMPL(glIsShader) +ANT_GL_CORE_IMPL(glLinkProgram) +ANT_GL_CORE_IMPL(glShaderSource) +ANT_GL_CORE_IMPL(glUseProgram) +ANT_GL_CORE_IMPL(glUniform1f) +ANT_GL_CORE_IMPL(glUniform2f) +ANT_GL_CORE_IMPL(glUniform3f) +ANT_GL_CORE_IMPL(glUniform4f) +ANT_GL_CORE_IMPL(glUniform1i) +ANT_GL_CORE_IMPL(glUniform2i) +ANT_GL_CORE_IMPL(glUniform3i) +ANT_GL_CORE_IMPL(glUniform4i) +ANT_GL_CORE_IMPL(glUniform1fv) +ANT_GL_CORE_IMPL(glUniform2fv) +ANT_GL_CORE_IMPL(glUniform3fv) +ANT_GL_CORE_IMPL(glUniform4fv) +ANT_GL_CORE_IMPL(glUniform1iv) +ANT_GL_CORE_IMPL(glUniform2iv) +ANT_GL_CORE_IMPL(glUniform3iv) +ANT_GL_CORE_IMPL(glUniform4iv) +ANT_GL_CORE_IMPL(glUniformMatrix2fv) +ANT_GL_CORE_IMPL(glUniformMatrix3fv) +ANT_GL_CORE_IMPL(glUniformMatrix4fv) +ANT_GL_CORE_IMPL(glValidateProgram) +ANT_GL_CORE_IMPL(glVertexAttrib1d) +ANT_GL_CORE_IMPL(glVertexAttrib1dv) +ANT_GL_CORE_IMPL(glVertexAttrib1f) +ANT_GL_CORE_IMPL(glVertexAttrib1fv) +ANT_GL_CORE_IMPL(glVertexAttrib1s) +ANT_GL_CORE_IMPL(glVertexAttrib1sv) +ANT_GL_CORE_IMPL(glVertexAttrib2d) +ANT_GL_CORE_IMPL(glVertexAttrib2dv) +ANT_GL_CORE_IMPL(glVertexAttrib2f) +ANT_GL_CORE_IMPL(glVertexAttrib2fv) +ANT_GL_CORE_IMPL(glVertexAttrib2s) +ANT_GL_CORE_IMPL(glVertexAttrib2sv) +ANT_GL_CORE_IMPL(glVertexAttrib3d) +ANT_GL_CORE_IMPL(glVertexAttrib3dv) +ANT_GL_CORE_IMPL(glVertexAttrib3f) +ANT_GL_CORE_IMPL(glVertexAttrib3fv) +ANT_GL_CORE_IMPL(glVertexAttrib3s) +ANT_GL_CORE_IMPL(glVertexAttrib3sv) +ANT_GL_CORE_IMPL(glVertexAttrib4Nbv) +ANT_GL_CORE_IMPL(glVertexAttrib4Niv) +ANT_GL_CORE_IMPL(glVertexAttrib4Nsv) +ANT_GL_CORE_IMPL(glVertexAttrib4Nub) +ANT_GL_CORE_IMPL(glVertexAttrib4Nubv) +ANT_GL_CORE_IMPL(glVertexAttrib4Nuiv) +ANT_GL_CORE_IMPL(glVertexAttrib4Nusv) +ANT_GL_CORE_IMPL(glVertexAttrib4bv) +ANT_GL_CORE_IMPL(glVertexAttrib4d) +ANT_GL_CORE_IMPL(glVertexAttrib4dv) +ANT_GL_CORE_IMPL(glVertexAttrib4f) +ANT_GL_CORE_IMPL(glVertexAttrib4fv) +ANT_GL_CORE_IMPL(glVertexAttrib4iv) +ANT_GL_CORE_IMPL(glVertexAttrib4s) +ANT_GL_CORE_IMPL(glVertexAttrib4sv) +ANT_GL_CORE_IMPL(glVertexAttrib4ubv) +ANT_GL_CORE_IMPL(glVertexAttrib4uiv) +ANT_GL_CORE_IMPL(glVertexAttrib4usv) +ANT_GL_CORE_IMPL(glVertexAttribPointer) +// GL 2.1 +ANT_GL_CORE_IMPL(glUniformMatrix2x3fv) +ANT_GL_CORE_IMPL(glUniformMatrix3x2fv) +ANT_GL_CORE_IMPL(glUniformMatrix2x4fv) +ANT_GL_CORE_IMPL(glUniformMatrix4x2fv) +ANT_GL_CORE_IMPL(glUniformMatrix3x4fv) +ANT_GL_CORE_IMPL(glUniformMatrix4x3fv) +// GL 3.0 +ANT_GL_CORE_IMPL(glColorMaski) +ANT_GL_CORE_IMPL(glGetBooleani_v) +ANT_GL_CORE_IMPL(glGetIntegeri_v) +ANT_GL_CORE_IMPL(glEnablei) +ANT_GL_CORE_IMPL(glDisablei) +ANT_GL_CORE_IMPL(glIsEnabledi) +ANT_GL_CORE_IMPL(glBeginTransformFeedback) +ANT_GL_CORE_IMPL(glEndTransformFeedback) +ANT_GL_CORE_IMPL(glBindBufferRange) +ANT_GL_CORE_IMPL(glBindBufferBase) +ANT_GL_CORE_IMPL(glTransformFeedbackVaryings) +ANT_GL_CORE_IMPL(glGetTransformFeedbackVarying) +ANT_GL_CORE_IMPL(glClampColor) +ANT_GL_CORE_IMPL(glBeginConditionalRender) +ANT_GL_CORE_IMPL(glEndConditionalRender) +ANT_GL_CORE_IMPL(glVertexAttribIPointer) +ANT_GL_CORE_IMPL(glGetVertexAttribIiv) +ANT_GL_CORE_IMPL(glGetVertexAttribIuiv) +ANT_GL_CORE_IMPL(glVertexAttribI1i) +ANT_GL_CORE_IMPL(glVertexAttribI2i) +ANT_GL_CORE_IMPL(glVertexAttribI3i) +ANT_GL_CORE_IMPL(glVertexAttribI4i) +ANT_GL_CORE_IMPL(glVertexAttribI1ui) +ANT_GL_CORE_IMPL(glVertexAttribI2ui) +ANT_GL_CORE_IMPL(glVertexAttribI3ui) +ANT_GL_CORE_IMPL(glVertexAttribI4ui) +ANT_GL_CORE_IMPL(glVertexAttribI1iv) +ANT_GL_CORE_IMPL(glVertexAttribI2iv) +ANT_GL_CORE_IMPL(glVertexAttribI3iv) +ANT_GL_CORE_IMPL(glVertexAttribI4iv) +ANT_GL_CORE_IMPL(glVertexAttribI1uiv) +ANT_GL_CORE_IMPL(glVertexAttribI2uiv) +ANT_GL_CORE_IMPL(glVertexAttribI3uiv) +ANT_GL_CORE_IMPL(glVertexAttribI4uiv) +ANT_GL_CORE_IMPL(glVertexAttribI4bv) +ANT_GL_CORE_IMPL(glVertexAttribI4sv) +ANT_GL_CORE_IMPL(glVertexAttribI4ubv) +ANT_GL_CORE_IMPL(glVertexAttribI4usv) +ANT_GL_CORE_IMPL(glGetUniformuiv) +ANT_GL_CORE_IMPL(glBindFragDataLocation) +ANT_GL_CORE_IMPL(glGetFragDataLocation) +ANT_GL_CORE_IMPL(glUniform1ui) +ANT_GL_CORE_IMPL(glUniform2ui) +ANT_GL_CORE_IMPL(glUniform3ui) +ANT_GL_CORE_IMPL(glUniform4ui) +ANT_GL_CORE_IMPL(glUniform1uiv) +ANT_GL_CORE_IMPL(glUniform2uiv) +ANT_GL_CORE_IMPL(glUniform3uiv) +ANT_GL_CORE_IMPL(glUniform4uiv) +ANT_GL_CORE_IMPL(glTexParameterIiv) +ANT_GL_CORE_IMPL(glTexParameterIuiv) +ANT_GL_CORE_IMPL(glGetTexParameterIiv) +ANT_GL_CORE_IMPL(glGetTexParameterIuiv) +ANT_GL_CORE_IMPL(glClearBufferiv) +ANT_GL_CORE_IMPL(glClearBufferuiv) +ANT_GL_CORE_IMPL(glClearBufferfv) +ANT_GL_CORE_IMPL(glClearBufferfi) +ANT_GL_CORE_IMPL(glGetStringi) +// GL 3.1 +ANT_GL_CORE_IMPL(glDrawArraysInstanced) +ANT_GL_CORE_IMPL(glDrawElementsInstanced) +ANT_GL_CORE_IMPL(glTexBuffer) +ANT_GL_CORE_IMPL(glPrimitiveRestartIndex) +// GL 3.2 +//ANT_GL_CORE_IMPL(glGetInteger64i_v) +//ANT_GL_CORE_IMPL(glGetBufferParameteri64v) +ANT_GL_CORE_IMPL(glFramebufferTexture) +// GL_ARB_vertex_array_object +ANT_GL_CORE_IMPL(glBindVertexArray) +ANT_GL_CORE_IMPL(glDeleteVertexArrays) +ANT_GL_CORE_IMPL(glGenVertexArrays) +ANT_GL_CORE_IMPL(glIsVertexArray) + +#if defined(ANT_WINDOWS) +ANT_GL_CORE_IMPL(wglGetProcAddress) +#endif + +namespace GLCore { PFNGLGetProcAddress _glGetProcAddress = NULL; } + +// --------------------------------------------------------------------------- + +#if defined(ANT_WINDOWS) + + // --------------------------------------------------------------------------- + + int LoadOpenGLCore() + { + if( g_OGLCoreModule!=NULL ) + { + return 1; // "OpenGL library already loaded" + } + + g_OGLCoreModule = LoadLibrary("OPENGL32.DLL"); + if( g_OGLCoreModule ) + { + // Info(VERB_LOW, "Load %d OpenGL Core functions", g_NbOGLCoreFunc); + + int Res = 1; + + // Use wglGetProcAddress to retreive Core functions + _glGetProcAddress = reinterpret_cast(GetProcAddress(g_OGLCoreModule, "wglGetProcAddress")); + if( _glGetProcAddress!=NULL ) + for(int i=0; i0); + // Try to get the function pointer with wglGetProcAddress + *(g_OGLCoreFuncRec[i].m_FuncPtr) = reinterpret_cast(_glGetProcAddress(g_OGLCoreFuncRec[i].m_Name)); + if( *(g_OGLCoreFuncRec[i].m_FuncPtr)==NULL ) + { + // Try to get the function pointer with GetProcAddress + *(g_OGLCoreFuncRec[i].m_FuncPtr) = reinterpret_cast(GetProcAddress(g_OGLCoreModule, g_OGLCoreFuncRec[i].m_Name)); + if( *(g_OGLCoreFuncRec[i].m_FuncPtr)==NULL ) + { + #ifdef _DEBUG + fprintf(stderr, "AntTweakBar: Cannot load function %s\n", g_OGLCoreFuncRec[i].m_Name); + #endif + Res = 0; // Error("cannot find OpenGL Core function"); + } + } + + } + + return Res; + } + else + { + // InternDisplayLastErrorWIN("Cannot load opengl32 DLL", false); + return 0; // cannot load DLL + } + } + + // --------------------------------------------------------------------------- + + int UnloadOpenGLCore() + { + if( g_OGLCoreModule==NULL ) + { + return 1; // "OpenGL library not loaded" + } + + // Info(VERB_LOW, "Unload %d OpenGL Core functions", g_NbOGLCoreFunc); + for(int i=0; i0); + *(g_OGLCoreFuncRec[i].m_FuncPtr) = NULL; + } + if( FreeLibrary(g_OGLCoreModule) ) + { + // Info(VERB_LOW, "OpenGL library unloaded"); + g_OGLCoreModule = NULL; + return 1; + } + else + { + // InternDisplayLastErrorWIN("Cannot unload opengl32 DLL", false); + return 0; // cannot unload opengl32.dll + } + } + + // --------------------------------------------------------------------------- + + namespace GLCore + { + + PFNOpenGL Record(const char *_FuncName, PFNOpenGL *_FuncPtr) + { + if( g_NbOGLCoreFunc>=ANT_NB_OGL_CORE_FUNC_MAX ) + { + fprintf(stderr, "Too many OpenGL Core functions declared. Change ANT_NB_OGL_CORE_FUNC_MAX."); + exit(-1); + } + + g_OGLCoreFuncRec[g_NbOGLCoreFunc].m_Name = _FuncName; + g_OGLCoreFuncRec[g_NbOGLCoreFunc].m_FuncPtr = _FuncPtr; + ++g_NbOGLCoreFunc; + + return NULL; + } + + } // namespace GL + + // --------------------------------------------------------------------------- + +#endif // defined(ANT_WINDOWS) + +// --------------------------------------------------------------------------- + +#if defined(ANT_UNIX) + + int LoadOpenGLCore() + { + _glGetProcAddress = reinterpret_cast(glXGetProcAddressARB); + + return 1; // "OpenGL library is statically linked" + } + + int UnloadOpenGLCore() + { + return 1; // "OpenGL library is statically linked" + } + +#elif defined(ANT_OSX) + + #include + + static void *gl_dyld = NULL; + void *NSGLGetProcAddressNew(const GLubyte *name) + { + void *proc=NULL; + if (gl_dyld == NULL) + { + gl_dyld = dlopen("OpenGL",RTLD_LAZY); + } + if (gl_dyld) + { + NSString *sym = [[NSString alloc] initWithFormat: @"_%s",name]; + proc = dlsym(gl_dyld,[sym UTF8String]); + [sym release]; + } + return proc; + } + + int LoadOpenGLCore() + { + _glGetProcAddress = reinterpret_cast(NSGLGetProcAddressNew); + return 1; + } + + int UnloadOpenGLCore() + { + if (gl_dyld) + { + dlclose(gl_dyld); + gl_dyld = NULL; + } + return 1; + } + +#endif // defined(ANT_UNIX) + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGLCore.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,349 @@ +// --------------------------------------------------------------------------- +// +// @file LoadOGLCore.h +// @brief OpenGL Core Profile declarations for dynamic loading +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_LOAD_OGL_CORE_INCLUDED +#define ANT_LOAD_OGL_CORE_INCLUDED + + +#define ANT_GL_CORE_DECL(_Ret, _Fct, _Params) \ + extern "C" { typedef _Ret (APIENTRY* PFN##_Fct)_Params; } \ + namespace GLCore { extern PFN##_Fct _##_Fct; } \ + using GLCore::_##_Fct; + +#if defined(ANT_WINDOWS) +# define ANT_GL_CORE_IMPL(_Fct) \ + namespace GLCore { PFN##_Fct _##_Fct = (PFN##_Fct)Record(#_Fct, (PFNOpenGL*)(&_##_Fct)); } +#elif defined(ANT_UNIX) || defined(ANT_OSX) +# define ANT_GL_CORE_IMPL(_Fct) \ + namespace GLCore { PFN##_Fct _##_Fct = _Fct; } +# if !defined(APIENTRY) +# define APIENTRY +# endif +#endif + + +int LoadOpenGLCore(); +int UnloadOpenGLCore(); + +namespace GLCore +{ + extern "C" { typedef void (APIENTRY* PFNOpenGL)(); } + PFNOpenGL Record(const char *_FuncName, PFNOpenGL *_FuncPtr); + + extern "C" { typedef PFNOpenGL (APIENTRY *PFNGLGetProcAddress)(const char *); } + extern PFNGLGetProcAddress _glGetProcAddress; +} +using GLCore::_glGetProcAddress; + + +// GL 1.0 +ANT_GL_CORE_DECL(void, glCullFace, (GLenum mode)) +ANT_GL_CORE_DECL(void, glFrontFace, (GLenum mode)) +ANT_GL_CORE_DECL(void, glHint, (GLenum target, GLenum mode)) +ANT_GL_CORE_DECL(void, glLineWidth, (GLfloat width)) +ANT_GL_CORE_DECL(void, glPointSize, (GLfloat size)) +ANT_GL_CORE_DECL(void, glPolygonMode, (GLenum face, GLenum mode)) +ANT_GL_CORE_DECL(void, glScissor, (GLint x, GLint y, GLsizei width, GLsizei height)) +ANT_GL_CORE_DECL(void, glTexParameterf, (GLenum target, GLenum pname, GLfloat param)) +ANT_GL_CORE_DECL(void, glTexParameterfv, (GLenum target, GLenum pname, const GLfloat *params)) +ANT_GL_CORE_DECL(void, glTexParameteri, (GLenum target, GLenum pname, GLint param)) +ANT_GL_CORE_DECL(void, glTexParameteriv, (GLenum target, GLenum pname, const GLint *params)) +#if defined(ANT_OSX) +// Mac OSX redefined these OpenGL calls: glTexImage1D, glTexImage2D +ANT_GL_CORE_DECL(void, glTexImage1D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glTexImage2D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +#else +ANT_GL_CORE_DECL(void, glTexImage1D, (GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glTexImage2D, (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +#endif +ANT_GL_CORE_DECL(void, glDrawBuffer, (GLenum mode)) +ANT_GL_CORE_DECL(void, glClear, (GLbitfield mask)) +ANT_GL_CORE_DECL(void, glClearColor, (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha)) +ANT_GL_CORE_DECL(void, glClearStencil, (GLint s)) +ANT_GL_CORE_DECL(void, glClearDepth, (GLclampd depth)) +ANT_GL_CORE_DECL(void, glStencilMask, (GLuint mask)) +ANT_GL_CORE_DECL(void, glColorMask, (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha)) +ANT_GL_CORE_DECL(void, glDepthMask, (GLboolean flag)) +ANT_GL_CORE_DECL(void, glDisable, (GLenum cap)) +ANT_GL_CORE_DECL(void, glEnable, (GLenum cap)) +ANT_GL_CORE_DECL(void, glFinish, (void)) +ANT_GL_CORE_DECL(void, glFlush, (void)) +ANT_GL_CORE_DECL(void, glBlendFunc, (GLenum sfactor, GLenum dfactor)) +ANT_GL_CORE_DECL(void, glLogicOp, (GLenum opcode)) +ANT_GL_CORE_DECL(void, glStencilFunc, (GLenum func, GLint ref, GLuint mask)) +ANT_GL_CORE_DECL(void, glStencilOp, (GLenum fail, GLenum zfail, GLenum zpass)) +ANT_GL_CORE_DECL(void, glDepthFunc, (GLenum func)) +ANT_GL_CORE_DECL(void, glPixelStoref, (GLenum pname, GLfloat param)) +ANT_GL_CORE_DECL(void, glPixelStorei, (GLenum pname, GLint param)) +ANT_GL_CORE_DECL(void, glReadBuffer, (GLenum mode)) +ANT_GL_CORE_DECL(void, glReadPixels, (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glGetBooleanv, (GLenum pname, GLboolean *params)) +ANT_GL_CORE_DECL(void, glGetDoublev, (GLenum pname, GLdouble *params)) +ANT_GL_CORE_DECL(GLenum, glGetError, (void)) +ANT_GL_CORE_DECL(void, glGetFloatv, (GLenum pname, GLfloat *params)) +ANT_GL_CORE_DECL(void, glGetIntegerv, (GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(const GLubyte *, glGetString, (GLenum name)) +ANT_GL_CORE_DECL(void, glGetTexImage, (GLenum target, GLint level, GLenum format, GLenum type, GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glGetTexParameterfv, (GLenum target, GLenum pname, GLfloat *params)) +ANT_GL_CORE_DECL(void, glGetTexParameteriv, (GLenum target, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetTexLevelParameterfv, (GLenum target, GLint level, GLenum pname, GLfloat *params)) +ANT_GL_CORE_DECL(void, glGetTexLevelParameteriv, (GLenum target, GLint level, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(GLboolean, glIsEnabled, (GLenum cap)) +ANT_GL_CORE_DECL(void, glDepthRange, (GLclampd near, GLclampd far)) +ANT_GL_CORE_DECL(void, glViewport, (GLint x, GLint y, GLsizei width, GLsizei height)) +// GL 1.1 +ANT_GL_CORE_DECL(void, glDrawArrays, (GLenum mode, GLint first, GLsizei count)) +ANT_GL_CORE_DECL(void, glDrawElements, (GLenum mode, GLsizei count, GLenum type, const GLvoid *indices)) +ANT_GL_CORE_DECL(void, glGetPointerv, (GLenum pname, GLvoid* *params)) +ANT_GL_CORE_DECL(void, glPolygonOffset, (GLfloat factor, GLfloat units)) +ANT_GL_CORE_DECL(void, glCopyTexImage1D, (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border)) +ANT_GL_CORE_DECL(void, glCopyTexImage2D, (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border)) +ANT_GL_CORE_DECL(void, glCopyTexSubImage1D, (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width)) +ANT_GL_CORE_DECL(void, glCopyTexSubImage2D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height)) +ANT_GL_CORE_DECL(void, glTexSubImage1D, (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glTexSubImage2D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glBindTexture, (GLenum target, GLuint texture)) +ANT_GL_CORE_DECL(void, glDeleteTextures, (GLsizei n, const GLuint *textures)) +ANT_GL_CORE_DECL(void, glGenTextures, (GLsizei n, GLuint *textures)) +ANT_GL_CORE_DECL(GLboolean, glIsTexture, (GLuint texture)) +// GL 1.2 +ANT_GL_CORE_DECL(void, glBlendColor, (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha)) +ANT_GL_CORE_DECL(void, glBlendEquation, (GLenum mode)) +ANT_GL_CORE_DECL(void, glDrawRangeElements, (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices)) +ANT_GL_CORE_DECL(void, glTexImage3D, (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glTexSubImage3D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_CORE_DECL(void, glCopyTexSubImage3D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height)) +// GL 1.3 +ANT_GL_CORE_DECL(void, glActiveTexture, (GLenum texture)) +ANT_GL_CORE_DECL(void, glSampleCoverage, (GLclampf value, GLboolean invert)) +ANT_GL_CORE_DECL(void, glCompressedTexImage3D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glCompressedTexImage2D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glCompressedTexImage1D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glCompressedTexSubImage3D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glCompressedTexSubImage2D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glCompressedTexSubImage1D, (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glGetCompressedTexImage, (GLenum target, GLint level, GLvoid *img)) +// GL 1.4 +ANT_GL_CORE_DECL(void, glBlendFuncSeparate, (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha)) +ANT_GL_CORE_DECL(void, glMultiDrawArrays, (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount)) +ANT_GL_CORE_DECL(void, glMultiDrawElements, (GLenum mode, const GLsizei *count, GLenum type, const GLvoid* *indices, GLsizei primcount)) +ANT_GL_CORE_DECL(void, glPointParameterf, (GLenum pname, GLfloat param)) +ANT_GL_CORE_DECL(void, glPointParameterfv, (GLenum pname, const GLfloat *params)) +ANT_GL_CORE_DECL(void, glPointParameteri, (GLenum pname, GLint param)) +ANT_GL_CORE_DECL(void, glPointParameteriv, (GLenum pname, const GLint *params)) +// GL 1.5 +typedef ptrdiff_t GLintptr; +typedef ptrdiff_t GLsizeiptr; +ANT_GL_CORE_DECL(void, glGenQueries, (GLsizei n, GLuint *ids)) +ANT_GL_CORE_DECL(void, glDeleteQueries, (GLsizei n, const GLuint *ids)) +ANT_GL_CORE_DECL(GLboolean, glIsQuery, (GLuint id)) +ANT_GL_CORE_DECL(void, glBeginQuery, (GLenum target, GLuint id)) +ANT_GL_CORE_DECL(void, glEndQuery, (GLenum target)) +ANT_GL_CORE_DECL(void, glGetQueryiv, (GLenum target, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetQueryObjectiv, (GLuint id, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetQueryObjectuiv, (GLuint id, GLenum pname, GLuint *params)) +ANT_GL_CORE_DECL(void, glBindBuffer, (GLenum target, GLuint buffer)) +ANT_GL_CORE_DECL(void, glDeleteBuffers, (GLsizei n, const GLuint *buffers)) +ANT_GL_CORE_DECL(void, glGenBuffers, (GLsizei n, GLuint *buffers)) +ANT_GL_CORE_DECL(GLboolean, glIsBuffer, (GLuint buffer)) +ANT_GL_CORE_DECL(void, glBufferData, (GLenum target, GLsizeiptr size, const GLvoid *data, GLenum usage)) +ANT_GL_CORE_DECL(void, glBufferSubData, (GLenum target, GLintptr offset, GLsizeiptr size, const GLvoid *data)) +ANT_GL_CORE_DECL(void, glGetBufferSubData, (GLenum target, GLintptr offset, GLsizeiptr size, GLvoid *data)) +ANT_GL_CORE_DECL(GLvoid*, glMapBuffer, (GLenum target, GLenum access)) +ANT_GL_CORE_DECL(GLboolean, glUnmapBuffer, (GLenum target)) +ANT_GL_CORE_DECL(void, glGetBufferParameteriv, (GLenum target, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetBufferPointerv, (GLenum target, GLenum pname, GLvoid* *params)) +// GL 2.0 +typedef char GLchar; +ANT_GL_CORE_DECL(void, glBlendEquationSeparate, (GLenum modeRGB, GLenum modeAlpha)) +ANT_GL_CORE_DECL(void, glDrawBuffers, (GLsizei n, const GLenum *bufs)) +ANT_GL_CORE_DECL(void, glStencilOpSeparate, (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass)) +ANT_GL_CORE_DECL(void, glStencilFuncSeparate, (GLenum face, GLenum func, GLint ref, GLuint mask)) +ANT_GL_CORE_DECL(void, glStencilMaskSeparate, (GLenum face, GLuint mask)) +ANT_GL_CORE_DECL(void, glAttachShader, (GLuint program, GLuint shader)) +ANT_GL_CORE_DECL(void, glBindAttribLocation, (GLuint program, GLuint index, const GLchar *name)) +ANT_GL_CORE_DECL(void, glCompileShader, (GLuint shader)) +ANT_GL_CORE_DECL(GLuint, glCreateProgram, (void)) +ANT_GL_CORE_DECL(GLuint, glCreateShader, (GLenum type)) +ANT_GL_CORE_DECL(void, glDeleteProgram, (GLuint program)) +ANT_GL_CORE_DECL(void, glDeleteShader, (GLuint shader)) +ANT_GL_CORE_DECL(void, glDetachShader, (GLuint program, GLuint shader)) +ANT_GL_CORE_DECL(void, glDisableVertexAttribArray, (GLuint index)) +ANT_GL_CORE_DECL(void, glEnableVertexAttribArray, (GLuint index)) +ANT_GL_CORE_DECL(void, glGetActiveAttrib, (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name)) +ANT_GL_CORE_DECL(void, glGetActiveUniform, (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLint *size, GLenum *type, GLchar *name)) +ANT_GL_CORE_DECL(void, glGetAttachedShaders, (GLuint program, GLsizei maxCount, GLsizei *count, GLuint *obj)) +ANT_GL_CORE_DECL(GLint, glGetAttribLocation, (GLuint program, const GLchar *name)) +ANT_GL_CORE_DECL(void, glGetProgramiv, (GLuint program, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetProgramInfoLog, (GLuint program, GLsizei bufSize, GLsizei *length, GLchar *infoLog)) +ANT_GL_CORE_DECL(void, glGetShaderiv, (GLuint shader, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetShaderInfoLog, (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *infoLog)) +ANT_GL_CORE_DECL(void, glGetShaderSource, (GLuint shader, GLsizei bufSize, GLsizei *length, GLchar *source)) +ANT_GL_CORE_DECL(GLint, glGetUniformLocation, (GLuint program, const GLchar *name)) +ANT_GL_CORE_DECL(void, glGetUniformfv, (GLuint program, GLint location, GLfloat *params)) +ANT_GL_CORE_DECL(void, glGetUniformiv, (GLuint program, GLint location, GLint *params)) +ANT_GL_CORE_DECL(void, glGetVertexAttribdv, (GLuint index, GLenum pname, GLdouble *params)) +ANT_GL_CORE_DECL(void, glGetVertexAttribfv, (GLuint index, GLenum pname, GLfloat *params)) +ANT_GL_CORE_DECL(void, glGetVertexAttribiv, (GLuint index, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetVertexAttribPointerv, (GLuint index, GLenum pname, GLvoid* *pointer)) +ANT_GL_CORE_DECL(GLboolean, glIsProgram, (GLuint program)) +ANT_GL_CORE_DECL(GLboolean, glIsShader, (GLuint shader)) +ANT_GL_CORE_DECL(void, glLinkProgram, (GLuint program)) +ANT_GL_CORE_DECL(void, glShaderSource, (GLuint shader, GLsizei count, const GLchar* *string, const GLint *length)) +ANT_GL_CORE_DECL(void, glUseProgram, (GLuint program)) +ANT_GL_CORE_DECL(void, glUniform1f, (GLint location, GLfloat v0)) +ANT_GL_CORE_DECL(void, glUniform2f, (GLint location, GLfloat v0, GLfloat v1)) +ANT_GL_CORE_DECL(void, glUniform3f, (GLint location, GLfloat v0, GLfloat v1, GLfloat v2)) +ANT_GL_CORE_DECL(void, glUniform4f, (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3)) +ANT_GL_CORE_DECL(void, glUniform1i, (GLint location, GLint v0)) +ANT_GL_CORE_DECL(void, glUniform2i, (GLint location, GLint v0, GLint v1)) +ANT_GL_CORE_DECL(void, glUniform3i, (GLint location, GLint v0, GLint v1, GLint v2)) +ANT_GL_CORE_DECL(void, glUniform4i, (GLint location, GLint v0, GLint v1, GLint v2, GLint v3)) +ANT_GL_CORE_DECL(void, glUniform1fv, (GLint location, GLsizei count, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniform2fv, (GLint location, GLsizei count, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniform3fv, (GLint location, GLsizei count, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniform4fv, (GLint location, GLsizei count, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniform1iv, (GLint location, GLsizei count, const GLint *value)) +ANT_GL_CORE_DECL(void, glUniform2iv, (GLint location, GLsizei count, const GLint *value)) +ANT_GL_CORE_DECL(void, glUniform3iv, (GLint location, GLsizei count, const GLint *value)) +ANT_GL_CORE_DECL(void, glUniform4iv, (GLint location, GLsizei count, const GLint *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix2fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix3fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix4fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glValidateProgram, (GLuint program)) +ANT_GL_CORE_DECL(void, glVertexAttrib1d, (GLuint index, GLdouble x)) +ANT_GL_CORE_DECL(void, glVertexAttrib1dv, (GLuint index, const GLdouble *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib1f, (GLuint index, GLfloat x)) +ANT_GL_CORE_DECL(void, glVertexAttrib1fv, (GLuint index, const GLfloat *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib1s, (GLuint index, GLshort x)) +ANT_GL_CORE_DECL(void, glVertexAttrib1sv, (GLuint index, const GLshort *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib2d, (GLuint index, GLdouble x, GLdouble y)) +ANT_GL_CORE_DECL(void, glVertexAttrib2dv, (GLuint index, const GLdouble *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib2f, (GLuint index, GLfloat x, GLfloat y)) +ANT_GL_CORE_DECL(void, glVertexAttrib2fv, (GLuint index, const GLfloat *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib2s, (GLuint index, GLshort x, GLshort y)) +ANT_GL_CORE_DECL(void, glVertexAttrib2sv, (GLuint index, const GLshort *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib3d, (GLuint index, GLdouble x, GLdouble y, GLdouble z)) +ANT_GL_CORE_DECL(void, glVertexAttrib3dv, (GLuint index, const GLdouble *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib3f, (GLuint index, GLfloat x, GLfloat y, GLfloat z)) +ANT_GL_CORE_DECL(void, glVertexAttrib3fv, (GLuint index, const GLfloat *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib3s, (GLuint index, GLshort x, GLshort y, GLshort z)) +ANT_GL_CORE_DECL(void, glVertexAttrib3sv, (GLuint index, const GLshort *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Nbv, (GLuint index, const GLbyte *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Niv, (GLuint index, const GLint *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Nsv, (GLuint index, const GLshort *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Nub, (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Nubv, (GLuint index, const GLubyte *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Nuiv, (GLuint index, const GLuint *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4Nusv, (GLuint index, const GLushort *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4bv, (GLuint index, const GLbyte *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4d, (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w)) +ANT_GL_CORE_DECL(void, glVertexAttrib4dv, (GLuint index, const GLdouble *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4f, (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w)) +ANT_GL_CORE_DECL(void, glVertexAttrib4fv, (GLuint index, const GLfloat *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4iv, (GLuint index, const GLint *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4s, (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w)) +ANT_GL_CORE_DECL(void, glVertexAttrib4sv, (GLuint index, const GLshort *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4ubv, (GLuint index, const GLubyte *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4uiv, (GLuint index, const GLuint *v)) +ANT_GL_CORE_DECL(void, glVertexAttrib4usv, (GLuint index, const GLushort *v)) +ANT_GL_CORE_DECL(void, glVertexAttribPointer, (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid *pointer)) +// GL 2.1 +ANT_GL_CORE_DECL(void, glUniformMatrix2x3fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix3x2fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix2x4fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix4x2fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix3x4fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glUniformMatrix4x3fv, (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value)) +// GL 3.0 +ANT_GL_CORE_DECL(void, glColorMaski, (GLuint index, GLboolean r, GLboolean g, GLboolean b, GLboolean a)) +ANT_GL_CORE_DECL(void, glGetBooleani_v, (GLenum target, GLuint index, GLboolean *data)) +ANT_GL_CORE_DECL(void, glGetIntegeri_v, (GLenum target, GLuint index, GLint *data)) +ANT_GL_CORE_DECL(void, glEnablei, (GLenum target, GLuint index)) +ANT_GL_CORE_DECL(void, glDisablei, (GLenum target, GLuint index)) +ANT_GL_CORE_DECL(GLboolean, glIsEnabledi, (GLenum target, GLuint index)) +ANT_GL_CORE_DECL(void, glBeginTransformFeedback, (GLenum primitiveMode)) +ANT_GL_CORE_DECL(void, glEndTransformFeedback, (void)) +ANT_GL_CORE_DECL(void, glBindBufferRange, (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size)) +ANT_GL_CORE_DECL(void, glBindBufferBase, (GLenum target, GLuint index, GLuint buffer)) +ANT_GL_CORE_DECL(void, glTransformFeedbackVaryings, (GLuint program, GLsizei count, const GLchar* *varyings, GLenum bufferMode)) +ANT_GL_CORE_DECL(void, glGetTransformFeedbackVarying, (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name)) +ANT_GL_CORE_DECL(void, glClampColor, (GLenum target, GLenum clamp)) +ANT_GL_CORE_DECL(void, glBeginConditionalRender, (GLuint id, GLenum mode)) +ANT_GL_CORE_DECL(void, glEndConditionalRender, (void)) +ANT_GL_CORE_DECL(void, glVertexAttribIPointer, (GLuint index, GLint size, GLenum type, GLsizei stride, const GLvoid *pointer)) +ANT_GL_CORE_DECL(void, glGetVertexAttribIiv, (GLuint index, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetVertexAttribIuiv, (GLuint index, GLenum pname, GLuint *params)) +ANT_GL_CORE_DECL(void, glVertexAttribI1i, (GLuint index, GLint x)) +ANT_GL_CORE_DECL(void, glVertexAttribI2i, (GLuint index, GLint x, GLint y)) +ANT_GL_CORE_DECL(void, glVertexAttribI3i, (GLuint index, GLint x, GLint y, GLint z)) +ANT_GL_CORE_DECL(void, glVertexAttribI4i, (GLuint index, GLint x, GLint y, GLint z, GLint w)) +ANT_GL_CORE_DECL(void, glVertexAttribI1ui, (GLuint index, GLuint x)) +ANT_GL_CORE_DECL(void, glVertexAttribI2ui, (GLuint index, GLuint x, GLuint y)) +ANT_GL_CORE_DECL(void, glVertexAttribI3ui, (GLuint index, GLuint x, GLuint y, GLuint z)) +ANT_GL_CORE_DECL(void, glVertexAttribI4ui, (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w)) +ANT_GL_CORE_DECL(void, glVertexAttribI1iv, (GLuint index, const GLint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI2iv, (GLuint index, const GLint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI3iv, (GLuint index, const GLint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI4iv, (GLuint index, const GLint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI1uiv, (GLuint index, const GLuint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI2uiv, (GLuint index, const GLuint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI3uiv, (GLuint index, const GLuint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI4uiv, (GLuint index, const GLuint *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI4bv, (GLuint index, const GLbyte *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI4sv, (GLuint index, const GLshort *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI4ubv, (GLuint index, const GLubyte *v)) +ANT_GL_CORE_DECL(void, glVertexAttribI4usv, (GLuint index, const GLushort *v)) +ANT_GL_CORE_DECL(void, glGetUniformuiv, (GLuint program, GLint location, GLuint *params)) +ANT_GL_CORE_DECL(void, glBindFragDataLocation, (GLuint program, GLuint color, const GLchar *name)) +ANT_GL_CORE_DECL(GLint, glGetFragDataLocation, (GLuint program, const GLchar *name)) +ANT_GL_CORE_DECL(void, glUniform1ui, (GLint location, GLuint v0)) +ANT_GL_CORE_DECL(void, glUniform2ui, (GLint location, GLuint v0, GLuint v1)) +ANT_GL_CORE_DECL(void, glUniform3ui, (GLint location, GLuint v0, GLuint v1, GLuint v2)) +ANT_GL_CORE_DECL(void, glUniform4ui, (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3)) +ANT_GL_CORE_DECL(void, glUniform1uiv, (GLint location, GLsizei count, const GLuint *value)) +ANT_GL_CORE_DECL(void, glUniform2uiv, (GLint location, GLsizei count, const GLuint *value)) +ANT_GL_CORE_DECL(void, glUniform3uiv, (GLint location, GLsizei count, const GLuint *value)) +ANT_GL_CORE_DECL(void, glUniform4uiv, (GLint location, GLsizei count, const GLuint *value)) +ANT_GL_CORE_DECL(void, glTexParameterIiv, (GLenum target, GLenum pname, const GLint *params)) +ANT_GL_CORE_DECL(void, glTexParameterIuiv, (GLenum target, GLenum pname, const GLuint *params)) +ANT_GL_CORE_DECL(void, glGetTexParameterIiv, (GLenum target, GLenum pname, GLint *params)) +ANT_GL_CORE_DECL(void, glGetTexParameterIuiv, (GLenum target, GLenum pname, GLuint *params)) +ANT_GL_CORE_DECL(void, glClearBufferiv, (GLenum buffer, GLint drawbuffer, const GLint *value)) +ANT_GL_CORE_DECL(void, glClearBufferuiv, (GLenum buffer, GLint drawbuffer, const GLuint *value)) +ANT_GL_CORE_DECL(void, glClearBufferfv, (GLenum buffer, GLint drawbuffer, const GLfloat *value)) +ANT_GL_CORE_DECL(void, glClearBufferfi, (GLenum buffer, GLint drawbuffer, GLfloat depth, GLint stencil)) +ANT_GL_CORE_DECL(const GLubyte *, glGetStringi, (GLenum name, GLuint index)) +// GL 3.1 +ANT_GL_CORE_DECL(void, glDrawArraysInstanced, (GLenum mode, GLint first, GLsizei count, GLsizei primcount)) +ANT_GL_CORE_DECL(void, glDrawElementsInstanced, (GLenum mode, GLsizei count, GLenum type, const GLvoid *indices, GLsizei primcount)) +ANT_GL_CORE_DECL(void, glTexBuffer, (GLenum target, GLenum internalformat, GLuint buffer)) +ANT_GL_CORE_DECL(void, glPrimitiveRestartIndex, (GLuint index)) +// GL 3.2 +//typedef int64_t GLint64; +//ANT_GL_CORE_DECL(void, glGetInteger64i_v, (GLenum target, GLuint index, GLint64 *data)) +//ANT_GL_CORE_DECL(void, glGetBufferParameteri64v, (GLenum target, GLenum pname, GLint64 *params)) +ANT_GL_CORE_DECL(void, glFramebufferTexture, (GLenum target, GLenum attachment, GLuint texture, GLint level)) + +// GL_ARB_vertex_array_object +ANT_GL_CORE_DECL(void, glBindVertexArray, (GLuint array)) +ANT_GL_CORE_DECL(void, glDeleteVertexArrays, (GLsizei n, const GLuint *arrays)) +ANT_GL_CORE_DECL(void, glGenVertexArrays, (GLsizei n, GLuint *arrays)) +ANT_GL_CORE_DECL(GLboolean, glIsVertexArray, (GLuint array)) + +#ifdef ANT_WINDOWS +ANT_GL_CORE_DECL(PROC, wglGetProcAddress, (LPCSTR)) +#endif + + +#endif // !defined ANT_LOAD_OGL_CORE_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,531 @@ +// --------------------------------------------------------------------------- +// +// @file LoadOGL.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "LoadOGL.h" + + +// --------------------------------------------------------------------------- + +#define ANT_NB_OGL_FUNC_MAX 1024 + +struct COGLFuncRec +{ + const char * m_Name; + GL::PFNOpenGL * m_FuncPtr; + COGLFuncRec() : m_Name(NULL), m_FuncPtr(NULL) {} +}; +COGLFuncRec g_OGLFuncRec[ANT_NB_OGL_FUNC_MAX]; +int g_NbOGLFunc = 0; +#if defined(ANT_WINDOWS) +HMODULE g_OGLModule = NULL; +#endif + +// --------------------------------------------------------------------------- + +ANT_GL_IMPL(glAccum) +ANT_GL_IMPL(glAlphaFunc) +ANT_GL_IMPL(glAreTexturesResident) +ANT_GL_IMPL(glArrayElement) +ANT_GL_IMPL(glBegin) +ANT_GL_IMPL(glBindTexture) +ANT_GL_IMPL(glBitmap) +ANT_GL_IMPL(glBlendFunc) +ANT_GL_IMPL(glCallList) +ANT_GL_IMPL(glCallLists) +ANT_GL_IMPL(glClear) +ANT_GL_IMPL(glClearAccum) +ANT_GL_IMPL(glClearColor) +ANT_GL_IMPL(glClearDepth) +ANT_GL_IMPL(glClearIndex) +ANT_GL_IMPL(glClearStencil) +ANT_GL_IMPL(glClipPlane) +ANT_GL_IMPL(glColor3b) +ANT_GL_IMPL(glColor3bv) +ANT_GL_IMPL(glColor3d) +ANT_GL_IMPL(glColor3dv) +ANT_GL_IMPL(glColor3f) +ANT_GL_IMPL(glColor3fv) +ANT_GL_IMPL(glColor3i) +ANT_GL_IMPL(glColor3iv) +ANT_GL_IMPL(glColor3s) +ANT_GL_IMPL(glColor3sv) +ANT_GL_IMPL(glColor3ub) +ANT_GL_IMPL(glColor3ubv) +ANT_GL_IMPL(glColor3ui) +ANT_GL_IMPL(glColor3uiv) +ANT_GL_IMPL(glColor3us) +ANT_GL_IMPL(glColor3usv) +ANT_GL_IMPL(glColor4b) +ANT_GL_IMPL(glColor4bv) +ANT_GL_IMPL(glColor4d) +ANT_GL_IMPL(glColor4dv) +ANT_GL_IMPL(glColor4f) +ANT_GL_IMPL(glColor4fv) +ANT_GL_IMPL(glColor4i) +ANT_GL_IMPL(glColor4iv) +ANT_GL_IMPL(glColor4s) +ANT_GL_IMPL(glColor4sv) +ANT_GL_IMPL(glColor4ub) +ANT_GL_IMPL(glColor4ubv) +ANT_GL_IMPL(glColor4ui) +ANT_GL_IMPL(glColor4uiv) +ANT_GL_IMPL(glColor4us) +ANT_GL_IMPL(glColor4usv) +ANT_GL_IMPL(glColorMask) +ANT_GL_IMPL(glColorMaterial) +ANT_GL_IMPL(glColorPointer) +ANT_GL_IMPL(glCopyPixels) +ANT_GL_IMPL(glCopyTexImage1D) +ANT_GL_IMPL(glCopyTexImage2D) +ANT_GL_IMPL(glCopyTexSubImage1D) +ANT_GL_IMPL(glCopyTexSubImage2D) +ANT_GL_IMPL(glCullFace) +ANT_GL_IMPL(glDeleteLists) +ANT_GL_IMPL(glDeleteTextures) +ANT_GL_IMPL(glDepthFunc) +ANT_GL_IMPL(glDepthMask) +ANT_GL_IMPL(glDepthRange) +ANT_GL_IMPL(glDisable) +ANT_GL_IMPL(glDisableClientState) +ANT_GL_IMPL(glDrawArrays) +ANT_GL_IMPL(glDrawBuffer) +ANT_GL_IMPL(glDrawElements) +ANT_GL_IMPL(glDrawPixels) +ANT_GL_IMPL(glEdgeFlag) +ANT_GL_IMPL(glEdgeFlagPointer) +ANT_GL_IMPL(glEdgeFlagv) +ANT_GL_IMPL(glEnable) +ANT_GL_IMPL(glEnableClientState) +ANT_GL_IMPL(glEnd) +ANT_GL_IMPL(glEndList) +ANT_GL_IMPL(glEvalCoord1d) +ANT_GL_IMPL(glEvalCoord1dv) +ANT_GL_IMPL(glEvalCoord1f) +ANT_GL_IMPL(glEvalCoord1fv) +ANT_GL_IMPL(glEvalCoord2d) +ANT_GL_IMPL(glEvalCoord2dv) +ANT_GL_IMPL(glEvalCoord2f) +ANT_GL_IMPL(glEvalCoord2fv) +ANT_GL_IMPL(glEvalMesh1) +ANT_GL_IMPL(glEvalMesh2) +ANT_GL_IMPL(glEvalPoint1) +ANT_GL_IMPL(glEvalPoint2) +ANT_GL_IMPL(glFeedbackBuffer) +ANT_GL_IMPL(glFinish) +ANT_GL_IMPL(glFlush) +ANT_GL_IMPL(glFogf) +ANT_GL_IMPL(glFogfv) +ANT_GL_IMPL(glFogi) +ANT_GL_IMPL(glFogiv) +ANT_GL_IMPL(glFrontFace) +ANT_GL_IMPL(glFrustum) +ANT_GL_IMPL(glGenLists) +ANT_GL_IMPL(glGenTextures) +ANT_GL_IMPL(glGetBooleanv) +ANT_GL_IMPL(glGetClipPlane) +ANT_GL_IMPL(glGetDoublev) +ANT_GL_IMPL(glGetError) +ANT_GL_IMPL(glGetFloatv) +ANT_GL_IMPL(glGetIntegerv) +ANT_GL_IMPL(glGetLightfv) +ANT_GL_IMPL(glGetLightiv) +ANT_GL_IMPL(glGetMapdv) +ANT_GL_IMPL(glGetMapfv) +ANT_GL_IMPL(glGetMapiv) +ANT_GL_IMPL(glGetMaterialfv) +ANT_GL_IMPL(glGetMaterialiv) +ANT_GL_IMPL(glGetPixelMapfv) +ANT_GL_IMPL(glGetPixelMapuiv) +ANT_GL_IMPL(glGetPixelMapusv) +ANT_GL_IMPL(glGetPointerv) +ANT_GL_IMPL(glGetPolygonStipple) +ANT_GL_IMPL(glGetString) +ANT_GL_IMPL(glGetTexEnvfv) +ANT_GL_IMPL(glGetTexEnviv) +ANT_GL_IMPL(glGetTexGendv) +ANT_GL_IMPL(glGetTexGenfv) +ANT_GL_IMPL(glGetTexGeniv) +ANT_GL_IMPL(glGetTexImage) +ANT_GL_IMPL(glGetTexLevelParameterfv) +ANT_GL_IMPL(glGetTexLevelParameteriv) +ANT_GL_IMPL(glGetTexParameterfv) +ANT_GL_IMPL(glGetTexParameteriv) +ANT_GL_IMPL(glHint) +ANT_GL_IMPL(glIndexMask) +ANT_GL_IMPL(glIndexPointer) +ANT_GL_IMPL(glIndexd) +ANT_GL_IMPL(glIndexdv) +ANT_GL_IMPL(glIndexf) +ANT_GL_IMPL(glIndexfv) +ANT_GL_IMPL(glIndexi) +ANT_GL_IMPL(glIndexiv) +ANT_GL_IMPL(glIndexs) +ANT_GL_IMPL(glIndexsv) +ANT_GL_IMPL(glIndexub) +ANT_GL_IMPL(glIndexubv) +ANT_GL_IMPL(glInitNames) +ANT_GL_IMPL(glInterleavedArrays) +ANT_GL_IMPL(glIsEnabled) +ANT_GL_IMPL(glIsList) +ANT_GL_IMPL(glIsTexture) +ANT_GL_IMPL(glLightModelf) +ANT_GL_IMPL(glLightModelfv) +ANT_GL_IMPL(glLightModeli) +ANT_GL_IMPL(glLightModeliv) +ANT_GL_IMPL(glLightf) +ANT_GL_IMPL(glLightfv) +ANT_GL_IMPL(glLighti) +ANT_GL_IMPL(glLightiv) +ANT_GL_IMPL(glLineStipple) +ANT_GL_IMPL(glLineWidth) +ANT_GL_IMPL(glListBase) +ANT_GL_IMPL(glLoadIdentity) +ANT_GL_IMPL(glLoadMatrixd) +ANT_GL_IMPL(glLoadMatrixf) +ANT_GL_IMPL(glLoadName) +ANT_GL_IMPL(glLogicOp) +ANT_GL_IMPL(glMap1d) +ANT_GL_IMPL(glMap1f) +ANT_GL_IMPL(glMap2d) +ANT_GL_IMPL(glMap2f) +ANT_GL_IMPL(glMapGrid1d) +ANT_GL_IMPL(glMapGrid1f) +ANT_GL_IMPL(glMapGrid2d) +ANT_GL_IMPL(glMapGrid2f) +ANT_GL_IMPL(glMaterialf) +ANT_GL_IMPL(glMaterialfv) +ANT_GL_IMPL(glMateriali) +ANT_GL_IMPL(glMaterialiv) +ANT_GL_IMPL(glMatrixMode) +ANT_GL_IMPL(glMultMatrixd) +ANT_GL_IMPL(glMultMatrixf) +ANT_GL_IMPL(glNewList) +ANT_GL_IMPL(glNormal3b) +ANT_GL_IMPL(glNormal3bv) +ANT_GL_IMPL(glNormal3d) +ANT_GL_IMPL(glNormal3dv) +ANT_GL_IMPL(glNormal3f) +ANT_GL_IMPL(glNormal3fv) +ANT_GL_IMPL(glNormal3i) +ANT_GL_IMPL(glNormal3iv) +ANT_GL_IMPL(glNormal3s) +ANT_GL_IMPL(glNormal3sv) +ANT_GL_IMPL(glNormalPointer) +ANT_GL_IMPL(glOrtho) +ANT_GL_IMPL(glPassThrough) +ANT_GL_IMPL(glPixelMapfv) +ANT_GL_IMPL(glPixelMapuiv) +ANT_GL_IMPL(glPixelMapusv) +ANT_GL_IMPL(glPixelStoref) +ANT_GL_IMPL(glPixelStorei) +ANT_GL_IMPL(glPixelTransferf) +ANT_GL_IMPL(glPixelTransferi) +ANT_GL_IMPL(glPixelZoom) +ANT_GL_IMPL(glPointSize) +ANT_GL_IMPL(glPolygonMode) +ANT_GL_IMPL(glPolygonOffset) +ANT_GL_IMPL(glPolygonStipple) +ANT_GL_IMPL(glPopAttrib) +ANT_GL_IMPL(glPopClientAttrib) +ANT_GL_IMPL(glPopMatrix) +ANT_GL_IMPL(glPopName) +ANT_GL_IMPL(glPrioritizeTextures) +ANT_GL_IMPL(glPushAttrib) +ANT_GL_IMPL(glPushClientAttrib) +ANT_GL_IMPL(glPushMatrix) +ANT_GL_IMPL(glPushName) +ANT_GL_IMPL(glRasterPos2d) +ANT_GL_IMPL(glRasterPos2dv) +ANT_GL_IMPL(glRasterPos2f) +ANT_GL_IMPL(glRasterPos2fv) +ANT_GL_IMPL(glRasterPos2i) +ANT_GL_IMPL(glRasterPos2iv) +ANT_GL_IMPL(glRasterPos2s) +ANT_GL_IMPL(glRasterPos2sv) +ANT_GL_IMPL(glRasterPos3d) +ANT_GL_IMPL(glRasterPos3dv) +ANT_GL_IMPL(glRasterPos3f) +ANT_GL_IMPL(glRasterPos3fv) +ANT_GL_IMPL(glRasterPos3i) +ANT_GL_IMPL(glRasterPos3iv) +ANT_GL_IMPL(glRasterPos3s) +ANT_GL_IMPL(glRasterPos3sv) +ANT_GL_IMPL(glRasterPos4d) +ANT_GL_IMPL(glRasterPos4dv) +ANT_GL_IMPL(glRasterPos4f) +ANT_GL_IMPL(glRasterPos4fv) +ANT_GL_IMPL(glRasterPos4i) +ANT_GL_IMPL(glRasterPos4iv) +ANT_GL_IMPL(glRasterPos4s) +ANT_GL_IMPL(glRasterPos4sv) +ANT_GL_IMPL(glReadBuffer) +ANT_GL_IMPL(glReadPixels) +ANT_GL_IMPL(glRectd) +ANT_GL_IMPL(glRectdv) +ANT_GL_IMPL(glRectf) +ANT_GL_IMPL(glRectfv) +ANT_GL_IMPL(glRecti) +ANT_GL_IMPL(glRectiv) +ANT_GL_IMPL(glRects) +ANT_GL_IMPL(glRectsv) +ANT_GL_IMPL(glRenderMode) +ANT_GL_IMPL(glRotated) +ANT_GL_IMPL(glRotatef) +ANT_GL_IMPL(glScaled) +ANT_GL_IMPL(glScalef) +ANT_GL_IMPL(glScissor) +ANT_GL_IMPL(glSelectBuffer) +ANT_GL_IMPL(glShadeModel) +ANT_GL_IMPL(glStencilFunc) +ANT_GL_IMPL(glStencilMask) +ANT_GL_IMPL(glStencilOp) +ANT_GL_IMPL(glTexCoord1d) +ANT_GL_IMPL(glTexCoord1dv) +ANT_GL_IMPL(glTexCoord1f) +ANT_GL_IMPL(glTexCoord1fv) +ANT_GL_IMPL(glTexCoord1i) +ANT_GL_IMPL(glTexCoord1iv) +ANT_GL_IMPL(glTexCoord1s) +ANT_GL_IMPL(glTexCoord1sv) +ANT_GL_IMPL(glTexCoord2d) +ANT_GL_IMPL(glTexCoord2dv) +ANT_GL_IMPL(glTexCoord2f) +ANT_GL_IMPL(glTexCoord2fv) +ANT_GL_IMPL(glTexCoord2i) +ANT_GL_IMPL(glTexCoord2iv) +ANT_GL_IMPL(glTexCoord2s) +ANT_GL_IMPL(glTexCoord2sv) +ANT_GL_IMPL(glTexCoord3d) +ANT_GL_IMPL(glTexCoord3dv) +ANT_GL_IMPL(glTexCoord3f) +ANT_GL_IMPL(glTexCoord3fv) +ANT_GL_IMPL(glTexCoord3i) +ANT_GL_IMPL(glTexCoord3iv) +ANT_GL_IMPL(glTexCoord3s) +ANT_GL_IMPL(glTexCoord3sv) +ANT_GL_IMPL(glTexCoord4d) +ANT_GL_IMPL(glTexCoord4dv) +ANT_GL_IMPL(glTexCoord4f) +ANT_GL_IMPL(glTexCoord4fv) +ANT_GL_IMPL(glTexCoord4i) +ANT_GL_IMPL(glTexCoord4iv) +ANT_GL_IMPL(glTexCoord4s) +ANT_GL_IMPL(glTexCoord4sv) +ANT_GL_IMPL(glTexCoordPointer) +ANT_GL_IMPL(glTexEnvf) +ANT_GL_IMPL(glTexEnvfv) +ANT_GL_IMPL(glTexEnvi) +ANT_GL_IMPL(glTexEnviv) +ANT_GL_IMPL(glTexGend) +ANT_GL_IMPL(glTexGendv) +ANT_GL_IMPL(glTexGenf) +ANT_GL_IMPL(glTexGenfv) +ANT_GL_IMPL(glTexGeni) +ANT_GL_IMPL(glTexGeniv) +ANT_GL_IMPL(glTexImage1D) +ANT_GL_IMPL(glTexImage2D) +ANT_GL_IMPL(glTexParameterf) +ANT_GL_IMPL(glTexParameterfv) +ANT_GL_IMPL(glTexParameteri) +ANT_GL_IMPL(glTexParameteriv) +ANT_GL_IMPL(glTexSubImage1D) +ANT_GL_IMPL(glTexSubImage2D) +ANT_GL_IMPL(glTranslated) +ANT_GL_IMPL(glTranslatef) +ANT_GL_IMPL(glVertex2d) +ANT_GL_IMPL(glVertex2dv) +ANT_GL_IMPL(glVertex2f) +ANT_GL_IMPL(glVertex2fv) +ANT_GL_IMPL(glVertex2i) +ANT_GL_IMPL(glVertex2iv) +ANT_GL_IMPL(glVertex2s) +ANT_GL_IMPL(glVertex2sv) +ANT_GL_IMPL(glVertex3d) +ANT_GL_IMPL(glVertex3dv) +ANT_GL_IMPL(glVertex3f) +ANT_GL_IMPL(glVertex3fv) +ANT_GL_IMPL(glVertex3i) +ANT_GL_IMPL(glVertex3iv) +ANT_GL_IMPL(glVertex3s) +ANT_GL_IMPL(glVertex3sv) +ANT_GL_IMPL(glVertex4d) +ANT_GL_IMPL(glVertex4dv) +ANT_GL_IMPL(glVertex4f) +ANT_GL_IMPL(glVertex4fv) +ANT_GL_IMPL(glVertex4i) +ANT_GL_IMPL(glVertex4iv) +ANT_GL_IMPL(glVertex4s) +ANT_GL_IMPL(glVertex4sv) +ANT_GL_IMPL(glVertexPointer) +ANT_GL_IMPL(glViewport) +#if defined(ANT_WINDOWS) +ANT_GL_IMPL(wglGetProcAddress) +#endif + +namespace GL { PFNGLGetProcAddress _glGetProcAddress = NULL; } + +// --------------------------------------------------------------------------- + +#if defined(ANT_WINDOWS) + + // --------------------------------------------------------------------------- + + int LoadOpenGL() + { + if( g_OGLModule!=NULL ) + { + return 1; // "OpenGL library already loaded" + } + + g_OGLModule = LoadLibrary("OPENGL32.DLL"); + if( g_OGLModule ) + { + // Info(VERB_LOW, "Load %d OpenGL functions", g_NbOGLFunc); + + int Res = 1; + for(int i=0; i0); + *(g_OGLFuncRec[i].m_FuncPtr) = reinterpret_cast(GetProcAddress(g_OGLModule, g_OGLFuncRec[i].m_Name)); + if( *(g_OGLFuncRec[i].m_FuncPtr)==NULL ) + Res = 0; // Error("cannot find OpenGL function"); + + } + + _glGetProcAddress = reinterpret_cast(_wglGetProcAddress); + if( _glGetProcAddress==NULL ) + Res = 0; + + return Res; + } + else + { + // InternDisplayLastErrorWIN("Cannot load opengl32 DLL", false); + return 0; // cannot load DLL + } + } + + // --------------------------------------------------------------------------- + + int UnloadOpenGL() + { + if( g_OGLModule==NULL ) + { + return 1; // "OpenGL library not loaded" + } + + // Info(VERB_LOW, "Unload %d OpenGL functions", g_NbOGLFunc); + for(int i=0; i0); + *(g_OGLFuncRec[i].m_FuncPtr) = NULL; + } + if( FreeLibrary(g_OGLModule) ) + { + // Info(VERB_LOW, "OpenGL library unloaded"); + g_OGLModule = NULL; + return 1; + } + else + { + // InternDisplayLastErrorWIN("Cannot unload opengl32 DLL", false); + return 0; // cannot unload opengl32.dll + } + } + + // --------------------------------------------------------------------------- + + namespace GL + { + + PFNOpenGL Record(const char *_FuncName, PFNOpenGL *_FuncPtr) + { + if( g_NbOGLFunc>=ANT_NB_OGL_FUNC_MAX ) + { + fprintf(stderr, "Too many OpenGL functions declared. Change ANT_NB_OGL_FUNC_MAX."); + exit(-1); + } + + g_OGLFuncRec[g_NbOGLFunc].m_Name = _FuncName; + g_OGLFuncRec[g_NbOGLFunc].m_FuncPtr = _FuncPtr; + ++g_NbOGLFunc; + + return NULL; + } + + } // namespace GL + + // --------------------------------------------------------------------------- + +#endif // defined(ANT_WINDOWS) + +// --------------------------------------------------------------------------- + +#if defined(ANT_UNIX) + + int LoadOpenGL() + { + _glGetProcAddress = reinterpret_cast(glXGetProcAddressARB); + + return 1; // "OpenGL library is statically linked" + } + + int UnloadOpenGL() + { + return 1; // "OpenGL library is statically linked" + } + +#elif defined(ANT_OSX) + + #include + + static void *gl_dyld = NULL; + void *NSGLGetProcAddressNew(const GLubyte *name) + { + void *proc=NULL; + if (gl_dyld == NULL) + { + gl_dyld = dlopen("OpenGL",RTLD_LAZY); + } + if (gl_dyld) + { + NSString *sym = [[NSString alloc] initWithFormat: @"_%s",name]; + proc = dlsym(gl_dyld,[sym UTF8String]); + [sym release]; + } + return proc; + } + + int LoadOpenGL() + { + _glGetProcAddress = reinterpret_cast(NSGLGetProcAddressNew); + return 1; + } + + int UnloadOpenGL() + { + if (gl_dyld) + { + dlclose(gl_dyld); + gl_dyld = NULL; + } + return 1; + } + +#endif // defined(ANT_UNIX) + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/LoadOGL.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,397 @@ +// --------------------------------------------------------------------------- +// +// @file LoadOGL.h +// @brief OpenGL declarations for dynamic loading +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_LOAD_OGL_INCLUDED +#define ANT_LOAD_OGL_INCLUDED + + +#define ANT_GL_DECL(_Ret, _Fct, _Params) \ + extern "C" { typedef _Ret (APIENTRY* PFN##_Fct)_Params; } \ + namespace GL { extern PFN##_Fct _##_Fct; } \ + using GL::_##_Fct; + +#if defined(ANT_WINDOWS) +# define ANT_GL_IMPL(_Fct) \ + namespace GL { PFN##_Fct _##_Fct = (PFN##_Fct)Record(#_Fct, (PFNOpenGL*)(&_##_Fct)); } +#elif defined(ANT_UNIX) || defined(ANT_OSX) +# define ANT_GL_IMPL(_Fct) \ + namespace GL { PFN##_Fct _##_Fct = _Fct; } +# if !defined(APIENTRY) +# define APIENTRY +# endif +#endif + + +int LoadOpenGL(); +int UnloadOpenGL(); + +namespace GL +{ + extern "C" { typedef void (APIENTRY* PFNOpenGL)(); } + PFNOpenGL Record(const char *_FuncName, PFNOpenGL *_FuncPtr); + + extern "C" { typedef PFNOpenGL (APIENTRY *PFNGLGetProcAddress)(const char *); } + extern PFNGLGetProcAddress _glGetProcAddress; +} +using GL::_glGetProcAddress; + + +ANT_GL_DECL(void, glAccum, (GLenum op, GLfloat value)) +ANT_GL_DECL(void, glAlphaFunc, (GLenum func, GLclampf ref)) +ANT_GL_DECL(GLboolean, glAreTexturesResident, (GLsizei n, const GLuint *textures, GLboolean *residences)) +ANT_GL_DECL(void, glArrayElement, (GLint i)) +ANT_GL_DECL(void, glBegin, (GLenum mode)) +ANT_GL_DECL(void, glBindTexture, (GLenum target, GLuint texture)) +ANT_GL_DECL(void, glBitmap, (GLsizei width, GLsizei height, GLfloat xorig, GLfloat yorig, GLfloat xmove, GLfloat ymove, const GLubyte *bitmap)) +ANT_GL_DECL(void, glBlendFunc, (GLenum sfactor, GLenum dfactor)) +ANT_GL_DECL(void, glCallList, (GLuint list)) +ANT_GL_DECL(void, glCallLists, (GLsizei n, GLenum type, const GLvoid *lists)) +ANT_GL_DECL(void, glClear, (GLbitfield mask)) +ANT_GL_DECL(void, glClearAccum, (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha)) +ANT_GL_DECL(void, glClearColor, (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha)) +ANT_GL_DECL(void, glClearDepth, (GLclampd depth)) +ANT_GL_DECL(void, glClearIndex, (GLfloat c)) +ANT_GL_DECL(void, glClearStencil, (GLint s)) +ANT_GL_DECL(void, glClipPlane, (GLenum plane, const GLdouble *equation)) +ANT_GL_DECL(void, glColor3b, (GLbyte red, GLbyte green, GLbyte blue)) +ANT_GL_DECL(void, glColor3bv, (const GLbyte *v)) +ANT_GL_DECL(void, glColor3d, (GLdouble red, GLdouble green, GLdouble blue)) +ANT_GL_DECL(void, glColor3dv, (const GLdouble *v)) +ANT_GL_DECL(void, glColor3f, (GLfloat red, GLfloat green, GLfloat blue)) +ANT_GL_DECL(void, glColor3fv, (const GLfloat *v)) +ANT_GL_DECL(void, glColor3i, (GLint red, GLint green, GLint blue)) +ANT_GL_DECL(void, glColor3iv, (const GLint *v)) +ANT_GL_DECL(void, glColor3s, (GLshort red, GLshort green, GLshort blue)) +ANT_GL_DECL(void, glColor3sv, (const GLshort *v)) +ANT_GL_DECL(void, glColor3ub, (GLubyte red, GLubyte green, GLubyte blue)) +ANT_GL_DECL(void, glColor3ubv, (const GLubyte *v)) +ANT_GL_DECL(void, glColor3ui, (GLuint red, GLuint green, GLuint blue)) +ANT_GL_DECL(void, glColor3uiv, (const GLuint *v)) +ANT_GL_DECL(void, glColor3us, (GLushort red, GLushort green, GLushort blue)) +ANT_GL_DECL(void, glColor3usv, (const GLushort *v)) +ANT_GL_DECL(void, glColor4b, (GLbyte red, GLbyte green, GLbyte blue, GLbyte alpha)) +ANT_GL_DECL(void, glColor4bv, (const GLbyte *v)) +ANT_GL_DECL(void, glColor4d, (GLdouble red, GLdouble green, GLdouble blue, GLdouble alpha)) +ANT_GL_DECL(void, glColor4dv, (const GLdouble *v)) +ANT_GL_DECL(void, glColor4f, (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha)) +ANT_GL_DECL(void, glColor4fv, (const GLfloat *v)) +ANT_GL_DECL(void, glColor4i, (GLint red, GLint green, GLint blue, GLint alpha)) +ANT_GL_DECL(void, glColor4iv, (const GLint *v)) +ANT_GL_DECL(void, glColor4s, (GLshort red, GLshort green, GLshort blue, GLshort alpha)) +ANT_GL_DECL(void, glColor4sv, (const GLshort *v)) +ANT_GL_DECL(void, glColor4ub, (GLubyte red, GLubyte green, GLubyte blue, GLubyte alpha)) +ANT_GL_DECL(void, glColor4ubv, (const GLubyte *v)) +ANT_GL_DECL(void, glColor4ui, (GLuint red, GLuint green, GLuint blue, GLuint alpha)) +ANT_GL_DECL(void, glColor4uiv, (const GLuint *v)) +ANT_GL_DECL(void, glColor4us, (GLushort red, GLushort green, GLushort blue, GLushort alpha)) +ANT_GL_DECL(void, glColor4usv, (const GLushort *v)) +ANT_GL_DECL(void, glColorMask, (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha)) +ANT_GL_DECL(void, glColorMaterial, (GLenum face, GLenum mode)) +ANT_GL_DECL(void, glColorPointer, (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer)) +ANT_GL_DECL(void, glCopyPixels, (GLint x, GLint y, GLsizei width, GLsizei height, GLenum type)) +ANT_GL_DECL(void, glCopyTexImage1D, (GLenum target, GLint level, GLenum internalFormat, GLint x, GLint y, GLsizei width, GLint border)) +ANT_GL_DECL(void, glCopyTexImage2D, (GLenum target, GLint level, GLenum internalFormat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border)) +ANT_GL_DECL(void, glCopyTexSubImage1D, (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width)) +ANT_GL_DECL(void, glCopyTexSubImage2D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height)) +ANT_GL_DECL(void, glCullFace, (GLenum mode)) +ANT_GL_DECL(void, glDeleteLists, (GLuint list, GLsizei range)) +ANT_GL_DECL(void, glDeleteTextures, (GLsizei n, const GLuint *textures)) +ANT_GL_DECL(void, glDepthFunc, (GLenum func)) +ANT_GL_DECL(void, glDepthMask, (GLboolean flag)) +ANT_GL_DECL(void, glDepthRange, (GLclampd zNear, GLclampd zFar)) +ANT_GL_DECL(void, glDisable, (GLenum cap)) +ANT_GL_DECL(void, glDisableClientState, (GLenum array)) +ANT_GL_DECL(void, glDrawArrays, (GLenum mode, GLint first, GLsizei count)) +ANT_GL_DECL(void, glDrawBuffer, (GLenum mode)) +ANT_GL_DECL(void, glDrawElements, (GLenum mode, GLsizei count, GLenum type, const GLvoid *indices)) +ANT_GL_DECL(void, glDrawPixels, (GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_DECL(void, glEdgeFlag, (GLboolean flag)) +ANT_GL_DECL(void, glEdgeFlagPointer, (GLsizei stride, const void *pointer)) +ANT_GL_DECL(void, glEdgeFlagv, (const GLboolean *flag)) +ANT_GL_DECL(void, glEnable, (GLenum cap)) +ANT_GL_DECL(void, glEnableClientState, (GLenum array)) +ANT_GL_DECL(void, glEnd, (void)) +ANT_GL_DECL(void, glEndList, (void)) +ANT_GL_DECL(void, glEvalCoord1d, (GLdouble u)) +ANT_GL_DECL(void, glEvalCoord1dv, (const GLdouble *u)) +ANT_GL_DECL(void, glEvalCoord1f, (GLfloat u)) +ANT_GL_DECL(void, glEvalCoord1fv, (const GLfloat *u)) +ANT_GL_DECL(void, glEvalCoord2d, (GLdouble u, GLdouble v)) +ANT_GL_DECL(void, glEvalCoord2dv, (const GLdouble *u)) +ANT_GL_DECL(void, glEvalCoord2f, (GLfloat u, GLfloat v)) +ANT_GL_DECL(void, glEvalCoord2fv, (const GLfloat *u)) +ANT_GL_DECL(void, glEvalMesh1, (GLenum mode, GLint i1, GLint i2)) +ANT_GL_DECL(void, glEvalMesh2, (GLenum mode, GLint i1, GLint i2, GLint j1, GLint j2)) +ANT_GL_DECL(void, glEvalPoint1, (GLint i)) +ANT_GL_DECL(void, glEvalPoint2, (GLint i, GLint j)) +ANT_GL_DECL(void, glFeedbackBuffer, (GLsizei size, GLenum type, GLfloat *buffer)) +ANT_GL_DECL(void, glFinish, (void)) +ANT_GL_DECL(void, glFlush, (void)) +ANT_GL_DECL(void, glFogf, (GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glFogfv, (GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glFogi, (GLenum pname, GLint param)) +ANT_GL_DECL(void, glFogiv, (GLenum pname, const GLint *params)) +ANT_GL_DECL(void, glFrontFace, (GLenum mode)) +ANT_GL_DECL(void, glFrustum, (GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar)) +ANT_GL_DECL(GLuint, glGenLists, (GLsizei range)) +ANT_GL_DECL(void, glGenTextures, (GLsizei n, GLuint *textures)) +ANT_GL_DECL(void, glGetBooleanv, (GLenum pname, GLboolean *params)) +ANT_GL_DECL(void, glGetClipPlane, (GLenum plane, GLdouble *equation)) +ANT_GL_DECL(void, glGetDoublev, (GLenum pname, GLdouble *params)) +ANT_GL_DECL(GLenum, glGetError, (void)) +ANT_GL_DECL(void, glGetFloatv, (GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetIntegerv, (GLenum pname, GLint *params)) +ANT_GL_DECL(void, glGetLightfv, (GLenum light, GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetLightiv, (GLenum light, GLenum pname, GLint *params)) +ANT_GL_DECL(void, glGetMapdv, (GLenum target, GLenum query, GLdouble *v)) +ANT_GL_DECL(void, glGetMapfv, (GLenum target, GLenum query, GLfloat *v)) +ANT_GL_DECL(void, glGetMapiv, (GLenum target, GLenum query, GLint *v)) +ANT_GL_DECL(void, glGetMaterialfv, (GLenum face, GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetMaterialiv, (GLenum face, GLenum pname, GLint *params)) +ANT_GL_DECL(void, glGetPixelMapfv, (GLenum map, GLfloat *values)) +ANT_GL_DECL(void, glGetPixelMapuiv, (GLenum map, GLuint *values)) +ANT_GL_DECL(void, glGetPixelMapusv, (GLenum map, GLushort *values)) +ANT_GL_DECL(void, glGetPointerv, (GLenum pname, GLvoid* *params)) +ANT_GL_DECL(void, glGetPolygonStipple, (GLubyte *mask)) +ANT_GL_DECL(const GLubyte *, glGetString, (GLenum name)) +ANT_GL_DECL(void, glGetTexEnvfv, (GLenum target, GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetTexEnviv, (GLenum target, GLenum pname, GLint *params)) +ANT_GL_DECL(void, glGetTexGendv, (GLenum coord, GLenum pname, GLdouble *params)) +ANT_GL_DECL(void, glGetTexGenfv, (GLenum coord, GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetTexGeniv, (GLenum coord, GLenum pname, GLint *params)) +ANT_GL_DECL(void, glGetTexImage, (GLenum target, GLint level, GLenum format, GLenum type, GLvoid *pixels)) +ANT_GL_DECL(void, glGetTexLevelParameterfv, (GLenum target, GLint level, GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetTexLevelParameteriv, (GLenum target, GLint level, GLenum pname, GLint *params)) +ANT_GL_DECL(void, glGetTexParameterfv, (GLenum target, GLenum pname, GLfloat *params)) +ANT_GL_DECL(void, glGetTexParameteriv, (GLenum target, GLenum pname, GLint *params)) +ANT_GL_DECL(void, glHint, (GLenum target, GLenum mode)) +ANT_GL_DECL(void, glIndexMask, (GLuint mask)) +ANT_GL_DECL(void, glIndexPointer, (GLenum type, GLsizei stride, const GLvoid *pointer)) +ANT_GL_DECL(void, glIndexd, (GLdouble c)) +ANT_GL_DECL(void, glIndexdv, (const GLdouble *c)) +ANT_GL_DECL(void, glIndexf, (GLfloat c)) +ANT_GL_DECL(void, glIndexfv, (const GLfloat *c)) +ANT_GL_DECL(void, glIndexi, (GLint c)) +ANT_GL_DECL(void, glIndexiv, (const GLint *c)) +ANT_GL_DECL(void, glIndexs, (GLshort c)) +ANT_GL_DECL(void, glIndexsv, (const GLshort *c)) +ANT_GL_DECL(void, glIndexub, (GLubyte c)) +ANT_GL_DECL(void, glIndexubv, (const GLubyte *c)) +ANT_GL_DECL(void, glInitNames, (void)) +ANT_GL_DECL(void, glInterleavedArrays, (GLenum format, GLsizei stride, const GLvoid *pointer)) +ANT_GL_DECL(GLboolean, glIsEnabled, (GLenum cap)) +ANT_GL_DECL(GLboolean, glIsList, (GLuint list)) +ANT_GL_DECL(GLboolean, glIsTexture, (GLuint texture)) +ANT_GL_DECL(void, glLightModelf, (GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glLightModelfv, (GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glLightModeli, (GLenum pname, GLint param)) +ANT_GL_DECL(void, glLightModeliv, (GLenum pname, const GLint *params)) +ANT_GL_DECL(void, glLightf, (GLenum light, GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glLightfv, (GLenum light, GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glLighti, (GLenum light, GLenum pname, GLint param)) +ANT_GL_DECL(void, glLightiv, (GLenum light, GLenum pname, const GLint *params)) +ANT_GL_DECL(void, glLineStipple, (GLint factor, GLushort pattern)) +ANT_GL_DECL(void, glLineWidth, (GLfloat width)) +ANT_GL_DECL(void, glListBase, (GLuint base)) +ANT_GL_DECL(void, glLoadIdentity, (void)) +ANT_GL_DECL(void, glLoadMatrixd, (const GLdouble *m)) +ANT_GL_DECL(void, glLoadMatrixf, (const GLfloat *m)) +ANT_GL_DECL(void, glLoadName, (GLuint name)) +ANT_GL_DECL(void, glLogicOp, (GLenum opcode)) +ANT_GL_DECL(void, glMap1d, (GLenum target, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points)) +ANT_GL_DECL(void, glMap1f, (GLenum target, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points)) +ANT_GL_DECL(void, glMap2d, (GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points)) +ANT_GL_DECL(void, glMap2f, (GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points)) +ANT_GL_DECL(void, glMapGrid1d, (GLint un, GLdouble u1, GLdouble u2)) +ANT_GL_DECL(void, glMapGrid1f, (GLint un, GLfloat u1, GLfloat u2)) +ANT_GL_DECL(void, glMapGrid2d, (GLint un, GLdouble u1, GLdouble u2, GLint vn, GLdouble v1, GLdouble v2)) +ANT_GL_DECL(void, glMapGrid2f, (GLint un, GLfloat u1, GLfloat u2, GLint vn, GLfloat v1, GLfloat v2)) +ANT_GL_DECL(void, glMaterialf, (GLenum face, GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glMaterialfv, (GLenum face, GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glMateriali, (GLenum face, GLenum pname, GLint param)) +ANT_GL_DECL(void, glMaterialiv, (GLenum face, GLenum pname, const GLint *params)) +ANT_GL_DECL(void, glMatrixMode, (GLenum mode)) +ANT_GL_DECL(void, glMultMatrixd, (const GLdouble *m)) +ANT_GL_DECL(void, glMultMatrixf, (const GLfloat *m)) +ANT_GL_DECL(void, glNewList, (GLuint list, GLenum mode)) +ANT_GL_DECL(void, glNormal3b, (GLbyte nx, GLbyte ny, GLbyte nz)) +ANT_GL_DECL(void, glNormal3bv, (const GLbyte *v)) +ANT_GL_DECL(void, glNormal3d, (GLdouble nx, GLdouble ny, GLdouble nz)) +ANT_GL_DECL(void, glNormal3dv, (const GLdouble *v)) +ANT_GL_DECL(void, glNormal3f, (GLfloat nx, GLfloat ny, GLfloat nz)) +ANT_GL_DECL(void, glNormal3fv, (const GLfloat *v)) +ANT_GL_DECL(void, glNormal3i, (GLint nx, GLint ny, GLint nz)) +ANT_GL_DECL(void, glNormal3iv, (const GLint *v)) +ANT_GL_DECL(void, glNormal3s, (GLshort nx, GLshort ny, GLshort nz)) +ANT_GL_DECL(void, glNormal3sv, (const GLshort *v)) +ANT_GL_DECL(void, glNormalPointer, (GLenum type, GLsizei stride, const GLvoid *pointer)) +ANT_GL_DECL(void, glOrtho, (GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar)) +ANT_GL_DECL(void, glPassThrough, (GLfloat token)) +ANT_GL_DECL(void, glPixelMapfv, (GLenum map, GLsizei mapsize, const GLfloat *values)) +ANT_GL_DECL(void, glPixelMapuiv, (GLenum map, GLsizei mapsize, const GLuint *values)) +ANT_GL_DECL(void, glPixelMapusv, (GLenum map, GLsizei mapsize, const GLushort *values)) +ANT_GL_DECL(void, glPixelStoref, (GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glPixelStorei, (GLenum pname, GLint param)) +ANT_GL_DECL(void, glPixelTransferf, (GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glPixelTransferi, (GLenum pname, GLint param)) +ANT_GL_DECL(void, glPixelZoom, (GLfloat xfactor, GLfloat yfactor)) +ANT_GL_DECL(void, glPointSize, (GLfloat size)) +ANT_GL_DECL(void, glPolygonMode, (GLenum face, GLenum mode)) +ANT_GL_DECL(void, glPolygonOffset, (GLfloat factor, GLfloat units)) +ANT_GL_DECL(void, glPolygonStipple, (const GLubyte *mask)) +ANT_GL_DECL(void, glPopAttrib, (void)) +ANT_GL_DECL(void, glPopClientAttrib, (void)) +ANT_GL_DECL(void, glPopMatrix, (void)) +ANT_GL_DECL(void, glPopName, (void)) +ANT_GL_DECL(void, glPrioritizeTextures, (GLsizei n, const GLuint *textures, const GLclampf *priorities)) +ANT_GL_DECL(void, glPushAttrib, (GLbitfield mask)) +ANT_GL_DECL(void, glPushClientAttrib, (GLbitfield mask)) +ANT_GL_DECL(void, glPushMatrix, (void)) +ANT_GL_DECL(void, glPushName, (GLuint name)) +ANT_GL_DECL(void, glRasterPos2d, (GLdouble x, GLdouble y)) +ANT_GL_DECL(void, glRasterPos2dv, (const GLdouble *v)) +ANT_GL_DECL(void, glRasterPos2f, (GLfloat x, GLfloat y)) +ANT_GL_DECL(void, glRasterPos2fv, (const GLfloat *v)) +ANT_GL_DECL(void, glRasterPos2i, (GLint x, GLint y)) +ANT_GL_DECL(void, glRasterPos2iv, (const GLint *v)) +ANT_GL_DECL(void, glRasterPos2s, (GLshort x, GLshort y)) +ANT_GL_DECL(void, glRasterPos2sv, (const GLshort *v)) +ANT_GL_DECL(void, glRasterPos3d, (GLdouble x, GLdouble y, GLdouble z)) +ANT_GL_DECL(void, glRasterPos3dv, (const GLdouble *v)) +ANT_GL_DECL(void, glRasterPos3f, (GLfloat x, GLfloat y, GLfloat z)) +ANT_GL_DECL(void, glRasterPos3fv, (const GLfloat *v)) +ANT_GL_DECL(void, glRasterPos3i, (GLint x, GLint y, GLint z)) +ANT_GL_DECL(void, glRasterPos3iv, (const GLint *v)) +ANT_GL_DECL(void, glRasterPos3s, (GLshort x, GLshort y, GLshort z)) +ANT_GL_DECL(void, glRasterPos3sv, (const GLshort *v)) +ANT_GL_DECL(void, glRasterPos4d, (GLdouble x, GLdouble y, GLdouble z, GLdouble w)) +ANT_GL_DECL(void, glRasterPos4dv, (const GLdouble *v)) +ANT_GL_DECL(void, glRasterPos4f, (GLfloat x, GLfloat y, GLfloat z, GLfloat w)) +ANT_GL_DECL(void, glRasterPos4fv, (const GLfloat *v)) +ANT_GL_DECL(void, glRasterPos4i, (GLint x, GLint y, GLint z, GLint w)) +ANT_GL_DECL(void, glRasterPos4iv, (const GLint *v)) +ANT_GL_DECL(void, glRasterPos4s, (GLshort x, GLshort y, GLshort z, GLshort w)) +ANT_GL_DECL(void, glRasterPos4sv, (const GLshort *v)) +ANT_GL_DECL(void, glReadBuffer, (GLenum mode)) +ANT_GL_DECL(void, glReadPixels, (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLvoid *pixels)) +ANT_GL_DECL(void, glRectd, (GLdouble x1, GLdouble y1, GLdouble x2, GLdouble y2)) +ANT_GL_DECL(void, glRectdv, (const GLdouble *v1, const GLdouble *v2)) +ANT_GL_DECL(void, glRectf, (GLfloat x1, GLfloat y1, GLfloat x2, GLfloat y2)) +ANT_GL_DECL(void, glRectfv, (const GLfloat *v1, const GLfloat *v2)) +ANT_GL_DECL(void, glRecti, (GLint x1, GLint y1, GLint x2, GLint y2)) +ANT_GL_DECL(void, glRectiv, (const GLint *v1, const GLint *v2)) +ANT_GL_DECL(void, glRects, (GLshort x1, GLshort y1, GLshort x2, GLshort y2)) +ANT_GL_DECL(void, glRectsv, (const GLshort *v1, const GLshort *v2)) +ANT_GL_DECL(GLint, glRenderMode, (GLenum mode)) +ANT_GL_DECL(void, glRotated, (GLdouble angle, GLdouble x, GLdouble y, GLdouble z)) +ANT_GL_DECL(void, glRotatef, (GLfloat angle, GLfloat x, GLfloat y, GLfloat z)) +ANT_GL_DECL(void, glScaled, (GLdouble x, GLdouble y, GLdouble z)) +ANT_GL_DECL(void, glScalef, (GLfloat x, GLfloat y, GLfloat z)) +ANT_GL_DECL(void, glScissor, (GLint x, GLint y, GLsizei width, GLsizei height)) +ANT_GL_DECL(void, glSelectBuffer, (GLsizei size, GLuint *buffer)) +ANT_GL_DECL(void, glShadeModel, (GLenum mode)) +ANT_GL_DECL(void, glStencilFunc, (GLenum func, GLint ref, GLuint mask)) +ANT_GL_DECL(void, glStencilMask, (GLuint mask)) +ANT_GL_DECL(void, glStencilOp, (GLenum fail, GLenum zfail, GLenum zpass)) +ANT_GL_DECL(void, glTexCoord1d, (GLdouble s)) +ANT_GL_DECL(void, glTexCoord1dv, (const GLdouble *v)) +ANT_GL_DECL(void, glTexCoord1f, (GLfloat s)) +ANT_GL_DECL(void, glTexCoord1fv, (const GLfloat *v)) +ANT_GL_DECL(void, glTexCoord1i, (GLint s)) +ANT_GL_DECL(void, glTexCoord1iv, (const GLint *v)) +ANT_GL_DECL(void, glTexCoord1s, (GLshort s)) +ANT_GL_DECL(void, glTexCoord1sv, (const GLshort *v)) +ANT_GL_DECL(void, glTexCoord2d, (GLdouble s, GLdouble t)) +ANT_GL_DECL(void, glTexCoord2dv, (const GLdouble *v)) +ANT_GL_DECL(void, glTexCoord2f, (GLfloat s, GLfloat t)) +ANT_GL_DECL(void, glTexCoord2fv, (const GLfloat *v)) +ANT_GL_DECL(void, glTexCoord2i, (GLint s, GLint t)) +ANT_GL_DECL(void, glTexCoord2iv, (const GLint *v)) +ANT_GL_DECL(void, glTexCoord2s, (GLshort s, GLshort t)) +ANT_GL_DECL(void, glTexCoord2sv, (const GLshort *v)) +ANT_GL_DECL(void, glTexCoord3d, (GLdouble s, GLdouble t, GLdouble r)) +ANT_GL_DECL(void, glTexCoord3dv, (const GLdouble *v)) +ANT_GL_DECL(void, glTexCoord3f, (GLfloat s, GLfloat t, GLfloat r)) +ANT_GL_DECL(void, glTexCoord3fv, (const GLfloat *v)) +ANT_GL_DECL(void, glTexCoord3i, (GLint s, GLint t, GLint r)) +ANT_GL_DECL(void, glTexCoord3iv, (const GLint *v)) +ANT_GL_DECL(void, glTexCoord3s, (GLshort s, GLshort t, GLshort r)) +ANT_GL_DECL(void, glTexCoord3sv, (const GLshort *v)) +ANT_GL_DECL(void, glTexCoord4d, (GLdouble s, GLdouble t, GLdouble r, GLdouble q)) +ANT_GL_DECL(void, glTexCoord4dv, (const GLdouble *v)) +ANT_GL_DECL(void, glTexCoord4f, (GLfloat s, GLfloat t, GLfloat r, GLfloat q)) +ANT_GL_DECL(void, glTexCoord4fv, (const GLfloat *v)) +ANT_GL_DECL(void, glTexCoord4i, (GLint s, GLint t, GLint r, GLint q)) +ANT_GL_DECL(void, glTexCoord4iv, (const GLint *v)) +ANT_GL_DECL(void, glTexCoord4s, (GLshort s, GLshort t, GLshort r, GLshort q)) +ANT_GL_DECL(void, glTexCoord4sv, (const GLshort *v)) +ANT_GL_DECL(void, glTexCoordPointer, (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer)) +ANT_GL_DECL(void, glTexEnvf, (GLenum target, GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glTexEnvfv, (GLenum target, GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glTexEnvi, (GLenum target, GLenum pname, GLint param)) +ANT_GL_DECL(void, glTexEnviv, (GLenum target, GLenum pname, const GLint *params)) +ANT_GL_DECL(void, glTexGend, (GLenum coord, GLenum pname, GLdouble param)) +ANT_GL_DECL(void, glTexGendv, (GLenum coord, GLenum pname, const GLdouble *params)) +ANT_GL_DECL(void, glTexGenf, (GLenum coord, GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glTexGenfv, (GLenum coord, GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glTexGeni, (GLenum coord, GLenum pname, GLint param)) +ANT_GL_DECL(void, glTexGeniv, (GLenum coord, GLenum pname, const GLint *params)) +#if defined(ANT_OSX) && (MAC_OS_X_VERSION_MAX_ALLOWED < 1070) +// Mac OSX < 10.7 redefines these OpenGL calls: glTexImage1D, glTexImage2D +ANT_GL_DECL(void, glTexImage1D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_DECL(void, glTexImage2D, (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +#else +ANT_GL_DECL(void, glTexImage1D, (GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_DECL(void, glTexImage2D, (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const GLvoid *pixels)) +#endif +ANT_GL_DECL(void, glTexParameterf, (GLenum target, GLenum pname, GLfloat param)) +ANT_GL_DECL(void, glTexParameterfv, (GLenum target, GLenum pname, const GLfloat *params)) +ANT_GL_DECL(void, glTexParameteri, (GLenum target, GLenum pname, GLint param)) +ANT_GL_DECL(void, glTexParameteriv, (GLenum target, GLenum pname, const GLint *params)) +ANT_GL_DECL(void, glTexSubImage1D, (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_DECL(void, glTexSubImage2D, (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels)) +ANT_GL_DECL(void, glTranslated, (GLdouble x, GLdouble y, GLdouble z)) +ANT_GL_DECL(void, glTranslatef, (GLfloat x, GLfloat y, GLfloat z)) +ANT_GL_DECL(void, glVertex2d, (GLdouble x, GLdouble y)) +ANT_GL_DECL(void, glVertex2dv, (const GLdouble *v)) +ANT_GL_DECL(void, glVertex2f, (GLfloat x, GLfloat y)) +ANT_GL_DECL(void, glVertex2fv, (const GLfloat *v)) +ANT_GL_DECL(void, glVertex2i, (GLint x, GLint y)) +ANT_GL_DECL(void, glVertex2iv, (const GLint *v)) +ANT_GL_DECL(void, glVertex2s, (GLshort x, GLshort y)) +ANT_GL_DECL(void, glVertex2sv, (const GLshort *v)) +ANT_GL_DECL(void, glVertex3d, (GLdouble x, GLdouble y, GLdouble z)) +ANT_GL_DECL(void, glVertex3dv, (const GLdouble *v)) +ANT_GL_DECL(void, glVertex3f, (GLfloat x, GLfloat y, GLfloat z)) +ANT_GL_DECL(void, glVertex3fv, (const GLfloat *v)) +ANT_GL_DECL(void, glVertex3i, (GLint x, GLint y, GLint z)) +ANT_GL_DECL(void, glVertex3iv, (const GLint *v)) +ANT_GL_DECL(void, glVertex3s, (GLshort x, GLshort y, GLshort z)) +ANT_GL_DECL(void, glVertex3sv, (const GLshort *v)) +ANT_GL_DECL(void, glVertex4d, (GLdouble x, GLdouble y, GLdouble z, GLdouble w)) +ANT_GL_DECL(void, glVertex4dv, (const GLdouble *v)) +ANT_GL_DECL(void, glVertex4f, (GLfloat x, GLfloat y, GLfloat z, GLfloat w)) +ANT_GL_DECL(void, glVertex4fv, (const GLfloat *v)) +ANT_GL_DECL(void, glVertex4i, (GLint x, GLint y, GLint z, GLint w)) +ANT_GL_DECL(void, glVertex4iv, (const GLint *v)) +ANT_GL_DECL(void, glVertex4s, (GLshort x, GLshort y, GLshort z, GLshort w)) +ANT_GL_DECL(void, glVertex4sv, (const GLshort *v)) +ANT_GL_DECL(void, glVertexPointer, (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer)) +ANT_GL_DECL(void, glViewport, (GLint x, GLint y, GLsizei width, GLsizei height)) + +#ifdef ANT_WINDOWS +ANT_GL_DECL(PROC, wglGetProcAddress, (LPCSTR)) +#endif + + +#endif // !defined ANT_LOAD_OGL_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/Makefile.am ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/Makefile.am --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,34 @@ +noinst_LTLIBRARIES = libAntTweakBar.la + +AM_CPPFLAGS = -I${top_srcdir}/include $(OPENGL_FLAGS) +AM_LDFLAGS = $(OPENGL_LIBS) + +libAntTweakBar_la_SOURCES = AntPerfTimer.h \ + LoadOGL.cpp \ + LoadOGL.h \ + MiniGLFW.h \ + MiniGLUT.h \ + MiniSDL12.h \ + MiniSDL13.h \ + MiniSFML16.h \ + resource.h \ + TwBar.cpp \ + TwBar.h \ + TwColors.cpp \ + TwColors.h \ + TwEventGLFW.c \ + TwEventGLUT.c \ + TwEventSDL.c \ + TwEventSDL12.c \ + TwEventSDL13.c \ + TwEventSFML.cpp \ + TwFonts.cpp \ + TwFonts.h \ + TwGraph.h \ + TwMgr.cpp \ + TwMgr.h \ + TwOpenGL.cpp \ + TwOpenGL.h \ + TwPrecomp.cpp \ + TwPrecomp.h + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLFW.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLFW.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLFW.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLFW.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,109 @@ +// --------------------------------------------------------------------------- +// +// @file MiniGLFW.h +// @brief A subset of GLFW definitions needed to compile helper functions +// implemented in TwEventGLFW.c +// +// notes: - Private header +// - AntTweakBar.dll does not need to link with GLFW, +// it just needs some definitions for its helper functions. +// - This header is provided to avoid the need of having GLFW +// installed to recompile AntTweakBar. +// - Do not use this header in your own programs, better use the +// glfw.h header from the actual GLFW library SDK : +// http://glfw.sourceforge.net/ +// +// --------------------------------------------------------------------------- + +#if !defined MINI_GLFW_INCLUDED +#define MINI_GLFW_INCLUDED + +#ifdef __cplusplus +extern "C" { +#endif + + +// Key and button state/action definitions +#define GLFW_RELEASE 0 +#define GLFW_PRESS 1 + +// Keyboard key definitions +#define GLFW_KEY_UNKNOWN -1 +#define GLFW_KEY_SPACE 32 +#define GLFW_KEY_SPECIAL 256 +#define GLFW_KEY_ESC (GLFW_KEY_SPECIAL+1) +#define GLFW_KEY_F1 (GLFW_KEY_SPECIAL+2) +#define GLFW_KEY_F2 (GLFW_KEY_SPECIAL+3) +#define GLFW_KEY_F3 (GLFW_KEY_SPECIAL+4) +#define GLFW_KEY_F4 (GLFW_KEY_SPECIAL+5) +#define GLFW_KEY_F5 (GLFW_KEY_SPECIAL+6) +#define GLFW_KEY_F6 (GLFW_KEY_SPECIAL+7) +#define GLFW_KEY_F7 (GLFW_KEY_SPECIAL+8) +#define GLFW_KEY_F8 (GLFW_KEY_SPECIAL+9) +#define GLFW_KEY_F9 (GLFW_KEY_SPECIAL+10) +#define GLFW_KEY_F10 (GLFW_KEY_SPECIAL+11) +#define GLFW_KEY_F11 (GLFW_KEY_SPECIAL+12) +#define GLFW_KEY_F12 (GLFW_KEY_SPECIAL+13) +#define GLFW_KEY_F13 (GLFW_KEY_SPECIAL+14) +#define GLFW_KEY_F14 (GLFW_KEY_SPECIAL+15) +#define GLFW_KEY_F15 (GLFW_KEY_SPECIAL+16) +#define GLFW_KEY_F16 (GLFW_KEY_SPECIAL+17) +#define GLFW_KEY_F17 (GLFW_KEY_SPECIAL+18) +#define GLFW_KEY_F18 (GLFW_KEY_SPECIAL+19) +#define GLFW_KEY_F19 (GLFW_KEY_SPECIAL+20) +#define GLFW_KEY_F20 (GLFW_KEY_SPECIAL+21) +#define GLFW_KEY_F21 (GLFW_KEY_SPECIAL+22) +#define GLFW_KEY_F22 (GLFW_KEY_SPECIAL+23) +#define GLFW_KEY_F23 (GLFW_KEY_SPECIAL+24) +#define GLFW_KEY_F24 (GLFW_KEY_SPECIAL+25) +#define GLFW_KEY_F25 (GLFW_KEY_SPECIAL+26) +#define GLFW_KEY_UP (GLFW_KEY_SPECIAL+27) +#define GLFW_KEY_DOWN (GLFW_KEY_SPECIAL+28) +#define GLFW_KEY_LEFT (GLFW_KEY_SPECIAL+29) +#define GLFW_KEY_RIGHT (GLFW_KEY_SPECIAL+30) +#define GLFW_KEY_LSHIFT (GLFW_KEY_SPECIAL+31) +#define GLFW_KEY_RSHIFT (GLFW_KEY_SPECIAL+32) +#define GLFW_KEY_LCTRL (GLFW_KEY_SPECIAL+33) +#define GLFW_KEY_RCTRL (GLFW_KEY_SPECIAL+34) +#define GLFW_KEY_LALT (GLFW_KEY_SPECIAL+35) +#define GLFW_KEY_RALT (GLFW_KEY_SPECIAL+36) +#define GLFW_KEY_TAB (GLFW_KEY_SPECIAL+37) +#define GLFW_KEY_ENTER (GLFW_KEY_SPECIAL+38) +#define GLFW_KEY_BACKSPACE (GLFW_KEY_SPECIAL+39) +#define GLFW_KEY_INSERT (GLFW_KEY_SPECIAL+40) +#define GLFW_KEY_DEL (GLFW_KEY_SPECIAL+41) +#define GLFW_KEY_PAGEUP (GLFW_KEY_SPECIAL+42) +#define GLFW_KEY_PAGEDOWN (GLFW_KEY_SPECIAL+43) +#define GLFW_KEY_HOME (GLFW_KEY_SPECIAL+44) +#define GLFW_KEY_END (GLFW_KEY_SPECIAL+45) +#define GLFW_KEY_KP_0 (GLFW_KEY_SPECIAL+46) +#define GLFW_KEY_KP_1 (GLFW_KEY_SPECIAL+47) +#define GLFW_KEY_KP_2 (GLFW_KEY_SPECIAL+48) +#define GLFW_KEY_KP_3 (GLFW_KEY_SPECIAL+49) +#define GLFW_KEY_KP_4 (GLFW_KEY_SPECIAL+50) +#define GLFW_KEY_KP_5 (GLFW_KEY_SPECIAL+51) +#define GLFW_KEY_KP_6 (GLFW_KEY_SPECIAL+52) +#define GLFW_KEY_KP_7 (GLFW_KEY_SPECIAL+53) +#define GLFW_KEY_KP_8 (GLFW_KEY_SPECIAL+54) +#define GLFW_KEY_KP_9 (GLFW_KEY_SPECIAL+55) +#define GLFW_KEY_KP_DIVIDE (GLFW_KEY_SPECIAL+56) +#define GLFW_KEY_KP_MULTIPLY (GLFW_KEY_SPECIAL+57) +#define GLFW_KEY_KP_SUBTRACT (GLFW_KEY_SPECIAL+58) +#define GLFW_KEY_KP_ADD (GLFW_KEY_SPECIAL+59) +#define GLFW_KEY_KP_DECIMAL (GLFW_KEY_SPECIAL+60) +#define GLFW_KEY_KP_EQUAL (GLFW_KEY_SPECIAL+61) +#define GLFW_KEY_KP_ENTER (GLFW_KEY_SPECIAL+62) +#define GLFW_KEY_LAST GLFW_KEY_KP_ENTER + +// Mouse button +#define GLFW_MOUSE_BUTTON_LEFT 0 +#define GLFW_MOUSE_BUTTON_RIGHT 1 +#define GLFW_MOUSE_BUTTON_MIDDLE 2 + + +#ifdef __cplusplus +} +#endif + +#endif // !defined MINI_GLFW_INCLUDED + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLUT.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLUT.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLUT.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniGLUT.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,142 @@ +// --------------------------------------------------------------------------- +// +// @file MiniGLUT.h +// @brief A subset of GLUT definitions needed to compile helper functions +// implemented in TwEventGLUT.c +// +// notes: - Private header +// - AntTweakBar.dll does not need to link with GLUT, +// it just needs some definitions for its helper functions. +// - This header is provided to avoid the need of having GLUT +// installed to recompile AntTweakBar. +// - Do not use this header in your own programs, better use the +// GLUT.h header from the actual GLUT library SDK : +// http://opengl.org/resources/libraries/glut +// +// --------------------------------------------------------------------------- + +#if !defined MINI_GLUT_INCLUDED +#define MINI_GLUT_INCLUDED + +#if defined(_WIN32) || defined(_WIN64) +# define WIN32_LEAN_AND_MEAN +# include // needed by gl.h +# define GLUT_CALL __stdcall +# define GLUT_CALLBACK __cdecl +# define GLUT_API __declspec(dllimport) +#else +# define GLUT_CALL +# define GLUT_CALLBACK +# define GLUT_API extern +#endif + +#if defined(_MACOSX) +# include +# include +#else +# include // must be included after windows.h +# include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + +// Mouse buttons +#define GLUT_LEFT_BUTTON 0 +#define GLUT_MIDDLE_BUTTON 1 +#define GLUT_RIGHT_BUTTON 2 + +// Mouse button state +#define GLUT_DOWN 0 +#define GLUT_UP 1 + +// glutGetModifiers return mask +#define GLUT_ACTIVE_SHIFT 1 +#define GLUT_ACTIVE_CTRL 2 +#define GLUT_ACTIVE_ALT 4 + +// function keys +#define GLUT_KEY_F1 1 +#define GLUT_KEY_F2 2 +#define GLUT_KEY_F3 3 +#define GLUT_KEY_F4 4 +#define GLUT_KEY_F5 5 +#define GLUT_KEY_F6 6 +#define GLUT_KEY_F7 7 +#define GLUT_KEY_F8 8 +#define GLUT_KEY_F9 9 +#define GLUT_KEY_F10 10 +#define GLUT_KEY_F11 11 +#define GLUT_KEY_F12 12 + +// directional keys +#define GLUT_KEY_LEFT 100 +#define GLUT_KEY_UP 101 +#define GLUT_KEY_RIGHT 102 +#define GLUT_KEY_DOWN 103 +#define GLUT_KEY_PAGE_UP 104 +#define GLUT_KEY_PAGE_DOWN 105 +#define GLUT_KEY_HOME 106 +#define GLUT_KEY_END 107 +#define GLUT_KEY_INSERT 108 + +// display mode bit masks +#define GLUT_RGB 0 +#define GLUT_RGBA GLUT_RGB +#define GLUT_INDEX 1 +#define GLUT_SINGLE 0 +#define GLUT_DOUBLE 2 +#define GLUT_ACCUM 4 +#define GLUT_ALPHA 8 +#define GLUT_DEPTH 16 +#define GLUT_STENCIL 32 + +// timer +#define GLUT_ELAPSED_TIME ((GLenum) 700) + + +// functions subset +GLUT_API void GLUT_CALL glutInit(int *argcp, char **argv); +GLUT_API void GLUT_CALL glutInitDisplayMode(unsigned int mode); +GLUT_API int GLUT_CALL glutCreateWindow(const char *title); +GLUT_API int GLUT_CALL glutGetWindow(void); +GLUT_API void GLUT_CALL glutSetWindow(int win); +GLUT_API int GLUT_CALL glutCreateSubWindow(int win, int x, int y, int width, int height); +GLUT_API int GLUT_CALL glutGet(GLenum type); +GLUT_API void GLUT_CALL glutSwapBuffers(); +GLUT_API void GLUT_CALL glutPostRedisplay(); +GLUT_API void GLUT_CALL glutInitWindowPosition(int x, int y); +GLUT_API void GLUT_CALL glutInitWindowSize(int width, int height); +GLUT_API void GLUT_CALL glutPositionWindow(int x, int y); +GLUT_API void GLUT_CALL glutReshapeWindow(int width, int height); +GLUT_API void GLUT_CALL glutMainLoop(); +GLUT_API int GLUT_CALL glutCreateMenu(void (GLUT_CALLBACK *func)(int)); +GLUT_API void GLUT_CALL glutDisplayFunc(void (GLUT_CALLBACK *func)(void)); +GLUT_API void GLUT_CALL glutReshapeFunc(void (GLUT_CALLBACK *func)(int width, int height)); +GLUT_API void GLUT_CALL glutKeyboardFunc(void (GLUT_CALLBACK *func)(unsigned char key, int x, int y)); +GLUT_API void GLUT_CALL glutMouseFunc(void (GLUT_CALLBACK *func)(int button, int state, int x, int y)); +GLUT_API void GLUT_CALL glutMotionFunc(void (GLUT_CALLBACK *func)(int x, int y)); +GLUT_API void GLUT_CALL glutPassiveMotionFunc(void (GLUT_CALLBACK *func)(int x, int y)); +GLUT_API void GLUT_CALL glutSpecialFunc(void (GLUT_CALLBACK *func)(int key, int x, int y)); +GLUT_API int GLUT_CALL glutGetModifiers(void); +GLUT_API void GLUT_CALL glutSolidTorus(GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings); +GLUT_API void GLUT_CALL glutSolidCone(GLdouble base, GLdouble height, GLint slices, GLint stacks); +GLUT_API void GLUT_CALL glutSolidTeapot(GLdouble size); + +// GLUT exit problem workaround (see glut.h) +#if (defined(_WIN32) || defined(_WIN64)) && !defined(GLUT_DISABLE_ATEXIT_HACK) + extern void __cdecl exit(int); + GLUT_API void GLUT_CALL __glutInitWithExit(int *argcp, char **argv, void (__cdecl *exitfunc)(int)); + static void GLUT_CALL glutInit_ATEXIT_HACK(int *argcp, char **argv) { __glutInitWithExit(argcp, argv, exit); } + #define glutInit glutInit_ATEXIT_HACK +#endif + + +#ifdef __cplusplus +} +#endif + +#endif // !defined MINI_GLUT_INCLUDED + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL12.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL12.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL12.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL12.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,339 @@ +// --------------------------------------------------------------------------- +// +// @file MiniSDL12.h +// @brief A subset of SDL 1.2 definitions needed to compile helper +// functions implemented in TwEventSDL12.c +// +// notes: - Private header +// - AntTweakBar.dll does not need to link with SDL, +// it just needs some definitions for its helper functions. +// - This header is provided to avoid the need of having SDL +// installed to recompile AntTweakBar. +// - Do not use this header in your own programs, better use the +// SDL.h header from the actual SDL library SDK : +// http://www.libsdl.org +// +// --------------------------------------------------------------------------- + +#if !defined MINI_SDL12_INCLUDED +#define MINI_SDL12_INCLUDED + +#ifdef __cplusplus +extern "C" { +#endif + +#define SDL_MAJOR_VERSION 1 +#define SDL_MINOR_VERSION 2 + +#if defined(_WIN32) || defined(_WIN64) +# define SDL_DECLSPEC __declspec(dllimport) +# define SDL_CALL __cdecl +#else +# define SDL_DECLSPEC +# define SDL_CALL +#endif + +typedef unsigned char Uint8; +typedef signed char Sint8; +typedef unsigned short Uint16; +typedef signed short Sint16; +typedef unsigned int Uint32; +typedef signed int Sint32; + +// Subset of SDL keysym +typedef enum { + SDLK_BACKSPACE = 8, + SDLK_TAB = 9, + SDLK_CLEAR = 12, + SDLK_RETURN = 13, + SDLK_PAUSE = 19, + SDLK_ESCAPE = 27, + SDLK_DELETE = 127, + SDLK_UP = 273, + SDLK_DOWN = 274, + SDLK_RIGHT = 275, + SDLK_LEFT = 276, + SDLK_INSERT = 277, + SDLK_HOME = 278, + SDLK_END = 279, + SDLK_PAGEUP = 280, + SDLK_PAGEDOWN = 281, + SDLK_F1 = 282, + SDLK_F2 = 283, + SDLK_F3 = 284, + SDLK_F4 = 285, + SDLK_F5 = 286, + SDLK_F6 = 287, + SDLK_F7 = 288, + SDLK_F8 = 289, + SDLK_F9 = 290, + SDLK_F10 = 291, + SDLK_F11 = 292, + SDLK_F12 = 293, +} SDLKey; + +typedef enum { + KMOD_NONE = 0x0000, + KMOD_LSHIFT = 0x0001, + KMOD_RSHIFT = 0x0002, + KMOD_LCTRL = 0x0040, + KMOD_RCTRL = 0x0080, + KMOD_LALT = 0x0100, + KMOD_RALT = 0x0200, + KMOD_LMETA = 0x0400, + KMOD_RMETA = 0x0800, + KMOD_NUM = 0x1000, + KMOD_CAPS = 0x2000, + KMOD_MODE = 0x4000, + KMOD_RESERVED = 0x8000 +} SDLMod; + +#define KMOD_CTRL (KMOD_LCTRL|KMOD_RCTRL) +#define KMOD_SHIFT (KMOD_LSHIFT|KMOD_RSHIFT) +#define KMOD_ALT (KMOD_LALT|KMOD_RALT) +#define KMOD_META (KMOD_LMETA|KMOD_RMETA) + +typedef enum { + SDL_NOEVENT = 0, + SDL_ACTIVEEVENT, + SDL_KEYDOWN, + SDL_KEYUP, + SDL_MOUSEMOTION, + SDL_MOUSEBUTTONDOWN, + SDL_MOUSEBUTTONUP, + SDL_JOYAXISMOTION, + SDL_JOYBALLMOTION, + SDL_JOYHATMOTION, + SDL_JOYBUTTONDOWN, + SDL_JOYBUTTONUP, + SDL_QUIT, + SDL_SYSWMEVENT, + SDL_EVENT_RESERVEDA, + SDL_EVENT_RESERVEDB, + SDL_VIDEORESIZE, + SDL_VIDEOEXPOSE, + SDL_EVENT_RESERVED2, + SDL_EVENT_RESERVED3, + SDL_EVENT_RESERVED4, + SDL_EVENT_RESERVED5, + SDL_EVENT_RESERVED6, + SDL_EVENT_RESERVED7, + SDL_USEREVENT = 24, + SDL_NUMEVENTS = 32 +} SDLEventEnum; + +typedef struct SDL_keysym { + Uint8 scancode; + SDLKey sym; + SDLMod mod; + Uint16 unicode; +} SDL_keysym; + +typedef struct SDL_ActiveEvent { + Uint8 type; + Uint8 gain; + Uint8 state; +} SDL_ActiveEvent; + +typedef struct SDL_KeyboardEvent { + Uint8 type; + Uint8 which; + Uint8 state; + SDL_keysym keysym; +} SDL_KeyboardEvent; + +typedef struct SDL_MouseMotionEvent { + Uint8 type; + Uint8 which; + Uint8 state; + Uint16 x, y; + Sint16 xrel; + Sint16 yrel; +} SDL_MouseMotionEvent; + +typedef struct SDL_MouseButtonEvent { + Uint8 type; + Uint8 which; + Uint8 button; + Uint8 state; + Uint16 x, y; +} SDL_MouseButtonEvent; + +typedef struct SDL_JoyAxisEvent { + Uint8 type; + Uint8 which; + Uint8 axis; + Sint16 value; +} SDL_JoyAxisEvent; + +typedef struct SDL_JoyBallEvent { + Uint8 type; + Uint8 which; + Uint8 ball; + Sint16 xrel; + Sint16 yrel; +} SDL_JoyBallEvent; + +typedef struct SDL_JoyHatEvent { + Uint8 type; + Uint8 which; + Uint8 hat; + Uint8 value; +} SDL_JoyHatEvent; + +typedef struct SDL_JoyButtonEvent { + Uint8 type; + Uint8 which; + Uint8 button; + Uint8 state; +} SDL_JoyButtonEvent; + +typedef struct SDL_ResizeEvent { + Uint8 type; + int w; + int h; +} SDL_ResizeEvent; + +typedef struct SDL_ExposeEvent { + Uint8 type; +} SDL_ExposeEvent; + +typedef struct SDL_QuitEvent { + Uint8 type; +} SDL_QuitEvent; + +typedef struct SDL_UserEvent { + Uint8 type; + int code; + void *data1; + void *data2; +} SDL_UserEvent; + +struct SDL_SysWMmsg; +typedef struct SDL_SysWMmsg SDL_SysWMmsg; +typedef struct SDL_SysWMEvent { + Uint8 type; + SDL_SysWMmsg *msg; +} SDL_SysWMEvent; + +typedef union { + Uint8 type; + SDL_ActiveEvent active; + SDL_KeyboardEvent key; + SDL_MouseMotionEvent motion; + SDL_MouseButtonEvent button; + SDL_JoyAxisEvent jaxis; + SDL_JoyBallEvent jball; + SDL_JoyHatEvent jhat; + SDL_JoyButtonEvent jbutton; + SDL_ResizeEvent resize; + SDL_ExposeEvent expose; + SDL_QuitEvent quit; + SDL_UserEvent user; + SDL_SysWMEvent syswm; +char full[56]; +} SDL_Event; + +typedef struct SDL_PixelFormat { + void *palette; + Uint8 BitsPerPixel; + Uint8 BytesPerPixel; + Uint8 Rloss; + Uint8 Gloss; + Uint8 Bloss; + Uint8 Aloss; + Uint8 Rshift; + Uint8 Gshift; + Uint8 Bshift; + Uint8 Ashift; + Uint32 Rmask; + Uint32 Gmask; + Uint32 Bmask; + Uint32 Amask; + Uint32 colorkey; + Uint8 alpha; +} SDL_PixelFormat; + +typedef enum { + SDL_GL_RED_SIZE, + SDL_GL_GREEN_SIZE, + SDL_GL_BLUE_SIZE, + SDL_GL_ALPHA_SIZE, + SDL_GL_BUFFER_SIZE, + SDL_GL_DOUBLEBUFFER, + SDL_GL_DEPTH_SIZE, + SDL_GL_STENCIL_SIZE, + SDL_GL_ACCUM_RED_SIZE, + SDL_GL_ACCUM_GREEN_SIZE, + SDL_GL_ACCUM_BLUE_SIZE, + SDL_GL_ACCUM_ALPHA_SIZE, + SDL_GL_STEREO, + SDL_GL_MULTISAMPLEBUFFERS, + SDL_GL_MULTISAMPLESAMPLES, + SDL_GL_ACCELERATED_VISUAL, + SDL_GL_RETAINED_BACKING, + SDL_GL_CONTEXT_MAJOR_VERSION, + SDL_GL_CONTEXT_MINOR_VERSION +} SDL_GLattr; + +typedef struct SDL_VideoInfo { + Uint32 hw_available :1; + Uint32 wm_available :1; + Uint32 UnusedBits1 :6; + Uint32 UnusedBits2 :1; + Uint32 blit_hw :1; + Uint32 blit_hw_CC :1; + Uint32 blit_hw_A :1; + Uint32 blit_sw :1; + Uint32 blit_sw_CC :1; + Uint32 blit_sw_A :1; + Uint32 blit_fill :1; + Uint32 UnusedBits3 :16; + Uint32 video_mem; + SDL_PixelFormat *vfmt; + int current_w; + int current_h; +} SDL_VideoInfo; + +#define SDL_INIT_VIDEO 0x00000020 + +#define SDL_SWSURFACE 0x00000000 +#define SDL_HWSURFACE 0x00000001 +#define SDL_ASYNCBLIT 0x00000004 +#define SDL_ANYFORMAT 0x10000000 +#define SDL_HWPALETTE 0x20000000 +#define SDL_DOUBLEBUF 0x40000000 +#define SDL_FULLSCREEN 0x80000000 +#define SDL_OPENGL 0x00000002 +#define SDL_OPENGLBLIT 0x0000000A +#define SDL_RESIZABLE 0x00000010 +#define SDL_NOFRAME 0x00000020 + +#define SDL_DEFAULT_REPEAT_DELAY 500 +#define SDL_DEFAULT_REPEAT_INTERVAL 30 + + +// functions subset +extern SDL_DECLSPEC int SDL_CALL SDL_Init(Uint32 flags); +extern SDL_DECLSPEC void SDL_CALL SDL_Quit(); +extern SDL_DECLSPEC char * SDL_CALL SDL_GetError(); +extern SDL_DECLSPEC const SDL_VideoInfo * SDL_CALL SDL_GetVideoInfo(); +extern SDL_DECLSPEC struct SDL_Surface * SDL_CALL SDL_SetVideoMode(int width, int height, int bpp, Uint32 flags); +extern SDL_DECLSPEC int SDL_CALL SDL_GL_SetAttribute(SDL_GLattr attr, int value); +extern SDL_DECLSPEC void SDL_CALL SDL_GL_SwapBuffers(); +extern SDL_DECLSPEC void SDL_CALL SDL_WM_SetCaption(const char *title, const char *icon); +extern SDL_DECLSPEC void SDL_CALL SDL_WM_GetCaption(char **title, char **icon); +extern SDL_DECLSPEC int SDL_CALL SDL_EnableUNICODE(int enable); +extern SDL_DECLSPEC int SDL_CALL SDL_EnableKeyRepeat(int delay, int interval); +extern SDL_DECLSPEC Uint32 SDL_CALL SDL_GetTicks(); +extern SDL_DECLSPEC int SDL_CALL SDL_PollEvent(SDL_Event *event); +extern SDL_DECLSPEC int SDL_CALL SDL_WaitEvent(SDL_Event *event); +extern SDL_DECLSPEC int SDL_CALL SDL_PushEvent(SDL_Event *event); + + +#ifdef __cplusplus +} +#endif + +#endif // !defined MINI_SDL12_INCLUDED + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL13.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL13.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL13.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSDL13.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,428 @@ +// --------------------------------------------------------------------------- +// +// @file MiniSDL13.h +// @brief A subset of SDL 1.3 definitions needed to compile helper +// functions implemented in TwEventSDL13.c +// +// notes: - Private header +// - AntTweakBar.dll does not need to link with SDL, +// it just needs some definitions for its helper functions. +// - This header is provided to avoid the need of having SDL +// installed to recompile AntTweakBar. +// - Do not use this header in your own programs, better use the +// SDL.h header from the actual SDL library SDK : +// http://www.libsdl.org +// +// --------------------------------------------------------------------------- + +#if !defined MINI_SDL_INCLUDED +#define MINI_SDL_INCLUDED + +#ifdef __cplusplus +extern "C" { +#endif + +#define SDL_MAJOR_VERSION 1 +#define SDL_MINOR_VERSION 3 + +#if defined(_WIN32) || defined(_WIN64) +# define SDL_DECLSPEC __declspec(dllimport) +# define SDL_CALL __cdecl +#else +# define SDL_DECLSPEC +# define SDL_CALL +#endif + +typedef unsigned char Uint8; +typedef signed char Sint8; +typedef unsigned short Uint16; +typedef signed short Sint16; +typedef unsigned int Uint32; +typedef signed int Sint32; + +#define SDLK_SCANCODE_MASK (1<<30) +#define SDL_SCANCODE_TO_KEYCODE(X) (X | SDLK_SCANCODE_MASK) + +// Subset of SDL scancodes. +// Note: some SDL scancodes seems to be wrong in the original +// SDL scancode header file. +typedef enum { + SDL_SCANCODE_F1 = 58, + SDL_SCANCODE_F2 = 59, + SDL_SCANCODE_F3 = 60, + SDL_SCANCODE_F4 = 61, + SDL_SCANCODE_F5 = 62, + SDL_SCANCODE_F6 = 63, + SDL_SCANCODE_F7 = 64, + SDL_SCANCODE_F8 = 65, + SDL_SCANCODE_F9 = 66, + SDL_SCANCODE_F10 = 67, + SDL_SCANCODE_F11 = 68, + SDL_SCANCODE_F12 = 69, + SDL_SCANCODE_INSERT = 98, //73, + SDL_SCANCODE_HOME = 95, //74, + SDL_SCANCODE_PAGEUP = 97, //75, + SDL_SCANCODE_DELETE = 99, //76, + SDL_SCANCODE_END = 89, //77, + SDL_SCANCODE_PAGEDOWN = 91, //78, + SDL_SCANCODE_RIGHT = 94, //79, + SDL_SCANCODE_LEFT = 92, //80, + SDL_SCANCODE_DOWN = 90, //81, + SDL_SCANCODE_UP = 96 //82 +} SDL_scancode; + +// Subset of SDL keysym +typedef enum { + SDLK_BACKSPACE = 8, + SDLK_TAB = 9, + SDLK_CLEAR = 12, + SDLK_RETURN = 13, + SDLK_PAUSE = 19, + SDLK_ESCAPE = 27, + SDLK_DELETE = 127, + SDLK_UP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_UP), + SDLK_DOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_DOWN), + SDLK_RIGHT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_RIGHT), + SDLK_LEFT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_LEFT), + SDLK_INSERT = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_INSERT), + SDLK_HOME = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_HOME), + SDLK_END = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_END), + SDLK_PAGEUP = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAGEUP), + SDLK_PAGEDOWN = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_PAGEDOWN), + SDLK_F1 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F1), + SDLK_F2 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F2), + SDLK_F3 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F3), + SDLK_F4 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F4), + SDLK_F5 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F5), + SDLK_F6 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F6), + SDLK_F7 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F7), + SDLK_F8 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F8), + SDLK_F9 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F9), + SDLK_F10 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F10), + SDLK_F11 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F11), + SDLK_F12 = SDL_SCANCODE_TO_KEYCODE(SDL_SCANCODE_F12) +} SDLKey; + +typedef enum { + KMOD_NONE = 0x0000, + KMOD_LSHIFT = 0x0001, + KMOD_RSHIFT = 0x0002, + KMOD_LCTRL = 0x0040, + KMOD_RCTRL = 0x0080, + KMOD_LALT = 0x0100, + KMOD_RALT = 0x0200, + KMOD_LGUI = 0x0400, + KMOD_RGUI = 0x0800, + KMOD_NUM = 0x1000, + KMOD_CAPS = 0x2000, + KMOD_MODE = 0x4000, + KMOD_RESERVED = 0x8000 +} SDLMod; + +#define KMOD_CTRL (KMOD_LCTRL|KMOD_RCTRL) +#define KMOD_SHIFT (KMOD_LSHIFT|KMOD_RSHIFT) +#define KMOD_ALT (KMOD_LALT|KMOD_RALT) +#define KMOD_GUI (KMOD_LGUI|KMOD_RGUI) + +typedef enum { + SDL_NOEVENT = 0, + SDL_WINDOWEVENT, + SDL_KEYDOWN, + SDL_KEYUP, + SDL_TEXTEDITING, + SDL_TEXTINPUT, + SDL_MOUSEMOTION, + SDL_MOUSEBUTTONDOWN, + SDL_MOUSEBUTTONUP, + SDL_MOUSEWHEEL, + SDL_JOYAXISMOTION, + SDL_JOYBALLMOTION, + SDL_JOYHATMOTION, + SDL_JOYBUTTONDOWN, + SDL_JOYBUTTONUP, + SDL_QUIT, + SDL_SYSWMEVENT, + SDL_PROXIMITYIN, + SDL_PROXIMITYOUT, + SDL_EVENT_RESERVED1, + SDL_EVENT_RESERVED2, + SDL_EVENT_RESERVED3, + SDL_USEREVENT = 24, + SDL_NUMEVENTS = 32 +} SDL_EventType; + +#define SDL_ACTIVEEVENT SDL_EVENT_RESERVED1 +#define SDL_VIDEORESIZE SDL_EVENT_RESERVED2 +#define SDL_VIDEOEXPOSE SDL_EVENT_RESERVED3 + +typedef Uint32 SDL_WindowID; + +typedef struct SDL_keysym { + SDL_scancode scancode; + SDLKey sym; + Uint16 mod; + Uint32 unicode; +} SDL_keysym; + +typedef struct SDL_WindowEvent { + Uint8 type; + SDL_WindowID windowID; + Uint8 event; + int data1; + int data2; +} SDL_WindowEvent; + +typedef struct SDL_KeyboardEvent { + Uint8 type; + SDL_WindowID windowID; + Uint8 which; + Uint8 state; + SDL_keysym keysym; +} SDL_KeyboardEvent; + +#define SDL_TEXTEDITINGEVENT_TEXT_SIZE (32) +typedef struct SDL_TextEditingEvent { + Uint8 type; + char text[SDL_TEXTEDITINGEVENT_TEXT_SIZE]; + int start; + int length; +} SDL_TextEditingEvent; + +#define SDL_TEXTINPUTEVENT_TEXT_SIZE (32) +typedef struct SDL_TextInputEvent { + Uint8 type; + SDL_WindowID windowID; + Uint8 which; + char text[SDL_TEXTINPUTEVENT_TEXT_SIZE]; +} SDL_TextInputEvent; + +typedef struct SDL_MouseMotionEvent { + Uint8 type; + SDL_WindowID windowID; + Uint8 which; + Uint8 state; + int x; + int y; + int z; + int pressure; + int pressure_max; + int pressure_min; + int rotation; + int tilt; + int cursor; + int xrel; + int yrel; +} SDL_MouseMotionEvent; + +typedef struct SDL_MouseButtonEvent { + Uint8 type; + SDL_WindowID windowID; + Uint8 which; + Uint8 button; + Uint8 state; + int x; + int y; +} SDL_MouseButtonEvent; + +typedef struct SDL_MouseWheelEvent { + Uint8 type; + SDL_WindowID windowID; + Uint8 which; + int x; + int y; +} SDL_MouseWheelEvent; + +typedef struct SDL_JoyAxisEvent { + Uint8 type; + Uint8 which; + Uint8 axis; + Sint16 value; +} SDL_JoyAxisEvent; + +typedef struct SDL_JoyBallEvent { + Uint8 type; + Uint8 which; + Uint8 ball; + Sint16 xrel; + Sint16 yrel; +} SDL_JoyBallEvent; + +typedef struct SDL_JoyHatEvent { + Uint8 type; + Uint8 which; + Uint8 hat; + Uint8 value; +} SDL_JoyHatEvent; + +typedef struct SDL_JoyButtonEvent { + Uint8 type; + Uint8 which; + Uint8 button; + Uint8 state; +} SDL_JoyButtonEvent; + +typedef struct SDL_ActiveEvent +{ + Uint8 type; + Uint8 gain; + Uint8 state; +} SDL_ActiveEvent; + +typedef struct SDL_ResizeEvent { + Uint8 type; + int w; + int h; +} SDL_ResizeEvent; + +typedef struct SDL_ExposeEvent { + Uint8 type; +} SDL_ExposeEvent; + +typedef struct SDL_QuitEvent { + Uint8 type; +} SDL_QuitEvent; + +typedef struct SDL_UserEvent { + Uint8 type; + SDL_WindowID windowID; + int code; + void *data1; + void *data2; +} SDL_UserEvent; + +struct SDL_SysWMmsg; +typedef struct SDL_SysWMmsg SDL_SysWMmsg; +typedef struct SDL_SysWMEvent { + Uint8 type; + SDL_SysWMmsg *msg; +} SDL_SysWMEvent; + +typedef struct SDL_ProximityEvent +{ + Uint8 type; + SDL_WindowID windowID; + Uint8 which; + int cursor; + int x; + int y; +} SDL_ProximityEvent; + +typedef union SDL_Event { + Uint8 type; + SDL_WindowEvent window; + SDL_KeyboardEvent key; + SDL_TextEditingEvent edit; + SDL_TextInputEvent text; + SDL_MouseMotionEvent motion; + SDL_MouseButtonEvent button; + SDL_MouseWheelEvent wheel; + SDL_JoyAxisEvent jaxis; + SDL_JoyBallEvent jball; + SDL_JoyHatEvent jhat; + SDL_JoyButtonEvent jbutton; + SDL_QuitEvent quit; + SDL_UserEvent user; + SDL_SysWMEvent syswm; + SDL_ProximityEvent proximity; + SDL_ActiveEvent active; + SDL_ResizeEvent resize; +} SDL_Event; + +typedef struct SDL_PixelFormat { + void *palette; + Uint8 BitsPerPixel; + Uint8 BytesPerPixel; + Uint8 Rloss; + Uint8 Gloss; + Uint8 Bloss; + Uint8 Aloss; + Uint8 Rshift; + Uint8 Gshift; + Uint8 Bshift; + Uint8 Ashift; + Uint32 Rmask; + Uint32 Gmask; + Uint32 Bmask; + Uint32 Amask; +} SDL_PixelFormat; + +typedef enum SDL_GLattr { + SDL_GL_RED_SIZE, + SDL_GL_GREEN_SIZE, + SDL_GL_BLUE_SIZE, + SDL_GL_ALPHA_SIZE, + SDL_GL_BUFFER_SIZE, + SDL_GL_DOUBLEBUFFER, + SDL_GL_DEPTH_SIZE, + SDL_GL_STENCIL_SIZE, + SDL_GL_ACCUM_RED_SIZE, + SDL_GL_ACCUM_GREEN_SIZE, + SDL_GL_ACCUM_BLUE_SIZE, + SDL_GL_ACCUM_ALPHA_SIZE, + SDL_GL_STEREO, + SDL_GL_MULTISAMPLEBUFFERS, + SDL_GL_MULTISAMPLESAMPLES, + SDL_GL_ACCELERATED_VISUAL, + SDL_GL_RETAINED_BACKING, + SDL_GL_CONTEXT_MAJOR_VERSION, + SDL_GL_CONTEXT_MINOR_VERSION +} SDL_GLattr; + +typedef struct SDL_VideoInfo { + Uint32 hw_available :1; + Uint32 wm_available :1; + Uint32 UnusedBits1 :6; + Uint32 UnusedBits2 :1; + Uint32 blit_hw :1; + Uint32 blit_hw_CC :1; + Uint32 blit_hw_A :1; + Uint32 blit_sw :1; + Uint32 blit_sw_CC :1; + Uint32 blit_sw_A :1; + Uint32 blit_fill :1; + Uint32 UnusedBits3 :16; + Uint32 video_mem; + SDL_PixelFormat *vfmt; + int current_w; + int current_h; +} SDL_VideoInfo; + +#define SDL_INIT_VIDEO 0x00000020 + +#define SDL_ANYFORMAT 0x00100000 +#define SDL_HWPALETTE 0x00200000 +#define SDL_DOUBLEBUF 0x00400000 +#define SDL_FULLSCREEN 0x00800000 +#define SDL_RESIZABLE 0x01000000 +#define SDL_NOFRAME 0x02000000 +#define SDL_OPENGL 0x04000000 +#define SDL_HWSURFACE 0x08000001 + +#define SDL_DEFAULT_REPEAT_DELAY 500 +#define SDL_DEFAULT_REPEAT_INTERVAL 30 + + +// functions subset +extern SDL_DECLSPEC int SDL_CALL SDL_Init(Uint32 flags); +extern SDL_DECLSPEC void SDL_CALL SDL_Quit(); +extern SDL_DECLSPEC char * SDL_CALL SDL_GetError(); +extern SDL_DECLSPEC const SDL_VideoInfo * SDL_CALL SDL_GetVideoInfo(); +extern SDL_DECLSPEC struct SDL_Surface * SDL_CALL SDL_SetVideoMode(int width, int height, int bpp, Uint32 flags); +extern SDL_DECLSPEC int SDL_CALL SDL_GL_SetAttribute(SDL_GLattr attr, int value); +extern SDL_DECLSPEC void SDL_CALL SDL_GL_SwapBuffers(); +extern SDL_DECLSPEC void SDL_CALL SDL_WM_SetCaption(const char *title, const char *icon); +extern SDL_DECLSPEC void SDL_CALL SDL_WM_GetCaption(char **title, char **icon); +extern SDL_DECLSPEC int SDL_CALL SDL_EnableUNICODE(int enable); +extern SDL_DECLSPEC int SDL_CALL SDL_EnableKeyRepeat(int delay, int interval); +extern SDL_DECLSPEC Uint32 SDL_CALL SDL_GetTicks(); +extern SDL_DECLSPEC int SDL_CALL SDL_PollEvent(SDL_Event *event); +extern SDL_DECLSPEC int SDL_CALL SDL_WaitEvent(SDL_Event *event); +extern SDL_DECLSPEC int SDL_CALL SDL_PushEvent(SDL_Event *event); + + +#ifdef __cplusplus +} +#endif + +#endif // !defined MINI_SDL_INCLUDED + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSFML16.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSFML16.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSFML16.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/MiniSFML16.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,220 @@ +// --------------------------------------------------------------------------- +// +// @file MiniSFML16.h +// @brief A subset of SFML 1.6 definitions needed to compile helper +// functions implemented in TwEventSFML.cpp +// +// notes: - Private header +// - AntTweakBar.dll does not need to link with SFML, +// it just needs some definitions for its helper functions. +// - This header is provided to avoid the need of having SFML +// installed to recompile AntTweakBar. +// It declares a small and incomplete part of SFML classes. +// For instance, many non-virtual methods have been stripped out. +// - Do not use this header in your own programs, better use the +// SFML headers from the actual SFML library SDK : +// http://www.sfml-dev.org +// +// --------------------------------------------------------------------------- + +#if !defined MINI_SFML16_INCLUDED +#define MINI_SFML16_INCLUDED + +namespace sf +{ + + namespace Key { enum Code + { + A = 'a', B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, + Num0 = '0', Num1, Num2, Num3, Num4, Num5, Num6, Num7, Num8, Num9, + Escape = 256, + LControl, LShift, LAlt, LSystem, + RControl, RShift, RAlt, RSystem, Menu, + LBracket, RBracket, SemiColon, Comma, Period, Quote, Slash, BackSlash, + Tilde, Equal, Dash, Space, Return, Back, Tab, + PageUp, PageDown, End, Home, Insert, Delete, + Add, Subtract, Multiply, Divide, Left, Right, Up, Down, + Numpad0, Numpad1, Numpad2, Numpad3, Numpad4, Numpad5, Numpad6, Numpad7, Numpad8, Numpad9, + F1, F2, F3, F4, F5, F6, F7, F8, F9, F10, F11, F12, F13, F14, F15, Pause, + Count + }; } + + namespace Mouse { enum Button { Left, Right, Middle, XButton1, XButton2, Count }; } + + namespace Joy { enum Axis { AxisX, AxisY, AxisZ, AxisR, AxisU, AxisV, AxisPOV, AxisCount }; + enum { Count = 4, ButtonCount = 32}; } + + typedef unsigned char Uint8; + typedef unsigned int Uint32; + + class Event + { + public : + struct KeyEvent { Key::Code Code; bool Alt, Control, Shift; }; + struct TextEvent { Uint32 Unicode; }; + struct MouseMoveEvent { int X, Y; }; + struct MouseButtonEvent { Mouse::Button Button; int X, Y; }; + struct MouseWheelEvent { int Delta; }; + struct JoyMoveEvent { unsigned int JoystickId; Joy::Axis Axis; float Position; }; + struct JoyButtonEvent { unsigned int JoystickId, Button; }; + struct SizeEvent { unsigned int Width, Height; }; + enum EventType + { + Closed, Resized, LostFocus, GainedFocus, TextEntered, KeyPressed, KeyReleased, + MouseWheelMoved, MouseButtonPressed, MouseButtonReleased, MouseMoved, MouseEntered, MouseLeft, + JoyButtonPressed, JoyButtonReleased, JoyMoved + }; + EventType Type; + union + { + KeyEvent Key; + TextEvent Text; + MouseMoveEvent MouseMove; + MouseButtonEvent MouseButton; + MouseWheelEvent MouseWheel; + JoyMoveEvent JoyMove; + JoyButtonEvent JoyButton; + SizeEvent Size; + }; + }; + +} // namespace sf + + +#ifdef USE_MINI_SFML +// we also need some the definition of sf::RenderWindow to compile our SFML example + +#include +#include + +namespace sf +{ + + class Input; + class Drawable; + typedef void* WindowHandle; + namespace priv { class WindowImpl; } + + class WindowListener + { + public : + virtual void OnEvent(const Event& EventReceived) = 0; + protected : + virtual ~WindowListener(); + }; + + class VideoMode + { + public : + VideoMode(unsigned int ModeWidth, unsigned int ModeHeight, unsigned int ModeBpp = 32); + unsigned int Width, Height, BitsPerPixel; + }; + + namespace Style { enum { None = 0, Titlebar = 1 << 0, Resize = 1 << 1, Close = 1 << 2, Fullscreen = 1 << 3 }; } + + struct WindowSettings + { + explicit WindowSettings(unsigned int Depth = 24, unsigned int Stencil = 8, unsigned int Antialiasing = 0); + unsigned int DepthBits, StencilBits, AntialiasingLevel; + }; + + class Clock + { + public : + Clock(); + float GetElapsedTime() const; + void Reset(); + private : + double myStartTime; + }; + + class Input : public WindowListener + { + private : + virtual void OnEvent(const Event& EventReceived); + bool myKeys[Key::Count]; + bool myMouseButtons[Mouse::Count]; + int myMouseX; + int myMouseY; + bool myJoystickButtons[Joy::Count][Joy::ButtonCount]; + float myJoystickAxis[Joy::Count][Joy::AxisCount]; + }; + + class Window : public WindowListener + { + public : + Window(VideoMode Mode, const std::string& Title, unsigned long WindowStyle = Style::Resize | Style::Close, const WindowSettings& Params = WindowSettings()); + virtual ~Window(); + void Close(); + bool IsOpened() const; + unsigned int GetWidth() const; + unsigned int GetHeight() const; + bool GetEvent(Event& EventReceived); + void Display(); + private : + virtual void OnCreate(); + virtual void OnEvent(const Event& EventReceived); + priv::WindowImpl* myWindow; + std::queue myEvents; + Input myInput; + Clock myClock; + WindowSettings mySettings; + float myLastFrameTime; + bool myIsExternal; + unsigned int myFramerateLimit; + int mySetCursorPosX; + int mySetCursorPosY; + }; + + template class Vector2 { public : T x, y; }; + typedef Vector2 Vector2f; + + template class Rect { public : T Left, Top, Right, Bottom; }; + typedef Rect FloatRect; + + class Matrix3 { private : float myData[16]; }; + + class View + { + private : + sf::Vector2f myCenter; + sf::Vector2f myHalfSize; + FloatRect myRect; + Matrix3 myMatrix; + bool myNeedUpdate; + }; + + class RenderTarget + { + public : + virtual ~RenderTarget(); + virtual void Draw(const Drawable& Object); + virtual unsigned int GetWidth() const = 0; + virtual unsigned int GetHeight() const = 0; + void PreserveOpenGLStates(bool Preserve); + private : + virtual bool Activate(bool Active) = 0; + View myDefaultView; + const View* myCurrentView; + bool myPreserveStates; + bool myIsDrawing; + }; + + class RenderWindow : public Window, public RenderTarget + { + public : + RenderWindow(VideoMode Mode, const std::string& Title, unsigned long WindowStyle = Style::Resize | Style::Close, const WindowSettings& Params = WindowSettings()); + virtual ~RenderWindow(); + virtual unsigned int GetWidth() const; + virtual unsigned int GetHeight() const; + private : + virtual void OnCreate(); + virtual bool Activate(bool Active); + }; + +} // namespace sf + +#endif // USE_MINI_SFML + +#endif // !defined MINI_SFML16_INCLUDED + Binary files /tmp/tmpNfaSSr/5EcxXHrCux/ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/res/cur00000.cur and /tmp/tmpNfaSSr/_koI2QKgiP/ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/res/cur00000.cur differ Binary files /tmp/tmpNfaSSr/5EcxXHrCux/ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/res/cur00001.cur and /tmp/tmpNfaSSr/_koI2QKgiP/ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/res/cur00001.cur differ Binary files 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Private header +// +// --------------------------------------------------------------------------- + + +static int g_CurHot[][2] = +{ + {16, 15}, // curs00 + {16, 15}, // curs01 + {16, 15}, // curs02 + {16, 15}, // curs03 + {16, 15}, // curs04 + {16, 15}, // curs05 + {16, 15}, // curs06 + {16, 15}, // curs07 + {16, 15}, // curs08 + {16, 15}, // curs09 + {16, 15}, // curs10 + {16, 15}, // curs11 + {16, 15}, // curs12 + {16, 15} // curs13 +}; + + +static bool g_CurPict[][32*32] = +{ + { // curs00 + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/resource.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,29 @@ +//{{NO_DEPENDENCIES}} +// Microsoft Visual C++ generated include file. +// Used by AntTweakBar.rc +// +#define IDC_CURSOR1 101 +#define IDC_CURSOR2 102 +#define IDC_CURSOR3 103 +#define IDC_CURSOR4 104 +#define IDC_CURSOR5 105 +#define IDC_CURSOR6 106 +#define IDC_CURSOR7 107 +#define IDC_CURSOR8 108 +#define IDC_CURSOR9 109 +#define IDC_CURSOR10 110 +#define IDC_CURSOR11 111 +#define IDC_CURSOR12 112 +#define IDC_CURSOR13 113 +#define IDC_CURSOR14 114 + +// Next default values for new objects +// +#ifdef APSTUDIO_INVOKED +#ifndef APSTUDIO_READONLY_SYMBOLS +#define _APS_NEXT_RESOURCE_VALUE 115 +#define _APS_NEXT_COMMAND_VALUE 40001 +#define _APS_NEXT_CONTROL_VALUE 1001 +#define _APS_NEXT_SYMED_VALUE 101 +#endif +#endif diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,7756 @@ +// --------------------------------------------------------------------------- +// +// @file TwBar.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include +#include "TwMgr.h" +#include "TwBar.h" +#include "TwColors.h" + +using namespace std; + +extern const char *g_ErrNotFound; +const char *g_ErrUnknownAttrib = "Unknown parameter"; +const char *g_ErrInvalidAttrib = "Invalid parameter"; +const char *g_ErrNotGroup = "Value is not a group"; +const char *g_ErrNoValue = "Value required"; +const char *g_ErrBadValue = "Bad value"; +const char *g_ErrUnknownType = "Unknown type"; +const char *g_ErrNotEnum = "Must be of type Enum"; + +#undef PERF // comment to print benchs +#define PERF(cmd) + + +PerfTimer g_BarTimer; + +#define ANT_SET_CURSOR(_Name) g_TwMgr->SetCursor(g_TwMgr->m_Cursor##_Name) +#define ANT_SET_ROTO_CURSOR(_Num) g_TwMgr->SetCursor(g_TwMgr->m_RotoCursors[_Num]) + +#if !defined(ANT_WINDOWS) +# define _stricmp strcasecmp +# define _strdup strdup +#endif // defined(ANT_WINDOWS) + +#if !defined(M_PI) +# define M_PI 3.1415926535897932384626433832795 +#endif // !defined(M_PI) + +const float FLOAT_MAX = 3.0e+38f; +const double DOUBLE_MAX = 1.0e+308; +const double DOUBLE_EPS = 1.0e-307; + +bool IsCustomType(int _Type) +{ + return (g_TwMgr && _Type>=TW_TYPE_CUSTOM_BASE && _Typem_Customs.size()); +} + +bool IsCSStringType(int _Type) +{ + return (_Type>TW_TYPE_CSSTRING_BASE && _Type<=TW_TYPE_CSSTRING_MAX); +} + +bool IsEnumType(int _Type) +{ + return (g_TwMgr && _Type>=TW_TYPE_ENUM_BASE && _Typem_Enums.size()); +} + +// --------------------------------------------------------------------------- + +CTwVar::CTwVar() +{ + m_IsRoot = false; + m_DontClip = false; + m_Visible = true; + m_LeftMargin = 0; + m_TopMargin = 0; + m_ColorPtr = &COLOR32_WHITE; + m_BgColorPtr = &COLOR32_ZERO; // default +} + +CTwVarAtom::CTwVarAtom() +{ + m_Type = TW_TYPE_UNDEF; + m_Ptr = NULL; + m_SetCallback = NULL; + m_GetCallback = NULL; + m_ClientData = NULL; + m_ReadOnly = false; + m_NoSlider = false; + m_KeyIncr[0] = 0; + m_KeyIncr[1] = 0; + m_KeyDecr[0] = 0; + m_KeyDecr[1] = 0; + memset(&m_Val, 0, sizeof(UVal)); +} + +CTwVarAtom::~CTwVarAtom() +{ + if( m_Type==TW_TYPE_BOOL8 || m_Type==TW_TYPE_BOOL16 || m_Type==TW_TYPE_BOOL32 || m_Type==TW_TYPE_BOOLCPP ) + { + if( m_Val.m_Bool.m_FreeTrueString && m_Val.m_Bool.m_TrueString!=NULL ) + { + free(m_Val.m_Bool.m_TrueString); + m_Val.m_Bool.m_TrueString = NULL; + } + if( m_Val.m_Bool.m_FreeFalseString && m_Val.m_Bool.m_FalseString!=NULL ) + { + free(m_Val.m_Bool.m_FalseString); + m_Val.m_Bool.m_FalseString = NULL; + } + } + else if( m_Type==TW_TYPE_CDSTDSTRING && m_GetCallback==CTwMgr::CCDStdString::GetCB && m_ClientData!=NULL && g_TwMgr!=NULL ) + { + // delete corresponding g_TwMgr->m_CDStdStrings element + const CTwMgr::CCDStdString *CDStdString = (const CTwMgr::CCDStdString *)m_ClientData; + //if( &(*CDStdString->m_This)==CDStdString ) + // g_TwMgr->m_CDStdStrings.erase(CDStdString->m_This); + for( list::iterator it=g_TwMgr->m_CDStdStrings.begin(); it!=g_TwMgr->m_CDStdStrings.end(); ++it ) + if( &(*it)==CDStdString ) + { + g_TwMgr->m_CDStdStrings.erase(it); + break; + } + } + /* + else if( m_Type==TW_TYPE_ENUM8 || m_Type==TW_TYPE_ENUM16 || m_Type==TW_TYPE_ENUM32 ) + { + if( m_Val.m_Enum.m_Entries!=NULL ) + { + delete m_Val.m_Enum.m_Entries; + m_Val.m_Enum.m_Entries = NULL; + } + } + */ +} + +// --------------------------------------------------------------------------- + +void CTwVarAtom::ValueToString(string *_Str) const +{ + assert(_Str!=NULL); + static const char *ErrStr = "unreachable"; + char Tmp[1024]; + if( m_Type==TW_TYPE_UNDEF || m_Type==TW_TYPE_HELP_ATOM || m_Type==TW_TYPE_HELP_GRP || m_Type==TW_TYPE_BUTTON ) // has no value + { + *_Str = ""; + return; + } + else if( m_Type==TW_TYPE_HELP_HEADER ) + { + *_Str = "SHORTCUTS"; + return; + } + else if( m_Type==TW_TYPE_SHORTCUT ) // special case for help bar: display shortcut + { + *_Str = ""; + if( m_ReadOnly && m_Val.m_Shortcut.m_Incr[0]==0 && m_Val.m_Shortcut.m_Decr[0]==0 ) + (*_Str) = "(read only)"; + else + { + if( m_Val.m_Shortcut.m_Incr[0]>0 ) + TwGetKeyString(_Str, m_Val.m_Shortcut.m_Incr[0], m_Val.m_Shortcut.m_Incr[1]); + else + (*_Str) += "(none)"; + if( m_Val.m_Shortcut.m_Decr[0]>0 ) + { + (*_Str) += " "; + TwGetKeyString(_Str, m_Val.m_Shortcut.m_Decr[0], m_Val.m_Shortcut.m_Decr[1]); + } + } + return; + } + else if( m_Type==TW_TYPE_HELP_STRUCT ) + { + int idx = m_Val.m_HelpStruct.m_StructType - TW_TYPE_STRUCT_BASE; + if( idx>=0 && idx<(int)g_TwMgr->m_Structs.size() ) + { + if( g_TwMgr->m_Structs[idx].m_Name.length()>0 ) + (*_Str) = '{' + g_TwMgr->m_Structs[idx].m_Name + '}'; + else + (*_Str) = "{struct}"; + } + return; + } + + if( m_Ptr==NULL && m_GetCallback==NULL ) + { + *_Str = ErrStr; + return; + } + bool UseGet = (m_GetCallback!=NULL); + switch( m_Type ) + { + case TW_TYPE_BOOLCPP: + { + bool Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(bool *)m_Ptr; + if( Val ) + *_Str = (m_Val.m_Bool.m_TrueString!=NULL) ? m_Val.m_Bool.m_TrueString : "1"; + else + *_Str = (m_Val.m_Bool.m_FalseString!=NULL) ? m_Val.m_Bool.m_FalseString : "0"; + } + break; + case TW_TYPE_BOOL8: + { + char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(char *)m_Ptr; + if( Val ) + *_Str = (m_Val.m_Bool.m_TrueString!=NULL) ? m_Val.m_Bool.m_TrueString : "1"; + else + *_Str = (m_Val.m_Bool.m_FalseString!=NULL) ? m_Val.m_Bool.m_FalseString : "0"; + } + break; + case TW_TYPE_BOOL16: + { + short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(short *)m_Ptr; + if( Val ) + *_Str = (m_Val.m_Bool.m_TrueString!=NULL) ? m_Val.m_Bool.m_TrueString : "1"; + else + *_Str = (m_Val.m_Bool.m_FalseString!=NULL) ? m_Val.m_Bool.m_FalseString : "0"; + } + break; + case TW_TYPE_BOOL32: + { + int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(int *)m_Ptr; + if( Val ) + *_Str = (m_Val.m_Bool.m_TrueString!=NULL) ? m_Val.m_Bool.m_TrueString : "1"; + else + *_Str = (m_Val.m_Bool.m_FalseString!=NULL) ? m_Val.m_Bool.m_FalseString : "0"; + } + break; + case TW_TYPE_CHAR: + { + unsigned char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned char *)m_Ptr; + if( Val!=0 ) + { + int d = Val; + if( m_Val.m_Char.m_Hexa ) + sprintf(Tmp, "%c (0x%.2X)", Val, d); + else + sprintf(Tmp, "%c (%d)", Val, d); + *_Str = Tmp; + } + else + { + *_Str = " (0)"; + const_cast(_Str->c_str())[0] = '\0'; + } + } + break; + case TW_TYPE_INT8: + { + signed char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(signed char *)m_Ptr; + int d = Val; + if( m_Val.m_Int8.m_Hexa ) + sprintf(Tmp, "0x%.2X", d&0xff); + else + sprintf(Tmp, "%d", d); + *_Str = Tmp; + } + break; + case TW_TYPE_UINT8: + { + unsigned char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned char *)m_Ptr; + unsigned int d = Val; + if( m_Val.m_UInt8.m_Hexa ) + sprintf(Tmp, "0x%.2X", d); + else + sprintf(Tmp, "%u", d); + *_Str = Tmp; + } + break; + case TW_TYPE_INT16: + { + short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(short *)m_Ptr; + int d = Val; + if( m_Val.m_Int16.m_Hexa ) + sprintf(Tmp, "0x%.4X", d&0xffff); + else + sprintf(Tmp, "%d", d); + *_Str = Tmp; + } + break; + case TW_TYPE_UINT16: + { + unsigned short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned short *)m_Ptr; + unsigned int d = Val; + if( m_Val.m_UInt16.m_Hexa ) + sprintf(Tmp, "0x%.4X", d); + else + sprintf(Tmp, "%u", d); + *_Str = Tmp; + } + break; + case TW_TYPE_INT32: + { + int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(int *)m_Ptr; + if( m_Val.m_Int32.m_Hexa ) + sprintf(Tmp, "0x%.8X", Val); + else + sprintf(Tmp, "%d", Val); + *_Str = Tmp; + } + break; + case TW_TYPE_UINT32: + { + unsigned int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned int *)m_Ptr; + if( m_Val.m_UInt32.m_Hexa ) + sprintf(Tmp, "0x%.8X", Val); + else + sprintf(Tmp, "%u", Val); + *_Str = Tmp; + } + break; + case TW_TYPE_FLOAT: + { + float Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(float *)m_Ptr; + if( m_Val.m_Float32.m_Precision<0 ) + sprintf(Tmp, "%g", Val); + else + { + char Fmt[64]; + sprintf(Fmt, "%%.%df", (int)m_Val.m_Float32.m_Precision); + sprintf(Tmp, Fmt, Val); + } + *_Str = Tmp; + } + break; + case TW_TYPE_DOUBLE: + { + double Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(double *)m_Ptr; + if( m_Val.m_Float64.m_Precision<0 ) + sprintf(Tmp, "%g", Val); + else + { + char Fmt[128]; + sprintf(Fmt, "%%.%dlf", (int)m_Val.m_Float64.m_Precision); + sprintf(Tmp, Fmt, Val); + } + *_Str = Tmp; + } + break; + case TW_TYPE_STDSTRING: + { + if( UseGet ) + m_GetCallback(_Str, m_ClientData); + else + *_Str = *(std::string *)m_Ptr; + } + break; + /* + case TW_TYPE_ENUM8: + case TW_TYPE_ENUM16: + case TW_TYPE_ENUM32: + { + unsigned int d = 0; + if( m_Type==TW_TYPE_ENUM8 ) + { + unsigned char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned char *)m_Ptr; + d = Val; + } + else if( m_Type==TW_TYPE_ENUM16 ) + { + unsigned short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned short *)m_Ptr; + d = Val; + } + else + { + assert(m_Type==TW_TYPE_ENUM32); + unsigned int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned int *)m_Ptr; + d = Val; + } + bool Found = false; + if( m_Val.m_Enum.m_Entries!=NULL ) + { + UVal::CEnumVal::CEntries::iterator It = m_Val.m_Enum.m_Entries->find(d); + if( It!=m_Val.m_Enum.m_Entries->end() ) + { + *_Str = It->second; + Found = true; + } + } + if( !Found ) + { + sprintf(Tmp, "%u", d); + *_Str = Tmp; + } + } + break; + */ + default: + if( IsEnumType(m_Type) ) + { + unsigned int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned int *)m_Ptr; + + CTwMgr::CEnum& e = g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE]; + CTwMgr::CEnum::CEntries::iterator It = e.m_Entries.find(Val); + if( It!=e.m_Entries.end() ) + *_Str = It->second; + else + { + sprintf(Tmp, "%u", Val); + *_Str = Tmp; + } + } + else if( IsCSStringType(m_Type) ) + { + char *Val = NULL; + if( UseGet ) + { + int n = TW_CSSTRING_SIZE(m_Type); + if( n+32>(int)g_TwMgr->m_CSStringBuffer.size() ) + g_TwMgr->m_CSStringBuffer.resize(n+32); + Val = &(g_TwMgr->m_CSStringBuffer[0]); + m_GetCallback(Val , m_ClientData); + Val[n] = '\0'; + } + else + Val = (char *)m_Ptr; + if( Val!=NULL ) + *_Str = Val; + else + *_Str = ""; + } + else if( m_Type==TW_TYPE_CDSTRING || m_Type==TW_TYPE_CDSTDSTRING ) + { + char *Val = NULL; + if( UseGet ) + m_GetCallback(&Val , m_ClientData); + else + Val = *(char **)m_Ptr; + if( Val!=NULL ) + *_Str = Val; + else + *_Str = ""; + } + else if( IsCustom() ) // m_Type>=TW_TYPE_CUSTOM_BASE && m_Typem_Customs.size() ) + { + *_Str = ""; + } + else + { + *_Str = "unknown type"; + const_cast(this)->m_ReadOnly = true; + } + } +} + +// --------------------------------------------------------------------------- + +double CTwVarAtom::ValueToDouble() const +{ + if( m_Ptr==NULL && m_GetCallback==NULL ) + return 0; // unreachable + bool UseGet = (m_GetCallback!=NULL); + switch( m_Type ) + { + case TW_TYPE_BOOLCPP: + { + bool Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(bool *)m_Ptr; + if( Val ) + return 1; + else + return 0; + } + break; + case TW_TYPE_BOOL8: + { + char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(char *)m_Ptr; + if( Val ) + return 1; + else + return 0; + } + break; + case TW_TYPE_BOOL16: + { + short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(short *)m_Ptr; + if( Val ) + return 1; + else + return 0; + } + break; + case TW_TYPE_BOOL32: + { + int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(int *)m_Ptr; + if( Val ) + return 1; + else + return 0; + } + break; + case TW_TYPE_CHAR: + { + unsigned char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned char *)m_Ptr; + return Val; + } + break; + case TW_TYPE_INT8: + { + signed char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(signed char *)m_Ptr; + int d = Val; + return d; + } + break; + case TW_TYPE_UINT8: + { + unsigned char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned char *)m_Ptr; + unsigned int d = Val; + return d; + } + break; + case TW_TYPE_INT16: + { + short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(short *)m_Ptr; + int d = Val; + return d; + } + break; + case TW_TYPE_UINT16: + { + unsigned short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned short *)m_Ptr; + unsigned int d = Val; + return d; + } + break; + case TW_TYPE_INT32: + { + int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(int *)m_Ptr; + return Val; + } + break; + case TW_TYPE_UINT32: + { + unsigned int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned int *)m_Ptr; + return Val; + } + break; + case TW_TYPE_FLOAT: + { + float Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(float *)m_Ptr; + return Val; + } + break; + case TW_TYPE_DOUBLE: + { + double Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(double *)m_Ptr; + return Val; + } + break; + /* + case TW_TYPE_ENUM8: + case TW_TYPE_ENUM16: + case TW_TYPE_ENUM32: + { + unsigned int d = 0; + if( m_Type==TW_TYPE_ENUM8 ) + { + unsigned char Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned char *)m_Ptr; + d = Val; + } + else if( m_Type==TW_TYPE_ENUM16 ) + { + unsigned short Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned short *)m_Ptr; + d = Val; + } + else + { + assert(m_Type==TW_TYPE_ENUM32); + unsigned int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned int *)m_Ptr; + d = Val; + } + return d; + } + break; + */ + default: + if( IsEnumType(m_Type) ) + { + unsigned int Val = 0; + if( UseGet ) + m_GetCallback(&Val, m_ClientData); + else + Val = *(unsigned int *)m_Ptr; + return Val; + } + else + return 0; // unknown type + } +} + +// --------------------------------------------------------------------------- + +void CTwVarAtom::ValueFromDouble(double _Val) +{ + if( m_Ptr==NULL && m_SetCallback==NULL ) + return; // unreachable + bool UseSet = (m_SetCallback!=NULL); + switch( m_Type ) + { + case TW_TYPE_BOOLCPP: + { + bool Val = (_Val!=0); + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(bool*)m_Ptr = Val; + } + break; + case TW_TYPE_BOOL8: + { + char Val = (_Val!=0) ? 1 : 0; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(char*)m_Ptr = Val; + } + break; + case TW_TYPE_BOOL16: + { + short Val = (_Val!=0) ? 1 : 0; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(short*)m_Ptr = Val; + } + break; + case TW_TYPE_BOOL32: + { + int Val = (_Val!=0) ? 1 : 0; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(int*)m_Ptr = Val; + } + break; + case TW_TYPE_CHAR: + { + unsigned char Val = (unsigned char)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(unsigned char*)m_Ptr = Val; + } + break; + case TW_TYPE_INT8: + { + signed char Val = (signed char)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(signed char*)m_Ptr = Val; + } + break; + case TW_TYPE_UINT8: + //case TW_TYPE_ENUM8: + { + unsigned char Val = (unsigned char)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(unsigned char*)m_Ptr = Val; + } + break; + case TW_TYPE_INT16: + { + short Val = (short)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(short*)m_Ptr = Val; + } + break; + case TW_TYPE_UINT16: + //case TW_TYPE_ENUM16: + { + unsigned short Val = (unsigned short)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(unsigned short*)m_Ptr = Val; + } + break; + case TW_TYPE_INT32: + { + int Val = (int)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(int*)m_Ptr = Val; + } + break; + case TW_TYPE_UINT32: + //case TW_TYPE_ENUM32: + { + unsigned int Val = (unsigned int)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(unsigned int*)m_Ptr = Val; + } + break; + case TW_TYPE_FLOAT: + { + float Val = (float)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(float*)m_Ptr = Val; + } + break; + case TW_TYPE_DOUBLE: + { + double Val = (double)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(double*)m_Ptr = Val; + } + break; + default: + if( IsEnumType(m_Type) ) + { + unsigned int Val = (unsigned int)_Val; + if( UseSet ) + m_SetCallback(&Val, m_ClientData); + else + *(unsigned int*)m_Ptr = Val; + } + } +} + +// --------------------------------------------------------------------------- + +void CTwVarAtom::MinMaxStepToDouble(double *_Min, double *_Max, double *_Step) const +{ + double max = DOUBLE_MAX; + double min = -DOUBLE_MAX; + double step = 1; + + switch( m_Type ) + { + case TW_TYPE_BOOLCPP: + case TW_TYPE_BOOL8: + case TW_TYPE_BOOL16: + case TW_TYPE_BOOL32: + min = 0; + max = 1; + step = 1; + break; + case TW_TYPE_CHAR: + min = (double)m_Val.m_Char.m_Min; + max = (double)m_Val.m_Char.m_Max; + step = (double)m_Val.m_Char.m_Step; + break; + case TW_TYPE_INT8: + min = (double)m_Val.m_Int8.m_Min; + max = (double)m_Val.m_Int8.m_Max; + step = (double)m_Val.m_Int8.m_Step; + break; + case TW_TYPE_UINT8: + min = (double)m_Val.m_UInt8.m_Min; + max = (double)m_Val.m_UInt8.m_Max; + step = (double)m_Val.m_UInt8.m_Step; + break; + case TW_TYPE_INT16: + min = (double)m_Val.m_Int16.m_Min; + max = (double)m_Val.m_Int16.m_Max; + step = (double)m_Val.m_Int16.m_Step; + break; + case TW_TYPE_UINT16: + min = (double)m_Val.m_UInt16.m_Min; + max = (double)m_Val.m_UInt16.m_Max; + step = (double)m_Val.m_UInt16.m_Step; + break; + case TW_TYPE_INT32: + min = (double)m_Val.m_Int32.m_Min; + max = (double)m_Val.m_Int32.m_Max; + step = (double)m_Val.m_Int32.m_Step; + break; + case TW_TYPE_UINT32: + min = (double)m_Val.m_UInt32.m_Min; + max = (double)m_Val.m_UInt32.m_Max; + step = (double)m_Val.m_UInt32.m_Step; + break; + case TW_TYPE_FLOAT: + min = (double)m_Val.m_Float32.m_Min; + max = (double)m_Val.m_Float32.m_Max; + step = (double)m_Val.m_Float32.m_Step; + break; + case TW_TYPE_DOUBLE: + min = m_Val.m_Float64.m_Min; + max = m_Val.m_Float64.m_Max; + step = m_Val.m_Float64.m_Step; + break; + default: + {} // nothing + } + + if( _Min!=NULL ) + *_Min = min; + if( _Max!=NULL ) + *_Max = max; + if( _Step!=NULL ) + *_Step = step; +} + +// --------------------------------------------------------------------------- + +const CTwVar *CTwVarAtom::Find(const char *_Name, CTwVarGroup **_Parent, int *_Index) const +{ + if( strcmp(_Name, m_Name.c_str())==0 ) + { + if( _Parent!=NULL ) + *_Parent = NULL; + if( _Index!=NULL ) + *_Index = -1; + return this; + } + else + return NULL; +} + +// --------------------------------------------------------------------------- + +enum EVarAttribs +{ + V_LABEL = 1, + V_HELP, + V_GROUP, + V_SHOW, + V_HIDE, + V_READONLY, + V_READWRITE, + V_ORDER, + V_VISIBLE, + V_ENDTAG +}; + +int CTwVar::HasAttrib(const char *_Attrib, bool *_HasValue) const +{ + *_HasValue = true; + if( _stricmp(_Attrib, "label")==0 ) + return V_LABEL; + else if( _stricmp(_Attrib, "help")==0 ) + return V_HELP; + else if( _stricmp(_Attrib, "group")==0 ) + return V_GROUP; + else if( _stricmp(_Attrib, "order")==0 ) + return V_ORDER; + else if( _stricmp(_Attrib, "visible")==0 ) + return V_VISIBLE; + else if( _stricmp(_Attrib, "readonly")==0 ) + return V_READONLY; + + // for backward compatibility + *_HasValue = false; + if( _stricmp(_Attrib, "show")==0 ) + return V_SHOW; + else if( _stricmp(_Attrib, "hide")==0 ) + return V_HIDE; + if( _stricmp(_Attrib, "readonly")==0 ) + return V_READONLY; + else if( _stricmp(_Attrib, "readwrite")==0 ) + return V_READWRITE; + + return 0; // not found +} + +int CTwVar::SetAttrib(int _AttribID, const char *_Value, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex) +{ + switch( _AttribID ) + { + case V_LABEL: + case V_HELP: + if( _Value && strlen(_Value)>0 ) + { + /* + if( IsGroup() && static_cast(this)->m_StructValuePtr!=NULL ) + { + int Idx = static_cast(this)->m_StructType-TW_TYPE_STRUCT_BASE; + if( Idx>=0 && Idx<(int)g_TwMgr->m_Structs.size() ) + if( _AttribID==V_LABEL ) + g_TwMgr->m_Structs[Idx].m_Label = _Value; + else // V_HELP + g_TwMgr->m_Structs[Idx].m_Help = _Value; + } + else + */ + { + CTwVarGroup *Parent = NULL; + CTwVar *ThisVar = _Bar->Find(m_Name.c_str(), &Parent); + if( this==ThisVar && Parent!=NULL && Parent->m_StructValuePtr!=NULL ) + { + int Idx = Parent->m_StructType-TW_TYPE_STRUCT_BASE; + if( Idx>=0 && Idx<(int)g_TwMgr->m_Structs.size() ) + { + size_t nl = m_Name.length(); + for( size_t im=0; imm_Structs[Idx].m_Members.size(); ++im ) + { + size_t ml = g_TwMgr->m_Structs[Idx].m_Members[im].m_Name.length(); + if( nl>=ml && strcmp(g_TwMgr->m_Structs[Idx].m_Members[im].m_Name.c_str(), m_Name.c_str()+(nl-ml))==0 ) + { + // TODO: would have to be applied to other vars already created + if( _AttribID==V_LABEL ) + { + g_TwMgr->m_Structs[Idx].m_Members[im].m_Label = _Value; +// m_Label = _Value; + } + else // V_HELP + g_TwMgr->m_Structs[Idx].m_Members[im].m_Help = _Value; + break; + } + } + } + } + else + { + if( _AttribID==V_LABEL ) + m_Label = _Value; + else // V_HELP + m_Help = _Value; + } + } + _Bar->NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case V_GROUP: + { + CTwVarGroup *Grp = NULL; + if( _Value==NULL || strlen(_Value)<=0 ) + Grp = &(_Bar->m_VarRoot); + else + { + CTwVar *v = _Bar->Find(_Value, NULL, NULL); + if( v && !v->IsGroup() ) + { + g_TwMgr->SetLastError(g_ErrNotGroup); + return 0; + } + Grp = static_cast(v); + if( Grp==NULL ) + { + Grp = new CTwVarGroup; + Grp->m_Name = _Value; + Grp->m_Open = true; + Grp->m_SummaryCallback = NULL; + Grp->m_SummaryClientData = NULL; + Grp->m_StructValuePtr = NULL; + Grp->m_ColorPtr = &(_Bar->m_ColGrpText); + _Bar->m_VarRoot.m_Vars.push_back(Grp); + } + } + Grp->m_Vars.push_back(this); + if( _VarParent!=NULL && _VarIndex>=0 ) + { + _VarParent->m_Vars.erase(_VarParent->m_Vars.begin()+_VarIndex); + if( _VarParent!=&(_Bar->m_VarRoot) && _VarParent->m_Vars.size()<=0 ) + TwRemoveVar(_Bar, _VarParent->m_Name.c_str()); + } + _Bar->NotUpToDate(); + return 1; + } + case V_SHOW: // for backward compatibility + if( !m_Visible ) + { + m_Visible = true; + _Bar->NotUpToDate(); + } + return 1; + case V_HIDE: // for backward compatibility + if( m_Visible ) + { + m_Visible = false; + _Bar->NotUpToDate(); + } + return 1; + /* + case V_READONLY: + SetReadOnly(true); + _Bar->NotUpToDate(); + return 1; + */ + case V_READWRITE: // for backward compatibility + SetReadOnly(false); + _Bar->NotUpToDate(); + return 1; + case V_ORDER: + // a special case for compatibility with deprecated command 'option=ogl/dx' + if( IsGroup() && _Value!=NULL && static_cast(this)->m_SummaryCallback==CColorExt::SummaryCB && static_cast(this)->m_StructValuePtr!=NULL ) // is tw_type_color? + { + if( _stricmp(_Value, "ogl")==0 ) + { + static_cast(static_cast(this)->m_StructValuePtr)->m_OGL = true; + return 1; + } + else if( _stricmp(_Value, "dx")==0 ) + { + static_cast(static_cast(this)->m_StructValuePtr)->m_OGL = false; + return 1; + } + } + // todo: general 'order' command (no else) + return 0; + case V_VISIBLE: + if( _Value!=NULL && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "true")==0 || _stricmp(_Value, "1")==0 ) + { + if( !m_Visible ) + { + m_Visible = true; + _Bar->NotUpToDate(); + } + return 1; + } + else if( _stricmp(_Value, "false")==0 || _stricmp(_Value, "0")==0 ) + { + if( m_Visible ) + { + m_Visible = false; + _Bar->NotUpToDate(); + } + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case V_READONLY: + if( _Value==NULL || strlen(_Value)==0 // no value is acceptable (for backward compatibility) + || _stricmp(_Value, "true")==0 || _stricmp(_Value, "1")==0 ) + { + if( !IsReadOnly() ) + { + SetReadOnly(true); + _Bar->NotUpToDate(); + } + return 1; + } + else if( _stricmp(_Value, "false")==0 || _stricmp(_Value, "0")==0 ) + { + if( IsReadOnly() ) + { + SetReadOnly(false); + _Bar->NotUpToDate(); + } + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + default: + g_TwMgr->SetLastError(g_ErrUnknownAttrib); + return 0; + } +} + + +ERetType CTwVar::GetAttrib(int _AttribID, TwBar * /*_Bar*/, CTwVarGroup * _VarParent, int /*_VarIndex*/, std::vector& outDoubles, std::ostringstream& outString) const +{ + outDoubles.clear(); + outString.clear(); + + switch( _AttribID ) + { + case V_LABEL: + outString << m_Label; + return RET_STRING; + case V_HELP: + outString << m_Help; + return RET_STRING; + case V_GROUP: + if( _VarParent!=NULL ) + outString << _VarParent->m_Name; + return RET_STRING; + case V_VISIBLE: + outDoubles.push_back(m_Visible ? 1 : 0); + return RET_DOUBLE; + case V_READONLY: + outDoubles.push_back(IsReadOnly() ? 1 : 0); + return RET_DOUBLE; + default: + g_TwMgr->SetLastError(g_ErrUnknownAttrib); + return RET_ERROR; + } +} + + +// --------------------------------------------------------------------------- + +enum EVarAtomAttribs +{ + VA_KEY_INCR = V_ENDTAG+1, + VA_KEY_DECR, + VA_MIN, + VA_MAX, + VA_STEP, + VA_PRECISION, + VA_HEXA, + VA_DECIMAL, // for backward compatibility + VA_TRUE, + VA_FALSE, + VA_ENUM, + VA_VALUE +}; + +int CTwVarAtom::HasAttrib(const char *_Attrib, bool *_HasValue) const +{ + *_HasValue = true; + if( _stricmp(_Attrib, "keyincr")==0 || _stricmp(_Attrib, "key")==0 ) + return VA_KEY_INCR; + else if( _stricmp(_Attrib, "keydecr")==0 ) + return VA_KEY_DECR; + else if( _stricmp(_Attrib, "min")==0 ) + return VA_MIN; + else if( _stricmp(_Attrib, "max")==0 ) + return VA_MAX; + else if( _stricmp(_Attrib, "step")==0 ) + return VA_STEP; + else if( _stricmp(_Attrib, "precision")==0 ) + return VA_PRECISION; + else if( _stricmp(_Attrib, "hexa")==0 ) + return VA_HEXA; + else if( _stricmp(_Attrib, "decimal")==0 ) // for backward compatibility + { + *_HasValue = false; + return VA_DECIMAL; + } + else if( _stricmp(_Attrib, "true")==0 ) + return VA_TRUE; + else if( _stricmp(_Attrib, "false")==0 ) + return VA_FALSE; + else if( _stricmp(_Attrib, "enum")==0 + || _stricmp(_Attrib, "val")==0 ) // for backward compatibility + return VA_ENUM; + else if( _stricmp(_Attrib, "value")==0 ) + return VA_VALUE; + + return CTwVar::HasAttrib(_Attrib, _HasValue); +} + +int CTwVarAtom::SetAttrib(int _AttribID, const char *_Value, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex) +{ + switch( _AttribID ) + { + case VA_KEY_INCR: + { + int Key = 0; + int Mod = 0; + if( TwGetKeyCode(&Key, &Mod, _Value) ) + { + m_KeyIncr[0] = Key; + m_KeyIncr[1] = Mod; + return 1; + } + else + return 0; + } + case VA_KEY_DECR: + { + int Key = 0; + int Mod = 0; + if( TwGetKeyCode(&Key, &Mod, _Value) ) + { + m_KeyDecr[0] = Key; + m_KeyDecr[1] = Mod; + return 1; + } + else + return 0; + } + case VA_TRUE: + if( (m_Type==TW_TYPE_BOOL8 || m_Type==TW_TYPE_BOOL16 || m_Type==TW_TYPE_BOOL32 || m_Type==TW_TYPE_BOOLCPP) && _Value!=NULL ) + { + if( m_Val.m_Bool.m_FreeTrueString && m_Val.m_Bool.m_TrueString!=NULL ) + free(m_Val.m_Bool.m_TrueString); + m_Val.m_Bool.m_TrueString = _strdup(_Value); + m_Val.m_Bool.m_FreeTrueString = true; + return 1; + } + else + return 0; + case VA_FALSE: + if( (m_Type==TW_TYPE_BOOL8 || m_Type==TW_TYPE_BOOL16 || m_Type==TW_TYPE_BOOL32 || m_Type==TW_TYPE_BOOLCPP) && _Value!=NULL ) + { + if( m_Val.m_Bool.m_FreeFalseString && m_Val.m_Bool.m_FalseString!=NULL ) + free(m_Val.m_Bool.m_FalseString); + m_Val.m_Bool.m_FalseString = _strdup(_Value); + m_Val.m_Bool.m_FreeFalseString = true; + return 1; + } + else + return 0; + case VA_MIN: + case VA_MAX: + case VA_STEP: + if( _Value && strlen(_Value)>0 ) + { + void *Ptr = NULL; + const char *Fmt = NULL; + int d = 0; + unsigned int u = 0; + int Num = (_AttribID==VA_STEP) ? 2 : ((_AttribID==VA_MAX) ? 1 : 0); + switch( m_Type ) + { + case TW_TYPE_CHAR: + //Ptr = (&m_Val.m_Char.m_Min) + Num; + //Fmt = "%c"; + Ptr = &u; + Fmt = "%u"; + break; + case TW_TYPE_INT16: + Ptr = (&m_Val.m_Int16.m_Min) + Num; + Fmt = "%hd"; + break; + case TW_TYPE_INT32: + Ptr = (&m_Val.m_Int32.m_Min) + Num; + Fmt = "%d"; + break; + case TW_TYPE_UINT16: + Ptr = (&m_Val.m_UInt16.m_Min) + Num; + Fmt = "%hu"; + break; + case TW_TYPE_UINT32: + Ptr = (&m_Val.m_UInt32.m_Min) + Num; + Fmt = "%u"; + break; + case TW_TYPE_FLOAT: + Ptr = (&m_Val.m_Float32.m_Min) + Num; + Fmt = "%f"; + break; + case TW_TYPE_DOUBLE: + Ptr = (&m_Val.m_Float64.m_Min) + Num; + Fmt = "%lf"; + break; + case TW_TYPE_INT8: + Ptr = &d; + Fmt = "%d"; + break; + case TW_TYPE_UINT8: + Ptr = &u; + Fmt = "%u"; + break; + default: + g_TwMgr->SetLastError(g_ErrUnknownType); + return 0; + } + + if( Fmt!=NULL && Ptr!=NULL && sscanf(_Value, Fmt, Ptr)==1 ) + { + if( m_Type==TW_TYPE_CHAR ) + *((&m_Val.m_Char.m_Min)+Num) = (unsigned char)(u); + else if( m_Type==TW_TYPE_INT8 ) + *((&m_Val.m_Int8.m_Min)+Num) = (signed char)(d); + else if( m_Type==TW_TYPE_UINT8 ) + *((&m_Val.m_UInt8.m_Min)+Num) = (unsigned char)(u); + + // set precision + if( _AttribID==VA_STEP && ((m_Type==TW_TYPE_FLOAT && m_Val.m_Float32.m_Precision<0) || (m_Type==TW_TYPE_DOUBLE && m_Val.m_Float64.m_Precision<0)) ) + { + double Step = fabs( (m_Type==TW_TYPE_FLOAT) ? m_Val.m_Float32.m_Step : m_Val.m_Float64.m_Step ); + signed char *Precision = (m_Type==TW_TYPE_FLOAT) ? &m_Val.m_Float32.m_Precision : &m_Val.m_Float64.m_Precision; + const double K_EPS = 1.0 - 1.0e-6; + if( Step>=1 ) + *Precision = 0; + else if( Step>=0.1*K_EPS ) + *Precision = 1; + else if( Step>=0.01*K_EPS ) + *Precision = 2; + else if( Step>=0.001*K_EPS ) + *Precision = 3; + else if( Step>=0.0001*K_EPS ) + *Precision = 4; + else if( Step>=0.00001*K_EPS ) + *Precision = 5; + else if( Step>=0.000001*K_EPS ) + *Precision = 6; + else if( Step>=0.0000001*K_EPS ) + *Precision = 7; + else if( Step>=0.00000001*K_EPS ) + *Precision = 8; + else if( Step>=0.000000001*K_EPS ) + *Precision = 9; + else if( Step>=0.0000000001*K_EPS ) + *Precision = 10; + else if( Step>=0.00000000001*K_EPS ) + *Precision = 11; + else if( Step>=0.000000000001*K_EPS ) + *Precision = 12; + else + *Precision = -1; + } + + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case VA_PRECISION: + if( _Value && strlen(_Value)>0 ) + { + int Precision = 0; + if( sscanf(_Value, "%d", &Precision)==1 && Precision>=-1 && Precision<=12 ) + { + if( m_Type==TW_TYPE_FLOAT ) + m_Val.m_Float32.m_Precision = (signed char)Precision; + else if ( m_Type==TW_TYPE_DOUBLE ) + m_Val.m_Float64.m_Precision = (signed char)Precision; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case VA_HEXA: + case VA_DECIMAL: + { + bool hexa = false; + if (_AttribID==VA_HEXA) + { + if( _Value==NULL || strlen(_Value)==0 // no value is acceptable (for backward compatibility) + || _stricmp(_Value, "true")==0 || _stricmp(_Value, "1")==0 ) + hexa = true; + } + + switch( m_Type ) + { + case TW_TYPE_CHAR: + m_Val.m_Char.m_Hexa = hexa; + return 1; + case TW_TYPE_INT8: + m_Val.m_Int8.m_Hexa = hexa; + return 1; + case TW_TYPE_INT16: + m_Val.m_Int16.m_Hexa = hexa; + return 1; + case TW_TYPE_INT32: + m_Val.m_Int32.m_Hexa = hexa; + return 1; + case TW_TYPE_UINT8: + m_Val.m_UInt8.m_Hexa = hexa; + return 1; + case TW_TYPE_UINT16: + m_Val.m_UInt16.m_Hexa = hexa; + return 1; + case TW_TYPE_UINT32: + m_Val.m_UInt32.m_Hexa = hexa; + return 1; + default: + return 0; + } + } + case VA_ENUM: + if( _Value && strlen(_Value)>0 && IsEnumType(m_Type) ) + { + const char *s = _Value; + int n = 0, i = 0; + unsigned int u; + bool Cont; + g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.clear(); // anyway reset entries + do + { + Cont = false; + i = 0; + char Sep; + n = sscanf(s, "%u %c%n", &u, &Sep, &i); + if( n==2 && i>0 && ( Sep=='<' || Sep=='{' || Sep=='[' || Sep=='(' ) ) + { + if( Sep=='<' ) // Change to closing separator + Sep = '>'; + else if( Sep=='{' ) + Sep = '}'; + else if( Sep=='[' ) + Sep = ']'; + else if( Sep=='(' ) + Sep = ')'; + s += i; + i = 0; + while( s[i]!=Sep && s[i]!=0 ) + ++i; + if( s[i]==Sep ) + { + //if( m_Val.m_Enum.m_Entries==NULL ) + // m_Val.m_Enum.m_Entries = new UVal::CEnumVal::CEntries; + //UVal::CEnumVal::CEntries::value_type v(u, ""); + CTwMgr::CEnum::CEntries::value_type v(u, ""); + if( i>0 ) + v.second.assign(s, i); + //m_Val.m_Enum.m_Entries->insert(v); + pair ret; + ret = g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.insert(v); + if( !ret.second ) // force overwrite if element already exists + { + g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.erase(ret.first); + g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.insert(v); + } + + s += i+1; + i = 0; + n = sscanf(s, " ,%n", &i); + if( n==0 && i>=1 ) + { + s += i; + Cont = true; + } + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } while( Cont ); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + break; + case VA_VALUE: + if( _Value!=NULL && strlen(_Value)>0 ) // do not check ReadOnly here. + { + if( !( m_Type==TW_TYPE_BUTTON || IsCustom() ) ) // || (m_Type>=TW_TYPE_CUSTOM_BASE && m_Typem_Customs.size()) ) ) + { + if( m_Type==TW_TYPE_CDSTRING || m_Type==TW_TYPE_CDSTDSTRING ) + { + if( m_SetCallback!=NULL ) + { + m_SetCallback(&_Value, m_ClientData); + if( g_TwMgr!=NULL ) // Mgr might have been destroyed by the client inside a callback call + _Bar->NotUpToDate(); + return 1; + } + else if( m_Type!=TW_TYPE_CDSTDSTRING ) + { + char **StringPtr = (char **)m_Ptr; + if( StringPtr!=NULL && g_TwMgr->m_CopyCDStringToClient!=NULL ) + { + g_TwMgr->m_CopyCDStringToClient(StringPtr, _Value); + _Bar->NotUpToDate(); + return 1; + } + } + } + else if( IsCSStringType(m_Type) ) + { + int n = TW_CSSTRING_SIZE(m_Type); + if( n>0 ) + { + string str = _Value; + if( (int)str.length()>n-1 ) + str.resize(n-1); + if( m_SetCallback!=NULL ) + { + m_SetCallback(str.c_str(), m_ClientData); + if( g_TwMgr!=NULL ) // Mgr might have been destroyed by the client inside a callback call + _Bar->NotUpToDate(); + return 1; + } + else if( m_Ptr!=NULL ) + { + if( n>1 ) + strncpy((char *)m_Ptr, str.c_str(), n-1); + ((char *)m_Ptr)[n-1] = '\0'; + _Bar->NotUpToDate(); + return 1; + } + } + } + else + { + double dbl; + if( sscanf(_Value, "%lf", &dbl)==1 ) + { + ValueFromDouble(dbl); + if( g_TwMgr!=NULL ) // Mgr might have been destroyed by the client inside a callback call + _Bar->NotUpToDate(); + return 1; + } + } + } + } + return 0; + default: + return CTwVar::SetAttrib(_AttribID, _Value, _Bar, _VarParent, _VarIndex); + } +} + +ERetType CTwVarAtom::GetAttrib(int _AttribID, TwBar *_Bar, CTwVarGroup *_VarParent, int _VarIndex, std::vector& outDoubles, std::ostringstream& outString) const +{ + outDoubles.clear(); + outString.clear(); + std::string str; + int num = 0; + + switch( _AttribID ) + { + case VA_KEY_INCR: + if( TwGetKeyString(&str, m_KeyIncr[0], m_KeyIncr[1]) ) + outString << str; + return RET_STRING; + case VA_KEY_DECR: + if( TwGetKeyString(&str, m_KeyDecr[0], m_KeyDecr[1]) ) + outString << str; + return RET_STRING; + case VA_TRUE: + if( m_Type==TW_TYPE_BOOL8 || m_Type==TW_TYPE_BOOL16 || m_Type==TW_TYPE_BOOL32 || m_Type==TW_TYPE_BOOLCPP ) + { + outString << m_Val.m_Bool.m_TrueString; + return RET_STRING; + } + else + { + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + } + case VA_FALSE: + if( m_Type==TW_TYPE_BOOL8 || m_Type==TW_TYPE_BOOL16 || m_Type==TW_TYPE_BOOL32 || m_Type==TW_TYPE_BOOLCPP ) + { + outString << m_Val.m_Bool.m_FalseString; + return RET_STRING; + } + else + { + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + } + case VA_MIN: + case VA_MAX: + case VA_STEP: + num = (_AttribID==VA_STEP) ? 2 : ((_AttribID==VA_MAX) ? 1 : 0); + switch( m_Type ) + { + case TW_TYPE_CHAR: + outDoubles.push_back( *((&m_Val.m_Char.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_INT8: + outDoubles.push_back( *((&m_Val.m_Int8.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_UINT8: + outDoubles.push_back( *((&m_Val.m_UInt8.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_INT16: + outDoubles.push_back( *((&m_Val.m_Int16.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_INT32: + outDoubles.push_back( *((&m_Val.m_Int32.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_UINT16: + outDoubles.push_back( *((&m_Val.m_UInt16.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_UINT32: + outDoubles.push_back( *((&m_Val.m_UInt32.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_FLOAT: + outDoubles.push_back( *((&m_Val.m_Float32.m_Min) + num) ); + return RET_DOUBLE; + case TW_TYPE_DOUBLE: + outDoubles.push_back( *((&m_Val.m_Float64.m_Min) + num) ); + return RET_DOUBLE; + default: + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + } + case VA_PRECISION: + if( m_Type==TW_TYPE_FLOAT ) + { + outDoubles.push_back( m_Val.m_Float32.m_Precision ); + return RET_DOUBLE; + } + else if ( m_Type==TW_TYPE_DOUBLE ) + { + outDoubles.push_back( m_Val.m_Float64.m_Precision ); + return RET_DOUBLE; + } + else + { + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + } + case VA_HEXA: + switch( m_Type ) + { + case TW_TYPE_CHAR: + outDoubles.push_back( m_Val.m_Char.m_Hexa ); + return RET_DOUBLE; + case TW_TYPE_INT8: + outDoubles.push_back( m_Val.m_Int8.m_Hexa ); + return RET_DOUBLE; + case TW_TYPE_INT16: + outDoubles.push_back( m_Val.m_Int16.m_Hexa ); + return RET_DOUBLE; + case TW_TYPE_INT32: + outDoubles.push_back( m_Val.m_Int32.m_Hexa ); + return RET_DOUBLE; + case TW_TYPE_UINT8: + outDoubles.push_back( m_Val.m_UInt8.m_Hexa ); + return RET_DOUBLE; + case TW_TYPE_UINT16: + outDoubles.push_back( m_Val.m_UInt16.m_Hexa ); + return RET_DOUBLE; + case TW_TYPE_UINT32: + outDoubles.push_back( m_Val.m_UInt32.m_Hexa ); + return RET_DOUBLE; + default: + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + } + case VA_ENUM: + if( IsEnumType(m_Type) ) + { + CTwMgr::CEnum::CEntries::iterator it = g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.begin(); + for( ; it != g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.end(); ++it ) + { + if( it != g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE].m_Entries.begin() ) + outString << ','; + outString << it->first << ' '; + if( it->second.find_first_of("{}")==std::string::npos ) + outString << '{' << it->second << '}'; + else if ( it->second.find_first_of("<>")==std::string::npos ) + outString << '<' << it->second << '>'; + else if ( it->second.find_first_of("()")==std::string::npos ) + outString << '(' << it->second << ')'; + else if ( it->second.find_first_of("[]")==std::string::npos ) + outString << '[' << it->second << ']'; + else + outString << '{' << it->second << '}'; // should not occured (use braces) + } + return RET_STRING; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VA_VALUE: + if( !( m_Type==TW_TYPE_BUTTON || IsCustom() ) ) // || (m_Type>=TW_TYPE_CUSTOM_BASE && m_Typem_Customs.size()) ) ) + { + if( m_Type==TW_TYPE_CDSTRING || m_Type==TW_TYPE_CDSTDSTRING || IsCSStringType(m_Type) ) + { + string str; + ValueToString(&str); + outString << str; + return RET_STRING; + } + else + { + outDoubles.push_back( ValueToDouble() ); + return RET_DOUBLE; + } + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + default: + return CTwVar::GetAttrib(_AttribID, _Bar, _VarParent, _VarIndex, outDoubles, outString); + } +} + +// --------------------------------------------------------------------------- + +void CTwVarAtom::Increment(int _Step) +{ + if( _Step==0 ) + return; + switch( m_Type ) + { + case TW_TYPE_BOOL8: + { + char v = false; + if( m_Ptr!=NULL ) + v = *((char *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( v ) + v = false; + else + v = true; + if( m_Ptr!=NULL ) + *((char *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_BOOL16: + { + short v = false; + if( m_Ptr!=NULL ) + v = *((short *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( v ) + v = false; + else + v = true; + if( m_Ptr!=NULL ) + *((short *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_BOOL32: + { + int v = false; + if( m_Ptr!=NULL ) + v = *((int *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( v ) + v = false; + else + v = true; + if( m_Ptr!=NULL ) + *((int *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_BOOLCPP: + { + bool v = false; + if( m_Ptr!=NULL ) + v = *((bool *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( v ) + v = false; + else + v = true; + if( m_Ptr!=NULL ) + *((bool *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_CHAR: + { + unsigned char v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned char *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + int iv = _Step*(int)m_Val.m_Char.m_Step + (int)v; + if( ivm_Val.m_Char.m_Max ) + iv = m_Val.m_Char.m_Max; + if( iv<0 ) + iv = 0; + else if( iv>0xff ) + iv = 0xff; + v = (unsigned char)iv; + if( m_Ptr!=NULL ) + *((unsigned char *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_INT8: + { + signed char v = 0; + if( m_Ptr!=NULL ) + v = *((signed char *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + int iv = _Step*(int)m_Val.m_Int8.m_Step + (int)v; + if( ivm_Val.m_Int8.m_Max ) + iv = m_Val.m_Int8.m_Max; + v = (signed char)iv; + if( m_Ptr!=NULL ) + *((signed char *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_UINT8: + { + unsigned char v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned char *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + int iv = _Step*(int)m_Val.m_UInt8.m_Step + (int)v; + if( ivm_Val.m_UInt8.m_Max ) + iv = m_Val.m_UInt8.m_Max; + if( iv<0 ) + iv = 0; + else if( iv>0xff ) + iv = 0xff; + v = (unsigned char)iv; + if( m_Ptr!=NULL ) + *((unsigned char *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_INT16: + { + short v = 0; + if( m_Ptr!=NULL ) + v = *((short *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + int iv = _Step*(int)m_Val.m_Int16.m_Step + (int)v; + if( ivm_Val.m_Int16.m_Max ) + iv = m_Val.m_Int16.m_Max; + v = (short)iv; + if( m_Ptr!=NULL ) + *((short *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_UINT16: + { + unsigned short v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned short *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + int iv = _Step*(int)m_Val.m_UInt16.m_Step + (int)v; + if( ivm_Val.m_UInt16.m_Max ) + iv = m_Val.m_UInt16.m_Max; + if( iv<0 ) + iv = 0; + else if( iv>0xffff ) + iv = 0xffff; + v = (unsigned short)iv; + if( m_Ptr!=NULL ) + *((unsigned short *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_INT32: + { + int v = 0; + if( m_Ptr!=NULL ) + v = *((int *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + double dv = (double)_Step*(double)m_Val.m_Int32.m_Step + (double)v; + if( dv>(double)0x7fffffff ) + v = 0x7fffffff; + else if( dv<(double)(-0x7fffffff-1) ) + v = -0x7fffffff-1; + else + v = _Step*m_Val.m_Int32.m_Step + v; + if( vm_Val.m_Int32.m_Max ) + v = m_Val.m_Int32.m_Max; + if( m_Ptr!=NULL ) + *((int *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_UINT32: + { + unsigned int v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned int *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + double dv = (double)_Step*(double)m_Val.m_UInt32.m_Step + (double)v; + if( dv>(double)0xffffffff ) + v = 0xffffffff; + else if( dv<0 ) + v = 0; + else + v = _Step*m_Val.m_UInt32.m_Step + v; + if( vm_Val.m_UInt32.m_Max ) + v = m_Val.m_UInt32.m_Max; + if( m_Ptr!=NULL ) + *((unsigned int *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_FLOAT: + { + float v = 0; + if( m_Ptr!=NULL ) + v = *((float *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + v += _Step*m_Val.m_Float32.m_Step; + if( vm_Val.m_Float32.m_Max ) + v = m_Val.m_Float32.m_Max; + if( m_Ptr!=NULL ) + *((float *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + case TW_TYPE_DOUBLE: + { + double v = 0; + if( m_Ptr!=NULL ) + v = *((double *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + v += _Step*m_Val.m_Float64.m_Step; + if( vm_Val.m_Float64.m_Max ) + v = m_Val.m_Float64.m_Max; + if( m_Ptr!=NULL ) + *((double *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + break; + /* + case TW_TYPE_ENUM8: + { + assert(_Step==1 || _Step==-1); + unsigned char v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned char *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( m_Val.m_Enum.m_Entries!=NULL ) + { + UVal::CEnumVal::CEntries::iterator It = m_Val.m_Enum.m_Entries->find(v); + if( It==m_Val.m_Enum.m_Entries->end() ) + It = m_Val.m_Enum.m_Entries->begin(); + else if( _Step==1 ) + { + ++It; + if( It==m_Val.m_Enum.m_Entries->end() ) + It = m_Val.m_Enum.m_Entries->begin(); + } + else if( _Step==-1 ) + { + if( It==m_Val.m_Enum.m_Entries->begin() ) + It = m_Val.m_Enum.m_Entries->end(); + if( It!=m_Val.m_Enum.m_Entries->begin() ) + --It; + } + if( It != m_Val.m_Enum.m_Entries->end() ) + { + v = (unsigned char)(It->first); + if( m_Ptr!=NULL ) + *((unsigned char *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + } + } + break; + case TW_TYPE_ENUM16: + { + assert(_Step==1 || _Step==-1); + unsigned short v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned short *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( m_Val.m_Enum.m_Entries!=NULL ) + { + UVal::CEnumVal::CEntries::iterator It = m_Val.m_Enum.m_Entries->find(v); + if( It==m_Val.m_Enum.m_Entries->end() ) + It = m_Val.m_Enum.m_Entries->begin(); + else if( _Step==1 ) + { + ++It; + if( It==m_Val.m_Enum.m_Entries->end() ) + It = m_Val.m_Enum.m_Entries->begin(); + } + else if( _Step==-1 ) + { + if( It==m_Val.m_Enum.m_Entries->begin() ) + It = m_Val.m_Enum.m_Entries->end(); + if( It!=m_Val.m_Enum.m_Entries->begin() ) + --It; + } + if( It != m_Val.m_Enum.m_Entries->end() ) + { + v = (unsigned short)(It->first); + if( m_Ptr!=NULL ) + *((unsigned short *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + } + } + break; + case TW_TYPE_ENUM32: + { + assert(_Step==1 || _Step==-1); + unsigned int v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned int *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + if( m_Val.m_Enum.m_Entries!=NULL ) + { + UVal::CEnumVal::CEntries::iterator It = m_Val.m_Enum.m_Entries->find(v); + if( It==m_Val.m_Enum.m_Entries->end() ) + It = m_Val.m_Enum.m_Entries->begin(); + else if( _Step==1 ) + { + ++It; + if( It==m_Val.m_Enum.m_Entries->end() ) + It = m_Val.m_Enum.m_Entries->begin(); + } + else if( _Step==-1 ) + { + if( It==m_Val.m_Enum.m_Entries->begin() ) + It = m_Val.m_Enum.m_Entries->end(); + if( It!=m_Val.m_Enum.m_Entries->begin() ) + --It; + } + if( It!=m_Val.m_Enum.m_Entries->end() ) + { + v = (unsigned int)(It->first); + if( m_Ptr!=NULL ) + *((unsigned int *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + } + } + break; + */ + default: + if( m_Type==TW_TYPE_BUTTON ) + { + if( m_Val.m_Button.m_Callback!=NULL ) + { + m_Val.m_Button.m_Callback(m_ClientData); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return; + } + } + else if( IsEnumType(m_Type) ) + { + assert(_Step==1 || _Step==-1); + unsigned int v = 0; + if( m_Ptr!=NULL ) + v = *((unsigned int *)m_Ptr); + else if( m_GetCallback!=NULL ) + m_GetCallback(&v, m_ClientData); + CTwMgr::CEnum& e = g_TwMgr->m_Enums[m_Type-TW_TYPE_ENUM_BASE]; + CTwMgr::CEnum::CEntries::iterator It = e.m_Entries.find(v); + if( It==e.m_Entries.end() ) + It = e.m_Entries.begin(); + else if( _Step==1 ) + { + ++It; + if( It==e.m_Entries.end() ) + It = e.m_Entries.begin(); + } + else if( _Step==-1 ) + { + if( It==e.m_Entries.begin() ) + It = e.m_Entries.end(); + if( It!=e.m_Entries.begin() ) + --It; + } + if( It!=e.m_Entries.end() ) + { + v = (unsigned int)(It->first); + if( m_Ptr!=NULL ) + *((unsigned int *)m_Ptr) = v; + else if( m_SetCallback!=NULL ) + m_SetCallback(&v, m_ClientData); + } + } + else + fprintf(stderr, "CTwVarAtom::Increment : unknown or unimplemented type\n"); + } +} + +// --------------------------------------------------------------------------- + +void CTwVarAtom::SetDefaults() +{ + switch( m_Type ) + { + case TW_TYPE_BOOL8: + case TW_TYPE_BOOL16: + case TW_TYPE_BOOL32: + case TW_TYPE_BOOLCPP: + m_NoSlider = true; + break; + case TW_TYPE_CHAR: + m_Val.m_Char.m_Max = 0xff; + m_Val.m_Char.m_Min = 0; + m_Val.m_Char.m_Step = 1; + m_Val.m_Char.m_Precision = -1; + m_Val.m_Char.m_Hexa = false; + break; + case TW_TYPE_INT8: + m_Val.m_Int8.m_Max = 0x7f; + m_Val.m_Int8.m_Min = -m_Val.m_Int8.m_Max-1; + m_Val.m_Int8.m_Step = 1; + m_Val.m_Int8.m_Precision = -1; + m_Val.m_Int8.m_Hexa = false; + break; + case TW_TYPE_UINT8: + m_Val.m_UInt8.m_Max = 0xff; + m_Val.m_UInt8.m_Min = 0; + m_Val.m_UInt8.m_Step = 1; + m_Val.m_UInt8.m_Precision = -1; + m_Val.m_UInt8.m_Hexa = false; + break; + case TW_TYPE_INT16: + m_Val.m_Int16.m_Max = 0x7fff; + m_Val.m_Int16.m_Min = -m_Val.m_Int16.m_Max-1; + m_Val.m_Int16.m_Step = 1; + m_Val.m_Int16.m_Precision = -1; + m_Val.m_Int16.m_Hexa = false; + break; + case TW_TYPE_UINT16: + m_Val.m_UInt16.m_Max = 0xffff; + m_Val.m_UInt16.m_Min = 0; + m_Val.m_UInt16.m_Step = 1; + m_Val.m_UInt16.m_Precision = -1; + m_Val.m_UInt16.m_Hexa = false; + break; + case TW_TYPE_INT32: + m_Val.m_Int32.m_Max = 0x7fffffff; + m_Val.m_Int32.m_Min = -m_Val.m_Int32.m_Max-1; + m_Val.m_Int32.m_Step = 1; + m_Val.m_Int32.m_Precision = -1; + m_Val.m_Int32.m_Hexa = false; + break; + case TW_TYPE_UINT32: + m_Val.m_UInt32.m_Max = 0xffffffff; + m_Val.m_UInt32.m_Min = 0; + m_Val.m_UInt32.m_Step = 1; + m_Val.m_UInt32.m_Precision = -1; + m_Val.m_UInt32.m_Hexa = false; + break; + case TW_TYPE_FLOAT: + m_Val.m_Float32.m_Max = FLOAT_MAX; + m_Val.m_Float32.m_Min = -FLOAT_MAX; + m_Val.m_Float32.m_Step = 1; + m_Val.m_Float32.m_Precision = -1; + m_Val.m_Float32.m_Hexa = false; + break; + case TW_TYPE_DOUBLE: + m_Val.m_Float64.m_Max = DOUBLE_MAX; + m_Val.m_Float64.m_Min = -DOUBLE_MAX; + m_Val.m_Float64.m_Step = 1; + m_Val.m_Float64.m_Precision = -1; + m_Val.m_Float64.m_Hexa = false; + break; + case TW_TYPE_CDSTRING: + case TW_TYPE_STDSTRING: + m_NoSlider = true; + break; + /* + case TW_TYPE_ENUM8: + case TW_TYPE_ENUM16: + case TW_TYPE_ENUM32: + m_NoSlider = true; + break; + */ + default: + {} // nothing + } + + // special types + if( m_Type==TW_TYPE_BUTTON + || IsEnumType(m_Type) // (m_Type>=TW_TYPE_ENUM_BASE && m_Typem_Enums.size()) + || IsCSStringType(m_Type) // (m_Type>=TW_TYPE_CSSTRING_BASE && m_Type<=TW_TYPE_CSSTRING_MAX) + || m_Type==TW_TYPE_CDSTDSTRING + || IsCustom() ) // (m_Type>=TW_TYPE_CUSTOM_BASE && m_Typem_Customs.size()) ) + m_NoSlider = true; +} + +// --------------------------------------------------------------------------- + +/* +int CTwVarAtom::DefineEnum(const TwEnumVal *_EnumValues, unsigned int _NbValues) +{ + assert(_EnumValues!=NULL); + if( m_Type!=TW_TYPE_ENUM8 && m_Type!=TW_TYPE_ENUM16 && m_Type!=TW_TYPE_ENUM32 ) + { + g_TwMgr->SetLastError(g_ErrNotEnum); + return 0; + } + if( m_Val.m_Enum.m_Entries==NULL ) + m_Val.m_Enum.m_Entries = new UVal::CEnumVal::CEntries; + for(unsigned int i=0; i<_NbValues; ++i) + { + UVal::CEnumVal::CEntries::value_type Entry(_EnumValues[i].Value, (_EnumValues[i].Label!=NULL)?_EnumValues[i].Label:""); + pair Result = m_Val.m_Enum.m_Entries->insert(Entry); + if( !Result.second ) + (Result.first)->second = Entry.second; + } + return 1; +} +*/ + +// --------------------------------------------------------------------------- + +enum EVarGroupAttribs +{ + VG_OPEN = V_ENDTAG+1, // for backward compatibility + VG_CLOSE, // for backward compatibility + VG_OPENED, + VG_TYPEID, // used internally for structs + VG_VALPTR, // used internally for structs + VG_ALPHA, // for backward compatibility + VG_NOALPHA, // for backward compatibility + VG_COLORALPHA, // tw_type_color* only + VG_HLS, // for backward compatibility + VG_RGB, // for backward compatibility + VG_COLORMODE, // tw_type_color* only + VG_COLORORDER, // tw_type_color* only + VG_ARROW, // tw_type_quat* only + VG_ARROWCOLOR, // tw_type_quat* only + VG_AXISX, // tw_type_quat* only + VG_AXISY, // tw_type_quat* only + VG_AXISZ, // tw_type_quat* only + VG_SHOWVAL // tw_type_quat* only +}; + +int CTwVarGroup::HasAttrib(const char *_Attrib, bool *_HasValue) const +{ + *_HasValue = false; + if( _stricmp(_Attrib, "open")==0 ) // for backward compatibility + return VG_OPEN; + else if( _stricmp(_Attrib, "close")==0 ) // for backward compatibility + return VG_CLOSE; + else if( _stricmp(_Attrib, "opened")==0 ) + { + *_HasValue = true; + return VG_OPENED; + } + else if( _stricmp(_Attrib, "typeid")==0 ) + { + *_HasValue = true; + return VG_TYPEID; + } + else if( _stricmp(_Attrib, "valptr")==0 ) + { + *_HasValue = true; + return VG_VALPTR; + } + else if( _stricmp(_Attrib, "alpha")==0 ) // for backward compatibility + return VG_ALPHA; + else if( _stricmp(_Attrib, "noalpha")==0 ) // for backward compatibility + return VG_NOALPHA; + else if( _stricmp(_Attrib, "coloralpha")==0 ) + { + *_HasValue = true; + return VG_COLORALPHA; + } + else if( _stricmp(_Attrib, "hls")==0 ) // for backward compatibility + return VG_HLS; + else if( _stricmp(_Attrib, "rgb")==0 ) // for backward compatibility + return VG_RGB; + else if( _stricmp(_Attrib, "colormode")==0 ) + { + *_HasValue = true; + return VG_COLORMODE; + } + else if( _stricmp(_Attrib, "colororder")==0 ) + { + *_HasValue = true; + return VG_COLORORDER; + } + else if( _stricmp(_Attrib, "arrow")==0 ) + { + *_HasValue = true; + return VG_ARROW; + } + else if( _stricmp(_Attrib, "arrowcolor")==0 ) + { + *_HasValue = true; + return VG_ARROWCOLOR; + } + else if( _stricmp(_Attrib, "axisx")==0 ) + { + *_HasValue = true; + return VG_AXISX; + } + else if( _stricmp(_Attrib, "axisy")==0 ) + { + *_HasValue = true; + return VG_AXISY; + } + else if( _stricmp(_Attrib, "axisz")==0 ) + { + *_HasValue = true; + return VG_AXISZ; + } + else if( _stricmp(_Attrib, "showval")==0 ) + { + *_HasValue = true; + return VG_SHOWVAL; + } + + return CTwVar::HasAttrib(_Attrib, _HasValue); +} + +int CTwVarGroup::SetAttrib(int _AttribID, const char *_Value, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex) +{ + switch( _AttribID ) + { + case VG_OPEN: // for backward compatibility + if( !m_Open ) + { + m_Open = true; + _Bar->NotUpToDate(); + } + return 1; + case VG_CLOSE: // for backward compatibility + if( m_Open ) + { + m_Open = false; + _Bar->NotUpToDate(); + } + return 1; + case VG_OPENED: + if( _Value!=NULL && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "true")==0 || _stricmp(_Value, "1")==0 ) + { + if( !m_Open ) + { + m_Open = true; + _Bar->NotUpToDate(); + } + return 1; + } + else if( _stricmp(_Value, "false")==0 || _stricmp(_Value, "0")==0 ) + { + if( m_Open ) + { + m_Open = false; + _Bar->NotUpToDate(); + } + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case VG_TYPEID: + { + int type = TW_TYPE_UNDEF; + if( _Value!=NULL && sscanf(_Value, "%d", &type)==1 ) + { + int idx = type - TW_TYPE_STRUCT_BASE; + if( idx>=0 && idx<(int)g_TwMgr->m_Structs.size() ) + { + m_SummaryCallback = g_TwMgr->m_Structs[idx].m_SummaryCallback; + m_SummaryClientData = g_TwMgr->m_Structs[idx].m_SummaryClientData; + m_StructType = (TwType)type; + return 1; + } + } + return 0; + } + case VG_VALPTR: + { + void *structValuePtr = NULL; + if( _Value!=NULL && sscanf(_Value, "%p", &structValuePtr)==1 ) + { + m_StructValuePtr = structValuePtr; + m_ColorPtr = &(_Bar->m_ColStructText); + return 1; + } + return 0; + } + case VG_ALPHA: // for backward compatibility + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + if( static_cast(m_StructValuePtr)->m_CanHaveAlpha ) + { + static_cast(m_StructValuePtr)->m_HasAlpha = true; + _Bar->NotUpToDate(); + return 1; + } + return 0; + case VG_NOALPHA: // for backward compatibility + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + static_cast(m_StructValuePtr)->m_HasAlpha = false; + _Bar->NotUpToDate(); + return 1; + } + else + return 0; + case VG_COLORALPHA: + if( _Value!=NULL && strlen(_Value)>0 ) + { + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + if( _stricmp(_Value, "true")==0 || _stricmp(_Value, "1")==0 ) + { + if( static_cast(m_StructValuePtr)->m_CanHaveAlpha ) + { + if( !static_cast(m_StructValuePtr)->m_HasAlpha ) + { + static_cast(m_StructValuePtr)->m_HasAlpha = true; + _Bar->NotUpToDate(); + } + return 1; + } + } + else if( _stricmp(_Value, "false")==0 || _stricmp(_Value, "0")==0 ) + { + if( static_cast(m_StructValuePtr)->m_HasAlpha ) + { + static_cast(m_StructValuePtr)->m_HasAlpha = false; + _Bar->NotUpToDate(); + } + return 1; + } + } + } + return 0; + case VG_HLS: // for backward compatibility + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + static_cast(m_StructValuePtr)->m_HLS = true; + _Bar->NotUpToDate(); + return 1; + } + else + return 0; + case VG_RGB: // for backward compatibility + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + static_cast(m_StructValuePtr)->m_HLS = false; + _Bar->NotUpToDate(); + return 1; + } + else + return 0; + case VG_COLORMODE: + if( _Value!=NULL && strlen(_Value)>0 ) + { + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + if( _stricmp(_Value, "hls")==0 ) + { + if( !static_cast(m_StructValuePtr)->m_HLS ) + { + static_cast(m_StructValuePtr)->m_HLS = true; + _Bar->NotUpToDate(); + } + return 1; + } + else if( _stricmp(_Value, "rgb")==0 ) + { + if( static_cast(m_StructValuePtr)->m_HLS ) + { + static_cast(m_StructValuePtr)->m_HLS = false; + _Bar->NotUpToDate(); + } + return 1; + } + } + } + return 0; + case VG_COLORORDER: + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + if( _Value!=NULL ) + { + if( _stricmp(_Value, "rgba")==0 ) + static_cast(m_StructValuePtr)->m_OGL = true; + else if( _stricmp(_Value, "argb")==0 ) + static_cast(m_StructValuePtr)->m_OGL = false; + else + return 0; + return 1; + } + return 0; + } + else + return 0; + case VG_ARROW: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + if( _Value!=NULL ) + { + double *dir = static_cast(m_StructValuePtr)->m_Dir; + double x, y, z; + if( sscanf(_Value, "%lf %lf %lf", &x, &y, &z)==3 ) + { + dir[0] = x; + dir[1] = y; + dir[2] = z; + } + else if( _stricmp(_Value, "off")==0 || _stricmp(_Value, "0")==0 ) + dir[0] = dir[1] = dir[2] = 0; + else + return 0; + return 1; + } + return 0; + } + else + return 0; + case VG_ARROWCOLOR: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + if( _Value!=NULL ) + { + int r, g, b; + if( sscanf(_Value, "%d %d %d", &r, &g, &b)==3 ) + static_cast(m_StructValuePtr)->m_DirColor = Color32FromARGBi(255, r, g, b); + else + return 0; + return 1; + } + return 0; + } + else + return 0; + case VG_AXISX: + case VG_AXISY: + case VG_AXISZ: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + if( _Value!=NULL ) + { + float x = 0, y = 0, z = 0; + if( _stricmp(_Value, "x")==0 || _stricmp(_Value, "+x")==0 ) + x = 1; + else if( _stricmp(_Value, "-x")==0 ) + x = -1; + else if( _stricmp(_Value, "y")==0 || _stricmp(_Value, "+y")==0 ) + y = 1; + else if( _stricmp(_Value, "-y")==0 ) + y = -1; + else if( _stricmp(_Value, "z")==0 || _stricmp(_Value, "+z")==0 ) + z = 1; + else if( _stricmp(_Value, "-z")==0 ) + z = -1; + else + return 0; + int i = (_AttribID==VG_AXISX) ? 0 : ((_AttribID==VG_AXISY) ? 1 : 2); + static_cast(m_StructValuePtr)->m_Permute[i][0] = x; + static_cast(m_StructValuePtr)->m_Permute[i][1] = y; + static_cast(m_StructValuePtr)->m_Permute[i][2] = z; + return 1; + } + return 0; + } + else + return 0; + case VG_SHOWVAL: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + if( _Value!=NULL ) + { + if( _stricmp(_Value, "true")==0 || _stricmp(_Value, "on")==0 || _stricmp(_Value, "1")==0 ) + { + static_cast(m_StructValuePtr)->m_ShowVal = true; + _Bar->NotUpToDate(); + return 1; + } + else if( _stricmp(_Value, "false")==0 || _stricmp(_Value, "off")==0 || _stricmp(_Value, "0")==0 ) + { + static_cast(m_StructValuePtr)->m_ShowVal = false; + _Bar->NotUpToDate(); + return 1; + } + } + return 0; + } + else + return 0; + default: + return CTwVar::SetAttrib(_AttribID, _Value, _Bar, _VarParent, _VarIndex); + } +} + +ERetType CTwVarGroup::GetAttrib(int _AttribID, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex, std::vector& outDoubles, std::ostringstream& outString) const +{ + outDoubles.clear(); + outString.clear(); + + switch( _AttribID ) + { + case VG_OPENED: + outDoubles.push_back( m_Open ); + return RET_DOUBLE; + case VG_COLORALPHA: + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + outDoubles.push_back( static_cast(m_StructValuePtr)->m_HasAlpha ); + return RET_DOUBLE; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VG_COLORMODE: + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + if( static_cast(m_StructValuePtr)->m_HLS ) + outString << "hls"; + else + outString << "rgb"; + return RET_STRING; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VG_COLORORDER: + if( m_SummaryCallback==CColorExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_color? + { + if( static_cast(m_StructValuePtr)->m_OGL ) + outString << "rgba"; + else + outString << "argb"; + return RET_STRING; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VG_ARROW: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + double *dir = static_cast(m_StructValuePtr)->m_Dir; + outDoubles.push_back(dir[0]); + outDoubles.push_back(dir[1]); + outDoubles.push_back(dir[2]); + return RET_DOUBLE; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VG_ARROWCOLOR: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + int a, r, g, b; + a = r = g = b = 0; + Color32ToARGBi(static_cast(m_StructValuePtr)->m_DirColor, &a, &r, &g, &b); + outDoubles.push_back(r); + outDoubles.push_back(g); + outDoubles.push_back(b); + return RET_DOUBLE; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VG_AXISX: + case VG_AXISY: + case VG_AXISZ: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + int i = (_AttribID==VG_AXISX) ? 0 : ((_AttribID==VG_AXISY) ? 1 : 2); + float x = static_cast(m_StructValuePtr)->m_Permute[i][0]; + float y = static_cast(m_StructValuePtr)->m_Permute[i][1]; + float z = static_cast(m_StructValuePtr)->m_Permute[i][2]; + if( x>0 ) + outString << "+x"; + else if( x<0 ) + outString << "-x"; + else if( y>0 ) + outString << "+y"; + else if( y<0 ) + outString << "-y"; + else if( z>0 ) + outString << "+z"; + else if( z<0 ) + outString << "-z"; + else + outString << "0"; // should not happened + return RET_DOUBLE; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + case VG_SHOWVAL: + if( m_SummaryCallback==CQuaternionExt::SummaryCB && m_StructValuePtr!=NULL ) // is tw_type_quat? + { + outDoubles.push_back( static_cast(m_StructValuePtr)->m_ShowVal ); + return RET_DOUBLE; + } + g_TwMgr->SetLastError(g_ErrInvalidAttrib); + return RET_ERROR; + default: + return CTwVar::GetAttrib(_AttribID, _Bar, _VarParent, _VarIndex, outDoubles, outString); + } +} + +// --------------------------------------------------------------------------- + +const CTwVar *CTwVarGroup::Find(const char *_Name, CTwVarGroup **_Parent, int *_Index) const +{ + if( strcmp(_Name, m_Name.c_str())==0 ) + { + if( _Parent!=NULL ) + *_Parent = NULL; + if( _Index!=NULL ) + *_Index = -1; + return this; + } + else + { + const CTwVar *v; + for( size_t i=0; iFind(_Name, _Parent, _Index); + if( v!=NULL ) + { + if( _Parent!=NULL && *_Parent==NULL ) + { + *_Parent = const_cast(this); + if( _Index!=NULL ) + *_Index = (int)i; + } + return v; + } + } + return NULL; + } +} + +// --------------------------------------------------------------------------- + +size_t CTwVar::GetDataSize(TwType _Type) +{ + switch( _Type ) + { + case TW_TYPE_BOOLCPP: + return sizeof(bool); + case TW_TYPE_BOOL8: + case TW_TYPE_CHAR: + case TW_TYPE_INT8: + case TW_TYPE_UINT8: + //case TW_TYPE_ENUM8: + return 1; + case TW_TYPE_BOOL16: + case TW_TYPE_INT16: + case TW_TYPE_UINT16: + //case TW_TYPE_ENUM16: + return 2; + case TW_TYPE_BOOL32: + case TW_TYPE_INT32: + case TW_TYPE_UINT32: + case TW_TYPE_FLOAT: + //case TW_TYPE_ENUM32: + return 4; + case TW_TYPE_DOUBLE: + return 8; + case TW_TYPE_CDSTRING: + return sizeof(char *); + case TW_TYPE_STDSTRING: + return (g_TwMgr!=0) ? g_TwMgr->m_ClientStdStringStructSize : sizeof(std::string); + default: + if( g_TwMgr && _Type>=TW_TYPE_STRUCT_BASE && _Typem_Structs.size() ) + { + const CTwMgr::CStruct& s = g_TwMgr->m_Structs[_Type-TW_TYPE_STRUCT_BASE]; + return s.m_Size; + /* + size_t size = 0; + for( size_t i=0; im_ClientStdStringStructSize : sizeof(std::string); + else // includes TW_TYPE_BUTTON + return 0; + } +} + +// --------------------------------------------------------------------------- + +CTwBar::CTwBar(const char *_Name) +{ + assert(g_TwMgr!=NULL && g_TwMgr->m_Graph!=NULL); + + m_Name = _Name; + m_Visible = true; + m_VarRoot.m_IsRoot = true; + m_VarRoot.m_Open = true; + m_VarRoot.m_SummaryCallback = NULL; + m_VarRoot.m_SummaryClientData = NULL; + m_VarRoot.m_StructValuePtr = NULL; + + m_UpToDate = false; + int n = (int)g_TwMgr->m_Bars.size(); + m_PosX = 24*n-8; + m_PosY = 24*n-8; + m_Width = 200; + m_Height = 320; + int cr, cg, cb; + if( g_TwMgr->m_UseOldColorScheme ) + { + ColorHLSToRGBi(g_TwMgr->m_BarInitColorHue%256, 180, 200, &cr, &cg, &cb); + m_Color = Color32FromARGBi(0xf0, cr, cg, cb); + m_DarkText = true; + } + else + { + ColorHLSToRGBi(g_TwMgr->m_BarInitColorHue%256, 80, 200, &cr, &cg, &cb); + m_Color = Color32FromARGBi(64, cr, cg, cb); + m_DarkText = false; + } + g_TwMgr->m_BarInitColorHue -= 16; + if( g_TwMgr->m_BarInitColorHue<0 ) + g_TwMgr->m_BarInitColorHue += 256; + m_Font = g_TwMgr->m_CurrentFont; + //m_Font = g_DefaultNormalFont; + //m_Font = g_DefaultSmallFont; + //m_Font = g_DefaultLargeFont; + m_TitleWidth = 0; + m_Sep = 1; + m_ValuesWidth = 10*(m_Font->m_CharHeight/2); // about 10 characters + m_NbHierLines = 0; + m_NbDisplayedLines = 0; + m_FirstLine = 0; + m_LastUpdateTime = 0; + m_UpdatePeriod = 2; + m_ScrollYW = 0; + m_ScrollYH = 0; + m_ScrollY0 = 0; + m_ScrollY1 = 0; + + m_DrawHandles = false; + m_DrawIncrDecrBtn = false; + m_DrawRotoBtn = false; + m_DrawClickBtn = false; + m_DrawListBtn = false; + m_DrawBoolBtn = false; + m_MouseDrag = false; + m_MouseDragVar = false; + m_MouseDragTitle = false; + m_MouseDragScroll = false; + m_MouseDragResizeUR = false; + m_MouseDragResizeUL = false; + m_MouseDragResizeLR = false; + m_MouseDragResizeLL = false; + m_MouseDragValWidth = false; + m_MouseOriginX = 0; + m_MouseOriginY = 0; + m_ValuesWidthRatio = 0; + m_VarHasBeenIncr = true; + m_FirstLine0 = 0; + m_HighlightedLine = -1; + m_HighlightedLinePrev = -1; + m_HighlightedLineLastValid = -1; + m_HighlightIncrBtn = false; + m_HighlightDecrBtn = false; + m_HighlightRotoBtn = false; + m_HighlightClickBtn = false; + m_HighlightClickBtnAuto = 0; + m_HighlightListBtn = false; + m_HighlightBoolBtn = false; + m_HighlightTitle = false; + m_HighlightScroll = false; + m_HighlightUpScroll = false; + m_HighlightDnScroll = false; + m_HighlightMinimize = false; + m_HighlightFont = false; + m_HighlightValWidth = false; + m_HighlightLabelsHeader = false; + m_HighlightValuesHeader = false; + m_ButtonAlign = g_TwMgr->m_ButtonAlign; + + m_IsMinimized = false; + m_MinNumber = 0; + m_MinPosX = 0; + m_MinPosY = 0; + m_HighlightMaximize = false; + m_IsHelpBar = false; + m_IsPopupList = false; + m_VarEnumLinkedToPopupList = NULL; + m_BarLinkedToPopupList = NULL; + + m_Resizable = true; + m_Movable = true; + m_Iconifiable = true; + m_Contained = g_TwMgr->m_Contained; + + m_TitleTextObj = g_TwMgr->m_Graph->NewTextObj(); + m_LabelsTextObj = g_TwMgr->m_Graph->NewTextObj(); + m_ValuesTextObj = g_TwMgr->m_Graph->NewTextObj(); + m_ShortcutTextObj = g_TwMgr->m_Graph->NewTextObj(); + m_HeadersTextObj = g_TwMgr->m_Graph->NewTextObj(); + m_ShortcutLine = -1; + + m_RotoMinRadius = 24; + m_RotoNbSubdiv = 256; // number of steps for one turn + + m_CustomActiveStructProxy = NULL; + + UpdateColors(); + NotUpToDate(); +} + +// --------------------------------------------------------------------------- + +CTwBar::~CTwBar() +{ + if( m_IsMinimized ) + g_TwMgr->Maximize(this); + if( m_TitleTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_TitleTextObj); + if( m_LabelsTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_LabelsTextObj); + if( m_ValuesTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_ValuesTextObj); + if( m_ShortcutTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_ShortcutTextObj); + if( m_HeadersTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_HeadersTextObj); +} + +// --------------------------------------------------------------------------- + +const CTwVar *CTwBar::Find(const char *_Name, CTwVarGroup **_Parent, int *_Index) const +{ + return m_VarRoot.Find(_Name, _Parent, _Index); +} + +CTwVar *CTwBar::Find(const char *_Name, CTwVarGroup **_Parent, int *_Index) +{ + return const_cast(const_cast(this)->Find(_Name, _Parent, _Index)); +} + +// --------------------------------------------------------------------------- + +enum EBarAttribs +{ + BAR_LABEL = 1, + BAR_HELP, + BAR_COLOR, + BAR_ALPHA, + BAR_TEXT, + BAR_SHOW, // deprecated, used BAR_VISIBLE instead + BAR_HIDE, // deprecated, used BAR_VISIBLE instead + BAR_ICONIFY, // deprecated, used BAR_ICONIFIED instead + BAR_VISIBLE, + BAR_ICONIFIED, + BAR_SIZE, + BAR_POSITION, + BAR_REFRESH, + BAR_FONT_SIZE, + BAR_VALUES_WIDTH, + BAR_ICON_POS, + BAR_ICON_ALIGN, + BAR_ICON_MARGIN, + BAR_RESIZABLE, + BAR_MOVABLE, + BAR_ICONIFIABLE, + BAR_FONT_RESIZABLE, + BAR_ALWAYS_TOP, + BAR_ALWAYS_BOTTOM, + BAR_COLOR_SCHEME, + BAR_CONTAINED, + BAR_BUTTON_ALIGN +}; + +int CTwBar::HasAttrib(const char *_Attrib, bool *_HasValue) const +{ + *_HasValue = true; + if( _stricmp(_Attrib, "label")==0 ) + return BAR_LABEL; + else if( _stricmp(_Attrib, "help")==0 ) + return BAR_HELP; + else if( _stricmp(_Attrib, "color")==0 ) + return BAR_COLOR; + else if( _stricmp(_Attrib, "alpha")==0 ) + return BAR_ALPHA; + else if( _stricmp(_Attrib, "text")==0 ) + return BAR_TEXT; + else if( _stricmp(_Attrib, "size")==0 ) + return BAR_SIZE; + else if( _stricmp(_Attrib, "position")==0 ) + return BAR_POSITION; + else if( _stricmp(_Attrib, "refresh")==0 ) + return BAR_REFRESH; + else if( _stricmp(_Attrib, "fontsize")==0 ) + return BAR_FONT_SIZE; + else if( _stricmp(_Attrib, "valueswidth")==0 ) + return BAR_VALUES_WIDTH; + else if( _stricmp(_Attrib, "iconpos")==0 ) + return BAR_ICON_POS; + else if( _stricmp(_Attrib, "iconalign")==0 ) + return BAR_ICON_ALIGN; + else if( _stricmp(_Attrib, "iconmargin")==0 ) + return BAR_ICON_MARGIN; + else if( _stricmp(_Attrib, "resizable")==0 ) + return BAR_RESIZABLE; + else if( _stricmp(_Attrib, "movable")==0 ) + return BAR_MOVABLE; + else if( _stricmp(_Attrib, "iconifiable")==0 ) + return BAR_ICONIFIABLE; + else if( _stricmp(_Attrib, "fontresizable")==0 ) + return BAR_FONT_RESIZABLE; + else if( _stricmp(_Attrib, "alwaystop")==0 ) + return BAR_ALWAYS_TOP; + else if( _stricmp(_Attrib, "alwaysbottom")==0 ) + return BAR_ALWAYS_BOTTOM; + else if( _stricmp(_Attrib, "visible")==0 ) + return BAR_VISIBLE; + else if( _stricmp(_Attrib, "iconified")==0 ) + return BAR_ICONIFIED; + else if( _stricmp(_Attrib, "colorscheme")==0 ) + return BAR_COLOR_SCHEME; + else if( _stricmp(_Attrib, "contained")==0 ) + return BAR_CONTAINED; + else if( _stricmp(_Attrib, "buttonalign")==0 ) + return BAR_BUTTON_ALIGN; + + *_HasValue = false; + if( _stricmp(_Attrib, "show")==0 ) // for backward compatibility + return BAR_SHOW; + else if( _stricmp(_Attrib, "hide")==0 ) // for backward compatibility + return BAR_HIDE; + else if( _stricmp(_Attrib, "iconify")==0 ) // for backward compatibility + return BAR_ICONIFY; + + return 0; // not found +} + +int CTwBar::SetAttrib(int _AttribID, const char *_Value) +{ + switch( _AttribID ) + { + case BAR_LABEL: + if( _Value && strlen(_Value)>0 ) + { + m_Label = _Value; + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_HELP: + if( _Value && strlen(_Value)>0 ) + { + m_Help = _Value; + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_COLOR: + if( _Value && strlen(_Value)>0 ) + { + int v0, v1, v2, v3; + int n = sscanf(_Value, "%d%d%d%d", &v0, &v1, &v2, &v3); + color32 c; + int alpha = (m_Color>>24) & 0xff; + if( n==3 && v0>=0 && v0<=255 && v1>=0 && v1<=255 && v2>=0 && v2<=255 ) + c = Color32FromARGBi(alpha, v0, v1, v2); + else if( n==4 && v0>=0 && v0<=255 && v1>=0 && v1<=255 && v2>=0 && v2<=255 && v3>=0 && v3<=255 ) + c = Color32FromARGBi(v0, v1, v2, v3); + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + m_Color = c; + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_ALPHA: + if( _Value && strlen(_Value)>0 ) + { + int alpha = 255; + int n = sscanf(_Value, "%d", &alpha); + if( n==1 && alpha>=0 && alpha<=255 ) + m_Color = (alpha<<24) | (m_Color & 0xffffff); + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_TEXT: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "dark")==0 ) + m_DarkText = true; + else if( _stricmp(_Value, "light")==0 ) + m_DarkText = false; + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_SIZE: + if( _Value && strlen(_Value)>0 ) + { + int sx, sy; + int n = sscanf(_Value, "%d%d", &sx, &sy); + if( n==2 && sx>0 && sy>0 ) + { + m_Width = sx; + m_Height = sy; + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_POSITION: + if( _Value && strlen(_Value)>0 ) + { + int x, y; + int n = sscanf(_Value, "%d%d", &x, &y); + if( n==2 && x>=0 && y>=0 ) + { + m_PosX = x; + m_PosY = y; + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_REFRESH: + if( _Value && strlen(_Value)>0 ) + { + float r; + int n = sscanf(_Value, "%f", &r); + if( n==1 && r>=0 ) + { + m_UpdatePeriod = r; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_VALUES_WIDTH: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "fit")==0 ) + { + m_ValuesWidth = VALUES_WIDTH_FIT; + NotUpToDate(); + return 1; + } + else + { + int w; + int n = sscanf(_Value, "%d", &w); + if( n==1 && w>0 ) + { + m_ValuesWidth = w; + NotUpToDate(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_FONT_SIZE: + return g_TwMgr->SetAttrib(MGR_FONT_SIZE, _Value); + case BAR_ICON_POS: + return g_TwMgr->SetAttrib(MGR_ICON_POS, _Value); + case BAR_ICON_ALIGN: + return g_TwMgr->SetAttrib(MGR_ICON_ALIGN, _Value); + case BAR_ICON_MARGIN: + return g_TwMgr->SetAttrib(MGR_ICON_MARGIN, _Value); + case BAR_SHOW: // deprecated + TwSetBarState(this, TW_STATE_SHOWN); + return 1; + case BAR_HIDE: // deprecated + TwSetBarState(this, TW_STATE_HIDDEN); + return 1; + case BAR_ICONIFY: // deprecated + TwSetBarState(this, TW_STATE_ICONIFIED); + return 1; + case BAR_RESIZABLE: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + m_Resizable = true; + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + m_Resizable = false; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_MOVABLE: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + m_Movable = true; + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + m_Movable = false; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_ICONIFIABLE: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + m_Iconifiable = true; + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + m_Iconifiable = false; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_FONT_RESIZABLE: + return g_TwMgr->SetAttrib(MGR_FONT_RESIZABLE, _Value); + case BAR_ALWAYS_TOP: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + g_TwMgr->m_BarAlwaysOnTop = m_Name; + if( g_TwMgr->m_BarAlwaysOnBottom.length()>0 && strcmp(g_TwMgr->m_BarAlwaysOnBottom.c_str(), m_Name.c_str())==0 ) + g_TwMgr->m_BarAlwaysOnBottom.clear(); + TwSetTopBar(this); + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + if( g_TwMgr->m_BarAlwaysOnTop.length()>0 && strcmp(g_TwMgr->m_BarAlwaysOnTop.c_str(), m_Name.c_str())==0 ) + g_TwMgr->m_BarAlwaysOnTop.clear(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_ALWAYS_BOTTOM: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + g_TwMgr->m_BarAlwaysOnBottom = m_Name; + if( g_TwMgr->m_BarAlwaysOnTop.length()>0 && strcmp(g_TwMgr->m_BarAlwaysOnTop.c_str(), m_Name.c_str())==0 ) + g_TwMgr->m_BarAlwaysOnTop.clear(); + TwSetBottomBar(this); + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + if( g_TwMgr->m_BarAlwaysOnBottom.length()>0 && strcmp(g_TwMgr->m_BarAlwaysOnBottom.c_str(), m_Name.c_str())==0 ) + g_TwMgr->m_BarAlwaysOnBottom.clear(); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_VISIBLE: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + TwSetBarState(this, TW_STATE_SHOWN); + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + TwSetBarState(this, TW_STATE_HIDDEN); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_ICONIFIED: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + TwSetBarState(this, TW_STATE_ICONIFIED); + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + TwSetBarState(this, TW_STATE_UNICONIFIED); + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_COLOR_SCHEME: + return g_TwMgr->SetAttrib(MGR_COLOR_SCHEME, _Value); + case BAR_CONTAINED: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + m_Contained = true; + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + m_Contained = false; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case BAR_BUTTON_ALIGN: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "left")==0 ) + { + m_ButtonAlign = BUTTON_ALIGN_LEFT; + return 1; + } + else if( _stricmp(_Value, "center")==0 ) + { + m_ButtonAlign = BUTTON_ALIGN_CENTER; + return 1; + } + if( _stricmp(_Value, "right")==0 ) + { + m_ButtonAlign = BUTTON_ALIGN_RIGHT; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + default: + g_TwMgr->SetLastError(g_ErrUnknownAttrib); + return 0; + } +} + +ERetType CTwBar::GetAttrib(int _AttribID, std::vector& outDoubles, std::ostringstream& outString) const +{ + outDoubles.clear(); + outString.clear(); + + switch( _AttribID ) + { + case BAR_LABEL: + outString << m_Label; + return RET_STRING; + case BAR_HELP: + outString << m_Help; + return RET_STRING; + case BAR_COLOR: + { + int a, r, g, b; + a = r = g = b = 0; + Color32ToARGBi(m_Color, &a, &r, &g, &b); + outDoubles.push_back(r); + outDoubles.push_back(g); + outDoubles.push_back(b); + return RET_DOUBLE; + } + case BAR_ALPHA: + { + int a, r, g, b; + a = r = g = b = 0; + Color32ToARGBi(m_Color, &a, &r, &g, &b); + outDoubles.push_back(a); + return RET_DOUBLE; + } + case BAR_TEXT: + if( m_DarkText ) + outString << "dark"; + else + outString << "light"; + return RET_STRING; + case BAR_SIZE: + outDoubles.push_back(m_Width); + outDoubles.push_back(m_Height); + return RET_DOUBLE; + case BAR_POSITION: + outDoubles.push_back(m_PosX); + outDoubles.push_back(m_PosY); + return RET_DOUBLE; + case BAR_REFRESH: + outDoubles.push_back(m_UpdatePeriod); + return RET_DOUBLE; + case BAR_VALUES_WIDTH: + outDoubles.push_back(m_ValuesWidth); + return RET_DOUBLE; + case BAR_FONT_SIZE: + return g_TwMgr->GetAttrib(MGR_FONT_SIZE, outDoubles, outString); + case BAR_ICON_POS: + return g_TwMgr->GetAttrib(MGR_ICON_POS, outDoubles, outString); + case BAR_ICON_ALIGN: + return g_TwMgr->GetAttrib(MGR_ICON_ALIGN, outDoubles, outString); + case BAR_ICON_MARGIN: + return g_TwMgr->GetAttrib(MGR_ICON_MARGIN, outDoubles, outString); + case BAR_RESIZABLE: + outDoubles.push_back(m_Resizable); + return RET_DOUBLE; + case BAR_MOVABLE: + outDoubles.push_back(m_Movable); + return RET_DOUBLE; + case BAR_ICONIFIABLE: + outDoubles.push_back(m_Iconifiable); + return RET_DOUBLE; + case BAR_FONT_RESIZABLE: + return g_TwMgr->GetAttrib(MGR_FONT_RESIZABLE, outDoubles, outString); + case BAR_ALWAYS_TOP: + outDoubles.push_back( g_TwMgr->m_BarAlwaysOnTop == m_Name ); + return RET_DOUBLE; + case BAR_ALWAYS_BOTTOM: + outDoubles.push_back( g_TwMgr->m_BarAlwaysOnBottom == m_Name ); + return RET_DOUBLE; + case BAR_VISIBLE: + outDoubles.push_back(m_Visible); + return RET_DOUBLE; + case BAR_ICONIFIED: + outDoubles.push_back(m_IsMinimized); + return RET_DOUBLE; + case BAR_COLOR_SCHEME: + return g_TwMgr->GetAttrib(MGR_COLOR_SCHEME, outDoubles, outString); + case BAR_CONTAINED: + outDoubles.push_back(m_Contained); + return RET_DOUBLE; + case BAR_BUTTON_ALIGN: + if( m_ButtonAlign==BUTTON_ALIGN_LEFT ) + outString << "left"; + else if( m_ButtonAlign==BUTTON_ALIGN_CENTER ) + outString << "center"; + else + outString << "right"; + return RET_STRING; + default: + g_TwMgr->SetLastError(g_ErrUnknownAttrib); + return RET_ERROR; + } +} + +// --------------------------------------------------------------------------- + +void CTwBar::NotUpToDate() +{ + m_UpToDate = false; +} + +// --------------------------------------------------------------------------- + +void CTwBar::UpdateColors() +{ + float a, r, g, b, h, l, s; + Color32ToARGBf(m_Color, &a, &r, &g, &b); + ColorRGBToHLSf(r, g, b, &h, &l, &s); + bool lightText = !m_DarkText; + + // Colors independant of m_Color + + // Highlighted line background ramp + m_ColHighBg0 = lightText ? Color32FromARGBf(0.4f, 0.9f, 0.9f, 0.9f) : Color32FromARGBf(0.4f, 1.0f, 1.0f, 1.0f); + m_ColHighBg1 = lightText ? Color32FromARGBf(0.4f, 0.2f, 0.2f, 0.2f) : Color32FromARGBf(0.1f, 0.7f, 0.7f, 0.7f); + + // Text colors & background + m_ColLabelText = lightText ? COLOR32_WHITE : COLOR32_BLACK; + m_ColStructText = lightText ? 0xffefef00 : 0xff303000; + + m_ColValText = lightText ? 0xffc7d7ff : 0xff000080; + m_ColValTextRO = lightText ? 0xffb7b7b7 : 0xff505050; + m_ColValMin = lightText ? 0xff9797ff : 0xff0000f0; + m_ColValMax = m_ColValMin; + m_ColValTextNE = lightText ? 0xff97f797 : 0xff004000; + + m_ColValBg = lightText ? Color32FromARGBf(0.2f+0.3f*a, 0.1f, 0.1f, 0.1f) : Color32FromARGBf(0.2f+0.3f*a, 1, 1, 1); + m_ColStructBg = lightText ? Color32FromARGBf(0.4f*a, 0, 0, 0) : Color32FromARGBf(0.4f*a, 1, 1, 1); + + m_ColLine = lightText ? Color32FromARGBf(0.6f, 1, 1, 1) : Color32FromARGBf(0.6f, 0.3f, 0.3f, 0.3f); + m_ColLineShadow = lightText ? Color32FromARGBf(0.6f, 0, 0, 0) : Color32FromARGBf(0.6f, 0, 0, 0); + m_ColUnderline = lightText ? 0xffd0d0d0 : 0xff202000; + + m_ColGrpBg = lightText ? Color32FromARGBf(0.1f+0.25f*a, 1, 1, 1) : Color32FromARGBf(0.1f+0.05f*a, 0, 0, 0); + m_ColGrpText = lightText ? 0xffffff80 : 0xff000000; + + m_ColShortcutText = lightText ? 0xffffb060 : 0xff802000; + m_ColShortcutBg = lightText ? Color32FromARGBf(0.4f*a, 0.2f, 0.2f, 0.2f) : Color32FromARGBf(0.4f*a, 0.8f, 0.8f, 0.8f); + m_ColInfoText = lightText ? Color32FromARGBf(1.0f, 0.7f, 0.7f, 0.7f) : Color32FromARGBf(1.0f, 0.3f, 0.3f, 0.3f); + + m_ColRoto = lightText ? Color32FromARGBf(0.8f, 0.85f, 0.85f, 0.85f) : Color32FromARGBf(0.8f, 0.1f, 0.1f, 0.1f); + m_ColRotoVal = Color32FromARGBf(1, 1.0f, 0.2f, 0.2f); + m_ColRotoBound = lightText ? Color32FromARGBf(0.8f, 0.6f, 0.6f, 0.6f) : Color32FromARGBf(0.8f, 0.3f, 0.3f, 0.3f); + + m_ColEditText = lightText ? COLOR32_WHITE : COLOR32_BLACK; + m_ColEditBg = lightText ? 0xff575757 : 0xffc7c7c7; // must be opaque + m_ColEditSelText = lightText ? COLOR32_BLACK : COLOR32_WHITE; + m_ColEditSelBg = lightText ? 0xffc7c7c7 : 0xff575757; + + // Colors dependant of m_Colors + + // Bar background + ColorHLSToRGBf(h, l, s, &r, &g, &b); + m_ColBg = Color32FromARGBf(a, r, g, b); + ColorHLSToRGBf(h, l-0.05f, s, &r, &g, &b); + m_ColBg1 = Color32FromARGBf(a, r, g, b); + ColorHLSToRGBf(h, l-0.1f, s, &r, &g, &b); + m_ColBg2 = Color32FromARGBf(a, r, g, b); + + ColorHLSToRGBf(h, l-0.15f, s, &r, &g, &b); + m_ColTitleBg = Color32FromARGBf(a+0.9f, r, g, b); + m_ColTitleText = lightText ? COLOR32_WHITE : COLOR32_BLACK; + m_ColTitleShadow = lightText ? 0x40000000 : 0x00000000; + ColorHLSToRGBf(h, l-0.25f, s, &r, &g, &b); + m_ColTitleHighBg = Color32FromARGBf(a+0.8f, r, g, b); + ColorHLSToRGBf(h, l-0.3f, s, &r, &g, &b); + m_ColTitleUnactiveBg = Color32FromARGBf(a+0.2f, r, g, b); + + ColorHLSToRGBf(h, l-0.2f, s, &r, &g, &b); + m_ColHierBg = Color32FromARGBf(a, r, g, b); + + ColorHLSToRGBf(h, l+0.1f, s, &r, &g, &b); + m_ColBtn = Color32FromARGBf(0.2f+0.4f*a, r, g, b); + ColorHLSToRGBf(h, l-0.35f, s, &r, &g, &b); + m_ColHighBtn = Color32FromARGBf(0.4f+0.4f*a, r, g, b); + ColorHLSToRGBf(h, l-0.25f, s, &r, &g, &b); + m_ColFold = Color32FromARGBf(0.1f+0.4f*a, r, g, b); + ColorHLSToRGBf(h, l-0.35f, s, &r, &g, &b); + m_ColHighFold = Color32FromARGBf(0.3f+0.4f*a, r, g, b); + + ColorHLSToRGBf(h, 0.75f, s, &r, &g, &b); + m_ColHelpBg = Color32FromARGBf(0.2f, 1, 1, 1); + m_ColHelpText = lightText ? Color32FromARGBf(1, 0.2f, 1.0f, 0.2f) : Color32FromARGBf(1, 0, 0.4f, 0); + m_ColSeparator = m_ColValTextRO; + m_ColStaticText = m_ColHelpText; +} + +/* +void CTwBar::UpdateColors() +{ + float a, r, g, b, h, l, s; + Color32ToARGBf(m_Color, &a, &r, &g, &b); + ColorRGBToHLSf(r, g, b, &h, &l, &s); + bool lightText = !m_DarkText; // (l<=0.45f); + l = 0.2f + 0.6f*l; + + ColorHLSToRGBf(h, l, s, &r, &g, &b); + m_ColBg = Color32FromARGBf(a, r, g, b); + ColorHLSToRGBf(h, l-0.1f, s, &r, &g, &b); + m_ColBg1 = Color32FromARGBf(a, r, g, b); + ColorHLSToRGBf(h, l-0.2f, s, &r, &g, &b); + m_ColBg2 = Color32FromARGBf(a, r, g, b); + + ColorHLSToRGBf(h, l+0.1f, s, &r, &g, &b); + m_ColHighBg = Color32FromARGBf(0.4f, r, g, b); + //m_ColHighBg = Color32FromARGBf(a, 0.95f, 0.95f, 0.2f); + + m_ColLabelText = lightText ? COLOR32_WHITE : COLOR32_BLACK; + m_ColStructText = lightText ? 0xffefef00 : 0xff505000; + + m_ColValText = lightText ? 0xffb7b7ff : 0xff000080; + m_ColValTextRO = lightText ? 0xffb7b7b7 : 0xff505050; + m_ColValMin = lightText ? 0xff9797ff : 0xff0000f0; + m_ColValMax = m_ColValMin; + m_ColValTextNE = lightText ? 0xff97f797 : 0xff006000; + + ColorHLSToRGBf(h, lightText ? (min(l+0.2f, 0.3f)) : (max(l-0.2f, 0.6f)), s, &r, &g, &b); + m_ColValBg = Color32FromARGBf(0.4f*a, 0, 0, 0); + m_ColStructBg = Color32FromARGBf(0.4f*a, 0, 0, 0); + + ColorHLSToRGBf(h, 0.4f, s, &r, &g, &b); + m_ColTitleBg = Color32FromARGBf(a+0.4f, r, g, b); + m_ColTitleText = lightText ? COLOR32_WHITE : COLOR32_BLACK; + m_ColTitleShadow = lightText ? 0x80000000 : 0x80ffffff; + ColorHLSToRGBf(h, 0.3f, s, &r, &g, &b); + m_ColTitleHighBg = Color32FromARGBf(a+0.4f, r, g, b); + ColorHLSToRGBf(h, 0.4f, s, &r, &g, &b); + m_ColTitleUnactiveBg = Color32FromARGBf(a+0.2f, r, g, b); + + ColorHLSToRGBf(h, 0.8f, s, &r, &g, &b); + m_ColLine = Color32FromARGBf(0.6f, r, g, b); // 0xfff0f0f0; + m_ColLineShadow = Color32FromARGBf(0.6f, 0, 0, 0); //COLOR32_BLACK; + m_ColUnderline = lightText ? 0xffd0d0d0 : 0xff202000; + ColorHLSToRGBf(h, 0.7f, s, &r, &g, &b); + m_ColBtn = Color32FromARGBf(0.6f, r, g, b); + ColorHLSToRGBf(h, 0.4f, s, &r, &g, &b); + m_ColHighBtn = Color32FromARGBf(0.6f, r, g, b); + ColorHLSToRGBf(h, 0.6f, s, &r, &g, &b); + m_ColFold = Color32FromARGBf(0.3f*a, r, g, b); + ColorHLSToRGBf(h, 0.4f, s, &r, &g, &b); + m_ColHighFold = Color32FromARGBf(0.3f, r, g, b); + + ColorHLSToRGBf(h, lightText ? l+0.2f : l-0.2f, s, &r, &g, &b); + m_ColGrpBg = Color32FromARGBf(0.5f*a, r, g, b); + m_ColGrpText = lightText ? 0xffffff80 : 0xff404000; + + ColorHLSToRGBf(h, 0.75f, s, &r, &g, &b); + m_ColHelpBg = Color32FromARGBf(a, r, g, b); + m_ColHelpText = Color32FromARGBf(1, 0, 0.4f, 0); + + ColorHLSToRGBf(h, 0.45f, s, &r, &g, &b); + m_ColHierBg = Color32FromARGBf(0.75f*a, r, g, b); + + m_ColShortcutText = lightText ? 0xffff8040 : 0xff802000; //0xfff0f0f0; + m_ColShortcutBg = Color32FromARGBf(0.4f*a, 0.2f, 0.2f, 0.2f); + m_ColInfoText = Color32FromARGBf(1.0f, 0.7f, 0.7f, 0.7f); + + m_ColRoto = Color32FromARGBf(1, 0.75f, 0.75f, 0.75f); + m_ColRotoVal = Color32FromARGBf(1, 1.0f, 0.2f, 0.2f); + m_ColRotoBound = Color32FromARGBf(1, 0.4f, 0.4f, 0.4f); + + m_ColEditText = lightText ? COLOR32_WHITE : COLOR32_BLACK; + m_ColEditBg = lightText ? 0xb7575757 : 0xb7c7c7c7; + m_ColEditSelText = lightText ? COLOR32_BLACK : COLOR32_WHITE; + m_ColEditSelBg = lightText ? 0xffc7c7c7 : 0xff575757; + + m_ColSeparator = m_ColValTextRO; + m_ColStaticText = m_ColHelpText; +} +*/ + +// --------------------------------------------------------------------------- + +CTwVarGroup::~CTwVarGroup() +{ + for( vector::iterator it= m_Vars.begin(); it!=m_Vars.end(); ++it ) + if( *it != NULL ) + { + CTwVar *Var = *it; + delete Var; + *it = NULL; + } +} + +// --------------------------------------------------------------------------- + +static inline int IncrBtnWidth(int _CharHeight) +{ + return ((2*_CharHeight)/3+2)&0xfffe; // force even value +} + +// --------------------------------------------------------------------------- + +void CTwBar::BrowseHierarchy(int *_CurrLine, int _CurrLevel, const CTwVar *_Var, int _First, int _Last) +{ + assert(_Var!=NULL); + if( !_Var->m_IsRoot ) + { + if( (*_CurrLine)>=_First && (*_CurrLine)<=_Last ) + { + CHierTag Tag; + Tag.m_Level = _CurrLevel; + Tag.m_Var = const_cast(_Var); + Tag.m_Closing = false; + m_HierTags.push_back(Tag); + } + *_CurrLine += 1; + } + else + { + *_CurrLine = 0; + _CurrLevel = -1; + m_HierTags.resize(0); + } + + if( _Var->IsGroup() ) + { + const CTwVarGroup *Grp = static_cast(_Var); + if( Grp->m_Open ) + for( vector::const_iterator it=Grp->m_Vars.begin(); it!=Grp->m_Vars.end(); ++it ) + if( (*it)->m_Visible ) + BrowseHierarchy(_CurrLine, _CurrLevel+1, *it, _First, _Last); + if( m_HierTags.size()>0 ) + m_HierTags[m_HierTags.size()-1].m_Closing = true; + } +} + +// --------------------------------------------------------------------------- + +void CTwBar::ListLabels(vector& _Labels, vector& _Colors, vector& _BgColors, bool *_HasBgColors, const CTexFont *_Font, int _AtomWidthMax, int _GroupWidthMax) +{ + const int NbEtc = 2; + string ValStr; + int Len, i, x, Etc, s; + const unsigned char *Text; + unsigned char ch; + int WidthMax; + + int Space = _Font->m_CharWidth[(int)' ']; + int LevelSpace = max(_Font->m_CharHeight-6, 4); // space used by DrawHierHandles + + int nh = (int)m_HierTags.size(); + for( int h=0; hm_Label.length(); + if( Len>0 ) + Text = (const unsigned char *)(m_HierTags[h].m_Var->m_Label.c_str()); + else + { + Text = (const unsigned char *)(m_HierTags[h].m_Var->m_Name.c_str()); + Len = (int)m_HierTags[h].m_Var->m_Name.length(); + } + x = 0; + Etc = 0; + _Labels.push_back(""); // add a new text line + if( !m_HierTags[h].m_Var->IsGroup() && static_cast(m_HierTags[h].m_Var)->m_Type==TW_TYPE_BUTTON && static_cast(m_HierTags[h].m_Var)->m_ReadOnly && static_cast(m_HierTags[h].m_Var)->m_Val.m_Button.m_Callback!=NULL ) + _Colors.push_back(m_ColValTextRO); // special case for read-only buttons + else + _Colors.push_back(m_HierTags[h].m_Var->m_ColorPtr!=NULL ? *(m_HierTags[h].m_Var->m_ColorPtr) : COLOR32_WHITE); + color32 bg = m_HierTags[h].m_Var->m_BgColorPtr!=NULL ? *(m_HierTags[h].m_Var->m_BgColorPtr) : 0; + _BgColors.push_back(bg); + if( _HasBgColors!=NULL && bg!=0 ) + *_HasBgColors = true; + bool IsCustom = m_HierTags[h].m_Var->IsCustom(); // !m_HierTags[h].m_Var->IsGroup() && (static_cast(m_HierTags[h].m_Var)->m_Type>=TW_TYPE_CUSTOM_BASE && static_cast(m_HierTags[h].m_Var)->m_Typem_Customs.size()); + if( !IsCustom ) + { + string& CurrentLabel = _Labels[_Labels.size()-1]; + if( m_HierTags[h].m_Var->IsGroup() && static_cast(m_HierTags[h].m_Var)->m_SummaryCallback==NULL ) + WidthMax = _GroupWidthMax; + else if( !m_HierTags[h].m_Var->IsGroup() && static_cast(m_HierTags[h].m_Var)->m_Type==TW_TYPE_BUTTON ) + { + if( static_cast(m_HierTags[h].m_Var)->m_Val.m_Button.m_Callback==NULL ) + WidthMax = _GroupWidthMax; + else if( m_ButtonAlign == BUTTON_ALIGN_RIGHT ) + WidthMax = _GroupWidthMax - 2*IncrBtnWidth(m_Font->m_CharHeight); + else + WidthMax = _AtomWidthMax; + } + //else if( m_HighlightedLine==h && m_DrawRotoBtn ) + // WidthMax = _AtomWidthMax - IncrBtnWidth(m_Font->m_CharHeight); + else + WidthMax = _AtomWidthMax; + if( Space>0 ) + for( s=0; sm_CharWidth[(int)'.']m_DontClip) + for( i=0; im_CharWidth[(int)ch]; + if( Etc>0 ) + { + ++Etc; + if( Etc>NbEtc ) + break; + } + else if( im_CharWidth[(int)'.']>=WidthMax && !(m_HierTags[h].m_Var->m_DontClip)) + Etc = 1; + } + } + } +} + +// --------------------------------------------------------------------------- + +void CTwBar::ListValues(vector& _Values, vector& _Colors, vector& _BgColors, const CTexFont *_Font, int _WidthMax) +{ + CTwFPU fpu; // force fpu precision + + const int NbEtc = 2; + const CTwVarAtom *Atom = NULL; + string ValStr; + int Len, i, x, Etc; + const unsigned char *Text; + unsigned char ch; + bool ReadOnly; + bool IsMax; + bool IsMin; + bool IsROText; + bool HasBgColor; + bool AcceptEdit; + size_t SummaryMaxLength = max(_WidthMax/_Font->m_CharWidth[(int)'I'], 4); + static vector Summary; + Summary.resize(SummaryMaxLength+32); + + int nh = (int)m_HierTags.size(); + for( int h=0; hIsGroup() || m_IsHelpBar + || (m_HierTags[h].m_Var->IsGroup() && static_cast(m_HierTags[h].m_Var)->m_SummaryCallback!=NULL) ) + { + ReadOnly = true; + IsMax = false; + IsMin = false; + IsROText = false; + HasBgColor = true; + AcceptEdit = false; + if( !m_HierTags[h].m_Var->IsGroup() ) + { + Atom = static_cast(m_HierTags[h].m_Var); + Atom->ValueToString(&ValStr); + if( !m_IsHelpBar || (Atom->m_Type==TW_TYPE_SHORTCUT && (Atom->m_Val.m_Shortcut.m_Incr[0]>0 || Atom->m_Val.m_Shortcut.m_Decr[0]>0)) ) + ReadOnly = Atom->m_ReadOnly; + if( !Atom->m_NoSlider ) + { + double v, vmin, vmax; + v = Atom->ValueToDouble(); + Atom->MinMaxStepToDouble(&vmin, &vmax, NULL); + IsMax = (v>=vmax); + IsMin = (v<=vmin); + } + if( Atom->m_Type==TW_TYPE_BOOLCPP || Atom->m_Type==TW_TYPE_BOOL8 || Atom->m_Type==TW_TYPE_BOOL16 || Atom->m_Type==TW_TYPE_BOOL32 ) + { + if (ValStr=="1") + ValStr = "\x7f"; // check sign + else if (ValStr=="0") + ValStr = " -"; //"\x97"; // uncheck sign + } + if( (Atom->m_Type==TW_TYPE_CDSTRING && Atom->m_SetCallback==NULL && g_TwMgr->m_CopyCDStringToClient==NULL) + || (Atom->m_Type==TW_TYPE_CDSTDSTRING && Atom->m_SetCallback==NULL) + || (Atom->m_Type==TW_TYPE_STDSTRING && Atom->m_SetCallback==NULL && g_TwMgr->m_CopyStdStringToClient==NULL) ) + IsROText = true; + if( Atom->m_Type==TW_TYPE_HELP_ATOM || Atom->m_Type==TW_TYPE_HELP_GRP || Atom->m_Type==TW_TYPE_BUTTON || Atom->IsCustom() ) // (Atom->m_Type>=TW_TYPE_CUSTOM_BASE && Atom->m_Typem_Customs.size()) ) + HasBgColor = false; + AcceptEdit = EditInPlaceAcceptVar(Atom) || (Atom->m_Type==TW_TYPE_SHORTCUT); + } + else if(m_HierTags[h].m_Var->IsGroup() && static_cast(m_HierTags[h].m_Var)->m_SummaryCallback!=NULL) + { + const CTwVarGroup *Grp = static_cast(m_HierTags[h].m_Var); + // force internal value update + for( size_t v=0; vm_Vars.size(); v++ ) + if( Grp->m_Vars[v]!=NULL && !Grp->m_Vars[v]->IsGroup() && Grp->m_Vars[v]->m_Visible ) + static_cast(Grp->m_Vars[v])->ValueToDouble(); + + Summary[0] = '\0'; + if( Grp->m_SummaryCallback==CTwMgr::CStruct::DefaultSummary ) + Grp->m_SummaryCallback(&Summary[0], SummaryMaxLength, Grp, Grp->m_SummaryClientData); + else + Grp->m_SummaryCallback(&Summary[0], SummaryMaxLength, Grp->m_StructValuePtr, Grp->m_SummaryClientData); + ValStr = (const char *)(&Summary[0]); + } + else + { + ValStr = ""; // is a group in the help bar + HasBgColor = false; + } + Len = (int)ValStr.length(); + Text = (const unsigned char *)(ValStr.c_str()); + x = 0; + Etc = 0; + _Values.push_back(""); // add a new text line + if( ReadOnly || (IsMin && IsMax) || IsROText ) + _Colors.push_back(m_ColValTextRO); + else if( IsMin ) + _Colors.push_back(m_ColValMin); + else if( IsMax ) + _Colors.push_back(m_ColValMax); + else if( !AcceptEdit ) + _Colors.push_back(m_ColValTextNE); + else + _Colors.push_back(m_ColValText); + if( !HasBgColor ) + _BgColors.push_back(0x00000000); + else if( m_HierTags[h].m_Var->IsGroup() ) + { + const CTwVarGroup *Grp = static_cast(m_HierTags[h].m_Var); + // if typecolor set bgcolor + if( Grp->m_SummaryCallback==CColorExt::SummaryCB ) + _BgColors.push_back(0xff000000); + else + _BgColors.push_back(m_ColStructBg); + } + else + _BgColors.push_back(m_ColValBg); + + string& CurrentValue = _Values[_Values.size()-1]; + int wmax = _WidthMax; + if( m_HighlightedLine==h && m_DrawRotoBtn ) + wmax -= 3*IncrBtnWidth(m_Font->m_CharHeight); + else if( m_HighlightedLine==h && m_DrawIncrDecrBtn ) + wmax -= 2*IncrBtnWidth(m_Font->m_CharHeight); + else if( m_HighlightedLine==h && m_DrawListBtn ) + wmax -= 1*IncrBtnWidth(m_Font->m_CharHeight); + else if( m_HighlightedLine==h && m_DrawBoolBtn ) + wmax -= 1*IncrBtnWidth(m_Font->m_CharHeight); + for( i=0; im_CharWidth[(int)ch]; + if( Etc>0 ) + { + ++Etc; + if( Etc>NbEtc ) + break; + } + else if( im_CharWidth[(int)'.'])>=wmax ) + Etc = 1; + } + } + else + { + _Values.push_back(""); // add a new empty line + _Colors.push_back(COLOR32_BLACK); + _BgColors.push_back(0x00000000); + } +} + +// --------------------------------------------------------------------------- + +int CTwBar::ComputeLabelsWidth(const CTexFont *_Font) +{ + int Len, i, x, s; + const unsigned char *Text; + int LabelsWidth = 0; + int Space = _Font->m_CharWidth[(int)' ']; + int LevelSpace = max(_Font->m_CharHeight-6, 4); // space used by DrawHierHandles + + int nh = (int)m_HierTags.size(); + for( int h=0; hm_Label.length(); + if( Len>0 ) + Text = (const unsigned char *)(m_HierTags[h].m_Var->m_Label.c_str()); + else + { + Text = (const unsigned char *)(m_HierTags[h].m_Var->m_Name.c_str()); + Len = (int)m_HierTags[h].m_Var->m_Name.length(); + } + x = 0; + bool IsCustom = m_HierTags[h].m_Var->IsCustom(); // !m_HierTags[h].m_Var->IsGroup() && (static_cast(m_HierTags[h].m_Var)->m_Type>=TW_TYPE_CUSTOM_BASE && static_cast(m_HierTags[h].m_Var)->m_Typem_Customs.size()); + if( !IsCustom ) + { + if( Space>0 ) + for( s=0; sm_CharWidth[(int)Text[i]]; + x += 3*Space; // add little margin + } + if (x > LabelsWidth) + LabelsWidth = x; + } + + return LabelsWidth; +} + +int CTwBar::ComputeValuesWidth(const CTexFont *_Font) +{ + CTwFPU fpu; // force fpu precision + + const CTwVarAtom *Atom = NULL; + string ValStr; + int Len, i, x; + int Space = _Font->m_CharWidth[(int)' ']; + const unsigned char *Text; + int ValuesWidth = 0; + + int nh = (int)m_HierTags.size(); + for( int h=0; hIsGroup() ) + { + Atom = static_cast(m_HierTags[h].m_Var); + Atom->ValueToString(&ValStr); + + Len = (int)ValStr.length(); + Text = (const unsigned char *)(ValStr.c_str()); + x = 0; + for( i=0; im_CharWidth[(int)Text[i]]; + x += 2*Space; // add little margin + if (x > ValuesWidth) + ValuesWidth = x; + } + + return ValuesWidth; +} + +// --------------------------------------------------------------------------- + +static int ClampText(string& _Text, const CTexFont *_Font, int _WidthMax) +{ + int Len = (int)_Text.length(); + unsigned char ch; + int Width = 0; + int i; + for( i=0; im_CharWidth[(int)'.']>=_WidthMax ) + break; + Width += _Font->m_CharWidth[ch]; + } + if( im_CharWidth[(int)'.']; + } + return Width; +} + +// --------------------------------------------------------------------------- + +void CTwBar::Update() +{ + assert(m_UpToDate==false); + assert(m_Font); + ITwGraph *Gr = g_TwMgr->m_Graph; + + bool DoEndDraw = false; + if( !Gr->IsDrawing() ) + { + Gr->BeginDraw(g_TwMgr->m_WndWidth, g_TwMgr->m_WndHeight); + DoEndDraw = true; + } + + bool ValuesWidthFit = false; + if( m_ValuesWidth==VALUES_WIDTH_FIT ) + { + ValuesWidthFit = true; + m_ValuesWidth = 0; + } + int PrevPosY = m_PosY; + int vpx, vpy, vpw, vph; + vpx = 0; + vpy = 0; + vpw = g_TwMgr->m_WndWidth; + vph = g_TwMgr->m_WndHeight; + if( !m_IsMinimized && vpw>0 && vph>0 ) + { + bool Modif = false; + if( m_Resizable ) + { + if( m_Width>vpw && m_Contained ) + { + m_Width = vpw; + Modif = true; + } + if( m_Width<8*m_Font->m_CharHeight ) + { + m_Width = 8*m_Font->m_CharHeight; + Modif = true; + } + if( m_Height>vph && m_Contained ) + { + m_Height = vph; + Modif = true; + } + if( m_Height<5*m_Font->m_CharHeight ) + { + m_Height = 5*m_Font->m_CharHeight; + Modif = true; + } + } + if( m_Movable && m_Contained ) + { + if( m_PosX+m_Width>vpx+vpw ) + m_PosX = vpx+vpw-m_Width; + if( m_PosXvpy+vph ) + m_PosY = vpy+vph-m_Height; + if( m_PosYm_CharHeight ) + { + m_ValuesWidth = 2*m_Font->m_CharHeight; + Modif = true; + } + if( m_ValuesWidth>m_Width-4*m_Font->m_CharHeight ) + { + m_ValuesWidth = m_Width-4*m_Font->m_CharHeight; + Modif = true; + } + if (ValuesWidthFit) + Modif = true; + if( Modif && m_IsHelpBar ) + { + g_TwMgr->m_HelpBarNotUpToDate = true; + g_TwMgr->m_KeyPressedBuildText = true; + g_TwMgr->m_InfoBuildText = true; + } + } + + UpdateColors(); + + // update geometry relatively to (m_PosX, m_PosY) + if( !m_IsPopupList ) + { + //m_VarX0 = 2*m_Font->m_CharHeight+m_Sep; + m_VarX0 = m_Font->m_CharHeight+m_Sep; + //m_VarX2 = m_Width - 4; + m_VarX2 = m_Width - m_Font->m_CharHeight - m_Sep-2; + m_VarX1 = m_VarX2 - m_ValuesWidth; + } + else + { + //m_VarX0 = m_Font->m_CharHeight+6+m_Sep; + m_VarX0 = 2; + //m_VarX2 = m_Width - 4; + m_VarX2 = m_Width - m_Font->m_CharHeight - m_Sep-2; + m_VarX1 = m_VarX2; + } + if( m_VarX1m_VarX2 ) + m_VarX1 = m_VarX2; + if( !m_IsPopupList ) + { + m_VarY0 = m_Font->m_CharHeight+2+m_Sep+6; + m_VarY1 = m_Height-m_Font->m_CharHeight-2-m_Sep; + m_VarY2 = m_Height-1; + } + else + { + m_VarY0 = 4; + m_VarY1 = m_Height-2-m_Sep; + m_VarY2 = m_Height-1; + } + + int NbLines = (m_VarY1-m_VarY0+1)/(m_Font->m_CharHeight+m_Sep); + if( NbLines<= 0 ) + NbLines = 1; + if( !m_IsMinimized ) + { + int LineNum = 0; + BrowseHierarchy(&LineNum, 0, &m_VarRoot, m_FirstLine, m_FirstLine+NbLines); // add a dummy tag at the end to avoid wrong 'tag-closing' problems + if( (int)m_HierTags.size()>NbLines ) + m_HierTags.resize(NbLines); // remove the last dummy tag + m_NbHierLines = LineNum; + m_NbDisplayedLines = (int)m_HierTags.size(); + + if( ValuesWidthFit ) + { + m_ValuesWidth = ComputeValuesWidth(m_Font); + if( m_ValuesWidth<2*m_Font->m_CharHeight ) + m_ValuesWidth = 2*m_Font->m_CharHeight; // enough to draw buttons + if( m_ValuesWidth>m_VarX2 - m_VarX0 ) + m_ValuesWidth = max(m_VarX2 - m_VarX0 - m_Font->m_CharHeight, 0); + m_VarX1 = m_VarX2 - m_ValuesWidth; + if( m_VarX1m_VarX2 ) + m_VarX1 = m_VarX2; + m_ValuesWidth = m_VarX2 - m_VarX1; + } + } + + // scroll bar + int y0 = m_PosY+m_VarY0; + int y1 = m_PosY+m_VarY1; + int x0 = m_PosX+2; + int x1 = m_PosX+m_Font->m_CharHeight-2; + if( ((x0+x1)&1)==1 ) + x1 += 1; + int w = x1-x0+1; + int h = y1-y0-2*w; + int hscr = (m_NbHierLines>0) ? ((h*m_NbDisplayedLines)/m_NbHierLines) : h; + if( hscr<=4 ) + hscr = 4; + if( hscr>h ) + hscr = h; + int yscr = (m_NbHierLines>0) ? ((h*m_FirstLine)/m_NbHierLines) : 0; + if( yscr<=0 ) + yscr = 0; + if( yscr>h-4 ) + yscr = h-4; + if( yscr+hscr>h ) + hscr = h-yscr; + if( hscr>h ) + hscr = h; + if( hscr<=4 ) + hscr = 4; + m_ScrollYW = w; + m_ScrollYH = h; + m_ScrollY0 = y0+w+yscr; + m_ScrollY1 = y0+w+yscr+hscr; + + // Build title + string Title; + if( m_Label.size()>0 ) + Title = m_Label; + else + Title = m_Name; + m_TitleWidth = ClampText(Title, m_Font, (!m_IsMinimized)?(m_Width-5*m_Font->m_CharHeight):(16*m_Font->m_CharHeight)); + Gr->BuildText(m_TitleTextObj, &Title, NULL, NULL, 1, m_Font, 0, 0); + + if( !m_IsMinimized ) + { + // Build labels + vector Labels; + vector Colors; + vector BgColors; + bool HasBgColors = false; + ListLabels(Labels, Colors, BgColors, &HasBgColors, m_Font, m_VarX1-m_VarX0, m_VarX2-m_VarX0); + assert( Labels.size()==Colors.size() && Labels.size()==BgColors.size() ); + if( Labels.size()>0 ) + Gr->BuildText(m_LabelsTextObj, &(Labels[0]), &(Colors[0]), &(BgColors[0]), (int)Labels.size(), m_Font, 1, HasBgColors ? m_VarX1-m_VarX0-m_Font->m_CharHeight+2 : 0); + else + Gr->BuildText(m_LabelsTextObj, NULL, NULL, NULL, 0, m_Font, 1, 0); + + // Should draw click button? + m_DrawClickBtn = ( m_VarX2-m_VarX1>4*IncrBtnWidth(m_Font->m_CharHeight) + && m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() + && m_HierTags[m_HighlightedLine].m_Var!=NULL + && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly + && ( static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BUTTON )); + // || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOLCPP + // || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOL8 + // || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOL16 + // || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOL32 )); + + // Should draw [-/+] button? + m_DrawIncrDecrBtn = ( m_VarX2-m_VarX1>5*IncrBtnWidth(m_Font->m_CharHeight) + && m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() + && m_HierTags[m_HighlightedLine].m_Var!=NULL + && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() + && static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type!=TW_TYPE_BUTTON + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_NoSlider + && !(m_EditInPlace.m_Active && m_EditInPlace.m_Var==m_HierTags[m_HighlightedLine].m_Var) ); + + // Should draw [v] button (list)? + m_DrawListBtn = ( m_VarX2-m_VarX1>2*IncrBtnWidth(m_Font->m_CharHeight) + && m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() + && m_HierTags[m_HighlightedLine].m_Var!=NULL + && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() + && IsEnumType(static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type) + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly ); + + // Should draw [<>] button (bool)? + m_DrawBoolBtn = ( m_VarX2-m_VarX1>4*IncrBtnWidth(m_Font->m_CharHeight) + && m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() + && m_HierTags[m_HighlightedLine].m_Var!=NULL + && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly + && ( static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOLCPP + || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOL8 + || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOL16 + || static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BOOL32 )); + + // Should draw [o] button? + m_DrawRotoBtn = m_DrawIncrDecrBtn; + /* + m_DrawRotoBtn = ( m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() + && m_HierTags[m_HighlightedLine].m_Var!=NULL + && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() + && static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type!=TW_TYPE_BUTTON + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly + && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_NoSlider ); + */ + + // Build values + vector& Values = Labels; // reuse + Values.resize(0); + Colors.resize(0); + BgColors.resize(0); + ListValues(Values, Colors, BgColors, m_Font, m_VarX2-m_VarX1); + assert( BgColors.size()==Values.size() && Colors.size()==Values.size() ); + if( Values.size()>0 ) + Gr->BuildText(m_ValuesTextObj, &(Values[0]), &(Colors[0]), &(BgColors[0]), (int)Values.size(), m_Font, 1, m_VarX2-m_VarX1); + else + Gr->BuildText(m_ValuesTextObj, NULL, NULL, NULL, 0, m_Font, 1, m_VarX2-m_VarX1); + + // Build key shortcut text + string Shortcut; + m_ShortcutLine = -1; + if( m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() && m_HierTags[m_HighlightedLine].m_Var!=NULL && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + const CTwVarAtom *Atom = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( Atom->m_KeyIncr[0]>0 || Atom->m_KeyDecr[0]>0 ) + { + if( Atom->m_KeyIncr[0]>0 && Atom->m_KeyDecr[0]>0 ) + Shortcut = "Keys: "; + else + Shortcut = "Key: "; + if( Atom->m_KeyIncr[0]>0 ) + TwGetKeyString(&Shortcut, Atom->m_KeyIncr[0], Atom->m_KeyIncr[1]); + else + Shortcut += "(none)"; + if( Atom->m_KeyDecr[0]>0 ) + { + Shortcut += " "; + TwGetKeyString(&Shortcut, Atom->m_KeyDecr[0], Atom->m_KeyDecr[1]); + } + m_ShortcutLine = m_HighlightedLine; + } + } + ClampText(Shortcut, m_Font, m_Width-3*m_Font->m_CharHeight); + Gr->BuildText(m_ShortcutTextObj, &Shortcut, NULL, NULL, 1, m_Font, 0, 0); + + // build headers text + if (m_HighlightLabelsHeader || m_HighlightValuesHeader) { + std::string HeadersText = "Fit column content"; + ClampText(HeadersText, m_Font, m_Width-3*m_Font->m_CharHeight); + Gr->BuildText(m_HeadersTextObj, &HeadersText, NULL, NULL, 1, m_Font, 0, 0); + } + } + + if( DoEndDraw ) + Gr->EndDraw(); + + m_UpToDate = true; + m_LastUpdateTime = float(g_BarTimer.GetTime()); +} + +// --------------------------------------------------------------------------- + +void CTwBar::DrawHierHandle() +{ + assert(m_Font); + ITwGraph *Gr = g_TwMgr->m_Graph; + + //int x0 = m_PosX+m_Font->m_CharHeight+1; + int x0 = m_PosX+3; + //int x2 = m_PosX+m_VarX0-5; + //int x2 = m_PosX+3*m_Font->m_CharWidth[(int)' ']-2; + int x2 = m_PosX+m_Font->m_CharHeight-3; + if( x2-x0<4 ) + x2 = x0+4; + if( (x2-x0)&1 ) + --x2; + int x1 = (x0+x2)/2; + int w = x2-x0+1; + int y0 = m_PosY+m_VarY0 +1; + int y1; + int dh0 = (m_Font->m_CharHeight+m_Sep-1-w)/2; + if( dh0<0 ) + dh0 = 0; + int dh1 = dh0+w-1; + int i, h=0; + + if( !m_IsPopupList ) + { + CTwVarGroup *Grp; + int nh = (int)m_HierTags.size(); + for( h=0; hm_CharHeight+m_Sep-1; + if( m_HierTags[h].m_Var->IsGroup() ) + Grp = static_cast(m_HierTags[h].m_Var); + else + Grp = NULL; + + int dx = m_HierTags[h].m_Level * (x2-x0); + + if( Grp ) + { + if( m_ColGrpBg!=0 && Grp->m_StructValuePtr==NULL ) + { + color32 cb = (Grp->m_StructType==TW_TYPE_HELP_STRUCT) ? m_ColStructBg : m_ColGrpBg; + //Gr->DrawRect(x0+dx-1, y0, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, cb); + Gr->DrawRect(x2+dx+3, y0, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, cb); + } + + if( m_DrawHandles ) + { + Gr->DrawLine(dx+x2+1,y0+dh0+1, dx+x2+1,y0+dh1+1, m_ColLineShadow); + Gr->DrawLine(dx+x0+1,y0+dh1+1, dx+x2+2,y0+dh1+1, m_ColLineShadow); + } + + //Gr->DrawRect(x0+1,y0+dh0+1,x2-1,y0+dh1-1, (h==m_HighlightedLine) ? m_ColHighBtn : m_ColBtn); + Gr->DrawRect(dx+x0,y0+dh0, dx+x2,y0+dh1, (h==m_HighlightedLine) ? m_ColHighFold : m_ColFold); + if( m_DrawHandles ) + { + Gr->DrawLine(dx+x0,y0+dh0, dx+x2,y0+dh0, m_ColLine); + Gr->DrawLine(dx+x2,y0+dh0, dx+x2,y0+dh1+1, m_ColLine); + Gr->DrawLine(dx+x2,y0+dh1, dx+x0,y0+dh1, m_ColLine); + Gr->DrawLine(dx+x0,y0+dh1, dx+x0,y0+dh0, m_ColLine); + } + + Gr->DrawLine(dx+x0+2,y0+dh0+w/2, dx+x2-1,y0+dh0+w/2, m_ColTitleText); + if( !Grp->m_Open ) + Gr->DrawLine(dx+x1,y0+dh0+2, dx+x1,y0+dh1-1, m_ColTitleText); + + /* + if( m_ColGrpBg!=0 && Grp->m_StructValuePtr==NULL ) + { + color32 cb = (Grp->m_StructType==TW_TYPE_HELP_STRUCT) ? m_ColStructBg : m_ColGrpBg; + //int decal = m_Font->m_CharHeight/2-2+2*m_HierTags[h].m_Level; + //if( decal>m_Font->m_CharHeight-3 ) + // decal = m_Font->m_CharHeight-3; + int margin = dx; //m_Font->m_CharWidth[(int)' ']*m_HierTags[h].m_Level; + //Gr->DrawRect(m_PosX+m_VarX0+margin, y0+decal, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, cb); + Gr->DrawRect(m_PosX+m_VarX0+margin-1, y0+1, m_PosX+m_VarX2, y0+m_Font->m_CharHeight, cb);// m_ColHierBg); + //Gr->DrawRect(m_PosX+m_VarX0-4, y0+m_Font->m_CharHeight/2-1, m_PosX+m_VarX0+margin-2, y0+m_Font->m_CharHeight/2, m_ColHierBg); + } + */ + } + else if( static_cast(m_HierTags[h].m_Var)->m_Type==TW_TYPE_HELP_GRP && m_ColHelpBg!=0 ) + Gr->DrawRect(m_PosX+m_VarX0+m_HierTags[h].m_Var->m_LeftMargin, y0+m_HierTags[h].m_Var->m_TopMargin, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, m_ColHelpBg); + //else if( static_cast(m_HierTags[h].m_Var)->m_Type==TW_TYPE_HELP_HEADER && m_ColHelpBg!=0 ) + // Gr->DrawRect(m_PosX+m_VarX0+m_HierTags[h].m_Var->m_LeftMargin, y0+m_HierTags[h].m_Var->m_TopMargin, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, m_ColHelpBg); + /* + else if( static_cast(m_HierTags[h].m_Var)->m_Type==TW_TYPE_BUTTON && m_ColBtn!=0 ) + { + // draw button + int cbx0 = m_PosX+m_VarX2-2*bw+bw/2, cby0 = y0+2, cbx1 = m_PosX+m_VarX2-2-bw/2, cby1 = y0+m_Font->m_CharHeight-4; + if( m_HighlightClickBtn ) + { + Gr->DrawRect(cbx0+2, cby0+2, cbx1+2, cby1+2, m_ColBtn); + Gr->DrawLine(cbx0+3, cby1+3, cbx1+4, cby1+3, 0x7F000000); + Gr->DrawLine(cbx1+3, cby0+3, cbx1+3, cby1+3, 0x7F000000); + } + else + { + Gr->DrawRect(cbx0+3, cby1+1, cbx1+3, cby1+3, 0x7F000000); + Gr->DrawRect(cbx1+1, cby0+3, cbx1+3, cby1, 0x7F000000); + Gr->DrawRect(cbx0, cby0, cbx1, cby1, m_ColBtn); + } + } + */ + + y0 = y1+1; + } + } + + if( m_NbDisplayedLinesm_CharHeight-2; + x0 = m_PosX + m_VarX2+4; + x1 = x0 + m_Font->m_CharHeight-4; + if( ((x0+x1)&1)==1 ) + x1 += 1; + w = m_ScrollYW; + h = m_ScrollYH; + + Gr->DrawRect(x0+2,y0+w, x1-2,y1-1-w, (m_ColBg&0xffffff)|0x11000000); + if( m_DrawHandles || m_IsPopupList ) + { + // scroll handle shadow lines + Gr->DrawLine(x1-1,m_ScrollY0+1, x1-1,m_ScrollY1+1, m_ColLineShadow); + Gr->DrawLine(x0+2,m_ScrollY1+1, x1,m_ScrollY1+1, m_ColLineShadow); + + // up & down arrow + for( i=0; i<(x1-x0-2)/2; ++i ) + { + Gr->DrawLine(x0+2+i,y0+w-2*i, x1-i,y0+w-2*i, m_ColLineShadow); + Gr->DrawLine(x0+1+i,y0+w-1-2*i, x1-1-i,y0+w-1-2*i, m_HighlightUpScroll?((m_ColLine&0xffffff)|0x4f000000):m_ColLine); + + Gr->DrawLine(x0+2+i,y1-w+2+2*i, x1-i,y1-w+2+2*i, m_ColLineShadow); + Gr->DrawLine(x0+1+i,y1-w+1+2*i, x1-1-i,y1-w+1+2*i, m_HighlightDnScroll?((m_ColLine&0xffffff)|0x4f000000):m_ColLine); + } + + // middle lines + Gr->DrawLine((x0+x1)/2-1,y0+w, (x0+x1)/2-1,m_ScrollY0, m_ColLine); + Gr->DrawLine((x0+x1)/2,y0+w, (x0+x1)/2,m_ScrollY0, m_ColLine); + Gr->DrawLine((x0+x1)/2+1,y0+w, (x0+x1)/2+1,m_ScrollY0, m_ColLineShadow); + Gr->DrawLine((x0+x1)/2-1,m_ScrollY1, (x0+x1)/2-1,y1-w+1, m_ColLine); + Gr->DrawLine((x0+x1)/2,m_ScrollY1, (x0+x1)/2,y1-w+1, m_ColLine); + Gr->DrawLine((x0+x1)/2+1,m_ScrollY1, (x0+x1)/2+1,y1-w+1, m_ColLineShadow); + // scroll handle lines + Gr->DrawRect(x0+2,m_ScrollY0+1, x1-3,m_ScrollY1-1, m_HighlightScroll?m_ColHighBtn:m_ColBtn); + Gr->DrawLine(x1-2,m_ScrollY0, x1-2,m_ScrollY1, m_ColLine); + Gr->DrawLine(x0+1,m_ScrollY0, x0+1,m_ScrollY1, m_ColLine); + Gr->DrawLine(x0+1,m_ScrollY1, x1-1,m_ScrollY1, m_ColLine); + Gr->DrawLine(x0+1,m_ScrollY0, x1-2,m_ScrollY0, m_ColLine); + } + else + Gr->DrawRect(x0+3,m_ScrollY0+1, x1-3,m_ScrollY1-1, m_ColBtn); + } + + if( m_DrawHandles && !m_IsPopupList ) + { + if( m_Resizable ) // Draw resize handles + { + // lower-left + Gr->DrawLine(m_PosX+3, m_PosY+m_Height-m_Font->m_CharHeight+3, m_PosX+3, m_PosY+m_Height-4, m_ColLine); + Gr->DrawLine(m_PosX+4, m_PosY+m_Height-m_Font->m_CharHeight+4, m_PosX+4, m_PosY+m_Height-3, m_ColLineShadow); + Gr->DrawLine(m_PosX+3, m_PosY+m_Height-4, m_PosX+m_Font->m_CharHeight-4, m_PosY+m_Height-4, m_ColLine); + Gr->DrawLine(m_PosX+4, m_PosY+m_Height-3, m_PosX+m_Font->m_CharHeight-3, m_PosY+m_Height-3, m_ColLineShadow); + // lower-right + Gr->DrawLine(m_PosX+m_Width-4, m_PosY+m_Height-m_Font->m_CharHeight+3, m_PosX+m_Width-4, m_PosY+m_Height-4, m_ColLine); + Gr->DrawLine(m_PosX+m_Width-3, m_PosY+m_Height-m_Font->m_CharHeight+4, m_PosX+m_Width-3, m_PosY+m_Height-3, m_ColLineShadow); + Gr->DrawLine(m_PosX+m_Width-4, m_PosY+m_Height-4, m_PosX+m_Width-m_Font->m_CharHeight+3, m_PosY+m_Height-4, m_ColLine); + Gr->DrawLine(m_PosX+m_Width-3, m_PosY+m_Height-3, m_PosX+m_Width-m_Font->m_CharHeight+4, m_PosY+m_Height-3, m_ColLineShadow); + // upper-left + Gr->DrawLine(m_PosX+3, m_PosY+m_Font->m_CharHeight-4, m_PosX+3, m_PosY+3, m_ColLine); + Gr->DrawLine(m_PosX+4, m_PosY+m_Font->m_CharHeight-3, m_PosX+4, m_PosY+4, m_ColLineShadow); + Gr->DrawLine(m_PosX+3, m_PosY+3, m_PosX+m_Font->m_CharHeight-4, m_PosY+3, m_ColLine); + Gr->DrawLine(m_PosX+4, m_PosY+4, m_PosX+m_Font->m_CharHeight-3, m_PosY+4, m_ColLineShadow); + // upper-right + Gr->DrawLine(m_PosX+m_Width-4, m_PosY+3, m_PosX+m_Width-m_Font->m_CharHeight+3, m_PosY+3, m_ColLine); + Gr->DrawLine(m_PosX+m_Width-3, m_PosY+4, m_PosX+m_Width-m_Font->m_CharHeight+4, m_PosY+4, m_ColLineShadow); + Gr->DrawLine(m_PosX+m_Width-4, m_PosY+m_Font->m_CharHeight-4, m_PosX+m_Width-4, m_PosY+3, m_ColLine); + Gr->DrawLine(m_PosX+m_Width-3, m_PosY+m_Font->m_CharHeight-3, m_PosX+m_Width-3, m_PosY+4, m_ColLineShadow); + } + + int xm = m_PosX+m_Width-2*m_Font->m_CharHeight, wm=m_Font->m_CharHeight-6; + wm = (wm<6) ? 6 : wm; + if( m_Iconifiable ) // Draw minimize button + { + Gr->DrawRect(xm+1, m_PosY+4, xm+wm-1, m_PosY+3+wm, m_HighlightMinimize?m_ColHighBtn:((m_ColBtn&0xffffff)|0x4f000000)); + Gr->DrawLine(xm, m_PosY+3, xm+wm, m_PosY+3, m_ColLine); + Gr->DrawLine(xm+wm, m_PosY+3, xm+wm, m_PosY+3+wm, m_ColLine); + Gr->DrawLine(xm+wm, m_PosY+3+wm, xm, m_PosY+3+wm, m_ColLine); + Gr->DrawLine(xm, m_PosY+3+wm, xm, m_PosY+3, m_ColLine); + Gr->DrawLine(xm+wm+1, m_PosY+4, xm+wm+1, m_PosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm+1, m_PosY+4+wm, xm, m_PosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm/3+((wm<9)?1:0)-1, m_PosY+4+wm/3-((wm<9)?0:1), xm+wm/2, m_PosY+2+wm-1, m_ColTitleText, true); + Gr->DrawLine(xm+wm-wm/3+((wm<9)?0:1), m_PosY+4+wm/3-((wm<9)?0:1), xm+wm/2, m_PosY+2+wm-1, m_ColTitleText, true); + } + + if( g_TwMgr->m_FontResizable ) // Draw font button + { + xm = m_PosX+m_Font->m_CharHeight+2; + Gr->DrawRect(xm+1, m_PosY+4, xm+wm-1, m_PosY+3+wm, m_HighlightFont?m_ColHighBtn:((m_ColBtn&0xffffff)|0x4f000000)); + Gr->DrawLine(xm, m_PosY+3, xm+wm, m_PosY+3, m_ColLine); + Gr->DrawLine(xm+wm, m_PosY+3, xm+wm, m_PosY+3+wm, m_ColLine); + Gr->DrawLine(xm+wm, m_PosY+3+wm, xm, m_PosY+3+wm, m_ColLine); + Gr->DrawLine(xm, m_PosY+3+wm, xm, m_PosY+3, m_ColLine); + Gr->DrawLine(xm+wm+1, m_PosY+4, xm+wm+1, m_PosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm+1, m_PosY+4+wm, xm, m_PosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm/2-wm/6, m_PosY+3+wm/3, xm+wm/2+wm/6+1, m_PosY+3+wm/3, m_ColTitleText); + Gr->DrawLine(xm+wm/2-wm/6, m_PosY+3+wm/3, xm+wm/2-wm/6, m_PosY+4+wm-wm/3+(wm>11?1:0), m_ColTitleText); + Gr->DrawLine(xm+wm/2-wm/6, m_PosY+3+wm/2+(wm>11?1:0), xm+wm/2+wm/6, m_PosY+3+wm/2+(wm>11?1:0), m_ColTitleText); + } + } +} + +// --------------------------------------------------------------------------- + +void CTwBar::Draw(int _DrawPart) +{ + PERF( PerfTimer Timer; double DT; ) + + assert(m_Font); + ITwGraph *Gr = g_TwMgr->m_Graph; + + m_CustomRecords.clear(); + + if( float(g_BarTimer.GetTime())>m_LastUpdateTime+m_UpdatePeriod ) + NotUpToDate(); + + if( m_HighlightedLine!=m_HighlightedLinePrev ) + { + m_HighlightedLinePrev = m_HighlightedLine; + NotUpToDate(); + } + + if( m_IsHelpBar && g_TwMgr->m_HelpBarNotUpToDate ) + g_TwMgr->UpdateHelpBar(); + + if( !m_UpToDate ) + Update(); + + if( !m_IsMinimized ) + { + int y = m_PosY+1; + int LevelSpace = max(m_Font->m_CharHeight-6, 4); // space used by DrawHierHandles + + color32 colBg = m_ColBg, colBg1 = m_ColBg1, colBg2 = m_ColBg2; + if( m_DrawHandles || m_IsPopupList ) + { + unsigned int alphaMin = 0x70; + if( m_IsPopupList ) + alphaMin = 0xa0; + if( (colBg>>24)>24)>24)DrawRect(m_PosX, m_PosY, m_PosX+m_Width-1, m_PosY+m_Font->m_CharHeight+1, (m_HighlightTitle||m_MouseDragTitle) ? m_ColTitleHighBg : (m_DrawHandles ? m_ColTitleBg : m_ColTitleUnactiveBg)); + if( m_HighlightTitle || m_MouseDragTitle ) + Gr->DrawRect(m_PosX, m_PosY, m_PosX+m_Width-1, m_PosY+m_Font->m_CharHeight+1, m_ColTitleHighBg); + else if (m_DrawHandles) + Gr->DrawRect(m_PosX, m_PosY, m_PosX+m_Width-1, m_PosY+m_Font->m_CharHeight+1, m_ColTitleBg, m_ColTitleBg, colBg2, colBg1); + else + Gr->DrawRect(m_PosX, m_PosY, m_PosX+m_Width-1, m_PosY+m_Font->m_CharHeight+1, m_ColTitleBg, m_ColTitleBg, colBg2, colBg1); + } + if( _DrawPart&DRAW_CONTENT ) + { + const color32 COL0 = 0x50ffffff; + const color32 COL1 = 0x501f1f1f; + Gr->DrawRect(m_PosX, m_PosY, m_PosX+m_Width-1, y, COL0, COL0, COL1, COL1); + if( m_ColTitleShadow!=0 ) + Gr->DrawText(m_TitleTextObj, m_PosX+(m_Width-m_TitleWidth)/2+1, m_PosY+1, m_ColTitleShadow, 0); + Gr->DrawText(m_TitleTextObj, m_PosX+(m_Width-m_TitleWidth)/2, m_PosY, m_ColTitleText, 0); + } + y = m_PosY+m_Font->m_CharHeight+1; + if( _DrawPart&DRAW_CONTENT && m_DrawHandles ) + Gr->DrawLine(m_PosX, y, m_PosX+m_Width-1, y, 0x30ffffff); // 0x80afafaf); + y++; + PERF( DT = Timer.GetTime(); printf("Title=%.4fms ", 1000.0*DT); ) + } + + // Draw background + PERF( Timer.Reset(); ) + if( _DrawPart&DRAW_BG ) + { + Gr->DrawRect(m_PosX, y, m_PosX+m_Width-1, m_PosY+m_Height-1, colBg2, colBg1, colBg1, colBg); + //Gr->DrawRect(m_PosX, y, m_PosX+m_VarX0-5, m_PosY+m_Height-1, m_ColHierBg); + Gr->DrawRect(m_PosX+m_VarX2+3, y, m_PosX+m_Width-1, m_PosY+m_Height-1, m_ColHierBg); + } + + if( _DrawPart&DRAW_CONTENT ) + { + // Draw highlighted line + if( m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() && m_HierTags[m_HighlightedLine].m_Var!=NULL + && (m_HierTags[m_HighlightedLine].m_Var->IsGroup() + || (!static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly && !m_IsHelpBar + && !m_HierTags[m_HighlightedLine].m_Var->IsCustom() ) ) ) // !(static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type>=TW_TYPE_CUSTOM_BASE && static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Typem_Customs.size()))) ) + { + int y0 = m_PosY + m_VarY0 + m_HighlightedLine*(m_Font->m_CharHeight+m_Sep); + Gr->DrawRect(m_PosX+LevelSpace+6+LevelSpace*m_HierTags[m_HighlightedLine].m_Level, y0+1, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, m_ColHighBg0, m_ColHighBg0, m_ColHighBg1, m_ColHighBg1); + int eps = (g_TwMgr->m_GraphAPI==TW_OPENGL || g_TwMgr->m_GraphAPI==TW_OPENGL_CORE) ? 1 : 0; + if( !m_EditInPlace.m_Active ) + Gr->DrawLine(m_PosX+LevelSpace+6+LevelSpace*m_HierTags[m_HighlightedLine].m_Level, y0+m_Font->m_CharHeight+eps, m_PosX+m_VarX2, y0+m_Font->m_CharHeight+eps, m_ColUnderline); + } + else if( m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + int y0 = m_PosY + m_VarY0 + m_HighlightedLine*(m_Font->m_CharHeight+m_Sep); + color32 col = ColorBlend(m_ColHighBg0, m_ColHighBg1, 0.5f); + CTwVarAtom *Atom = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( !Atom->IsCustom() // !(Atom->m_Type>=TW_TYPE_CUSTOM_BASE && Atom->m_Typem_Customs.size()) + && !(Atom->m_Type==TW_TYPE_BUTTON && Atom->m_Val.m_Button.m_Callback==NULL) ) + Gr->DrawRect(m_PosX+LevelSpace+6+LevelSpace*m_HierTags[m_HighlightedLine].m_Level, y0+1, m_PosX+m_VarX2, y0+m_Font->m_CharHeight-1, col); + else + Gr->DrawRect(m_PosX+LevelSpace+6+LevelSpace*m_HierTags[m_HighlightedLine].m_Level, y0+1, m_PosX+LevelSpace+6+LevelSpace*m_HierTags[m_HighlightedLine].m_Level+4, y0+m_Font->m_CharHeight-1, col); + } + color32 clight = 0x5FFFFFFF; // bar contour + Gr->DrawLine(m_PosX, m_PosY, m_PosX, m_PosY+m_Height, clight); + Gr->DrawLine(m_PosX, m_PosY, m_PosX+m_Width, m_PosY, clight); + Gr->DrawLine(m_PosX+m_Width, m_PosY, m_PosX+m_Width, m_PosY+m_Height, clight); + Gr->DrawLine(m_PosX, m_PosY+m_Height, m_PosX+m_Width, m_PosY+m_Height, clight); + int dshad = 3; // bar shadows + color32 cshad = (((m_Color>>24)/2)<<24) & 0xFF000000; + Gr->DrawRect(m_PosX, m_PosY+m_Height, m_PosX+dshad, m_PosY+m_Height+dshad, 0, cshad, 0, 0); + Gr->DrawRect(m_PosX+dshad+1, m_PosY+m_Height, m_PosX+m_Width-1, m_PosY+m_Height+dshad, cshad, cshad, 0, 0); + Gr->DrawRect(m_PosX+m_Width, m_PosY+m_Height, m_PosX+m_Width+dshad, m_PosY+m_Height+dshad, cshad, 0, 0, 0); + Gr->DrawRect(m_PosX+m_Width, m_PosY, m_PosX+m_Width+dshad, m_PosY+dshad, 0, 0, cshad, 0); + Gr->DrawRect(m_PosX+m_Width, m_PosY+dshad+1, m_PosX+m_Width+dshad, m_PosY+m_Height-1, cshad, 0, cshad, 0); + PERF( DT = Timer.GetTime(); printf("Bg=%.4fms ", 1000.0*DT); ) + + // Draw hierarchy handle + PERF( Timer.Reset(); ) + DrawHierHandle(); + PERF( DT = Timer.GetTime(); printf("Handles=%.4fms ", 1000.0*DT); ) + + // Draw labels + PERF( Timer.Reset(); ) + Gr->DrawText(m_LabelsTextObj, m_PosX+LevelSpace+6, m_PosY+m_VarY0, 0 /*m_ColLabelText*/, 0); + PERF( DT = Timer.GetTime(); printf("Labels=%.4fms ", 1000.0*DT); ) + + // Draw values + if( !m_IsPopupList ) + { + PERF( Timer.Reset(); ) + Gr->DrawText(m_ValuesTextObj, m_PosX+m_VarX1, m_PosY+m_VarY0, 0 /*m_ColValText*/, 0 /*m_ColValBg*/); + PERF( DT = Timer.GetTime(); printf("Values=%.4fms ", 1000.0*DT); ) + } + + // Draw preview for color values and draw buttons and custom types + int h, nh = (int)m_HierTags.size(); + int yh = m_PosY+m_VarY0; + int bw = IncrBtnWidth(m_Font->m_CharHeight); + for( h=0; hIsGroup() ) + { + const CTwVarGroup * Grp = static_cast(m_HierTags[h].m_Var); + if( Grp->m_SummaryCallback==CColorExt::SummaryCB && Grp->m_StructValuePtr!=NULL ) + { + // draw color value + if( Grp->m_Vars.size()>0 && Grp->m_Vars[0]!=NULL && !Grp->m_Vars[0]->IsGroup() ) + static_cast(Grp->m_Vars[0])->ValueToDouble(); // force ext update + int ydecal = (g_TwMgr->m_GraphAPI==TW_OPENGL || g_TwMgr->m_GraphAPI==TW_OPENGL_CORE) ? 1 : 0; + const int checker = 8; + for( int c=0; cDrawRect(m_PosX+m_VarX1+(c*(m_VarX2-m_VarX1))/checker, yh+1+ydecal+((c%2)*(m_Font->m_CharHeight-2))/2, m_PosX+m_VarX1-1+((c+1)*(m_VarX2-m_VarX1))/checker, yh+ydecal+(((c%2)+1)*(m_Font->m_CharHeight-2))/2, 0xffffffff); + Gr->DrawRect(m_PosX+m_VarX1, yh+1+ydecal, m_PosX+m_VarX2-1, yh+ydecal+m_Font->m_CharHeight-2, 0xbfffffff); + const CColorExt *colExt = static_cast(Grp->m_StructValuePtr); + color32 col = Color32FromARGBi((colExt->m_HasAlpha ? colExt->A : 255), colExt->R, colExt->G, colExt->B); + if( col!=0 ) + Gr->DrawRect(m_PosX+m_VarX1, yh+1+ydecal, m_PosX+m_VarX2-1, yh+ydecal+m_Font->m_CharHeight-2, col); + /* + Gr->DrawLine(m_PosX+m_VarX1-1, yh, m_PosX+m_VarX2+1, yh, 0xff000000); + Gr->DrawLine(m_PosX+m_VarX1-1, yh+m_Font->m_CharHeight, m_PosX+m_VarX2+1, yh+m_Font->m_CharHeight, 0xff000000); + Gr->DrawLine(m_PosX+m_VarX1-1, yh, m_PosX+m_VarX1-1, yh+m_Font->m_CharHeight, 0xff000000); + Gr->DrawLine(m_PosX+m_VarX2, yh, m_PosX+m_VarX2, yh+m_Font->m_CharHeight, 0xff000000); + */ + } + //else if( Grp->m_SummaryCallback==CustomTypeSummaryCB && Grp->m_StructValuePtr!=NULL ) + //{ + //} + } + else if( static_cast(m_HierTags[h].m_Var)->m_Type==TW_TYPE_BUTTON && !m_IsPopupList ) + { + // draw button + int cbx0, cbx1; + if( m_ButtonAlign == BUTTON_ALIGN_LEFT ) + { + cbx0 = m_PosX+m_VarX1+2; + cbx1 = m_PosX+m_VarX1+bw; + } + else if( m_ButtonAlign == BUTTON_ALIGN_CENTER ) + { + cbx0 = m_PosX+(m_VarX1+m_VarX2)/2-bw/2+1; + cbx1 = m_PosX+(m_VarX1+m_VarX2)/2+bw/2-1; + } + else + { + cbx0 = m_PosX+m_VarX2-2*bw+bw/2; + cbx1 = m_PosX+m_VarX2-2-bw/2; + } + int cby0 = yh+3; + int cby1 = yh+m_Font->m_CharHeight-3; + if( !static_cast(m_HierTags[h].m_Var)->m_ReadOnly ) + { + double BtnAutoDelta = g_TwMgr->m_Timer.GetTime() - m_HighlightClickBtnAuto; + if( (m_HighlightClickBtn || (BtnAutoDelta>=0 && BtnAutoDelta<0.1)) && h==m_HighlightedLine ) + { + cbx0--; cby0--; cbx1--; cby1--; + Gr->DrawRect(cbx0+2, cby0+2, cbx1+2, cby1+2, m_ColHighBtn); + Gr->DrawLine(cbx0+3, cby1+3, cbx1+4, cby1+3, 0xAF000000); + Gr->DrawLine(cbx1+3, cby0+3, cbx1+3, cby1+3, 0xAF000000); + Gr->DrawLine(cbx0+2, cby0+2, cbx0+2, cby1+2, m_ColLine); + Gr->DrawLine(cbx0+2, cby1+2, cbx1+2, cby1+2, m_ColLine); + Gr->DrawLine(cbx1+2, cby1+2, cbx1+2, cby0+2, m_ColLine); + Gr->DrawLine(cbx1+2, cby0+2, cbx0+2, cby0+2, m_ColLine); + } + else + { + Gr->DrawRect(cbx0+2, cby1+1, cbx1+2, cby1+2, (h==m_HighlightedLine)?0xAF000000:0x7F000000); + Gr->DrawRect(cbx1+1, cby0+2, cbx1+2, cby1, (h==m_HighlightedLine)?0xAF000000:0x7F000000); + Gr->DrawRect(cbx0, cby0, cbx1, cby1, (h==m_HighlightedLine)?m_ColHighBtn:m_ColBtn); + Gr->DrawLine(cbx0, cby0, cbx0, cby1, m_ColLine); + Gr->DrawLine(cbx0, cby1, cbx1, cby1, m_ColLine); + Gr->DrawLine(cbx1, cby1, cbx1, cby0, m_ColLine); + Gr->DrawLine(cbx1, cby0, cbx0, cby0, m_ColLine); + } + } + else if( static_cast(m_HierTags[h].m_Var)->m_Val.m_Button.m_Callback!=NULL ) + { + Gr->DrawRect(cbx0+1, cby0+1, cbx1+1, cby1+1, m_ColBtn); + } + else if( static_cast(m_HierTags[h].m_Var)->m_Val.m_Button.m_Separator==1 ) + { + int LevelSpace = max(m_Font->m_CharHeight-6, 4); // space used by DrawHierHandles + Gr->DrawLine(m_PosX+m_VarX0+m_HierTags[h].m_Level*LevelSpace, yh+m_Font->m_CharHeight/2, m_PosX+m_VarX2, yh+m_Font->m_CharHeight/2, m_ColSeparator ); + } + } + else if( m_HierTags[h].m_Var->IsCustom() ) //static_cast(m_HierTags[h].m_Var)->m_Type>=TW_TYPE_CUSTOM_BASE && static_cast(m_HierTags[h].m_Var)->m_Typem_Customs.size() ) + { // record custom types + CTwMgr::CMemberProxy *mProxy = static_cast(m_HierTags[h].m_Var)->m_Val.m_Custom.m_MemberProxy; + if( mProxy!=NULL && mProxy->m_StructProxy!=NULL ) + { + CustomMap::iterator it = m_CustomRecords.find(mProxy->m_StructProxy); + int xMin = m_PosX + m_VarX0 + m_HierTags[h].m_Level*LevelSpace; + int xMax = m_PosX + m_VarX2 - 2; + int yMin = yh + 1; + int yMax = yh + m_Font->m_CharHeight; + if( it==m_CustomRecords.end() ) + { + std::pair pr; + pr.first = mProxy->m_StructProxy; + pr.second.m_IndexMin = pr.second.m_IndexMax = mProxy->m_MemberIndex; + pr.second.m_XMin = xMin; + pr.second.m_XMax = xMax; + pr.second.m_YMin = yMin; + pr.second.m_YMax = yMax; + pr.second.m_Y0 = 0; // will be filled by the draw loop below + pr.second.m_Y1 = 0; // will be filled by the draw loop below + pr.second.m_Var = mProxy->m_VarParent; + m_CustomRecords.insert(pr); + } + else + { + it->second.m_IndexMin = min(it->second.m_IndexMin, mProxy->m_MemberIndex); + it->second.m_IndexMax = min(it->second.m_IndexMax, mProxy->m_MemberIndex); + it->second.m_XMin = min(it->second.m_XMin, xMin); + it->second.m_XMax = max(it->second.m_XMax, xMax); + it->second.m_YMin = min(it->second.m_YMin, yMin); + it->second.m_YMax = max(it->second.m_YMax, yMax); + it->second.m_Y0 = 0; + it->second.m_Y1 = 0; + assert( it->second.m_Var==mProxy->m_VarParent ); + } + } + } + + yh += m_Font->m_CharHeight+m_Sep; + } + + // Draw custom types + for( CustomMap::iterator it = m_CustomRecords.begin(); it!=m_CustomRecords.end(); ++it ) + { + CTwMgr::CStructProxy *sProxy = it->first; + assert( sProxy!=NULL ); + CCustomRecord& r = it->second; + if( sProxy->m_CustomDrawCallback!=NULL ) + { + int y0 = r.m_YMin - max(r.m_IndexMin - sProxy->m_CustomIndexFirst, 0)*(m_Font->m_CharHeight + m_Sep); + int y1 = y0 + max(sProxy->m_CustomIndexLast - sProxy->m_CustomIndexFirst + 1, 0)*(m_Font->m_CharHeight + m_Sep) - 2; + if( y0ChangeViewport(r.m_XMin, r.m_YMin, r.m_XMax-r.m_XMin+1, r.m_YMax-r.m_YMin+1, 0, y0-r.m_YMin+1); + sProxy->m_CustomDrawCallback(r.m_XMax-r.m_XMin, y1-y0, sProxy->m_StructExtData, sProxy->m_StructClientData, this, r.m_Var); + Gr->RestoreViewport(); + } + } + } + + if( m_DrawHandles && !m_IsPopupList ) + { + // Draw -/+/o/click/v buttons + if( (m_DrawIncrDecrBtn || m_DrawClickBtn || m_DrawListBtn || m_DrawBoolBtn || m_DrawRotoBtn) && m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() ) + { + int y0 = m_PosY + m_VarY0 + m_HighlightedLine*(m_Font->m_CharHeight+m_Sep); + if( m_DrawIncrDecrBtn ) + { + bool IsMin = false; + bool IsMax = false; + if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + const CTwVarAtom *Atom = static_cast(m_HierTags[m_HighlightedLine].m_Var); + double v, vmin, vmax; + v = Atom->ValueToDouble(); + Atom->MinMaxStepToDouble(&vmin, &vmax, NULL); + IsMax = (v>=vmax); + IsMin = (v<=vmin); + } + + /* + Gr->DrawRect(m_PosX+m_VarX2-2*bw+1, y0+1, m_PosX+m_VarX2-bw-1, y0+m_Font->m_CharHeight-2, (m_HighlightDecrBtn && !IsMin)?m_ColHighBtn:m_ColBtn); + Gr->DrawRect(m_PosX+m_VarX2-bw+1, y0+1, m_PosX+m_VarX2-1, y0+m_Font->m_CharHeight-2, (m_HighlightIncrBtn && !IsMax)?m_ColHighBtn:m_ColBtn); + // [-] + Gr->DrawLine(m_PosX+m_VarX2-2*bw+3+(bw>8?1:0), y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-bw-2-(bw>8?1:0), y0+m_Font->m_CharHeight/2, IsMin?m_ColValTextRO:m_ColTitleText); + // [+] + Gr->DrawLine(m_PosX+m_VarX2-bw+3, y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-2, y0+m_Font->m_CharHeight/2, IsMax?m_ColValTextRO:m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX2-bw/2, y0+m_Font->m_CharHeight/2-bw/2+2, m_PosX+m_VarX2-bw/2, y0+m_Font->m_CharHeight/2+bw/2-1, IsMax?m_ColValTextRO:m_ColTitleText); + */ + Gr->DrawRect(m_PosX+m_VarX2-3*bw+1, y0+1, m_PosX+m_VarX2-2*bw-1, y0+m_Font->m_CharHeight-2, (m_HighlightDecrBtn && !IsMin)?m_ColHighBtn:m_ColBtn); + Gr->DrawRect(m_PosX+m_VarX2-2*bw+1, y0+1, m_PosX+m_VarX2-bw-1, y0+m_Font->m_CharHeight-2, (m_HighlightIncrBtn && !IsMax)?m_ColHighBtn:m_ColBtn); + // [-] + Gr->DrawLine(m_PosX+m_VarX2-3*bw+3+(bw>8?1:0), y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-2*bw-2-(bw>8?1:0), y0+m_Font->m_CharHeight/2, IsMin?m_ColValTextRO:m_ColTitleText); + // [+] + Gr->DrawLine(m_PosX+m_VarX2-2*bw+3, y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-bw-2, y0+m_Font->m_CharHeight/2, IsMax?m_ColValTextRO:m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX2-bw-bw/2, y0+m_Font->m_CharHeight/2-bw/2+2, m_PosX+m_VarX2-bw-bw/2, y0+m_Font->m_CharHeight/2+bw/2-1, IsMax?m_ColValTextRO:m_ColTitleText); + } + else if( m_DrawListBtn ) + { + // [v] + int eps = 1; + int dx = -1; + Gr->DrawRect(m_PosX+m_VarX2-bw+1, y0+1, m_PosX+m_VarX2-1, y0+m_Font->m_CharHeight-2, m_HighlightListBtn?m_ColHighBtn:m_ColBtn); + Gr->DrawLine(m_PosX+m_VarX2-bw+4+dx, y0+m_Font->m_CharHeight/2-eps, m_PosX+m_VarX2-bw/2+1+dx, y0+m_Font->m_CharHeight-4, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw/2+1+dx, y0+m_Font->m_CharHeight-4, m_PosX+m_VarX2-2+dx, y0+m_Font->m_CharHeight/2-1, m_ColTitleText, true); + } + else if( m_DrawBoolBtn ) + { + Gr->DrawRect(m_PosX+m_VarX2-bw+1, y0+1, m_PosX+m_VarX2-1, y0+m_Font->m_CharHeight-2, m_HighlightBoolBtn?m_ColHighBtn:m_ColBtn); + // [x] + //Gr->DrawLine(m_PosX+m_VarX2-bw/2-bw/6, y0+m_Font->m_CharHeight/2-bw/6, m_PosX+m_VarX2-bw/2+bw/6, y0+m_Font->m_CharHeight/2+bw/6, m_ColTitleText, true); + //Gr->DrawLine(m_PosX+m_VarX2-bw/2-bw/6, y0+m_Font->m_CharHeight/2+bw/6, m_PosX+m_VarX2-bw/2+bw/6, y0+m_Font->m_CharHeight/2-bw/6, m_ColTitleText, true); + // [<>] + int s = bw/4; + int eps = 1; + Gr->DrawLine(m_PosX+m_VarX2-bw/2-1, y0+m_Font->m_CharHeight/2-s, m_PosX+m_VarX2-bw/2-s-1, y0+m_Font->m_CharHeight/2, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw/2-s-1, y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-bw/2-eps, y0+m_Font->m_CharHeight/2+s+1-eps, m_ColTitleText, true); + //Gr->DrawLine(m_PosX+m_VarX2-bw/2+1, y0+m_Font->m_CharHeight/2+s, m_PosX+m_VarX2-bw/2+s+1, y0+m_Font->m_CharHeight/2, m_ColTitleText, true); + //Gr->DrawLine(m_PosX+m_VarX2-bw/2+s+1, y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-bw/2+1, y0+m_Font->m_CharHeight/2-s, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw/2+2, y0+m_Font->m_CharHeight/2-s, m_PosX+m_VarX2-bw/2+s+2, y0+m_Font->m_CharHeight/2, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw/2+s+2, y0+m_Font->m_CharHeight/2, m_PosX+m_VarX2-bw/2+1+eps, y0+m_Font->m_CharHeight/2+s+1-eps, m_ColTitleText, true); + } + + if( m_DrawRotoBtn ) + { + // [o] rotoslider button + /* + Gr->DrawRect(m_PosX+m_VarX1-bw-1, y0+1, m_PosX+m_VarX1-3, y0+m_Font->m_CharHeight-2, m_HighlightRotoBtn?m_ColHighBtn:m_ColBtn); + Gr->DrawLine(m_PosX+m_VarX1-bw+bw/2-2, y0+m_Font->m_CharHeight/2-1, m_PosX+m_VarX1-bw+bw/2-1, y0+m_Font->m_CharHeight/2-1, m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX1-bw+bw/2-3, y0+m_Font->m_CharHeight/2+0, m_PosX+m_VarX1-bw+bw/2+0, y0+m_Font->m_CharHeight/2+0, m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX1-bw+bw/2-3, y0+m_Font->m_CharHeight/2+1, m_PosX+m_VarX1-bw+bw/2+0, y0+m_Font->m_CharHeight/2+1, m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX1-bw+bw/2-2, y0+m_Font->m_CharHeight/2+2, m_PosX+m_VarX1-bw+bw/2-1, y0+m_Font->m_CharHeight/2+2, m_ColTitleText); + */ + /* + Gr->DrawRect(m_PosX+m_VarX2-3*bw+1, y0+1, m_PosX+m_VarX2-2*bw-1, y0+m_Font->m_CharHeight-2, m_HighlightRotoBtn?m_ColHighBtn:m_ColBtn); + Gr->DrawLine(m_PosX+m_VarX2-3*bw+bw/2+0, y0+m_Font->m_CharHeight/2-1, m_PosX+m_VarX2-3*bw+bw/2+1, y0+m_Font->m_CharHeight/2-1, m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX2-3*bw+bw/2-1, y0+m_Font->m_CharHeight/2+0, m_PosX+m_VarX2-3*bw+bw/2+2, y0+m_Font->m_CharHeight/2+0, m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX2-3*bw+bw/2-1, y0+m_Font->m_CharHeight/2+1, m_PosX+m_VarX2-3*bw+bw/2+2, y0+m_Font->m_CharHeight/2+1, m_ColTitleText); + Gr->DrawLine(m_PosX+m_VarX2-3*bw+bw/2+0, y0+m_Font->m_CharHeight/2+2, m_PosX+m_VarX2-3*bw+bw/2+1, y0+m_Font->m_CharHeight/2+2, m_ColTitleText); + */ + int dy = 0; + Gr->DrawRect(m_PosX+m_VarX2-bw+1, y0+1, m_PosX+m_VarX2-1, y0+m_Font->m_CharHeight-2, m_HighlightRotoBtn?m_ColHighBtn:m_ColBtn); + Gr->DrawLine(m_PosX+m_VarX2-bw+bw/2+0, y0+m_Font->m_CharHeight/2-1+dy, m_PosX+m_VarX2-bw+bw/2+1, y0+m_Font->m_CharHeight/2-1+dy, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw+bw/2-1, y0+m_Font->m_CharHeight/2+0+dy, m_PosX+m_VarX2-bw+bw/2+2, y0+m_Font->m_CharHeight/2+0+dy, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw+bw/2-1, y0+m_Font->m_CharHeight/2+1+dy, m_PosX+m_VarX2-bw+bw/2+2, y0+m_Font->m_CharHeight/2+1+dy, m_ColTitleText, true); + Gr->DrawLine(m_PosX+m_VarX2-bw+bw/2+0, y0+m_Font->m_CharHeight/2+2+dy, m_PosX+m_VarX2-bw+bw/2+1, y0+m_Font->m_CharHeight/2+2+dy, m_ColTitleText, true); + } + } + + + // Draw value width slider + if( !m_HighlightValWidth ) + { + color32 col = m_DarkText ? COLOR32_WHITE : m_ColTitleText; + Gr->DrawRect(m_PosX+m_VarX1-2, m_PosY+m_VarY0-8, m_PosX+m_VarX1-1, m_PosY+m_VarY0-4, col); + Gr->DrawLine(m_PosX+m_VarX1-1, m_PosY+m_VarY0-3, m_PosX+m_VarX1, m_PosY+m_VarY0-3, m_ColLineShadow); + Gr->DrawLine(m_PosX+m_VarX1, m_PosY+m_VarY0-3, m_PosX+m_VarX1, m_PosY+m_VarY0-8, m_ColLineShadow); + } + else + { + color32 col = m_DarkText ? COLOR32_WHITE : m_ColTitleText; + Gr->DrawRect(m_PosX+m_VarX1-2, m_PosY+m_VarY0-8, m_PosX+m_VarX1-1, m_PosY+m_VarY1, col); + Gr->DrawLine(m_PosX+m_VarX1-1, m_PosY+m_VarY1+1, m_PosX+m_VarX1, m_PosY+m_VarY1+1, m_ColLineShadow); + Gr->DrawLine(m_PosX+m_VarX1, m_PosY+m_VarY1+1, m_PosX+m_VarX1, m_PosY+m_VarY0-8, m_ColLineShadow); + } + + // Draw labels & values headers + if (m_HighlightLabelsHeader) + { + Gr->DrawRect(m_PosX+m_VarX0, m_PosY+m_Font->m_CharHeight+2, m_PosX+m_VarX1-4, m_PosY+m_VarY0-1, m_ColHighBg0, m_ColHighBg0, m_ColHighBg1, m_ColHighBg1); + } + if (m_HighlightValuesHeader) + { + Gr->DrawRect(m_PosX+m_VarX1+2, m_PosY+m_Font->m_CharHeight+2, m_PosX+m_VarX2, m_PosY+m_VarY0-1, m_ColHighBg0, m_ColHighBg0, m_ColHighBg1, m_ColHighBg1); + } + } + + // Draw key shortcut text + if( m_HighlightedLine>=0 && m_HighlightedLine==m_ShortcutLine && !m_IsPopupList && !m_EditInPlace.m_Active ) + { + PERF( Timer.Reset(); ) + Gr->DrawRect(m_PosX+m_Font->m_CharHeight-2, m_PosY+m_VarY1+1, m_PosX+m_Width-m_Font->m_CharHeight-2, m_PosY+m_VarY1+1+m_Font->m_CharHeight, m_ColShortcutBg); + Gr->DrawText(m_ShortcutTextObj, m_PosX+m_Font->m_CharHeight, m_PosY+m_VarY1+1, m_ColShortcutText, 0); + PERF( DT = Timer.GetTime(); printf("Shortcut=%.4fms ", 1000.0*DT); ) + } + else if( (m_HighlightLabelsHeader || m_HighlightValuesHeader) && !m_IsPopupList && !m_EditInPlace.m_Active ) + { + Gr->DrawRect(m_PosX+m_Font->m_CharHeight-2, m_PosY+m_VarY1+1, m_PosX+m_Width-m_Font->m_CharHeight-2, m_PosY+m_VarY1+1+m_Font->m_CharHeight, m_ColShortcutBg); + Gr->DrawText(m_HeadersTextObj, m_PosX+m_Font->m_CharHeight, m_PosY+m_VarY1+1, m_ColShortcutText, 0); + } + else if( m_IsHelpBar ) + { + if( g_TwMgr->m_KeyPressedTextObj && g_TwMgr->m_KeyPressedStr.size()>0 ) // Draw key pressed + { + if( g_TwMgr->m_KeyPressedBuildText ) + { + string Str = g_TwMgr->m_KeyPressedStr; + ClampText(Str, m_Font, m_Width-2*m_Font->m_CharHeight); + g_TwMgr->m_Graph->BuildText(g_TwMgr->m_KeyPressedTextObj, &Str, NULL, NULL, 1, g_TwMgr->m_HelpBar->m_Font, 0, 0); + g_TwMgr->m_KeyPressedBuildText = false; + g_TwMgr->m_KeyPressedTime = (float)g_BarTimer.GetTime(); + } + if( (float)g_BarTimer.GetTime()>g_TwMgr->m_KeyPressedTime+1.0f ) // draw key pressed at least 1 second + g_TwMgr->m_KeyPressedStr = ""; + PERF( Timer.Reset(); ) + Gr->DrawRect(m_PosX+m_Font->m_CharHeight-2, m_PosY+m_VarY1+1, m_PosX+m_Width-m_Font->m_CharHeight-2, m_PosY+m_VarY1+1+m_Font->m_CharHeight, m_ColShortcutBg); + Gr->DrawText(g_TwMgr->m_KeyPressedTextObj, m_PosX+m_Font->m_CharHeight, m_PosY+m_VarY1+1, m_ColShortcutText, 0); + PERF( DT = Timer.GetTime(); printf("KeyPressed=%.4fms ", 1000.0*DT); ) + } + else + { + if( g_TwMgr->m_InfoBuildText ) + { + string Info = "> AntTweakBar"; + char Ver[64]; + sprintf(Ver, " (v%d.%02d)", TW_VERSION/100, TW_VERSION%100); + Info += Ver; + ClampText(Info, m_Font, m_Width-2*m_Font->m_CharHeight); + g_TwMgr->m_Graph->BuildText(g_TwMgr->m_InfoTextObj, &Info, NULL, NULL, 1, g_TwMgr->m_HelpBar->m_Font, 0, 0); + g_TwMgr->m_InfoBuildText = false; + } + PERF( Timer.Reset(); ) + Gr->DrawRect(m_PosX+m_Font->m_CharHeight-2, m_PosY+m_VarY1+1, m_PosX+m_Width-m_Font->m_CharHeight-2, m_PosY+m_VarY1+1+m_Font->m_CharHeight, m_ColShortcutBg); + Gr->DrawText(g_TwMgr->m_InfoTextObj, m_PosX+m_Font->m_CharHeight, m_PosY+m_VarY1+1, m_ColInfoText, 0); + PERF( DT = Timer.GetTime(); printf("Info=%.4fms ", 1000.0*DT); ) + } + } + + if( !m_IsPopupList ) + { + // Draw RotoSlider + RotoDraw(); + + // Draw EditInPlace + EditInPlaceDraw(); + } + + if( g_TwMgr->m_PopupBar!=NULL && this!=g_TwMgr->m_PopupBar ) + { + // darken bar if a popup bar is displayed + Gr->DrawRect(m_PosX, m_PosY, m_PosX+m_Width-1, m_PosY+m_Height-1, 0x1F000000); + } + } + } + else // minimized + { + int vpx, vpy, vpw, vph; + vpx = 0; + vpy = 0; + vpw = g_TwMgr->m_WndWidth; + vph = g_TwMgr->m_WndHeight; + if( g_TwMgr->m_IconMarginX>0 ) + { + vpx = min(g_TwMgr->m_IconMarginX, vpw/3); + vpw -= 2 * vpx; + } + if( g_TwMgr->m_IconMarginY>0 ) + { + vpy = min(g_TwMgr->m_IconMarginY, vph/3); + vph -= 2 * vpy; + } + + int MinXOffset = 0, MinYOffset = 0; + if( g_TwMgr->m_IconPos==3 ) // top-right + { + if( g_TwMgr->m_IconAlign==1 ) // horizontal + { + int n = max(1, vpw/m_Font->m_CharHeight-1); + m_MinPosX = vpx + vpw-((m_MinNumber%n)+1)*m_Font->m_CharHeight; + m_MinPosY = vpy + (m_MinNumber/n)*m_Font->m_CharHeight; + MinYOffset = m_Font->m_CharHeight; + MinXOffset = -m_TitleWidth; + } + else // vertical + { + int n = max(1, vph/m_Font->m_CharHeight-1); + m_MinPosY = vpy + (m_MinNumber%n)*m_Font->m_CharHeight; + m_MinPosX = vpx + vpw-((m_MinNumber/n)+1)*m_Font->m_CharHeight; + MinXOffset = -m_TitleWidth-m_Font->m_CharHeight; + } + } + else if( g_TwMgr->m_IconPos==2 ) // top-left + { + if( g_TwMgr->m_IconAlign==1 ) // horizontal + { + int n = max(1, vpw/m_Font->m_CharHeight-1); + m_MinPosX = vpx + (m_MinNumber%n)*m_Font->m_CharHeight; + m_MinPosY = vpy + (m_MinNumber/n)*m_Font->m_CharHeight; + MinYOffset = m_Font->m_CharHeight; + } + else // vertical + { + int n = max(1, vph/m_Font->m_CharHeight-1); + m_MinPosY = vpy + (m_MinNumber%n)*m_Font->m_CharHeight; + m_MinPosX = vpx + (m_MinNumber/n)*m_Font->m_CharHeight; + MinXOffset = m_Font->m_CharHeight; + } + } + else if( g_TwMgr->m_IconPos==1 ) // bottom-right + { + if( g_TwMgr->m_IconAlign==1 ) // horizontal + { + int n = max(1, vpw/m_Font->m_CharHeight-1); + m_MinPosX = vpx + vpw-((m_MinNumber%n)+1)*m_Font->m_CharHeight; + m_MinPosY = vpy + vph-((m_MinNumber/n)+1)*m_Font->m_CharHeight; + MinYOffset = -m_Font->m_CharHeight; + MinXOffset = -m_TitleWidth; + } + else // vertical + { + int n = max(1, vph/m_Font->m_CharHeight-1); + m_MinPosY = vpy + vph-((m_MinNumber%n)+1)*m_Font->m_CharHeight; + m_MinPosX = vpx + vpw-((m_MinNumber/n)+1)*m_Font->m_CharHeight; + MinXOffset = -m_TitleWidth-m_Font->m_CharHeight; + } + } + else // bottom-left + { + if( g_TwMgr->m_IconAlign==1 ) // horizontal + { + int n = max(1, vpw/m_Font->m_CharHeight-1); + m_MinPosX = vpx + (m_MinNumber%n)*m_Font->m_CharHeight; + m_MinPosY = vpy + vph-((m_MinNumber/n)+1)*m_Font->m_CharHeight; + MinYOffset = -m_Font->m_CharHeight; + } + else // vertical + { + int n = max(1, vph/m_Font->m_CharHeight-1); + m_MinPosY = vpy + vph-((m_MinNumber%n)+1)*m_Font->m_CharHeight; + m_MinPosX = vpx + (m_MinNumber/n)*m_Font->m_CharHeight; + MinXOffset = m_Font->m_CharHeight; + } + } + + if( m_HighlightMaximize ) + { + // Draw title + if( _DrawPart&DRAW_BG ) + { + Gr->DrawRect(m_MinPosX, m_MinPosY, m_MinPosX+m_Font->m_CharHeight, m_MinPosY+m_Font->m_CharHeight, m_ColTitleUnactiveBg); + Gr->DrawRect(m_MinPosX+MinXOffset, m_MinPosY+MinYOffset, m_MinPosX+MinXOffset+m_TitleWidth+m_Font->m_CharHeight, m_MinPosY+MinYOffset+m_Font->m_CharHeight, m_ColTitleUnactiveBg); + } + if( _DrawPart&DRAW_CONTENT ) + { + if( m_ColTitleShadow!=0 ) + Gr->DrawText(m_TitleTextObj, m_MinPosX+MinXOffset+m_Font->m_CharHeight/2, m_MinPosY+1+MinYOffset, m_ColTitleShadow, 0); + Gr->DrawText(m_TitleTextObj, m_MinPosX+MinXOffset+m_Font->m_CharHeight/2, m_MinPosY+MinYOffset, m_ColTitleText, 0); + } + } + + if( !m_IsHelpBar ) + { + // Draw maximize button + int xm = m_MinPosX+2, wm=m_Font->m_CharHeight-6; + wm = (wm<6) ? 6 : wm; + if( _DrawPart&DRAW_BG ) + Gr->DrawRect(xm+1, m_MinPosY+4, xm+wm-1, m_MinPosY+3+wm, m_HighlightMaximize?m_ColHighBtn:m_ColBtn); + if( _DrawPart&DRAW_CONTENT ) + { + Gr->DrawLine(xm, m_MinPosY+3, xm+wm, m_MinPosY+3, m_ColLine); + Gr->DrawLine(xm+wm, m_MinPosY+3, xm+wm, m_MinPosY+3+wm, m_ColLine); + Gr->DrawLine(xm+wm, m_MinPosY+3+wm, xm, m_MinPosY+3+wm, m_ColLine); + Gr->DrawLine(xm, m_MinPosY+3+wm, xm, m_MinPosY+3, m_ColLine); + Gr->DrawLine(xm+wm+1, m_MinPosY+4, xm+wm+1, m_MinPosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm+1, m_MinPosY+4+wm, xm, m_MinPosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm/3-1, m_MinPosY+3+wm-wm/3, xm+wm/2, m_MinPosY+6, m_ColTitleText, true); + Gr->DrawLine(xm+wm-wm/3+1, m_MinPosY+3+wm-wm/3, xm+wm/2, m_MinPosY+6, m_ColTitleText, true); + } + } + else + { + // Draw help button + int xm = m_MinPosX+2, wm=m_Font->m_CharHeight-6; + wm = (wm<6) ? 6 : wm; + if( _DrawPart&DRAW_BG ) + Gr->DrawRect(xm+1, m_MinPosY+4, xm+wm-1, m_MinPosY+3+wm, m_HighlightMaximize?m_ColHighBtn:m_ColBtn); + if( _DrawPart&DRAW_CONTENT ) + { + Gr->DrawLine(xm, m_MinPosY+3, xm+wm, m_MinPosY+3, m_ColLine); + Gr->DrawLine(xm+wm, m_MinPosY+3, xm+wm, m_MinPosY+3+wm, m_ColLine); + Gr->DrawLine(xm+wm, m_MinPosY+3+wm, xm, m_MinPosY+3+wm, m_ColLine); + Gr->DrawLine(xm, m_MinPosY+3+wm, xm, m_MinPosY+3, m_ColLine); + Gr->DrawLine(xm+wm+1, m_MinPosY+4, xm+wm+1, m_MinPosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm+1, m_MinPosY+4+wm, xm, m_MinPosY+4+wm, m_ColLineShadow); + Gr->DrawLine(xm+wm/2-wm/6, m_MinPosY+3+wm/4, xm+wm-wm/3, m_MinPosY+3+wm/4, m_ColTitleText); + Gr->DrawLine(xm+wm-wm/3, m_MinPosY+3+wm/4, xm+wm-wm/3, m_MinPosY+3+wm/2, m_ColTitleText); + Gr->DrawLine(xm+wm-wm/3, m_MinPosY+3+wm/2, xm+wm/2, m_MinPosY+3+wm/2, m_ColTitleText); + Gr->DrawLine(xm+wm/2, m_MinPosY+3+wm/2, xm+wm/2, m_MinPosY+3+wm-wm/4, m_ColTitleText); + Gr->DrawLine(xm+wm/2, m_MinPosY+3+wm-wm/4+1, xm+wm/2, m_MinPosY+3+wm-wm/4+2, m_ColTitleText); + } + } + } +} + +// --------------------------------------------------------------------------- + +bool CTwBar::MouseMotion(int _X, int _Y) +{ + assert(g_TwMgr->m_Graph && g_TwMgr->m_WndHeight>0 && g_TwMgr->m_WndWidth>0); + if( !m_UpToDate ) + Update(); + + bool Handled = false; + bool CustomArea = false; + if( !m_IsMinimized ) + { + bool InBar = (_X>=m_PosX && _X=m_PosY && _Ym_Bars.size(); ++ib ) + if( g_TwMgr->m_Bars[ib]!=NULL ) + { + g_TwMgr->m_Bars[ib]->m_DrawHandles = false; + g_TwMgr->m_Bars[ib]->m_HighlightTitle = false; + } + m_DrawHandles = InBar; + const int ContainedMargin = 32; + + if( !m_MouseDrag ) + { + Handled = InBar; + m_HighlightedLine = -1; + m_HighlightIncrBtn = false; + m_HighlightDecrBtn = false; + m_HighlightRotoBtn = false; + if( abs(m_MouseOriginX-_X)>6 || abs(m_MouseOriginY-_Y)>6 ) + m_HighlightClickBtn = false; + m_HighlightListBtn = false; + m_HighlightTitle = false; + m_HighlightScroll = false; + m_HighlightUpScroll = false; + m_HighlightDnScroll = false; + m_HighlightMinimize = false; + m_HighlightFont = false; + m_HighlightValWidth = false; + m_HighlightLabelsHeader = false; + m_HighlightValuesHeader = false; + //if( InBar && _X>m_PosX+m_Font->m_CharHeight+1 && _X=m_PosY+m_VarY0 && _Ym_PosX+2 && _X=m_PosY+m_VarY0 && _Ym_CharHeight+m_Sep); + if( m_HighlightedLine>=(int)m_HierTags.size() ) + m_HighlightedLine = -1; + else if(m_HighlightedLine>=0) + m_HighlightedLineLastValid = m_HighlightedLine; + if( m_HighlightedLine<0 || m_HierTags[m_HighlightedLine].m_Var==NULL || m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + ANT_SET_CURSOR(Arrow); + else + { + if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() && static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_NoSlider ) + { + if( static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly && !m_IsHelpBar + && !(static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Type==TW_TYPE_BUTTON && static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_Val.m_Button.m_Callback==NULL) ) + ANT_SET_CURSOR(No); //(Arrow); + else + { + ANT_SET_CURSOR(Arrow); + CustomArea = true; + } + + if( m_DrawListBtn ) + { + m_HighlightListBtn = true; + CustomArea = false; + } + if( m_DrawBoolBtn ) + { + m_HighlightBoolBtn = true; + CustomArea = false; + } + } + else if( m_DrawRotoBtn && ( _X>=m_PosX+m_VarX2-IncrBtnWidth(m_Font->m_CharHeight) || _X=m_PosX+m_VarX2-2*IncrBtnWidth(m_Font->m_CharHeight) ) // [+] button + { + m_HighlightIncrBtn = true; + ANT_SET_CURSOR(Arrow); + } + else if( m_DrawIncrDecrBtn && _X>=m_PosX+m_VarX2-3*IncrBtnWidth(m_Font->m_CharHeight) ) // [-] button + { + m_HighlightDecrBtn = true; + ANT_SET_CURSOR(Arrow); + } + else if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() && static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly ) + { + if( !m_IsHelpBar ) + ANT_SET_CURSOR(No); + else + ANT_SET_CURSOR(Arrow); + } + else + //ANT_SET_CURSOR(Point); + ANT_SET_CURSOR(IBeam); + } + } + else if( InBar && m_Movable && !m_IsPopupList && _X>=m_PosX+2*m_Font->m_CharHeight && _Xm_CharHeight && _Ym_CharHeight ) + { // mouse over title + m_HighlightTitle = true; + ANT_SET_CURSOR(Move); + } + else if ( InBar && !m_IsPopupList && _X>=m_PosX+m_VarX1-5 && _Xm_PosY+m_Font->m_CharHeight && _Y=m_PosX+m_VarX0 && _Xm_PosY+m_Font->m_CharHeight && _Y=m_PosX+m_VarX1+5 && _Xm_PosY+m_Font->m_CharHeight && _Y=m_PosX && _Xm_CharHeight && _Y>=m_ScrollY0 && _Y=m_PosX+m_VarX2+2 && _X=m_ScrollY0 && _Y=m_PosX+m_VarX2+2 && _X=m_PosY+m_VarY0 && _Y=m_PosX+m_VarX2+2 && _X=m_ScrollY1 && _Y=m_PosX && _Xm_CharHeight && _Y>=m_PosY && _Ym_CharHeight ) + ANT_SET_CURSOR(TopLeft); + else if( InBar && !m_IsPopupList && _X>=m_PosX && _Xm_CharHeight && _Y>=m_PosY+m_Height-m_Font->m_CharHeight && _Y=m_PosX+m_Width-m_Font->m_CharHeight && _X=m_PosY && _Ym_CharHeight ) + ANT_SET_CURSOR(TopRight); + else if( InBar && m_Resizable && !m_IsPopupList && _X>=m_PosX+m_Width-m_Font->m_CharHeight && _X=m_PosY+m_Height-m_Font->m_CharHeight && _Ym_FontResizable && !m_IsPopupList && _X>=m_PosX+m_Font->m_CharHeight && _Xm_CharHeight && _Ym_CharHeight ) + { + m_HighlightFont = true; + ANT_SET_CURSOR(Arrow); + } + else if( InBar && m_Iconifiable && !m_IsPopupList && _X>=m_PosX+m_Width-2*m_Font->m_CharHeight && _Xm_CharHeight && _Ym_CharHeight ) + { + m_HighlightMinimize = true; + ANT_SET_CURSOR(Arrow); + } + else if( m_IsHelpBar && InBar && _X>=m_PosX+m_VarX0 && _Xm_CharHeight && _Y>m_PosY+m_Height-m_Font->m_CharHeight && _Y=0 && m_HighlightedLine<(int)m_HierTags.size() && m_HierTags[m_HighlightedLine].m_Var && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + /* + CTwVarAtom *Var = static_cast(m_HierTags[m_HighlightedLine].m_Var); + int Delta = _X-m_MouseOriginX; + if( Delta!=0 ) + { + if( !Var->m_NoSlider && !Var->m_ReadOnly ) + { + Var->Increment(Delta); + NotUpToDate(); + } + m_VarHasBeenIncr = true; + } + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + if( !Var->m_NoSlider && !Var->m_ReadOnly ) + ANT_SET_CURSOR(Center); + //ANT_SET_CURSOR(WE); + else + ANT_SET_CURSOR(Arrow); + Handled = true; + */ + + // move rotoslider + if( !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_NoSlider ) + RotoOnMouseMove(_X, _Y); + + if( static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly ) + ANT_SET_CURSOR(No); + else if( static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_NoSlider ) + { + ANT_SET_CURSOR(Arrow); + CustomArea = true; + } + m_VarHasBeenIncr = true; + Handled = true; + m_DrawHandles = true; + } + else if( m_MouseDragTitle ) + { + int y = m_PosY; + m_PosX += _X-m_MouseOriginX; + m_PosY += _Y-m_MouseOriginY; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + int vpx, vpy, vpw, vph; + vpx = 0; + vpy = 0; + vpw = g_TwMgr->m_WndWidth; + vph = g_TwMgr->m_WndHeight; + if( m_Contained ) + { + if( m_PosX+m_Width>vpx+vpw ) + m_PosX = vpx+vpw-m_Width; + if( m_PosXvpy+vph ) + m_PosY = vpy+vph-m_Height; + if( m_PosYvpx+vpw ) + m_PosX = vpx+vpw-ContainedMargin; + if( m_PosX+m_Widthvpy+vph ) + m_PosY = vpy+vph-ContainedMargin; + if( m_PosY+m_Heightm_HelpBarNotUpToDate = true; + ANT_SET_CURSOR(WE); + Handled = true; + m_DrawHandles = true; + } + else if( m_MouseDragScroll ) + { + if( m_ScrollYH>0 ) + { + int dl = ((_Y-m_MouseOriginY)*m_NbHierLines)/m_ScrollYH; + if( m_FirstLine0+dl<0 ) + m_FirstLine = 0; + else if( m_FirstLine0+dl+m_NbDisplayedLines>m_NbHierLines ) + m_FirstLine = m_NbHierLines-m_NbDisplayedLines; + else + m_FirstLine = m_FirstLine0+dl; + NotUpToDate(); + } + #ifdef ANT_WINDOWS + ANT_SET_CURSOR(NS); + #else + ANT_SET_CURSOR(Arrow); + #endif + Handled = true; + m_DrawHandles = true; + } + else if( m_MouseDragResizeUL ) + { + int w = m_Width; + int h = m_Height; + m_PosX += _X-m_MouseOriginX; + m_PosY += _Y-m_MouseOriginY; + m_Width -= _X-m_MouseOriginX; + m_Height -= _Y-m_MouseOriginY; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + int vpx = 0, vpy = 0, vpw = g_TwMgr->m_WndWidth, vph = g_TwMgr->m_WndHeight; + if( !m_Contained ) + { + if( m_PosX+ContainedMargin>vpx+vpw ) + m_PosX = vpx+vpw-ContainedMargin; + if( m_PosX+m_Widthvpy+vph ) + m_PosY = vpy+vph-ContainedMargin; + if( m_PosY+m_Height 0) + m_ValuesWidth = int(m_ValuesWidthRatio * m_Width + 0.5); + ANT_SET_CURSOR(TopLeft); + NotUpToDate(); + if( m_IsHelpBar ) + { + g_TwMgr->m_HelpBarNotUpToDate = true; + g_TwMgr->m_HelpBarUpdateNow = true; + } + g_TwMgr->m_KeyPressedBuildText = true; + g_TwMgr->m_InfoBuildText = true; + Handled = true; + m_DrawHandles = true; + } + else if( m_MouseDragResizeUR ) + { + int h = m_Height; + m_PosY += _Y-m_MouseOriginY; + m_Width += _X-m_MouseOriginX; + m_Height -= _Y-m_MouseOriginY; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + int vpx = 0, vpy = 0, vpw = g_TwMgr->m_WndWidth, vph = g_TwMgr->m_WndHeight; + if( !m_Contained ) + { + if( m_PosX+ContainedMargin>vpx+vpw ) + m_PosX = vpx+vpw-ContainedMargin; + if( m_PosX+m_Widthvpy+vph ) + m_PosY = vpy+vph-ContainedMargin; + if( m_PosY+m_Heightvpx+vpw ) + m_Width = vpx+vpw-m_PosX; + if( m_PosY 0) + m_ValuesWidth = int(m_ValuesWidthRatio * m_Width + 0.5); + ANT_SET_CURSOR(TopRight); + NotUpToDate(); + if( m_IsHelpBar ) + { + g_TwMgr->m_HelpBarNotUpToDate = true; + g_TwMgr->m_HelpBarUpdateNow = true; + } + g_TwMgr->m_KeyPressedBuildText = true; + g_TwMgr->m_InfoBuildText = true; + Handled = true; + m_DrawHandles = true; + } + else if( m_MouseDragResizeLL ) + { + int w = m_Width; + m_PosX += _X-m_MouseOriginX; + m_Width -= _X-m_MouseOriginX; + m_Height += _Y-m_MouseOriginY; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + int vpx = 0, vpy = 0, vpw = g_TwMgr->m_WndWidth, vph = g_TwMgr->m_WndHeight; + if( !m_Contained ) + { + if( m_PosX+ContainedMargin>vpx+vpw ) + m_PosX = vpx+vpw-ContainedMargin; + if( m_PosX+m_Widthvpy+vph ) + m_PosY = vpy+vph-ContainedMargin; + if( m_PosY+m_Heightvpy+vph ) + m_Height = vpy+vph-m_PosY; + if( m_PosX 0) + m_ValuesWidth = int(m_ValuesWidthRatio * m_Width + 0.5); + ANT_SET_CURSOR(BottomLeft); + NotUpToDate(); + if( m_IsHelpBar ) + { + g_TwMgr->m_HelpBarNotUpToDate = true; + g_TwMgr->m_HelpBarUpdateNow = true; + } + g_TwMgr->m_KeyPressedBuildText = true; + g_TwMgr->m_InfoBuildText = true; + Handled = true; + m_DrawHandles = true; + } + else if( m_MouseDragResizeLR ) + { + m_Width += _X-m_MouseOriginX; + m_Height += _Y-m_MouseOriginY; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + int vpx = 0, vpy = 0, vpw = g_TwMgr->m_WndWidth, vph = g_TwMgr->m_WndHeight; + if( !m_Contained ) + { + if( m_PosX+ContainedMargin>vpx+vpw ) + m_PosX = vpx+vpw-ContainedMargin; + if( m_PosX+m_Widthvpy+vph ) + m_PosY = vpy+vph-ContainedMargin; + if( m_PosY+m_Heightvpx+vpw ) + m_Width = vpx+vpw-m_PosX; + if( m_PosY+m_Height>vpy+vph ) + m_Height = vpy+vph-m_PosY; + } + if (m_ValuesWidthRatio > 0) + m_ValuesWidth = int(m_ValuesWidthRatio * m_Width + 0.5); + ANT_SET_CURSOR(BottomRight); + NotUpToDate(); + if( m_IsHelpBar ) + { + g_TwMgr->m_HelpBarNotUpToDate = true; + g_TwMgr->m_HelpBarUpdateNow = true; + } + g_TwMgr->m_KeyPressedBuildText = true; + g_TwMgr->m_InfoBuildText = true; + Handled = true; + m_DrawHandles = true; + } + else if( m_EditInPlace.m_Active ) + { + EditInPlaceMouseMove(_X, _Y, true); + ANT_SET_CURSOR(IBeam); + Handled = true; + } + //else if( InBar ) + // ANT_SET_CURSOR(Arrow); + } + } + else // minimized + { + if( m_Iconifiable && _X>=m_MinPosX+2 && _Xm_CharHeight && _Y>m_MinPosY && _Ym_CharHeight-2 ) + { + m_HighlightMaximize = true; + if( !m_IsHelpBar ) + ANT_SET_CURSOR(Arrow); + else + #ifdef ANT_WINDOWS + ANT_SET_CURSOR(Help); + #else + ANT_SET_CURSOR(Arrow); + #endif + Handled = true; + } + else + m_HighlightMaximize = false; + } + + // Handled by a custom widget? + CTwMgr::CStructProxy *currentCustomActiveStructProxy = NULL; + if( g_TwMgr!=NULL && (!Handled || CustomArea) && !m_IsMinimized && m_CustomRecords.size()>0 ) + { + bool CustomHandled = false; + for( int s=0; s<2; ++s ) // 2 iterations: first for custom widget having focus, second for others if no focused widget. + for( CustomMap::iterator it=m_CustomRecords.begin(); it!=m_CustomRecords.end(); ++it ) + { + CTwMgr::CStructProxy *sProxy = it->first; + const CCustomRecord& r = it->second; + if( (s==1 || sProxy->m_CustomCaptureFocus) && !CustomHandled && sProxy!=NULL && sProxy->m_CustomMouseMotionCallback!=NULL && r.m_XMin=r.m_Y0 && r.m_YMax<=r.m_Y1 ) + { + if( sProxy->m_CustomCaptureFocus || (_X>=r.m_XMin && _X=r.m_YMin && _Ym_CustomMouseMotionCallback(_X-r.m_XMin, _Y-r.m_Y0, r.m_XMax-r.m_XMin, r.m_Y1-r.m_Y0, sProxy->m_StructExtData, sProxy->m_StructClientData, this, r.m_Var); + currentCustomActiveStructProxy = sProxy; + s = 2; // force s-loop exit + } + } + else if( sProxy!=NULL ) + { + sProxy->m_CustomCaptureFocus = false; // force free focus, just in case. + ANT_SET_CURSOR(Arrow); + } + } + if( CustomHandled ) + Handled = true; + } + // If needed, send a 'MouseLeave' message to previously active custom struct + if( g_TwMgr!=NULL && m_CustomActiveStructProxy!=NULL && m_CustomActiveStructProxy!=currentCustomActiveStructProxy ) + { + bool found = false; + for( list::iterator it=g_TwMgr->m_StructProxies.begin(); it!=g_TwMgr->m_StructProxies.end() && !found; ++it ) + found = (&(*it)==m_CustomActiveStructProxy); + if( found && m_CustomActiveStructProxy->m_CustomMouseLeaveCallback!=NULL ) + m_CustomActiveStructProxy->m_CustomMouseLeaveCallback(m_CustomActiveStructProxy->m_StructExtData, m_CustomActiveStructProxy->m_StructClientData, this); + } + m_CustomActiveStructProxy = currentCustomActiveStructProxy; + + return Handled; +} + +// --------------------------------------------------------------------------- + +#ifdef ANT_WINDOWS +# pragma optimize("", off) +// disable optimizations because the conversion of Enum from unsigned int to double is not always exact if optimized and GraphAPI=DirectX ! +#endif +static void ANT_CALL PopupCallback(void *_ClientData) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr!=NULL && g_TwMgr->m_PopupBar!=NULL ) + { + unsigned int Enum = *(unsigned int *)&_ClientData; + CTwVarAtom *Var = g_TwMgr->m_PopupBar->m_VarEnumLinkedToPopupList; + CTwBar *Bar = g_TwMgr->m_PopupBar->m_BarLinkedToPopupList; + if( Bar!=NULL && Var!=NULL && !Var->m_ReadOnly && IsEnumType(Var->m_Type) ) + { + Var->ValueFromDouble(Enum); + //Bar->UnHighlightLine(); + Bar->HaveFocus(true); + Bar->NotUpToDate(); + } + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } +} +#ifdef ANT_WINDOWS +# pragma optimize("", on) +#endif + +// --------------------------------------------------------------------------- + +bool CTwBar::MouseButton(ETwMouseButtonID _Button, bool _Pressed, int _X, int _Y) +{ + assert(g_TwMgr->m_Graph && g_TwMgr->m_WndHeight>0 && g_TwMgr->m_WndWidth>0); + bool Handled = false; + if( !m_UpToDate ) + Update(); + bool EditInPlaceActive = false; + bool CustomArea = false; + + if( !m_IsMinimized ) + { + Handled = (_X>=m_PosX && _X=m_PosY && _Y=0 && m_HighlightedLine<(int)m_HierTags.size() && m_HierTags[m_HighlightedLine].m_Var ) + { + if( m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + if( _Pressed && !g_TwMgr->m_IsRepeatingMousePressed ) + { + CTwVarGroup *Grp = static_cast(m_HierTags[m_HighlightedLine].m_Var); + Grp->m_Open = !Grp->m_Open; + NotUpToDate(); + ANT_SET_CURSOR(Arrow); + } + } + else if( _Pressed && m_HighlightIncrBtn ) + { + static_cast(m_HierTags[m_HighlightedLine].m_Var)->Increment(1); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + NotUpToDate(); + } + else if( _Pressed && m_HighlightDecrBtn ) + { + static_cast(m_HierTags[m_HighlightedLine].m_Var)->Increment(-1); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + NotUpToDate(); + } + else if( _Pressed && !m_MouseDrag ) + { + m_MouseDrag = true; + m_MouseDragVar = true; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + m_VarHasBeenIncr = false; + CTwVarAtom * Var = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( !Var->m_NoSlider && !Var->m_ReadOnly && m_HighlightRotoBtn ) + { + // begin rotoslider + if( _X>m_PosX+m_VarX1 ) + RotoOnLButtonDown(m_PosX+m_VarX2-(1*IncrBtnWidth(m_Font->m_CharHeight))/2, _Y); + else + RotoOnLButtonDown(_X, _Y); + m_MouseDrag = true; + m_MouseDragVar = true; + } + else if( (Var->m_Type==TW_TYPE_BOOL8 || Var->m_Type==TW_TYPE_BOOL16 || Var->m_Type==TW_TYPE_BOOL32 || Var->m_Type==TW_TYPE_BOOLCPP) && !Var->m_ReadOnly ) + { + Var->Increment(1); + //m_HighlightClickBtn = true; + m_VarHasBeenIncr = true; + m_MouseDragVar = false; + m_MouseDrag = false; + NotUpToDate(); + } + else if( Var->m_Type==TW_TYPE_BUTTON && !Var->m_ReadOnly ) + { + m_HighlightClickBtn = true; + m_MouseDragVar = false; + m_MouseDrag = false; + } + //else if( (Var->m_Type==TW_TYPE_ENUM8 || Var->m_Type==TW_TYPE_ENUM16 || Var->m_Type==TW_TYPE_ENUM32) && !Var->m_ReadOnly ) + else if( IsEnumType(Var->m_Type) && !Var->m_ReadOnly && !g_TwMgr->m_IsRepeatingMousePressed ) + { + m_MouseDragVar = false; + m_MouseDrag = false; + if( g_TwMgr->m_PopupBar!=NULL ) + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + // popup list + CTwMgr::CEnum& e = g_TwMgr->m_Enums[Var->m_Type-TW_TYPE_ENUM_BASE]; + g_TwMgr->m_PopupBar = TwNewBar("~ Enum Popup ~"); + g_TwMgr->m_PopupBar->m_IsPopupList = true; + g_TwMgr->m_PopupBar->m_Color = m_Color; + g_TwMgr->m_PopupBar->m_DarkText = m_DarkText; + g_TwMgr->m_PopupBar->m_PosX = m_PosX + m_VarX1 - 2; + g_TwMgr->m_PopupBar->m_PosY = m_PosY + m_VarY0 + (m_HighlightedLine+1)*(m_Font->m_CharHeight+m_Sep); + g_TwMgr->m_PopupBar->m_Width = m_Width - 2*m_Font->m_CharHeight; + int popHeight0 = (int)e.m_Entries.size()*(m_Font->m_CharHeight+m_Sep) + m_Font->m_CharHeight/2+2; + int popHeight = popHeight0; + if( g_TwMgr->m_PopupBar->m_PosY+popHeight+2 > g_TwMgr->m_WndHeight ) + popHeight = g_TwMgr->m_WndHeight-g_TwMgr->m_PopupBar->m_PosY-2; + if( popHeightm_WndHeight/2 ) + popHeight = min(popHeight0, g_TwMgr->m_WndHeight/2); + if( popHeight<3*(m_Font->m_CharHeight+m_Sep) ) + popHeight = 3*(m_Font->m_CharHeight+m_Sep); + g_TwMgr->m_PopupBar->m_Height = popHeight; + g_TwMgr->m_PopupBar->m_VarEnumLinkedToPopupList = Var; + g_TwMgr->m_PopupBar->m_BarLinkedToPopupList = this; + unsigned int CurrentEnumValue = (unsigned int)((int)Var->ValueToDouble()); + for( CTwMgr::CEnum::CEntries::iterator It=e.m_Entries.begin(); It!=e.m_Entries.end(); ++It ) + { + char ID[64]; + sprintf(ID, "%u", It->first); + //ultoa(It->first, ID, 10); + TwAddButton(g_TwMgr->m_PopupBar, ID, PopupCallback, *(void**)&(It->first), NULL); + CTwVar *Btn = g_TwMgr->m_PopupBar->Find(ID); + if( Btn!=NULL ) + { + Btn->m_Label = It->second.c_str(); + if( It->first==CurrentEnumValue ) + { + Btn->m_ColorPtr = &m_ColValTextNE; + Btn->m_BgColorPtr = &m_ColGrpBg; + } + } + } + g_TwMgr->m_HelpBarNotUpToDate = false; + } + else if( (Var->m_ReadOnly && (Var->m_Type==TW_TYPE_CDSTRING || Var->m_Type==TW_TYPE_CDSTDSTRING || Var->m_Type==TW_TYPE_STDSTRING || IsCSStringType(Var->m_Type)) && EditInPlaceAcceptVar(Var)) + || (!Var->m_ReadOnly && EditInPlaceAcceptVar(Var)) ) + { + int dw = 0; + //if( m_DrawIncrDecrBtn ) + // dw = 2*IncrBtnWidth(m_Font->m_CharHeight); + if( !m_EditInPlace.m_Active || m_EditInPlace.m_Var!=Var ) + { + EditInPlaceStart(Var, m_VarX1, m_VarY0+(m_HighlightedLine)*(m_Font->m_CharHeight+m_Sep), m_VarX2-m_VarX1-dw-1); + if( EditInPlaceIsReadOnly() ) + EditInPlaceMouseMove(_X, _Y, false); + m_MouseDrag = false; + m_MouseDragVar = false; + } + else + { + EditInPlaceMouseMove(_X, _Y, false); + m_MouseDrag = true; + m_MouseDragVar = false; + } + EditInPlaceActive = m_EditInPlace.m_Active; + if( Var->m_ReadOnly ) + ANT_SET_CURSOR(No); + else + ANT_SET_CURSOR(IBeam); + } + else if( Var->m_ReadOnly ) + ANT_SET_CURSOR(No); + else + { + ANT_SET_CURSOR(Arrow); + CustomArea = true; + } + } + else if ( !_Pressed && m_MouseDragVar ) + { + m_MouseDrag = false; + m_MouseDragVar = false; + if( !Handled ) + m_DrawHandles = false; + Handled = true; + // end rotoslider + RotoOnLButtonUp(_X, _Y); + + /* Incr/decr on right or left click + if( !m_VarHasBeenIncr && !static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly ) + { + if( _Button==TW_MOUSE_LEFT ) + static_cast(m_HierTags[m_HighlightedLine].m_Var)->Increment(-1); + else if( _Button==TW_MOUSE_RIGHT ) + static_cast(m_HierTags[m_HighlightedLine].m_Var)->Increment(1); + NotUpToDate(); + } + */ + + if( static_cast(m_HierTags[m_HighlightedLine].m_Var)->m_ReadOnly ) + ANT_SET_CURSOR(No); + else + { + ANT_SET_CURSOR(Arrow); + CustomArea = true; + } + } + else if( !_Pressed && m_HighlightClickBtn ) // a button variable is activated + { + m_HighlightClickBtn = false; + m_MouseDragVar = false; + m_MouseDrag = false; + Handled = true; + NotUpToDate(); + if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + CTwVarAtom * Var = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( !Var->m_ReadOnly && Var->m_Type==TW_TYPE_BUTTON && Var->m_Val.m_Button.m_Callback!=NULL ) + { + Var->m_Val.m_Button.m_Callback(Var->m_ClientData); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + } + } + } + else if( !_Pressed ) + { + m_MouseDragVar = false; + m_MouseDrag = false; + CustomArea = true; + } + } + else if( _Pressed && !m_MouseDrag && m_Movable && !m_IsPopupList + && ( (_Button==TW_MOUSE_LEFT && _X>=m_PosX+2*m_Font->m_CharHeight && _Xm_CharHeight && _Y>=m_PosY && _Ym_CharHeight) + || (_Button==TW_MOUSE_MIDDLE && _X>=m_PosX && _X=m_PosY && _Y=m_PosX+m_VarX1-3 && _Xm_PosY+m_Font->m_CharHeight && _Y=m_PosX+m_VarX2+2 && _X=m_ScrollY0 && _Y=m_PosX+m_VarX2+2 && _X=m_PosY+m_VarY0 && _Y0 ) + { + --m_FirstLine; + NotUpToDate(); + } + } + else if( _Pressed && _Button==TW_MOUSE_LEFT && _X>=m_PosX+m_VarX2+2 && _X=m_ScrollY1 && _Y=m_PosX && _Xm_CharHeight && _Y>=m_PosY && _Ym_CharHeight ) + { + m_MouseDrag = true; + m_MouseDragResizeUL = true; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + m_ValuesWidthRatio = (m_Width>0) ? (double)m_ValuesWidth/m_Width : 0; + ANT_SET_CURSOR(TopLeft); + } + else if( !_Pressed && m_MouseDragResizeUL ) + { + m_MouseDrag = false; + m_MouseDragResizeUL = false; + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && !m_MouseDrag && m_Resizable && !m_IsPopupList && _Button==TW_MOUSE_LEFT && _X>=m_PosX+m_Width-m_Font->m_CharHeight && _X=m_PosY && _Ym_CharHeight ) + { + m_MouseDrag = true; + m_MouseDragResizeUR = true; + m_MouseOriginX = _X; + m_MouseOriginY = _Y; + m_ValuesWidthRatio = (m_Width>0) ? (double)m_ValuesWidth/m_Width : 0; + ANT_SET_CURSOR(TopRight); + } + else if( !_Pressed && m_MouseDragResizeUR ) + { + m_MouseDrag = false; + m_MouseDragResizeUR = false; + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && !m_MouseDrag && m_Resizable && !m_IsPopupList && _Button==TW_MOUSE_LEFT && _X>=m_PosX && _Xm_CharHeight && _Y>=m_PosY+m_Height-m_Font->m_CharHeight && _Y0) ? (double)m_ValuesWidth/m_Width : 0; + ANT_SET_CURSOR(BottomLeft); + } + else if( !_Pressed && m_MouseDragResizeLL ) + { + m_MouseDrag = false; + m_MouseDragResizeLL = false; + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && !m_MouseDrag && m_Resizable && !m_IsPopupList && _Button==TW_MOUSE_LEFT && _X>=m_PosX+m_Width-m_Font->m_CharHeight && _X=m_PosY+m_Height-m_Font->m_CharHeight && _Y0) ? (double)m_ValuesWidth/m_Width : 0; + ANT_SET_CURSOR(BottomRight); + } + else if( !_Pressed && m_MouseDragResizeLR ) + { + m_MouseDrag = false; + m_MouseDragResizeLR = false; + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && !m_IsPopupList && _Button==TW_MOUSE_LEFT && m_HighlightLabelsHeader ) + { + int w = ComputeLabelsWidth(m_Font); + if( wm_CharHeight ) + w = m_Font->m_CharHeight; + m_ValuesWidth = m_VarX2 - m_VarX0 - w; + if( m_ValuesWidthm_CharHeight ) + m_ValuesWidth = m_Font->m_CharHeight; + if( m_ValuesWidth>m_VarX2 - m_VarX0 ) + m_ValuesWidth = max(m_VarX2 - m_VarX0 - m_Font->m_CharHeight, 0); + NotUpToDate(); + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && !m_IsPopupList && _Button==TW_MOUSE_LEFT && m_HighlightValuesHeader ) + { + int w = ComputeValuesWidth(m_Font); + if( w<2*m_Font->m_CharHeight ) + w = 2*m_Font->m_CharHeight; // enough to draw a button + m_ValuesWidth = w; + if( m_ValuesWidth>m_VarX2 - m_VarX0 ) + m_ValuesWidth = max(m_VarX2 - m_VarX0 - m_Font->m_CharHeight, 0); + NotUpToDate(); + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && g_TwMgr->m_FontResizable && !m_IsPopupList && _X>=m_PosX+m_Font->m_CharHeight && _Xm_CharHeight && _Y>m_PosY && _Ym_CharHeight ) + { + // change font + if( _Button==TW_MOUSE_LEFT ) + { + if( m_Font==g_DefaultSmallFont ) + g_TwMgr->SetFont(g_DefaultNormalFont, true); + else if( m_Font==g_DefaultNormalFont ) + g_TwMgr->SetFont(g_DefaultLargeFont, true); + else if( m_Font==g_DefaultLargeFont ) + g_TwMgr->SetFont(g_DefaultSmallFont, true); + else + g_TwMgr->SetFont(g_DefaultNormalFont, true); + } + else if( _Button==TW_MOUSE_RIGHT ) + { + if( m_Font==g_DefaultSmallFont ) + g_TwMgr->SetFont(g_DefaultLargeFont, true); + else if( m_Font==g_DefaultNormalFont ) + g_TwMgr->SetFont(g_DefaultSmallFont, true); + else if( m_Font==g_DefaultLargeFont ) + g_TwMgr->SetFont(g_DefaultNormalFont, true); + else + g_TwMgr->SetFont(g_DefaultNormalFont, true); + } + + ANT_SET_CURSOR(Arrow); + } + else if( _Pressed && m_Iconifiable && !m_IsPopupList && _Button==TW_MOUSE_LEFT && _X>=m_PosX+m_Width-2*m_Font->m_CharHeight && _Xm_CharHeight && _Y>m_PosY && _Ym_CharHeight ) + { + // minimize + g_TwMgr->Minimize(this); + ANT_SET_CURSOR(Arrow); + } + else if( m_IsHelpBar && _Pressed && !g_TwMgr->m_IsRepeatingMousePressed && _X>=m_PosX+m_VarX0 && _Xm_CharHeight && _Y>m_PosY+m_Height-m_Font->m_CharHeight && _Y& null &", browser, WebPage); + if( system(cmd) ) {} // avoiding warn_unused_result + browser = strtok(NULL, ","); // grab the next browser + } + #elif defined ANT_OSX + char cmd[256]; + snprintf(cmd, sizeof(cmd), "open \"%s\" 1>& null &", WebPage); + if( system(cmd) ) {} // avoiding warn_unused_result + #endif + ANT_SET_CURSOR(Hand); + */ + } + else + { + CustomArea = true; + } + } + else // minimized + { + if( _Pressed && m_HighlightMaximize ) + { + m_HighlightMaximize = false; + g_TwMgr->Maximize(this); + ANT_SET_CURSOR(Arrow); + Handled = true; + } + } + + if( g_TwMgr!=NULL ) // Mgr might have been destroyed by the client inside a callback call + if( _Pressed && !EditInPlaceActive && m_EditInPlace.m_Active ) + EditInPlaceEnd(true); + + // Handled by a custom widget? + if( g_TwMgr!=NULL && (!Handled || CustomArea) && !m_IsMinimized && m_CustomRecords.size()>0 ) + { + bool CustomHandled = false; + for( int s=0; s<2; ++s ) // 2 iterations: first for custom widget having focus, second for others if no focused widget. + for( CustomMap::iterator it=m_CustomRecords.begin(); it!=m_CustomRecords.end(); ++it ) + { + CTwMgr::CStructProxy *sProxy = it->first; + const CCustomRecord& r = it->second; + if( (s==1 || sProxy->m_CustomCaptureFocus) && !CustomHandled && sProxy!=NULL && sProxy->m_CustomMouseButtonCallback!=NULL && r.m_XMin=r.m_Y0 && r.m_YMax<=r.m_Y1 ) + { + if( sProxy->m_CustomCaptureFocus || (_X>=r.m_XMin && _X=r.m_YMin && _Ym_CustomCaptureFocus = _Pressed; + CustomHandled = sProxy->m_CustomMouseButtonCallback(_Button, _Pressed, _X-r.m_XMin, _Y-r.m_Y0, r.m_XMax-r.m_XMin, r.m_Y1-r.m_Y0, sProxy->m_StructExtData, sProxy->m_StructClientData, this, r.m_Var); + s = 2; // force s-loop exit + } + } + else if( sProxy!=NULL ) + { + sProxy->m_CustomCaptureFocus = false; // force free focus, just in case. + ANT_SET_CURSOR(Arrow); + } + } + if( CustomHandled ) + Handled = true; + } + + return Handled; +} + + +// --------------------------------------------------------------------------- + +bool CTwBar::MouseWheel(int _Pos, int _PrevPos, int _MouseX, int _MouseY) +{ + assert(g_TwMgr->m_Graph && g_TwMgr->m_WndHeight>0 && g_TwMgr->m_WndWidth>0); + if( !m_UpToDate ) + Update(); + + bool Handled = false; + if( !m_IsMinimized && _MouseX>=m_PosX && _MouseX=m_PosY && _MouseY_PrevPos && m_FirstLine>0 ) + { + --m_FirstLine; + NotUpToDate(); + } + else if( _Pos<_PrevPos && m_FirstLine' ' && _Key<256 ) // don't test SHIFT if _Key is a common key + Mask &= ~TW_KMOD_SHIFT; + + // don't test KMOD_NUM and KMOD_CAPS modifiers coming from SDL + Mask &= ~(0x1000); // 0x1000 is the KMOD_NUM value defined in SDL_keysym.h + Mask &= ~(0x2000); // 0x2000 is the KMOD_CAPS value defined in SDL_keysym.h + + // complete partial modifiers comming from SDL + if( _Modifiers & TW_KMOD_SHIFT ) + _Modifiers |= TW_KMOD_SHIFT; + if( _Modifiers & TW_KMOD_CTRL ) + _Modifiers |= TW_KMOD_CTRL; + if( _Modifiers & TW_KMOD_ALT ) + _Modifiers |= TW_KMOD_ALT; + if( _Modifiers & TW_KMOD_META ) + _Modifiers |= TW_KMOD_META; + + for(size_t i=0; iIsGroup() ) + { + Atom = static_cast(m_Vars[i])->FindShortcut(_Key, _Modifiers, _DoIncr); + if( Atom!=NULL ) + return Atom; + } + else + { + Atom = static_cast(m_Vars[i]); + if( Atom->m_KeyIncr[0]==_Key && (Atom->m_KeyIncr[1]&Mask)==(_Modifiers&Mask) ) + { + if( _DoIncr!=NULL ) + *_DoIncr = true; + return Atom; + } + else if( Atom->m_KeyDecr[0]==_Key && (Atom->m_KeyDecr[1]&Mask)==(_Modifiers&Mask) ) + { + if( _DoIncr!=NULL ) + *_DoIncr = false; + return Atom; + } + } + } + return NULL; +} + +bool CTwBar::KeyPressed(int _Key, int _Modifiers) +{ + assert(g_TwMgr->m_Graph && g_TwMgr->m_WndHeight>0 && g_TwMgr->m_WndWidth>0); + bool Handled = false; + if( !m_UpToDate ) + Update(); + + if( _Key>0 && _Key0 && _Key<32 ) + _Key += 'a'-1; + + // PAD translation (for SDL keysym) + if( _Key>=256 && _Key<=272 ) // 256=SDLK_KP0 ... 272=SDLK_KP_EQUALS + { + bool Num = ((_Modifiers&TW_KMOD_SHIFT) && !(_Modifiers&0x1000)) || (!(_Modifiers&TW_KMOD_SHIFT) && (_Modifiers&0x1000)); // 0x1000 is SDL's KMOD_NUM + _Modifiers &= ~TW_KMOD_SHIFT; // remove shift modifier + if( _Key==266 ) // SDLK_KP_PERIOD + _Key = Num ? '.' : TW_KEY_DELETE; + else if( _Key==267 ) // SDLK_KP_DIVIDE + _Key = '/'; + else if( _Key==268 ) // SDLK_KP_MULTIPLY + _Key = '*'; + else if( _Key==269 ) // SDLK_KP_MINUS + _Key = '-'; + else if( _Key==270 ) // SDLK_KP_PLUS + _Key = '+'; + else if( _Key==271 ) // SDLK_KP_ENTER + _Key = TW_KEY_RETURN; + else if( _Key==272 ) // SDLK_KP_EQUALS + _Key = '='; + else if( Num ) // num SDLK_KP0..9 + _Key += '0' - 256; + else if( _Key==256 ) // non-num SDLK_KP01 + _Key = TW_KEY_INSERT; + else if( _Key==257 ) // non-num SDLK_KP1 + _Key = TW_KEY_END; + else if( _Key==258 ) // non-num SDLK_KP2 + _Key = TW_KEY_DOWN; + else if( _Key==259 ) // non-num SDLK_KP3 + _Key = TW_KEY_PAGE_DOWN; + else if( _Key==260 ) // non-num SDLK_KP4 + _Key = TW_KEY_LEFT; + else if( _Key==262 ) // non-num SDLK_KP6 + _Key = TW_KEY_RIGHT; + else if( _Key==263 ) // non-num SDLK_KP7 + _Key = TW_KEY_HOME; + else if( _Key==264 ) // non-num SDLK_KP8 + _Key = TW_KEY_UP; + else if( _Key==265 ) // non-num SDLK_KP9 + _Key = TW_KEY_PAGE_UP; + } + */ + + /* + string Str; + TwGetKeyString(&Str, _Key, _Modifiers); + printf("key: %d 0x%04xd %s\n", _Key, _Modifiers, Str.c_str()); + */ + + if( m_EditInPlace.m_Active ) + { + Handled = EditInPlaceKeyPressed(_Key, _Modifiers); + } + else + { + bool BarActive = (m_DrawHandles || m_IsPopupList) && !m_IsMinimized; + bool DoIncr = true; + CTwVarAtom *Atom = m_VarRoot.FindShortcut(_Key, _Modifiers, &DoIncr); + if( Atom!=NULL && Atom->m_Visible ) + { + if( !Atom->m_ReadOnly ) + { + Atom->Increment( DoIncr ? +1 : -1 ); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + m_HighlightClickBtnAuto = g_TwMgr->m_Timer.GetTime(); + } + NotUpToDate(); + Show(Atom); + Handled = true; + } + else if( BarActive && m_HighlightedLine>=0 && m_HighlightedLine<(int)m_HierTags.size() && m_HierTags[m_HighlightedLine].m_Var ) + { + if( _Key==TW_KEY_RIGHT ) + { + if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + CTwVarAtom *Atom = static_cast(m_HierTags[m_HighlightedLine].m_Var); + bool Accept = !Atom->m_NoSlider || Atom->m_Type==TW_TYPE_BUTTON + || Atom->m_Type==TW_TYPE_BOOL8 || Atom->m_Type==TW_TYPE_BOOL16 || Atom->m_Type==TW_TYPE_BOOL32 || Atom->m_Type==TW_TYPE_BOOLCPP + || IsEnumType(Atom->m_Type); + if( !Atom->IsReadOnly() && !m_IsPopupList && Accept ) + { + Atom->Increment(+1); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + m_HighlightClickBtnAuto = g_TwMgr->m_Timer.GetTime(); + NotUpToDate(); + } + } + else + { + CTwVarGroup *Grp = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( !Grp->m_Open ) + { + Grp->m_Open = true; + NotUpToDate(); + } + } + Handled = true; + } + else if( _Key==TW_KEY_LEFT ) + { + if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + CTwVarAtom *Atom = static_cast(m_HierTags[m_HighlightedLine].m_Var); + bool Accept = !Atom->m_NoSlider || Atom->m_Type==TW_TYPE_BUTTON + || Atom->m_Type==TW_TYPE_BOOL8 || Atom->m_Type==TW_TYPE_BOOL16 || Atom->m_Type==TW_TYPE_BOOL32 || Atom->m_Type==TW_TYPE_BOOLCPP + || IsEnumType(Atom->m_Type); + if( !Atom->IsReadOnly() && Accept && !m_IsPopupList ) + { + Atom->Increment(-1); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + m_HighlightClickBtnAuto = g_TwMgr->m_Timer.GetTime(); + NotUpToDate(); + } + } + else + { + CTwVarGroup *Grp = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( Grp->m_Open ) + { + Grp->m_Open = false; + NotUpToDate(); + } + } + Handled = true; + } + else if( _Key==TW_KEY_RETURN ) + { + if( !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + CTwVarAtom *Atom = static_cast(m_HierTags[m_HighlightedLine].m_Var); + if( !Atom->IsReadOnly() ) + { + if( Atom->m_Type==TW_TYPE_BUTTON || Atom->m_Type==TW_TYPE_BOOLCPP + || Atom->m_Type==TW_TYPE_BOOL8 || Atom->m_Type==TW_TYPE_BOOL16 || Atom->m_Type==TW_TYPE_BOOL32 ) + { + bool isPopup = m_IsPopupList; + Atom->Increment(+1); + if( g_TwMgr==NULL // Mgr might have been destroyed by the client inside a callback call + || isPopup ) // A popup destroys itself + return 1; + m_HighlightClickBtnAuto = g_TwMgr->m_Timer.GetTime(); + NotUpToDate(); + } + else // if( IsEnumType(Atom->m_Type) ) + { + // simulate a mouse click + int y = m_PosY + m_VarY0 + m_HighlightedLine*(m_Font->m_CharHeight+m_Sep) + m_Font->m_CharHeight/2; + int x = m_PosX + m_VarX1 + 2; + if( x>m_PosX+m_VarX2-2 ) + x = m_PosX + m_VarX2 - 2; + MouseMotion(x, y); + MouseButton(TW_MOUSE_LEFT, true, x, y); + } + } + } + else + { + CTwVarGroup *Grp = static_cast(m_HierTags[m_HighlightedLine].m_Var); + Grp->m_Open = !Grp->m_Open; + NotUpToDate(); + } + Handled = true; + } + else if( _Key==TW_KEY_UP ) + { + --m_HighlightedLine; + if( m_HighlightedLine<0 ) + { + m_HighlightedLine = 0; + if( m_FirstLine>0 ) + { + --m_FirstLine; + NotUpToDate(); + } + } + m_HighlightedLineLastValid = m_HighlightedLine; + Handled = true; + } + else if( _Key==TW_KEY_DOWN ) + { + ++m_HighlightedLine; + if( m_HighlightedLine>=(int)m_HierTags.size() ) + { + m_HighlightedLine = (int)m_HierTags.size() - 1; + if( m_FirstLinem_PopupBar = NULL; + if( LinkedBar!=NULL ) + LinkedBar->m_DrawHandles = true; + return true; // this bar has been destroyed + } + } + else if( BarActive ) + { + if( _Key==TW_KEY_UP || _Key==TW_KEY_DOWN || _Key==TW_KEY_LEFT || _Key==TW_KEY_RIGHT || _Key==TW_KEY_RETURN ) + { + if( m_HighlightedLineLastValid>=0 && m_HighlightedLineLastValid<(int)m_HierTags.size() ) + m_HighlightedLine = m_HighlightedLineLastValid; + else if( m_HierTags.size()>0 ) + { + if( _Key==TW_KEY_UP ) + m_HighlightedLine = (int)m_HierTags.size()-1; + else + m_HighlightedLine = 0; + } + Handled = true; + } + else if( _Key==TW_KEY_ESCAPE && m_IsPopupList ) + { + Handled = true; + CTwBar *LinkedBar = m_BarLinkedToPopupList; + TwDeleteBar(this); + g_TwMgr->m_PopupBar = NULL; + if( LinkedBar!=NULL ) + LinkedBar->m_DrawHandles = true; + return true; // this bar has been destroyed + } + } + } + } + return Handled; +} + +// --------------------------------------------------------------------------- + +bool CTwBar::KeyTest(int _Key, int _Modifiers) +{ + assert(g_TwMgr->m_Graph && g_TwMgr->m_WndHeight>0 && g_TwMgr->m_WndWidth>0); + bool Handled = false; + if( !m_UpToDate ) + Update(); + + if( _Key>0 && _Keym_Visible ) + Handled = true; + else if( BarActive && ( _Key==TW_KEY_RIGHT || _Key==TW_KEY_LEFT || _Key==TW_KEY_UP || _Key==TW_KEY_DOWN + || _Key==TW_KEY_RETURN || (_Key==TW_KEY_ESCAPE && m_IsPopupList) ) ) + Handled = true; + } + } + return Handled; +} + +// --------------------------------------------------------------------------- + +bool CTwBar::Show(CTwVar *_Var) +{ + if( _Var==NULL || !_Var->m_Visible ) + return false; + if( !m_UpToDate ) + Update(); + + if( OpenHier(&m_VarRoot, _Var) ) + { + if( !m_UpToDate ) + Update(); + int l = LineInHier(&m_VarRoot, _Var); + if( l>=0 ) + { + int NbLines = (m_VarY1-m_VarY0+1)/(m_Font->m_CharHeight+m_Sep); + if( NbLines<= 0 ) + NbLines = 1; + if( l=m_FirstLine+NbLines ) + { + m_FirstLine = l-NbLines/2; + if( m_FirstLine<0 ) + m_FirstLine = 0; + NotUpToDate(); + Update(); + if( m_NbDisplayedLinesm_Vars.size(); ++i) + if( _Root->m_Vars[i]!=NULL ) + { + if( _Var==_Root->m_Vars[i] + || (_Root->m_Vars[i]->IsGroup() && OpenHier(static_cast(_Root->m_Vars[i]), _Var)) ) + { + _Root->m_Open = true; + NotUpToDate(); + return true; + } + } + return false; +} + +// --------------------------------------------------------------------------- + +int CTwBar::LineInHier(CTwVarGroup *_Root, CTwVar *_Var) +{ + assert( _Root!=NULL ); + int l = 0; + for(size_t i=0; i<_Root->m_Vars.size(); ++i) + if( _Root->m_Vars[i]!=NULL && _Root->m_Vars[i]->m_Visible ) + { + if( _Var==_Root->m_Vars[i] ) + return l; + else if( _Root->m_Vars[i]->IsGroup() && static_cast(_Root->m_Vars[i])->m_Open ) + { + ++l; + int ll = LineInHier(static_cast(_Root->m_Vars[i]), _Var); + if( ll>=0 ) + return l+ll; + else + l += -ll-2; + } + ++l; + } + return -l-1; +} + +// --------------------------------------------------------------------------- + +void DrawArc(int _X, int _Y, int _Radius, float _StartAngleDeg, float _EndAngleDeg, color32 _Color) // angles in degree +{ + ITwGraph *Gr = g_TwMgr->m_Graph; + if( Gr==NULL || !Gr->IsDrawing() || _Radius==0 || _StartAngleDeg==_EndAngleDeg ) + return; + + float startAngle = (float)M_PI*_StartAngleDeg/180; + float endAngle = (float)M_PI*_EndAngleDeg/180; + //float stepAngle = 8/(float)_Radius; // segment length = 8 pixels + float stepAngle = 4/(float)_Radius; // segment length = 4 pixels + if( stepAngle>(float)M_PI/4 ) + stepAngle = (float)M_PI/4; + bool fullCircle = fabsf(endAngle-startAngle)>=2.0f*(float)M_PI+fabsf(stepAngle); + int numSteps; + if( fullCircle ) + { + numSteps = int((2.0f*(float)M_PI)/stepAngle); + startAngle = 0; + endAngle = 2.0f*(float)M_PI; + } + else + numSteps = int(fabsf(endAngle-startAngle)/stepAngle); + if( startAngle>endAngle ) + stepAngle = -stepAngle; + + int x0 = int(_X + _Radius * cosf(startAngle) + 0.5f); + int y0 = int(_Y - _Radius * sinf(startAngle) + 0.5f); + int x1, y1; + float angle = startAngle+stepAngle; + + for( int i=0; iDrawLine(x0, y0, x1, y1, _Color, true); + x0 = x1; + y0 = y1; + } + + if( fullCircle ) + { + x1 = int(_X + _Radius * cosf(startAngle) + 0.5f); + y1 = int(_Y - _Radius * sinf(startAngle) + 0.5f); + } + else + { + x1 = int(_X + _Radius * cosf(endAngle) + 0.5f); + y1 = int(_Y - _Radius * sinf(endAngle) + 0.5f); + } + Gr->DrawLine(x0, y0, x1, y1, _Color, true); +} + +// --------------------------------------------------------------------------- + +CTwBar::CRotoSlider::CRotoSlider() +{ + m_Var = NULL; + m_Active = false; + m_ActiveMiddle = false; + m_Subdiv = 256; // will be recalculated in RotoOnLButtonDown +} + +void CTwBar::RotoDraw() +{ + ITwGraph *Gr = g_TwMgr->m_Graph; + if( Gr==NULL || !Gr->IsDrawing() ) + return; + + if( m_Roto.m_Active ) + { + DrawArc(m_Roto.m_Origin.x, m_Roto.m_Origin.y, 32, 0, 360, m_ColRoto); + DrawArc(m_Roto.m_Origin.x+1, m_Roto.m_Origin.y, 32, 0, 360, m_ColRoto); + DrawArc(m_Roto.m_Origin.x, m_Roto.m_Origin.y+1, 32, 0, 360, m_ColRoto); + + if( m_Roto.m_HasPrevious ) + { + double varMax = RotoGetMax(); + double varMin = RotoGetMin(); + double varStep = RotoGetStep(); + if( varMax-DOUBLE_MAX && fabs(varStep)>DOUBLE_EPS && m_Roto.m_Subdiv>0 ) + { + double dtMax = 360.0*(varMax-m_Roto.m_ValueAngle0)/((double)m_Roto.m_Subdiv*varStep);//+2; + double dtMin = 360.0*(varMin-m_Roto.m_ValueAngle0)/((double)m_Roto.m_Subdiv*varStep);//-2; + + if( dtMax>=0 && dtMax<360 && dtMin<=0 && dtMin>-360 && fabs(dtMax-dtMin)<=360 ) + { + int x1, y1, x2, y2; + double da = 2.0*M_PI/m_Roto.m_Subdiv; + + x1 = m_Roto.m_Origin.x + (int)(40*cos(-M_PI*(m_Roto.m_Angle0+dtMax)/180-da)); + y1 = m_Roto.m_Origin.y + (int)(40*sin(-M_PI*(m_Roto.m_Angle0+dtMax)/180-da)+0.5); + x2 = m_Roto.m_Origin.x + (int)(40*cos(-M_PI*(m_Roto.m_Angle0+dtMax-10)/180-da)); + y2 = m_Roto.m_Origin.y + (int)(40*sin(-M_PI*(m_Roto.m_Angle0+dtMax-10)/180-da)+0.5); + Gr->DrawLine(m_Roto.m_Origin.x, m_Roto.m_Origin.y, x1, y1, m_ColRotoBound, true); + Gr->DrawLine(m_Roto.m_Origin.x+1, m_Roto.m_Origin.y, x1+1, y1, m_ColRotoBound, true); + Gr->DrawLine(m_Roto.m_Origin.x, m_Roto.m_Origin.y+1, x1, y1+1, m_ColRotoBound, true); + Gr->DrawLine(x1, y1, x2, y2, m_ColRotoBound, true); + Gr->DrawLine(x1+1, y1, x2+1, y2, m_ColRotoBound, true); + Gr->DrawLine(x1, y1+1, x2, y2+1, m_ColRotoBound, true); + + x1 = m_Roto.m_Origin.x + (int)(40*cos(-M_PI*(m_Roto.m_Angle0+dtMin)/180+da)); + y1 = m_Roto.m_Origin.y + (int)(40*sin(-M_PI*(m_Roto.m_Angle0+dtMin)/180+da)+0.5); + x2 = m_Roto.m_Origin.x + (int)(40*cos(-M_PI*(m_Roto.m_Angle0+dtMin+10)/180+da)); + y2 = m_Roto.m_Origin.y + (int)(40*sin(-M_PI*(m_Roto.m_Angle0+dtMin+10)/180+da)+0.5); + Gr->DrawLine(m_Roto.m_Origin.x, m_Roto.m_Origin.y, x1, y1, m_ColRotoBound, true); + Gr->DrawLine(m_Roto.m_Origin.x+1, m_Roto.m_Origin.y, x1+1, y1, m_ColRotoBound, true); + Gr->DrawLine(m_Roto.m_Origin.x, m_Roto.m_Origin.y+1, x1, y1+1, m_ColRotoBound, true); + Gr->DrawLine(x1, y1, x2, y2, m_ColRotoBound, true); + Gr->DrawLine(x1+1, y1, x2+1, y2, m_ColRotoBound, true); + Gr->DrawLine(x1, y1+1, x2, y2+1, m_ColRotoBound, true); + } + } + } + + Gr->DrawLine(m_Roto.m_Origin.x+1, m_Roto.m_Origin.y, m_Roto.m_Current.x+1, m_Roto.m_Current.y, m_ColRotoVal, true); + Gr->DrawLine(m_Roto.m_Origin.x, m_Roto.m_Origin.y+1, m_Roto.m_Current.x, m_Roto.m_Current.y+1, m_ColRotoVal, true); + Gr->DrawLine(m_Roto.m_Origin.x, m_Roto.m_Origin.y, m_Roto.m_Current.x, m_Roto.m_Current.y, m_ColRotoVal, true); + + if( fabs(m_Roto.m_AngleDT)>=1 ) + { + DrawArc(m_Roto.m_Origin.x, m_Roto.m_Origin.y, 32, float(m_Roto.m_Angle0), float(m_Roto.m_Angle0+m_Roto.m_AngleDT-1), m_ColRotoVal); + DrawArc(m_Roto.m_Origin.x+1, m_Roto.m_Origin.y, 32, float(m_Roto.m_Angle0), float(m_Roto.m_Angle0+m_Roto.m_AngleDT-1), m_ColRotoVal); + DrawArc(m_Roto.m_Origin.x, m_Roto.m_Origin.y+1, 32, float(m_Roto.m_Angle0), float(m_Roto.m_Angle0+m_Roto.m_AngleDT-1), m_ColRotoVal); + } + } +} + +double CTwBar::RotoGetValue() const +{ + assert(m_Roto.m_Var!=NULL); + return m_Roto.m_Var->ValueToDouble(); +} + +void CTwBar::RotoSetValue(double _Val) +{ + assert(m_Roto.m_Var!=NULL); + if( _Val!=m_Roto.m_CurrentValue ) + { + m_Roto.m_CurrentValue = _Val; + m_Roto.m_Var->ValueFromDouble(_Val); + NotUpToDate(); + } +} + +double CTwBar::RotoGetMin() const +{ + assert(m_Roto.m_Var!=NULL); + double min = -DOUBLE_MAX; + m_Roto.m_Var->MinMaxStepToDouble(&min, NULL, NULL); + return min; +} + +double CTwBar::RotoGetMax() const +{ + assert(m_Roto.m_Var!=NULL); + double max = DOUBLE_MAX; + m_Roto.m_Var->MinMaxStepToDouble(NULL, &max, NULL); + return max; +} + +double CTwBar::RotoGetStep() const +{ + assert(m_Roto.m_Var!=NULL); + double step = 1; + m_Roto.m_Var->MinMaxStepToDouble(NULL, NULL, &step); + return step; +} + +double CTwBar::RotoGetSteppedValue() const +{ + double d = m_Roto.m_PreciseValue-m_Roto.m_Value0; + double n = int(d/RotoGetStep()); + return m_Roto.m_Value0 + RotoGetStep()*n; +} + +void CTwBar::RotoOnMouseMove(int _X, int _Y) +{ + CPoint p(_X, _Y); + if( m_Roto.m_Active ) + { + m_Roto.m_Current = p; + RotoSetValue(RotoGetSteppedValue()); + //DrawManip(); + + int ti = -1; + double t = 0; + float r = sqrtf(float( (m_Roto.m_Current.x-m_Roto.m_Origin.x)*(m_Roto.m_Current.x-m_Roto.m_Origin.x) + + (m_Roto.m_Current.y-m_Roto.m_Origin.y)*(m_Roto.m_Current.y-m_Roto.m_Origin.y))); + if( r>m_RotoMinRadius ) + { + t = - atan2(double(m_Roto.m_Current.y-m_Roto.m_Origin.y), double(m_Roto.m_Current.x-m_Roto.m_Origin.x)); + ti = (int((t/(2.0*M_PI)+1.0)*NB_ROTO_CURSORS+0.5)) % NB_ROTO_CURSORS; + if( m_Roto.m_HasPrevious ) + { + CPoint v0 = m_Roto.m_Previous-m_Roto.m_Origin; + CPoint v1 = m_Roto.m_Current-m_Roto.m_Origin; + double l0 = sqrt(double(v0.x*v0.x+v0.y*v0.y)); + double l1 = sqrt(double(v1.x*v1.x+v1.y*v1.y)); + double dt = acos(max(-1+1.0e-30,min(1-1.0e-30,double(v0.x*v1.x+v0.y*v1.y)/(l0*l1)))); + if( v0.x*v1.y-v0.y*v1.x>0 ) + dt = - dt; + double preciseInc = double(m_Roto.m_Subdiv) * dt/(2.0*M_PI) * RotoGetStep(); + if( preciseInc>RotoGetStep() || preciseInc<-RotoGetStep() ) + { + m_Roto.m_PreciseValue += preciseInc; + if( m_Roto.m_PreciseValue>RotoGetMax() ) + { + m_Roto.m_PreciseValue = RotoGetMax(); + m_Roto.m_Value0 = RotoGetMax(); + + double da = 360*(RotoGetMax()-m_Roto.m_ValueAngle0)/(double(m_Roto.m_Subdiv)*RotoGetStep()); + m_Roto.m_Angle0 = ((int((t/(2.0*M_PI)+1.0)*360.0+0.5)) % 360) - da; + m_Roto.m_AngleDT = da; + } + else if( m_Roto.m_PreciseValue=0 && ti=0 && m_HighlightedLine<(int)m_HierTags.size() && m_HierTags[m_HighlightedLine].m_Var && !m_HierTags[m_HighlightedLine].m_Var->IsGroup() ) + { + m_Roto.m_Var = static_cast(m_HierTags[m_HighlightedLine].m_Var); + int y = m_PosY + m_VarY0 + m_HighlightedLine*(m_Font->m_CharHeight+m_Sep) + m_Font->m_CharHeight/2; + m_Roto.m_Origin = CPoint(p.x, y); //r.CenterPoint().y); + m_Roto.m_Current = p; + m_Roto.m_Active = true; + m_Roto.m_HasPrevious = false; + m_Roto.m_Angle0 = 0; + m_Roto.m_AngleDT = 0; + //SetCapture(); + + m_Roto.m_Value0 = RotoGetValue(); + m_Roto.m_CurrentValue = m_Roto.m_Value0; + m_Roto.m_ValueAngle0 = m_Roto.m_Value0; + m_Roto.m_PreciseValue = m_Roto.m_Value0; + //RotoSetValue(RotoGetSteppedValue()); Not here + //DrawManip(); + + m_Roto.m_Subdiv = m_RotoNbSubdiv; + // re-adjust m_Subdiv if needed: + double min=-DOUBLE_MAX, max=DOUBLE_MAX, step=1; + m_Roto.m_Var->MinMaxStepToDouble(&min, &max, &step); + if( fabs(step)>0 && min>-DOUBLE_MAX && maxm_Graph!=NULL ); + + m_Var = NULL; + m_Active = false; + m_EditTextObj = g_TwMgr->m_Graph->NewTextObj(); + m_EditSelTextObj = g_TwMgr->m_Graph->NewTextObj(); + + m_X = m_Y = m_Width = 0; +} + +CTwBar::CEditInPlace::~CEditInPlace() +{ + assert( g_TwMgr!=NULL && g_TwMgr->m_Graph!=NULL ); + + if( m_EditTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_EditTextObj); + if( m_EditSelTextObj ) + g_TwMgr->m_Graph->DeleteTextObj(m_EditSelTextObj); +} + +bool CTwBar::EditInPlaceIsReadOnly() +{ + if( m_EditInPlace.m_Var==NULL ) + return true; + else if( m_EditInPlace.m_Var->m_ReadOnly ) + return true; + else if( m_EditInPlace.m_Var->m_Type==TW_TYPE_CDSTRING && ((m_EditInPlace.m_Var->m_Ptr==NULL && m_EditInPlace.m_Var->m_SetCallback==NULL) || (m_EditInPlace.m_Var->m_Ptr!=NULL && g_TwMgr->m_CopyCDStringToClient==NULL)) ) + return true; + else if( m_EditInPlace.m_Var->m_Type==TW_TYPE_CDSTDSTRING && m_EditInPlace.m_Var->m_SetCallback==NULL ) + return true; + else if( m_EditInPlace.m_Var->m_Type==TW_TYPE_STDSTRING && ((m_EditInPlace.m_Var->m_Ptr==NULL && m_EditInPlace.m_Var->m_SetCallback==NULL) || (m_EditInPlace.m_Var->m_Ptr!=NULL && g_TwMgr->m_CopyStdStringToClient==NULL)) ) + return true; + else + return false; +} + +void CTwBar::EditInPlaceDraw() +{ + if( !m_EditInPlace.m_Active || m_EditInPlace.m_Var==NULL || m_EditInPlace.m_Width<=0 ) + return; + + // adjust m_FirstChar to see the caret, and extract the visible sub-string + int i, StringLen = (int)m_EditInPlace.m_String.length(); + if( m_EditInPlace.m_FirstChar>m_EditInPlace.m_CaretPos ) + m_EditInPlace.m_FirstChar = m_EditInPlace.m_CaretPos; + int SubstrWidth = 0; + for( i=min(m_EditInPlace.m_CaretPos, StringLen-1); i>=0 && SubstrWidthm_CharWidth[u]; + } + int FirstChar = max(0, i); + if( SubstrWidth>=m_EditInPlace.m_Width ) + FirstChar += 2; + if( m_EditInPlace.m_FirstChar0 ) + --m_EditInPlace.m_FirstChar; + SubstrWidth = 0; + for( i=m_EditInPlace.m_FirstChar; im_CharWidth[u]; + } + int LastChar = i; + if( SubstrWidth>=m_EditInPlace.m_Width ) + --LastChar; + string Substr = m_EditInPlace.m_String.substr( m_EditInPlace.m_FirstChar, LastChar-m_EditInPlace.m_FirstChar ); + + // compute caret x pos + int CaretX = m_PosX + m_EditInPlace.m_X; + for( i=m_EditInPlace.m_FirstChar; im_CharWidth[u]; + } + + // draw edit text + color32 ColText = EditInPlaceIsReadOnly() ? m_ColValTextRO : m_ColEditText; + color32 ColBg = EditInPlaceIsReadOnly() ? m_ColValBg : m_ColEditBg; + g_TwMgr->m_Graph->BuildText(m_EditInPlace.m_EditTextObj, &Substr, NULL, NULL, 1, m_Font, 0, m_EditInPlace.m_Width); + g_TwMgr->m_Graph->DrawText(m_EditInPlace.m_EditTextObj, m_PosX+m_EditInPlace.m_X, m_PosY+m_EditInPlace.m_Y, ColText, ColBg); + + // draw selected text + string StrSelected = ""; + if( m_EditInPlace.m_CaretPos>m_EditInPlace.m_SelectionStart ) + { + int FirstSel = max(m_EditInPlace.m_SelectionStart, m_EditInPlace.m_FirstChar); + int LastSel = min(m_EditInPlace.m_CaretPos, LastChar); + StrSelected = m_EditInPlace.m_String.substr( FirstSel, LastSel-FirstSel ); + } + else + { + int FirstSel = max(m_EditInPlace.m_CaretPos, m_EditInPlace.m_FirstChar); + int LastSel = min(m_EditInPlace.m_SelectionStart, LastChar); + StrSelected = m_EditInPlace.m_String.substr( FirstSel, LastSel-FirstSel ); + } + int SelWidth = 0; + for( i=0; i<(int)StrSelected.length(); ++i ) + { + unsigned char u = StrSelected.c_str()[i]; + SelWidth += m_Font->m_CharWidth[u]; + } + if( SelWidth>0 && StrSelected.length()>0 ) + { + color32 ColSelBg = EditInPlaceIsReadOnly() ? m_ColValTextRO : m_ColEditSelBg; + g_TwMgr->m_Graph->BuildText(m_EditInPlace.m_EditSelTextObj, &StrSelected, NULL, NULL, 1, m_Font, 0, SelWidth); + if ( m_EditInPlace.m_CaretPos>m_EditInPlace.m_SelectionStart ) + g_TwMgr->m_Graph->DrawText(m_EditInPlace.m_EditSelTextObj, CaretX-SelWidth, m_PosY+m_EditInPlace.m_Y, m_ColEditSelText, ColSelBg); + else + g_TwMgr->m_Graph->DrawText(m_EditInPlace.m_EditSelTextObj, CaretX, m_PosY+m_EditInPlace.m_Y, m_ColEditSelText, ColSelBg); + } + + // draw caret + if( CaretX<=m_PosX+m_EditInPlace.m_X+m_EditInPlace.m_Width ) + g_TwMgr->m_Graph->DrawLine( CaretX, m_PosY+m_EditInPlace.m_Y+1, CaretX, m_PosY+m_EditInPlace.m_Y+m_Font->m_CharHeight, m_ColEditText ); +} + +bool CTwBar::EditInPlaceAcceptVar(const CTwVarAtom* _Var) +{ + if( _Var==NULL ) + return false; + if( _Var->m_Type>=TW_TYPE_CHAR && _Var->m_Type<=TW_TYPE_DOUBLE ) + return true; + if( _Var->m_Type==TW_TYPE_CDSTRING || _Var->m_Type==TW_TYPE_CDSTDSTRING || _Var->m_Type==TW_TYPE_STDSTRING ) + return true; + if( IsCSStringType(_Var->m_Type) ) + return true; + + return false; +} + +void CTwBar::EditInPlaceStart(CTwVarAtom* _Var, int _X, int _Y, int _Width) +{ + if( m_EditInPlace.m_Active ) + EditInPlaceEnd(true); + + m_EditInPlace.m_Active = true; + m_EditInPlace.m_Var = _Var; + m_EditInPlace.m_X = _X; + m_EditInPlace.m_Y = _Y; + m_EditInPlace.m_Width = _Width; + m_EditInPlace.m_Var->ValueToString(&m_EditInPlace.m_String); + if( m_EditInPlace.m_Var->m_Type==TW_TYPE_CHAR ) + m_EditInPlace.m_String = m_EditInPlace.m_String.substr(0, 1); + m_EditInPlace.m_CaretPos = (int)m_EditInPlace.m_String.length(); + if( EditInPlaceIsReadOnly() ) + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + else + m_EditInPlace.m_SelectionStart = 0; + m_EditInPlace.m_FirstChar = 0; +} + +void CTwBar::EditInPlaceEnd(bool _Commit) +{ + if( _Commit && m_EditInPlace.m_Active && m_EditInPlace.m_Var!=NULL ) + { + if( m_EditInPlace.m_Var->m_Type==TW_TYPE_CDSTRING || m_EditInPlace.m_Var->m_Type==TW_TYPE_CDSTDSTRING ) + { + if( m_EditInPlace.m_Var->m_SetCallback!=NULL ) + { + const char *String = m_EditInPlace.m_String.c_str(); + m_EditInPlace.m_Var->m_SetCallback(&String, m_EditInPlace.m_Var->m_ClientData); + } + else if( m_EditInPlace.m_Var->m_Type!=TW_TYPE_CDSTDSTRING ) + { + char **StringPtr = (char **)m_EditInPlace.m_Var->m_Ptr; + if( StringPtr!=NULL && g_TwMgr->m_CopyCDStringToClient!=NULL ) + g_TwMgr->m_CopyCDStringToClient(StringPtr, m_EditInPlace.m_String.c_str()); + } + } + else if( m_EditInPlace.m_Var->m_Type==TW_TYPE_STDSTRING ) + { + // this case should never happened: TW_TYPE_STDSTRING are converted to TW_TYPE_CDSTDSTRING by TwAddVar + if( m_EditInPlace.m_Var->m_SetCallback!=NULL ) + m_EditInPlace.m_Var->m_SetCallback(&(m_EditInPlace.m_String), m_EditInPlace.m_Var->m_ClientData); + else + { + string *StringPtr = (string *)m_EditInPlace.m_Var->m_Ptr; + if( StringPtr!=NULL && g_TwMgr->m_CopyStdStringToClient!=NULL ) + g_TwMgr->m_CopyStdStringToClient(*StringPtr, m_EditInPlace.m_String); + } + } + else if( IsCSStringType(m_EditInPlace.m_Var->m_Type) ) + { + int n = TW_CSSTRING_SIZE(m_EditInPlace.m_Var->m_Type); + if( n>0 ) + { + if( (int)m_EditInPlace.m_String.length()>n-1 ) + m_EditInPlace.m_String.resize(n-1); + if( m_EditInPlace.m_Var->m_SetCallback!=NULL ) + m_EditInPlace.m_Var->m_SetCallback(m_EditInPlace.m_String.c_str(), m_EditInPlace.m_Var->m_ClientData); + else if( m_EditInPlace.m_Var->m_Ptr!=NULL ) + { + if( n>1 ) + strncpy((char *)m_EditInPlace.m_Var->m_Ptr, m_EditInPlace.m_String.c_str(), n-1); + ((char *)m_EditInPlace.m_Var->m_Ptr)[n-1] = '\0'; + } + } + } + else + { + double Val = 0, Min = 0, Max = 0, Step = 0; + int n = 0; + if( m_EditInPlace.m_Var->m_Type==TW_TYPE_CHAR ) + { + unsigned char Char = 0; + n = sscanf(m_EditInPlace.m_String.c_str(), "%c", &Char); + Val = Char; + } + else + n = sscanf(m_EditInPlace.m_String.c_str(), "%lf", &Val); + if( n==1 ) + { + m_EditInPlace.m_Var->MinMaxStepToDouble(&Min, &Max, &Step); + if( ValMax ) + Val = Max; + m_EditInPlace.m_Var->ValueFromDouble(Val); + } + } + if( g_TwMgr!=NULL ) // Mgr might have been destroyed by the client inside a callback call + NotUpToDate(); + } + m_EditInPlace.m_Active = false; + m_EditInPlace.m_Var = NULL; +} + +bool CTwBar::EditInPlaceKeyPressed(int _Key, int _Modifiers) +{ + if( !m_EditInPlace.m_Active ) + return false; + bool Handled = true; // if EditInPlace is active, it catches all key events + bool DoCopy = false, DoPaste = false; + + switch( _Key ) + { + case TW_KEY_ESCAPE: + EditInPlaceEnd(false); + break; + case TW_KEY_RETURN: + EditInPlaceEnd(true); + break; + case TW_KEY_LEFT: + if( _Modifiers==TW_KMOD_SHIFT ) + m_EditInPlace.m_CaretPos = max(0, m_EditInPlace.m_CaretPos-1); + else + { + if( m_EditInPlace.m_SelectionStart!=m_EditInPlace.m_CaretPos ) + m_EditInPlace.m_CaretPos = min(m_EditInPlace.m_SelectionStart, m_EditInPlace.m_CaretPos); + else + m_EditInPlace.m_CaretPos = max(0, m_EditInPlace.m_CaretPos-1); + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + } + break; + case TW_KEY_RIGHT: + if( _Modifiers==TW_KMOD_SHIFT ) + m_EditInPlace.m_CaretPos = min((int)m_EditInPlace.m_String.length(), m_EditInPlace.m_CaretPos+1); + else + { + if( m_EditInPlace.m_SelectionStart!=m_EditInPlace.m_CaretPos ) + m_EditInPlace.m_CaretPos = max(m_EditInPlace.m_SelectionStart, m_EditInPlace.m_CaretPos); + else + m_EditInPlace.m_CaretPos = min((int)m_EditInPlace.m_String.length(), m_EditInPlace.m_CaretPos+1); + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + } + break; + case TW_KEY_BACKSPACE: + if( !EditInPlaceIsReadOnly() ) + { + if( m_EditInPlace.m_SelectionStart==m_EditInPlace.m_CaretPos ) + m_EditInPlace.m_SelectionStart = max(0, m_EditInPlace.m_CaretPos-1); + EditInPlaceEraseSelect(); + } + break; + case TW_KEY_DELETE: + if( !EditInPlaceIsReadOnly() ) + { + if( m_EditInPlace.m_SelectionStart==m_EditInPlace.m_CaretPos ) + m_EditInPlace.m_SelectionStart = min(m_EditInPlace.m_CaretPos+1, (int)m_EditInPlace.m_String.length()); + EditInPlaceEraseSelect(); + } + break; + case TW_KEY_HOME: + m_EditInPlace.m_CaretPos = 0; + if( _Modifiers!=TW_KMOD_SHIFT ) + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + break; + case TW_KEY_END: + m_EditInPlace.m_CaretPos = (int)m_EditInPlace.m_String.length(); + if( _Modifiers!=TW_KMOD_SHIFT ) + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + break; + case TW_KEY_INSERT: + if( _Modifiers==TW_KMOD_CTRL ) + DoCopy = true; + else if( _Modifiers==TW_KMOD_SHIFT ) + DoPaste = true; + break; + default: + if( _Modifiers==TW_KMOD_CTRL ) + { + if( _Key=='c' || _Key=='C' ) + DoCopy = true; + else if( _Key=='v' || _Key=='V' ) + DoPaste = true; + } + else if( _Key>=32 && _Key<=255 ) + { + if( !EditInPlaceIsReadOnly() && m_EditInPlace.m_CaretPos>=0 && m_EditInPlace.m_CaretPos<=(int)m_EditInPlace.m_String.length() ) + { + if( m_EditInPlace.m_SelectionStart!=m_EditInPlace.m_CaretPos ) + EditInPlaceEraseSelect(); + string Str(1, (char)_Key); + m_EditInPlace.m_String.insert(m_EditInPlace.m_CaretPos, Str); + ++m_EditInPlace.m_CaretPos; + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + } + } + } + + if( DoPaste && !EditInPlaceIsReadOnly() ) + { + if( m_EditInPlace.m_SelectionStart!=m_EditInPlace.m_CaretPos ) + EditInPlaceEraseSelect(); + string Str = ""; + if( EditInPlaceGetClipboard(&Str) && Str.length()>0 ) + { + m_EditInPlace.m_String.insert(m_EditInPlace.m_CaretPos, Str); + m_EditInPlace.m_CaretPos += (int)Str.length(); + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + } + } + if( DoCopy ) + { + string Str = ""; + if( m_EditInPlace.m_CaretPos>m_EditInPlace.m_SelectionStart ) + Str = m_EditInPlace.m_String.substr(m_EditInPlace.m_SelectionStart, m_EditInPlace.m_CaretPos-m_EditInPlace.m_SelectionStart); + else if( m_EditInPlace.m_CaretPosPosMin ) + m_EditInPlace.m_FirstChar = PosMin; + return true; + } + else + return false; +} + + +bool CTwBar::EditInPlaceMouseMove(int _X, int _Y, bool _Select) +{ + if ( !m_EditInPlace.m_Active || _Ym_PosY+m_EditInPlace.m_Y+m_Font->m_CharHeight ) + return false; + + int i, CaretX = m_PosX+m_EditInPlace.m_X; + for( i=m_EditInPlace.m_FirstChar; i<(int)m_EditInPlace.m_String.length() && CaretXm_CharWidth[u]; + if( _X < CaretX + CharWidth / 2 ) + break; + CaretX += CharWidth; + } + if( CaretX>=m_PosX+m_EditInPlace.m_X+m_EditInPlace.m_Width ) + i = max(0, i-1); + + m_EditInPlace.m_CaretPos = i; + if( !_Select ) + m_EditInPlace.m_SelectionStart = m_EditInPlace.m_CaretPos; + return true; +} + + +bool CTwBar::EditInPlaceGetClipboard(std::string *_OutString) +{ + assert( _OutString!=NULL ); + *_OutString = m_EditInPlace.m_Clipboard; // default implementation + +#if defined ANT_WINDOWS + + if( !IsClipboardFormatAvailable(CF_TEXT) ) + return false; + if( !OpenClipboard(NULL) ) + return false; + HGLOBAL TextHandle = GetClipboardData(CF_TEXT); + if( TextHandle!=NULL ) + { + const char *TextString = static_cast(GlobalLock(TextHandle)); + if( TextHandle!=NULL ) + { + *_OutString = TextString; + GlobalUnlock(TextHandle); + } + } + CloseClipboard(); + +#elif defined ANT_UNIX + + if( g_TwMgr->m_CurrentXDisplay!=NULL ) + { + int NbBytes = 0; + char *Buffer = XFetchBytes(g_TwMgr->m_CurrentXDisplay, &NbBytes); + if( Buffer!=NULL ) + { + if( NbBytes>0 ) + { + char *Text = new char[NbBytes+1]; + memcpy(Text, Buffer, NbBytes); + Text[NbBytes] = '\0'; + *_OutString = Text; + delete[] Text; + } + XFree(Buffer); + } + } + +#endif + + return true; +} + + +bool CTwBar::EditInPlaceSetClipboard(const std::string& _String) +{ + if( _String.length()<=0 ) + return false; // keep last clipboard + m_EditInPlace.m_Clipboard = _String; // default implementation + +#if defined ANT_WINDOWS + + if( !OpenClipboard(NULL) ) + return false; + EmptyClipboard(); + HGLOBAL TextHandle = GlobalAlloc(GMEM_MOVEABLE, _String.length()+1); + if( TextHandle==NULL ) + { + CloseClipboard(); + return false; + } + char *TextString = static_cast(GlobalLock(TextHandle)); + memcpy(TextString, _String.c_str(), _String.length()); + TextString[_String.length()] = '\0'; + GlobalUnlock(TextHandle); + SetClipboardData(CF_TEXT, TextHandle); + CloseClipboard(); + +#elif defined ANT_UNIX + + if( g_TwMgr->m_CurrentXDisplay!=NULL ) + { + XSetSelectionOwner(g_TwMgr->m_CurrentXDisplay, XA_PRIMARY, None, CurrentTime); + char *Text = new char[_String.length()+1]; + memcpy(Text, _String.c_str(), _String.length()); + Text[_String.length()] = '\0'; + XStoreBytes(g_TwMgr->m_CurrentXDisplay, Text, _String.length()); + delete[] Text; + } + +#endif + + return true; +} + + +// --------------------------------------------------------------------------- + + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwBar.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,437 @@ +// --------------------------------------------------------------------------- +// +// @file TwBar.h +// @brief Tweak bar and var classes. +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_BAR_INCLUDED +#define ANT_TW_BAR_INCLUDED + +#include +#include "TwColors.h" + +#define ANT_TWEAK_BAR_DLL "AntTweakBar" + + +// --------------------------------------------------------------------------- + +bool IsCustomType(int _Type); + +struct CTwVar +{ + std::string m_Name; + std::string m_Label; + std::string m_Help; + bool m_IsRoot; + bool m_DontClip; + bool m_Visible; + signed short m_LeftMargin; + signed short m_TopMargin; + const color32 * m_ColorPtr; + const color32 * m_BgColorPtr; + + virtual bool IsGroup() const = 0; + virtual bool IsCustom() const { return false; } + virtual const CTwVar * Find(const char *_Name, struct CTwVarGroup **_Parent, int *_Index) const = 0; + virtual int HasAttrib(const char *_Attrib, bool *_HasValue) const; + virtual int SetAttrib(int _AttribID, const char *_Value, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex); + virtual ERetType GetAttrib(int _AttribID, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex, std::vector& outDouble, std::ostringstream& outString) const; + virtual void SetReadOnly(bool _ReadOnly) = 0; + virtual bool IsReadOnly() const = 0; + CTwVar(); + virtual ~CTwVar() {} + + static size_t GetDataSize(TwType _Type); +}; + + +struct CTwVarAtom : CTwVar +{ + ETwType m_Type; + void * m_Ptr; + TwSetVarCallback m_SetCallback; + TwGetVarCallback m_GetCallback; + void * m_ClientData; + bool m_ReadOnly; + bool m_NoSlider; + int m_KeyIncr[2]; // [0]=key_code [1]=modifiers + int m_KeyDecr[2]; // [0]=key_code [1]=modifiers + + template struct TVal + { + _T m_Min; + _T m_Max; + _T m_Step; + signed char m_Precision; + bool m_Hexa; + }; + union UVal + { + TVal m_Char; + TVal m_Int8; + TVal m_UInt8; + TVal m_Int16; + TValm_UInt16; + TVal m_Int32; + TVal m_UInt32; + TVal m_Float32; + TVal m_Float64; + struct CBoolVal + { + char * m_TrueString; + char * m_FalseString; + bool m_FreeTrueString; + bool m_FreeFalseString; + } m_Bool; + struct CEnumVal // empty -> enum entries are deduced from m_Type + { + //typedef std::map CEntries; + //CEntries * m_Entries; + } m_Enum; + struct CShortcutVal + { + int m_Incr[2]; + int m_Decr[2]; + } m_Shortcut; + struct CHelpStruct + { + int m_StructType; + } m_HelpStruct; + struct CButtonVal + { + TwButtonCallback m_Callback; + int m_Separator; + } m_Button; + struct CCustomVal + { + CTwMgr::CMemberProxy *m_MemberProxy; + } m_Custom; + }; + UVal m_Val; + + virtual bool IsGroup() const { return false; } + virtual bool IsCustom() const { return IsCustomType(m_Type); } + virtual void ValueToString(std::string *_Str) const; + virtual double ValueToDouble() const; + virtual void ValueFromDouble(double _Val); + virtual void MinMaxStepToDouble(double *_Min, double *_Max, double *_Step) const; + virtual const CTwVar * Find(const char *_Name, struct CTwVarGroup **_Parent, int *_Index) const; + virtual int HasAttrib(const char *_Attrib, bool *_HasValue) const; + virtual int SetAttrib(int _AttribID, const char *_Value, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex); + virtual ERetType GetAttrib(int _AttribID, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex, std::vector& outDouble, std::ostringstream& outString) const; + virtual void Increment(int _Step); + virtual void SetDefaults(); + virtual void SetReadOnly(bool _ReadOnly) { m_ReadOnly=_ReadOnly; if( m_Type!=TW_TYPE_BUTTON && m_SetCallback==NULL && m_Ptr==NULL ) m_ReadOnly=true; } + virtual bool IsReadOnly() const { if( m_Type!=TW_TYPE_BUTTON && m_SetCallback==NULL && m_Ptr==NULL ) return true; else return m_ReadOnly; } + //virtual int DefineEnum(const TwEnumVal *_EnumValues, unsigned int _NbValues); + CTwVarAtom(); + virtual ~CTwVarAtom(); +}; + + +struct CTwVarGroup : CTwVar +{ + std::vector m_Vars; + bool m_Open; + TwSummaryCallback m_SummaryCallback; + void * m_SummaryClientData; + void * m_StructValuePtr; + TwType m_StructType; + + virtual bool IsGroup() const { return true; } + virtual const CTwVar * Find(const char *_Name, CTwVarGroup **_Parent, int *_Index) const; + virtual int HasAttrib(const char *_Attrib, bool *_HasValue) const; + virtual int SetAttrib(int _AttribID, const char *_Value, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex); + virtual ERetType GetAttrib(int _AttribID, TwBar *_Bar, struct CTwVarGroup *_VarParent, int _VarIndex, std::vector& outDouble, std::ostringstream& outString) const; + virtual CTwVarAtom * FindShortcut(int _Key, int _Modifiers, bool *_DoIncr); + virtual void SetReadOnly(bool _ReadOnly) { for(size_t i=0; iSetReadOnly(_ReadOnly); } + virtual bool IsReadOnly() const { for(size_t i=0; iIsReadOnly()) return false; return true; } + CTwVarGroup() { m_Open=false; m_StructType=TW_TYPE_UNDEF; m_SummaryCallback=NULL; m_SummaryClientData=NULL; m_StructValuePtr=NULL; } + virtual ~CTwVarGroup(); +}; + +// --------------------------------------------------------------------------- + +struct CTwBar +{ + std::string m_Name; + std::string m_Label; + std::string m_Help; + bool m_Visible; + int m_PosX; + int m_PosY; + int m_Width; + int m_Height; + color32 m_Color; + bool m_DarkText; + const CTexFont * m_Font; + int m_ValuesWidth; + int m_Sep; + int m_FirstLine; + float m_UpdatePeriod; + bool m_IsHelpBar; + int m_MinNumber; // accessed by TwDeleteBar + bool m_IsPopupList; + CTwVarAtom * m_VarEnumLinkedToPopupList; + CTwBar * m_BarLinkedToPopupList; + bool m_Resizable; + bool m_Movable; + bool m_Iconifiable; + bool m_Contained; + + CTwVarGroup m_VarRoot; + + enum EDrawPart { DRAW_BG=(1<<0), DRAW_CONTENT=(1<<1), DRAW_ALL=DRAW_BG|DRAW_CONTENT }; + void Draw(int _DrawPart=DRAW_ALL); + void NotUpToDate(); + const CTwVar * Find(const char *_Name, CTwVarGroup **_Parent=NULL, int *_Index=NULL) const; + CTwVar * Find(const char *_Name, CTwVarGroup **_Parent=NULL, int *_Index=NULL); + int HasAttrib(const char *_Attrib, bool *_HasValue) const; + int SetAttrib(int _AttribID, const char *_Value); + ERetType GetAttrib(int _AttribID, std::vector& outDouble, std::ostringstream& outString) const; + bool MouseMotion(int _X, int _Y); + bool MouseButton(ETwMouseButtonID _Button, bool _Pressed, int _X, int _Y); + bool MouseWheel(int _Pos, int _PrevPos, int _MouseX, int _MouseY); + bool KeyPressed(int _Key, int _Modifiers); + bool KeyTest(int _Key, int _Modifiers); + bool IsMinimized() const { return m_IsMinimized; } + bool IsDragging() const { return m_MouseDrag; } + bool Show(CTwVar *_Var); // display the line associated to _Var + bool OpenHier(CTwVarGroup *_Root, CTwVar *_Var); // open a hierarchy if it contains _Var + int LineInHier(CTwVarGroup *_Root, CTwVar *_Var); // returns the number of the line associated to _Var + void UnHighlightLine() { m_HighlightedLine = -1; NotUpToDate(); } // used by PopupCallback + void HaveFocus(bool _Focus) { m_DrawHandles = _Focus; } // used by PopupCallback + void StopEditInPlace() { if( m_EditInPlace.m_Active ) EditInPlaceEnd(false); } + CTwBar(const char *_Name); + ~CTwBar(); + + color32 m_ColBg, m_ColBg1, m_ColBg2; + color32 m_ColHighBg0; + color32 m_ColHighBg1; + color32 m_ColLabelText; + color32 m_ColStructText; + color32 m_ColValBg; + color32 m_ColValText; + color32 m_ColValTextRO; + color32 m_ColValTextNE; + color32 m_ColValMin; + color32 m_ColValMax; + color32 m_ColStructBg; + color32 m_ColTitleBg; + color32 m_ColTitleHighBg; + color32 m_ColTitleUnactiveBg; + color32 m_ColTitleText; + color32 m_ColTitleShadow; + color32 m_ColLine; + color32 m_ColLineShadow; + color32 m_ColUnderline; + color32 m_ColBtn; + color32 m_ColHighBtn; + color32 m_ColFold; + color32 m_ColHighFold; + color32 m_ColGrpBg; + color32 m_ColGrpText; + color32 m_ColHierBg; + color32 m_ColShortcutText; + color32 m_ColShortcutBg; + color32 m_ColInfoText; + color32 m_ColHelpBg; + color32 m_ColHelpText; + color32 m_ColRoto; + color32 m_ColRotoVal; + color32 m_ColRotoBound; + color32 m_ColEditBg; + color32 m_ColEditText; + color32 m_ColEditSelBg; + color32 m_ColEditSelText; + color32 m_ColSeparator; + color32 m_ColStaticText; + void UpdateColors(); + +protected: + int m_TitleWidth; + int m_VarX0; + int m_VarX1; + int m_VarX2; + int m_VarY0; + int m_VarY1; + int m_VarY2; + int m_ScrollYW; + int m_ScrollYH; + int m_ScrollY0; + int m_ScrollY1; + int m_NbHierLines; + int m_NbDisplayedLines; + bool m_UpToDate; + float m_LastUpdateTime; + void Update(); + + bool m_MouseDrag; + bool m_MouseDragVar; + bool m_MouseDragTitle; + bool m_MouseDragScroll; + bool m_MouseDragResizeUR; + bool m_MouseDragResizeUL; + bool m_MouseDragResizeLR; + bool m_MouseDragResizeLL; + bool m_MouseDragValWidth; + int m_MouseOriginX; + int m_MouseOriginY; + double m_ValuesWidthRatio; + bool m_VarHasBeenIncr; + int m_FirstLine0; + int m_HighlightedLine; + int m_HighlightedLinePrev; + int m_HighlightedLineLastValid; + bool m_HighlightIncrBtn; + bool m_HighlightDecrBtn; + bool m_HighlightRotoBtn; + bool m_HighlightListBtn; + bool m_HighlightBoolBtn; + bool m_HighlightClickBtn; + double m_HighlightClickBtnAuto; + bool m_HighlightTitle; + bool m_HighlightScroll; + bool m_HighlightUpScroll; + bool m_HighlightDnScroll; + bool m_HighlightMinimize; + bool m_HighlightFont; + bool m_HighlightValWidth; + bool m_HighlightLabelsHeader; + bool m_HighlightValuesHeader; + bool m_DrawHandles; + + bool m_IsMinimized; + int m_MinPosX; + int m_MinPosY; + bool m_HighlightMaximize; + bool m_DrawIncrDecrBtn; + bool m_DrawRotoBtn; + bool m_DrawClickBtn; + bool m_DrawListBtn; + bool m_DrawBoolBtn; + EButtonAlign m_ButtonAlign; + + struct CHierTag + { + CTwVar * m_Var; + int m_Level; + bool m_Closing; + }; + std::vector m_HierTags; + void BrowseHierarchy(int *_LineNum, int _CurrLevel, const CTwVar *_Var, int _First, int _Last); + void * m_TitleTextObj; + void * m_LabelsTextObj; + void * m_ValuesTextObj; + void * m_ShortcutTextObj; + int m_ShortcutLine; + void * m_HeadersTextObj; + void ListLabels(std::vector& _Labels, std::vector& _Colors, std::vector& _BgColors, bool *_HasBgColors, const CTexFont *_Font, int _AtomWidthMax, int _GroupWidthMax); + void ListValues(std::vector& _Values, std::vector& _Colors, std::vector& _BgColors, const CTexFont *_Font, int _WidthMax); + int ComputeLabelsWidth(const CTexFont *_Font); + int ComputeValuesWidth(const CTexFont *_Font); + void DrawHierHandle(); + + enum EValuesWidthFit { VALUES_WIDTH_FIT = -5555 }; + + // RotoSlider + struct CPoint + { + int x, y; + CPoint() {} + CPoint(int _X, int _Y):x(_X), y(_Y) {} + const CPoint operator+ (const CPoint& p) const { return CPoint(x+p.x, y+p.y); } + const CPoint operator- (const CPoint& p) const { return CPoint(x-p.x, y-p.y); } + }; + struct CRotoSlider + { + CRotoSlider(); + CTwVarAtom * m_Var; + double m_PreciseValue; + double m_CurrentValue; + double m_Value0; + double m_ValueAngle0; + bool m_Active; + bool m_ActiveMiddle; + CPoint m_Origin; + CPoint m_Current; + bool m_HasPrevious; + CPoint m_Previous; + double m_Angle0; + double m_AngleDT; + int m_Subdiv; + }; + CRotoSlider m_Roto; + int m_RotoMinRadius; + int m_RotoNbSubdiv; // number of steps for one turn + void RotoDraw(); + void RotoOnMouseMove(int _X, int _Y); + void RotoOnLButtonDown(int _X, int _Y); + void RotoOnLButtonUp(int _X, int _Y); + void RotoOnMButtonDown(int _X, int _Y); + void RotoOnMButtonUp(int _X, int _Y); + double RotoGetValue() const; + void RotoSetValue(double _Val); + double RotoGetMin() const; + double RotoGetMax() const; + double RotoGetStep() const; + double RotoGetSteppedValue() const; + + // Edit-in-place + struct CEditInPlace + { + CEditInPlace(); + ~CEditInPlace(); + CTwVarAtom * m_Var; + bool m_Active; + std::string m_String; + void * m_EditTextObj; + void * m_EditSelTextObj; + int m_CaretPos; + int m_SelectionStart; + int m_X, m_Y; + int m_Width; + int m_FirstChar; + std::string m_Clipboard; + }; + CEditInPlace m_EditInPlace; + void EditInPlaceDraw(); + bool EditInPlaceAcceptVar(const CTwVarAtom* _Var); + bool EditInPlaceIsReadOnly(); + void EditInPlaceStart(CTwVarAtom* _Var, int _X, int _Y, int _Width); + void EditInPlaceEnd(bool _Commit); + bool EditInPlaceKeyPressed(int _Key, int _Modifiers); + bool EditInPlaceEraseSelect(); + bool EditInPlaceMouseMove(int _X, int _Y, bool _Select); + bool EditInPlaceSetClipboard(const std::string& _String); + bool EditInPlaceGetClipboard(std::string *_OutString); + + struct CCustomRecord + { + int m_IndexMin; + int m_IndexMax; + int m_XMin, m_XMax; + int m_YMin, m_YMax; // Y visible range + int m_Y0, m_Y1; // Y widget range + CTwVarGroup * m_Var; + }; + typedef std::map CustomMap; + CustomMap m_CustomRecords; + CTwMgr::CStructProxy * m_CustomActiveStructProxy; + + friend struct CTwMgr; +}; + +void DrawArc(int _X, int _Y, int _Radius, float _StartAngleDeg, float _EndAngleDeg, color32 _Color); + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_BAR_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,153 @@ +// --------------------------------------------------------------------------- +// +// @file TwColors.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "TwColors.h" + + +void ColorRGBToHLSf(float _R, float _G, float _B, float *_Hue, float *_Light, float *_Saturation) +{ + // Compute HLS from RGB. The r,g,b triplet is between [0,1], + // hue is between [0,360], light and saturation are [0,1]. + + float rnorm, gnorm, bnorm, minval, maxval, msum, mdiff, r, g, b; + r = g = b = 0; + if(_R>0) r = _R; if(r>1) r = 1; + if(_G>0) g = _G; if(g>1) g = 1; + if(_B>0) b = _B; if(b>1) b = 1; + + minval = r; + if(gmaxval) maxval = g; + if(b>maxval) maxval = b; + + rnorm = gnorm = bnorm = 0; + mdiff = maxval - minval; + msum = maxval + minval; + float l = 0.5f * msum; + if(_Light) + *_Light = l; + if(maxval!=minval) + { + rnorm = (maxval - r)/mdiff; + gnorm = (maxval - g)/mdiff; + bnorm = (maxval - b)/mdiff; + } + else + { + if(_Saturation) + *_Saturation = 0; + if(_Hue) + *_Hue = 0; + return; + } + + if(_Saturation) + { + if(l<0.5f) + *_Saturation = mdiff/msum; + else + *_Saturation = mdiff/(2.0f - msum); + } + + if(_Hue) + { + if(r==maxval) + *_Hue = 60.0f * (6.0f + bnorm - gnorm); + else if(g==maxval) + *_Hue = 60.0f * (2.0f + rnorm - bnorm); + else + *_Hue = 60.0f * (4.0f + gnorm - rnorm); + + if(*_Hue>360.0f) + *_Hue -= 360.0f; + } +} + + +void ColorRGBToHLSi(int _R, int _G, int _B, int *_Hue, int *_Light, int *_Saturation) +{ + float h, l, s; + ColorRGBToHLSf((1.0f/255.0f)*float(_R), (1.0f/255.0f)*float(_G), (1.0f/255.0f)*float(_B), &h, &l, &s); + if(_Hue) *_Hue = (int)TClamp(h*(256.0f/360.0f), 0.0f, 255.0f); + if(_Light) *_Light = (int)TClamp(l*256.0f, 0.0f, 255.0f); + if(_Saturation) *_Saturation= (int)TClamp(s*256.0f, 0.0f, 255.0f); +} + + +void ColorHLSToRGBf(float _Hue, float _Light, float _Saturation, float *_R, float *_G, float *_B) +{ + // Compute RGB from HLS. The light and saturation are between [0,1] + // and hue is between [0,360]. The returned r,g,b triplet is between [0,1]. + + // a local auxiliary function + struct CLocal + { + static float HLSToRGB(float _Rn1, float _Rn2, float _Huei) + { + float hue = _Huei; + if(hue>360) hue = hue - 360; + if(hue<0) hue = hue + 360; + if(hue<60 ) return _Rn1 + (_Rn2-_Rn1)*hue/60; + if(hue<180) return _Rn2; + if(hue<240) return _Rn1 + (_Rn2-_Rn1)*(240-hue)/60; + return _Rn1; + } + }; + + float rh, rl, rs, rm1, rm2; + rh = rl = rs = 0; + if(_Hue>0) rh = _Hue; if(rh>360) rh = 360; + if(_Light>0) rl = _Light; if(rl>1) rl = 1; + if(_Saturation>0) rs = _Saturation; if(rs>1) rs = 1; + + if(rl<=0.5f) + rm2 = rl*(1.0f + rs); + else + rm2 = rl + rs - rl*rs; + rm1 = 2.0f*rl - rm2; + + if(!rs) + { + if(_R) *_R = rl; + if(_G) *_G = rl; + if(_B) *_B = rl; + } + else + { + if(_R) *_R = CLocal::HLSToRGB(rm1, rm2, rh+120); + if(_G) *_G = CLocal::HLSToRGB(rm1, rm2, rh); + if(_B) *_B = CLocal::HLSToRGB(rm1, rm2, rh-120); + } +} + + +void ColorHLSToRGBi(int _Hue, int _Light, int _Saturation, int *_R, int *_G, int *_B) +{ + float r, g, b; + ColorHLSToRGBf((360.0f/255.0f)*float(_Hue), (1.0f/255.0f)*float(_Light), (1.0f/255.0f)*float(_Saturation), &r, &g, &b); + if(_R) *_R = (int)TClamp(r*256.0f, 0.0f, 255.0f); + if(_G) *_G = (int)TClamp(g*256.0f, 0.0f, 255.0f); + if(_B) *_B = (int)TClamp(b*256.0f, 0.0f, 255.0f); +} + + +color32 ColorBlend(color32 _Color1, color32 _Color2, float _S) +{ + float a1, r1, g1, b1, a2, r2, g2, b2; + Color32ToARGBf(_Color1, &a1, &r1, &g1, &b1); + Color32ToARGBf(_Color2, &a2, &r2, &g2, &b2); + float t = 1.0f-_S; + return Color32FromARGBf(t*a1+_S*a2, t*r1+_S*r2, t*g1+_S*g2, t*b1+_S*b2); +} + + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwColors.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,80 @@ +// --------------------------------------------------------------------------- +// +// @file TwColors.h +// @brief Color conversions +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_COLORS_INCLUDED +#define ANT_TW_COLORS_INCLUDED + + +// --------------------------------------------------------------------------- + + +typedef unsigned int color32; + + +const color32 COLOR32_BLACK = 0xff000000; // Black +const color32 COLOR32_WHITE = 0xffffffff; // White +const color32 COLOR32_ZERO = 0x00000000; // Zero +const color32 COLOR32_RED = 0xffff0000; // Red +const color32 COLOR32_GREEN = 0xff00ff00; // Green +const color32 COLOR32_BLUE = 0xff0000ff; // Blue + + +template inline const _T& TClamp(const _T& _X, const _T& _Limit1, const _T& _Limit2) +{ + if( _Limit1<_Limit2 ) + return (_X<=_Limit1) ? _Limit1 : ( (_X>=_Limit2) ? _Limit2 : _X ); + else + return (_X<=_Limit2) ? _Limit2 : ( (_X>=_Limit1) ? _Limit1 : _X ); +} + +inline color32 Color32FromARGBi(int _A, int _R, int _G, int _B) +{ + return (((color32)TClamp(_A, 0, 255))<<24) | (((color32)TClamp(_R, 0, 255))<<16) | (((color32)TClamp(_G, 0, 255))<<8) | ((color32)TClamp(_B, 0, 255)); +} + +inline color32 Color32FromARGBf(float _A, float _R, float _G, float _B) +{ + return (((color32)TClamp(_A*256.0f, 0.0f, 255.0f))<<24) | (((color32)TClamp(_R*256.0f, 0.0f, 255.0f))<<16) | (((color32)TClamp(_G*256.0f, 0.0f, 255.0f))<<8) | ((color32)TClamp(_B*256.0f, 0.0f, 255.0f)); +} + +inline void Color32ToARGBi(color32 _Color, int *_A, int *_R, int *_G, int *_B) +{ + if(_A) *_A = (_Color>>24)&0xff; + if(_R) *_R = (_Color>>16)&0xff; + if(_G) *_G = (_Color>>8)&0xff; + if(_B) *_B = _Color&0xff; +} + +inline void Color32ToARGBf(color32 _Color, float *_A, float *_R, float *_G, float *_B) +{ + if(_A) *_A = (1.0f/255.0f)*float((_Color>>24)&0xff); + if(_R) *_R = (1.0f/255.0f)*float((_Color>>16)&0xff); + if(_G) *_G = (1.0f/255.0f)*float((_Color>>8)&0xff); + if(_B) *_B = (1.0f/255.0f)*float(_Color&0xff); +} + +void ColorRGBToHLSf(float _R, float _G, float _B, float *_Hue, float *_Light, float *_Saturation); + +void ColorRGBToHLSi(int _R, int _G, int _B, int *_Hue, int *_Light, int *_Saturation); + +void ColorHLSToRGBf(float _Hue, float _Light, float _Saturation, float *_R, float *_G, float *_B); + +void ColorHLSToRGBi(int _Hue, int _Light, int _Saturation, int *_R, int *_G, int *_B); + +color32 ColorBlend(color32 _Color1, color32 _Color2, float _S); + + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_COLORS_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1291 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D10.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "TwDirect3D10.h" +#include "TwMgr.h" +#include "TwColors.h" + +#include "d3d10vs2003.h" // Workaround to include D3D10.h with VS2003 +#define D3D10_IGNORE_SDK_LAYERS // d3d10sdklayers.h may not exist +#include + + +using namespace std; + +const char *g_ErrCantLoadD3D10 = "Cannot load Direct3D10 library dynamically"; +const char *g_ErrCompileFX10 = "Direct3D10 effect compilation failed"; +const char *g_ErrCreateFX10 = "Direct3D10 effect creation failed"; +const char *g_ErrTechNotFound10 = "Cannot find Direct3D10 technique effect"; +const char *g_ErrCreateLayout10 = "Direct3D10 vertex layout creation failed"; +const char *g_ErrCreateBuffer10 = "Direct3D10 vertex buffer creation failed"; + +// --------------------------------------------------------------------------- + +// Dynamically loaded D3D10 functions (to avoid static linkage with d3d10.lib) +HMODULE g_D3D10Module = NULL; +typedef HRESULT (WINAPI *D3D10CompileEffectFromMemoryProc)(void *pData, SIZE_T DataLength, LPCSTR pSrcFileName, CONST D3D10_SHADER_MACRO *pDefines, ID3D10Include *pInclude, UINT HLSLFlags, UINT FXFlags, ID3D10Blob **ppCompiledEffect, ID3D10Blob **ppErrors); +typedef HRESULT (WINAPI *D3D10CreateEffectFromMemoryProc)(void *pData, SIZE_T DataLength, UINT FXFlags, ID3D10Device *pDevice, ID3D10EffectPool *pEffectPool, ID3D10Effect **ppEffect); +typedef HRESULT (WINAPI *D3D10StateBlockMaskEnableAllProc)(D3D10_STATE_BLOCK_MASK *pMask); +typedef HRESULT (WINAPI *D3D10CreateStateBlockProc)(ID3D10Device *pDevice, D3D10_STATE_BLOCK_MASK *pStateBlockMask, ID3D10StateBlock **ppStateBlock); +D3D10CompileEffectFromMemoryProc _D3D10CompileEffectFromMemory = NULL; +D3D10CreateEffectFromMemoryProc _D3D10CreateEffectFromMemory = NULL; +D3D10StateBlockMaskEnableAllProc _D3D10StateBlockMaskEnableAll = NULL; +D3D10CreateStateBlockProc _D3D10CreateStateBlock = NULL; + +const RECT FullRect = {0, 0, 16000, 16000}; +static bool RectIsFull(const RECT& r) { return r.left==FullRect.left && r.right==FullRect.right && r.top==FullRect.top && r.bottom==FullRect.bottom; } + +static int LoadDirect3D10() +{ + if( g_D3D10Module!=NULL ) + return 1; // Direct3D10 library already loaded + + g_D3D10Module = LoadLibrary("D3D10.DLL"); + if( g_D3D10Module ) + { + int res = 1; + _D3D10CompileEffectFromMemory = reinterpret_cast(GetProcAddress(g_D3D10Module, "D3D10CompileEffectFromMemory")); + if( _D3D10CompileEffectFromMemory==NULL ) + res = 0; + _D3D10CreateEffectFromMemory = reinterpret_cast(GetProcAddress(g_D3D10Module, "D3D10CreateEffectFromMemory")); + if( _D3D10CreateEffectFromMemory==NULL ) + res = 0; + _D3D10StateBlockMaskEnableAll = reinterpret_cast(GetProcAddress(g_D3D10Module, "D3D10StateBlockMaskEnableAll")); + if( _D3D10StateBlockMaskEnableAll==NULL ) + res = 0; + _D3D10CreateStateBlock = reinterpret_cast(GetProcAddress(g_D3D10Module, "D3D10CreateStateBlock")); + if( _D3D10CreateStateBlock==NULL ) + res = 0; + return res; + } + else + return 0; // cannot load DLL +} + +static int UnloadDirect3D10() +{ + _D3D10CompileEffectFromMemory = NULL; + _D3D10CreateEffectFromMemory = NULL; + _D3D10StateBlockMaskEnableAll = NULL; + _D3D10CreateStateBlock = NULL; + + if( g_D3D10Module==NULL ) + return 1; // Direct3D10 library not loaded + + if( FreeLibrary(g_D3D10Module) ) + { + g_D3D10Module = NULL; + return 1; + } + else + return 0; // cannot unload d3d10.dll +} + +// --------------------------------------------------------------------------- + +static ID3D10ShaderResourceView *BindFont(ID3D10Device *_Dev, ID3D10EffectShaderResourceVariable *_ResVar, const CTexFont *_Font) +{ + assert(_Font!=NULL); + assert(_ResVar!=NULL); + + int w = _Font->m_TexWidth; + int h = _Font->m_TexHeight; + color32 *font32 = new color32[w*h]; + color32 *p = font32; + for( int i=0; im_TexBytes[i]))<<24); + + D3D10_TEXTURE2D_DESC desc; + desc.Width = w; + desc.Height = h; + desc.MipLevels = 1; + desc.ArraySize = 1; + desc.Format = DXGI_FORMAT_R8G8B8A8_UNORM; + desc.SampleDesc.Count = 1; + desc.SampleDesc.Quality = 0; + desc.Usage = D3D10_USAGE_IMMUTABLE; + desc.BindFlags = D3D10_BIND_SHADER_RESOURCE; + desc.CPUAccessFlags = 0; + desc.MiscFlags = 0; + D3D10_SUBRESOURCE_DATA data; + data.pSysMem = font32; + data.SysMemPitch = w*sizeof(color32); + data.SysMemSlicePitch = 0; + ID3D10Texture2D *tex = NULL; + ID3D10ShaderResourceView *texRV = NULL; + if( SUCCEEDED(_Dev->CreateTexture2D(&desc, &data, &tex)) ) + { + if( SUCCEEDED(_Dev->CreateShaderResourceView(tex, NULL, &texRV)) ) + if( _ResVar ) + _ResVar->SetResource(texRV); + tex->Release(); + tex = NULL; + } + + delete[] font32; + return texRV; +} + +// --------------------------------------------------------------------------- + +static void UnbindFont(ID3D10Device *_Dev, ID3D10EffectShaderResourceVariable *_ResVar, ID3D10ShaderResourceView *_TexRV) +{ + (void)_Dev; + + if( _ResVar ) + _ResVar->SetResource(NULL); + + if( _TexRV ) + { + ULONG rc = _TexRV->Release(); + assert( rc==0 ); (void)rc; + } +} + +// --------------------------------------------------------------------------- + +struct CState10 +{ + ID3D10StateBlock * m_StateBlock; + + void Save(); + void Restore(); + CState10(ID3D10Device *_Dev); + ~CState10(); +private: + ID3D10Device * m_D3DDev; +}; + +CState10::CState10(ID3D10Device *_Dev) +{ + ZeroMemory(this, sizeof(CState10)); + m_D3DDev = _Dev; +} + +CState10::~CState10() +{ + if( m_StateBlock ) + { + UINT rc = m_StateBlock->Release(); + assert( rc==0 ); (void)rc; + m_StateBlock = NULL; + } +} + +void CState10::Save() +{ + if( !m_StateBlock ) + { + D3D10_STATE_BLOCK_MASK stateMask; + _D3D10StateBlockMaskEnableAll(&stateMask); + _D3D10CreateStateBlock(m_D3DDev, &stateMask, &m_StateBlock); + } + + if( m_StateBlock ) + m_StateBlock->Capture(); +} + +void CState10::Restore() +{ + if( m_StateBlock ) + m_StateBlock->Apply(); +} + +// --------------------------------------------------------------------------- + +char g_ShaderFX[] = "// AntTweakBar shaders and techniques \n" + " float4 g_Offset = 0; float4 g_CstColor = 1; \n" + " struct LineRectPSInput { float4 Pos : SV_POSITION; float4 Color : COLOR0; }; \n" + " LineRectPSInput LineRectVS(float4 pos : POSITION, float4 color : COLOR, uniform bool useCstColor) { \n" + " LineRectPSInput ps; ps.Pos = pos + g_Offset; \n" + " ps.Color = useCstColor ? g_CstColor : color; return ps; } \n" + " float4 LineRectPS(LineRectPSInput input) : SV_Target { return input.Color; } \n" + " technique10 LineRect { pass P0 { \n" + " SetVertexShader( CompileShader( vs_4_0, LineRectVS(false) ) ); \n" + " SetGeometryShader( NULL ); \n" + " SetPixelShader( CompileShader( ps_4_0, LineRectPS() ) ); \n" + " } }\n" + " technique10 LineRectCstColor { pass P0 { \n" + " SetVertexShader( CompileShader( vs_4_0, LineRectVS(true) ) ); \n" + " SetGeometryShader( NULL ); \n" + " SetPixelShader( CompileShader( ps_4_0, LineRectPS() ) ); \n" + " } }\n" + " Texture2D Font; \n" + " SamplerState FontSampler { Filter = MIN_MAG_MIP_POINT; AddressU = BORDER; AddressV = BORDER; BorderColor=float4(0, 0, 0, 0); }; \n" + " struct TextPSInput { float4 Pos : SV_POSITION; float4 Color : COLOR0; float2 Tex : TEXCOORD0; }; \n" + " TextPSInput TextVS(float4 pos : POSITION, float4 color : COLOR, float2 tex : TEXCOORD0, uniform bool useCstColor) { \n" + " TextPSInput ps; ps.Pos = pos + g_Offset; \n" + " ps.Color = useCstColor ? g_CstColor : color; ps.Tex = tex; return ps; } \n" + " float4 TextPS(TextPSInput input) : SV_Target { return Font.Sample(FontSampler, input.Tex)*input.Color; } \n" + " technique10 Text { pass P0 { \n" + " SetVertexShader( CompileShader( vs_4_0, TextVS(false) ) ); \n" + " SetGeometryShader( NULL ); \n" + " SetPixelShader( CompileShader( ps_4_0, TextPS() ) ); \n" + " } }\n" + " technique10 TextCstColor { pass P0 { \n" + " SetVertexShader( CompileShader( vs_4_0, TextVS(true) ) ); \n" + " SetGeometryShader( NULL ); \n" + " SetPixelShader( CompileShader( ps_4_0, TextPS() ) ); \n" + " } }\n" + " // End of AntTweakBar shaders and techniques \n"; + +// --------------------------------------------------------------------------- + +int CTwGraphDirect3D10::Init() +{ + assert(g_TwMgr!=NULL); + assert(g_TwMgr->m_Device!=NULL); + + m_D3DDev = static_cast(g_TwMgr->m_Device); + m_D3DDevInitialRefCount = m_D3DDev->AddRef() - 1; + + m_Drawing = false; + m_OffsetX = m_OffsetY = 0; + m_ViewportInit = new D3D10_VIEWPORT; + m_FontTex = NULL; + m_FontD3DTexRV = NULL; + m_WndWidth = 0; + m_WndHeight = 0; + m_State = NULL; + m_DepthStencilState = NULL; + m_BlendState = NULL; + m_RasterState = NULL; + m_RasterStateAntialiased = NULL; + m_RasterStateCullCW = NULL; + m_RasterStateCullCCW = NULL; + m_Effect = NULL; + m_LineRectTech = NULL; + m_LineRectCstColorTech = NULL; + m_LineRectVertexLayout = NULL; + m_LineVertexBuffer = NULL; + m_RectVertexBuffer = NULL; + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + m_TextTech = NULL; + m_TextCstColorTech = NULL; + m_TextVertexLayout = NULL; + m_FontD3DResVar = NULL; + m_OffsetVar = NULL; + m_CstColorVar = NULL; + + // Load some D3D10 functions + if( !LoadDirect3D10() ) + { + g_TwMgr->SetLastError(g_ErrCantLoadD3D10); + Shut(); + return 0; + } + + // Allocate state object + m_State = new CState10(m_D3DDev); + + // Compile shaders + DWORD shaderFlags = D3D10_SHADER_ENABLE_STRICTNESS; + #if defined( DEBUG ) || defined( _DEBUG ) + // shaderFlags |= D3D10_SHADER_DEBUG; // no more supported + #endif + ID3D10Blob *compiledFX = NULL; + ID3D10Blob *errors = NULL; + HRESULT hr = _D3D10CompileEffectFromMemory(g_ShaderFX, strlen(g_ShaderFX), "AntTweakBarFX", NULL, NULL, shaderFlags, 0, &compiledFX, &errors); + if( FAILED(hr) ) + { + const size_t ERR_MSG_MAX_LEN = 4096; + static char s_ErrorMsg[ERR_MSG_MAX_LEN]; // must be static to be sent to SetLastError + strncpy(s_ErrorMsg, g_ErrCompileFX10, ERR_MSG_MAX_LEN-1); + size_t errOffset = strlen(s_ErrorMsg); + size_t errLen = 0; + if( errors!=NULL ) + { + s_ErrorMsg[errOffset++] = ':'; + s_ErrorMsg[errOffset++] = '\n'; + errLen = min(errors->GetBufferSize(), ERR_MSG_MAX_LEN-errOffset-2); + strncpy(s_ErrorMsg+errOffset, static_cast(errors->GetBufferPointer()), errLen); + errors->Release(); + errors = NULL; + } + s_ErrorMsg[errOffset+errLen] = '\0'; + g_TwMgr->SetLastError(s_ErrorMsg); + Shut(); + return 0; + } + hr = _D3D10CreateEffectFromMemory(compiledFX->GetBufferPointer(), compiledFX->GetBufferSize(), 0, m_D3DDev, NULL, &m_Effect); + compiledFX->Release(); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateFX10); + Shut(); + return 0; + } + + // Obtain the techniques + m_LineRectTech = m_Effect->GetTechniqueByName("LineRect"); + m_LineRectCstColorTech = m_Effect->GetTechniqueByName("LineRectCstColor"); + m_TextTech = m_Effect->GetTechniqueByName("Text"); + m_TextCstColorTech = m_Effect->GetTechniqueByName("TextCstColor"); + if( m_LineRectTech==NULL || m_TextTech==NULL || m_LineRectCstColorTech==NULL || m_TextCstColorTech==NULL ) + { + g_TwMgr->SetLastError(g_ErrTechNotFound10); + Shut(); + return 0; + } + + // Create input layout for lines & rect + D3D10_INPUT_ELEMENT_DESC lineRectLayout[] = + { + { "POSITION", 0, DXGI_FORMAT_R32G32B32_FLOAT, 0, 0, D3D10_INPUT_PER_VERTEX_DATA, 0 }, + { "COLOR", 0, DXGI_FORMAT_R8G8B8A8_UNORM, 0, offsetof(CLineRectVtx, m_Color), D3D10_INPUT_PER_VERTEX_DATA, 0 } + }; + D3D10_PASS_DESC passDesc; + hr = m_LineRectTech->GetPassByIndex(0)->GetDesc(&passDesc); + if( SUCCEEDED(hr) ) + hr = m_D3DDev->CreateInputLayout(lineRectLayout, sizeof(lineRectLayout)/sizeof(lineRectLayout[0]), passDesc.pIAInputSignature, passDesc.IAInputSignatureSize, &m_LineRectVertexLayout); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateLayout10); + Shut(); + return 0; + } + + // Create line vertex buffer + D3D10_BUFFER_DESC bd; + bd.Usage = D3D10_USAGE_DYNAMIC; + bd.ByteWidth = 2 * sizeof(CLineRectVtx); + bd.BindFlags = D3D10_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D10_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_LineVertexBuffer); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateBuffer10); + Shut(); + return 0; + } + + // Create rect vertex buffer + bd.ByteWidth = 4 * sizeof(CLineRectVtx); + hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_RectVertexBuffer); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateBuffer10); + Shut(); + return 0; + } + + // Create input layout for text + D3D10_INPUT_ELEMENT_DESC textLayout[] = + { + { "POSITION", 0, DXGI_FORMAT_R32G32B32_FLOAT, 0, 0, D3D10_INPUT_PER_VERTEX_DATA, 0 }, + { "COLOR", 0, DXGI_FORMAT_R8G8B8A8_UNORM, 0, offsetof(CTextVtx, m_Color), D3D10_INPUT_PER_VERTEX_DATA, 0 }, + { "TEXCOORD", 0, DXGI_FORMAT_R32G32_FLOAT, 0, offsetof(CTextVtx, m_UV), D3D10_INPUT_PER_VERTEX_DATA, 0 } + }; + hr = m_TextTech->GetPassByIndex(0)->GetDesc(&passDesc); + if( SUCCEEDED(hr) ) + hr = m_D3DDev->CreateInputLayout(textLayout, sizeof(textLayout)/sizeof(textLayout[0]), passDesc.pIAInputSignature, passDesc.IAInputSignatureSize, &m_TextVertexLayout); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateLayout10); + Shut(); + return 0; + } + + // Create depth stencil state object + D3D10_DEPTH_STENCILOP_DESC od; + od.StencilFunc = D3D10_COMPARISON_ALWAYS; + od.StencilFailOp = D3D10_STENCIL_OP_KEEP; + od.StencilPassOp = D3D10_STENCIL_OP_KEEP; + od.StencilDepthFailOp = D3D10_STENCIL_OP_KEEP; + D3D10_DEPTH_STENCIL_DESC dsd; + dsd.DepthEnable = FALSE; + dsd.DepthWriteMask = D3D10_DEPTH_WRITE_MASK_ZERO; + dsd.DepthFunc = D3D10_COMPARISON_ALWAYS; + dsd.StencilEnable = FALSE; + dsd.StencilReadMask = D3D10_DEFAULT_STENCIL_READ_MASK; + dsd.StencilWriteMask = D3D10_DEFAULT_STENCIL_WRITE_MASK; + dsd.FrontFace = od; + dsd.BackFace = od; + m_D3DDev->CreateDepthStencilState(&dsd, &m_DepthStencilState); + + // Create blend state object + D3D10_BLEND_DESC bsd; + bsd.AlphaToCoverageEnable = FALSE; + for(int i=0; i<8; ++i) + { + bsd.BlendEnable[i] = TRUE; + bsd.RenderTargetWriteMask[i] = D3D10_COLOR_WRITE_ENABLE_ALL; + } + bsd.SrcBlend = D3D10_BLEND_SRC_ALPHA; + bsd.DestBlend = D3D10_BLEND_INV_SRC_ALPHA; + bsd.BlendOp = D3D10_BLEND_OP_ADD; + bsd.SrcBlendAlpha = D3D10_BLEND_SRC_ALPHA; + bsd.DestBlendAlpha = D3D10_BLEND_INV_SRC_ALPHA; + bsd.BlendOpAlpha = D3D10_BLEND_OP_ADD; + m_D3DDev->CreateBlendState(&bsd, &m_BlendState); + + // Create rasterizer state object + D3D10_RASTERIZER_DESC rd; + rd.FillMode = D3D10_FILL_SOLID; + rd.CullMode = D3D10_CULL_NONE; + rd.FrontCounterClockwise = true; + rd.DepthBias = false; + rd.DepthBiasClamp = 0; + rd.SlopeScaledDepthBias = 0; + rd.DepthClipEnable = false; + rd.ScissorEnable = true; + rd.MultisampleEnable = false; + rd.AntialiasedLineEnable = false; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterState); + + rd.AntialiasedLineEnable = true; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateAntialiased); + rd.AntialiasedLineEnable = false; + + rd.CullMode = D3D10_CULL_BACK; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateCullCW); + + rd.CullMode = D3D10_CULL_FRONT; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateCullCCW); + + m_ViewportAndScissorRects[0] = FullRect; + m_ViewportAndScissorRects[1] = FullRect; + m_D3DDev->RSSetScissorRects(1, m_ViewportAndScissorRects); + + // Get effect globals + if( m_Effect->GetVariableByName("Font") ) + m_FontD3DResVar = m_Effect->GetVariableByName("Font")->AsShaderResource(); + assert( m_FontD3DResVar!=NULL ); + if( m_Effect->GetVariableByName("g_Offset") ) + m_OffsetVar = m_Effect->GetVariableByName("g_Offset")->AsVector(); + assert( m_OffsetVar!=NULL ); + if( m_Effect->GetVariableByName("g_CstColor") ) + m_CstColorVar = m_Effect->GetVariableByName("g_CstColor")->AsVector(); + assert( m_CstColorVar!=NULL ); + + return 1; +} + +// --------------------------------------------------------------------------- + +int CTwGraphDirect3D10::Shut() +{ + assert(m_Drawing==false); + + UnbindFont(m_D3DDev, m_FontD3DResVar, m_FontD3DTexRV); + m_FontD3DTexRV = NULL; + if( m_State ) + { + delete m_State; + m_State = NULL; + } + if( m_ViewportInit ) + { + delete m_ViewportInit; + m_ViewportInit = NULL; + } + + if( m_DepthStencilState ) + { + ULONG rc = m_DepthStencilState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_DepthStencilState = NULL; + } + if( m_BlendState ) + { + ULONG rc = m_BlendState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_BlendState = NULL; + } + if( m_RasterState ) + { + ULONG rc = m_RasterState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterState = NULL; + } + if( m_RasterStateAntialiased ) + { + ULONG rc = m_RasterStateAntialiased->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateAntialiased = NULL; + } + if( m_RasterStateCullCW ) + { + ULONG rc = m_RasterStateCullCW->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateCullCW = NULL; + } + if( m_RasterStateCullCCW ) + { + ULONG rc = m_RasterStateCullCCW->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateCullCCW = NULL; + } + + m_FontD3DResVar = NULL; + m_OffsetVar = NULL; + m_CstColorVar = NULL; + + if( m_LineVertexBuffer ) + { + ULONG rc = m_LineVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + m_LineVertexBuffer = NULL; + } + if( m_RectVertexBuffer ) + { + ULONG rc = m_RectVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + m_RectVertexBuffer = NULL; + } + if( m_TrianglesVertexBuffer ) + { + ULONG rc = m_TrianglesVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + } + if( m_LineRectVertexLayout ) + { + ULONG rc = m_LineRectVertexLayout->Release(); + assert( rc==0 ); (void)rc; + m_LineRectVertexLayout = NULL; + } + if( m_TextVertexLayout ) + { + ULONG rc = m_TextVertexLayout->Release(); + assert( rc==0 ); (void)rc; + m_TextVertexLayout = NULL; + } + if( m_Effect ) + { + ULONG rc = m_Effect->Release(); + assert( rc==0 ); (void)rc; + m_Effect = NULL; + } + + if( m_D3DDev ) + { + //unsigned int rc = m_D3DDev->Release(); + //assert( m_D3DDevInitialRefCount==rc ); (void)rc; + m_D3DDev->Release(); + m_D3DDev = NULL; + } + + // Unload D3D10 + UnloadDirect3D10(); // this is not a problem if it cannot be unloaded + + return 1; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::BeginDraw(int _WndWidth, int _WndHeight) +{ + assert(m_Drawing==false && _WndWidth>0 && _WndHeight>0); + m_Drawing = true; + + m_WndWidth = _WndWidth; + m_WndHeight = _WndHeight; + m_OffsetX = m_OffsetY = 0; + + // save context + m_State->Save(); + + // Setup the viewport + D3D10_VIEWPORT vp; + vp.Width = _WndWidth; + vp.Height = _WndHeight; + vp.MinDepth = 0.0f; + vp.MaxDepth = 1.0f; + vp.TopLeftX = 0; + vp.TopLeftY = 0; + m_D3DDev->RSSetViewports(1, &vp); + *static_cast(m_ViewportInit) = vp; + + m_D3DDev->RSSetState(m_RasterState); + + m_D3DDev->OMSetDepthStencilState(m_DepthStencilState, 0); + float blendFactors[4] = { 1, 1, 1, 1 }; + m_D3DDev->OMSetBlendState(m_BlendState, blendFactors, 0xffffffff); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::EndDraw() +{ + m_D3DDev->RSSetState(NULL); + m_D3DDev->OMSetDepthStencilState(NULL, 0); + m_D3DDev->OMSetBlendState(NULL, NULL, 0xffffffff); + + assert(m_Drawing==true); + m_Drawing = false; + + // restore context + m_State->Restore(); +} + +// --------------------------------------------------------------------------- + +bool CTwGraphDirect3D10::IsDrawing() +{ + return m_Drawing; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::Restore() +{ + if( m_State ) + { + if( m_State->m_StateBlock ) + { + UINT rc = m_State->m_StateBlock->Release(); + assert( rc==0 ); (void)rc; + m_State->m_StateBlock = NULL; + } + } + + UnbindFont(m_D3DDev, m_FontD3DResVar, m_FontD3DTexRV); + m_FontD3DTexRV = NULL; + + m_FontTex = NULL; +} + + +// --------------------------------------------------------------------------- + +static inline float ToNormScreenX(int x, int wndWidth) +{ + return 2.0f*((float)x-0.5f)/wndWidth - 1.0f; +} + +static inline float ToNormScreenY(int y, int wndHeight) +{ + return 1.0f - 2.0f*((float)y-0.5f)/wndHeight; +} + +static inline color32 ToR8G8B8A8(color32 col) +{ + return (col & 0xff00ff00) | ((col>>16) & 0xff) | ((col<<16) & 0xff0000); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased) +{ + assert(m_Drawing==true); + + float x0 = ToNormScreenX(_X0 + m_OffsetX, m_WndWidth); + float y0 = ToNormScreenY(_Y0 + m_OffsetY, m_WndHeight); + float x1 = ToNormScreenX(_X1 + m_OffsetX, m_WndWidth); + float y1 = ToNormScreenY(_Y1 + m_OffsetY, m_WndHeight); + + CLineRectVtx *vertices = NULL; + HRESULT hr = m_LineVertexBuffer->Map(D3D10_MAP_WRITE_DISCARD, 0, (void **)&vertices); + if( SUCCEEDED(hr) ) + { + // Fill vertex buffer + vertices[0].m_Pos[0] = x0; + vertices[0].m_Pos[1] = y0; + vertices[0].m_Pos[2] = 0; + vertices[0].m_Color = ToR8G8B8A8(_Color0); + vertices[1].m_Pos[0] = x1; + vertices[1].m_Pos[1] = y1; + vertices[1].m_Pos[2] = 0; + vertices[1].m_Color = ToR8G8B8A8(_Color1); + + m_LineVertexBuffer->Unmap(); + + if( _AntiAliased ) + m_D3DDev->RSSetState(m_RasterStateAntialiased); + + // Reset shader globals + float offsetVec[4] = { 0, 0, 0, 0 }; + if( m_OffsetVar ) + m_OffsetVar->SetFloatVector(offsetVec); + float colorVec[4] = { 1, 1, 1, 1 }; + if( m_CstColorVar ) + m_CstColorVar->SetFloatVector(colorVec); + + // Set the input layout + m_D3DDev->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDev->IASetVertexBuffers(0, 1, &m_LineVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDev->IASetPrimitiveTopology(D3D10_PRIMITIVE_TOPOLOGY_LINELIST); + + // Render the line + D3D10_TECHNIQUE_DESC techDesc; + m_LineRectTech->GetDesc(&techDesc); + for(UINT p=0; pGetPassByIndex(p)->Apply(0); + m_D3DDev->Draw(2, 0); + } + + if( _AntiAliased ) + m_D3DDev->RSSetState(m_RasterState); // restore default raster state + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11) +{ + assert(m_Drawing==true); + + // border adjustment + if(_X0<_X1) + ++_X1; + else if(_X0>_X1) + ++_X0; + if(_Y0<_Y1) + ++_Y1; + else if(_Y0>_Y1) + ++_Y0; + + float x0 = ToNormScreenX(_X0 + m_OffsetX, m_WndWidth); + float y0 = ToNormScreenY(_Y0 + m_OffsetY, m_WndHeight); + float x1 = ToNormScreenX(_X1 + m_OffsetX, m_WndWidth); + float y1 = ToNormScreenY(_Y1 + m_OffsetY, m_WndHeight); + + CLineRectVtx *vertices = NULL; + HRESULT hr = m_RectVertexBuffer->Map(D3D10_MAP_WRITE_DISCARD, 0, (void **)&vertices); + if( SUCCEEDED(hr) ) + { + // Fill vertex buffer + vertices[0].m_Pos[0] = x0; + vertices[0].m_Pos[1] = y0; + vertices[0].m_Pos[2] = 0; + vertices[0].m_Color = ToR8G8B8A8(_Color00); + vertices[1].m_Pos[0] = x1; + vertices[1].m_Pos[1] = y0; + vertices[1].m_Pos[2] = 0; + vertices[1].m_Color = ToR8G8B8A8(_Color10); + vertices[2].m_Pos[0] = x0; + vertices[2].m_Pos[1] = y1; + vertices[2].m_Pos[2] = 0; + vertices[2].m_Color = ToR8G8B8A8(_Color01); + vertices[3].m_Pos[0] = x1; + vertices[3].m_Pos[1] = y1; + vertices[3].m_Pos[2] = 0; + vertices[3].m_Color = ToR8G8B8A8(_Color11); + + m_RectVertexBuffer->Unmap(); + + // Reset shader globals + float offsetVec[4] = { 0, 0, 0, 0 }; + if( m_OffsetVar ) + m_OffsetVar->SetFloatVector(offsetVec); + float colorVec[4] = { 1, 1, 1, 1 }; + if( m_CstColorVar ) + m_CstColorVar->SetFloatVector(colorVec); + + // Set the input layout + m_D3DDev->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDev->IASetVertexBuffers(0, 1, &m_RectVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDev->IASetPrimitiveTopology(D3D10_PRIMITIVE_TOPOLOGY_TRIANGLESTRIP); + + // Render the rect + D3D10_TECHNIQUE_DESC techDesc; + m_LineRectTech->GetDesc(&techDesc); + for(UINT p=0; pGetPassByIndex(p)->Apply(0); + m_D3DDev->Draw(4, 0); + } + } +} + +// --------------------------------------------------------------------------- + +void *CTwGraphDirect3D10::NewTextObj() +{ + CTextObj *textObj = new CTextObj; + memset(textObj, 0, sizeof(CTextObj)); + return textObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::DeleteTextObj(void *_TextObj) +{ + assert(_TextObj!=NULL); + CTextObj *textObj = static_cast(_TextObj); + if( textObj->m_TextVertexBuffer ) + textObj->m_TextVertexBuffer->Release(); + if( textObj->m_BgVertexBuffer ) + textObj->m_BgVertexBuffer->Release(); + memset(textObj, 0, sizeof(CTextObj)); + delete textObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + assert(_Font!=NULL); + + if( _Font != m_FontTex ) + { + UnbindFont(m_D3DDev, m_FontD3DResVar, m_FontD3DTexRV); + m_FontD3DTexRV = BindFont(m_D3DDev, m_FontD3DResVar, _Font); + m_FontTex = _Font; + } + + int nbTextVerts = 0; + int line; + for( line=0; line<_NbLines; ++line ) + nbTextVerts += 6 * (int)_TextLines[line].length(); + int nbBgVerts = 0; + if( _BgWidth>0 ) + nbBgVerts = _NbLines*6; + + CTextObj *textObj = static_cast(_TextObj); + textObj->m_LineColors = (_LineColors!=NULL); + textObj->m_LineBgColors = (_LineBgColors!=NULL); + + // (re)create text vertex buffer if needed, and map it + CTextVtx *textVerts = NULL; + if( nbTextVerts>0 ) + { + if( textObj->m_TextVertexBuffer==NULL || textObj->m_TextVertexBufferSizem_TextVertexBuffer!=NULL ) + { + ULONG rc = textObj->m_TextVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + textObj->m_TextVertexBuffer = NULL; + } + textObj->m_TextVertexBufferSize = nbTextVerts + 6*256; // add a reserve of 256 characters + D3D10_BUFFER_DESC bd; + bd.Usage = D3D10_USAGE_DYNAMIC; + bd.ByteWidth = textObj->m_TextVertexBufferSize * sizeof(CTextVtx); + bd.BindFlags = D3D10_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D10_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + m_D3DDev->CreateBuffer(&bd, NULL, &textObj->m_TextVertexBuffer); + } + + if( textObj->m_TextVertexBuffer!=NULL ) + textObj->m_TextVertexBuffer->Map(D3D10_MAP_WRITE_DISCARD, 0, (void **)&textVerts); + } + + // (re)create bg vertex buffer if needed, and map it + CLineRectVtx *bgVerts = NULL; + if( nbBgVerts>0 ) + { + if( textObj->m_BgVertexBuffer==NULL || textObj->m_BgVertexBufferSizem_BgVertexBuffer!=NULL ) + { + ULONG rc = textObj->m_BgVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + textObj->m_BgVertexBuffer = NULL; + } + textObj->m_BgVertexBufferSize = nbBgVerts + 6*32; // add a reserve of 32 rects + D3D10_BUFFER_DESC bd; + bd.Usage = D3D10_USAGE_DYNAMIC; + bd.ByteWidth = textObj->m_BgVertexBufferSize * sizeof(CLineRectVtx); + bd.BindFlags = D3D10_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D10_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + m_D3DDev->CreateBuffer(&bd, NULL, &textObj->m_BgVertexBuffer); + } + + if( textObj->m_BgVertexBuffer!=NULL ) + textObj->m_BgVertexBuffer->Map(D3D10_MAP_WRITE_DISCARD, 0, (void **)&bgVerts); + } + + int x, x1, y, y1, i, len; + float px, px1, py, py1; + unsigned char ch; + const unsigned char *text; + color32 lineColor = COLOR32_RED; + CTextVtx vtx; + vtx.m_Pos[2] = 0; + CLineRectVtx bgVtx; + bgVtx.m_Pos[2] = 0; + int textVtxIndex = 0; + int bgVtxIndex = 0; + for( line=0; line<_NbLines; ++line ) + { + x = 0; + y = line * (_Font->m_CharHeight+_Sep); + y1 = y+_Font->m_CharHeight; + len = (int)_TextLines[line].length(); + text = (const unsigned char *)(_TextLines[line].c_str()); + if( _LineColors!=NULL ) + lineColor = ToR8G8B8A8(_LineColors[line]); + + if( textVerts!=NULL ) + for( i=0; im_CharWidth[ch]; + + px = ToNormScreenX(x, m_WndWidth); + py = ToNormScreenY(y, m_WndHeight); + px1 = ToNormScreenX(x1, m_WndWidth); + py1 = ToNormScreenY(y1, m_WndHeight); + + vtx.m_Color = lineColor; + + vtx.m_Pos[0] = px; + vtx.m_Pos[1] = py; + vtx.m_UV [0] = _Font->m_CharU0[ch]; + vtx.m_UV [1] = _Font->m_CharV0[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px1; + vtx.m_Pos[1] = py; + vtx.m_UV [0] = _Font->m_CharU1[ch]; + vtx.m_UV [1] = _Font->m_CharV0[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px; + vtx.m_Pos[1] = py1; + vtx.m_UV [0] = _Font->m_CharU0[ch]; + vtx.m_UV [1] = _Font->m_CharV1[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px1; + vtx.m_Pos[1] = py; + vtx.m_UV [0] = _Font->m_CharU1[ch]; + vtx.m_UV [1] = _Font->m_CharV0[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px1; + vtx.m_Pos[1] = py1; + vtx.m_UV [0] = _Font->m_CharU1[ch]; + vtx.m_UV [1] = _Font->m_CharV1[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px; + vtx.m_Pos[1] = py1; + vtx.m_UV [0] = _Font->m_CharU0[ch]; + vtx.m_UV [1] = _Font->m_CharV1[ch]; + textVerts[textVtxIndex++] = vtx; + + x = x1; + } + + if( _BgWidth>0 && bgVerts!=NULL ) + { + if( _LineBgColors!=NULL ) + bgVtx.m_Color = ToR8G8B8A8(_LineBgColors[line]); + else + bgVtx.m_Color = ToR8G8B8A8(COLOR32_BLACK); + + px = ToNormScreenX(-1, m_WndWidth); + py = ToNormScreenY(y, m_WndHeight); + px1 = ToNormScreenX(_BgWidth+1, m_WndWidth); + py1 = ToNormScreenY(y1, m_WndHeight); + + bgVtx.m_Pos[0] = px; + bgVtx.m_Pos[1] = py; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px1; + bgVtx.m_Pos[1] = py; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px; + bgVtx.m_Pos[1] = py1; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px1; + bgVtx.m_Pos[1] = py; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px1; + bgVtx.m_Pos[1] = py1; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px; + bgVtx.m_Pos[1] = py1; + bgVerts[bgVtxIndex++] = bgVtx; + } + } + assert( textVtxIndex==nbTextVerts ); + assert( bgVtxIndex==nbBgVerts ); + textObj->m_NbTextVerts = nbTextVerts; + textObj->m_NbBgVerts = nbBgVerts; + + if( textVerts!=NULL ) + textObj->m_TextVertexBuffer->Unmap(); + if( bgVerts!=NULL ) + textObj->m_BgVertexBuffer->Unmap(); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + CTextObj *textObj = static_cast(_TextObj); + float dx = 2.0f*(float)(_X + m_OffsetX)/m_WndWidth; + float dy = -2.0f*(float)(_Y + m_OffsetY)/m_WndHeight; + + float offsetVec[4] = { 0, 0, 0, 0 }; + offsetVec[0] = dx; + offsetVec[1] = dy; + if( m_OffsetVar ) + m_OffsetVar->SetFloatVector(offsetVec); + + // Draw background + if( textObj->m_NbBgVerts>=4 && textObj->m_BgVertexBuffer!=NULL ) + { + float color[4]; + Color32ToARGBf(_BgColor, color+3, color+0, color+1, color+2); + if( m_CstColorVar ) + m_CstColorVar->SetFloatVector(color); + + // Set the input layout + m_D3DDev->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDev->IASetVertexBuffers(0, 1, &textObj->m_BgVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDev->IASetPrimitiveTopology(D3D10_PRIMITIVE_TOPOLOGY_TRIANGLELIST); + + // Render the bg rectangles + ID3D10EffectTechnique *tech; + if( _BgColor!=0 || !textObj->m_LineBgColors ) // use a constant bg color + tech = m_LineRectCstColorTech; + else // use vertex buffer colors + tech = m_LineRectTech; + D3D10_TECHNIQUE_DESC techDesc; + tech->GetDesc(&techDesc); + for( UINT p=0; pGetPassByIndex(p)->Apply(0); + m_D3DDev->Draw(textObj->m_NbBgVerts, 0); + } + } + + // Draw text + if( textObj->m_NbTextVerts>=4 && textObj->m_TextVertexBuffer!=NULL ) + { + float color[4]; + Color32ToARGBf(_Color, color+3, color+0, color+1, color+2); + if( m_CstColorVar ) + m_CstColorVar->SetFloatVector(color); + + // Set the input layout + m_D3DDev->IASetInputLayout(m_TextVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CTextVtx); + UINT offset = 0; + m_D3DDev->IASetVertexBuffers(0, 1, &textObj->m_TextVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDev->IASetPrimitiveTopology(D3D10_PRIMITIVE_TOPOLOGY_TRIANGLELIST); + + // Render text + ID3D10EffectTechnique *tech; + if( _Color!=0 || !textObj->m_LineColors ) // use a constant color + tech = m_TextCstColorTech; + else // use vertex buffer colors + tech = m_TextTech; + D3D10_TECHNIQUE_DESC techDesc; + tech->GetDesc(&techDesc); + for( UINT p=0; pGetPassByIndex(p)->Apply(0); + m_D3DDev->Draw(textObj->m_NbTextVerts, 0); + } + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY) +{ + if( _Width>0 && _Height>0 ) + { + /* viewport changes screen coordinates, use scissor instead + D3D10_VIEWPORT vp; + vp.TopLeftX = _X0; + vp.TopLeftY = _Y0; + vp.Width = _Width; + vp.Height = _Height; + vp.MinDepth = 0; + vp.MaxDepth = 1; + m_D3DDev->RSSetViewports(1, &vp); + */ + + m_ViewportAndScissorRects[0].left = _X0; + m_ViewportAndScissorRects[0].right = _X0 + _Width - 1; + m_ViewportAndScissorRects[0].top = _Y0; + m_ViewportAndScissorRects[0].bottom = _Y0 + _Height - 1; + if( RectIsFull(m_ViewportAndScissorRects[1]) ) + m_D3DDev->RSSetScissorRects(1, m_ViewportAndScissorRects); // viewport clipping only + else + m_D3DDev->RSSetScissorRects(2, m_ViewportAndScissorRects); + + m_OffsetX = _X0 + _OffsetX; + m_OffsetY = _Y0 + _OffsetY; + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::RestoreViewport() +{ + //m_D3DDev->RSSetViewports(1, static_cast(m_ViewportInit)); + m_ViewportAndScissorRects[0] = FullRect; + m_D3DDev->RSSetScissorRects(1, m_ViewportAndScissorRects+1); // scissor only + + m_OffsetX = m_OffsetY = 0; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::SetScissor(int _X0, int _Y0, int _Width, int _Height) +{ + if( _Width>0 && _Height>0 ) + { + m_ViewportAndScissorRects[1].left = _X0 - 2; + m_ViewportAndScissorRects[1].right = _X0 + _Width - 3; + m_ViewportAndScissorRects[1].top = _Y0 - 1; + m_ViewportAndScissorRects[1].bottom = _Y0 + _Height - 1; + if( RectIsFull(m_ViewportAndScissorRects[0]) ) + m_D3DDev->RSSetScissorRects(1, m_ViewportAndScissorRects+1); // no viewport clipping + else + m_D3DDev->RSSetScissorRects(2, m_ViewportAndScissorRects); + } + else + { + m_ViewportAndScissorRects[1] = FullRect; + m_D3DDev->RSSetScissorRects(1, m_ViewportAndScissorRects); // apply viewport clipping only + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D10::DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode) +{ + assert(m_Drawing==true); + + if( _NumTriangles<=0 ) + return; + + if( m_TrianglesVertexBufferCount<3*_NumTriangles ) // force re-creation + { + if( m_TrianglesVertexBuffer!=NULL ) + m_TrianglesVertexBuffer->Release(); + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + } + + // DrawTriangles uses LineRect layout and technique + + if( m_TrianglesVertexBuffer==NULL ) + { + // Create triangles vertex buffer + D3D10_BUFFER_DESC bd; + bd.Usage = D3D10_USAGE_DYNAMIC; + bd.BindFlags = D3D10_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D10_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + bd.ByteWidth = 3*_NumTriangles * sizeof(CLineRectVtx); + HRESULT hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_TrianglesVertexBuffer); + if( SUCCEEDED(hr) ) + m_TrianglesVertexBufferCount = 3*_NumTriangles; + else + { + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + return; // Problem: cannot create triangles VB + } + } + assert( m_TrianglesVertexBufferCount>=3*_NumTriangles ); + assert( m_TrianglesVertexBuffer!=NULL ); + + CLineRectVtx *vertices = NULL; + HRESULT hr = m_TrianglesVertexBuffer->Map(D3D10_MAP_WRITE_DISCARD, 0, (void **)&vertices); + if( SUCCEEDED(hr) ) + { + // Fill vertex buffer + for( int i=0; i<3*_NumTriangles; ++ i ) + { + vertices[i].m_Pos[0] = ToNormScreenX(_Vertices[2*i+0] + m_OffsetX, m_WndWidth); + vertices[i].m_Pos[1] = ToNormScreenY(_Vertices[2*i+1] + m_OffsetY, m_WndHeight); + vertices[i].m_Pos[2] = 0; + vertices[i].m_Color = ToR8G8B8A8(_Colors[i]); + } + m_TrianglesVertexBuffer->Unmap(); + + // Reset shader globals + float offsetVec[4] = { 0, 0, 0, 0 }; + if( m_OffsetVar ) + m_OffsetVar->SetFloatVector(offsetVec); + float colorVec[4] = { 1, 1, 1, 1 }; + if( m_CstColorVar ) + m_CstColorVar->SetFloatVector(colorVec); + + // Set the input layout + m_D3DDev->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDev->IASetVertexBuffers(0, 1, &m_TrianglesVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDev->IASetPrimitiveTopology(D3D10_PRIMITIVE_TOPOLOGY_TRIANGLELIST); + + if( _CullMode==CULL_CW ) + m_D3DDev->RSSetState(m_RasterStateCullCW); + else if( _CullMode==CULL_CCW ) + m_D3DDev->RSSetState(m_RasterStateCullCCW); + + // Render the triangles + D3D10_TECHNIQUE_DESC techDesc; + m_LineRectTech->GetDesc(&techDesc); + for(UINT p=0; pGetPassByIndex(p)->Apply(0); + m_D3DDev->Draw(3*_NumTriangles, 0); + } + + if( _CullMode==CULL_CW || _CullMode==CULL_CCW ) + m_D3DDev->RSSetState(m_RasterState); // restore default raster state + + // Unset vertex buffer + ID3D10Buffer *vb = NULL; + m_D3DDev->IASetVertexBuffers(0, 1, &vb, &stride, &offset); + } +} + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D10.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,108 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D10.h +// @brief Direct3D10 graph functions +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_DIRECT3D10_INCLUDED +#define ANT_TW_DIRECT3D10_INCLUDED + +#include "TwGraph.h" + +// --------------------------------------------------------------------------- + +class CTwGraphDirect3D10 : public ITwGraph +{ +public: + virtual int Init(); + virtual int Shut(); + virtual void BeginDraw(int _WndWidth, int _WndHeight); + virtual void EndDraw(); + virtual bool IsDrawing(); + virtual void Restore(); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased=false); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color, bool _AntiAliased=false) { DrawLine(_X0, _Y0, _X1, _Y1, _Color, _Color, _AntiAliased); } + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11); + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color) { DrawRect(_X0, _Y0, _X1, _Y1, _Color, _Color, _Color, _Color); } + virtual void DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode); + + virtual void * NewTextObj(); + virtual void DeleteTextObj(void *_TextObj); + virtual void BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth); + virtual void DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor); + + virtual void ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY); + virtual void RestoreViewport(); + virtual void SetScissor(int _X0, int _Y0, int _Width, int _Height); + +protected: + struct ID3D10Device * m_D3DDev; + unsigned int m_D3DDevInitialRefCount; + bool m_Drawing; + const CTexFont * m_FontTex; + struct ID3D10ShaderResourceView *m_FontD3DTexRV; + int m_WndWidth; + int m_WndHeight; + int m_OffsetX; + int m_OffsetY; + void * m_ViewportInit; + RECT m_ViewportAndScissorRects[2]; + + struct CLineRectVtx + { + float m_Pos[3]; + color32 m_Color; + }; + struct CTextVtx + { + float m_Pos[3]; + color32 m_Color; + float m_UV[2]; + }; + + struct CTextObj + { + struct ID3D10Buffer * m_TextVertexBuffer; + struct ID3D10Buffer * m_BgVertexBuffer; + int m_NbTextVerts; + int m_NbBgVerts; + int m_TextVertexBufferSize; + int m_BgVertexBufferSize; + bool m_LineColors; + bool m_LineBgColors; + }; + + struct CState10 * m_State; + struct ID3D10DepthStencilState *m_DepthStencilState; + struct ID3D10BlendState * m_BlendState; + struct ID3D10RasterizerState * m_RasterState; + struct ID3D10RasterizerState * m_RasterStateAntialiased; + struct ID3D10RasterizerState * m_RasterStateCullCW; + struct ID3D10RasterizerState * m_RasterStateCullCCW; + struct ID3D10Effect * m_Effect; + struct ID3D10EffectTechnique* m_LineRectTech; + struct ID3D10EffectTechnique* m_LineRectCstColorTech; + struct ID3D10InputLayout * m_LineRectVertexLayout; + struct ID3D10Buffer * m_LineVertexBuffer; + struct ID3D10Buffer * m_RectVertexBuffer; + struct ID3D10Buffer * m_TrianglesVertexBuffer; + int m_TrianglesVertexBufferCount; + struct ID3D10EffectTechnique* m_TextTech; + struct ID3D10EffectTechnique* m_TextCstColorTech; + struct ID3D10InputLayout * m_TextVertexLayout; + struct ID3D10EffectShaderResourceVariable *m_FontD3DResVar; + struct ID3D10EffectVectorVariable *m_OffsetVar; + struct ID3D10EffectVectorVariable *m_CstColorVar; +}; + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_DIRECT3D10_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1653 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D11.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "TwDirect3D11.h" +#include "TwMgr.h" +#include "TwColors.h" + +#include "d3d10vs2003.h" // Workaround to include D3D10.h and D3D11.h with VS2003 +#define D3D11_IGNORE_SDK_LAYERS // d3d11sdklayers.h may not exist +#include + + +using namespace std; + +const char *g_ErrCantLoadD3D11 = "Cannot load Direct3D11 library dynamically"; +const char *g_ErrCreateVS11 = "Direct3D11 vertex shader creation failed"; +const char *g_ErrCreatePS11 = "Direct3D11 pixel shader creation failed"; +const char *g_ErrCreateLayout11 = "Direct3D11 vertex layout creation failed"; +const char *g_ErrCreateBuffer11 = "Direct3D11 vertex buffer creation failed"; +const char *g_ErrCreateSampler11 = "Direct3D11 sampler state creation failed"; + +// --------------------------------------------------------------------------- +// Shaders : In order to avoid linkage with D3DX11 or D3DCompile libraries, +// vertex and pixel shaders are compiled offline in a pre-build step using +// the fxc.exe compiler (from the DirectX SDK Aug'09 or later) + +#ifdef _WIN64 +# ifdef _DEBUG +# include "debug64\TwDirect3D11_LineRectVS.h" +# include "debug64\TwDirect3D11_LineRectCstColorVS.h" +# include "debug64\TwDirect3D11_LineRectPS.h" +# include "debug64\TwDirect3D11_TextVS.h" +# include "debug64\TwDirect3D11_TextCstColorVS.h" +# include "debug64\TwDirect3D11_TextPS.h" +# else +# include "release64\TwDirect3D11_LineRectVS.h" +# include "release64\TwDirect3D11_LineRectCstColorVS.h" +# include "release64\TwDirect3D11_LineRectPS.h" +# include "release64\TwDirect3D11_TextVS.h" +# include "release64\TwDirect3D11_TextCstColorVS.h" +# include "release64\TwDirect3D11_TextPS.h" +# endif +#else +# ifdef _DEBUG +# include "debug32\TwDirect3D11_LineRectVS.h" +# include "debug32\TwDirect3D11_LineRectCstColorVS.h" +# include "debug32\TwDirect3D11_LineRectPS.h" +# include "debug32\TwDirect3D11_TextVS.h" +# include "debug32\TwDirect3D11_TextCstColorVS.h" +# include "debug32\TwDirect3D11_TextPS.h" +# else +# include "release32\TwDirect3D11_LineRectVS.h" +# include "release32\TwDirect3D11_LineRectCstColorVS.h" +# include "release32\TwDirect3D11_LineRectPS.h" +# include "release32\TwDirect3D11_TextVS.h" +# include "release32\TwDirect3D11_TextCstColorVS.h" +# include "release32\TwDirect3D11_TextPS.h" +# endif +#endif + +// --------------------------------------------------------------------------- + +const RECT FullRect = {0, 0, 16000, 16000}; +static bool RectIsFull(const RECT& r) { return r.left==FullRect.left && r.right==FullRect.right && r.top==FullRect.top && r.bottom==FullRect.bottom; } + +// --------------------------------------------------------------------------- + +static void BindFont(ID3D11Device *_Dev, const CTexFont *_Font, ID3D11Texture2D **_Tex, ID3D11ShaderResourceView **_TexRV) +{ + assert(_Font!=NULL); + *_Tex = NULL; + *_TexRV = NULL; + + int w = _Font->m_TexWidth; + int h = _Font->m_TexHeight; + color32 *font32 = new color32[w*h]; + color32 *p = font32; + for( int i=0; im_TexBytes[i]))<<24); + + D3D11_TEXTURE2D_DESC desc; + desc.Width = w; + desc.Height = h; + desc.MipLevels = 1; + desc.ArraySize = 1; + desc.Format = DXGI_FORMAT_R8G8B8A8_UNORM; + desc.SampleDesc.Count = 1; + desc.SampleDesc.Quality = 0; + desc.Usage = D3D11_USAGE_IMMUTABLE; + desc.BindFlags = D3D11_BIND_SHADER_RESOURCE; + desc.CPUAccessFlags = 0; + desc.MiscFlags = 0; + D3D11_SUBRESOURCE_DATA data; + data.pSysMem = font32; + data.SysMemPitch = w*sizeof(color32); + data.SysMemSlicePitch = 0; + + if( SUCCEEDED(_Dev->CreateTexture2D(&desc, &data, _Tex)) ) + _Dev->CreateShaderResourceView(*_Tex, NULL, _TexRV); + + delete[] font32; +} + +// --------------------------------------------------------------------------- + +static void UnbindFont(ID3D11Device *_Dev, ID3D11Texture2D *_Tex, ID3D11ShaderResourceView *_TexRV) +{ + (void)_Dev; + + if( _TexRV ) + { + ULONG rc = _TexRV->Release(); + assert( rc==0 ); (void)rc; + } + if( _Tex ) + { + ULONG rc = _Tex->Release(); + assert( rc==0 ); (void)rc; + } +} + +// --------------------------------------------------------------------------- + +struct CState11 +{ + ID3D11ComputeShader * m_CSShader; + ID3D11ClassInstance ** m_CSClassInstances; + UINT m_CSNumClassInstances; + ID3D11DomainShader * m_DSShader; + ID3D11ClassInstance ** m_DSClassInstances; + UINT m_DSNumClassInstances; + ID3D11GeometryShader * m_GSShader; + ID3D11ClassInstance ** m_GSClassInstances; + UINT m_GSNumClassInstances; + ID3D11HullShader * m_HSShader; + ID3D11ClassInstance ** m_HSClassInstances; + UINT m_HSNumClassInstances; + ID3D11PixelShader * m_PSShader; + ID3D11ClassInstance ** m_PSClassInstances; + UINT m_PSNumClassInstances; + ID3D11Buffer * m_PSConstantBuffer; // backup the first constant buffer only + ID3D11SamplerState * m_PSSampler; // backup the first sampler only + ID3D11ShaderResourceView*m_PSShaderResourceView; // backup the first shader resource only + ID3D11VertexShader * m_VSShader; + ID3D11ClassInstance ** m_VSClassInstances; + UINT m_VSNumClassInstances; + ID3D11Buffer * m_VSConstantBuffer; // backup the first constant buffer only + + ID3D11Buffer * m_IAIndexBuffer; + DXGI_FORMAT m_IAIndexBufferFormat; + UINT m_IAIndexBufferOffset; + ID3D11InputLayout * m_IAInputLayout; + D3D11_PRIMITIVE_TOPOLOGY m_IATopology; + ID3D11Buffer * m_IAVertexBuffer; // backup the first buffer only + UINT m_IAVertexBufferStride; + UINT m_IAVertexBufferOffset; + + ID3D11BlendState * m_OMBlendState; + FLOAT m_OMBlendFactor[4]; + UINT m_OMSampleMask; + ID3D11DepthStencilState*m_OMDepthStencilState; + UINT m_OMStencilRef; + + UINT m_RSScissorNumRects; + D3D11_RECT m_RSScissorRects[D3D11_VIEWPORT_AND_SCISSORRECT_OBJECT_COUNT_PER_PIPELINE]; + ID3D11RasterizerState * m_RSRasterizerState; + UINT m_RSNumViewports; + D3D11_VIEWPORT m_RSViewports[D3D11_VIEWPORT_AND_SCISSORRECT_OBJECT_COUNT_PER_PIPELINE]; + + void Save(); + void Restore(); + void Release(); + CState11(ID3D11Device *_Dev, ID3D11DeviceContext *_ImmCtx); + ~CState11(); +private: + ID3D11Device * m_D3DDev; + ID3D11DeviceContext * m_D3DDevImmContext; +}; + +CState11::CState11(ID3D11Device *_Dev, ID3D11DeviceContext *_ImmCtx) +{ + ZeroMemory(this, sizeof(CState11)); + m_D3DDev = _Dev; + m_D3DDevImmContext = _ImmCtx; +} + +CState11::~CState11() +{ + Release(); + m_D3DDev = NULL; + m_D3DDevImmContext = NULL; +} + +void CState11::Save() +{ + // Release previous state if needed + Release(); + + // Save shaders. + // Not sure how xxGetShader works, D3D11 doc is evasive... Attempt: + // First call GetShader with NULL ClassInstances to get the number of class instances. + // Second, if not zero allocate an array of class instances and call GetShader again + // with this array ptr to get the class instances and release the shader since its + // ref count has been incremented a second time. + + m_CSShader = NULL; + m_CSClassInstances = NULL; + m_CSNumClassInstances = 0; + m_D3DDevImmContext->CSGetShader(&m_CSShader, NULL, &m_CSNumClassInstances); + if (m_CSNumClassInstances > 0) + { + m_CSClassInstances = new ID3D11ClassInstance*[m_CSNumClassInstances]; + for (UINT i = 0; i < m_CSNumClassInstances; i++) + m_CSClassInstances[i] = NULL; + m_D3DDevImmContext->CSGetShader(&m_CSShader, m_CSClassInstances, &m_CSNumClassInstances); + if (m_CSShader != NULL) + m_CSShader->Release(); + } + + m_DSShader = NULL; + m_DSClassInstances = NULL; + m_DSNumClassInstances = 0; + m_D3DDevImmContext->DSGetShader(&m_DSShader, NULL, &m_DSNumClassInstances); + if (m_DSNumClassInstances > 0) + { + m_DSClassInstances = new ID3D11ClassInstance*[m_DSNumClassInstances]; + for (UINT i = 0; i < m_DSNumClassInstances; i++) + m_DSClassInstances[i] = NULL; + m_D3DDevImmContext->DSGetShader(&m_DSShader, m_DSClassInstances, &m_DSNumClassInstances); + if (m_DSShader != NULL) + m_DSShader->Release(); + } + + m_GSShader = NULL; + m_GSClassInstances = NULL; + m_GSNumClassInstances = 0; + m_D3DDevImmContext->GSGetShader(&m_GSShader, NULL, &m_GSNumClassInstances); + if (m_GSNumClassInstances > 0) + { + m_GSClassInstances = new ID3D11ClassInstance*[m_GSNumClassInstances]; + for (UINT i = 0; i < m_GSNumClassInstances; i++) + m_GSClassInstances[i] = NULL; + m_D3DDevImmContext->GSGetShader(&m_GSShader, m_GSClassInstances, &m_GSNumClassInstances); + if (m_GSShader != NULL) + m_GSShader->Release(); + } + + m_HSShader = NULL; + m_HSClassInstances = NULL; + m_HSNumClassInstances = 0; + m_D3DDevImmContext->HSGetShader(&m_HSShader, NULL, &m_HSNumClassInstances); + if (m_HSNumClassInstances > 0) + { + m_HSClassInstances = new ID3D11ClassInstance*[m_HSNumClassInstances]; + for (UINT i = 0; i < m_HSNumClassInstances; i++) + m_HSClassInstances[i] = NULL; + m_D3DDevImmContext->HSGetShader(&m_HSShader, m_HSClassInstances, &m_HSNumClassInstances); + if (m_HSShader != NULL) + m_HSShader->Release(); + } + + m_PSShader = NULL; + m_PSClassInstances = NULL; + m_PSNumClassInstances = 0; + m_D3DDevImmContext->PSGetShader(&m_PSShader, NULL, &m_PSNumClassInstances); + if (m_PSNumClassInstances > 0) + { + m_PSClassInstances = new ID3D11ClassInstance*[m_PSNumClassInstances]; + for (UINT i = 0; i < m_PSNumClassInstances; i++) + m_PSClassInstances[i] = NULL; + m_D3DDevImmContext->PSGetShader(&m_PSShader, m_PSClassInstances, &m_PSNumClassInstances); + if (m_PSShader != NULL) + m_PSShader->Release(); + } + m_D3DDevImmContext->PSGetConstantBuffers(0, 1, &m_PSConstantBuffer); + m_D3DDevImmContext->PSGetSamplers(0, 1, &m_PSSampler); + m_D3DDevImmContext->PSGetShaderResources(0, 1, &m_PSShaderResourceView); + + m_VSShader = NULL; + m_VSClassInstances = NULL; + m_VSNumClassInstances = 0; + m_D3DDevImmContext->VSGetShader(&m_VSShader, NULL, &m_VSNumClassInstances); + if (m_VSNumClassInstances > 0) + { + m_VSClassInstances = new ID3D11ClassInstance*[m_VSNumClassInstances]; + for (UINT i = 0; i < m_VSNumClassInstances; i++) + m_VSClassInstances[i] = NULL; + m_D3DDevImmContext->VSGetShader(&m_VSShader, m_VSClassInstances, &m_VSNumClassInstances); + if (m_VSShader != NULL) + m_VSShader->Release(); + } + m_D3DDevImmContext->VSGetConstantBuffers(0, 1, &m_VSConstantBuffer); + + // Save Input-Assembler states + m_D3DDevImmContext->IAGetIndexBuffer(&m_IAIndexBuffer, &m_IAIndexBufferFormat, &m_IAIndexBufferOffset); + m_D3DDevImmContext->IAGetInputLayout(&m_IAInputLayout); + m_D3DDevImmContext->IAGetPrimitiveTopology(&m_IATopology); + m_D3DDevImmContext->IAGetVertexBuffers(0, 1, &m_IAVertexBuffer, &m_IAVertexBufferStride, &m_IAVertexBufferOffset); + + // Save Ouput-Merger states + m_D3DDevImmContext->OMGetBlendState(&m_OMBlendState, m_OMBlendFactor, &m_OMSampleMask); + m_D3DDevImmContext->OMGetDepthStencilState(&m_OMDepthStencilState, &m_OMStencilRef); + + // Save Rasterizer states + m_D3DDevImmContext->RSGetScissorRects(&m_RSScissorNumRects, NULL); + if (m_RSScissorNumRects > 0) + m_D3DDevImmContext->RSGetScissorRects(&m_RSScissorNumRects, m_RSScissorRects); + m_D3DDevImmContext->RSGetViewports(&m_RSNumViewports, NULL); + if (m_RSNumViewports > 0) + m_D3DDevImmContext->RSGetViewports(&m_RSNumViewports, m_RSViewports); + m_D3DDevImmContext->RSGetState(&m_RSRasterizerState); +} + +void CState11::Restore() +{ + // Restore shaders + m_D3DDevImmContext->CSSetShader(m_CSShader, m_CSClassInstances, m_CSNumClassInstances); + m_D3DDevImmContext->DSSetShader(m_DSShader, m_DSClassInstances, m_DSNumClassInstances); + m_D3DDevImmContext->GSSetShader(m_GSShader, m_GSClassInstances, m_GSNumClassInstances); + m_D3DDevImmContext->HSSetShader(m_HSShader, m_HSClassInstances, m_HSNumClassInstances); + m_D3DDevImmContext->PSSetShader(m_PSShader, m_PSClassInstances, m_PSNumClassInstances); + m_D3DDevImmContext->PSSetConstantBuffers(0, 1, &m_PSConstantBuffer); + m_D3DDevImmContext->PSSetSamplers(0, 1, &m_PSSampler); + m_D3DDevImmContext->PSSetShaderResources(0, 1, &m_PSShaderResourceView); + m_D3DDevImmContext->VSSetShader(m_VSShader, m_VSClassInstances, m_VSNumClassInstances); + m_D3DDevImmContext->VSSetConstantBuffers(0, 1, &m_VSConstantBuffer); + + // Restore Input-Assembler + m_D3DDevImmContext->IASetIndexBuffer(m_IAIndexBuffer, m_IAIndexBufferFormat, m_IAIndexBufferOffset); + m_D3DDevImmContext->IASetInputLayout(m_IAInputLayout); + m_D3DDevImmContext->IASetPrimitiveTopology(m_IATopology); + m_D3DDevImmContext->IASetVertexBuffers(0, 1, &m_IAVertexBuffer, &m_IAVertexBufferStride, &m_IAVertexBufferOffset); + + // Restore Ouput-Merger + m_D3DDevImmContext->OMSetBlendState(m_OMBlendState, m_OMBlendFactor, m_OMSampleMask); + m_D3DDevImmContext->OMSetDepthStencilState(m_OMDepthStencilState, m_OMStencilRef); + + // Restore Rasterizer states + m_D3DDevImmContext->RSSetScissorRects(m_RSScissorNumRects, m_RSScissorRects); + m_D3DDevImmContext->RSSetViewports(m_RSNumViewports, m_RSViewports); + m_D3DDevImmContext->RSSetState(m_RSRasterizerState); +} + +void CState11::Release() +{ + // Release stored shaders + + if (m_CSClassInstances != NULL) + { + for (UINT i = 0; i < m_CSNumClassInstances; i++) + if (m_CSClassInstances[i] != NULL) + m_CSClassInstances[i]->Release(); + delete[] m_CSClassInstances; + m_CSClassInstances = NULL; + m_CSNumClassInstances = 0; + } + if (m_CSShader != NULL) + { + m_CSShader->Release(); + m_CSShader = NULL; + } + + if (m_DSClassInstances != NULL) + { + for (UINT i = 0; i < m_DSNumClassInstances; i++) + if (m_DSClassInstances[i] != NULL) + m_DSClassInstances[i]->Release(); + delete[] m_DSClassInstances; + m_DSClassInstances = NULL; + m_DSNumClassInstances = 0; + } + if (m_DSShader != NULL) + { + m_DSShader->Release(); + m_DSShader = NULL; + } + + if (m_GSClassInstances != NULL) + { + for (UINT i = 0; i < m_GSNumClassInstances; i++) + if (m_GSClassInstances[i] != NULL) + m_GSClassInstances[i]->Release(); + delete[] m_GSClassInstances; + m_GSClassInstances = NULL; + m_GSNumClassInstances = 0; + } + if (m_GSShader != NULL) + { + m_GSShader->Release(); + m_GSShader = NULL; + } + + if (m_HSClassInstances != NULL) + { + for (UINT i = 0; i < m_HSNumClassInstances; i++) + if (m_HSClassInstances[i] != NULL) + m_HSClassInstances[i]->Release(); + delete[] m_HSClassInstances; + m_HSClassInstances = NULL; + m_HSNumClassInstances = 0; + } + if (m_HSShader != NULL) + { + m_HSShader->Release(); + m_HSShader = NULL; + } + + if (m_PSClassInstances != NULL) + { + for (UINT i = 0; i < m_PSNumClassInstances; i++) + if (m_PSClassInstances[i] != NULL) + m_PSClassInstances[i]->Release(); + delete[] m_PSClassInstances; + m_PSClassInstances = NULL; + m_PSNumClassInstances = 0; + } + if (m_PSShader != NULL) + { + m_PSShader->Release(); + m_PSShader = NULL; + } + if (m_PSConstantBuffer != NULL) + { + m_PSConstantBuffer->Release(); + m_PSConstantBuffer = NULL; + } + if (m_PSSampler != NULL) + { + m_PSSampler->Release(); + m_PSSampler = NULL; + } + if (m_PSShaderResourceView != NULL) + { + m_PSShaderResourceView->Release(); + m_PSShaderResourceView = NULL; + } + + if (m_VSClassInstances != NULL) + { + for (UINT i = 0; i < m_VSNumClassInstances; i++) + if (m_VSClassInstances[i] != NULL) + m_VSClassInstances[i]->Release(); + delete[] m_VSClassInstances; + m_VSClassInstances = NULL; + m_VSNumClassInstances = 0; + } + if (m_VSShader != NULL) + { + m_VSShader->Release(); + m_VSShader = NULL; + } + if (m_VSConstantBuffer != NULL) + { + m_VSConstantBuffer->Release(); + m_VSConstantBuffer = NULL; + } + + // Release Input-Assembler states + if (m_IAIndexBuffer != NULL) + { + m_IAIndexBuffer->Release(); + m_IAIndexBuffer = NULL; + } + if (m_IAInputLayout != NULL) + { + m_IAInputLayout->Release(); + m_IAInputLayout = 0; + } + if (m_IAVertexBuffer != NULL) + { + m_IAVertexBuffer->Release(); + m_IAVertexBuffer = NULL; + } + + // Release Output-Merger states + if (m_OMBlendState != NULL) + { + m_OMBlendState->Release(); + m_OMBlendState = NULL; + } + if (m_OMDepthStencilState != NULL) + { + m_OMDepthStencilState->Release(); + m_OMDepthStencilState = NULL; + } + + // Release Rasterizer state + if (m_RSRasterizerState != 0) + { + m_RSRasterizerState->Release(); + m_RSRasterizerState = NULL; + } + m_RSNumViewports = 0; + m_RSScissorNumRects = 0; +} + +// --------------------------------------------------------------------------- + +int CTwGraphDirect3D11::Init() +{ + assert(g_TwMgr!=NULL); + assert(g_TwMgr->m_Device!=NULL); + + m_D3DDev = static_cast(g_TwMgr->m_Device); + m_D3DDevInitialRefCount = m_D3DDev->AddRef() - 1; + m_D3DDev->GetImmediateContext(&m_D3DDevImmContext); + + m_Drawing = false; + m_OffsetX = m_OffsetY = 0; + m_ViewportInit = new D3D11_VIEWPORT; + m_FontTex = NULL; + m_FontD3DTex = NULL; + m_FontD3DTexRV = NULL; + m_WndWidth = 0; + m_WndHeight = 0; + m_State = NULL; + m_DepthStencilState = NULL; + m_BlendState = NULL; + m_RasterState = NULL; + m_RasterStateAntialiased = NULL; + m_RasterStateMultisample = NULL; + m_RasterStateCullCW = NULL; + m_RasterStateCullCCW = NULL; + m_LineRectVS = NULL; + m_LineRectCstColorVS = NULL; + m_LineRectPS = NULL; + m_LineRectVertexLayout = NULL; + m_TextVS = NULL; + m_TextCstColorVS = NULL; + m_TextPS = NULL; + m_TextVertexLayout = NULL; + m_LineVertexBuffer = NULL; + m_RectVertexBuffer = NULL; + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + m_ConstantBuffer = NULL; + m_SamplerState = NULL; + + // Allocate state object + m_State = new CState11(m_D3DDev, m_D3DDevImmContext); + + // Disable client shaders + m_D3DDevImmContext->CSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->DSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->GSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->HSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->PSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->VSSetShader(NULL, NULL, 0); + + // Create shaders + HRESULT hr = m_D3DDev->CreateVertexShader(g_LineRectVS, sizeof(g_LineRectVS), NULL, &m_LineRectVS); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateVS11); + Shut(); + return 0; + } + hr = m_D3DDev->CreateVertexShader(g_LineRectCstColorVS, sizeof(g_LineRectCstColorVS), NULL, &m_LineRectCstColorVS); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateVS11); + Shut(); + return 0; + } + hr = m_D3DDev->CreatePixelShader(g_LineRectPS, sizeof(g_LineRectPS), NULL, &m_LineRectPS); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreatePS11); + Shut(); + return 0; + } + hr = m_D3DDev->CreateVertexShader(g_TextVS, sizeof(g_TextVS), NULL, &m_TextVS); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateVS11); + Shut(); + return 0; + } + hr = m_D3DDev->CreateVertexShader(g_TextCstColorVS, sizeof(g_TextCstColorVS), NULL, &m_TextCstColorVS); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateVS11); + Shut(); + return 0; + } + hr = m_D3DDev->CreatePixelShader(g_TextPS, sizeof(g_TextPS), NULL, &m_TextPS); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreatePS11); + Shut(); + return 0; + } + + // Create input layout for lines & rect + D3D11_INPUT_ELEMENT_DESC lineRectLayout[] = + { + { "POSITION", 0, DXGI_FORMAT_R32G32B32_FLOAT, 0, 0, D3D11_INPUT_PER_VERTEX_DATA, 0 }, + { "COLOR", 0, DXGI_FORMAT_R8G8B8A8_UNORM, 0, offsetof(CLineRectVtx, m_Color), D3D11_INPUT_PER_VERTEX_DATA, 0 } + }; + hr = m_D3DDev->CreateInputLayout(lineRectLayout, sizeof(lineRectLayout)/sizeof(lineRectLayout[0]), g_LineRectVS, sizeof(g_LineRectVS), &m_LineRectVertexLayout); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateLayout11); + Shut(); + return 0; + } + + // Create line vertex buffer + D3D11_BUFFER_DESC bd; + bd.Usage = D3D11_USAGE_DYNAMIC; + bd.ByteWidth = 2 * sizeof(CLineRectVtx); + bd.BindFlags = D3D11_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + bd.StructureByteStride = 0; + hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_LineVertexBuffer); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateBuffer11); + Shut(); + return 0; + } + + // Create rect vertex buffer + bd.ByteWidth = 4 * sizeof(CLineRectVtx); + hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_RectVertexBuffer); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateBuffer11); + Shut(); + return 0; + } + + // Create constant buffer + bd.ByteWidth = sizeof(CConstants); + bd.BindFlags = D3D11_BIND_CONSTANT_BUFFER; + hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_ConstantBuffer); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateBuffer11); + Shut(); + return 0; + } + + // Create sampler + D3D11_SAMPLER_DESC sd; + sd.AddressU = sd.AddressV = sd.AddressW = D3D11_TEXTURE_ADDRESS_BORDER; + sd.BorderColor[0] = sd.BorderColor[1] = sd.BorderColor[2] = sd.BorderColor[3] = 0; + sd.ComparisonFunc = D3D11_COMPARISON_NEVER; + sd.Filter = D3D11_FILTER_MIN_MAG_MIP_POINT; + sd.MaxAnisotropy = 1; + sd.MaxLOD = sd.MinLOD = 0; + sd.MipLODBias = 0; + hr = m_D3DDev->CreateSamplerState(&sd, &m_SamplerState); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateSampler11); + Shut(); + return 0; + } + + // Create input layout for text + D3D11_INPUT_ELEMENT_DESC textLayout[] = + { + { "POSITION", 0, DXGI_FORMAT_R32G32B32_FLOAT, 0, 0, D3D11_INPUT_PER_VERTEX_DATA, 0 }, + { "COLOR", 0, DXGI_FORMAT_R8G8B8A8_UNORM, 0, offsetof(CTextVtx, m_Color), D3D11_INPUT_PER_VERTEX_DATA, 0 }, + { "TEXCOORD", 0, DXGI_FORMAT_R32G32_FLOAT, 0, offsetof(CTextVtx, m_UV), D3D11_INPUT_PER_VERTEX_DATA, 0 } + }; + hr = m_D3DDev->CreateInputLayout(textLayout, sizeof(textLayout)/sizeof(textLayout[0]), g_TextVS, sizeof(g_TextVS), &m_TextVertexLayout); + if( FAILED(hr) ) + { + g_TwMgr->SetLastError(g_ErrCreateLayout11); + Shut(); + return 0; + } + + // Create depth stencil state object + D3D11_DEPTH_STENCILOP_DESC od; + od.StencilFunc = D3D11_COMPARISON_ALWAYS; + od.StencilFailOp = D3D11_STENCIL_OP_KEEP; + od.StencilPassOp = D3D11_STENCIL_OP_KEEP; + od.StencilDepthFailOp = D3D11_STENCIL_OP_KEEP; + D3D11_DEPTH_STENCIL_DESC dsd; + dsd.DepthEnable = FALSE; + dsd.DepthWriteMask = D3D11_DEPTH_WRITE_MASK_ZERO; + dsd.DepthFunc = D3D11_COMPARISON_ALWAYS; + dsd.StencilEnable = FALSE; + dsd.StencilReadMask = D3D11_DEFAULT_STENCIL_READ_MASK; + dsd.StencilWriteMask = D3D11_DEFAULT_STENCIL_WRITE_MASK; + dsd.FrontFace = od; + dsd.BackFace = od; + m_D3DDev->CreateDepthStencilState(&dsd, &m_DepthStencilState); + + // Create blend state object + D3D11_BLEND_DESC bsd; + bsd.AlphaToCoverageEnable = FALSE; + bsd.IndependentBlendEnable = FALSE; + for(int i=0; i<8; ++i) + { + bsd.RenderTarget[i].BlendEnable = TRUE; + bsd.RenderTarget[i].RenderTargetWriteMask = D3D11_COLOR_WRITE_ENABLE_ALL; + bsd.RenderTarget[i].SrcBlend = D3D11_BLEND_SRC_ALPHA; + bsd.RenderTarget[i].DestBlend = D3D11_BLEND_INV_SRC_ALPHA; + bsd.RenderTarget[i].BlendOp = D3D11_BLEND_OP_ADD; + bsd.RenderTarget[i].SrcBlendAlpha = D3D11_BLEND_SRC_ALPHA; + bsd.RenderTarget[i].DestBlendAlpha = D3D11_BLEND_INV_SRC_ALPHA; + bsd.RenderTarget[i].BlendOpAlpha = D3D11_BLEND_OP_ADD; + } + m_D3DDev->CreateBlendState(&bsd, &m_BlendState); + + // Create rasterizer state object + D3D11_RASTERIZER_DESC rd; + rd.FillMode = D3D11_FILL_SOLID; + rd.CullMode = D3D11_CULL_NONE; + rd.FrontCounterClockwise = true; + rd.DepthBias = false; + rd.DepthBiasClamp = 0; + rd.SlopeScaledDepthBias = 0; + rd.DepthClipEnable = false; + rd.ScissorEnable = true; + rd.MultisampleEnable = false; // do not allow msaa (fonts would be degraded) + rd.AntialiasedLineEnable = false; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterState); + + rd.AntialiasedLineEnable = true; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateAntialiased); + rd.AntialiasedLineEnable = false; + + // the three following raster states allow msaa + rd.MultisampleEnable = true; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateMultisample); + + rd.CullMode = D3D11_CULL_BACK; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateCullCW); + + rd.CullMode = D3D11_CULL_FRONT; + m_D3DDev->CreateRasterizerState(&rd, &m_RasterStateCullCCW); + + return 1; +} + +// --------------------------------------------------------------------------- + +int CTwGraphDirect3D11::Shut() +{ + assert(m_Drawing==false); + + UnbindFont(m_D3DDev, m_FontD3DTex, m_FontD3DTexRV); + m_FontD3DTex = NULL; + m_FontD3DTexRV = NULL; + if( m_State ) + { + delete m_State; + m_State = NULL; + } + if( m_ViewportInit ) + { + delete m_ViewportInit; + m_ViewportInit = NULL; + } + + if( m_DepthStencilState ) + { + ULONG rc = m_DepthStencilState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_DepthStencilState = NULL; + } + if( m_BlendState ) + { + ULONG rc = m_BlendState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_BlendState = NULL; + } + if( m_RasterState ) + { + ULONG rc = m_RasterState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterState = NULL; + } + if( m_RasterStateAntialiased ) + { + ULONG rc = m_RasterStateAntialiased->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateAntialiased = NULL; + } + if( m_RasterStateMultisample ) + { + ULONG rc = m_RasterStateMultisample->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateMultisample = NULL; + } + if( m_RasterStateCullCW ) + { + ULONG rc = m_RasterStateCullCW->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateCullCW = NULL; + } + if( m_RasterStateCullCCW ) + { + ULONG rc = m_RasterStateCullCCW->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_RasterStateCullCCW = NULL; + } + if( m_SamplerState ) + { + ULONG rc = m_SamplerState->Release(); + //assert( rc==0 ); // no assert: the client can use a similar (then shared) state + (void)rc; + m_SamplerState = NULL; + } + + if( m_LineRectVS ) + { + ULONG rc = m_LineRectVS->Release(); + assert( rc==0 ); (void)rc; + m_LineRectVS = NULL; + } + if( m_LineRectCstColorVS ) + { + ULONG rc = m_LineRectCstColorVS->Release(); + assert( rc==0 ); (void)rc; + m_LineRectCstColorVS = NULL; + } + if( m_LineRectPS ) + { + ULONG rc = m_LineRectPS->Release(); + assert( rc==0 ); (void)rc; + m_LineRectPS = NULL; + } + if( m_TextVS ) + { + ULONG rc = m_TextVS->Release(); + assert( rc==0 ); (void)rc; + m_TextVS = NULL; + } + if( m_TextCstColorVS ) + { + ULONG rc = m_TextCstColorVS->Release(); + assert( rc==0 ); (void)rc; + m_TextCstColorVS = NULL; + } + if( m_TextPS ) + { + ULONG rc = m_TextPS->Release(); + assert( rc==0 ); (void)rc; + m_TextPS = NULL; + } + if( m_LineVertexBuffer ) + { + ULONG rc = m_LineVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + m_LineVertexBuffer = NULL; + } + if( m_RectVertexBuffer ) + { + ULONG rc = m_RectVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + m_RectVertexBuffer = NULL; + } + if( m_TrianglesVertexBuffer ) + { + ULONG rc = m_TrianglesVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + } + if( m_ConstantBuffer ) + { + ULONG rc = m_ConstantBuffer->Release(); + assert( rc==0 ); (void)rc; + m_ConstantBuffer = NULL; + } + if( m_LineRectVertexLayout ) + { + ULONG rc = m_LineRectVertexLayout->Release(); + assert( rc==0 ); (void)rc; + m_LineRectVertexLayout = NULL; + } + if( m_TextVertexLayout ) + { + ULONG rc = m_TextVertexLayout->Release(); + assert( rc==0 ); (void)rc; + m_TextVertexLayout = NULL; + } + + if( m_D3DDevImmContext ) + { + m_D3DDevImmContext->Release(); + m_D3DDevImmContext = NULL; + } + + if( m_D3DDev ) + { + //unsigned int rc = m_D3DDev->Release(); + //assert( m_D3DDevInitialRefCount==rc ); (void)rc; + m_D3DDev->Release(); + m_D3DDev = NULL; + } + + return 1; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::BeginDraw(int _WndWidth, int _WndHeight) +{ + assert(m_Drawing==false && _WndWidth>0 && _WndHeight>0); + m_Drawing = true; + + m_WndWidth = _WndWidth; + m_WndHeight = _WndHeight; + m_OffsetX = m_OffsetY = 0; + + // save client context state + m_State->Save(); + + // Setup the viewport + D3D11_VIEWPORT vp; + vp.Width = (FLOAT)_WndWidth; + vp.Height = (FLOAT)_WndHeight; + vp.MinDepth = 0.0f; + vp.MaxDepth = 1.0f; + vp.TopLeftX = 0; + vp.TopLeftY = 0; + m_D3DDevImmContext->RSSetViewports(1, &vp); + *static_cast(m_ViewportInit) = vp; + + m_ViewportAndScissorRects[0] = FullRect; + m_ViewportAndScissorRects[1] = FullRect; + m_D3DDevImmContext->RSSetScissorRects(1, m_ViewportAndScissorRects); + + m_D3DDevImmContext->RSSetState(m_RasterState); + + m_D3DDevImmContext->OMSetDepthStencilState(m_DepthStencilState, 0); + float blendFactors[4] = { 1, 1, 1, 1 }; + m_D3DDevImmContext->OMSetBlendState(m_BlendState, blendFactors, 0xffffffff); + + m_D3DDevImmContext->CSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->DSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->GSSetShader(NULL, NULL, 0); + m_D3DDevImmContext->HSSetShader(NULL, NULL, 0); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::EndDraw() +{ + m_D3DDevImmContext->RSSetState(NULL); + m_D3DDevImmContext->OMSetDepthStencilState(NULL, 0); + m_D3DDevImmContext->OMSetBlendState(NULL, NULL, 0xffffffff); + + assert(m_Drawing==true); + m_Drawing = false; + + // restore and release client context state + m_State->Restore(); + m_State->Release(); +} + +// --------------------------------------------------------------------------- + +bool CTwGraphDirect3D11::IsDrawing() +{ + return m_Drawing; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::Restore() +{ + if( m_State ) + m_State->Release(); + + UnbindFont(m_D3DDev, m_FontD3DTex, m_FontD3DTexRV); + m_FontD3DTexRV = NULL; + m_FontD3DTex = NULL; + + m_FontTex = NULL; +} + +// --------------------------------------------------------------------------- + +static inline float ToNormScreenX(int x, int wndWidth) +{ + return 2.0f*((float)x-0.5f)/wndWidth - 1.0f; +} + +static inline float ToNormScreenY(int y, int wndHeight) +{ + return 1.0f - 2.0f*((float)y-0.5f)/wndHeight; +} + +static inline color32 ToR8G8B8A8(color32 col) +{ + return (col & 0xff00ff00) | ((col>>16) & 0xff) | ((col<<16) & 0xff0000); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased) +{ + assert(m_Drawing==true); + + float x0 = ToNormScreenX(_X0 + m_OffsetX, m_WndWidth); + float y0 = ToNormScreenY(_Y0 + m_OffsetY, m_WndHeight); + float x1 = ToNormScreenX(_X1 + m_OffsetX, m_WndWidth); + float y1 = ToNormScreenY(_Y1 + m_OffsetY, m_WndHeight); + + D3D11_MAPPED_SUBRESOURCE mappedResource; + HRESULT hr = m_D3DDevImmContext->Map(m_LineVertexBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CLineRectVtx *vertices = (CLineRectVtx *)mappedResource.pData; + // Fill vertex buffer + vertices[0].m_Pos[0] = x0; + vertices[0].m_Pos[1] = y0; + vertices[0].m_Pos[2] = 0; + vertices[0].m_Color = ToR8G8B8A8(_Color0); + vertices[1].m_Pos[0] = x1; + vertices[1].m_Pos[1] = y1; + vertices[1].m_Pos[2] = 0; + vertices[1].m_Color = ToR8G8B8A8(_Color1); + + m_D3DDevImmContext->Unmap(m_LineVertexBuffer, 0); + + if( _AntiAliased ) + m_D3DDevImmContext->RSSetState(m_RasterStateAntialiased); + + // Reset shader constants + hr = m_D3DDevImmContext->Map(m_ConstantBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CConstants *constants = (CConstants *)mappedResource.pData; + constants->m_Offset[0] = 0; + constants->m_Offset[1] = 0; + constants->m_Offset[2] = 0; + constants->m_Offset[3] = 0; + constants->m_CstColor[0] = 1; + constants->m_CstColor[1] = 1; + constants->m_CstColor[2] = 1; + constants->m_CstColor[3] = 1; + + m_D3DDevImmContext->Unmap(m_ConstantBuffer, 0); + } + + // Set the input layout + m_D3DDevImmContext->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDevImmContext->IASetVertexBuffers(0, 1, &m_LineVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDevImmContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_LINELIST); + + // Render the line + m_D3DDevImmContext->VSSetConstantBuffers(0, 1, &m_ConstantBuffer); + m_D3DDevImmContext->VSSetShader(m_LineRectVS, NULL, 0); + m_D3DDevImmContext->PSSetShader(m_LineRectPS, NULL, 0); + m_D3DDevImmContext->Draw(2, 0); + + if( _AntiAliased ) + m_D3DDevImmContext->RSSetState(m_RasterState); // restore default raster state + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11) +{ + assert(m_Drawing==true); + + // border adjustment + if(_X0<_X1) + ++_X1; + else if(_X0>_X1) + ++_X0; + if(_Y0<_Y1) + ++_Y1; + else if(_Y0>_Y1) + ++_Y0; + + float x0 = ToNormScreenX(_X0 + m_OffsetX, m_WndWidth); + float y0 = ToNormScreenY(_Y0 + m_OffsetY, m_WndHeight); + float x1 = ToNormScreenX(_X1 + m_OffsetX, m_WndWidth); + float y1 = ToNormScreenY(_Y1 + m_OffsetY, m_WndHeight); + + D3D11_MAPPED_SUBRESOURCE mappedResource; + HRESULT hr = m_D3DDevImmContext->Map(m_RectVertexBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CLineRectVtx *vertices = (CLineRectVtx *)mappedResource.pData; + // Fill vertex buffer + vertices[0].m_Pos[0] = x0; + vertices[0].m_Pos[1] = y0; + vertices[0].m_Pos[2] = 0; + vertices[0].m_Color = ToR8G8B8A8(_Color00); + vertices[1].m_Pos[0] = x1; + vertices[1].m_Pos[1] = y0; + vertices[1].m_Pos[2] = 0; + vertices[1].m_Color = ToR8G8B8A8(_Color10); + vertices[2].m_Pos[0] = x0; + vertices[2].m_Pos[1] = y1; + vertices[2].m_Pos[2] = 0; + vertices[2].m_Color = ToR8G8B8A8(_Color01); + vertices[3].m_Pos[0] = x1; + vertices[3].m_Pos[1] = y1; + vertices[3].m_Pos[2] = 0; + vertices[3].m_Color = ToR8G8B8A8(_Color11); + + m_D3DDevImmContext->Unmap(m_RectVertexBuffer, 0); + + // Reset shader constants + hr = m_D3DDevImmContext->Map(m_ConstantBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CConstants *constants = (CConstants *)mappedResource.pData; + constants->m_Offset[0] = 0; + constants->m_Offset[1] = 0; + constants->m_Offset[2] = 0; + constants->m_Offset[3] = 0; + constants->m_CstColor[0] = 1; + constants->m_CstColor[1] = 1; + constants->m_CstColor[2] = 1; + constants->m_CstColor[3] = 1; + + m_D3DDevImmContext->Unmap(m_ConstantBuffer, 0); + } + + // Set the input layout + m_D3DDevImmContext->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDevImmContext->IASetVertexBuffers(0, 1, &m_RectVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDevImmContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_TRIANGLESTRIP); + + // Render the rect + m_D3DDevImmContext->VSSetConstantBuffers(0, 1, &m_ConstantBuffer); + m_D3DDevImmContext->VSSetShader(m_LineRectVS, NULL, 0); + m_D3DDevImmContext->PSSetShader(m_LineRectPS, NULL, 0); + m_D3DDevImmContext->Draw(4, 0); + } +} + +// --------------------------------------------------------------------------- + +void *CTwGraphDirect3D11::NewTextObj() +{ + CTextObj *textObj = new CTextObj; + memset(textObj, 0, sizeof(CTextObj)); + return textObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::DeleteTextObj(void *_TextObj) +{ + assert(_TextObj!=NULL); + CTextObj *textObj = static_cast(_TextObj); + if( textObj->m_TextVertexBuffer ) + textObj->m_TextVertexBuffer->Release(); + if( textObj->m_BgVertexBuffer ) + textObj->m_BgVertexBuffer->Release(); + memset(textObj, 0, sizeof(CTextObj)); + delete textObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + assert(_Font!=NULL); + + if( _Font != m_FontTex ) + { + UnbindFont(m_D3DDev, m_FontD3DTex, m_FontD3DTexRV); + BindFont(m_D3DDev, _Font, &m_FontD3DTex, &m_FontD3DTexRV); + m_FontTex = _Font; + } + + int nbTextVerts = 0; + int line; + for( line=0; line<_NbLines; ++line ) + nbTextVerts += 6 * (int)_TextLines[line].length(); + int nbBgVerts = 0; + if( _BgWidth>0 ) + nbBgVerts = _NbLines*6; + + CTextObj *textObj = static_cast(_TextObj); + textObj->m_LineColors = (_LineColors!=NULL); + textObj->m_LineBgColors = (_LineBgColors!=NULL); + + // (re)create text vertex buffer if needed, and map it + CTextVtx *textVerts = NULL; + if( nbTextVerts>0 ) + { + if( textObj->m_TextVertexBuffer==NULL || textObj->m_TextVertexBufferSizem_TextVertexBuffer!=NULL ) + { + ULONG rc = textObj->m_TextVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + textObj->m_TextVertexBuffer = NULL; + } + textObj->m_TextVertexBufferSize = nbTextVerts + 6*256; // add a reserve of 256 characters + D3D11_BUFFER_DESC bd; + bd.Usage = D3D11_USAGE_DYNAMIC; + bd.ByteWidth = textObj->m_TextVertexBufferSize * sizeof(CTextVtx); + bd.BindFlags = D3D11_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + bd.StructureByteStride = 0; + m_D3DDev->CreateBuffer(&bd, NULL, &textObj->m_TextVertexBuffer); + } + + if( textObj->m_TextVertexBuffer!=NULL ) + { + D3D11_MAPPED_SUBRESOURCE mappedResource; + m_D3DDevImmContext->Map(textObj->m_TextVertexBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + textVerts = (CTextVtx *)mappedResource.pData; + } + } + + // (re)create bg vertex buffer if needed, and map it + CLineRectVtx *bgVerts = NULL; + if( nbBgVerts>0 ) + { + if( textObj->m_BgVertexBuffer==NULL || textObj->m_BgVertexBufferSizem_BgVertexBuffer!=NULL ) + { + ULONG rc = textObj->m_BgVertexBuffer->Release(); + assert( rc==0 ); (void)rc; + textObj->m_BgVertexBuffer = NULL; + } + textObj->m_BgVertexBufferSize = nbBgVerts + 6*32; // add a reserve of 32 rects + D3D11_BUFFER_DESC bd; + bd.Usage = D3D11_USAGE_DYNAMIC; + bd.ByteWidth = textObj->m_BgVertexBufferSize * sizeof(CLineRectVtx); + bd.BindFlags = D3D11_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + bd.StructureByteStride = 0; + m_D3DDev->CreateBuffer(&bd, NULL, &textObj->m_BgVertexBuffer); + } + + if( textObj->m_BgVertexBuffer!=NULL ) + { + D3D11_MAPPED_SUBRESOURCE mappedResource; + m_D3DDevImmContext->Map(textObj->m_BgVertexBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + bgVerts = (CLineRectVtx *)mappedResource.pData; + } + } + + int x, x1, y, y1, i, len; + float px, px1, py, py1; + unsigned char ch; + const unsigned char *text; + color32 lineColor = COLOR32_RED; + CTextVtx vtx; + vtx.m_Pos[2] = 0; + CLineRectVtx bgVtx; + bgVtx.m_Pos[2] = 0; + int textVtxIndex = 0; + int bgVtxIndex = 0; + for( line=0; line<_NbLines; ++line ) + { + x = 0; + y = line * (_Font->m_CharHeight+_Sep); + y1 = y+_Font->m_CharHeight; + len = (int)_TextLines[line].length(); + text = (const unsigned char *)(_TextLines[line].c_str()); + if( _LineColors!=NULL ) + lineColor = ToR8G8B8A8(_LineColors[line]); + + if( textVerts!=NULL ) + for( i=0; im_CharWidth[ch]; + + px = ToNormScreenX(x, m_WndWidth); + py = ToNormScreenY(y, m_WndHeight); + px1 = ToNormScreenX(x1, m_WndWidth); + py1 = ToNormScreenY(y1, m_WndHeight); + + vtx.m_Color = lineColor; + + vtx.m_Pos[0] = px; + vtx.m_Pos[1] = py; + vtx.m_UV [0] = _Font->m_CharU0[ch]; + vtx.m_UV [1] = _Font->m_CharV0[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px1; + vtx.m_Pos[1] = py; + vtx.m_UV [0] = _Font->m_CharU1[ch]; + vtx.m_UV [1] = _Font->m_CharV0[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px; + vtx.m_Pos[1] = py1; + vtx.m_UV [0] = _Font->m_CharU0[ch]; + vtx.m_UV [1] = _Font->m_CharV1[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px1; + vtx.m_Pos[1] = py; + vtx.m_UV [0] = _Font->m_CharU1[ch]; + vtx.m_UV [1] = _Font->m_CharV0[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px1; + vtx.m_Pos[1] = py1; + vtx.m_UV [0] = _Font->m_CharU1[ch]; + vtx.m_UV [1] = _Font->m_CharV1[ch]; + textVerts[textVtxIndex++] = vtx; + + vtx.m_Pos[0] = px; + vtx.m_Pos[1] = py1; + vtx.m_UV [0] = _Font->m_CharU0[ch]; + vtx.m_UV [1] = _Font->m_CharV1[ch]; + textVerts[textVtxIndex++] = vtx; + + x = x1; + } + + if( _BgWidth>0 && bgVerts!=NULL ) + { + if( _LineBgColors!=NULL ) + bgVtx.m_Color = ToR8G8B8A8(_LineBgColors[line]); + else + bgVtx.m_Color = ToR8G8B8A8(COLOR32_BLACK); + + px = ToNormScreenX(-1, m_WndWidth); + py = ToNormScreenY(y, m_WndHeight); + px1 = ToNormScreenX(_BgWidth+1, m_WndWidth); + py1 = ToNormScreenY(y1, m_WndHeight); + + bgVtx.m_Pos[0] = px; + bgVtx.m_Pos[1] = py; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px1; + bgVtx.m_Pos[1] = py; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px; + bgVtx.m_Pos[1] = py1; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px1; + bgVtx.m_Pos[1] = py; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px1; + bgVtx.m_Pos[1] = py1; + bgVerts[bgVtxIndex++] = bgVtx; + + bgVtx.m_Pos[0] = px; + bgVtx.m_Pos[1] = py1; + bgVerts[bgVtxIndex++] = bgVtx; + } + } + assert( textVtxIndex==nbTextVerts ); + assert( bgVtxIndex==nbBgVerts ); + textObj->m_NbTextVerts = nbTextVerts; + textObj->m_NbBgVerts = nbBgVerts; + + if( textVerts!=NULL ) + m_D3DDevImmContext->Unmap(textObj->m_TextVertexBuffer, 0); + if( bgVerts!=NULL ) + m_D3DDevImmContext->Unmap(textObj->m_BgVertexBuffer, 0); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + CTextObj *textObj = static_cast(_TextObj); + float dx = 2.0f*(float)(_X + m_OffsetX)/m_WndWidth; + float dy = -2.0f*(float)(_Y + m_OffsetY)/m_WndHeight; + + // Draw background + if( textObj->m_NbBgVerts>=4 && textObj->m_BgVertexBuffer!=NULL ) + { + // Set offset and constant color + D3D11_MAPPED_SUBRESOURCE mappedResource; + HRESULT hr = m_D3DDevImmContext->Map(m_ConstantBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CConstants *constants = (CConstants *)mappedResource.pData; + constants->m_Offset[0] = dx; + constants->m_Offset[1] = dy; + constants->m_Offset[2] = 0; + constants->m_Offset[3] = 0; + Color32ToARGBf(_BgColor, constants->m_CstColor+3, constants->m_CstColor+0, constants->m_CstColor+1, constants->m_CstColor+2); + m_D3DDevImmContext->Unmap(m_ConstantBuffer, 0); + } + + // Set the input layout + m_D3DDevImmContext->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDevImmContext->IASetVertexBuffers(0, 1, &textObj->m_BgVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDevImmContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_TRIANGLELIST); + + // Render the bg rectangles + m_D3DDevImmContext->VSSetConstantBuffers(0, 1, &m_ConstantBuffer); + if( _BgColor!=0 || !textObj->m_LineBgColors ) // use a constant bg color + m_D3DDevImmContext->VSSetShader(m_LineRectCstColorVS, NULL, 0); + else + m_D3DDevImmContext->VSSetShader(m_LineRectVS, NULL, 0); + m_D3DDevImmContext->PSSetSamplers(0, 1, &m_SamplerState); + m_D3DDevImmContext->PSSetShader(m_LineRectPS, NULL, 0); + m_D3DDevImmContext->Draw(textObj->m_NbBgVerts, 0); + } + + // Draw text + if( textObj->m_NbTextVerts>=4 && textObj->m_TextVertexBuffer!=NULL ) + { + // Set offset and constant color + D3D11_MAPPED_SUBRESOURCE mappedResource; + HRESULT hr = m_D3DDevImmContext->Map(m_ConstantBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CConstants *constants = (CConstants *)mappedResource.pData; + constants->m_Offset[0] = dx; + constants->m_Offset[1] = dy; + constants->m_Offset[2] = 0; + constants->m_Offset[3] = 0; + Color32ToARGBf(_Color, constants->m_CstColor+3, constants->m_CstColor+0, constants->m_CstColor+1, constants->m_CstColor+2); + m_D3DDevImmContext->Unmap(m_ConstantBuffer, 0); + } + + // Set the input layout + m_D3DDevImmContext->IASetInputLayout(m_TextVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CTextVtx); + UINT offset = 0; + m_D3DDevImmContext->IASetVertexBuffers(0, 1, &textObj->m_TextVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDevImmContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_TRIANGLELIST); + + // Render the text + m_D3DDevImmContext->VSSetConstantBuffers(0, 1, &m_ConstantBuffer); + if( _Color!=0 || !textObj->m_LineColors ) // use a constant color + m_D3DDevImmContext->VSSetShader(m_TextCstColorVS, NULL, 0); + else + m_D3DDevImmContext->VSSetShader(m_TextVS, NULL, 0); + m_D3DDevImmContext->PSSetShaderResources(0, 1, &m_FontD3DTexRV); + m_D3DDevImmContext->PSSetSamplers(0, 1, &m_SamplerState); + m_D3DDevImmContext->PSSetShader(m_TextPS, NULL, 0); + m_D3DDevImmContext->Draw(textObj->m_NbTextVerts, 0); + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY) +{ + if( _Width>0 && _Height>0 ) + { + /* viewport changes screen coordinates, use scissor instead + D3D11_VIEWPORT vp; + vp.TopLeftX = _X0; + vp.TopLeftY = _Y0; + vp.Width = _Width; + vp.Height = _Height; + vp.MinDepth = 0; + vp.MaxDepth = 1; + m_D3DDev->RSSetViewports(1, &vp); + */ + + m_ViewportAndScissorRects[0].left = _X0; + m_ViewportAndScissorRects[0].right = _X0 + _Width - 1; + m_ViewportAndScissorRects[0].top = _Y0; + m_ViewportAndScissorRects[0].bottom = _Y0 + _Height - 1; + if( RectIsFull(m_ViewportAndScissorRects[1]) ) + m_D3DDevImmContext->RSSetScissorRects(1, m_ViewportAndScissorRects); // viewport clipping only + else + m_D3DDevImmContext->RSSetScissorRects(2, m_ViewportAndScissorRects); + + m_OffsetX = _X0 + _OffsetX; + m_OffsetY = _Y0 + _OffsetY; + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::RestoreViewport() +{ + //m_D3DDevImmContext->RSSetViewports(1, static_cast(m_ViewportInit)); + m_ViewportAndScissorRects[0] = FullRect; + m_D3DDevImmContext->RSSetScissorRects(1, m_ViewportAndScissorRects+1); // scissor only + + m_OffsetX = m_OffsetY = 0; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::SetScissor(int _X0, int _Y0, int _Width, int _Height) +{ + if( _Width>0 && _Height>0 ) + { + m_ViewportAndScissorRects[1].left = _X0 - 2; + m_ViewportAndScissorRects[1].right = _X0 + _Width - 3; + m_ViewportAndScissorRects[1].top = _Y0 - 1; + m_ViewportAndScissorRects[1].bottom = _Y0 + _Height - 1; + if( RectIsFull(m_ViewportAndScissorRects[0]) ) + m_D3DDevImmContext->RSSetScissorRects(1, m_ViewportAndScissorRects+1); // no viewport clipping + else + m_D3DDevImmContext->RSSetScissorRects(2, m_ViewportAndScissorRects); + } + else + { + m_ViewportAndScissorRects[1] = FullRect; + m_D3DDevImmContext->RSSetScissorRects(1, m_ViewportAndScissorRects); // apply viewport clipping only + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D11::DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode) +{ + assert(m_Drawing==true); + + if( _NumTriangles<=0 ) + return; + + if( m_TrianglesVertexBufferCount<3*_NumTriangles ) // force re-creation + { + if( m_TrianglesVertexBuffer!=NULL ) + m_TrianglesVertexBuffer->Release(); + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + } + + // DrawTriangles uses LineRect layout and shaders + + if( m_TrianglesVertexBuffer==NULL ) + { + // Create triangles vertex buffer + D3D11_BUFFER_DESC bd; + bd.Usage = D3D11_USAGE_DYNAMIC; + bd.BindFlags = D3D11_BIND_VERTEX_BUFFER; + bd.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE; + bd.MiscFlags = 0; + bd.ByteWidth = 3*_NumTriangles * sizeof(CLineRectVtx); + bd.StructureByteStride = 0; + HRESULT hr = m_D3DDev->CreateBuffer(&bd, NULL, &m_TrianglesVertexBuffer); + if( SUCCEEDED(hr) ) + m_TrianglesVertexBufferCount = 3*_NumTriangles; + else + { + m_TrianglesVertexBuffer = NULL; + m_TrianglesVertexBufferCount = 0; + return; // Problem: cannot create triangles VB + } + } + assert( m_TrianglesVertexBufferCount>=3*_NumTriangles ); + assert( m_TrianglesVertexBuffer!=NULL ); + + D3D11_MAPPED_SUBRESOURCE mappedResource; + HRESULT hr = m_D3DDevImmContext->Map(m_TrianglesVertexBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CLineRectVtx *vertices = (CLineRectVtx *)mappedResource.pData; + // Fill vertex buffer + for( int i=0; i<3*_NumTriangles; ++ i ) + { + vertices[i].m_Pos[0] = ToNormScreenX(_Vertices[2*i+0] + m_OffsetX, m_WndWidth); + vertices[i].m_Pos[1] = ToNormScreenY(_Vertices[2*i+1] + m_OffsetY, m_WndHeight); + vertices[i].m_Pos[2] = 0; + vertices[i].m_Color = ToR8G8B8A8(_Colors[i]); + } + m_D3DDevImmContext->Unmap(m_TrianglesVertexBuffer, 0); + + // Reset shader constants + hr = m_D3DDevImmContext->Map(m_ConstantBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource); + if( SUCCEEDED(hr) ) + { + CConstants *constants = (CConstants *)mappedResource.pData; + constants->m_Offset[0] = 0; + constants->m_Offset[1] = 0; + constants->m_Offset[2] = 0; + constants->m_Offset[3] = 0; + constants->m_CstColor[0] = 1; + constants->m_CstColor[1] = 1; + constants->m_CstColor[2] = 1; + constants->m_CstColor[3] = 1; + m_D3DDevImmContext->Unmap(m_ConstantBuffer, 0); + } + + // Set the input layout + m_D3DDevImmContext->IASetInputLayout(m_LineRectVertexLayout); + + // Set vertex buffer + UINT stride = sizeof(CLineRectVtx); + UINT offset = 0; + m_D3DDevImmContext->IASetVertexBuffers(0, 1, &m_TrianglesVertexBuffer, &stride, &offset); + + // Set primitive topology + m_D3DDevImmContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_TRIANGLELIST); + + if( _CullMode==CULL_CW ) + m_D3DDevImmContext->RSSetState(m_RasterStateCullCW); + else if( _CullMode==CULL_CCW ) + m_D3DDevImmContext->RSSetState(m_RasterStateCullCCW); + else + m_D3DDevImmContext->RSSetState(m_RasterStateMultisample); + + // Render the triangles + m_D3DDevImmContext->VSSetConstantBuffers(0, 1, &m_ConstantBuffer); + m_D3DDevImmContext->VSSetShader(m_LineRectVS, NULL, 0); + m_D3DDevImmContext->PSSetShader(m_LineRectPS, NULL, 0); + m_D3DDevImmContext->Draw(3*_NumTriangles, 0); + + m_D3DDevImmContext->RSSetState(m_RasterState); // restore default raster state + } +} + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,117 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D11.h +// @brief Direct3D11 graphic functions +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_DIRECT3D11_INCLUDED +#define ANT_TW_DIRECT3D11_INCLUDED + +#include "TwGraph.h" + +// --------------------------------------------------------------------------- + +class CTwGraphDirect3D11 : public ITwGraph +{ +public: + virtual int Init(); + virtual int Shut(); + virtual void BeginDraw(int _WndWidth, int _WndHeight); + virtual void EndDraw(); + virtual bool IsDrawing(); + virtual void Restore(); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased=false); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color, bool _AntiAliased=false) { DrawLine(_X0, _Y0, _X1, _Y1, _Color, _Color, _AntiAliased); } + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11); + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color) { DrawRect(_X0, _Y0, _X1, _Y1, _Color, _Color, _Color, _Color); } + virtual void DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode); + + virtual void * NewTextObj(); + virtual void DeleteTextObj(void *_TextObj); + virtual void BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth); + virtual void DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor); + + virtual void ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY); + virtual void RestoreViewport(); + virtual void SetScissor(int _X0, int _Y0, int _Width, int _Height); + +protected: + struct ID3D11Device * m_D3DDev; + struct ID3D11DeviceContext *m_D3DDevImmContext; + unsigned int m_D3DDevInitialRefCount; + bool m_Drawing; + const CTexFont * m_FontTex; + struct ID3D11Texture2D * m_FontD3DTex; + struct ID3D11ShaderResourceView *m_FontD3DTexRV; + int m_WndWidth; + int m_WndHeight; + int m_OffsetX; + int m_OffsetY; + void * m_ViewportInit; + RECT m_ViewportAndScissorRects[2]; + + struct CLineRectVtx + { + float m_Pos[3]; + color32 m_Color; + }; + struct CTextVtx + { + float m_Pos[3]; + color32 m_Color; + float m_UV[2]; + }; + struct CConstants + { + float m_Offset[4]; + float m_CstColor[4]; + }; + + struct CTextObj + { + struct ID3D11Buffer * m_TextVertexBuffer; + struct ID3D11Buffer * m_BgVertexBuffer; + int m_NbTextVerts; + int m_NbBgVerts; + int m_TextVertexBufferSize; + int m_BgVertexBufferSize; + bool m_LineColors; + bool m_LineBgColors; + }; + + struct CState11 * m_State; + struct ID3D11DepthStencilState *m_DepthStencilState; + struct ID3D11BlendState * m_BlendState; + struct ID3D11RasterizerState * m_RasterState; + struct ID3D11RasterizerState * m_RasterStateAntialiased; + struct ID3D11RasterizerState * m_RasterStateMultisample; + struct ID3D11RasterizerState * m_RasterStateCullCW; + struct ID3D11RasterizerState * m_RasterStateCullCCW; + + struct ID3D11VertexShader * m_LineRectVS; + struct ID3D11VertexShader * m_LineRectCstColorVS; + struct ID3D11PixelShader * m_LineRectPS; + struct ID3D11InputLayout * m_LineRectVertexLayout; + struct ID3D11VertexShader * m_TextVS; + struct ID3D11VertexShader * m_TextCstColorVS; + struct ID3D11PixelShader * m_TextPS; + struct ID3D11InputLayout * m_TextVertexLayout; + struct ID3D11Buffer * m_LineVertexBuffer; + struct ID3D11Buffer * m_RectVertexBuffer; + struct ID3D11Buffer * m_TrianglesVertexBuffer; + int m_TrianglesVertexBufferCount; + struct ID3D11Buffer * m_ConstantBuffer; + struct ID3D11SamplerState * m_SamplerState; +}; + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_DIRECT3D11_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.hlsl ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.hlsl --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.hlsl 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D11.hlsl 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,83 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D11.hlsl +// @author Philippe Decaudin - http://www.antisphere.com +// @brief AntTweakBar shaders and techniques for Direct3D11 support +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + +float4 g_Offset : register(c0) = 0; +float4 g_CstColor : register(c1) = 1; + +// Shaders for lines and rectangles + +struct LineRectPSInput +{ + float4 Pos : SV_POSITION; + float4 Color : COLOR0; +}; + +LineRectPSInput LineRectVS(float4 pos : POSITION, float4 color : COLOR) +{ + LineRectPSInput ps; + ps.Pos = pos + g_Offset; + ps.Color = color; + return ps; +} + +LineRectPSInput LineRectCstColorVS(float4 pos : POSITION, float4 color : COLOR) +{ + LineRectPSInput ps; + ps.Pos = pos + g_Offset; + ps.Color = g_CstColor; + return ps; +} + +float4 LineRectPS(LineRectPSInput input) : SV_TARGET +{ + return input.Color; +} + +// Shaders for text + +Texture2D g_Font : register(t0); + +SamplerState g_FontSampler : register(s0) +{ + Filter = MIN_MAG_MIP_POINT; + AddressU = BORDER; + AddressV = BORDER; + BorderColor = float4(0, 0, 0, 0); +}; + +struct TextPSInput +{ + float4 Pos : SV_POSITION; + float4 Color : COLOR0; + float2 Tex : TEXCOORD0; +}; + +TextPSInput TextVS(float4 pos : POSITION, float4 color : COLOR, float2 tex : TEXCOORD0) +{ + TextPSInput ps; + ps.Pos = pos + g_Offset; + ps.Color = color; + ps.Tex = tex; + return ps; +} + +TextPSInput TextCstColorVS(float4 pos : POSITION, float4 color : COLOR, float2 tex : TEXCOORD0) +{ + TextPSInput ps; + ps.Pos = pos + g_Offset; + ps.Color = g_CstColor; + ps.Tex = tex; + return ps; +} + +float4 TextPS(TextPSInput input) : SV_TARGET +{ + return g_Font.Sample(g_FontSampler, input.Tex) * input.Color; +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,631 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D9.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "TwDirect3D9.h" +#include "TwMgr.h" + +#include +#ifdef _DEBUG +// #include +// #pragma comment(lib, "dxerr9") +#endif // _DEBUG + + +using namespace std; + +const char *g_ErrCantLoadD3D9 = "Cannot load Direct3D9 library dynamically"; +const char *g_ErrCantUnloadD3D9 = "Cannot unload Direct3D9 library"; + + +// --------------------------------------------------------------------------- + +static IDirect3DTexture9 *BindFont(IDirect3DDevice9 *_Dev, const CTexFont *_Font) +{ + assert(_Font!=NULL); + + IDirect3DTexture9 *Tex = NULL; + HRESULT hr = _Dev->CreateTexture(_Font->m_TexWidth, _Font->m_TexHeight, 1, 0, D3DFMT_A8R8G8B8, D3DPOOL_MANAGED, &Tex, NULL); + if( FAILED(hr) ) + return NULL; + + D3DLOCKED_RECT r; + hr = Tex->LockRect(0, &r, NULL, 0); + if( SUCCEEDED(hr) ) + { + color32 *p = static_cast(r.pBits); + for( int i=0; i<_Font->m_TexWidth*_Font->m_TexHeight; ++i, ++p ) + *p = 0x00ffffff | (((color32)(_Font->m_TexBytes[i]))<<24); + Tex->UnlockRect(0); + } + return Tex; +} + +// --------------------------------------------------------------------------- + +static void UnbindFont(IDirect3DDevice9 *_Dev, IDirect3DTexture9 *_Tex) +{ + (void)_Dev; + + if( _Tex ) + _Tex->Release(); +} + +// --------------------------------------------------------------------------- + +struct CState +{ + IDirect3DStateBlock9 *m_StateBlock; + + // DeviceCaps (filled by constructor) + D3DCAPS9 m_Caps; + + void Save(); + void Restore(); + CState(IDirect3DDevice9 *_Dev); + ~CState(); +private: + IDirect3DDevice9 *m_D3DDev; +}; + +CState::CState(IDirect3DDevice9 *_Dev) +{ + ZeroMemory(this, sizeof(CState)); + m_D3DDev = _Dev; + + m_D3DDev->GetDeviceCaps(&m_Caps); +} + +CState::~CState() +{ + if( m_StateBlock ) + { + UINT rc = m_StateBlock->Release(); + assert( rc==0 ); (void)rc; + m_StateBlock = NULL; + } +} + +void CState::Save() +{ + if( !m_StateBlock && m_D3DDev ) + m_D3DDev->CreateStateBlock(D3DSBT_ALL, &m_StateBlock); + + if( m_StateBlock ) + m_StateBlock->Capture(); +} + +void CState::Restore() +{ + if( m_StateBlock ) + m_StateBlock->Apply(); +} + +// --------------------------------------------------------------------------- + +int CTwGraphDirect3D9::Init() +{ + assert(g_TwMgr->m_Device!=NULL); + + m_D3DDev = static_cast(g_TwMgr->m_Device); + m_Drawing = false; + m_FontTex = NULL; + m_FontD3DTex = NULL; + D3DDEVICE_CREATION_PARAMETERS cp; + m_D3DDev->GetCreationParameters(&cp); + m_PureDevice = ( cp.BehaviorFlags & D3DCREATE_PUREDEVICE ) ? true : false; + m_WndWidth = 0; + m_WndHeight = 0; + m_State = new CState(m_D3DDev); + m_ViewportInit = new D3DVIEWPORT9; + ZeroMemory(m_ViewportInit, sizeof(D3DVIEWPORT9)); + m_OffsetX = 0; + m_OffsetY = 0; + + return 1; +} + +// --------------------------------------------------------------------------- + +int CTwGraphDirect3D9::Shut() +{ + assert(m_Drawing==false); + + UnbindFont(m_D3DDev, m_FontD3DTex); + m_FontD3DTex = NULL; + delete m_State; + m_State = NULL; + m_D3DDev = NULL; + delete m_ViewportInit; + m_ViewportInit = NULL; + + return 1; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::BeginDraw(int _WndWidth, int _WndHeight) +{ + assert(m_Drawing==false && _WndWidth>0 && _WndHeight>0); + m_Drawing = true; + + m_WndWidth = _WndWidth; + m_WndHeight = _WndHeight; + m_OffsetX = 0; + m_OffsetY = 0; + + // save context + if( !m_PureDevice ) + m_State->Save(); + + if( m_WndWidth>0 && m_WndHeight>0 ) + { + D3DVIEWPORT9 Vp; + Vp.X = 0; + Vp.Y = 0; + Vp.Width = m_WndWidth; + Vp.Height = m_WndHeight; + Vp.MinZ = 0; + Vp.MaxZ = 1; + m_D3DDev->SetViewport(&Vp); + + //D3DMATRIX Transfo = { 2.0f/_WndWidth,0,0,0, 0,2.0f/_WndHeight,0,0, 0,0,-1,0, 0,0,0,1 }; + //m_D3DDev->SetTransform(D3DTS_PROJECTION, &Transfo); + } + m_D3DDev->GetViewport(static_cast(m_ViewportInit)); + // const D3DMATRIX id = { 1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1 }; + // m_D3DDev->SetTransform(D3DTS_VIEW, &id); + // m_D3DDev->SetTransform(D3DTS_WORLD, &id); + // m_D3DDev->SetTransform(D3DTS_TEXTURE0, &id); + + m_D3DDev->SetRenderState(D3DRS_ZENABLE, D3DZB_FALSE); + m_D3DDev->SetRenderState(D3DRS_CULLMODE, D3DCULL_NONE); + m_D3DDev->SetRenderState(D3DRS_ALPHATESTENABLE, FALSE); + m_D3DDev->SetRenderState(D3DRS_ALPHABLENDENABLE, TRUE); + m_D3DDev->SetRenderState(D3DRS_BLENDOP, D3DBLENDOP_ADD); + m_D3DDev->SetRenderState(D3DRS_SRCBLEND, D3DBLEND_SRCALPHA); + m_D3DDev->SetRenderState(D3DRS_DESTBLEND, D3DBLEND_INVSRCALPHA); + m_D3DDev->SetRenderState(D3DRS_CLIPPLANEENABLE, 0); + m_D3DDev->SetRenderState(D3DRS_FILLMODE, D3DFILL_SOLID); + m_D3DDev->SetRenderState(D3DRS_LASTPIXEL, FALSE); + m_D3DDev->SetRenderState(D3DRS_FOGENABLE, FALSE); + m_D3DDev->SetRenderState(D3DRS_STENCILENABLE, FALSE); + m_D3DDev->SetRenderState(D3DRS_COLORWRITEENABLE, 0x0000000F); + m_D3DDev->SetRenderState(D3DRS_SCISSORTESTENABLE, FALSE); + if( m_State->m_Caps.PrimitiveMiscCaps & D3DPMISCCAPS_SEPARATEALPHABLEND ) + m_D3DDev->SetRenderState(D3DRS_SEPARATEALPHABLENDENABLE, FALSE); + //if( m_State->m_Caps.LineCaps & D3DLINECAPS_ANTIALIAS ) + m_D3DDev->SetRenderState(D3DRS_ANTIALIASEDLINEENABLE, FALSE); + + m_D3DDev->SetTextureStageState(0, D3DTSS_COLOROP, D3DTOP_MODULATE); + m_D3DDev->SetTextureStageState(0, D3DTSS_COLORARG1, D3DTA_TEXTURE); + m_D3DDev->SetTextureStageState(0, D3DTSS_COLORARG2, D3DTA_DIFFUSE); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAOP, D3DTOP_SELECTARG1); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAARG1, D3DTA_TEXTURE); + m_D3DDev->SetTextureStageState(0, D3DTSS_TEXCOORDINDEX, D3DTSS_TCI_PASSTHRU); + m_D3DDev->SetTextureStageState(0, D3DTSS_TEXTURETRANSFORMFLAGS, D3DTTFF_DISABLE); + m_D3DDev->SetSamplerState(0, D3DSAMP_ADDRESSU, D3DTADDRESS_CLAMP); + m_D3DDev->SetSamplerState(0, D3DSAMP_ADDRESSV, D3DTADDRESS_CLAMP); + m_D3DDev->SetSamplerState(0, D3DSAMP_MAGFILTER, D3DTEXF_POINT); + m_D3DDev->SetSamplerState(0, D3DSAMP_MINFILTER, D3DTEXF_POINT); + m_D3DDev->SetSamplerState(0, D3DSAMP_MIPFILTER, D3DTEXF_NONE); + + m_D3DDev->SetVertexShader(NULL); + m_D3DDev->SetPixelShader(NULL); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::EndDraw() +{ + assert(m_Drawing==true); + m_Drawing = false; + + // restore context + if( !m_PureDevice ) + m_State->Restore(); +} + +// --------------------------------------------------------------------------- + +bool CTwGraphDirect3D9::IsDrawing() +{ + return m_Drawing; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::Restore() +{ + if( m_State ) + if( m_State->m_StateBlock ) + { + UINT rc = m_State->m_StateBlock->Release(); + assert( rc==0 ); (void)rc; + m_State->m_StateBlock = NULL; + } + + UnbindFont(m_D3DDev, m_FontD3DTex); + m_FontD3DTex = NULL; + + m_FontTex = NULL; +} + + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased) +{ + assert(m_Drawing==true); + + struct CVtx + { + float m_Pos[4]; + DWORD m_Color; + }; + CVtx p[2]; + + p[0].m_Pos[0] = (float)(_X0 + m_OffsetX); + p[0].m_Pos[1] = (float)(_Y0 + m_OffsetY); + p[0].m_Pos[2] = 0; + p[0].m_Pos[3] = 0; + p[0].m_Color = _Color0; + + p[1].m_Pos[0] = (float)(_X1 + m_OffsetX); + p[1].m_Pos[1] = (float)(_Y1 + m_OffsetY); + p[1].m_Pos[2] = 0; + p[1].m_Pos[3] = 0; + p[1].m_Color = _Color1; + + //if( m_State->m_Caps.LineCaps & D3DLINECAPS_ANTIALIAS ) + m_D3DDev->SetRenderState(D3DRS_ANTIALIASEDLINEENABLE, (_AntiAliased ? TRUE : FALSE)); + m_D3DDev->SetTextureStageState(0, D3DTSS_COLOROP, D3DTOP_DISABLE); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAOP, D3DTOP_DISABLE); + m_D3DDev->SetFVF(D3DFVF_XYZRHW|D3DFVF_DIFFUSE); + m_D3DDev->DrawPrimitiveUP(D3DPT_LINELIST, 1, p, sizeof(CVtx)); + //if( m_State->m_Caps.LineCaps & D3DLINECAPS_ANTIALIAS ) + m_D3DDev->SetRenderState(D3DRS_ANTIALIASEDLINEENABLE, FALSE); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11) +{ + assert(m_Drawing==true); + + // border adjustment + if(_X0<_X1) + ++_X1; + else if(_X0>_X1) + ++_X0; + if(_Y0<_Y1) + ++_Y1; + else if(_Y0>_Y1) + ++_Y0; + + struct CVtx + { + float m_Pos[4]; + DWORD m_Color; + }; + CVtx p[4]; + + p[0].m_Pos[0] = (float)(_X1 + m_OffsetX); + p[0].m_Pos[1] = (float)(_Y0 + m_OffsetY); + p[0].m_Pos[2] = 0; + p[0].m_Pos[3] = 1; + p[0].m_Color = _Color10; + + p[1].m_Pos[0] = (float)(_X0 + m_OffsetX); + p[1].m_Pos[1] = (float)(_Y0 + m_OffsetY); + p[1].m_Pos[2] = 0; + p[1].m_Pos[3] = 1; + p[1].m_Color = _Color00; + + p[2].m_Pos[0] = (float)(_X1 + m_OffsetX); + p[2].m_Pos[1] = (float)(_Y1 + m_OffsetY); + p[2].m_Pos[2] = 0; + p[2].m_Pos[3] = 1; + p[2].m_Color = _Color11; + + p[3].m_Pos[0] = (float)(_X0 + m_OffsetX); + p[3].m_Pos[1] = (float)(_Y1 + m_OffsetY); + p[3].m_Pos[2] = 0; + p[3].m_Pos[3] = 1; + p[3].m_Color = _Color01; + + m_D3DDev->SetTextureStageState(0, D3DTSS_COLOROP, D3DTOP_DISABLE); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAOP, D3DTOP_DISABLE); + m_D3DDev->SetFVF(D3DFVF_XYZRHW|D3DFVF_DIFFUSE); + m_D3DDev->DrawPrimitiveUP(D3DPT_TRIANGLESTRIP, 2, p, sizeof(CVtx)); +} + +// --------------------------------------------------------------------------- + +void *CTwGraphDirect3D9::NewTextObj() +{ + return new CTextObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::DeleteTextObj(void *_TextObj) +{ + assert(_TextObj!=NULL); + delete static_cast(_TextObj); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + assert(_Font!=NULL); + + if( _Font != m_FontTex ) + { + UnbindFont(m_D3DDev, m_FontD3DTex); + m_FontD3DTex = BindFont(m_D3DDev, _Font); + m_FontTex = _Font; + } + + CTextObj *TextObj = static_cast(_TextObj); + TextObj->m_TextVerts.resize(0); + TextObj->m_BgVerts.resize(0); + TextObj->m_LineColors = (_LineColors!=NULL); + TextObj->m_LineBgColors = (_LineBgColors!=NULL); + + int x, x1, y, y1, i, Len; + unsigned char ch; + const unsigned char *Text; + color32 LineColor = COLOR32_RED; + CTextVtx Vtx; + Vtx.m_Pos[2] = 0; + Vtx.m_Pos[3] = 1; + CBgVtx BgVtx; + BgVtx.m_Pos[2] = 0; + BgVtx.m_Pos[3] = 1; + for( int Line=0; Line<_NbLines; ++Line ) + { + x = 0; + y = Line * (_Font->m_CharHeight+_Sep); + y1 = y+_Font->m_CharHeight; + Len = (int)_TextLines[Line].length(); + Text = (const unsigned char *)(_TextLines[Line].c_str()); + if( _LineColors!=NULL ) + LineColor = _LineColors[Line]; + + for( i=0; im_CharWidth[ch]; + + Vtx.m_Color = LineColor; + + Vtx.m_Pos[0] = (float)x; + Vtx.m_Pos[1] = (float)y; + Vtx.m_UV [0] = _Font->m_CharU0[ch]; + Vtx.m_UV [1] = _Font->m_CharV0[ch]; + TextObj->m_TextVerts.push_back(Vtx); + + Vtx.m_Pos[0] = (float)x1; + Vtx.m_Pos[1] = (float)y; + Vtx.m_UV [0] = _Font->m_CharU1[ch]; + Vtx.m_UV [1] = _Font->m_CharV0[ch]; + TextObj->m_TextVerts.push_back(Vtx); + + Vtx.m_Pos[0] = (float)x; + Vtx.m_Pos[1] = (float)y1; + Vtx.m_UV [0] = _Font->m_CharU0[ch]; + Vtx.m_UV [1] = _Font->m_CharV1[ch]; + TextObj->m_TextVerts.push_back(Vtx); + + Vtx.m_Pos[0] = (float)x1; + Vtx.m_Pos[1] = (float)y; + Vtx.m_UV [0] = _Font->m_CharU1[ch]; + Vtx.m_UV [1] = _Font->m_CharV0[ch]; + TextObj->m_TextVerts.push_back(Vtx); + + Vtx.m_Pos[0] = (float)x1; + Vtx.m_Pos[1] = (float)y1; + Vtx.m_UV [0] = _Font->m_CharU1[ch]; + Vtx.m_UV [1] = _Font->m_CharV1[ch]; + TextObj->m_TextVerts.push_back(Vtx); + + Vtx.m_Pos[0] = (float)x; + Vtx.m_Pos[1] = (float)y1; + Vtx.m_UV [0] = _Font->m_CharU0[ch]; + Vtx.m_UV [1] = _Font->m_CharV1[ch]; + TextObj->m_TextVerts.push_back(Vtx); + + x = x1; + } + if( _BgWidth>0 ) + { + if( _LineBgColors!=NULL ) + BgVtx.m_Color = _LineBgColors[Line]; + else + BgVtx.m_Color = COLOR32_BLACK; + + BgVtx.m_Pos[0] = -1; + BgVtx.m_Pos[1] = (float)y; + TextObj->m_BgVerts.push_back(BgVtx); + + BgVtx.m_Pos[0] = (float)(_BgWidth+1); + BgVtx.m_Pos[1] = (float)y; + TextObj->m_BgVerts.push_back(BgVtx); + + BgVtx.m_Pos[0] = -1; + BgVtx.m_Pos[1] = (float)y1; + TextObj->m_BgVerts.push_back(BgVtx); + + BgVtx.m_Pos[0] = (float)(_BgWidth+1); + BgVtx.m_Pos[1] = (float)y; + TextObj->m_BgVerts.push_back(BgVtx); + + BgVtx.m_Pos[0] = (float)(_BgWidth+1); + BgVtx.m_Pos[1] = (float)y1; + TextObj->m_BgVerts.push_back(BgVtx); + + BgVtx.m_Pos[0] = -1; + BgVtx.m_Pos[1] = (float)y1; + TextObj->m_BgVerts.push_back(BgVtx); + } + } + +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + CTextObj *TextObj = static_cast(_TextObj); + float x = (float)_X; + float y = (float)_Y; + + int i; + int nv = (int)TextObj->m_TextVerts.size(); + int nb = (int)TextObj->m_BgVerts.size(); + + if( nb>=4 ) + { + for( i=0; im_BgVerts[i].m_Pos[0] += x + m_OffsetX; + TextObj->m_BgVerts[i].m_Pos[1] += y + m_OffsetY; + if( _BgColor!=0 || !TextObj->m_LineBgColors ) + TextObj->m_BgVerts[i].m_Color = _BgColor; + } + + m_D3DDev->SetTextureStageState(0, D3DTSS_COLOROP, D3DTOP_DISABLE); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAOP, D3DTOP_DISABLE); + m_D3DDev->SetFVF(D3DFVF_XYZRHW|D3DFVF_DIFFUSE); + m_D3DDev->DrawPrimitiveUP(D3DPT_TRIANGLELIST, nb/3, &(TextObj->m_BgVerts[0]), sizeof(CBgVtx)); + + for( i=0; im_BgVerts[i].m_Pos[0] -= x + m_OffsetX; + TextObj->m_BgVerts[i].m_Pos[1] -= y + m_OffsetY; + } + } + + if( nv>=4 ) + { + for( i=0; im_TextVerts[i].m_Pos[0] += x + m_OffsetX; + TextObj->m_TextVerts[i].m_Pos[1] += y + m_OffsetY; + } + if( _Color!=0 || !TextObj->m_LineColors ) + for( i=0; im_TextVerts[i].m_Color = _Color; + + m_D3DDev->SetTexture(0, m_FontD3DTex); + m_D3DDev->SetTextureStageState(0, D3DTSS_COLOROP, D3DTOP_MODULATE); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAOP, D3DTOP_SELECTARG1); + m_D3DDev->SetFVF(D3DFVF_XYZRHW|D3DFVF_DIFFUSE|D3DFVF_TEX1|D3DFVF_TEXCOORDSIZE2(0)); + m_D3DDev->DrawPrimitiveUP(D3DPT_TRIANGLELIST, nv/3, &(TextObj->m_TextVerts[0]), sizeof(CTextVtx)); + + for( i=0; im_TextVerts[i].m_Pos[0] -= x + m_OffsetX; + TextObj->m_TextVerts[i].m_Pos[1] -= y + m_OffsetY; + } + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY) +{ + if( _Width>0 && _Height>0 ) + { + D3DVIEWPORT9 Vp; + Vp.X = _X0; + Vp.Y = _Y0; + Vp.Width = _Width; + Vp.Height = _Height; + Vp.MinZ = 0; + Vp.MaxZ = 1; + m_D3DDev->SetViewport(&Vp); + + m_OffsetX = _X0 + _OffsetX; + m_OffsetY = _Y0 + _OffsetY - 1; + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::RestoreViewport() +{ + m_D3DDev->SetViewport(static_cast(m_ViewportInit)); + m_OffsetX = m_OffsetY = 0; +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::SetScissor(int _X0, int _Y0, int _Width, int _Height) +{ + if( _Width>0 && _Height>0 ) + { + RECT Rect; + Rect.left = _X0 - 1; + Rect.right = Rect.left + _Width - 1; + Rect.top = _Y0; + Rect.bottom = Rect.top + _Height; + m_D3DDev->SetScissorRect(&Rect); + m_D3DDev->SetRenderState(D3DRS_SCISSORTESTENABLE, TRUE); + } + else + m_D3DDev->SetRenderState(D3DRS_SCISSORTESTENABLE, FALSE); +} + +// --------------------------------------------------------------------------- + +void CTwGraphDirect3D9::DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode) +{ + assert(m_Drawing==true); + + if( _NumTriangles<0 ) + return; + + DWORD prevCullMode = D3DCULL_NONE; + m_D3DDev->GetRenderState(D3DRS_CULLMODE, &prevCullMode); + if( _CullMode==CULL_CW ) + m_D3DDev->SetRenderState(D3DRS_CULLMODE, D3DCULL_CW); + else if( _CullMode==CULL_CCW ) + m_D3DDev->SetRenderState(D3DRS_CULLMODE, D3DCULL_CCW); + else + m_D3DDev->SetRenderState(D3DRS_CULLMODE, D3DCULL_NONE); + + if( (int)m_TriVertices.size()<3*_NumTriangles ) + m_TriVertices.resize(3*_NumTriangles); + + for( int i=0; i<3*_NumTriangles; ++i ) + { + m_TriVertices[i].m_Pos[0] = (float)(_Vertices[2*i+0] + m_OffsetX); + m_TriVertices[i].m_Pos[1] = (float)(_Vertices[2*i+1] + m_OffsetY); + m_TriVertices[i].m_Pos[2] = 0; + m_TriVertices[i].m_Pos[3] = 1; + m_TriVertices[i].m_Color = _Colors[i]; + } + + m_D3DDev->SetTextureStageState(0, D3DTSS_COLOROP, D3DTOP_DISABLE); + m_D3DDev->SetTextureStageState(0, D3DTSS_ALPHAOP, D3DTOP_DISABLE); + m_D3DDev->SetFVF(D3DFVF_XYZRHW|D3DFVF_DIFFUSE); + m_D3DDev->DrawPrimitiveUP(D3DPT_TRIANGLELIST, _NumTriangles, &(m_TriVertices[0]), sizeof(CTriVtx)); + + m_D3DDev->SetRenderState(D3DRS_CULLMODE, prevCullMode); +} + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwDirect3D9.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,90 @@ +// --------------------------------------------------------------------------- +// +// @file TwDirect3D9.h +// @brief Direct3D9 graph functions +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_DIRECT3D9_INCLUDED +#define ANT_TW_DIRECT3D9_INCLUDED + +#include "TwGraph.h" + +// --------------------------------------------------------------------------- + +class CTwGraphDirect3D9 : public ITwGraph +{ +public: + virtual int Init(); + virtual int Shut(); + virtual void BeginDraw(int _WndWidth, int _WndHeight); + virtual void EndDraw(); + virtual bool IsDrawing(); + virtual void Restore(); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased=false); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color, bool _AntiAliased=false) { DrawLine(_X0, _Y0, _X1, _Y1, _Color, _Color, _AntiAliased); } + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11); + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color) { DrawRect(_X0, _Y0, _X1, _Y1, _Color, _Color, _Color, _Color); } + virtual void DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode); + + virtual void * NewTextObj(); + virtual void DeleteTextObj(void *_TextObj); + virtual void BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth); + virtual void DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor); + + virtual void ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY); + virtual void RestoreViewport(); + virtual void SetScissor(int _X0, int _Y0, int _Width, int _Height); + +protected: + struct IDirect3DDevice9 * m_D3DDev; + bool m_Drawing; + const CTexFont * m_FontTex; + struct IDirect3DTexture9 * m_FontD3DTex; + bool m_PureDevice; + int m_WndWidth; + int m_WndHeight; + void * m_ViewportInit; + int m_OffsetX; + int m_OffsetY; + + struct CTextVtx + { + float m_Pos[4]; + color32 m_Color; + float m_UV[2]; + }; + struct CBgVtx + { + float m_Pos[4]; + color32 m_Color; + }; + + struct CTextObj + { + std::vector m_TextVerts; + std::vector m_BgVerts; + bool m_LineColors; + bool m_LineBgColors; + }; + + struct CTriVtx + { + float m_Pos[4]; + DWORD m_Color; + }; + std::vector m_TriVertices; + + struct CState * m_State; +}; + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_DIRECT3D9_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLFW.c ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLFW.c --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLFW.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLFW.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,212 @@ +// --------------------------------------------------------------------------- +// +// @file TwEventGLFW.c +// @brief Helper: +// translate and re-send mouse and keyboard events +// from GLFW event callbacks to AntTweakBar +// +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + +// #include +#include "MiniGLFW.h" // a subset of GLFW.h needed to compile TwEventGLFW.c +// note: AntTweakBar.dll does not need to link with GLFW, +// it just needs some definitions for its helper functions. + +#include + + +int TW_CALL TwEventMouseButtonGLFW(int glfwButton, int glfwAction) +{ + int handled = 0; + TwMouseAction action = (glfwAction==GLFW_PRESS) ? TW_MOUSE_PRESSED : TW_MOUSE_RELEASED; + + if( glfwButton==GLFW_MOUSE_BUTTON_LEFT ) + handled = TwMouseButton(action, TW_MOUSE_LEFT); + else if( glfwButton==GLFW_MOUSE_BUTTON_RIGHT ) + handled = TwMouseButton(action, TW_MOUSE_RIGHT); + else if( glfwButton==GLFW_MOUSE_BUTTON_MIDDLE ) + handled = TwMouseButton(action, TW_MOUSE_MIDDLE); + + return handled; +} + + +int g_KMod = 0; + + +int TW_CALL TwEventKeyGLFW(int glfwKey, int glfwAction) +{ + int handled = 0; + + // Register of modifiers state + if( glfwAction==GLFW_PRESS ) + { + switch( glfwKey ) + { + case GLFW_KEY_LSHIFT: + case GLFW_KEY_RSHIFT: + g_KMod |= TW_KMOD_SHIFT; + break; + case GLFW_KEY_LCTRL: + case GLFW_KEY_RCTRL: + g_KMod |= TW_KMOD_CTRL; + break; + case GLFW_KEY_LALT: + case GLFW_KEY_RALT: + g_KMod |= TW_KMOD_ALT; + break; + } + } + else + { + switch( glfwKey ) + { + case GLFW_KEY_LSHIFT: + case GLFW_KEY_RSHIFT: + g_KMod &= ~TW_KMOD_SHIFT; + break; + case GLFW_KEY_LCTRL: + case GLFW_KEY_RCTRL: + g_KMod &= ~TW_KMOD_CTRL; + break; + case GLFW_KEY_LALT: + case GLFW_KEY_RALT: + g_KMod &= ~TW_KMOD_ALT; + break; + } + } + + // Process key pressed + if( glfwAction==GLFW_PRESS ) + { + int mod = g_KMod; + int testkp = ((mod&TW_KMOD_CTRL) || (mod&TW_KMOD_ALT)) ? 1 : 0; + + if( (mod&TW_KMOD_CTRL) && glfwKey>0 && glfwKey=GLFW_KEY_SPECIAL ) + { + int k = 0; + + if( glfwKey>=GLFW_KEY_F1 && glfwKey<=GLFW_KEY_F15 ) + k = TW_KEY_F1 + (glfwKey-GLFW_KEY_F1); + else if( testkp && glfwKey>=GLFW_KEY_KP_0 && glfwKey<=GLFW_KEY_KP_9 ) + k = '0' + (glfwKey-GLFW_KEY_KP_0); + else + { + switch( glfwKey ) + { + case GLFW_KEY_ESC: + k = TW_KEY_ESCAPE; + break; + case GLFW_KEY_UP: + k = TW_KEY_UP; + break; + case GLFW_KEY_DOWN: + k = TW_KEY_DOWN; + break; + case GLFW_KEY_LEFT: + k = TW_KEY_LEFT; + break; + case GLFW_KEY_RIGHT: + k = TW_KEY_RIGHT; + break; + case GLFW_KEY_TAB: + k = TW_KEY_TAB; + break; + case GLFW_KEY_ENTER: + k = TW_KEY_RETURN; + break; + case GLFW_KEY_BACKSPACE: + k = TW_KEY_BACKSPACE; + break; + case GLFW_KEY_INSERT: + k = TW_KEY_INSERT; + break; + case GLFW_KEY_DEL: + k = TW_KEY_DELETE; + break; + case GLFW_KEY_PAGEUP: + k = TW_KEY_PAGE_UP; + break; + case GLFW_KEY_PAGEDOWN: + k = TW_KEY_PAGE_DOWN; + break; + case GLFW_KEY_HOME: + k = TW_KEY_HOME; + break; + case GLFW_KEY_END: + k = TW_KEY_END; + break; + case GLFW_KEY_KP_ENTER: + k = TW_KEY_RETURN; + break; + case GLFW_KEY_KP_DIVIDE: + if( testkp ) + k = '/'; + break; + case GLFW_KEY_KP_MULTIPLY: + if( testkp ) + k = '*'; + break; + case GLFW_KEY_KP_SUBTRACT: + if( testkp ) + k = '-'; + break; + case GLFW_KEY_KP_ADD: + if( testkp ) + k = '+'; + break; + case GLFW_KEY_KP_DECIMAL: + if( testkp ) + k = '.'; + break; + case GLFW_KEY_KP_EQUAL: + if( testkp ) + k = '='; + break; + } + } + + if( k>0 ) + handled = TwKeyPressed(k, mod); + } + } + + return handled; +} + + +int TW_CALL TwEventCharGLFW(int glfwChar, int glfwAction) +{ + if( glfwAction==GLFW_PRESS && (glfwChar & 0xff00)==0 ) + return TwKeyPressed(glfwChar, g_KMod); + + return 0; +} + +// functions with __cdecl calling convension +TW_API int TW_CDECL_CALL TwEventMouseButtonGLFWcdecl(int glfwButton, int glfwAction) +{ + return TwEventMouseButtonGLFW(glfwButton, glfwAction); +} +TW_API int TW_CDECL_CALL TwEventKeyGLFWcdecl(int glfwKey, int glfwAction) +{ + return TwEventKeyGLFW(glfwKey, glfwAction); +} +TW_API int TW_CDECL_CALL TwEventCharGLFWcdecl(int glfwChar, int glfwAction) +{ + return TwEventCharGLFW(glfwChar, glfwAction); +} +TW_API int TW_CDECL_CALL TwEventMousePosGLFWcdecl(int mouseX, int mouseY) +{ + return TwMouseMotion(mouseX, mouseY); +} +TW_API int TW_CDECL_CALL TwEventMouseWheelGLFWcdecl(int wheelPos) +{ + return TwMouseWheel(wheelPos); +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLUT.c ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLUT.c --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLUT.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventGLUT.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,150 @@ +// --------------------------------------------------------------------------- +// +// @file TwEventGLUT.c +// @brief Helper: +// translate and re-send mouse and keyboard events +// from GLUT event callbacks to AntTweakBar +// +// @author Philippe Decaudin - http://www.antisphere.com +// @date 2006/05/10 +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#define GLUT_NO_LIB_PRAGMA // we do not want to force linkage with glut +#ifdef _MSC_VER +# pragma warning(disable: 4505) // glut generates 'unreferenced function' warnings +# pragma warning(disable: 4100) // unreferenced parameter +#endif // _MSC_VER + +// #include +#include "MiniGLUT.h" // a subset of glut.h needed to compile TwEventGLUT.c +// note: AntTweakBar.dll does not need to link with GLUT, +// it just needs some definitions for its helper functions. + +#include + + +int TW_GLUT_CALL TwEventMouseButtonGLUT(int glutButton, int glutState, int mouseX, int mouseY) +{ + TwMouseAction action = (glutState==GLUT_DOWN) ? TW_MOUSE_PRESSED : TW_MOUSE_RELEASED; + + TwMouseMotion(mouseX, mouseY); + switch( glutButton ) + { + case GLUT_LEFT_BUTTON: + return TwMouseButton(action, TW_MOUSE_LEFT); + case GLUT_RIGHT_BUTTON: + return TwMouseButton(action, TW_MOUSE_RIGHT); + case GLUT_MIDDLE_BUTTON: + return TwMouseButton(action, TW_MOUSE_MIDDLE); + default: + return 0; + } +} + +int TW_GLUT_CALL TwEventMouseMotionGLUT(int mouseX, int mouseY) +{ + return TwMouseMotion(mouseX, mouseY); +} + + +// GLUT does not send modifiers state to 'Key' and 'Special' callbacks, +// and we cannot call glutGetModifiers here because we do not want to link +// AntTweakBar with glut, so the following function is used to store +// a pointer to the glutGetModifiers function of the calling application. +// It must be called at initialisation of the application. + +int (TW_CALL *g_GLUTGetModifiers)(void) = NULL; + +int TW_CALL TwGLUTModifiersFunc(int (TW_CALL *glutGetModifiersFunc)(void)) +{ + g_GLUTGetModifiers = glutGetModifiersFunc; + return (g_GLUTGetModifiers==NULL) ? 0 : 1; +} + + +int TW_GLUT_CALL TwEventKeyboardGLUT(unsigned char glutKey, int mouseX, int mouseY) +{ + int kmod = 0; + + if( g_GLUTGetModifiers!=NULL ) + { + int glutMod = g_GLUTGetModifiers(); + + if( glutMod&GLUT_ACTIVE_SHIFT ) + kmod |= TW_KMOD_SHIFT; + if( glutMod&GLUT_ACTIVE_CTRL ) + kmod |= TW_KMOD_CTRL; + if( glutMod&GLUT_ACTIVE_ALT ) + kmod |= TW_KMOD_ALT; + } + + if( (kmod&TW_KMOD_CTRL) && (glutKey>0 && glutKey<27) ) // CTRL special case + glutKey += 'a'-1; + + return TwKeyPressed((int)glutKey, kmod); +} + + +int TW_GLUT_CALL TwEventSpecialGLUT(int glutKey, int mouseX, int mouseY) +{ + int k = 0, kmod = 0; + + if( g_GLUTGetModifiers!=NULL ) + { + int glutMod = g_GLUTGetModifiers(); + + if( glutMod&GLUT_ACTIVE_SHIFT ) + kmod |= TW_KMOD_SHIFT; + if( glutMod&GLUT_ACTIVE_CTRL ) + kmod |= TW_KMOD_CTRL; + if( glutMod&GLUT_ACTIVE_ALT ) + kmod |= TW_KMOD_ALT; + } + + if( glutKey>=GLUT_KEY_F1 && glutKey<=GLUT_KEY_F12 ) + k = TW_KEY_F1 + (glutKey-GLUT_KEY_F1); + else + { + switch( glutKey ) + { + case GLUT_KEY_LEFT: + k = TW_KEY_LEFT; + break; + case GLUT_KEY_UP: + k = TW_KEY_UP; + break; + case GLUT_KEY_RIGHT: + k = TW_KEY_RIGHT; + break; + case GLUT_KEY_DOWN: + k = TW_KEY_DOWN; + break; + case GLUT_KEY_PAGE_UP: + k = TW_KEY_PAGE_UP; + break; + case GLUT_KEY_PAGE_DOWN: + k = TW_KEY_PAGE_DOWN; + break; + case GLUT_KEY_HOME: + k = TW_KEY_HOME; + break; + case GLUT_KEY_END: + k = TW_KEY_END; + break; + case GLUT_KEY_INSERT: + k = TW_KEY_INSERT; + break; + } + } + + if( k>0 && k + + +// TwEventSDL12 returns zero if msg has not been handled, +// and a non-zero value if it has been handled by the AntTweakBar library. +int TW_CALL TwEventSDL12(const void *sdlEvent) +{ + int handled = 0; + const SDL_Event *event = (const SDL_Event *)sdlEvent; + + if( event==NULL ) + return 0; + + switch( event->type ) + { + case SDL_KEYDOWN: + if( event->key.keysym.unicode!=0 && (event->key.keysym.unicode & 0xFF00)==0 ) + { + if( (event->key.keysym.unicode & 0xFF)<32 && (event->key.keysym.unicode & 0xFF)!=event->key.keysym.sym ) + handled = TwKeyPressed((event->key.keysym.unicode & 0xFF)+'a'-1, event->key.keysym.mod); + else + handled = TwKeyPressed(event->key.keysym.unicode & 0xFF, event->key.keysym.mod); + } + else + handled = TwKeyPressed(event->key.keysym.sym, event->key.keysym.mod); + break; + case SDL_MOUSEMOTION: + handled = TwMouseMotion(event->motion.x, event->motion.y); + break; + case SDL_MOUSEBUTTONUP: + case SDL_MOUSEBUTTONDOWN: + if( event->type==SDL_MOUSEBUTTONDOWN && (event->button.button==4 || event->button.button==5) ) // mouse wheel + { + static int s_WheelPos = 0; + if( event->button.button==4 ) + ++s_WheelPos; + else + --s_WheelPos; + handled = TwMouseWheel(s_WheelPos); + } + else + handled = TwMouseButton((event->type==SDL_MOUSEBUTTONUP)?TW_MOUSE_RELEASED:TW_MOUSE_PRESSED, (TwMouseButtonID)event->button.button); + break; + case SDL_VIDEORESIZE: + // tell the new size to TweakBar + TwWindowSize(event->resize.w, event->resize.h); + // do not set 'handled', SDL_VIDEORESIZE may be also processed by the calling application + break; + } + + return handled; +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL13.c ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL13.c --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL13.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL13.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,129 @@ +// --------------------------------------------------------------------------- +// +// @file TwEventSDL13.c +// @brief Helper: +// translate and re-send mouse and keyboard events +// from SDL 1.3 event loop to AntTweakBar +// +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "MiniSDL13.h" // a subset of SDL.h needed to compile TwEventSDL.c +// note: AntTweakBar.dll does not need to link with SDL, +// it just needs some definitions for its helper functions. + +#include + + +// The way SDL handles keyboard events has changed between version 1.2 +// and 1.3. It is now more difficult to translate SDL keyboard events to +// AntTweakBar events. The following code is an attempt to do so, but +// it is rather complex and not always accurate (eg, CTRL+1 is not handled). +// If someone knows a better and more robust way to do the keyboard events +// translation, please let me know. + +// TwEventSDL returns zero if msg has not been handled, +// and a non-zero value if it has been handled by the AntTweakBar library. +int TW_CALL TwEventSDL13(const void *sdlEvent) +{ + int handled = 0; + static int s_KeyMod = 0; + const SDL_Event *event = (const SDL_Event *)sdlEvent; + + if( event==NULL ) + return 0; + + switch( event->type ) + { + case SDL_TEXTINPUT: + if( event->text.text[0]!=0 && event->text.text[1]==0 ) + { + if( s_KeyMod & TW_KMOD_CTRL && event->text.text[0]<32 ) + handled = TwKeyPressed(event->text.text[0]+'a'-1, s_KeyMod); + else + { + if (s_KeyMod & KMOD_RALT) + s_KeyMod &= ~KMOD_CTRL; + handled = TwKeyPressed(event->text.text[0], s_KeyMod); + } + } + s_KeyMod = 0; + break; + case SDL_KEYDOWN: + if( event->key.keysym.sym & SDLK_SCANCODE_MASK ) + { + int key = 0; + switch( event->key.keysym.sym ) + { + case SDLK_UP: + key = TW_KEY_UP; + break; + case SDLK_DOWN: + key = TW_KEY_DOWN; + break; + case SDLK_RIGHT: + key = TW_KEY_RIGHT; + break; + case SDLK_LEFT: + key = TW_KEY_LEFT; + break; + case SDLK_INSERT: + key = TW_KEY_INSERT; + break; + case SDLK_HOME: + key = TW_KEY_HOME; + break; + case SDLK_END: + key = TW_KEY_END; + break; + case SDLK_PAGEUP: + key = TW_KEY_PAGE_UP; + break; + case SDLK_PAGEDOWN: + key = TW_KEY_PAGE_DOWN; + break; + default: + if( event->key.keysym.sym>=SDLK_F1 && event->key.keysym.sym<=SDLK_F12 ) + key = event->key.keysym.sym + TW_KEY_F1 - SDLK_F1; + } + if( key!=0 ) + handled = TwKeyPressed(key, event->key.keysym.mod); + } + else if( event->key.keysym.mod & TW_KMOD_ALT ) + handled = TwKeyPressed(event->key.keysym.sym & 0xFF, event->key.keysym.mod); + else + s_KeyMod = event->key.keysym.mod; + break; + case SDL_KEYUP: + s_KeyMod = 0; + break; + case SDL_MOUSEMOTION: + handled = TwMouseMotion(event->motion.x, event->motion.y); + break; + case SDL_MOUSEBUTTONUP: + case SDL_MOUSEBUTTONDOWN: + if( event->type==SDL_MOUSEBUTTONDOWN && (event->button.button==4 || event->button.button==5) ) // mouse wheel + { + static int s_WheelPos = 0; + if( event->button.button==4 ) + ++s_WheelPos; + else + --s_WheelPos; + handled = TwMouseWheel(s_WheelPos); + } + else + handled = TwMouseButton((event->type==SDL_MOUSEBUTTONUP)?TW_MOUSE_RELEASED:TW_MOUSE_PRESSED, (TwMouseButtonID)event->button.button); + break; + case SDL_VIDEORESIZE: + // tell the new size to TweakBar + TwWindowSize(event->resize.w, event->resize.h); + // do not set 'handled', SDL_VIDEORESIZE may be also processed by the calling application + break; + } + + return handled; +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL.c ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL.c --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSDL.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,43 @@ +// --------------------------------------------------------------------------- +// +// @file TwEventSDL.c +// @brief Helper: +// translate and re-send mouse and keyboard events +// from SDL event loop to AntTweakBar +// +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: AntTweakBar.dll does not need to link with SDL, +// it just needs some definitions for its helper functions. +// +// --------------------------------------------------------------------------- + +#include + +int TW_CALL TwEventSDL12(const void *sdlEvent); // implemented in TwEventSDL12.c +int TW_CALL TwEventSDL13(const void *sdlEvent); // implmeneted in TwEventSDL13.c +#ifdef __cplusplus + extern "C" { int TW_CALL TwSetLastError(const char *staticErrorMessage); } +#else + int TW_CALL TwSetLastError(const char *staticErrorMessage); +#endif // __cplusplus + + +// TwEventSDL returns zero if msg has not been handled or the SDL version +// is not supported, and a non-zero value if it has been handled by the +// AntTweakBar library. +int TW_CALL TwEventSDL(const void *sdlEvent, unsigned char majorVersion, unsigned char minorVersion) +{ + if (majorVersion < 1 || (majorVersion == 1 && minorVersion < 2)) + { + static const char *g_ErrBadSDLVersion = "Unsupported SDL version"; + TwSetLastError(g_ErrBadSDLVersion); + return 0; + } + else if (majorVersion == 1 && minorVersion == 2) + return TwEventSDL12(sdlEvent); + else // if( majorVersion==1 && minorVersion==3 ) + return TwEventSDL13(sdlEvent); // will probably not work for version > 1.3, but give it a chance +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSFML.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSFML.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSFML.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventSFML.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,173 @@ +// --------------------------------------------------------------------------- +// +// @file TwEventSFML.cpp +// @brief Helper: +// translate and re-send mouse and keyboard events +// from SFML 1.6 event loop to AntTweakBar +// +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "MiniSFML16.h" // a subset of SFML 1.6 headers needed to compile TwEventSFML.cpp +// note: AntTweakBar.dll does not need to link with SFML, +// it just needs some definitions for its helper functions. + +#include + + +// TwEventSFML returns zero if msg has not been handled, +// and a non-zero value if it has been handled by the AntTweakBar library. +int TW_CALL TwEventSFML(const void *sfmlEvent, unsigned char majorVersion, unsigned char minorVersion) +{ + // Assume version 1.6 (will possibly not work for version != 1.6, but give it a chance) + /* + if (majorVersion > 1 || (majorVersion == 1 && minorVersion > 6) + { + static const char *g_ErrBadSFMLVersion = "Unsupported SFML version"; + TwSetLastError(g_ErrBadSFMLVersion); + return 0; + } + */ + (void)majorVersion, (void)minorVersion; + + int handled = 0; + const sf::Event *event = (const sf::Event *)sfmlEvent; + TwMouseAction mouseAction; + int key = 0; + static int s_KMod = 0; + static bool s_PreventTextHandling = false; + static int s_WheelPos = 0; + + if (event == NULL) + return 0; + + switch (event->Type) + { + case sf::Event::KeyPressed: + s_PreventTextHandling = false; + s_KMod = 0; + if (event->Key.Shift) s_KMod |= TW_KMOD_SHIFT; + if (event->Key.Alt) s_KMod |= TW_KMOD_ALT; + if (event->Key.Control) s_KMod |= TW_KMOD_CTRL; + key = 0; + switch (event->Key.Code) + { + case sf::Key::Escape: + key = TW_KEY_ESCAPE; + break; + case sf::Key::Return: + key = TW_KEY_RETURN; + break; + case sf::Key::Tab: + key = TW_KEY_TAB; + break; + case sf::Key::Back: + key = TW_KEY_BACKSPACE; + break; + case sf::Key::PageUp: + key = TW_KEY_PAGE_UP; + break; + case sf::Key::PageDown: + key = TW_KEY_PAGE_DOWN; + break; + case sf::Key::Up: + key = TW_KEY_UP; + break; + case sf::Key::Down: + key = TW_KEY_DOWN; + break; + case sf::Key::Left: + key = TW_KEY_LEFT; + break; + case sf::Key::Right: + key = TW_KEY_RIGHT; + break; + case sf::Key::End: + key = TW_KEY_END; + break; + case sf::Key::Home: + key = TW_KEY_HOME; + break; + case sf::Key::Insert: + key = TW_KEY_INSERT; + break; + case sf::Key::Delete: + key = TW_KEY_DELETE; + break; + case sf::Key::Space: + key = TW_KEY_SPACE; + break; + default: + if (event->Key.Code >= sf::Key::F1 && event->Key.Code <= sf::Key::F15) + key = TW_KEY_F1 + event->Key.Code - sf::Key::F1; + else if (s_KMod & TW_KMOD_ALT) + { + if (event->Key.Code >= sf::Key::A && event->Key.Code <= sf::Key::Z) + { + if (s_KMod & TW_KMOD_SHIFT) + key = 'A' + event->Key.Code - sf::Key::A; + else + key = 'a' + event->Key.Code - sf::Key::A; + } + } + } + if (key != 0) + { + handled = TwKeyPressed(key, s_KMod); + s_PreventTextHandling = true; + } + break; + case sf::Event::KeyReleased: + s_PreventTextHandling = false; + s_KMod = 0; + break; + case sf::Event::TextEntered: + if (!s_PreventTextHandling && event->Text.Unicode != 0 && (event->Text.Unicode & 0xFF00) == 0) + { + if ((event->Text.Unicode & 0xFF) < 32) // CTRL+letter + handled = TwKeyPressed((event->Text.Unicode & 0xFF)+'a'-1, TW_KMOD_CTRL|s_KMod); + else + handled = TwKeyPressed(event->Text.Unicode & 0xFF, 0); + } + s_PreventTextHandling = false; + break; + case sf::Event::MouseMoved: + handled = TwMouseMotion(event->MouseMove.X, event->MouseMove.Y); + break; + case sf::Event::MouseButtonPressed: + case sf::Event::MouseButtonReleased: + mouseAction = (event->Type==sf::Event::MouseButtonPressed) ? TW_MOUSE_PRESSED : TW_MOUSE_RELEASED; + switch (event->MouseButton.Button) + { + case sf::Mouse::Left: + handled = TwMouseButton(mouseAction, TW_MOUSE_LEFT); + break; + case sf::Mouse::Middle: + handled = TwMouseButton(mouseAction, TW_MOUSE_MIDDLE); + break; + case sf::Mouse::Right: + handled = TwMouseButton(mouseAction, TW_MOUSE_RIGHT); + break; + default: + break; + } + break; + case sf::Event::MouseWheelMoved: + s_WheelPos += event->MouseWheel.Delta; + handled = TwMouseWheel(s_WheelPos); + break; + case sf::Event::Resized: + // tell the new size to TweakBar + TwWindowSize(event->Size.Width, event->Size.Height); + // do not set 'handled', sf::Event::Resized may be also processed by the client application + break; + default: + break; + } + + return handled; +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventWin.c ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventWin.c --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventWin.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwEventWin.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,256 @@ +// --------------------------------------------------------------------------- +// +// @file TwEventWin.c +// @brief Helper: +// translate and re-send mouse and keyboard events +// from Windows message proc to AntTweakBar +// +// @author Philippe Decaudin - http://www.antisphere.com +// @date 2006/05/10 +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + +#include + +#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers +#include + +// Mouse wheel support +#if !defined WM_MOUSEWHEEL +# define WM_MOUSEWHEEL 0x020A +#endif // WM_MOUSEWHEEL +#if !defined WHEEL_DELTA +#define WHEEL_DELTA 120 +#endif // WHEEL_DELTA + +#ifdef _WIN64 +#define PARAM_INT __int64 +#else +#define PARAM_INT int +#endif + +// TwEventWin returns zero if msg has not been handled, +// and a non-zero value if it has been handled by the AntTweakBar library. +int TW_CALL TwEventWin(void *wnd, unsigned int msg, unsigned PARAM_INT _W64 wParam, PARAM_INT _W64 lParam) +{ + int handled = 0; + static unsigned PARAM_INT s_PrevKeyDown = 0; + static PARAM_INT s_PrevKeyDownMod = 0; + static int s_PrevKeyDownHandled = 0; + + switch( msg ) + { + case WM_MOUSEMOVE: + // send signed! mouse coordinates + handled = TwMouseMotion((short)LOWORD(lParam), (short)HIWORD(lParam)); + break; + case WM_LBUTTONDOWN: + case WM_LBUTTONDBLCLK: + SetCapture(wnd); + handled = TwMouseButton(TW_MOUSE_PRESSED, TW_MOUSE_LEFT); + break; + case WM_LBUTTONUP: + ReleaseCapture(); + handled = TwMouseButton(TW_MOUSE_RELEASED, TW_MOUSE_LEFT); + break; + case WM_MBUTTONDOWN: + case WM_MBUTTONDBLCLK: + SetCapture(wnd); + handled = TwMouseButton(TW_MOUSE_PRESSED, TW_MOUSE_MIDDLE); + break; + case WM_MBUTTONUP: + ReleaseCapture(); + handled = TwMouseButton(TW_MOUSE_RELEASED, TW_MOUSE_MIDDLE); + break; + case WM_RBUTTONDOWN: + case WM_RBUTTONDBLCLK: + SetCapture(wnd); + handled = TwMouseButton(TW_MOUSE_PRESSED, TW_MOUSE_RIGHT); + break; + case WM_RBUTTONUP: + ReleaseCapture(); + handled = TwMouseButton(TW_MOUSE_RELEASED, TW_MOUSE_RIGHT); + break; + case WM_CHAR: + case WM_SYSCHAR: + { + int key = (int)(wParam&0xff); + int kmod = 0; + + if( GetAsyncKeyState(VK_SHIFT)<0 ) + kmod |= TW_KMOD_SHIFT; + if( GetAsyncKeyState(VK_CONTROL)<0 ) + { + kmod |= TW_KMOD_CTRL; + if( key>0 && key<27 ) + key += 'a'-1; + } + if( GetAsyncKeyState(VK_MENU)<0 ) + kmod |= TW_KMOD_ALT; + if( key>0 && key<256 ) + handled = TwKeyPressed(key, kmod); + } + break; + case WM_KEYDOWN: + case WM_SYSKEYDOWN: + { + int kmod = 0; + int testkp = 0; + int k = 0; + + if( GetAsyncKeyState(VK_SHIFT)<0 ) + kmod |= TW_KMOD_SHIFT; + if( GetAsyncKeyState(VK_CONTROL)<0 ) + { + kmod |= TW_KMOD_CTRL; + testkp = 1; + } + if( GetAsyncKeyState(VK_MENU)<0 ) + { + kmod |= TW_KMOD_ALT; + testkp = 1; + } + if( wParam>=VK_F1 && wParam<=VK_F15 ) + k = TW_KEY_F1 + ((int)wParam-VK_F1); + else if( testkp && wParam>=VK_NUMPAD0 && wParam<=VK_NUMPAD9 ) + k = '0' + ((int)wParam-VK_NUMPAD0); + else + { + switch( wParam ) + { + case VK_UP: + k = TW_KEY_UP; + break; + case VK_DOWN: + k = TW_KEY_DOWN; + break; + case VK_LEFT: + k = TW_KEY_LEFT; + break; + case VK_RIGHT: + k = TW_KEY_RIGHT; + break; + case VK_INSERT: + k = TW_KEY_INSERT; + break; + case VK_DELETE: + k = TW_KEY_DELETE; + break; + case VK_PRIOR: + k = TW_KEY_PAGE_UP; + break; + case VK_NEXT: + k = TW_KEY_PAGE_DOWN; + break; + case VK_HOME: + k = TW_KEY_HOME; + break; + case VK_END: + k = TW_KEY_END; + break; + case VK_DIVIDE: + if( testkp ) + k = '/'; + break; + case VK_MULTIPLY: + if( testkp ) + k = '*'; + break; + case VK_SUBTRACT: + if( testkp ) + k = '-'; + break; + case VK_ADD: + if( testkp ) + k = '+'; + break; + case VK_DECIMAL: + if( testkp ) + k = '.'; + break; + default: + if( (kmod&TW_KMOD_CTRL) && (kmod&TW_KMOD_ALT) ) + k = MapVirtualKey( (UINT)wParam, 2 ) & 0x0000FFFF; + } + } + if( k!=0 ) + handled = TwKeyPressed(k, kmod); + else + { + // if the key will be handled at next WM_CHAR report this event as handled + int key = (int)(wParam&0xff); + if( kmod&TW_KMOD_CTRL && key>0 && key<27 ) + key += 'a'-1; + if( key>0 && key<256 ) + handled = TwKeyTest(key, kmod); + } + s_PrevKeyDown = wParam; + s_PrevKeyDownMod = kmod; + s_PrevKeyDownHandled = handled; + } + break; + case WM_KEYUP: + case WM_SYSKEYUP: + { + int kmod = 0; + if( GetAsyncKeyState(VK_SHIFT)<0 ) + kmod |= TW_KMOD_SHIFT; + if( GetAsyncKeyState(VK_CONTROL)<0 ) + kmod |= TW_KMOD_CTRL; + if( GetAsyncKeyState(VK_MENU)<0 ) + kmod |= TW_KMOD_ALT; + // if the key has been handled at previous WM_KEYDOWN report this event as handled + if( s_PrevKeyDown==wParam && s_PrevKeyDownMod==kmod ) + handled = s_PrevKeyDownHandled; + else + { + // if the key would have been handled report this event as handled + int key = (int)(wParam&0xff); + if( kmod&TW_KMOD_CTRL && key>0 && key<27 ) + key += 'a'-1; + if( key>0 && key<256 ) + handled = TwKeyTest(key, kmod); + } + // reset previous keydown + s_PrevKeyDown = 0; + s_PrevKeyDownMod = 0; + s_PrevKeyDownHandled = 0; + } + break; + case WM_MOUSEWHEEL: + { + static int s_WheelPos = 0; + s_WheelPos += ((short)HIWORD(wParam))/WHEEL_DELTA; + handled = TwMouseWheel(s_WheelPos); + } + break; + case WM_SIZE: + // tell the new size to AntTweakBar + TwWindowSize(LOWORD(lParam), HIWORD(lParam)); + // do not set 'handled', WM_SIZE may be also processed by the calling application + break; + } + + if( handled ) + // Event has been handled by AntTweakBar, so we invalidate the window + // content to send a WM_PAINT which will redraw the tweak bar(s). + InvalidateRect(wnd, NULL, FALSE); + + return handled; +} + + +// For compatibility with AntTweakBar versions prior to 1.11 +#undef TwEventWin32 +#ifdef __cplusplus +extern "C" { +#endif // __cplusplus +TW_EXPORT_API int TW_CALL TwEventWin32(void *wnd, unsigned int msg, unsigned int _W64 wParam, int _W64 lParam) +{ + return TwEventWin(wnd, msg, wParam, lParam); +} +#ifdef __cplusplus +} +#endif // __cplusplus diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,3944 @@ +// --------------------------------------------------------------------------- +// +// @file TwFonts.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "TwMgr.h" +#include "TwFonts.h" + +// Fedora patch: memset() +using std::memset; + +// --------------------------------------------------------------------------- + +CTexFont::CTexFont() +{ + for( int i=0; i<256; ++i ) + { + m_CharU0[i] = 0; + m_CharU1[i] = 0; + m_CharV0[i] = 0; + m_CharV1[i] = 0; + m_CharWidth[i] = 0; + } + m_TexWidth = 0; + m_TexHeight = 0; + m_TexBytes = NULL; + m_NbCharRead = 0; + m_CharHeight = 0; +} + +// --------------------------------------------------------------------------- + +CTexFont::~CTexFont() +{ + if( m_TexBytes ) + delete[] m_TexBytes; + m_TexBytes = NULL; + m_TexWidth = 0; + m_TexHeight = 0; + m_NbCharRead = 0; +} + +// --------------------------------------------------------------------------- + +static int NextPow2(int _n) +{ + int r = 1; + while( r<_n ) + r *= 2; + return r; +} + +// --------------------------------------------------------------------------- + +const char *g_ErrBadFontHeight = "Cannot determine font height while reading font bitmap (check first pixel column)"; + +CTexFont *TwGenerateFont(const unsigned char *_Bitmap, int _BmWidth, int _BmHeight) +{ + // find height of the font + int x, y; + int h = 0, hh = 0; + int r, NbRow = 0; + for( y=0; y<_BmHeight; ++y ) + if( _Bitmap[y*_BmWidth]==0 ) + { + if( (hh<=0 && h<=0) || (h!=hh && h>0 && hh>0) ) + { + g_TwMgr->SetLastError(g_ErrBadFontHeight); + return NULL; + } + else if( h<=0 ) + h = hh; + else if( hh<=0 ) + break; + hh = 0; + ++NbRow; + } + else + ++hh; + + // find width and position of each character + int w = 0; + int x0[224], y0[224], x1[224], y1[224]; + int ch = 32; + int start; + for( r=0; rlmax ) + lmax = l; + } + // A little empty margin is added between chars to avoid artefact when antialiasing is on + const int MARGIN_X = 2; + const int MARGIN_Y = 2; + lmax += 16*MARGIN_X; + // - Second, build the texture + CTexFont *TexFont = new CTexFont; + TexFont->m_NbCharRead = ch-32; + TexFont->m_CharHeight = h; + TexFont->m_TexWidth = NextPow2(lmax); + TexFont->m_TexHeight = NextPow2(14*(h+MARGIN_Y)); + TexFont->m_TexBytes = new unsigned char[TexFont->m_TexWidth*TexFont->m_TexHeight]; + memset(TexFont->m_TexBytes, 0, TexFont->m_TexWidth*TexFont->m_TexHeight); + int xx; + float du = 0.4f; + float dv = 0.4f; + assert( g_TwMgr!=NULL ); + if( g_TwMgr ) + { + if( g_TwMgr->m_GraphAPI==TW_OPENGL || g_TwMgr->m_GraphAPI==TW_OPENGL_CORE ) + { + du = 0; + dv = 0; + } + else // texel alignement for D3D + { + du = 0.5f; + dv = 0.5f; + } + } + float alpha; + for( r=0; r<14; ++r ) + for( xx=0, ch=r*16; ch<(r+1)*16; ++ch ) + if( y1[ch]-y0[ch]==h-1 ) + { + for( y=0; ym_TexBytes[(xx+x-x0[ch])+(r*(h+MARGIN_Y)+y)*TexFont->m_TexWidth] = (unsigned char)(alpha*256.0f); + } + TexFont->m_CharU0[ch+32] = (float(xx)+du)/float(TexFont->m_TexWidth); + xx += x1[ch]-x0[ch]+1; + TexFont->m_CharU1[ch+32] = (float(xx)+du)/float(TexFont->m_TexWidth); + TexFont->m_CharV0[ch+32] = (float(r*(h+MARGIN_Y))+dv)/float(TexFont->m_TexHeight); + TexFont->m_CharV1[ch+32] = (float(r*(h+MARGIN_Y)+h)+dv)/float(TexFont->m_TexHeight); + TexFont->m_CharWidth[ch+32] = x1[ch]-x0[ch]+1; + xx += MARGIN_X; + } + + const unsigned char Undef = 127; // default character used as for undifined ones (having ascii codes from 0 to 31) + for( ch=0; ch<32; ++ch ) + { + TexFont->m_CharU0[ch] = TexFont->m_CharU0[Undef]; + TexFont->m_CharU1[ch] = TexFont->m_CharU1[Undef]; + TexFont->m_CharV0[ch] = TexFont->m_CharV0[Undef]; + TexFont->m_CharV1[ch] = TexFont->m_CharV1[Undef]; + TexFont->m_CharWidth[ch] = TexFont->m_CharWidth[Undef]/2; + } + + return TexFont; +} + +// --------------------------------------------------------------------------- + +CTexFont *g_DefaultSmallFont = NULL; +CTexFont *g_DefaultNormalFont = NULL; +CTexFont *g_DefaultLargeFont = NULL; + +// Small font +const int FONT0_BM_W = 211; +const int FONT0_BM_H = 84; +static const unsigned char s_Font0[] = +{ + 127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0, + 0,0,0,0,255,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,255,0,0,0,255,255,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127, + 0,0,0,0,255,0,255,0,255,0,0,0,255,0,0,255,0,0,0,255,0,0,0,0,255,255,0,0, + 0,255,0,0,0,0,255,255,0,0,0,255,0,0,255,0,0,255,0,0,255,0,255,0,255,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,255,255,0,0,0,255,0,0,255,255, + 255,0,0,255,255,255,0,0,0,0,0,255,0,255,255,255,255,0,0,255,255,0,0,255, + 255,255,255,0,0,255,255,0,0,0,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,127,0,0,0,0,255,0,255,0,255,0,0,0,255,0,0,255,0,0,255,255,255,255, + 0,255,0,0,255,0,255,0,0,0,0,255,0,0,255,0,0,255,0,255,0,0,0,0,255,0,0,255, + 255,255,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,255,0,0,255,0,255, + 255,0,0,0,0,0,255,0,0,0,0,255,0,0,0,255,255,0,255,0,0,0,0,255,0,0,0,0,0, + 0,0,255,0,255,0,0,255,0,255,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 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0,0,0,255,255,255,255,255,255,0,0,0,0,255,255,0,0,0,0,255,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,255,0,0,0,0,0,255,255,255,255,255, + 255,0,0,0,255,255,0,0,0,0,0,255,0,255,0,0,255,0,255,0,0,255,0,0,0,0,255, + 0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,255,255,0,0,0,0,0,255,0, + 0,255,0,0,255,0,0,255,0,0,0,255,0,0,0,0,0,0,255,0,255,255,255,255,255,0, + 0,0,255,0,255,0,0,255,0,0,255,0,0,0,255,0,0,255,0,0,0,0,255,0,0,0,0,0,0, + 0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,255,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,255,0,0,255,0,0,0,0, + 255,0,255,0,0,0,0,255,0,255,0,0,255,0,255,0,0,255,255,0,0,0,255,0,0,0,0, + 255,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,255,0,0,0,0,0,255,0,0,255,0,0,255,0, + 0,255,0,0,255,0,0,255,0,0,0,0,0,0,0,255,0,0,0,0,255,0,0,0,0,255,0,255,0, + 0,255,0,0,255,0,0,0,255,0,0,255,0,0,0,0,255,0,0,255,0,0,255,0,0,0,255,255, + 0,0,0,255,255,255,255,255,255,0,0,0,0,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,255,0,0,0,0,0,0,255,0,0,255,0,0,255, + 255,255,255,0,0,0,0,255,0,0,0,255,255,0,0,0,255,255,0,0,255,0,0,255,0,0, + 0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,255,0,255,0,0,0,0,255, + 255,0,0,255,255,255,0,255,255,255,255,0,255,255,255,0,0,0,0,0,255,0,255, + 255,255,0,0,0,255,255,0,0,255,0,0,0,0,0,255,255,0,0,0,255,255,0,0,0,255, + 0,0,255,0,0,0,0,0,255,255,0,0,0,0,0,0,0,0,0,255,255,0,0,0,0,0,255,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,255,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0, + 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127,127,0,127,127,127,127,0,127,127,127,0,127,127,127,127,0,127,127,127, + 127,0,127,127,127,127,0,127,127,127,127,0,127,127,127,127,0,127,127,127, + 127,0,127,127,127,127,0,127,127,127,127,0,127,127,0,127,127,0,127,127,127, + 127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127,127, + 127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 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0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,127,0,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0,255, + 255,0,0,0,255,255,0,0,255,255,255,0,255,255,0,0,0,255,255,0,0,255,255,0, + 0,0,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0,255,0,255,0,0,255,0,0,255, + 0,0,0,0,255,0,255,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0,255,255,0,0, + 0,255,255,0,0,0,255,255,0,0,0,0,0,0,0,0,0,0,255,255,255,0,0,255,0,0,255, + 0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,0,255,0,255,255,255, + 0,0,255,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,255,0,0,0, + 0,255,0,0,0,0,255,0,0,0,0,255,0,0,0,0,255,0,0,0,0,255,0,0,0,0,255,0,0,255, + 0,255,0,0,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,0,255, + 0,255,0,0,255,0,0,255,0,0,255,255,255,0,255,0,0,255,0,255,0,0,255,0,255, + 0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,0,255,255,255,255,255, + 0,255,0,0,255,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255, + 0,0,255,0,255,0,0,255,0,0,255,0,0,255,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,127,0,255,255,255,0,0,255,255,255,0,0,255,255,255,0,0,255,255,255, + 0,0,255,255,255,0,0,255,255,255,0,0,255,255,255,255,255,255,0,255,0,0,0, + 255,255,255,255,0,255,255,255,255,0,255,255,255,255,0,255,255,255,255,0, + 0,255,0,255,0,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0, + 255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,0,0,0,0,0,0,0,255, + 0,255,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,0, + 255,0,255,0,0,255,0,0,255,0,0,255,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,127,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0, + 255,0,255,0,0,255,0,255,0,0,255,0,0,0,0,255,0,0,0,255,0,0,0,0,255,0,0,0, + 0,255,0,0,0,0,255,0,0,0,0,0,255,0,255,0,0,255,0,0,255,0,255,0,0,255,0,255, + 0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255,0, + 0,255,0,0,0,0,255,0,0,0,255,255,0,0,255,0,255,0,0,255,0,255,0,0,255,0,255, + 0,0,255,0,255,0,0,255,0,0,255,0,255,0,0,255,0,0,255,0,0,255,0,255,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,255,255,255,0,0,255,255,255,0,0,255, + 255,255,0,0,255,255,255,0,0,255,255,255,0,0,255,255,255,0,0,255,255,0,255, + 255,255,0,0,255,255,0,0,255,255,255,0,0,255,255,255,0,0,255,255,255,0,0, + 255,255,255,0,0,255,0,255,0,0,255,0,0,255,0,0,255,255,0,0,255,0,0,255,0, + 0,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0,255,255,0,0,0, + 0,0,0,0,0,0,0,255,255,255,0,0,0,255,255,255,0,0,255,255,255,0,0,255,255, + 255,0,0,255,255,255,0,0,0,255,0,0,0,255,255,255,0,0,0,0,255,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,255,0,0,0,0,0,0,255,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,255,0,0,0,0,0,255,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,127,127,127,0,127,127,127,127,0,127,127, + 127,127,0,127,127,127,127,0,127,127,127,127,0,127,127,127,127,0,127,127, + 127,127,127,127,127,0,127,127,127,0,127,127,127,127,0,127,127,127,127,0, + 127,127,127,127,0,127,127,127,127,0,127,127,0,127,0,127,127,0,127,127,0, + 127,127,127,127,0,127,127,127,127,0,127,127,127,127,0,127,127,127,127,0, + 127,127,127,127,0,127,127,127,127,0,127,127,127,127,0,127,127,127,127,127, + 127,0,127,127,127,127,127,0,127,127,127,127,0,127,127,127,127,0,127,127, + 127,127,0,127,127,127,127,0,127,127,127,127,127,0,127,127,127,127,0,127, + 127,127,127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 +}; + + +// Normal font +const int FONT1_BM_W = 253; +const int FONT1_BM_H = 106; +static const unsigned char s_Font1[] = +{ + 127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 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255,255,0,255,0,0,255,255,255,0,255,0,0,0,255,0,0,0,255,255,255,255,255, + 0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,0,0, + 0,255,0,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,255,0,0,0,0,255,0,0,0,0,0,0,0,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127, + 127,127,127,127,0,127,127,127,127,127,0,127,127,127,127,127,0,127,127,127, + 127,127,0,127,127,127,127,127,0,127,127,127,127,127,0,127,127,127,127,127, + 127,127,127,127,127,0,127,127,127,127,127,0,127,127,127,127,127,127,0,127, + 127,127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127, + 0,127,127,0,127,0,127,127,0,127,127,0,127,127,127,127,127,127,0,127,127, + 127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127, + 127,127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127, + 0,127,127,127,127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127, + 127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127, + 127,127,127,127,127,0,127,127,127,127,127,0,127,127,127,127,127,127,0,127, + 127,127,127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 +}; + +// Normal font anti-aliased +const int FONT1AA_BM_W = 264; +const int FONT1AA_BM_H = 106; +static const unsigned char s_Font1AA[] = +{ + 127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0,0,0,0,0,0,0,0,0, + 0,0,0,4,4,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,4,4,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0, + 59,241,97,206,166,0,0,0,0,0,0,0,0,0,0,0,0,0,168,34,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,89,251,89,0,0,89,255,125,89,255,125,0,0,0,0, + 7,199,34,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,138,166, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0,0,0, + 0,0,0,0,0,0,0,0,0,4,4,0,0,0,0,0,0,0,0,127,0,0,0,0,0,138,225,21,59,238,42, + 206,125,0,0,0,0,7,199,34,89,166,0,0,0,0,168,34,0,0,0,175,255,255,166,0, + 0,7,202,89,0,0,0,0,59,245,255,251,89,0,0,0,59,238,34,0,12,232,89,0,0,89, + 247,34,0,59,245,206,199,124,255,125,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,7,202,89,0,12,235,255,247,34,0,0,0,0,12,232,89,0,0,12,235, + 255,255,251,89,0,7,206,255,255,255,125,0,0,0,0,138,251,89,0,0,59,245,255, + 255,255,251,89,0,0,89,255,255,166,0,89,255,255,255,255,255,201,0,0,59,245, + 255,255,125,0,0,12,235,255,247,34,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,89,255,255,255,247,34,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0,0,0,0,0,0,0,0,0,0,0,0,4,4,0,0,0, + 0,0,0,0,0,127,0,0,0,0,0,138,225,21,59,238,34,175,125,0,0,0,0,59,192,0,172, + 89,0,0,59,245,255,255,251,89,89,247,34,12,228,34,0,138,166,0,0,0,0,12,235, + 125,0,175,225,21,0,0,59,238,34,0,138,201,0,0,0,0,175,166,0,0,0,89,255,201, + 0,0,0,0,0,0,7,202,89,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,59,215,21,0,175, + 166,0,138,201,0,0,7,206,255,251,89,0,0,59,192,0,0,138,247,34,59,192,0,0, + 89,251,89,0,0,59,245,251,89,0,0,59,241,89,0,0,0,0,0,89,247,34,0,0,0,0,0, + 0,0,7,206,166,0,7,206,125,0,89,247,34,7,206,166,0,138,225,21,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,12,232,89,0,0,0,0,0,0,0,0,0,0,0,175,166,0,0,0,0,0, + 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241,89,0,59,241,89,0,59,241,89,59,241,89,0,59,241,89,59,241,89,0,59,241, + 89,0,12,235,255,255,255,255,255,255,166,138,201,0,59,157,175,201,0,59,241, + 89,0,59,241,89,59,241,89,0,59,241,89,59,241,89,0,59,241,89,0,59,241,89, + 0,59,241,89,12,235,125,0,175,166,0,59,238,34,0,0,138,225,34,235,125,0,175, + 166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,127,0,89,255,255,255,251,89,0,89,255,255,255,251, + 89,0,89,255,255,255,251,89,0,89,255,255,255,251,89,0,89,255,255,255,251, + 89,0,138,255,255,255,247,34,0,175,255,255,255,255,255,255,255,255,251,127, + 201,0,0,0,0,59,245,255,255,255,251,89,59,245,255,255,255,251,89,59,245, + 255,255,255,251,89,59,245,255,255,255,251,89,59,238,34,59,238,34,59,238, + 34,59,238,34,138,247,34,0,0,138,201,0,59,241,89,0,59,241,89,59,238,34,0, + 12,232,89,59,238,34,0,12,232,89,0,59,238,34,0,12,232,89,59,238,34,0,12, + 232,89,59,238,34,0,12,232,89,0,0,0,0,0,0,0,0,0,0,175,201,7,176,21,138,201, + 0,59,241,89,0,59,241,89,59,241,89,0,59,241,89,59,241,89,0,59,241,89,0,59, + 241,89,0,59,241,89,0,175,201,12,232,89,0,59,238,34,0,0,138,225,21,175,201, + 12,232,89,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,59,241,89,0,59,241,89,59,241,89,0,59, + 241,89,59,241,89,0,59,241,89,59,241,89,0,59,241,89,59,241,89,0,59,241,89, + 138,247,34,0,59,238,34,138,225,21,0,12,232,89,0,0,0,0,138,201,0,0,0,0,59, + 238,34,0,0,0,0,59,238,34,0,0,0,0,59,238,34,0,0,0,0,59,238,34,0,0,0,0,59, + 238,34,59,238,34,59,238,34,59,238,34,175,201,0,0,0,138,166,0,59,241,89, + 0,59,241,89,59,241,89,0,59,241,89,59,241,89,0,59,241,89,0,59,241,89,0,59, + 241,89,59,241,89,0,59,241,89,59,241,89,0,59,241,89,0,0,0,0,12,235,166,0, + 0,0,138,201,134,89,0,175,166,0,59,241,89,0,59,241,89,59,241,89,0,59,241, + 89,59,241,89,0,59,241,89,0,59,241,89,0,59,241,89,0,89,247,124,225,21,0, + 59,238,34,0,0,138,201,0,89,247,124,225,21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,89,247, + 34,0,89,251,89,89,247,34,0,89,251,89,89,247,34,0,89,251,89,89,247,34,0, + 89,251,89,89,247,34,0,89,251,89,175,201,0,0,175,247,34,175,201,0,0,59,245, + 225,21,0,7,199,94,245,125,0,0,0,7,206,166,0,7,199,34,7,206,166,0,7,199, + 34,7,206,166,0,7,199,34,7,206,166,0,7,199,34,59,238,34,59,238,34,59,238, + 34,59,238,34,138,247,34,0,12,232,89,0,59,241,89,0,59,241,89,7,206,166,0, + 138,225,21,7,206,166,0,138,225,21,0,7,206,166,0,138,225,21,7,206,166,0, + 138,225,21,7,206,166,0,138,225,21,0,0,0,0,12,235,166,0,0,0,59,245,166,0, + 59,241,89,0,12,235,125,0,175,251,89,12,235,125,0,175,251,89,12,235,125, + 0,175,251,89,0,12,235,125,0,175,251,89,0,7,206,255,125,0,0,59,238,34,0, + 12,235,125,0,7,206,255,125,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,175,255,255,232, + 241,89,0,175,255,255,232,241,89,0,175,255,255,232,241,89,0,175,255,255, + 232,241,89,0,175,255,255,232,241,89,12,235,255,255,166,238,34,12,235,255, + 255,225,21,89,255,255,251,89,0,89,255,255,255,201,0,12,235,255,251,89,0, + 0,12,235,255,251,89,0,0,12,235,255,251,89,0,0,12,235,255,251,89,0,59,238, + 34,59,238,34,59,238,34,59,238,34,0,138,255,255,255,125,0,0,59,241,89,0, + 59,241,89,0,12,235,255,247,34,0,0,12,235,255,247,34,0,0,0,12,235,255,247, + 34,0,0,12,235,255,247,34,0,0,12,235,255,247,34,0,0,0,0,0,0,0,0,0,0,0,7, + 206,255,255,225,21,0,0,0,89,255,255,166,241,89,0,89,255,255,166,241,89, + 0,89,255,255,166,241,89,0,0,89,255,255,166,241,89,0,0,138,247,34,0,0,59, + 245,166,255,255,166,0,0,0,138,247,34,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,59,215,34,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,138,125,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,12,232,89,0,0,0,59,238,34,0,0,0,0,0, + 12,232,89,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,12,235,255,125,21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,138,225,21,0,0,0,59,238,34,0,0,0,0,0,138,225,21,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127,127, + 127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127, + 127,127,127,127,127,0,127,127,127,127,127,127,127,127,127,127,0,127,127, + 127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127,127, + 127,127,127,127,0,127,127,127,127,127,127,0,127,127,0,127,127,0,127,127, + 0,127,127,0,127,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127, + 127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127,127,127, + 127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127, + 127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127,127,127, + 127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127, + 127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127,127, + 127,127,127,127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 +}; + + +// Large font anti-aliased +const int FONT2AA_BM_W = 276; +const int FONT2AA_BM_H = 120; +static const unsigned char s_Font2AA[] = +{ + 127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4, + 4,4,4,0,0,0,0,0,0,0,0,0,0,0,4,4,4,0,4,4,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,4,4,4,0,0,0,0,0,0,0,0, + 0,0,0,4,4,4,0,4,4,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,59,245,125,175,225,21, + 0,0,0,0,0,0,0,0,0,0,0,0,0,138,125,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,59,241,89,0,0,12,235,201,89,255,166,0,0,0,0,0,172,89,0,0, + 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0,0,0,0,0,175,125,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,138,125,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,138,225,21,0,12,235,125,0,0,0,0,0,0,0, + 138,225,21,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,7,202,89,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7,206,166,0,0,12,235,125,0,0,0,0,0,0,7,206, + 166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 12,235,255,166,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,89,247,34,0,0,12,235,125,0,0,0,0,0,0,89,247, + 34,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,127,127,127,127,127,127,0,127,127,127,127, + 127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127, + 127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,127, + 127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,127, + 0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127,127, + 127,127,0,127,127,0,127,127,0,127,127,0,127,127,0,127,127,127,127,127,127, + 127,0,127,127,127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127, + 127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127,127,127, + 127,127,0,127,127,127,127,127,127,127,0,127,127,127,127,127,127,127,127, + 0,127,127,127,127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127, + 127,127,127,127,0,127,127,127,127,127,127,127,0,127,127,127,127,127,127, + 127,0,127,127,127,127,127,127,0,127,127,127,127,127,127,0,127,127,127,127, + 127,127,127,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0 +}; + + +void TwGenerateDefaultFonts() +{ + g_DefaultSmallFont = TwGenerateFont(s_Font0, FONT0_BM_W, FONT0_BM_H); + assert(g_DefaultSmallFont && g_DefaultSmallFont->m_NbCharRead==224); + g_DefaultNormalFont = TwGenerateFont(s_Font1AA, FONT1AA_BM_W, FONT1AA_BM_H); + assert(g_DefaultNormalFont && g_DefaultNormalFont->m_NbCharRead==224); + g_DefaultLargeFont = TwGenerateFont(s_Font2AA, FONT2AA_BM_W, FONT2AA_BM_H); + assert(g_DefaultLargeFont && g_DefaultLargeFont->m_NbCharRead==224); +} + +// --------------------------------------------------------------------------- + +void TwDeleteDefaultFonts() +{ + delete g_DefaultSmallFont; + g_DefaultSmallFont = NULL; + delete g_DefaultNormalFont; + g_DefaultNormalFont = NULL; + delete g_DefaultLargeFont; + g_DefaultLargeFont = NULL; +} + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwFonts.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,65 @@ +// --------------------------------------------------------------------------- +// +// @file TwFonts.h +// @brief Bitmaps fonts +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_FONTS_INCLUDED +#define ANT_TW_FONTS_INCLUDED + +//#include + +/* +A source bitmap includes 224 characters starting from ascii char 32 (i.e. space) to ascii char 255: + + !"#$%&'()*+,-./0123456789:;<=>? +@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_ +`abcdefghijklmnopqrstuvwxyz{|}~ + + + + + +First column of a source bitmap is a delimiter with color=zero at the end of each line of characters. +Last row of a line of characters is a delimiter with color=zero at the last pixel of each character. + +*/ + + +struct CTexFont +{ + unsigned char * m_TexBytes; + int m_TexWidth; // power of 2 + int m_TexHeight; // power of 2 + float m_CharU0[256]; + float m_CharV0[256]; + float m_CharU1[256]; + float m_CharV1[256]; + int m_CharWidth[256]; + int m_CharHeight; + int m_NbCharRead; + + CTexFont(); + ~CTexFont(); +}; + + +CTexFont *TwGenerateFont(const unsigned char *_Bitmap, int _BmWidth, int _BmHeight); + + +extern CTexFont *g_DefaultSmallFont; +extern CTexFont *g_DefaultNormalFont; +extern CTexFont *g_DefaultLargeFont; + +void TwGenerateDefaultFonts(); +void TwDeleteDefaultFonts(); + + +#endif // !defined ANT_TW_FONTS_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwGraph.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwGraph.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwGraph.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwGraph.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,58 @@ +// --------------------------------------------------------------------------- +// +// @file TwGraph.h +// @brief ITwGraph pure interface +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_GRAPH_INCLUDED +#define ANT_TW_GRAPH_INCLUDED + +#include "TwColors.h" +#include "TwFonts.h" + + +// --------------------------------------------------------------------------- + +#ifdef DrawText // DirectX redefines 'DrawText' !! +# undef DrawText +#endif // DrawText + +class ITwGraph +{ +public: + virtual int Init() = 0; + virtual int Shut() = 0; + virtual void BeginDraw(int _WndWidth, int _WndHeight) = 0; + virtual void EndDraw() = 0; + virtual bool IsDrawing() = 0; + virtual void Restore() = 0; + + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased=false) = 0; + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color, bool _AntiAliased=false) = 0; + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11) = 0; + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color) = 0; + enum Cull { CULL_NONE, CULL_CW, CULL_CCW }; + virtual void DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode) = 0; + + virtual void * NewTextObj() = 0; + virtual void DeleteTextObj(void *_TextObj) = 0; + virtual void BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth) = 0; + virtual void DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor) = 0; + + virtual void ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY) = 0; + virtual void RestoreViewport() = 0; + virtual void SetScissor(int _X0, int _Y0, int _Width, int _Height) = 0; + + virtual ~ITwGraph() {} // required by gcc +}; + +// --------------------------------------------------------------------------- + +#endif // ANT_TW_GRAPH_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwMgr.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwMgr.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwMgr.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwMgr.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6626 @@ +// --------------------------------------------------------------------------- +// +// @file TwMgr.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include +#include "TwMgr.h" +#include "TwBar.h" +#include "TwFonts.h" +#include "TwOpenGL.h" +//#include "TwOpenGLCore.h" +#ifdef ANT_WINDOWS +# include "TwDirect3D9.h" +# include "TwDirect3D10.h" +# include "TwDirect3D11.h" +# include "resource.h" +# ifdef _DEBUG +# include +# endif // _DEBUG +#endif // ANT_WINDOWS + +#if !defined(ANT_WINDOWS) +# define _snprintf snprintf +#endif // defined(ANT_WINDOWS) + + +using namespace std; + +CTwMgr *g_TwMgr = NULL; // current TwMgr +bool g_BreakOnError = false; +TwErrorHandler g_ErrorHandler = NULL; +int g_TabLength = 4; +CTwBar * const TW_GLOBAL_BAR = (CTwBar *)(-1); +int g_InitWndWidth = -1; +int g_InitWndHeight = -1; +TwCopyCDStringToClient g_InitCopyCDStringToClient = NULL; +TwCopyStdStringToClient g_InitCopyStdStringToClient = NULL; + +// multi-windows +const int TW_MASTER_WINDOW_ID = 0; +typedef map CTwWndMap; +CTwWndMap g_Wnds; +CTwMgr *g_TwMasterMgr = NULL; + +// error messages +extern const char *g_ErrUnknownAttrib; +extern const char *g_ErrNoValue; +extern const char *g_ErrBadValue; +const char *g_ErrInit = "Already initialized"; +const char *g_ErrShut = "Already shutdown"; +const char *g_ErrNotInit = "Not initialized"; +const char *g_ErrUnknownAPI = "Unsupported graph API"; +const char *g_ErrBadDevice = "Invalid graph device"; +const char *g_ErrBadParam = "Invalid parameter"; +const char *g_ErrExist = "Exists already"; +const char *g_ErrNotFound = "Not found"; +const char *g_ErrNthToDo = "Nothing to do"; +const char *g_ErrBadSize = "Bad size"; +const char *g_ErrIsDrawing = "Asynchronous drawing detected"; +const char *g_ErrIsProcessing="Asynchronous processing detected"; +const char *g_ErrOffset = "Offset larger than StructSize"; +const char *g_ErrDelStruct = "Cannot delete a struct member"; +const char *g_ErrNoBackQuote= "Name cannot include back-quote"; +const char *g_ErrStdString = "Debug/Release std::string mismatch"; +const char *g_ErrCStrParam = "Value count for TW_PARAM_CSTRING must be 1"; +const char *g_ErrOutOfRange = "Index out of range"; +const char *g_ErrHasNoValue = "Has no value"; +const char *g_ErrBadType = "Incompatible type"; +const char *g_ErrDelHelp = "Cannot delete help bar"; +char g_ErrParse[512]; + +void ANT_CALL TwGlobalError(const char *_ErrorMessage); + +#if defined(ANT_UNIX) || defined(ANT_OSX) +#define _stricmp strcasecmp +#define _strdup strdup +#endif + +#ifdef ANT_WINDOWS + bool g_UseCurRsc = true; // use dll resources for rotoslider cursors +#endif + +// --------------------------------------------------------------------------- + +const float FLOAT_EPS = 1.0e-7f; +const float FLOAT_EPS_SQ = 1.0e-14f; +const float FLOAT_PI = 3.14159265358979323846f; +const double DOUBLE_EPS = 1.0e-14; +const double DOUBLE_EPS_SQ = 1.0e-28; +const double DOUBLE_PI = 3.14159265358979323846; + +inline double DegToRad(double degree) { return degree * (DOUBLE_PI/180.0); } +inline double RadToDeg(double radian) { return radian * (180.0/DOUBLE_PI); } + +// --------------------------------------------------------------------------- + +// a static global object to verify that Tweakbar module has been properly terminated (in debug mode only) +#ifdef _DEBUG +static struct CTwVerif +{ + ~CTwVerif() + { + if( g_TwMgr!=NULL ) + g_TwMgr->SetLastError("Tweak bar module has not been terminated properly: call TwTerminate()\n"); + } +} s_Verif; +#endif // _DEBUG + +// --------------------------------------------------------------------------- +// Color ext type +// --------------------------------------------------------------------------- + +void CColorExt::RGB2HLS() +{ + float fH = 0, fL = 0, fS = 0; + ColorRGBToHLSf((float)R/255.0f, (float)G/255.0f, (float)B/255.0f, &fH, &fL, &fS); + H = (int)fH; + if( H>=360 ) + H -= 360; + else if( H<0 ) + H += 360; + L = (int)(255.0f*fL + 0.5f); + if( L<0 ) + L = 0; + else if( L>255 ) + L = 255; + S = (int)(255.0f*fS + 0.5f); + if( S<0 ) + S = 0; + else if( S>255 ) + S = 255; +} + +void CColorExt::HLS2RGB() +{ + float fR = 0, fG = 0, fB = 0; + ColorHLSToRGBf((float)H, (float)L/255.0f, (float)S/255.0f, &fR, &fG, &fB); + R = (int)(255.0f*fR + 0.5f); + if( R<0 ) + R = 0; + else if( R>255 ) + R = 255; + G = (int)(255.0f*fG + 0.5f); + if( G<0 ) + G = 0; + else if( G>255 ) + G = 255; + B = (int)(255.0f*fB + 0.5f); + if( B<0 ) + B = 0; + else if( B>255 ) + B = 255; +} + +void ANT_CALL CColorExt::InitColor32CB(void *_ExtValue, void *_ClientData) +{ + CColorExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->m_IsColorF = false; + ext->R = 0; + ext->G = 0; + ext->B = 0; + ext->H = 0; + ext->L = 0; + ext->S = 0; + ext->A = 255; + ext->m_HLS = false; + ext->m_HasAlpha = false; + ext->m_CanHaveAlpha = true; + if( g_TwMgr && g_TwMgr->m_GraphAPI==TW_DIRECT3D9 ) // D3D10 now use OGL rgba order! + ext->m_OGL = false; + else + ext->m_OGL = true; + ext->m_PrevConvertedColor = Color32FromARGBi(ext->A, ext->R, ext->G, ext->B); + ext->m_StructProxy = (CTwMgr::CStructProxy *)_ClientData; + } +} + +void ANT_CALL CColorExt::InitColor3FCB(void *_ExtValue, void *_ClientData) +{ + InitColor32CB(_ExtValue, _ClientData); + CColorExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->m_IsColorF = true; + ext->m_HasAlpha = false; + ext->m_CanHaveAlpha = false; + } +} + +void ANT_CALL CColorExt::InitColor4FCB(void *_ExtValue, void *_ClientData) +{ + InitColor32CB(_ExtValue, _ClientData); + CColorExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->m_IsColorF = true; + ext->m_HasAlpha = true; + ext->m_CanHaveAlpha = true; + } +} + +void ANT_CALL CColorExt::CopyVarFromExtCB(void *_VarValue, const void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData) +{ + unsigned int *var32 = static_cast(_VarValue); + float *varF = static_cast(_VarValue); + CColorExt *ext = (CColorExt *)(_ExtValue); + CTwMgr::CMemberProxy *mProxy = static_cast(_ClientData); + if( _VarValue && ext ) + { + if( ext->m_HasAlpha && mProxy && mProxy->m_StructProxy && mProxy->m_StructProxy->m_Type==g_TwMgr->m_TypeColor3F ) + ext->m_HasAlpha = false; + + // Synchronize HLS and RGB + if( _ExtMemberIndex>=0 && _ExtMemberIndex<=2 ) + ext->RGB2HLS(); + else if( _ExtMemberIndex>=3 && _ExtMemberIndex<=5 ) + ext->HLS2RGB(); + else if( mProxy && _ExtMemberIndex==7 && mProxy->m_VarParent ) + { + assert( mProxy->m_VarParent->m_Vars.size()==8 ); + if( mProxy->m_VarParent->m_Vars[0]->m_Visible != !ext->m_HLS + || mProxy->m_VarParent->m_Vars[1]->m_Visible != !ext->m_HLS + || mProxy->m_VarParent->m_Vars[2]->m_Visible != !ext->m_HLS + || mProxy->m_VarParent->m_Vars[3]->m_Visible != ext->m_HLS + || mProxy->m_VarParent->m_Vars[4]->m_Visible != ext->m_HLS + || mProxy->m_VarParent->m_Vars[5]->m_Visible != ext->m_HLS ) + { + mProxy->m_VarParent->m_Vars[0]->m_Visible = !ext->m_HLS; + mProxy->m_VarParent->m_Vars[1]->m_Visible = !ext->m_HLS; + mProxy->m_VarParent->m_Vars[2]->m_Visible = !ext->m_HLS; + mProxy->m_VarParent->m_Vars[3]->m_Visible = ext->m_HLS; + mProxy->m_VarParent->m_Vars[4]->m_Visible = ext->m_HLS; + mProxy->m_VarParent->m_Vars[5]->m_Visible = ext->m_HLS; + mProxy->m_Bar->NotUpToDate(); + } + if( mProxy->m_VarParent->m_Vars[6]->m_Visible != ext->m_HasAlpha ) + { + mProxy->m_VarParent->m_Vars[6]->m_Visible = ext->m_HasAlpha; + mProxy->m_Bar->NotUpToDate(); + } + if( static_cast(mProxy->m_VarParent->m_Vars[7])->m_ReadOnly ) + { + static_cast(mProxy->m_VarParent->m_Vars[7])->m_ReadOnly = false; + mProxy->m_Bar->NotUpToDate(); + } + } + // Convert to color32 + color32 col = Color32FromARGBi((ext->m_HasAlpha ? ext->A : 255), ext->R, ext->G, ext->B); + if( ext->m_OGL && !ext->m_IsColorF ) + col = (col&0xff00ff00) | (unsigned char)(col>>16) | (((unsigned char)(col))<<16); + if( ext->m_IsColorF ) + Color32ToARGBf(col, (ext->m_HasAlpha ? varF+3 : NULL), varF+0, varF+1, varF+2); + else + { + if( ext->m_HasAlpha ) + *var32 = col; + else + *var32 = ((*var32)&0xff000000) | (col&0x00ffffff); + } + ext->m_PrevConvertedColor = col; + } +} + +void ANT_CALL CColorExt::CopyVarToExtCB(const void *_VarValue, void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData) +{ + const unsigned int *var32 = static_cast(_VarValue); + const float *varF = static_cast(_VarValue); + CColorExt *ext = static_cast(_ExtValue); + CTwMgr::CMemberProxy *mProxy = static_cast(_ClientData); + if( _VarValue && ext ) + { + if( ext->m_HasAlpha && mProxy && mProxy->m_StructProxy && mProxy->m_StructProxy->m_Type==g_TwMgr->m_TypeColor3F ) + ext->m_HasAlpha = false; + + if( mProxy && _ExtMemberIndex==7 && mProxy->m_VarParent ) + { + assert( mProxy->m_VarParent->m_Vars.size()==8 ); + if( mProxy->m_VarParent->m_Vars[0]->m_Visible != !ext->m_HLS + || mProxy->m_VarParent->m_Vars[1]->m_Visible != !ext->m_HLS + || mProxy->m_VarParent->m_Vars[2]->m_Visible != !ext->m_HLS + || mProxy->m_VarParent->m_Vars[3]->m_Visible != ext->m_HLS + || mProxy->m_VarParent->m_Vars[4]->m_Visible != ext->m_HLS + || mProxy->m_VarParent->m_Vars[5]->m_Visible != ext->m_HLS ) + { + mProxy->m_VarParent->m_Vars[0]->m_Visible = !ext->m_HLS; + mProxy->m_VarParent->m_Vars[1]->m_Visible = !ext->m_HLS; + mProxy->m_VarParent->m_Vars[2]->m_Visible = !ext->m_HLS; + mProxy->m_VarParent->m_Vars[3]->m_Visible = ext->m_HLS; + mProxy->m_VarParent->m_Vars[4]->m_Visible = ext->m_HLS; + mProxy->m_VarParent->m_Vars[5]->m_Visible = ext->m_HLS; + mProxy->m_Bar->NotUpToDate(); + } + if( mProxy->m_VarParent->m_Vars[6]->m_Visible != ext->m_HasAlpha ) + { + mProxy->m_VarParent->m_Vars[6]->m_Visible = ext->m_HasAlpha; + mProxy->m_Bar->NotUpToDate(); + } + if( static_cast(mProxy->m_VarParent->m_Vars[7])->m_ReadOnly ) + { + static_cast(mProxy->m_VarParent->m_Vars[7])->m_ReadOnly = false; + mProxy->m_Bar->NotUpToDate(); + } + } + color32 col; + if( ext->m_IsColorF ) + col = Color32FromARGBf((ext->m_HasAlpha ? varF[3] : 1), varF[0], varF[1], varF[2]); + else + col = *var32; + if( ext->m_OGL && !ext->m_IsColorF ) + col = (col&0xff00ff00) | (unsigned char)(col>>16) | (((unsigned char)(col))<<16); + Color32ToARGBi(col, (ext->m_HasAlpha ? &ext->A : NULL), &ext->R, &ext->G, &ext->B); + if( (col & 0x00ffffff)!=(ext->m_PrevConvertedColor & 0x00ffffff) ) + ext->RGB2HLS(); + ext->m_PrevConvertedColor = col; + } +} + +void ANT_CALL CColorExt::SummaryCB(char *_SummaryString, size_t /*_SummaryMaxLength*/, const void *_ExtValue, void * /*_ClientData*/) +{ + // copy var + CColorExt *ext = (CColorExt *)(_ExtValue); + if( ext && ext->m_StructProxy && ext->m_StructProxy->m_StructData ) + { + if( ext->m_StructProxy->m_StructGetCallback ) + ext->m_StructProxy->m_StructGetCallback(ext->m_StructProxy->m_StructData, ext->m_StructProxy->m_StructClientData); + //if( *(unsigned int *)(ext->m_StructProxy->m_StructData)!=ext->m_PrevConvertedColor ) + CopyVarToExtCB(ext->m_StructProxy->m_StructData, ext, 99, NULL); + } + + //unsigned int col = 0; + //CopyVar32FromExtCB(&col, _ExtValue, 99, _ClientData); + //_snprintf(_SummaryString, _SummaryMaxLength, "0x%.8X", col); + //(void) _SummaryMaxLength, _ExtValue, _ClientData; + _SummaryString[0] = ' '; // required to force background color for this value + _SummaryString[1] = '\0'; +} + +void CColorExt::CreateTypes() +{ + if( g_TwMgr==NULL ) + return; + TwStructMember ColorExtMembers[] = { { "Red", TW_TYPE_INT32, offsetof(CColorExt, R), "min=0 max=255" }, + { "Green", TW_TYPE_INT32, offsetof(CColorExt, G), "min=0 max=255" }, + { "Blue", TW_TYPE_INT32, offsetof(CColorExt, B), "min=0 max=255" }, + { "Hue", TW_TYPE_INT32, offsetof(CColorExt, H), "hide min=0 max=359" }, + { "Lightness", TW_TYPE_INT32, offsetof(CColorExt, L), "hide min=0 max=255" }, + { "Saturation", TW_TYPE_INT32, offsetof(CColorExt, S), "hide min=0 max=255" }, + { "Alpha", TW_TYPE_INT32, offsetof(CColorExt, A), "hide min=0 max=255" }, + { "Mode", TW_TYPE_BOOLCPP, offsetof(CColorExt, m_HLS), "true='HLS' false='RGB' readwrite" } }; + g_TwMgr->m_TypeColor32 = TwDefineStructExt("COLOR32", ColorExtMembers, 8, sizeof(unsigned int), sizeof(CColorExt), CColorExt::InitColor32CB, CColorExt::CopyVarFromExtCB, CColorExt::CopyVarToExtCB, CColorExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 32-bit-encoded color."); + g_TwMgr->m_TypeColor3F = TwDefineStructExt("COLOR3F", ColorExtMembers, 8, 3*sizeof(float), sizeof(CColorExt), CColorExt::InitColor3FCB, CColorExt::CopyVarFromExtCB, CColorExt::CopyVarToExtCB, CColorExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 3-floats-encoded RGB color."); + g_TwMgr->m_TypeColor4F = TwDefineStructExt("COLOR4F", ColorExtMembers, 8, 4*sizeof(float), sizeof(CColorExt), CColorExt::InitColor4FCB, CColorExt::CopyVarFromExtCB, CColorExt::CopyVarToExtCB, CColorExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 4-floats-encoded RGBA color."); + // Do not name them "TW_COLOR*" because the name is displayed in the help bar. +} + +// --------------------------------------------------------------------------- +// Quaternion ext type +// --------------------------------------------------------------------------- + +void ANT_CALL CQuaternionExt::InitQuat4FCB(void *_ExtValue, void *_ClientData) +{ + CQuaternionExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->Qx = ext->Qy = ext->Qz = 0; + ext->Qs = 1; + ext->Vx = 1; + ext->Vy = ext->Vz = 0; + ext->Angle = 0; + ext->Dx = ext->Dy = ext->Dz = 0; + ext->m_AAMode = false; // Axis & angle mode hidden + ext->m_ShowVal = false; + ext->m_IsFloat = true; + ext->m_IsDir = false; + ext->m_Dir[0] = ext->m_Dir[1] = ext->m_Dir[2] = 0; + ext->m_DirColor = 0xffffff00; + int i, j; + for(i=0; i<3; ++i) + for(j=0; j<3; ++j) + ext->m_Permute[i][j] = (i==j) ? 1.0f : 0.0f; + ext->m_StructProxy = (CTwMgr::CStructProxy *)_ClientData; + ext->ConvertToAxisAngle(); + ext->m_Highlighted = false; + ext->m_Rotating = false; + if( ext->m_StructProxy!=NULL ) + { + ext->m_StructProxy->m_CustomDrawCallback = CQuaternionExt::DrawCB; + ext->m_StructProxy->m_CustomMouseButtonCallback = CQuaternionExt::MouseButtonCB; + ext->m_StructProxy->m_CustomMouseMotionCallback = CQuaternionExt::MouseMotionCB; + ext->m_StructProxy->m_CustomMouseLeaveCallback = CQuaternionExt::MouseLeaveCB; + } + } +} + +void ANT_CALL CQuaternionExt::InitQuat4DCB(void *_ExtValue, void *_ClientData) +{ + CQuaternionExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->Qx = ext->Qy = ext->Qz = 0; + ext->Qs = 1; + ext->Vx = 1; + ext->Vy = ext->Vz = 0; + ext->Angle = 0; + ext->Dx = ext->Dy = ext->Dz = 0; + ext->m_AAMode = false; // Axis & angle mode hidden + ext->m_ShowVal = false; + ext->m_IsFloat = false; + ext->m_IsDir = false; + ext->m_Dir[0] = ext->m_Dir[1] = ext->m_Dir[2] = 0; + ext->m_DirColor = 0xffffff00; + int i, j; + for(i=0; i<3; ++i) + for(j=0; j<3; ++j) + ext->m_Permute[i][j] = (i==j) ? 1.0f : 0.0f; + ext->m_StructProxy = (CTwMgr::CStructProxy *)_ClientData; + ext->ConvertToAxisAngle(); + ext->m_Highlighted = false; + ext->m_Rotating = false; + if( ext->m_StructProxy!=NULL ) + { + ext->m_StructProxy->m_CustomDrawCallback = CQuaternionExt::DrawCB; + ext->m_StructProxy->m_CustomMouseButtonCallback = CQuaternionExt::MouseButtonCB; + ext->m_StructProxy->m_CustomMouseMotionCallback = CQuaternionExt::MouseMotionCB; + ext->m_StructProxy->m_CustomMouseLeaveCallback = CQuaternionExt::MouseLeaveCB; + } + } +} + +void ANT_CALL CQuaternionExt::InitDir3FCB(void *_ExtValue, void *_ClientData) +{ + CQuaternionExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->Qx = ext->Qy = ext->Qz = 0; + ext->Qs = 1; + ext->Vx = 1; + ext->Vy = ext->Vz = 0; + ext->Angle = 0; + ext->Dx = 1; + ext->Dy = ext->Dz = 0; + ext->m_AAMode = false; // Axis & angle mode hidden + ext->m_ShowVal = true; + ext->m_IsFloat = true; + ext->m_IsDir = true; + ext->m_Dir[0] = ext->m_Dir[1] = ext->m_Dir[2] = 0; + ext->m_DirColor = 0xffffff00; + int i, j; + for(i=0; i<3; ++i) + for(j=0; j<3; ++j) + ext->m_Permute[i][j] = (i==j) ? 1.0f : 0.0f; + ext->m_StructProxy = (CTwMgr::CStructProxy *)_ClientData; + ext->ConvertToAxisAngle(); + ext->m_Highlighted = false; + ext->m_Rotating = false; + if( ext->m_StructProxy!=NULL ) + { + ext->m_StructProxy->m_CustomDrawCallback = CQuaternionExt::DrawCB; + ext->m_StructProxy->m_CustomMouseButtonCallback = CQuaternionExt::MouseButtonCB; + ext->m_StructProxy->m_CustomMouseMotionCallback = CQuaternionExt::MouseMotionCB; + ext->m_StructProxy->m_CustomMouseLeaveCallback = CQuaternionExt::MouseLeaveCB; + } + } +} + +void ANT_CALL CQuaternionExt::InitDir3DCB(void *_ExtValue, void *_ClientData) +{ + CQuaternionExt *ext = static_cast(_ExtValue); + if( ext ) + { + ext->Qx = ext->Qy = ext->Qz = 0; + ext->Qs = 1; + ext->Vx = 1; + ext->Vy = ext->Vz = 0; + ext->Angle = 0; + ext->Dx = 1; + ext->Dy = ext->Dz = 0; + ext->m_AAMode = false; // Axis & angle mode hidden + ext->m_ShowVal = true; + ext->m_IsFloat = false; + ext->m_IsDir = true; + ext->m_Dir[0] = ext->m_Dir[1] = ext->m_Dir[2] = 0; + ext->m_DirColor = 0xffffff00; + int i, j; + for(i=0; i<3; ++i) + for(j=0; j<3; ++j) + ext->m_Permute[i][j] = (i==j) ? 1.0f : 0.0f; + ext->m_StructProxy = (CTwMgr::CStructProxy *)_ClientData; + ext->ConvertToAxisAngle(); + ext->m_Highlighted = false; + ext->m_Rotating = false; + if( ext->m_StructProxy!=NULL ) + { + ext->m_StructProxy->m_CustomDrawCallback = CQuaternionExt::DrawCB; + ext->m_StructProxy->m_CustomMouseButtonCallback = CQuaternionExt::MouseButtonCB; + ext->m_StructProxy->m_CustomMouseMotionCallback = CQuaternionExt::MouseMotionCB; + ext->m_StructProxy->m_CustomMouseLeaveCallback = CQuaternionExt::MouseLeaveCB; + } + } +} + +void ANT_CALL CQuaternionExt::CopyVarFromExtCB(void *_VarValue, const void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData) +{ + CQuaternionExt *ext = (CQuaternionExt *)(_ExtValue); + CTwMgr::CMemberProxy *mProxy = static_cast(_ClientData); + if( _VarValue && ext ) + { + // Synchronize Quat and AxisAngle + if( _ExtMemberIndex>=4 && _ExtMemberIndex<=7 ) + { + ext->ConvertToAxisAngle(); + // show/hide quat values + if( _ExtMemberIndex==4 && mProxy && mProxy->m_VarParent ) + { + assert( mProxy->m_VarParent->m_Vars.size()==16 ); + bool visible = ext->m_ShowVal; + if( ext->m_IsDir ) + { + if( mProxy->m_VarParent->m_Vars[13]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[14]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[15]->m_Visible != visible ) + { + mProxy->m_VarParent->m_Vars[13]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[14]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[15]->m_Visible = visible; + mProxy->m_Bar->NotUpToDate(); + } + } + else + { + if( mProxy->m_VarParent->m_Vars[4]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[5]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[6]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[7]->m_Visible != visible ) + { + mProxy->m_VarParent->m_Vars[4]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[5]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[6]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[7]->m_Visible = visible; + mProxy->m_Bar->NotUpToDate(); + } + } + } + } + else if( _ExtMemberIndex>=8 && _ExtMemberIndex<=11 ) + ext->ConvertFromAxisAngle(); + else if( mProxy && _ExtMemberIndex==12 && mProxy->m_VarParent && !ext->m_IsDir ) + { + assert( mProxy->m_VarParent->m_Vars.size()==16 ); + bool aa = ext->m_AAMode; + if( mProxy->m_VarParent->m_Vars[4]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[5]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[6]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[7]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[8 ]->m_Visible != aa + || mProxy->m_VarParent->m_Vars[9 ]->m_Visible != aa + || mProxy->m_VarParent->m_Vars[10]->m_Visible != aa + || mProxy->m_VarParent->m_Vars[11]->m_Visible != aa ) + { + mProxy->m_VarParent->m_Vars[4]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[5]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[6]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[7]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[8 ]->m_Visible = aa; + mProxy->m_VarParent->m_Vars[9 ]->m_Visible = aa; + mProxy->m_VarParent->m_Vars[10]->m_Visible = aa; + mProxy->m_VarParent->m_Vars[11]->m_Visible = aa; + mProxy->m_Bar->NotUpToDate(); + } + if( static_cast(mProxy->m_VarParent->m_Vars[12])->m_ReadOnly ) + { + static_cast(mProxy->m_VarParent->m_Vars[12])->m_ReadOnly = false; + mProxy->m_Bar->NotUpToDate(); + } + } + + if( ext->m_IsFloat ) + { + float *var = static_cast(_VarValue); + if( ext->m_IsDir ) + { + var[0] = (float)ext->Dx; + var[1] = (float)ext->Dy; + var[2] = (float)ext->Dz; + } + else // quat + { + var[0] = (float)ext->Qx; + var[1] = (float)ext->Qy; + var[2] = (float)ext->Qz; + var[3] = (float)ext->Qs; + } + } + else + { + double *var = static_cast(_VarValue); + if( ext->m_IsDir ) + { + var[0] = ext->Dx; + var[1] = ext->Dy; + var[2] = ext->Dz; + } + else // quat + { + var[0] = ext->Qx; + var[1] = ext->Qy; + var[2] = ext->Qz; + var[3] = ext->Qs; + } + } + } +} + +void ANT_CALL CQuaternionExt::CopyVarToExtCB(const void *_VarValue, void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData) +{ + CQuaternionExt *ext = static_cast(_ExtValue); + CTwMgr::CMemberProxy *mProxy = static_cast(_ClientData); + (void)mProxy; + if( _VarValue && ext ) + { + if( mProxy && _ExtMemberIndex==12 && mProxy->m_VarParent && !ext->m_IsDir ) + { + assert( mProxy->m_VarParent->m_Vars.size()==16 ); + bool aa = ext->m_AAMode; + if( mProxy->m_VarParent->m_Vars[4]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[5]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[6]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[7]->m_Visible != !aa + || mProxy->m_VarParent->m_Vars[8 ]->m_Visible != aa + || mProxy->m_VarParent->m_Vars[9 ]->m_Visible != aa + || mProxy->m_VarParent->m_Vars[10]->m_Visible != aa + || mProxy->m_VarParent->m_Vars[11]->m_Visible != aa ) + { + mProxy->m_VarParent->m_Vars[4]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[5]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[6]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[7]->m_Visible = !aa; + mProxy->m_VarParent->m_Vars[8 ]->m_Visible = aa; + mProxy->m_VarParent->m_Vars[9 ]->m_Visible = aa; + mProxy->m_VarParent->m_Vars[10]->m_Visible = aa; + mProxy->m_VarParent->m_Vars[11]->m_Visible = aa; + mProxy->m_Bar->NotUpToDate(); + } + if( static_cast(mProxy->m_VarParent->m_Vars[12])->m_ReadOnly ) + { + static_cast(mProxy->m_VarParent->m_Vars[12])->m_ReadOnly = false; + mProxy->m_Bar->NotUpToDate(); + } + } + else if( mProxy && _ExtMemberIndex==4 && mProxy->m_VarParent ) + { + assert( mProxy->m_VarParent->m_Vars.size()==16 ); + bool visible = ext->m_ShowVal; + if( ext->m_IsDir ) + { + if( mProxy->m_VarParent->m_Vars[13]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[14]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[15]->m_Visible != visible ) + { + mProxy->m_VarParent->m_Vars[13]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[14]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[15]->m_Visible = visible; + mProxy->m_Bar->NotUpToDate(); + } + } + else + { + if( mProxy->m_VarParent->m_Vars[4]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[5]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[6]->m_Visible != visible + || mProxy->m_VarParent->m_Vars[7]->m_Visible != visible ) + { + mProxy->m_VarParent->m_Vars[4]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[5]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[6]->m_Visible = visible; + mProxy->m_VarParent->m_Vars[7]->m_Visible = visible; + mProxy->m_Bar->NotUpToDate(); + } + } + } + + if( ext->m_IsFloat ) + { + const float *var = static_cast(_VarValue); + if( ext->m_IsDir ) + { + ext->Dx = var[0]; + ext->Dy = var[1]; + ext->Dz = var[2]; + QuatFromDir(&ext->Qx, &ext->Qy, &ext->Qz, &ext->Qs, var[0], var[1], var[2]); + } + else + { + ext->Qx = var[0]; + ext->Qy = var[1]; + ext->Qz = var[2]; + ext->Qs = var[3]; + } + + } + else + { + const double *var = static_cast(_VarValue); + if( ext->m_IsDir ) + { + ext->Dx = var[0]; + ext->Dy = var[1]; + ext->Dz = var[2]; + QuatFromDir(&ext->Qx, &ext->Qy, &ext->Qz, &ext->Qs, var[0], var[1], var[2]); + } + else + { + ext->Qx = var[0]; + ext->Qy = var[1]; + ext->Qz = var[2]; + ext->Qs = var[3]; + } + } + ext->ConvertToAxisAngle(); + } +} + +void ANT_CALL CQuaternionExt::SummaryCB(char *_SummaryString, size_t _SummaryMaxLength, const void *_ExtValue, void * /*_ClientData*/) +{ + const CQuaternionExt *ext = static_cast(_ExtValue); + if( ext ) + { + if( ext->m_AAMode ) + _snprintf(_SummaryString, _SummaryMaxLength, "V={%.2f,%.2f,%.2f} A=%.0f", ext->Vx, ext->Vy, ext->Vz, ext->Angle); + else if( ext->m_IsDir ) + { + //float d[] = {1, 0, 0}; + //ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)ext->Qx, (float)ext->Qy, (float)ext->Qz, (float)ext->Qs); + _snprintf(_SummaryString, _SummaryMaxLength, "V={%.2f,%.2f,%.2f}", ext->Dx, ext->Dy, ext->Dz); + } + else + _snprintf(_SummaryString, _SummaryMaxLength, "Q={x:%.2f,y:%.2f,z:%.2f,s:%.2f}", ext->Qx, ext->Qy, ext->Qz, ext->Qs); + } + else + { + _SummaryString[0] = ' '; // required to force background color for this value + _SummaryString[1] = '\0'; + } +} + +TwType CQuaternionExt::s_CustomType = TW_TYPE_UNDEF; +vector CQuaternionExt::s_SphTri; +vector CQuaternionExt::s_SphCol; +vector CQuaternionExt::s_SphTriProj; +vector CQuaternionExt::s_SphColLight; +vector CQuaternionExt::s_ArrowTri[4]; +vector CQuaternionExt::s_ArrowNorm[4]; +vector CQuaternionExt::s_ArrowTriProj[4]; +vector CQuaternionExt::s_ArrowColLight[4]; + +void CQuaternionExt::CreateTypes() +{ + if( g_TwMgr==NULL ) + return; + s_CustomType = (TwType)(TW_TYPE_CUSTOM_BASE + (int)g_TwMgr->m_Customs.size()); + g_TwMgr->m_Customs.push_back(NULL); // increment custom type number + + for(int pass=0; pass<2; pass++) // pass 0: create quat types; pass 1: create dir types + { + const char *quatDefPass0 = "step=0.01 hide"; + const char *quatDefPass1 = "step=0.01 hide"; + const char *quatSDefPass0 = "step=0.01 min=-1 max=1 hide"; + const char *quatSDefPass1 = "step=0.01 min=-1 max=1 hide"; + const char *dirDefPass0 = "step=0.01 hide"; + const char *dirDefPass1 = "step=0.01"; + const char *quatDef = (pass==0) ? quatDefPass0 : quatDefPass1; + const char *quatSDef = (pass==0) ? quatSDefPass0 : quatSDefPass1; + const char *dirDef = (pass==0) ? dirDefPass0 : dirDefPass1; + + TwStructMember QuatExtMembers[] = { { "0", s_CustomType, 0, "" }, + { "1", s_CustomType, 0, "" }, + { "2", s_CustomType, 0, "" }, + { "3", s_CustomType, 0, "" }, + { "Quat X", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Qx), quatDef }, // copy of the source quaternion + { "Quat Y", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Qy), quatDef }, + { "Quat Z", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Qz), quatDef }, + { "Quat S", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Qs), quatSDef }, + { "Axis X", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Vx), "step=0.01 hide" }, // axis and angle conversion -> Mode hidden because it is not equivalent to a quat (would have required vector renormalization) + { "Axis Y", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Vy), "step=0.01 hide" }, + { "Axis Z", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Vz), "step=0.01 hide" }, + { "Angle (degree)", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Angle), "step=1 min=-360 max=360 hide" }, + { "Mode", TW_TYPE_BOOLCPP, offsetof(CQuaternionExt, m_AAMode), "true='Axis Angle' false='Quaternion' readwrite hide" }, + { "Dir X", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Dx), dirDef }, // copy of the source direction + { "Dir Y", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Dy), dirDef }, + { "Dir Z", TW_TYPE_DOUBLE, offsetof(CQuaternionExt, Dz), dirDef } }; + if( pass==0 ) + { + g_TwMgr->m_TypeQuat4F = TwDefineStructExt("QUAT4F", QuatExtMembers, sizeof(QuatExtMembers)/sizeof(QuatExtMembers[0]), 4*sizeof(float), sizeof(CQuaternionExt), CQuaternionExt::InitQuat4FCB, CQuaternionExt::CopyVarFromExtCB, CQuaternionExt::CopyVarToExtCB, CQuaternionExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 4-floats-encoded quaternion"); + g_TwMgr->m_TypeQuat4D = TwDefineStructExt("QUAT4D", QuatExtMembers, sizeof(QuatExtMembers)/sizeof(QuatExtMembers[0]), 4*sizeof(double), sizeof(CQuaternionExt), CQuaternionExt::InitQuat4DCB, CQuaternionExt::CopyVarFromExtCB, CQuaternionExt::CopyVarToExtCB, CQuaternionExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 4-doubles-encoded quaternion"); + } + else if( pass==1 ) + { + g_TwMgr->m_TypeDir3F = TwDefineStructExt("DIR4F", QuatExtMembers, sizeof(QuatExtMembers)/sizeof(QuatExtMembers[0]), 3*sizeof(float), sizeof(CQuaternionExt), CQuaternionExt::InitDir3FCB, CQuaternionExt::CopyVarFromExtCB, CQuaternionExt::CopyVarToExtCB, CQuaternionExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 3-floats-encoded direction"); + g_TwMgr->m_TypeDir3D = TwDefineStructExt("DIR4D", QuatExtMembers, sizeof(QuatExtMembers)/sizeof(QuatExtMembers[0]), 3*sizeof(double), sizeof(CQuaternionExt), CQuaternionExt::InitDir3DCB, CQuaternionExt::CopyVarFromExtCB, CQuaternionExt::CopyVarToExtCB, CQuaternionExt::SummaryCB, CTwMgr::CStruct::s_PassProxyAsClientData, "A 3-doubles-encoded direction"); + } + } + + CreateSphere(); + CreateArrow(); +} + +void CQuaternionExt::ConvertToAxisAngle() +{ + if( fabs(Qs)>(1.0 + FLOAT_EPS) ) + { + //Vx = Vy = Vz = 0; // no, keep the previous value + Angle = 0; + } + else + { + double a; + if( Qs>=1.0f ) + a = 0; // and keep V + else if( Qs<=-1.0f ) + a = DOUBLE_PI; // and keep V + else if( fabs(Qx*Qx+Qy*Qy+Qz*Qz+Qs*Qs)FLOAT_PI ) + // Angle -= 2.0f*FLOAT_PI; + // else if( Angle<-FLOAT_PI ) + // Angle += 2.0f*FLOAT_PI; + Angle = RadToDeg(Angle); + + if( fabs(Angle)FLOAT_EPS_SQ ) + { + double f = 0.5*DegToRad(Angle); + Qs = cos(f); + //do not normalize + //if( fabs(n - 1.0)>FLOAT_EPS_SQ ) + // f = sin(f) * (1.0/sqrt(n)) ; + //else + // f = sin(f); + f = sin(f); + + Qx = Vx * f; + Qy = Vy * f; + Qz = Vz * f; + } + else + { + Qs = 1.0; + Qx = Qy = Qz = 0.0; + } +} + +void CQuaternionExt::CopyToVar() +{ + if( m_StructProxy!=NULL ) + { + if( m_StructProxy->m_StructSetCallback!=NULL ) + { + if( m_IsFloat ) + { + if( m_IsDir ) + { + float d[] = {1, 0, 0}; + ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qx, (float)Qy, (float)Qz, (float)Qs); + float l = (float)sqrt(Dx*Dx + Dy*Dy + Dz*Dz); + d[0] *= l; d[1] *= l; d[2] *= l; + Dx = d[0]; Dy = d[1]; Dz = d[2]; // update also Dx,Dy,Dz + m_StructProxy->m_StructSetCallback(d, m_StructProxy->m_StructClientData); + } + else + { + float q[] = { (float)Qx, (float)Qy, (float)Qz, (float)Qs }; + m_StructProxy->m_StructSetCallback(q, m_StructProxy->m_StructClientData); + } + } + else + { + if( m_IsDir ) + { + float d[] = {1, 0, 0}; + ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qx, (float)Qy, (float)Qz, (float)Qs); + double l = sqrt(Dx*Dx + Dy*Dy + Dz*Dz); + double dd[] = {l*d[0], l*d[1], l*d[2]}; + Dx = dd[0]; Dy = dd[1]; Dz = dd[2]; // update also Dx,Dy,Dz + m_StructProxy->m_StructSetCallback(dd, m_StructProxy->m_StructClientData); + } + else + { + double q[] = { Qx, Qy, Qz, Qs }; + m_StructProxy->m_StructSetCallback(q, m_StructProxy->m_StructClientData); + } + } + } + else if( m_StructProxy->m_StructData!=NULL ) + { + if( m_IsFloat ) + { + if( m_IsDir ) + { + float *d = static_cast(m_StructProxy->m_StructData); + ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qx, (float)Qy, (float)Qz, (float)Qs); + float l = (float)sqrt(Dx*Dx + Dy*Dy + Dz*Dz); + d[0] *= l; d[1] *= l; d[2] *= l; + Dx = d[0]; Dy = d[1]; Dz = d[2]; // update also Dx,Dy,Dz + } + else + { + float *q = static_cast(m_StructProxy->m_StructData); + q[0] = (float)Qx; q[1] = (float)Qy; q[2] = (float)Qz; q[3] = (float)Qs; + } + } + else + { + if( m_IsDir ) + { + double *dd = static_cast(m_StructProxy->m_StructData); + float d[] = {1, 0, 0}; + ApplyQuat(d+0, d+1, d+2, 1, 0, 0, (float)Qx, (float)Qy, (float)Qz, (float)Qs); + double l = sqrt(Dx*Dx + Dy*Dy + Dz*Dz); + dd[0] = l*d[0]; dd[1] = l*d[1]; dd[2] = l*d[2]; + Dx = dd[0]; Dy = dd[1]; Dz = dd[2]; // update also Dx,Dy,Dz + } + else + { + double *q = static_cast(m_StructProxy->m_StructData); + q[0] = Qx; q[1] = Qy; q[2] = Qz; q[3] = Qs; + } + } + } + } +} + +void CQuaternionExt::CreateSphere() +{ + const int SUBDIV = 7; + s_SphTri.clear(); + s_SphCol.clear(); + + const float A[8*3] = { 1,0,0, 0,0,-1, -1,0,0, 0,0,1, 0,0,1, 1,0,0, 0,0,-1, -1,0,0 }; + const float B[8*3] = { 0,1,0, 0,1,0, 0,1,0, 0,1,0, 0,-1,0, 0,-1,0, 0,-1,0, 0,-1,0 }; + const float C[8*3] = { 0,0,1, 1,0,0, 0,0,-1, -1,0,0, 1,0,0, 0,0,-1, -1,0,0, 0,0,1 }; + //const color32 COL_A[8] = { 0xffff8080, 0xff000080, 0xff800000, 0xff8080ff, 0xff8080ff, 0xffff8080, 0xff000080, 0xff800000 }; + //const color32 COL_B[8] = { 0xff80ff80, 0xff80ff80, 0xff80ff80, 0xff80ff80, 0xff008000, 0xff008000, 0xff008000, 0xff008000 }; + //const color32 COL_C[8] = { 0xff8080ff, 0xffff8080, 0xff000080, 0xff800000, 0xffff8080, 0xff000080, 0xff800000, 0xff8080ff }; + const color32 COL_A[8] = { 0xffffffff, 0xffffff40, 0xff40ff40, 0xff40ffff, 0xffff40ff, 0xffff4040, 0xff404040, 0xff4040ff }; + const color32 COL_B[8] = { 0xffffffff, 0xffffff40, 0xff40ff40, 0xff40ffff, 0xffff40ff, 0xffff4040, 0xff404040, 0xff4040ff }; + const color32 COL_C[8] = { 0xffffffff, 0xffffff40, 0xff40ff40, 0xff40ffff, 0xffff40ff, 0xffff4040, 0xff404040, 0xff4040ff }; + + int i, j, k, l; + float xa, ya, za, xb, yb, zb, xc, yc, zc, x, y, z, norm, u[3], v[3]; + color32 col; + for( i=0; i<8; ++i ) + { + xa = A[3*i+0]; ya = A[3*i+1]; za = A[3*i+2]; + xb = B[3*i+0]; yb = B[3*i+1]; zb = B[3*i+2]; + xc = C[3*i+0]; yc = C[3*i+1]; zc = C[3*i+2]; + for( j=0; j<=SUBDIV; ++j ) + for( k=0; k<=2*(SUBDIV-j); ++k ) + { + if( k%2==0 ) + { + u[0] = ((float)j)/(SUBDIV+1); + v[0] = ((float)(k/2))/(SUBDIV+1); + u[1] = ((float)(j+1))/(SUBDIV+1); + v[1] = ((float)(k/2))/(SUBDIV+1); + u[2] = ((float)j)/(SUBDIV+1); + v[2] = ((float)(k/2+1))/(SUBDIV+1); + } + else + { + u[0] = ((float)j)/(SUBDIV+1); + v[0] = ((float)(k/2+1))/(SUBDIV+1); + u[1] = ((float)(j+1))/(SUBDIV+1); + v[1] = ((float)(k/2))/(SUBDIV+1); + u[2] = ((float)(j+1))/(SUBDIV+1); + v[2] = ((float)(k/2+1))/(SUBDIV+1); + } + + for( l=0; l<3; ++l ) + { + x = (1.0f-u[l]-v[l])*xa + u[l]*xb + v[l]*xc; + y = (1.0f-u[l]-v[l])*ya + u[l]*yb + v[l]*yc; + z = (1.0f-u[l]-v[l])*za + u[l]*zb + v[l]*zc; + norm = sqrtf(x*x+y*y+z*z); + x /= norm; y /= norm; z /= norm; + s_SphTri.push_back(x); s_SphTri.push_back(y); s_SphTri.push_back(z); + if( u[l]+v[l]>FLOAT_EPS ) + col = ColorBlend(COL_A[i], ColorBlend(COL_B[i], COL_C[i], v[l]/(u[l]+v[l])), u[l]+v[l]); + else + col = COL_A[i]; + //if( (j==0 && k==0) || (j==0 && k==2*SUBDIV) || (j==SUBDIV && k==0) ) + // col = 0xffff0000; + s_SphCol.push_back(col); + } + } + } + s_SphTriProj.clear(); + s_SphTriProj.resize(2*s_SphCol.size(), 0); + s_SphColLight.clear(); + s_SphColLight.resize(s_SphCol.size(), 0); +} + +void CQuaternionExt::CreateArrow() +{ + const int SUBDIV = 15; + const float CYL_RADIUS = 0.08f; + const float CONE_RADIUS = 0.16f; + const float CONE_LENGTH = 0.25f; + const float ARROW_BGN = -1.1f; + const float ARROW_END = 1.15f; + int i; + for(i=0; i<4; ++i) + { + s_ArrowTri[i].clear(); + s_ArrowNorm[i].clear(); + } + + float x0, x1, y0, y1, z0, z1, a0, a1, nx, nn; + for(i=0; iDOUBLE_EPS ) + { + double f = 0.5*angle; + out[3] = cos(f); + f = sin(f)/sqrt(n); + out[0] = axis[0]*f; + out[1] = axis[1]*f; + out[2] = axis[2]*f; + } + else + { + out[3] = 1.0; + out[0] = out[1] = out[2] = 0.0; + } +} + +static inline void Vec3Cross(double *out, const double *a, const double *b) +{ + out[0] = a[1]*b[2]-a[2]*b[1]; + out[1] = a[2]*b[0]-a[0]*b[2]; + out[2] = a[0]*b[1]-a[1]*b[0]; +} + +static inline double Vec3Dot(const double *a, const double *b) +{ + return a[0]*b[0] + a[1]*b[1] + a[2]*b[2]; +} + +static inline void Vec3RotY(float *x, float *y, float *z) +{ + (void)y; + float tmp = *x; + *x = - *z; + *z = tmp; +} + +static inline void Vec3RotZ(float *x, float *y, float *z) +{ + (void)z; + float tmp = *x; + *x = - *y; + *y = tmp; +} + +void CQuaternionExt::ApplyQuat(float *outX, float *outY, float *outZ, float x, float y, float z, float qx, float qy, float qz, float qs) +{ + float ps = - qx * x - qy * y - qz * z; + float px = qs * x + qy * z - qz * y; + float py = qs * y + qz * x - qx * z; + float pz = qs * z + qx * y - qy * x; + *outX = - ps * qx + px * qs - py * qz + pz * qy; + *outY = - ps * qy + py * qs - pz * qx + px * qz; + *outZ = - ps * qz + pz * qs - px * qy + py * qx; +} + +void CQuaternionExt::QuatFromDir(double *outQx, double *outQy, double *outQz, double *outQs, double dx, double dy, double dz) +{ + // compute a quaternion that rotates (1,0,0) to (dx,dy,dz) + + double dn = sqrt(dx*dx + dy*dy + dz*dz); + if( dnm_Graph==NULL ) + return; + assert( g_TwMgr->m_Graph->IsDrawing() ); + CQuaternionExt *ext = static_cast(_ExtValue); + assert( ext!=NULL ); + (void)_ClientData; (void)_Bar; + + // show/hide quat values + assert( varGrp->m_Vars.size()==16 ); + bool visible = ext->m_ShowVal; + if( ext->m_IsDir ) + { + if( varGrp->m_Vars[13]->m_Visible != visible + || varGrp->m_Vars[14]->m_Visible != visible + || varGrp->m_Vars[15]->m_Visible != visible ) + { + varGrp->m_Vars[13]->m_Visible = visible; + varGrp->m_Vars[14]->m_Visible = visible; + varGrp->m_Vars[15]->m_Visible = visible; + _Bar->NotUpToDate(); + } + } + else + { + if( varGrp->m_Vars[4]->m_Visible != visible + || varGrp->m_Vars[5]->m_Visible != visible + || varGrp->m_Vars[6]->m_Visible != visible + || varGrp->m_Vars[7]->m_Visible != visible ) + { + varGrp->m_Vars[4]->m_Visible = visible; + varGrp->m_Vars[5]->m_Visible = visible; + varGrp->m_Vars[6]->m_Visible = visible; + varGrp->m_Vars[7]->m_Visible = visible; + _Bar->NotUpToDate(); + } + } + + // force ext update + static_cast(varGrp->m_Vars[4])->ValueToDouble(); + + assert( s_SphTri.size()>0 ); + assert( s_SphTri.size()==3*s_SphCol.size() ); + assert( s_SphTriProj.size()==2*s_SphCol.size() ); + assert( s_SphColLight.size()==s_SphCol.size() ); + + if( QuatD(w, h)<=2 ) + return; + float x, y, z, nx, ny, nz, kx, ky, kz, qx, qy, qz, qs; + int i, j, k, l, m; + + // normalize quaternion + float qn = (float)sqrt(ext->Qs*ext->Qs+ext->Qx*ext->Qx+ext->Qy*ext->Qy+ext->Qz*ext->Qz); + if( qn>FLOAT_EPS ) + { + qx = (float)ext->Qx/qn; + qy = (float)ext->Qy/qn; + qz = (float)ext->Qz/qn; + qs = (float)ext->Qs/qn; + } + else + { + qx = qy = qz = 0; + qs = 1; + } + + double normDir = sqrt(ext->m_Dir[0]*ext->m_Dir[0] + ext->m_Dir[1]*ext->m_Dir[1] + ext->m_Dir[2]*ext->m_Dir[2]); + bool drawDir = ext->m_IsDir || (normDir>DOUBLE_EPS); + color32 alpha = ext->m_Highlighted ? 0xffffffff : 0xb0ffffff; + + // check if frame is right-handed + ext->Permute(&kx, &ky, &kz, 1, 0, 0); + double px[3] = { (double)kx, (double)ky, (double)kz }; + ext->Permute(&kx, &ky, &kz, 0, 1, 0); + double py[3] = { (double)kx, (double)ky, (double)kz }; + ext->Permute(&kx, &ky, &kz, 0, 0, 1); + double pz[3] = { (double)kx, (double)ky, (double)kz }; + double ez[3]; + Vec3Cross(ez, px, py); + bool frameRightHanded = (ez[0]*pz[0]+ez[1]*pz[1]+ez[2]*pz[2] >= 0); + ITwGraph::Cull cull = frameRightHanded ? ITwGraph::CULL_CW : ITwGraph::CULL_CCW; + + if( drawDir ) + { + float dir[] = {(float)ext->m_Dir[0], (float)ext->m_Dir[1], (float)ext->m_Dir[2]}; + if( normDirPermute(&x, &y, &z, kx, ky, kz); + j = (z>0) ? 3-k : k; + + assert( s_ArrowTriProj[j].size()==2*(s_ArrowTri[j].size()/3) && s_ArrowColLight[j].size()==s_ArrowTri[j].size()/3 && s_ArrowNorm[j].size()==s_ArrowTri[j].size() ); + const int ntri = (int)s_ArrowTri[j].size()/3; + const float *tri = &(s_ArrowTri[j][0]); + const float *norm = &(s_ArrowNorm[j][0]); + int *triProj = &(s_ArrowTriProj[j][0]); + color32 *colLight = &(s_ArrowColLight[j][0]); + for(i=0; i0 ) + x = 2.5f*x - 2.0f; + else + x += 0.2f; + y *= 1.5f; + z *= 1.5f; + ApplyQuat(&x, &y, &z, x, y, z, (float)rotDirQuat[0], (float)rotDirQuat[1], (float)rotDirQuat[2], (float)rotDirQuat[3]); + ApplyQuat(&x, &y, &z, x, y, z, qx, qy, qz, qs); + ext->Permute(&x, &y, &z, x, y, z); + ApplyQuat(&nx, &ny, &nz, nx, ny, nz, (float)rotDirQuat[0], (float)rotDirQuat[1], (float)rotDirQuat[2], (float)rotDirQuat[3]); + ApplyQuat(&nx, &ny, &nz, nx, ny, nz, qx, qy, qz, qs); + ext->Permute(&nx, &ny, &nz, nx, ny, nz); + triProj[2*i+0] = QuatPX(x, w, h); + triProj[2*i+1] = QuatPY(y, w, h); + color32 col = (ext->m_DirColor|0xff000000) & alpha; + colLight[i] = ColorBlend(0xff000000, col, fabsf(TClamp(nz, -1.0f, 1.0f))); + } + if( s_ArrowTri[j].size()>=9 ) // 1 tri = 9 floats + g_TwMgr->m_Graph->DrawTriangles((int)s_ArrowTri[j].size()/9, triProj, colLight, cull); + } + } + else + { + /* + int px0 = QuatPX(0, w, h)-1, py0 = QuatPY(0, w, h), r0 = (int)(0.5f*QuatD(w, h)-0.5f); + color32 col0 = 0x80000000; + DrawArc(px0-1, py0, r0, 0, 360, col0); + DrawArc(px0+1, py0, r0, 0, 360, col0); + DrawArc(px0, py0-1, r0, 0, 360, col0); + DrawArc(px0, py0+1, r0, 0, 360, col0); + */ + // draw arrows & sphere + const float SPH_RADIUS = 0.75f; + for(m=0; m<2; ++m) // m=0: back, m=1: front + { + for(l=0; l<3; ++l) // draw 3 arrows + { + kx = 1; ky = 0; kz = 0; + if( l==1 ) + Vec3RotZ(&kx, &ky, &kz); + else if( l==2 ) + Vec3RotY(&kx, &ky, &kz); + ApplyQuat(&kx, &ky, &kz, kx, ky, kz, qx, qy, qz, qs); + for(k=0; k<4; ++k) // 4 parts of the arrow + { + // draw order + ext->Permute(&x, &y, &z, kx, ky, kz); + j = (z>0) ? 3-k : k; + + bool cone = true; + if( (m==0 && z>0) || (m==1 && z<=0) ) + { + if( j==ARROW_CONE || j==ARROW_CONE_CAP ) // do not draw cone + continue; + else + cone = false; + } + assert( s_ArrowTriProj[j].size()==2*(s_ArrowTri[j].size()/3) && s_ArrowColLight[j].size()==s_ArrowTri[j].size()/3 && s_ArrowNorm[j].size()==s_ArrowTri[j].size() ); + const int ntri = (int)s_ArrowTri[j].size()/3; + const float *tri = &(s_ArrowTri[j][0]); + const float *norm = &(s_ArrowNorm[j][0]); + int *triProj = &(s_ArrowTriProj[j][0]); + color32 *colLight = &(s_ArrowColLight[j][0]); + for(i=0; i0 ) + x = -SPH_RADIUS; + nx = norm[3*i+0]; ny = norm[3*i+1]; nz = norm[3*i+2]; + if( l==1 ) + { + Vec3RotZ(&x, &y, &z); + Vec3RotZ(&nx, &ny, &nz); + } + else if( l==2 ) + { + Vec3RotY(&x, &y, &z); + Vec3RotY(&nx, &ny, &nz); + } + ApplyQuat(&x, &y, &z, x, y, z, qx, qy, qz, qs); + ext->Permute(&x, &y, &z, x, y, z); + ApplyQuat(&nx, &ny, &nz, nx, ny, nz, qx, qy, qz, qs); + ext->Permute(&nx, &ny, &nz, nx, ny, nz); + triProj[2*i+0] = QuatPX(x, w, h); + triProj[2*i+1] = QuatPY(y, w, h); + float fade = ( m==0 && z<0 ) ? TClamp(2.0f*z*z, 0.0f, 1.0f) : 0; + float alphaFade = 1.0f; + Color32ToARGBf(alpha, &alphaFade, NULL, NULL, NULL); + alphaFade *= (1.0f-fade); + color32 alphaFadeCol = Color32FromARGBf(alphaFade, 1, 1, 1); + color32 col = (l==0) ? 0xffff0000 : ( (l==1) ? 0xff00ff00 : 0xff0000ff ); + colLight[i] = ColorBlend(0xff000000, col, fabsf(TClamp(nz, -1.0f, 1.0f))) & alphaFadeCol; + } + if( s_ArrowTri[j].size()>=9 ) // 1 tri = 9 floats + g_TwMgr->m_Graph->DrawTriangles((int)s_ArrowTri[j].size()/9, triProj, colLight, cull); + } + } + + if( m==0 ) + { + const float *tri = &(s_SphTri[0]); + int *triProj = &(s_SphTriProj[0]); + const color32 *col = &(s_SphCol[0]); + color32 *colLight = &(s_SphColLight[0]); + const int ntri = (int)s_SphTri.size()/3; + for(i=0; iPermute(&x, &y, &z, x, y, z); + triProj[2*i+0] = QuatPX(x, w, h); + triProj[2*i+1] = QuatPY(y, w, h); + colLight[i] = ColorBlend(0xff000000, col[i], fabsf(TClamp(z/SPH_RADIUS, -1.0f, 1.0f))) & alpha; + } + g_TwMgr->m_Graph->DrawTriangles((int)s_SphTri.size()/9, triProj, colLight, cull); + } + } + + // draw x + g_TwMgr->m_Graph->DrawLine(w-12, h-36, w-12+5, h-36+5, 0xffc00000, true); + g_TwMgr->m_Graph->DrawLine(w-12+5, h-36, w-12, h-36+5, 0xffc00000, true); + // draw y + g_TwMgr->m_Graph->DrawLine(w-12, h-25, w-12+3, h-25+4, 0xff00c000, true); + g_TwMgr->m_Graph->DrawLine(w-12+5, h-25, w-12, h-25+7, 0xff00c000, true); + // draw z + g_TwMgr->m_Graph->DrawLine(w-12, h-12, w-12+5, h-12, 0xff0000c0, true); + g_TwMgr->m_Graph->DrawLine(w-12, h-12+5, w-12+5, h-12+5, 0xff0000c0, true); + g_TwMgr->m_Graph->DrawLine(w-12, h-12+5, w-12+5, h-12, 0xff0000c0, true); + } + + // draw borders + g_TwMgr->m_Graph->DrawLine(1, 0, w-1, 0, 0x40000000); + g_TwMgr->m_Graph->DrawLine(w-1, 0, w-1, h-1, 0x40000000); + g_TwMgr->m_Graph->DrawLine(w-1, h-1, 1, h-1, 0x40000000); + g_TwMgr->m_Graph->DrawLine(1, h-1, 1, 0, 0x40000000); +} + +bool CQuaternionExt::MouseMotionCB(int mouseX, int mouseY, int w, int h, void *structExtValue, void *clientData, TwBar *bar, CTwVarGroup *varGrp) +{ + CQuaternionExt *ext = static_cast(structExtValue); + if( ext==NULL ) + return false; + (void)clientData, (void)varGrp; + + if( mouseX>0 && mouseX0 && mouseYm_Highlighted = true; + + if( ext->m_Rotating ) + { + double x = QuatIX(mouseX, w, h); + double y = QuatIY(mouseY, w, h); + double z = 1; + double px, py, pz, ox, oy, oz; + ext->PermuteInv(&px, &py, &pz, x, y, z); + ext->PermuteInv(&ox, &oy, &oz, ext->m_OrigX, ext->m_OrigY, 1); + double n0 = sqrt(ox*ox + oy*oy + oz*oz); + double n1 = sqrt(px*px + py*py + pz*pz); + if( n0>DOUBLE_EPS && n1>DOUBLE_EPS ) + { + double v0[] = { ox/n0, oy/n0, oz/n0 }; + double v1[] = { px/n1, py/n1, pz/n1 }; + double axis[3]; + Vec3Cross(axis, v0, v1); + double sa = sqrt(Vec3Dot(axis, axis)); + double ca = Vec3Dot(v0, v1); + double angle = atan2(sa, ca); + if( x*x+y*y>1.0 ) + angle *= 1.0 + 0.2f*(sqrt(x*x+y*y)-1.0); + double qrot[4], qres[4], qorig[4]; + QuatFromAxisAngle(qrot, axis, angle); + double nqorig = sqrt(ext->m_OrigQuat[0]*ext->m_OrigQuat[0]+ext->m_OrigQuat[1]*ext->m_OrigQuat[1]+ext->m_OrigQuat[2]*ext->m_OrigQuat[2]+ext->m_OrigQuat[3]*ext->m_OrigQuat[3]); + if( fabs(nqorig)>DOUBLE_EPS_SQ ) + { + qorig[0] = ext->m_OrigQuat[0]/nqorig; + qorig[1] = ext->m_OrigQuat[1]/nqorig; + qorig[2] = ext->m_OrigQuat[2]/nqorig; + qorig[3] = ext->m_OrigQuat[3]/nqorig; + QuatMult(qres, qrot, qorig); + ext->Qx = qres[0]; + ext->Qy = qres[1]; + ext->Qz = qres[2]; + ext->Qs = qres[3]; + } + else + { + ext->Qx = qrot[0]; + ext->Qy = qrot[1]; + ext->Qz = qrot[2]; + ext->Qs = qrot[3]; + } + ext->CopyToVar(); + if( bar!=NULL ) + bar->NotUpToDate(); + + ext->m_PrevX = x; + ext->m_PrevY = y; + } + } + + return true; +} + +bool CQuaternionExt::MouseButtonCB(TwMouseButtonID button, bool pressed, int mouseX, int mouseY, int w, int h, void *structExtValue, void *clientData, TwBar *bar, CTwVarGroup *varGrp) +{ + CQuaternionExt *ext = static_cast(structExtValue); + if( ext==NULL ) + return false; + (void)clientData; (void)bar, (void)varGrp; + + if( button==TW_MOUSE_LEFT ) + { + if( pressed ) + { + ext->m_OrigQuat[0] = ext->Qx; + ext->m_OrigQuat[1] = ext->Qy; + ext->m_OrigQuat[2] = ext->Qz; + ext->m_OrigQuat[3] = ext->Qs; + ext->m_OrigX = QuatIX(mouseX, w, h); + ext->m_OrigY = QuatIY(mouseY, w, h); + ext->m_PrevX = ext->m_OrigX; + ext->m_PrevY = ext->m_OrigY; + ext->m_Rotating = true; + } + else + ext->m_Rotating = false; + } + + //printf("Click %x\n", structExtValue); + return true; +} + +void CQuaternionExt::MouseLeaveCB(void *structExtValue, void *clientData, TwBar *bar) +{ + CQuaternionExt *ext = static_cast(structExtValue); + if( ext==NULL ) + return; + (void)clientData; (void)bar; + + //printf("Leave %x\n", structExtValue); + ext->m_Highlighted = false; + ext->m_Rotating = false; +} + + +// --------------------------------------------------------------------------- +// Convertion between VC++ Debug/Release std::string +// (Needed because VC++ adds some extra info to std::string in Debug mode!) +// --------------------------------------------------------------------------- + + +CTwMgr::CClientStdString::CClientStdString() +{ + memset(m_Data, 0, sizeof(m_Data)); +} + +void CTwMgr::CClientStdString::FromLib(const char *libStr) +{ + m_LibStr = libStr; // it is ok to have a local copy here + memcpy(m_Data + sizeof(void *), &m_LibStr, sizeof(std::string)); +} + +std::string& CTwMgr::CClientStdString::ToClient() +{ + assert( g_TwMgr!=NULL ); + if( g_TwMgr->m_ClientStdStringStructSize==sizeof(std::string)+sizeof(void *) ) + return *(std::string *)(m_Data); + else if( g_TwMgr->m_ClientStdStringStructSize+sizeof(void *)==sizeof(std::string) ) + return *(std::string *)(m_Data + 2*sizeof(void *)); + else + { + assert( g_TwMgr->m_ClientStdStringStructSize==sizeof(std::string) ); + return *(std::string *)(m_Data + sizeof(void *)); + } +} + + +CTwMgr::CLibStdString::CLibStdString() +{ + memset(m_Data, 0, sizeof(m_Data)); +} + +void CTwMgr::CLibStdString::FromClient(const std::string& clientStr) +{ + assert( g_TwMgr!=NULL ); + memcpy(m_Data + sizeof(void *), &clientStr, g_TwMgr->m_ClientStdStringStructSize); +} + +std::string& CTwMgr::CLibStdString::ToLib() +{ + assert( g_TwMgr!=NULL ); + if( g_TwMgr->m_ClientStdStringStructSize==sizeof(std::string)+sizeof(void *) ) + return *(std::string *)(m_Data + 2*sizeof(void *)); + else if( g_TwMgr->m_ClientStdStringStructSize+sizeof(void *)==sizeof(std::string) ) + return *(std::string *)(m_Data); + else + { + assert( g_TwMgr->m_ClientStdStringStructSize==sizeof(std::string) ); + return *(std::string *)(m_Data + sizeof(void *)); + } +} + + +// --------------------------------------------------------------------------- +// Management functions +// --------------------------------------------------------------------------- + + +static int TwCreateGraph(ETwGraphAPI _GraphAPI) +{ + assert( g_TwMgr!=NULL && g_TwMgr->m_Graph==NULL ); + + switch( _GraphAPI ) + { + case TW_OPENGL: + g_TwMgr->m_Graph = new CTwGraphOpenGL; + break; + /* WIP + case TW_OPENGL_CORE: + g_TwMgr->m_Graph = new CTwGraphOpenGLCore; + break; + */ + case TW_DIRECT3D9: + #ifdef ANT_WINDOWS + if( g_TwMgr->m_Device!=NULL ) + g_TwMgr->m_Graph = new CTwGraphDirect3D9; + else + { + g_TwMgr->SetLastError(g_ErrBadDevice); + return 0; + } + #endif // ANT_WINDOWS + break; + case TW_DIRECT3D10: + #ifdef ANT_WINDOWS + if( g_TwMgr->m_Device!=NULL ) + g_TwMgr->m_Graph = new CTwGraphDirect3D10; + else + { + g_TwMgr->SetLastError(g_ErrBadDevice); + return 0; + } + #endif // ANT_WINDOWS + break; + case TW_DIRECT3D11: + #ifdef ANT_WINDOWS + if( g_TwMgr->m_Device!=NULL ) + g_TwMgr->m_Graph = new CTwGraphDirect3D11; + else + { + g_TwMgr->SetLastError(g_ErrBadDevice); + return 0; + } + #endif // ANT_WINDOWS + break; + } + + if( g_TwMgr->m_Graph==NULL ) + { + g_TwMgr->SetLastError(g_ErrUnknownAPI); + return 0; + } + else + return g_TwMgr->m_Graph->Init(); +} + +// --------------------------------------------------------------------------- + +static inline int TwFreeAsyncDrawing() +{ + if( g_TwMgr && g_TwMgr->m_Graph && g_TwMgr->m_Graph->IsDrawing() ) + { + const double SLEEP_MAX = 0.25; // wait at most 1/4 second + PerfTimer timer; + while( g_TwMgr->m_Graph->IsDrawing() && timer.GetTime()m_Graph->IsDrawing() ) + { + g_TwMgr->SetLastError(g_ErrIsDrawing); + return 0; + } + } + return 1; +} + +// --------------------------------------------------------------------------- + +/* +static inline int TwFreeAsyncProcessing() +{ + if( g_TwMgr && g_TwMgr->IsProcessing() ) + { + const double SLEEP_MAX = 0.25; // wait at most 1/4 second + PerfTimer timer; + while( g_TwMgr->IsProcessing() && timer.GetTime()IsProcessing() ) + { + g_TwMgr->SetLastError(g_ErrIsProcessing); + return 0; + } + } + return 1; +} + +static inline int TwBeginProcessing() +{ + if( !TwFreeAsyncProcessing() ) + return 0; + if( g_TwMgr ) + g_TwMgr->SetProcessing(true); +} + +static inline int TwEndProcessing() +{ + if( g_TwMgr ) + g_TwMgr->SetProcessing(false); +} +*/ + +// --------------------------------------------------------------------------- + +static int TwInitMgr() +{ + assert( g_TwMasterMgr!=NULL ); + assert( g_TwMgr!=NULL ); + + g_TwMgr->m_CurrentFont = g_DefaultNormalFont; + g_TwMgr->m_Graph = g_TwMasterMgr->m_Graph; + + g_TwMgr->m_KeyPressedTextObj = g_TwMgr->m_Graph->NewTextObj(); + g_TwMgr->m_InfoTextObj = g_TwMgr->m_Graph->NewTextObj(); + + g_TwMgr->m_HelpBar = TwNewBar("TW_HELP"); + if( g_TwMgr->m_HelpBar ) + { + g_TwMgr->m_HelpBar->m_Label = "~ Help & Shortcuts ~"; + g_TwMgr->m_HelpBar->m_PosX = 32; + g_TwMgr->m_HelpBar->m_PosY = 32; + g_TwMgr->m_HelpBar->m_Width = 400; + g_TwMgr->m_HelpBar->m_Height = 200; + g_TwMgr->m_HelpBar->m_ValuesWidth = 12*(g_TwMgr->m_HelpBar->m_Font->m_CharHeight/2); + g_TwMgr->m_HelpBar->m_Color = 0xa05f5f5f; //0xd75f5f5f; + g_TwMgr->m_HelpBar->m_DarkText = false; + g_TwMgr->m_HelpBar->m_IsHelpBar = true; + g_TwMgr->Minimize(g_TwMgr->m_HelpBar); + } + else + return 0; + + CColorExt::CreateTypes(); + CQuaternionExt::CreateTypes(); + + return 1; +} + + +int ANT_CALL TwInit(ETwGraphAPI _GraphAPI, void *_Device) +{ +#if defined(_DEBUG) && defined(ANT_WINDOWS) + _CrtSetDbgFlag(_CRTDBG_LEAK_CHECK_DF|_CrtSetDbgFlag(_CRTDBG_LEAK_CHECK_DF)); +#endif + + if( g_TwMasterMgr!=NULL ) + { + g_TwMasterMgr->SetLastError(g_ErrInit); + return 0; + } + assert( g_TwMgr==0 ); + assert( g_Wnds.empty() ); + + g_TwMasterMgr = new CTwMgr(_GraphAPI, _Device, TW_MASTER_WINDOW_ID); + g_Wnds[TW_MASTER_WINDOW_ID] = g_TwMasterMgr; + g_TwMgr = g_TwMasterMgr; + + TwGenerateDefaultFonts(); + g_TwMgr->m_CurrentFont = g_DefaultNormalFont; + + int Res = TwCreateGraph(_GraphAPI); + if( Res ) + Res = TwInitMgr(); + + if( !Res ) + TwTerminate(); + + return Res; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwSetLastError(const char *_StaticErrorMessage) +{ + if( g_TwMasterMgr!=0 ) + { + g_TwMasterMgr->SetLastError(_StaticErrorMessage); + return 1; + } + else + return 0; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwTerminate() +{ + if( g_TwMgr==NULL ) + { + //TwGlobalError(g_ErrShut); -> not an error + return 0; // already shutdown + } + + // For multi-thread safety + if( !TwFreeAsyncDrawing() ) + return 0; + + CTwWndMap::iterator it; + for( it=g_Wnds.begin(); it!=g_Wnds.end(); it++ ) + { + g_TwMgr = it->second; + + g_TwMgr->m_Terminating = true; + TwDeleteAllBars(); + if( g_TwMgr->m_CursorsCreated ) + g_TwMgr->FreeCursors(); + + if( g_TwMgr->m_Graph ) + { + if( g_TwMgr->m_KeyPressedTextObj ) + { + g_TwMgr->m_Graph->DeleteTextObj(g_TwMgr->m_KeyPressedTextObj); + g_TwMgr->m_KeyPressedTextObj = NULL; + } + if( g_TwMgr->m_InfoTextObj ) + { + g_TwMgr->m_Graph->DeleteTextObj(g_TwMgr->m_InfoTextObj); + g_TwMgr->m_InfoTextObj = NULL; + } + if (g_TwMgr != g_TwMasterMgr) + g_TwMgr->m_Graph = NULL; + } + + if (g_TwMgr != g_TwMasterMgr) + { + delete g_TwMgr; + g_TwMgr = NULL; + } + } + + // delete g_TwMasterMgr + int Res = 1; + g_TwMgr = g_TwMasterMgr; + if( g_TwMasterMgr->m_Graph ) + { + Res = g_TwMasterMgr->m_Graph->Shut(); + delete g_TwMasterMgr->m_Graph; + g_TwMasterMgr->m_Graph = NULL; + } + TwDeleteDefaultFonts(); + delete g_TwMasterMgr; + g_TwMasterMgr = NULL; + g_TwMgr = NULL; + g_Wnds.clear(); + + return Res; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwGetCurrentWindow() +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + + return g_TwMgr->m_WndID; +} + +int ANT_CALL TwSetCurrentWindow(int wndID) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + + if (wndID != g_TwMgr->m_WndID) + { + CTwWndMap::iterator foundWnd = g_Wnds.find(wndID); + if (foundWnd == g_Wnds.end()) + { + // create a new CTwMgr + g_TwMgr = new CTwMgr(g_TwMasterMgr->m_GraphAPI, g_TwMasterMgr->m_Device, wndID); + g_Wnds[wndID] = g_TwMgr; + return TwInitMgr(); + } + else + { + g_TwMgr = foundWnd->second; + return 1; + } + } + else + return 1; +} + +int ANT_CALL TwWindowExists(int wndID) +{ + CTwWndMap::iterator foundWnd = g_Wnds.find(wndID); + if (foundWnd == g_Wnds.end()) + return 0; + else + return 1; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwDraw() +{ + PERF( PerfTimer Timer; double DT; ) + //CTwFPU fpu; // fpu precision only forced in update (do not modif dx draw calls) + + if( g_TwMgr==NULL || g_TwMgr->m_Graph==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + + assert(g_TwMgr->m_Bars.size()==g_TwMgr->m_Order.size()); + + // For multi-thread savety + if( !TwFreeAsyncDrawing() ) + return 0; + + // Create cursors + #if defined(ANT_WINDOWS) || defined(ANT_OSX) + if( !g_TwMgr->m_CursorsCreated ) + g_TwMgr->CreateCursors(); + #elif defined(ANT_UNIX) + if( !g_TwMgr->m_CurrentXDisplay ) + g_TwMgr->m_CurrentXDisplay = glXGetCurrentDisplay(); + if( !g_TwMgr->m_CurrentXWindow ) + g_TwMgr->m_CurrentXWindow = glXGetCurrentDrawable(); + if( g_TwMgr->m_CurrentXDisplay && !g_TwMgr->m_CursorsCreated ) + g_TwMgr->CreateCursors(); + #endif + + // Autorepeat TW_MOUSE_PRESSED + double CurrTime = g_TwMgr->m_Timer.GetTime(); + double RepeatDT = CurrTime - g_TwMgr->m_LastMousePressedTime; + double DrawDT = CurrTime - g_TwMgr->m_LastDrawTime; + if( RepeatDT>2.0*g_TwMgr->m_RepeatMousePressedDelay + || DrawDT>2.0*g_TwMgr->m_RepeatMousePressedDelay + || abs(g_TwMgr->m_LastMousePressedPosition[0]-g_TwMgr->m_LastMouseX)>4 + || abs(g_TwMgr->m_LastMousePressedPosition[1]-g_TwMgr->m_LastMouseY)>4 ) + { + g_TwMgr->m_CanRepeatMousePressed = false; + g_TwMgr->m_IsRepeatingMousePressed = false; + } + if( g_TwMgr->m_CanRepeatMousePressed ) + { + if( (!g_TwMgr->m_IsRepeatingMousePressed && RepeatDT>g_TwMgr->m_RepeatMousePressedDelay) + || (g_TwMgr->m_IsRepeatingMousePressed && RepeatDT>g_TwMgr->m_RepeatMousePressedPeriod) ) + { + g_TwMgr->m_IsRepeatingMousePressed = true; + g_TwMgr->m_LastMousePressedTime = g_TwMgr->m_Timer.GetTime(); + TwMouseButton(TW_MOUSE_PRESSED, g_TwMgr->m_LastMousePressedButtonID); + } + } + g_TwMgr->m_LastDrawTime = CurrTime; + + if( g_TwMgr->m_WndWidth<0 || g_TwMgr->m_WndHeight<0 ) + { + g_TwMgr->SetLastError(g_ErrBadSize); + return 0; + } + else if( g_TwMgr->m_WndWidth==0 || g_TwMgr->m_WndHeight==0 ) // probably iconified + return 1; // nothing to do + + // count number of bars to draw + size_t i, j; + int Nb = 0; + for( i=0; im_Bars.size(); ++i ) + if( g_TwMgr->m_Bars[i]!=NULL && g_TwMgr->m_Bars[i]->m_Visible ) + ++Nb; + + if( Nb>0 ) + { + PERF( Timer.Reset(); ) + g_TwMgr->m_Graph->BeginDraw(g_TwMgr->m_WndWidth, g_TwMgr->m_WndHeight); + PERF( DT = Timer.GetTime(); printf("\nBegin=%.4fms ", 1000.0*DT); ) + + PERF( Timer.Reset(); ) + vector TopBarsRects, ClippedBarRects; + for( i=0; im_Bars.size(); ++i ) + { + CTwBar *Bar = g_TwMgr->m_Bars[ g_TwMgr->m_Order[i] ]; + if( Bar->m_Visible ) + { + if( g_TwMgr->m_OverlapContent || Bar->IsMinimized() ) + Bar->Draw(); + else + { + // Clip overlapped transparent bars to make them more readable + const int Margin = 4; + CRect BarRect(Bar->m_PosX - Margin, Bar->m_PosY - Margin, Bar->m_Width + 2*Margin, Bar->m_Height + 2*Margin); + TopBarsRects.clear(); + for( j=i+1; jm_Bars.size(); ++j ) + { + CTwBar *TopBar = g_TwMgr->m_Bars[g_TwMgr->m_Order[j]]; + if( TopBar->m_Visible && !TopBar->IsMinimized() ) + TopBarsRects.push_back(CRect(TopBar->m_PosX, TopBar->m_PosY, TopBar->m_Width, TopBar->m_Height)); + } + ClippedBarRects.clear(); + BarRect.Subtract(TopBarsRects, ClippedBarRects); + + if( ClippedBarRects.size()==1 && ClippedBarRects[0]==BarRect ) + //g_TwMgr->m_Graph->DrawRect(Bar->m_PosX, Bar->m_PosY, Bar->m_PosX+Bar->m_Width-1, Bar->m_PosY+Bar->m_Height-1, 0x70ffffff); // Clipping test + Bar->Draw(); // unclipped + else + { + Bar->Draw(CTwBar::DRAW_BG); // draw background only + + // draw content for each clipped rectangle + for( j=0; j1 && ClippedBarRects[j].H>1) + { + g_TwMgr->m_Graph->SetScissor(ClippedBarRects[j].X+1, ClippedBarRects[j].Y, ClippedBarRects[j].W, ClippedBarRects[j].H-1); + //g_TwMgr->m_Graph->DrawRect(0, 0, 1000, 1000, 0x70ffffff); // Clipping test + Bar->Draw(CTwBar::DRAW_CONTENT); + } + g_TwMgr->m_Graph->SetScissor(0, 0, 0, 0); + } + } + } + } + PERF( DT = Timer.GetTime(); printf("Draw=%.4fms ", 1000.0*DT); ) + + PERF( Timer.Reset(); ) + g_TwMgr->m_Graph->EndDraw(); + PERF( DT = Timer.GetTime(); printf("End=%.4fms\n", 1000.0*DT); ) + } + + return 1; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwWindowSize(int _Width, int _Height) +{ + g_InitWndWidth = _Width; + g_InitWndHeight = _Height; + + if( g_TwMgr==NULL || g_TwMgr->m_Graph==NULL ) + { + //TwGlobalError(g_ErrNotInit); -> not an error here + return 0; // not initialized + } + + if( _Width<0 || _Height<0 ) + { + g_TwMgr->SetLastError(g_ErrBadSize); + return 0; + } + + // For multi-thread savety + if( !TwFreeAsyncDrawing() ) + return 0; + + // Delete the extra text objects + if( g_TwMgr->m_KeyPressedTextObj ) + { + g_TwMgr->m_Graph->DeleteTextObj(g_TwMgr->m_KeyPressedTextObj); + g_TwMgr->m_KeyPressedTextObj = NULL; + } + if( g_TwMgr->m_InfoTextObj ) + { + g_TwMgr->m_Graph->DeleteTextObj(g_TwMgr->m_InfoTextObj); + g_TwMgr->m_InfoTextObj = NULL; + } + + g_TwMgr->m_WndWidth = _Width; + g_TwMgr->m_WndHeight = _Height; + g_TwMgr->m_Graph->Restore(); + + // Recreate extra text objects + if( g_TwMgr->m_WndWidth!=0 && g_TwMgr->m_WndHeight!=0 ) + { + if( g_TwMgr->m_KeyPressedTextObj==NULL ) + { + g_TwMgr->m_KeyPressedTextObj = g_TwMgr->m_Graph->NewTextObj(); + g_TwMgr->m_KeyPressedBuildText = true; + } + if( g_TwMgr->m_InfoTextObj==NULL ) + { + g_TwMgr->m_InfoTextObj = g_TwMgr->m_Graph->NewTextObj(); + g_TwMgr->m_InfoBuildText = true; + } + } + + for( std::vector::iterator it=g_TwMgr->m_Bars.begin(); it!=g_TwMgr->m_Bars.end(); ++it ) + (*it)->NotUpToDate(); + + return 1; +} + +// --------------------------------------------------------------------------- + +CTwMgr::CTwMgr(ETwGraphAPI _GraphAPI, void *_Device, int _WndID) +{ + m_GraphAPI = _GraphAPI; + m_Device = _Device; + m_WndID = _WndID; + m_LastError = NULL; + m_CurrentDbgFile = ""; + m_CurrentDbgLine = 0; + //m_Processing = false; + m_Graph = NULL; + m_WndWidth = g_InitWndWidth; + m_WndHeight = g_InitWndHeight; + m_CurrentFont = NULL; // set after by TwIntialize + m_NbMinimizedBars = 0; + m_HelpBar = NULL; + m_HelpBarNotUpToDate = true; + m_HelpBarUpdateNow = false; + m_LastHelpUpdateTime = 0; + m_LastMouseX = -1; + m_LastMouseY = -1; + m_LastMouseWheelPos = 0; + m_IconPos = 0; + m_IconAlign = 0; + m_IconMarginX = m_IconMarginY = 8; + m_FontResizable = true; + m_KeyPressedTextObj = NULL; + m_KeyPressedBuildText = false; + m_KeyPressedTime = 0; + m_InfoTextObj = NULL; + m_InfoBuildText = true; + m_BarInitColorHue = 155; + m_PopupBar = NULL; + m_TypeColor32 = TW_TYPE_UNDEF; + m_TypeColor3F = TW_TYPE_UNDEF; + m_TypeColor4F = TW_TYPE_UNDEF; + m_LastMousePressedTime = 0; + m_LastMousePressedButtonID = TW_MOUSE_MIDDLE; + m_LastMousePressedPosition[0] = -1000; + m_LastMousePressedPosition[1] = -1000; + m_RepeatMousePressedDelay = 0.5; + m_RepeatMousePressedPeriod = 0.1; + m_CanRepeatMousePressed = false; + m_IsRepeatingMousePressed = false; + m_LastDrawTime = 0; + m_UseOldColorScheme = false; + m_Contained = false; + m_ButtonAlign = BUTTON_ALIGN_RIGHT; + m_OverlapContent = false; + m_Terminating = false; + + m_CursorsCreated = false; + #if defined(ANT_UNIX) + m_CurrentXDisplay = NULL; + m_CurrentXWindow = 0; + #endif // defined(ANT_UNIX) + + m_CopyCDStringToClient = g_InitCopyCDStringToClient; + m_CopyStdStringToClient = g_InitCopyStdStringToClient; + m_ClientStdStringStructSize = 0; +} + +// --------------------------------------------------------------------------- + +CTwMgr::~CTwMgr() +{ +} + +// --------------------------------------------------------------------------- + +int CTwMgr::FindBar(const char *_Name) const +{ + if( _Name==NULL || strlen(_Name)<=0 ) + return -1; + int i; + for( i=0; i<(int)m_Bars.size(); ++i ) + if( m_Bars[i]!=NULL && strcmp(_Name, m_Bars[i]->m_Name.c_str())==0 ) + return i; + return -1; +} + + +// --------------------------------------------------------------------------- + +int CTwMgr::HasAttrib(const char *_Attrib, bool *_HasValue) const +{ + *_HasValue = true; + if( _stricmp(_Attrib, "help")==0 ) + return MGR_HELP; + else if( _stricmp(_Attrib, "fontsize")==0 ) + return MGR_FONT_SIZE; + else if( _stricmp(_Attrib, "iconpos")==0 ) + return MGR_ICON_POS; + else if( _stricmp(_Attrib, "iconalign")==0 ) + return MGR_ICON_ALIGN; + else if( _stricmp(_Attrib, "iconmargin")==0 ) + return MGR_ICON_MARGIN; + else if( _stricmp(_Attrib, "fontresizable")==0 ) + return MGR_FONT_RESIZABLE; + else if( _stricmp(_Attrib, "colorscheme")==0 ) + return MGR_COLOR_SCHEME; + else if( _stricmp(_Attrib, "contained")==0 ) + return MGR_CONTAINED; + else if( _stricmp(_Attrib, "buttonalign")==0 ) + return MGR_BUTTON_ALIGN; + else if( _stricmp(_Attrib, "overlap")==0 ) + return MGR_OVERLAP; + + *_HasValue = false; + return 0; // not found +} + +int CTwMgr::SetAttrib(int _AttribID, const char *_Value) +{ + switch( _AttribID ) + { + case MGR_HELP: + if( _Value && strlen(_Value)>0 ) + { + m_Help = _Value; + m_HelpBarNotUpToDate = true; + return 1; + } + else + { + SetLastError(g_ErrNoValue); + return 0; + } + case MGR_FONT_SIZE: + if( _Value && strlen(_Value)>0 ) + { + int s; + int n = sscanf(_Value, "%d", &s); + if( n==1 && s>=1 && s<=3 ) + { + if( s==1 ) + SetFont(g_DefaultSmallFont, true); + else if( s==2 ) + SetFont(g_DefaultNormalFont, true); + else if( s==3 ) + SetFont(g_DefaultLargeFont, true); + return 1; + } + else + { + SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + SetLastError(g_ErrNoValue); + return 0; + } + case MGR_ICON_POS: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "bl")==0 || _stricmp(_Value, "lb")==0 || _stricmp(_Value, "bottomleft")==0 || _stricmp(_Value, "leftbottom")==0 ) + { + m_IconPos = 0; + return 1; + } + else if( _stricmp(_Value, "br")==0 || _stricmp(_Value, "rb")==0 || _stricmp(_Value, "bottomright")==0 || _stricmp(_Value, "rightbottom")==0 ) + { + m_IconPos = 1; + return 1; + } + else if( _stricmp(_Value, "tl")==0 || _stricmp(_Value, "lt")==0 || _stricmp(_Value, "topleft")==0 || _stricmp(_Value, "lefttop")==0 ) + { + m_IconPos = 2; + return 1; + } + else if( _stricmp(_Value, "tr")==0 || _stricmp(_Value, "rt")==0 || _stricmp(_Value, "topright")==0 || _stricmp(_Value, "righttop")==0 ) + { + m_IconPos = 3; + return 1; + } + else + { + SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + SetLastError(g_ErrNoValue); + return 0; + } + case MGR_ICON_ALIGN: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "vert")==0 || _stricmp(_Value, "vertical")==0 ) + { + m_IconAlign = 0; + return 1; + } + else if( _stricmp(_Value, "horiz")==0 || _stricmp(_Value, "horizontal")==0 ) + { + m_IconAlign = 1; + return 1; + } + else + { + SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + SetLastError(g_ErrNoValue); + return 0; + } + case MGR_ICON_MARGIN: + if( _Value && strlen(_Value)>0 ) + { + int x, y; + int n = sscanf(_Value, "%d%d", &x, &y); + if( n==2 && x>=0 && y>=0 ) + { + m_IconMarginX = x; + m_IconMarginY = y; + return 1; + } + else + { + SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + SetLastError(g_ErrNoValue); + return 0; + } + case MGR_FONT_RESIZABLE: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + m_FontResizable = true; + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + m_FontResizable = false; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case MGR_COLOR_SCHEME: + if( _Value && strlen(_Value)>0 ) + { + int s; + int n = sscanf(_Value, "%d", &s); + if( n==1 && s>=0 && s<=1 ) + { + if( s==0 ) + m_UseOldColorScheme = true; + else + m_UseOldColorScheme = false; + return 1; + } + else + { + SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case MGR_CONTAINED: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + m_Contained = true; + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + m_Contained = false; + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + vector::iterator barIt; + for( barIt=g_TwMgr->m_Bars.begin(); barIt!=g_TwMgr->m_Bars.end(); ++barIt ) + if( (*barIt)!=NULL ) + (*barIt)->m_Contained = m_Contained; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case MGR_BUTTON_ALIGN: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "left")==0 ) + m_ButtonAlign = BUTTON_ALIGN_LEFT; + else if( _stricmp(_Value, "center")==0 ) + m_ButtonAlign = BUTTON_ALIGN_CENTER; + else if( _stricmp(_Value, "right")==0 ) + m_ButtonAlign = BUTTON_ALIGN_RIGHT; + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + vector::iterator barIt; + for( barIt=g_TwMgr->m_Bars.begin(); barIt!=g_TwMgr->m_Bars.end(); ++barIt ) + if( (*barIt)!=NULL ) + (*barIt)->m_ButtonAlign = m_ButtonAlign; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + case MGR_OVERLAP: + if( _Value && strlen(_Value)>0 ) + { + if( _stricmp(_Value, "1")==0 || _stricmp(_Value, "true")==0 ) + { + m_OverlapContent = true; + return 1; + } + else if( _stricmp(_Value, "0")==0 || _stricmp(_Value, "false")==0 ) + { + m_OverlapContent = false; + return 1; + } + else + { + g_TwMgr->SetLastError(g_ErrBadValue); + return 0; + } + } + else + { + g_TwMgr->SetLastError(g_ErrNoValue); + return 0; + } + default: + g_TwMgr->SetLastError(g_ErrUnknownAttrib); + return 0; + } +} + +ERetType CTwMgr::GetAttrib(int _AttribID, std::vector& outDoubles, std::ostringstream& outString) const +{ + outDoubles.clear(); + outString.clear(); + + switch( _AttribID ) + { + case MGR_HELP: + outString << m_Help; + return RET_STRING; + case MGR_FONT_SIZE: + if( m_CurrentFont==g_DefaultSmallFont ) + outDoubles.push_back(1); + else if( m_CurrentFont==g_DefaultNormalFont ) + outDoubles.push_back(2); + else if( m_CurrentFont==g_DefaultLargeFont ) + outDoubles.push_back(3); + else + outDoubles.push_back(0); // should not happened + return RET_DOUBLE; + case MGR_ICON_POS: + if( m_IconPos==0 ) + outString << "bottomleft"; + else if( m_IconPos==1 ) + outString << "bottomright"; + else if( m_IconPos==2 ) + outString << "topleft"; + else if( m_IconPos==3 ) + outString << "topright"; + else + outString << "undefined"; // should not happened + return RET_STRING; + case MGR_ICON_ALIGN: + if( m_IconAlign==0 ) + outString << "vertical"; + else if( m_IconAlign==1 ) + outString << "horizontal"; + else + outString << "undefined"; // should not happened + return RET_STRING; + case MGR_ICON_MARGIN: + outDoubles.push_back(m_IconMarginX); + outDoubles.push_back(m_IconMarginY); + return RET_DOUBLE; + case MGR_FONT_RESIZABLE: + outDoubles.push_back(m_FontResizable); + return RET_DOUBLE; + case MGR_COLOR_SCHEME: + outDoubles.push_back(m_UseOldColorScheme ? 0 : 1); + return RET_DOUBLE; + case MGR_CONTAINED: + { + bool contained = m_Contained; + /* + if( contained ) + { + vector::iterator barIt; + for( barIt=g_TwMgr->m_Bars.begin(); barIt!=g_TwMgr->m_Bars.end(); ++barIt ) + if( (*barIt)!=NULL && !(*barIt)->m_Contained ) + { + contained = false; + break; + } + } + */ + outDoubles.push_back(contained); + return RET_DOUBLE; + } + case MGR_BUTTON_ALIGN: + if( m_ButtonAlign==BUTTON_ALIGN_LEFT ) + outString << "left"; + else if( m_ButtonAlign==BUTTON_ALIGN_CENTER ) + outString << "center"; + else + outString << "right"; + return RET_STRING; + case MGR_OVERLAP: + outDoubles.push_back(m_OverlapContent); + return RET_DOUBLE; + default: + g_TwMgr->SetLastError(g_ErrUnknownAttrib); + return RET_ERROR; + } +} + +// --------------------------------------------------------------------------- + +void CTwMgr::Minimize(TwBar *_Bar) +{ + assert(m_Graph!=NULL && _Bar!=NULL); + assert(m_Bars.size()==m_MinOccupied.size()); + if( _Bar->m_IsMinimized ) + return; + if( _Bar->m_Visible ) + { + size_t i = m_NbMinimizedBars; + m_NbMinimizedBars++; + for( i=0; im_MinNumber = (int)i; + } + else + _Bar->m_MinNumber = -1; + _Bar->m_IsMinimized = true; + _Bar->NotUpToDate(); +} + +// --------------------------------------------------------------------------- + +void CTwMgr::Maximize(TwBar *_Bar) +{ + assert(m_Graph!=NULL && _Bar!=NULL); + assert(m_Bars.size()==m_MinOccupied.size()); + if( !_Bar->m_IsMinimized ) + return; + if( _Bar->m_Visible ) + { + --m_NbMinimizedBars; + if( m_NbMinimizedBars<0 ) + m_NbMinimizedBars = 0; + if( _Bar->m_MinNumber>=0 && _Bar->m_MinNumber<(int)m_MinOccupied.size() ) + m_MinOccupied[_Bar->m_MinNumber] = false; + } + _Bar->m_IsMinimized = false; + _Bar->NotUpToDate(); + if( _Bar->m_IsHelpBar ) + m_HelpBarNotUpToDate = true; +} + +// --------------------------------------------------------------------------- + +void CTwMgr::Hide(TwBar *_Bar) +{ + assert(m_Graph!=NULL && _Bar!=NULL); + if( !_Bar->m_Visible ) + return; + if( _Bar->IsMinimized() ) + { + Maximize(_Bar); + _Bar->m_Visible = false; + Minimize(_Bar); + } + else + _Bar->m_Visible = false; + if( !_Bar->m_IsHelpBar ) + m_HelpBarNotUpToDate = true; +} + +// --------------------------------------------------------------------------- + +void CTwMgr::Unhide(TwBar *_Bar) +{ + assert(m_Graph!=NULL && _Bar!=NULL); + if( _Bar->m_Visible ) + return; + if( _Bar->IsMinimized() ) + { + Maximize(_Bar); + _Bar->m_Visible = true; + Minimize(_Bar); + } + else + _Bar->m_Visible = true; + _Bar->NotUpToDate(); + if( !_Bar->m_IsHelpBar ) + m_HelpBarNotUpToDate = true; +} + +// --------------------------------------------------------------------------- + +void CTwMgr::SetFont(const CTexFont *_Font, bool _ResizeBars) +{ + assert(m_Graph!=NULL); + assert(_Font!=NULL); + + m_CurrentFont = _Font; + + for( int i=0; i<(int)m_Bars.size(); ++i ) + if( m_Bars[i]!=NULL ) + { + int fh = m_Bars[i]->m_Font->m_CharHeight; + m_Bars[i]->m_Font = _Font; + if( _ResizeBars ) + { + if( m_Bars[i]->m_Movable ) + { + m_Bars[i]->m_PosX += (3*(fh-_Font->m_CharHeight))/2; + m_Bars[i]->m_PosY += (fh-_Font->m_CharHeight)/2; + } + if( m_Bars[i]->m_Resizable ) + { + m_Bars[i]->m_Width = (m_Bars[i]->m_Width*_Font->m_CharHeight)/fh; + m_Bars[i]->m_Height = (m_Bars[i]->m_Height*_Font->m_CharHeight)/fh; + m_Bars[i]->m_ValuesWidth = (m_Bars[i]->m_ValuesWidth*_Font->m_CharHeight)/fh; + } + } + m_Bars[i]->NotUpToDate(); + } + + if( g_TwMgr->m_HelpBar!=NULL ) + g_TwMgr->m_HelpBar->Update(); + g_TwMgr->m_InfoBuildText = true; + g_TwMgr->m_KeyPressedBuildText = true; + m_HelpBarNotUpToDate = true; +} + +// --------------------------------------------------------------------------- + +void ANT_CALL TwGlobalError(const char *_ErrorMessage) // to be called when g_TwMasterMgr is not created +{ + if( g_ErrorHandler==NULL ) + { + fprintf(stderr, "ERROR(AntTweakBar) >> %s\n", _ErrorMessage); + #ifdef ANT_WINDOWS + OutputDebugString("ERROR(AntTweakBar) >> "); + OutputDebugString(_ErrorMessage); + OutputDebugString("\n"); + #endif // ANT_WINDOWS + } + else + g_ErrorHandler(_ErrorMessage); + + if( g_BreakOnError ) + abort(); +} + +// --------------------------------------------------------------------------- + +void CTwMgr::SetLastError(const char *_ErrorMessage) // _ErrorMessage must be a static string +{ + if (this != g_TwMasterMgr) + { + // route to master + g_TwMasterMgr->SetLastError(_ErrorMessage); + return; + } + + m_LastError = _ErrorMessage; + + if( g_ErrorHandler==NULL ) + { + if( m_CurrentDbgFile!=NULL && strlen(m_CurrentDbgFile)>0 && m_CurrentDbgLine>0 ) + fprintf(stderr, "%s(%d): ", m_CurrentDbgFile, m_CurrentDbgLine); + fprintf(stderr, "ERROR(AntTweakBar) >> %s\n", m_LastError); + #ifdef ANT_WINDOWS + if( m_CurrentDbgFile!=NULL && strlen(m_CurrentDbgFile)>0 && m_CurrentDbgLine>0 ) + { + OutputDebugString(m_CurrentDbgFile); + char sl[32]; + sprintf(sl, "(%d): ", m_CurrentDbgLine); + OutputDebugString(sl); + } + OutputDebugString("ERROR(AntTweakBar) >> "); + OutputDebugString(m_LastError); + OutputDebugString("\n"); + #endif // ANT_WINDOWS + } + else + g_ErrorHandler(_ErrorMessage); + + if( g_BreakOnError ) + abort(); +} + +// --------------------------------------------------------------------------- + +const char *CTwMgr::GetLastError() +{ + if (this != g_TwMasterMgr) + { + // route to master + return g_TwMasterMgr->GetLastError(); + } + + const char *Err = m_LastError; + m_LastError = NULL; + return Err; +} + +// --------------------------------------------------------------------------- + +const char *CTwMgr::CheckLastError() const +{ + return m_LastError; +} + +// --------------------------------------------------------------------------- + +void CTwMgr::SetCurrentDbgParams(const char *dbgFile, int dbgLine) +{ + m_CurrentDbgFile = dbgFile; + m_CurrentDbgLine = dbgLine; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL __TwDbg(const char *dbgFile, int dbgLine) +{ + if( g_TwMgr!=NULL ) + g_TwMgr->SetCurrentDbgParams(dbgFile, dbgLine); + return 0; // always returns zero +} + +// --------------------------------------------------------------------------- + +void ANT_CALL TwHandleErrors(TwErrorHandler _ErrorHandler, int _BreakOnError) +{ + g_ErrorHandler = _ErrorHandler; + g_BreakOnError = (_BreakOnError) ? true : false; +} + +void ANT_CALL TwHandleErrors(TwErrorHandler _ErrorHandler) +{ + TwHandleErrors(_ErrorHandler, false); +} + +// --------------------------------------------------------------------------- + +const char *ANT_CALL TwGetLastError() +{ + if( g_TwMasterMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return g_ErrNotInit; + } + else + return g_TwMasterMgr->GetLastError(); +} + +// --------------------------------------------------------------------------- + +TwBar *ANT_CALL TwNewBar(const char *_Name) +{ + if( g_TwMgr==NULL || g_TwMgr->m_Graph==NULL ) + { + TwGlobalError(g_ErrNotInit); + return NULL; // not initialized + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + if( _Name==NULL || strlen(_Name)<=0 ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return NULL; + } + if( g_TwMgr->FindBar(_Name)>=0 ) + { + g_TwMgr->SetLastError(g_ErrExist); + return NULL; + } + + if( strstr(_Name, "`")!=NULL ) + { + g_TwMgr->SetLastError(g_ErrNoBackQuote); + return NULL; + } + + if( g_TwMgr->m_PopupBar!=NULL ) // delete popup bar if it exists + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + TwBar *Bar = new CTwBar(_Name); + g_TwMgr->m_Bars.push_back(Bar); + g_TwMgr->m_Order.push_back((int)g_TwMgr->m_Bars.size()-1); + g_TwMgr->m_MinOccupied.push_back(false); + g_TwMgr->m_HelpBarNotUpToDate = true; + + return Bar; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwDeleteBar(TwBar *_Bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + if( _Bar==g_TwMgr->m_HelpBar ) + { + g_TwMgr->SetLastError(g_ErrDelHelp); + return 0; + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + vector::iterator BarIt; + int i = 0; + for( BarIt=g_TwMgr->m_Bars.begin(); BarIt!=g_TwMgr->m_Bars.end(); ++BarIt, ++i ) + if( (*BarIt)==_Bar ) + break; + if( BarIt==g_TwMgr->m_Bars.end() ) + { + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } + + if( g_TwMgr->m_PopupBar!=NULL && _Bar!=g_TwMgr->m_PopupBar ) // delete popup bar first if it exists + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + // force bar to un-minimize + g_TwMgr->Maximize(_Bar); + // find an empty MinOccupied + vector::iterator itm; + int j = 0; + for( itm=g_TwMgr->m_MinOccupied.begin(); itm!=g_TwMgr->m_MinOccupied.end(); ++itm, ++j) + if( (*itm)==false ) + break; + assert( itm!=g_TwMgr->m_MinOccupied.end() ); + // shift MinNumbers and erase the empty MinOccupied + for( size_t k=0; km_Bars.size(); ++k ) + if( g_TwMgr->m_Bars[k]!=NULL && g_TwMgr->m_Bars[k]->m_MinNumber>j ) + g_TwMgr->m_Bars[k]->m_MinNumber -= 1; + g_TwMgr->m_MinOccupied.erase(itm); + // erase _Bar order + vector::iterator BarOrderIt = g_TwMgr->m_Order.end(); + for(vector::iterator it=g_TwMgr->m_Order.begin(); it!=g_TwMgr->m_Order.end(); ++it ) + if( (*it)==i ) + BarOrderIt = it; + else if( (*it)>i ) + (*it) -= 1; + assert( BarOrderIt!=g_TwMgr->m_Order.end() ); + g_TwMgr->m_Order.erase(BarOrderIt); + + // erase & delete _Bar + g_TwMgr->m_Bars.erase(BarIt); + delete _Bar; + + g_TwMgr->m_HelpBarNotUpToDate = true; + return 1; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwDeleteAllBars() +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + int n = 0; + if( g_TwMgr->m_Terminating || g_TwMgr->m_HelpBar==NULL ) + { + for( size_t i=0; im_Bars.size(); ++i ) + if( g_TwMgr->m_Bars[i]!=NULL ) + { + ++n; + delete g_TwMgr->m_Bars[i]; + g_TwMgr->m_Bars[i] = NULL; + } + g_TwMgr->m_Bars.clear(); + g_TwMgr->m_Order.clear(); + g_TwMgr->m_MinOccupied.clear(); + g_TwMgr->m_HelpBarNotUpToDate = true; + } + else + { + vector bars = g_TwMgr->m_Bars; + for( size_t i = 0; i < bars.size(); ++i ) + if( bars[i]!=0 && bars[i]!=g_TwMgr->m_HelpBar) + { + ++n; + TwDeleteBar(bars[i]); + } + g_TwMgr->m_HelpBarNotUpToDate = true; + } + + if( n==0 ) + { + g_TwMgr->SetLastError(g_ErrNthToDo); + return 0; + } + else + return 1; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwSetTopBar(const TwBar *_Bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + if( _Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_BarAlwaysOnBottom.length()>0 ) + { + if( strcmp(_Bar->m_Name.c_str(), g_TwMgr->m_BarAlwaysOnBottom.c_str())==0 ) + return TwSetBottomBar(_Bar); + } + + int i = -1, iOrder; + for( iOrder=0; iOrder<(int)g_TwMgr->m_Bars.size(); ++iOrder ) + { + i = g_TwMgr->m_Order[iOrder]; + assert( i>=0 && i<(int)g_TwMgr->m_Bars.size() ); + if( g_TwMgr->m_Bars[i]==_Bar ) + break; + } + if( i<0 || iOrder>=(int)g_TwMgr->m_Bars.size() ) // bar not found + { + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } + + for( int j=iOrder; j<(int)g_TwMgr->m_Bars.size()-1; ++j ) + g_TwMgr->m_Order[j] = g_TwMgr->m_Order[j+1]; + g_TwMgr->m_Order[(int)g_TwMgr->m_Bars.size()-1] = i; + + if( _Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_BarAlwaysOnTop.length()>0 ) + { + int topIdx = g_TwMgr->FindBar(g_TwMgr->m_BarAlwaysOnTop.c_str()); + TwBar *top = (topIdx>=0 && topIdx<(int)g_TwMgr->m_Bars.size()) ? g_TwMgr->m_Bars[topIdx] : NULL; + if( top!=NULL && top!=_Bar ) + TwSetTopBar(top); + } + + if( g_TwMgr->m_PopupBar!=NULL && _Bar!=g_TwMgr->m_PopupBar ) + TwSetTopBar(g_TwMgr->m_PopupBar); + + return 1; +} + +// --------------------------------------------------------------------------- + +TwBar * ANT_CALL TwGetTopBar() +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return NULL; // not initialized + } + + if( g_TwMgr->m_Bars.size()>0 && g_TwMgr->m_PopupBar==NULL ) + return g_TwMgr->m_Bars[g_TwMgr->m_Order[ g_TwMgr->m_Bars.size()-1 ]]; + else if( g_TwMgr->m_Bars.size()>1 && g_TwMgr->m_PopupBar!=NULL ) + return g_TwMgr->m_Bars[g_TwMgr->m_Order[ g_TwMgr->m_Bars.size()-2 ]]; + else + return NULL; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwSetBottomBar(const TwBar *_Bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + if( _Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_BarAlwaysOnTop.length()>0 ) + { + if( strcmp(_Bar->m_Name.c_str(), g_TwMgr->m_BarAlwaysOnTop.c_str())==0 ) + return TwSetTopBar(_Bar); + } + + int i = -1, iOrder; + for( iOrder=0; iOrder<(int)g_TwMgr->m_Bars.size(); ++iOrder ) + { + i = g_TwMgr->m_Order[iOrder]; + assert( i>=0 && i<(int)g_TwMgr->m_Bars.size() ); + if( g_TwMgr->m_Bars[i]==_Bar ) + break; + } + if( i<0 || iOrder>=(int)g_TwMgr->m_Bars.size() ) // bar not found + { + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } + + if( iOrder>0 ) + for( int j=iOrder-1; j>=0; --j ) + g_TwMgr->m_Order[j+1] = g_TwMgr->m_Order[j]; + g_TwMgr->m_Order[0] = i; + + if( _Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_BarAlwaysOnBottom.length()>0 ) + { + int btmIdx = g_TwMgr->FindBar(g_TwMgr->m_BarAlwaysOnBottom.c_str()); + TwBar *btm = (btmIdx>=0 && btmIdx<(int)g_TwMgr->m_Bars.size()) ? g_TwMgr->m_Bars[btmIdx] : NULL; + if( btm!=NULL && btm!=_Bar ) + TwSetBottomBar(btm); + } + + return 1; +} + +// --------------------------------------------------------------------------- + +TwBar* ANT_CALL TwGetBottomBar() +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return NULL; // not initialized + } + + if( g_TwMgr->m_Bars.size()>0 ) + return g_TwMgr->m_Bars[g_TwMgr->m_Order[0]]; + else + return NULL; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwSetBarState(TwBar *_Bar, TwState _State) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + switch( _State ) + { + case TW_STATE_SHOWN: + g_TwMgr->Unhide(_Bar); + return 1; + case TW_STATE_ICONIFIED: + //g_TwMgr->Unhide(_Bar); + g_TwMgr->Minimize(_Bar); + return 1; + case TW_STATE_HIDDEN: + //g_TwMgr->Maximize(_Bar); + g_TwMgr->Hide(_Bar); + return 1; + case TW_STATE_UNICONIFIED: + //g_TwMgr->Unhide(_Bar); + g_TwMgr->Maximize(_Bar); + return 1; + default: + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } +} + +// --------------------------------------------------------------------------- + +/* +TwState ANT_CALL TwGetBarState(const TwBar *_Bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return TW_STATE_ERROR; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return TW_STATE_ERROR; + } + + if( !_Bar->m_Visible ) + return TW_STATE_HIDDEN; + else if( _Bar->IsMinimized() ) + return TW_STATE_ICONIFIED; + else + return TW_STATE_SHOWN; +} +*/ + +// --------------------------------------------------------------------------- + +const char * ANT_CALL TwGetBarName(TwBar *_Bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return NULL; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return NULL; + } + vector::iterator BarIt; + int i = 0; + for( BarIt=g_TwMgr->m_Bars.begin(); BarIt!=g_TwMgr->m_Bars.end(); ++BarIt, ++i ) + if( (*BarIt)==_Bar ) + break; + if( BarIt==g_TwMgr->m_Bars.end() ) + { + g_TwMgr->SetLastError(g_ErrNotFound); + return NULL; + } + + return _Bar->m_Name.c_str(); +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwGetBarCount() +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + + return (int)g_TwMgr->m_Bars.size(); +} + + +// --------------------------------------------------------------------------- + +TwBar * ANT_CALL TwGetBarByIndex(int index) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return NULL; // not initialized + } + + if( index>=0 && index<(int)g_TwMgr->m_Bars.size() ) + return g_TwMgr->m_Bars[index]; + else + { + g_TwMgr->SetLastError(g_ErrOutOfRange); + return NULL; + } +} + +// --------------------------------------------------------------------------- + +TwBar * ANT_CALL TwGetBarByName(const char *name) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return NULL; // not initialized + } + + int idx = g_TwMgr->FindBar(name); + if ( idx>=0 && idx<(int)g_TwMgr->m_Bars.size() ) + return g_TwMgr->m_Bars[idx]; + else + return NULL; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwRefreshBar(TwBar *bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( bar==NULL ) + { + vector::iterator BarIt; + for( BarIt=g_TwMgr->m_Bars.begin(); BarIt!=g_TwMgr->m_Bars.end(); ++BarIt ) + if( *BarIt!=NULL ) + (*BarIt)->NotUpToDate(); + } + else + { + vector::iterator BarIt; + int i = 0; + for( BarIt=g_TwMgr->m_Bars.begin(); BarIt!=g_TwMgr->m_Bars.end(); ++BarIt, ++i ) + if( (*BarIt)==bar ) + break; + if( BarIt==g_TwMgr->m_Bars.end() ) + { + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } + + bar->NotUpToDate(); + } + return 1; +} + +// --------------------------------------------------------------------------- + +int BarVarHasAttrib(CTwBar *_Bar, CTwVar *_Var, const char *_Attrib, bool *_HasValue); +int BarVarSetAttrib(CTwBar *_Bar, CTwVar *_Var, CTwVarGroup *_VarParent, int _VarIndex, int _AttribID, const char *_Value); +ERetType BarVarGetAttrib(CTwBar *_Bar, CTwVar *_Var, CTwVarGroup *_VarParent, int _VarIndex, int _AttribID, std::vector& outDouble, std::ostringstream& outString); + + +int ANT_CALL TwGetParam(TwBar *bar, const char *varName, const char *paramName, TwParamValueType paramValueType, unsigned int outValueMaxCount, void *outValues) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( paramName==NULL || strlen(paramName)<=0 ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + if( outValueMaxCount<=0 || outValues==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + if( bar==NULL ) + bar = TW_GLOBAL_BAR; + else + { + vector::iterator barIt; + int i = 0; + for( barIt=g_TwMgr->m_Bars.begin(); barIt!=g_TwMgr->m_Bars.end(); ++barIt, ++i ) + if( (*barIt)==bar ) + break; + if( barIt==g_TwMgr->m_Bars.end() ) + { + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } + } + CTwVarGroup *varParent = NULL; + int varIndex = -1; + CTwVar *var = NULL; + if( varName!=NULL && strlen(varName)>0 ) + { + var = bar->Find(varName, &varParent, &varIndex); + if( var==NULL ) + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Unknown var '%s/%s'", + (bar==TW_GLOBAL_BAR) ? "GLOBAL" : bar->m_Name.c_str(), varName); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + } + + bool hasValue = false; + int paramID = BarVarHasAttrib(bar, var, paramName, &hasValue); + if( paramID>0 ) + { + std::ostringstream valStr; + std::vector valDbl; + const char *PrevLastErrorPtr = g_TwMgr->CheckLastError(); + + ERetType retType = BarVarGetAttrib(bar, var, varParent, varIndex, paramID, valDbl, valStr); + unsigned int i, valDblCount = (unsigned int)valDbl.size(); + if( valDblCount > outValueMaxCount ) + valDblCount = outValueMaxCount; + if( retType==RET_DOUBLE && valDblCount==0 ) + { + g_TwMgr->SetLastError(g_ErrHasNoValue); + retType = RET_ERROR; + } + + if( retType==RET_DOUBLE ) + { + switch( paramValueType ) + { + case TW_PARAM_INT32: + for( i=0; i(outValues))[i] = (int)valDbl[i]; + return valDblCount; + case TW_PARAM_FLOAT: + for( i=0; i(outValues))[i] = (float)valDbl[i]; + return valDblCount; + case TW_PARAM_DOUBLE: + for( i=0; i(outValues))[i] = valDbl[i]; + return valDblCount; + case TW_PARAM_CSTRING: + valStr.clear(); + for( i=0; i<(unsigned int)valDbl.size(); i++ ) // not valDblCount here + valStr << ((i>0) ? " " : "") << valDbl[i]; + strncpy(static_cast(outValues), valStr.str().c_str(), outValueMaxCount); + i = (unsigned int)valStr.str().size(); + if( i>outValueMaxCount-1 ) + i = outValueMaxCount-1; + (static_cast(outValues))[i] = '\0'; + return 1; // always returns 1 for CSTRING + default: + g_TwMgr->SetLastError(g_ErrBadParam); // Unknown param value type + retType = RET_ERROR; + } + } + else if( retType==RET_STRING ) + { + if( paramValueType == TW_PARAM_CSTRING ) + { + strncpy(static_cast(outValues), valStr.str().c_str(), outValueMaxCount); + i = (unsigned int)valStr.str().size(); + if( i>outValueMaxCount-1 ) + i = outValueMaxCount-1; + (static_cast(outValues))[i] = '\0'; + return 1; // always returns 1 for CSTRING + } + else + { + g_TwMgr->SetLastError(g_ErrBadType); // string cannot be converted to int or double + retType = RET_ERROR; + } + } + + if( retType==RET_ERROR ) + { + bool errMsg = (g_TwMgr->CheckLastError()!=NULL && strlen(g_TwMgr->CheckLastError())>0 && PrevLastErrorPtr!=g_TwMgr->CheckLastError()); + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Unable to get param '%s%s%s %s' %s%s", + (bar==TW_GLOBAL_BAR) ? "GLOBAL" : bar->m_Name.c_str(), (var!=NULL) ? "/" : "", + (var!=NULL) ? varName : "", paramName, errMsg ? " : " : "", + errMsg ? g_TwMgr->CheckLastError() : ""); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + } + return retType; + } + else + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Unknown param '%s%s%s %s'", + (bar==TW_GLOBAL_BAR) ? "GLOBAL" : bar->m_Name.c_str(), + (var!=NULL) ? "/" : "", (var!=NULL) ? varName : "", paramName); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } +} + + +int ANT_CALL TwSetParam(TwBar *bar, const char *varName, const char *paramName, TwParamValueType paramValueType, unsigned int inValueCount, const void *inValues) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( paramName==NULL || strlen(paramName)<=0 ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + if( inValueCount>0 && inValues==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + TwFreeAsyncDrawing(); // For multi-thread savety + + if( bar==NULL ) + bar = TW_GLOBAL_BAR; + else + { + vector::iterator barIt; + int i = 0; + for( barIt=g_TwMgr->m_Bars.begin(); barIt!=g_TwMgr->m_Bars.end(); ++barIt, ++i ) + if( (*barIt)==bar ) + break; + if( barIt==g_TwMgr->m_Bars.end() ) + { + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } + } + CTwVarGroup *varParent = NULL; + int varIndex = -1; + CTwVar *var = NULL; + if( varName!=NULL && strlen(varName)>0 ) + { + var = bar->Find(varName, &varParent, &varIndex); + if( var==NULL ) + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Unknown var '%s/%s'", + (bar==TW_GLOBAL_BAR) ? "GLOBAL" : bar->m_Name.c_str(), varName); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + } + + bool hasValue = false; + int paramID = BarVarHasAttrib(bar, var, paramName, &hasValue); + if( paramID>0 ) + { + int ret = 0; + const char *PrevLastErrorPtr = g_TwMgr->CheckLastError(); + if( hasValue ) + { + std::ostringstream valuesStr; + unsigned int i; + switch( paramValueType ) + { + case TW_PARAM_INT32: + for( i=0; i(inValues))[i] << ((i(inValues))[i] << ((i(inValues))[i] << ((i(inValues))[i]; + for( const char *ch = str; *ch!=0; ch++ ) + if( *ch=='`' ) + valuesStr << "`'`'`"; + else + valuesStr << *ch; + valuesStr << "` "; + } + */ + if( inValueCount!=1 ) + { + g_TwMgr->SetLastError(g_ErrCStrParam); // count for CString param must be 1 + return 0; + } + else + valuesStr << static_cast(inValues); + break; + default: + g_TwMgr->SetLastError(g_ErrBadParam); // Unknown param value type + return 0; + } + ret = BarVarSetAttrib(bar, var, varParent, varIndex, paramID, valuesStr.str().c_str()); + } + else + ret = BarVarSetAttrib(bar, var, varParent, varIndex, paramID, NULL); + if( ret==0 ) + { + bool errMsg = (g_TwMgr->CheckLastError()!=NULL && strlen(g_TwMgr->CheckLastError())>0 && PrevLastErrorPtr!=g_TwMgr->CheckLastError()); + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Unable to set param '%s%s%s %s' %s%s", + (bar==TW_GLOBAL_BAR) ? "GLOBAL" : bar->m_Name.c_str(), (var!=NULL) ? "/" : "", + (var!=NULL) ? varName : "", paramName, errMsg ? " : " : "", + errMsg ? g_TwMgr->CheckLastError() : ""); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + } + return ret; + } + else + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Unknown param '%s%s%s %s'", + (bar==TW_GLOBAL_BAR) ? "GLOBAL" : bar->m_Name.c_str(), + (var!=NULL) ? "/" : "", (var!=NULL) ? varName : "", paramName); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } +} + +// --------------------------------------------------------------------------- + +static int s_PassProxy = 0; +void *CTwMgr::CStruct::s_PassProxyAsClientData = &s_PassProxy; // special tag + +CTwMgr::CStructProxy::CStructProxy() +{ + memset(this, 0, sizeof(*this)); +} + +CTwMgr::CStructProxy::~CStructProxy() +{ + if( m_StructData!=NULL && m_DeleteStructData ) + { + //if( m_StructExtData==NULL && g_TwMgr!=NULL && m_Type>=TW_TYPE_STRUCT_BASE && m_Typem_Structs.size() ) + // g_TwMgr->UninitVarData(m_Type, m_StructData, g_TwMgr->m_Structs[m_Type-TW_TYPE_STRUCT_BASE].m_Size); + delete[] (char*)m_StructData; + } + if( m_StructExtData!=NULL ) + { + //if( g_TwMgr!=NULL && m_Type>=TW_TYPE_STRUCT_BASE && m_Typem_Structs.size() ) + // g_TwMgr->UninitVarData(m_Type, m_StructExtData, g_TwMgr->m_Structs[m_Type-TW_TYPE_STRUCT_BASE].m_Size); + delete[] (char*)m_StructExtData; + } + memset(this, 0, sizeof(*this)); +} + +/* +void CTwMgr::InitVarData(TwType _Type, void *_Data, size_t _Size) +{ + if( _Data!=NULL ) + { + if( _Type>=TW_TYPE_STRUCT_BASE && _Type=TW_TYPE_STRUCT_BASE && _Type~string(); + memset(_Data, 0, _Size); + } + else + memset(_Data, 0, _Size); + } +} +*/ + +void CTwMgr::UnrollCDStdString(std::vector& _Records, TwType _Type, void *_Data) +{ + if( _Data!=NULL ) + { + if( _Type>=TW_TYPE_STRUCT_BASE && _Type& _Records) +{ + for( size_t i=0; i<_Records.size(); ++i ) + memcpy(_Records[i].m_DataPtr, _Records[i].m_PrevValue, m_ClientStdStringStructSize); +} + +CTwMgr::CMemberProxy::CMemberProxy() +{ + memset(this, 0, sizeof(*this)); +} + +CTwMgr::CMemberProxy::~CMemberProxy() +{ + memset(this, 0, sizeof(*this)); +} + +void ANT_CALL CTwMgr::CMemberProxy::SetCB(const void *_Value, void *_ClientData) +{ + if( _ClientData && _Value ) + { + const CMemberProxy *mProxy = static_cast(_ClientData); + if( g_TwMgr && mProxy ) + { + const CStructProxy *sProxy = mProxy->m_StructProxy; + if( sProxy && sProxy->m_StructData && sProxy->m_Type>=TW_TYPE_STRUCT_BASE && sProxy->m_Typem_Structs.size() ) + { + CTwMgr::CStruct& s = g_TwMgr->m_Structs[sProxy->m_Type-TW_TYPE_STRUCT_BASE]; + if( mProxy->m_MemberIndex>=0 && mProxy->m_MemberIndex<(int)s.m_Members.size() ) + { + CTwMgr::CStructMember& m = s.m_Members[mProxy->m_MemberIndex]; + if( m.m_Size>0 && m.m_Type!=TW_TYPE_BUTTON ) + { + if( s.m_IsExt ) + { + memcpy((char *)sProxy->m_StructExtData + m.m_Offset, _Value, m.m_Size); + if( s.m_CopyVarFromExtCallback && sProxy->m_StructExtData ) + s.m_CopyVarFromExtCallback(sProxy->m_StructData, sProxy->m_StructExtData, mProxy->m_MemberIndex, (s.m_ExtClientData==s.s_PassProxyAsClientData) ? _ClientData : s.m_ExtClientData); + } + else + memcpy((char *)sProxy->m_StructData + m.m_Offset, _Value, m.m_Size); + if( sProxy->m_StructSetCallback ) + { + g_TwMgr->m_CDStdStringRecords.resize(0); + g_TwMgr->UnrollCDStdString(g_TwMgr->m_CDStdStringRecords, sProxy->m_Type, sProxy->m_StructData); + sProxy->m_StructSetCallback(sProxy->m_StructData, sProxy->m_StructClientData); + g_TwMgr->RestoreCDStdString(g_TwMgr->m_CDStdStringRecords); + } + } + } + } + } + } +} + +void ANT_CALL CTwMgr::CMemberProxy::GetCB(void *_Value, void *_ClientData) +{ + if( _ClientData && _Value ) + { + const CMemberProxy *mProxy = static_cast(_ClientData); + if( g_TwMgr && mProxy ) + { + const CStructProxy *sProxy = mProxy->m_StructProxy; + if( sProxy && sProxy->m_StructData && sProxy->m_Type>=TW_TYPE_STRUCT_BASE && sProxy->m_Typem_Structs.size() ) + { + CTwMgr::CStruct& s = g_TwMgr->m_Structs[sProxy->m_Type-TW_TYPE_STRUCT_BASE]; + if( mProxy->m_MemberIndex>=0 && mProxy->m_MemberIndex<(int)s.m_Members.size() ) + { + CTwMgr::CStructMember& m = s.m_Members[mProxy->m_MemberIndex]; + if( m.m_Size>0 && m.m_Type!=TW_TYPE_BUTTON ) + { + if( sProxy->m_StructGetCallback ) + sProxy->m_StructGetCallback(sProxy->m_StructData, sProxy->m_StructClientData); + if( s.m_IsExt ) + { + if( s.m_CopyVarToExtCallback && sProxy->m_StructExtData ) + s.m_CopyVarToExtCallback(sProxy->m_StructData, sProxy->m_StructExtData, mProxy->m_MemberIndex, (s.m_ExtClientData==s.s_PassProxyAsClientData) ? _ClientData : s.m_ExtClientData); + memcpy(_Value, (char *)sProxy->m_StructExtData + m.m_Offset, m.m_Size); + } + else + memcpy(_Value, (char *)sProxy->m_StructData + m.m_Offset, m.m_Size); + } + } + } + } + } +} + +// --------------------------------------------------------------------------- + +void ANT_CALL CTwMgr::CCDStdString::SetCB(const void *_Value, void *_ClientData) +{ + if( _Value==NULL || _ClientData==NULL || g_TwMgr==NULL ) + return; + CTwMgr::CCDStdString *CDStdString = (CTwMgr::CCDStdString *)_ClientData; + const char *SrcStr = *(const char **)_Value; + if( SrcStr==NULL ) + { + static char s_EmptyString[] = ""; + SrcStr = s_EmptyString; + } + if( CDStdString->m_ClientSetCallback==NULL ) + { + if( g_TwMgr->m_CopyStdStringToClient && CDStdString->m_ClientStdStringPtr!=NULL ) + { + CTwMgr::CClientStdString clientSrcStr; // convert VC++ Release/Debug std::string + clientSrcStr.FromLib(SrcStr); + g_TwMgr->m_CopyStdStringToClient(*(CDStdString->m_ClientStdStringPtr), clientSrcStr.ToClient()); + } + } + else + { + if( CDStdString->m_ClientSetCallback==CMemberProxy::SetCB ) + CDStdString->m_ClientSetCallback(&SrcStr, CDStdString->m_ClientData); + else + { + CTwMgr::CClientStdString clientSrcStr; // convert VC++ Release/Debug std::string + clientSrcStr.FromLib(SrcStr); + std::string& ValStr = clientSrcStr.ToClient(); + CDStdString->m_ClientSetCallback(&ValStr, CDStdString->m_ClientData); + } + } +} + +void ANT_CALL CTwMgr::CCDStdString::GetCB(void *_Value, void *_ClientData) +{ + if( _Value==NULL || _ClientData==NULL || g_TwMgr==NULL ) + return; + CTwMgr::CCDStdString *CDStdString = (CTwMgr::CCDStdString *)_ClientData; + char **DstStrPtr = (char **)_Value; + if( CDStdString->m_ClientGetCallback==NULL ) + { + if( CDStdString->m_ClientStdStringPtr!=NULL ) + { + //*DstStrPtr = const_cast(CDStdString->m_ClientStdStringPtr->c_str()); + static CTwMgr::CLibStdString s_LibStr; // static because it will be used as a returned value + s_LibStr.FromClient(*CDStdString->m_ClientStdStringPtr); + *DstStrPtr = const_cast(s_LibStr.ToLib().c_str()); + } + else + { + static char s_EmptyString[] = ""; + *DstStrPtr = s_EmptyString; + } + } + else + { + // m_ClientGetCallback uses TwCopyStdStringToLibrary to copy string + // and TwCopyStdStringToLibrary does the VC++ Debug/Release std::string conversion. + CDStdString->m_ClientGetCallback(&(CDStdString->m_LocalString[0]), CDStdString->m_ClientData); + //*DstStrPtr = const_cast(CDStdString->m_LocalString.c_str()); + char **StrPtr = (char **)&(CDStdString->m_LocalString[0]); + *DstStrPtr = *StrPtr; + } +} + +// --------------------------------------------------------------------------- + +static int s_SeparatorTag = 0; + +// --------------------------------------------------------------------------- + +static int AddVar(TwBar *_Bar, const char *_Name, ETwType _Type, void *_VarPtr, bool _ReadOnly, TwSetVarCallback _SetCallback, TwGetVarCallback _GetCallback, TwButtonCallback _ButtonCallback, void *_ClientData, const char *_Def) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + + char unnamedVarName[64]; + if( _Name==NULL || strlen(_Name)==0 ) // create a name automatically + { + static unsigned int s_UnnamedVarCount = 0; + _snprintf(unnamedVarName, sizeof(unnamedVarName), "TW_UNNAMED_%04X", s_UnnamedVarCount); + _Name = unnamedVarName; + ++s_UnnamedVarCount; + } + + if( _Bar==NULL || _Name==NULL || strlen(_Name)==0 || (_VarPtr==NULL && _GetCallback==NULL && _Type!=TW_TYPE_BUTTON) ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + if( _Bar->Find(_Name)!=NULL ) + { + g_TwMgr->SetLastError(g_ErrExist); + return 0; + } + + if( strstr(_Name, "`")!=NULL ) + { + g_TwMgr->SetLastError(g_ErrNoBackQuote); + return 0; + } + + if( _VarPtr==NULL && _Type!=TW_TYPE_BUTTON && _GetCallback!=NULL && _SetCallback==NULL ) + _ReadOnly = true; // force readonly in this case + + // Convert color types + if( _Type==TW_TYPE_COLOR32 ) + _Type = g_TwMgr->m_TypeColor32; + else if( _Type==TW_TYPE_COLOR3F ) + _Type = g_TwMgr->m_TypeColor3F; + else if( _Type==TW_TYPE_COLOR4F ) + _Type = g_TwMgr->m_TypeColor4F; + + // Convert rotation types + if( _Type==TW_TYPE_QUAT4F ) + _Type = g_TwMgr->m_TypeQuat4F; + else if( _Type==TW_TYPE_QUAT4D ) + _Type = g_TwMgr->m_TypeQuat4D; + else if( _Type==TW_TYPE_DIR3F ) + _Type = g_TwMgr->m_TypeDir3F; + else if( _Type==TW_TYPE_DIR3D ) + _Type = g_TwMgr->m_TypeDir3D; + + // VC++ uses a different definition of std::string in Debug and Release modes. + // sizeof(std::string) is encoded in TW_TYPE_STDSTRING to overcome this issue. + if( (_Type&0xffff0000)==(TW_TYPE_STDSTRING&0xffff0000) ) + { + size_t clientStdStringStructSize = (_Type&0xffff); + if( g_TwMgr->m_ClientStdStringStructSize==0 ) + g_TwMgr->m_ClientStdStringStructSize = clientStdStringStructSize; + int diff = abs((int)g_TwMgr->m_ClientStdStringStructSize - (int)sizeof(std::string)); + if( g_TwMgr->m_ClientStdStringStructSize!=clientStdStringStructSize || g_TwMgr->m_ClientStdStringStructSize==0 + || (diff!=0 && diff!=sizeof(void*))) + { + g_TwMgr->SetLastError(g_ErrStdString); + return 0; + } + _Type = TW_TYPE_STDSTRING; // force type to be our TW_TYPE_STDSTRING + } + + if( _Type==TW_TYPE_STDSTRING ) + { + g_TwMgr->m_CDStdStrings.push_back(CTwMgr::CCDStdString()); + CTwMgr::CCDStdString& CDStdString = g_TwMgr->m_CDStdStrings.back(); + CDStdString.m_ClientStdStringPtr = (std::string *)_VarPtr; + CDStdString.m_ClientSetCallback = _SetCallback; + CDStdString.m_ClientGetCallback = _GetCallback; + CDStdString.m_ClientData = _ClientData; + //CDStdString.m_This = g_TwMgr->m_CDStdStrings.end(); + //--CDStdString.m_This; + TwGetVarCallback GetCB = CTwMgr::CCDStdString::GetCB; + TwSetVarCallback SetCB = CTwMgr::CCDStdString::SetCB; + if( _VarPtr==NULL && _SetCallback==NULL ) + SetCB = NULL; + if( _VarPtr==NULL && _GetCallback==NULL ) + GetCB = NULL; + return AddVar(_Bar, _Name, TW_TYPE_CDSTDSTRING, NULL, _ReadOnly, SetCB, GetCB, NULL, &CDStdString, _Def); + } + else if( (_Type>TW_TYPE_UNDEF && _Type=TW_TYPE_ENUM_BASE && _Typem_Enums.size()) + || (_Type>TW_TYPE_CSSTRING_BASE && _Type<=TW_TYPE_CSSTRING_MAX) + || _Type==TW_TYPE_CDSTDSTRING + || IsCustomType(_Type) ) // (_Type>=TW_TYPE_CUSTOM_BASE && _Typem_Customs.size()) ) + { + CTwVarAtom *Var = new CTwVarAtom; + Var->m_Name = _Name; + Var->m_Ptr = _VarPtr; + Var->m_Type = _Type; + Var->m_ColorPtr = &(_Bar->m_ColLabelText); + if( _VarPtr!=NULL ) + { + assert( _GetCallback==NULL && _SetCallback==NULL && _ButtonCallback==NULL ); + + Var->m_ReadOnly = _ReadOnly; + Var->m_GetCallback = NULL; + Var->m_SetCallback = NULL; + Var->m_ClientData = NULL; + } + else + { + assert( _GetCallback!=NULL || _Type==TW_TYPE_BUTTON ); + + Var->m_GetCallback = _GetCallback; + Var->m_SetCallback = _SetCallback; + Var->m_ClientData = _ClientData; + if( _Type==TW_TYPE_BUTTON ) + { + Var->m_Val.m_Button.m_Callback = _ButtonCallback; + if( _ButtonCallback==NULL && _ClientData==&s_SeparatorTag ) + { + Var->m_Val.m_Button.m_Separator = 1; + Var->m_Label = " "; + } + else if( _ButtonCallback==NULL ) + Var->m_ColorPtr = &(_Bar->m_ColStaticText); + } + if( _Type!=TW_TYPE_BUTTON ) + Var->m_ReadOnly = (_SetCallback==NULL || _ReadOnly); + else + Var->m_ReadOnly = (_ButtonCallback==NULL); + } + Var->SetDefaults(); + + if( IsCustomType(_Type) ) // _Type>=TW_TYPE_CUSTOM_BASE && _Typem_Customs.size() ) + { + if( Var->m_GetCallback==CTwMgr::CMemberProxy::GetCB && Var->m_SetCallback==CTwMgr::CMemberProxy::SetCB ) + Var->m_Val.m_Custom.m_MemberProxy = static_cast(Var->m_ClientData); + else + Var->m_Val.m_Custom.m_MemberProxy = NULL; + } + + _Bar->m_VarRoot.m_Vars.push_back(Var); + _Bar->NotUpToDate(); + g_TwMgr->m_HelpBarNotUpToDate = true; + + if( _Def!=NULL && strlen(_Def)>0 ) + { + string d = '`' + _Bar->m_Name + "`/`" + _Name + "` " + _Def; + return TwDefine(d.c_str()); + } + else + return 1; + } + else if(_Type>=TW_TYPE_STRUCT_BASE && _Typem_Structs.size()) + { + CTwMgr::CStruct& s = g_TwMgr->m_Structs[_Type-TW_TYPE_STRUCT_BASE]; + CTwMgr::CStructProxy *sProxy = NULL; + void *vPtr; + if( !s.m_IsExt ) + { + if( _VarPtr!=NULL ) + vPtr = _VarPtr; + else + { + assert( _GetCallback!=NULL || _SetCallback!=NULL ); + assert( s.m_Size>0 ); + vPtr = new char[s.m_Size]; + memset(vPtr, 0, s.m_Size); + // create a new StructProxy + g_TwMgr->m_StructProxies.push_back(CTwMgr::CStructProxy()); + sProxy = &(g_TwMgr->m_StructProxies.back()); + sProxy->m_Type = _Type; + sProxy->m_StructData = vPtr; + sProxy->m_DeleteStructData = true; + sProxy->m_StructSetCallback = _SetCallback; + sProxy->m_StructGetCallback = _GetCallback; + sProxy->m_StructClientData = _ClientData; + sProxy->m_CustomDrawCallback = NULL; + sProxy->m_CustomMouseButtonCallback = NULL; + sProxy->m_CustomMouseMotionCallback = NULL; + sProxy->m_CustomMouseLeaveCallback = NULL; + sProxy->m_CustomCaptureFocus = false; + sProxy->m_CustomIndexFirst = -1; + sProxy->m_CustomIndexLast = -1; + //g_TwMgr->InitVarData(sProxy->m_Type, sProxy->m_StructData, s.m_Size); + } + } + else // s.m_IsExt + { + assert( s.m_Size>0 && s.m_ClientStructSize>0 ); + vPtr = new char[s.m_Size]; // will be m_StructExtData + memset(vPtr, 0, s.m_Size); + // create a new StructProxy + g_TwMgr->m_StructProxies.push_back(CTwMgr::CStructProxy()); + sProxy = &(g_TwMgr->m_StructProxies.back()); + sProxy->m_Type = _Type; + sProxy->m_StructExtData = vPtr; + sProxy->m_StructSetCallback = _SetCallback; + sProxy->m_StructGetCallback = _GetCallback; + sProxy->m_StructClientData = _ClientData; + sProxy->m_CustomDrawCallback = NULL; + sProxy->m_CustomMouseButtonCallback = NULL; + sProxy->m_CustomMouseMotionCallback = NULL; + sProxy->m_CustomMouseLeaveCallback = NULL; + sProxy->m_CustomCaptureFocus = false; + sProxy->m_CustomIndexFirst = -1; + sProxy->m_CustomIndexLast = -1; + //g_TwMgr->InitVarData(sProxy->m_Type, sProxy->m_StructExtData, s.m_Size); + if( _VarPtr!=NULL ) + { + sProxy->m_StructData = _VarPtr; + sProxy->m_DeleteStructData = false; + } + else + { + sProxy->m_StructData = new char[s.m_ClientStructSize]; + memset(sProxy->m_StructData, 0, s.m_ClientStructSize); + sProxy->m_DeleteStructData = true; + //g_TwMgr->InitVarData(ClientStructType, sProxy->m_StructData, s.m_ClientStructSize); //ClientStructType is unknown + } + _VarPtr = NULL; // force use of TwAddVarCB for members + + // init m_StructExtdata + if( s.m_ExtClientData==CTwMgr::CStruct::s_PassProxyAsClientData ) + s.m_StructExtInitCallback(sProxy->m_StructExtData, sProxy); + else + s.m_StructExtInitCallback(sProxy->m_StructExtData, s.m_ExtClientData); + } + + for( int i=0; i<(int)s.m_Members.size(); ++i ) + { + CTwMgr::CStructMember& m = s.m_Members[i]; + string name = string(_Name) + '.' + m.m_Name; + const char *access = ""; + if( _ReadOnly ) + access = "readonly "; + string def = "label=`" + m.m_Name + "` group=`" + _Name + "` " + access; // + m.m_DefString; // member def must be done after group def + if( _VarPtr!=NULL ) + { + if( TwAddVarRW(_Bar, name.c_str(), m.m_Type, (char*)vPtr+m.m_Offset, def.c_str())==0 ) + return 0; + } + else + { + assert( sProxy!=NULL ); + // create a new MemberProxy + g_TwMgr->m_MemberProxies.push_back(CTwMgr::CMemberProxy()); + CTwMgr::CMemberProxy& mProxy = g_TwMgr->m_MemberProxies.back(); + mProxy.m_StructProxy = sProxy; + mProxy.m_MemberIndex = i; + assert( !(s.m_IsExt && (m.m_Type==TW_TYPE_STDSTRING || m.m_Type==TW_TYPE_CDSTDSTRING)) ); // forbidden because this case is not handled by UnrollCDStdString + if( TwAddVarCB(_Bar, name.c_str(), m.m_Type, CTwMgr::CMemberProxy::SetCB, CTwMgr::CMemberProxy::GetCB, &mProxy, def.c_str())==0 ) + return 0; + mProxy.m_Var = _Bar->Find(name.c_str(), &mProxy.m_VarParent, NULL); + mProxy.m_Bar = _Bar; + } + + if( sProxy!=NULL && IsCustomType(m.m_Type) ) // m.m_Type>=TW_TYPE_CUSTOM_BASE && m.m_Typem_Customs.size() ) + { + if( sProxy->m_CustomIndexFirst<0 ) + sProxy->m_CustomIndexFirst = sProxy->m_CustomIndexLast = i; + else + sProxy->m_CustomIndexLast = i; + } + } + char structInfo[64]; + sprintf(structInfo, "typeid=%d valptr=%p close ", _Type, vPtr); + string grpDef = '`' + _Bar->m_Name + "`/`" + _Name + "` " + structInfo; + if( _Def!=NULL && strlen(_Def)>0 ) + grpDef += _Def; + int ret = TwDefine(grpDef.c_str()); + for( int i=0; i<(int)s.m_Members.size(); ++i ) // members must be defined even if grpDef has error + { + CTwMgr::CStructMember& m = s.m_Members[i]; + if( m.m_DefString.length()>0 ) + { + string memberDef = '`' + _Bar->m_Name + "`/`" + _Name + '.' + m.m_Name + "` " + m.m_DefString; + if( !TwDefine(memberDef.c_str()) ) // all members must be defined even if memberDef has error + ret = 0; + } + } + return ret; + } + else + { + if( _Type==TW_TYPE_CSSTRING_BASE ) + g_TwMgr->SetLastError(g_ErrBadSize); // static string of size null + else + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; + } +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwAddVarRW(TwBar *_Bar, const char *_Name, ETwType _Type, void *_Var, const char *_Def) +{ + return AddVar(_Bar, _Name, _Type, _Var, false, NULL, NULL, NULL, NULL, _Def); +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwAddVarRO(TwBar *_Bar, const char *_Name, ETwType _Type, const void *_Var, const char *_Def) +{ + return AddVar(_Bar, _Name, _Type, const_cast(_Var), true, NULL, NULL, NULL, NULL, _Def); +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwAddVarCB(TwBar *_Bar, const char *_Name, ETwType _Type, TwSetVarCallback _SetCallback, TwGetVarCallback _GetCallback, void *_ClientData, const char *_Def) +{ + return AddVar(_Bar, _Name, _Type, NULL, false, _SetCallback, _GetCallback, NULL, _ClientData, _Def); +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwAddButton(TwBar *_Bar, const char *_Name, TwButtonCallback _Callback, void *_ClientData, const char *_Def) +{ + return AddVar(_Bar, _Name, TW_TYPE_BUTTON, NULL, false, NULL, NULL, _Callback, _ClientData, _Def); +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwAddSeparator(TwBar *_Bar, const char *_Name, const char *_Def) +{ + return AddVar(_Bar, _Name, TW_TYPE_BUTTON, NULL, true, NULL, NULL, NULL, &s_SeparatorTag, _Def); +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwRemoveVar(TwBar *_Bar, const char *_Name) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Bar==NULL || _Name==NULL || strlen(_Name)==0 ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + if( g_TwMgr->m_PopupBar!=NULL && _Bar!=g_TwMgr->m_PopupBar ) // delete popup bar first if it exists + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + _Bar->StopEditInPlace(); // desactivate EditInPlace + + CTwVarGroup *Parent = NULL; + int Index = -1; + CTwVar *Var = _Bar->Find(_Name, &Parent, &Index); + if( Var!=NULL && Parent!=NULL && Index>=0 ) + { + if( Parent->m_StructValuePtr!=NULL ) + { + g_TwMgr->SetLastError(g_ErrDelStruct); + return 0; + } + + delete Var; + Parent->m_Vars.erase(Parent->m_Vars.begin()+Index); + if( Parent!=&(_Bar->m_VarRoot) && Parent->m_Vars.size()<=0 ) + TwRemoveVar(_Bar, Parent->m_Name.c_str()); + _Bar->NotUpToDate(); + if( _Bar!=g_TwMgr->m_HelpBar ) + g_TwMgr->m_HelpBarNotUpToDate = true; + return 1; + } + + g_TwMgr->SetLastError(g_ErrNotFound); + return 0; +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwRemoveAllVars(TwBar *_Bar) +{ + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Bar==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + if( g_TwMgr->m_PopupBar!=NULL && _Bar!=g_TwMgr->m_PopupBar && _Bar!=g_TwMgr->m_HelpBar ) // delete popup bar first if it exists + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + _Bar->StopEditInPlace(); // desactivate EditInPlace + + for( vector::iterator it=_Bar->m_VarRoot.m_Vars.begin(); it!=_Bar->m_VarRoot.m_Vars.end(); ++it ) + if( *it != NULL ) + { + delete *it; + *it = NULL; + } + _Bar->m_VarRoot.m_Vars.resize(0); + _Bar->NotUpToDate(); + g_TwMgr->m_HelpBarNotUpToDate = true; + return 1; +} + +// --------------------------------------------------------------------------- + +int ParseToken(string& _Token, const char *_Def, int& Line, int& Column, bool _KeepQuotes, bool _EndCR, char _Sep1='\0', char _Sep2='\0') +{ + const char *Cur = _Def; + _Token = ""; + // skip spaces + while( *Cur==' ' || *Cur=='\t' || *Cur=='\r' || *Cur=='\n' ) + { + if( *Cur=='\n' && _EndCR ) + return (int)(Cur-_Def); // a CR has been found + ++Cur; + if( *Cur=='\n' ) + { + ++Line; + Column = 1; + } + else if( *Cur=='\t' ) + Column += g_TabLength; + else if( *Cur!='\r' ) + ++Column; + } + // read token + int QuoteLine=0, QuoteColumn=0; + const char *QuoteCur; + char Quote = 0; + bool AddChar; + bool LineJustIncremented = false; + while( (Quote==0 && (*Cur!='\0' && *Cur!=' ' && *Cur!='\t' && *Cur!='\r' && *Cur!='\n' && *Cur!=_Sep1 && *Cur!=_Sep2)) + || (Quote!=0 && (*Cur!='\0' /* && *Cur!='\r' && *Cur!='\n' */)) ) // allow multi-line strings + { + LineJustIncremented = false; + AddChar = true; + if( Quote==0 && (*Cur=='\'' || *Cur=='\"' || *Cur=='`') ) + { + Quote = *Cur; + QuoteLine = Line; + QuoteColumn = Column; + QuoteCur = Cur; + AddChar = _KeepQuotes; + } + else if ( Quote!=0 && *Cur==Quote ) + { + Quote = 0; + AddChar = _KeepQuotes; + } + + if( AddChar ) + _Token += *Cur; + ++Cur; + if( *Cur=='\t' ) + Column += g_TabLength; + else if( *Cur=='\n' ) + { + ++Line; + LineJustIncremented = true; + Column = 1; + } + else + ++Column; + } + + if( Quote!=0 ) + { + Line = QuoteLine; + Column = QuoteColumn; + return -(int)(Cur-_Def); // unclosed quote + } + else + { + if( *Cur=='\n' ) + { + if( !LineJustIncremented ) + ++Line; + Column = 1; + } + else if( *Cur=='\t' ) + Column += g_TabLength; + else if( *Cur!='\r' && *Cur!='\0' ) + ++Column; + return (int)(Cur-_Def); + } +} + +// --------------------------------------------------------------------------- + +int GetBarVarFromString(CTwBar **_Bar, CTwVar **_Var, CTwVarGroup **_VarParent, int *_VarIndex, const char *_Str) +{ + *_Bar = NULL; + *_Var = NULL; + *_VarParent = NULL; + *_VarIndex = -1; + vector Names; + string Token; + const char *Cur =_Str; + int l=1, c=1, p=1; + while( *Cur!='\0' && p>0 && Names.size()<=3 ) + { + p = ParseToken(Token, Cur, l, c, false, true, '/', '\\'); + if( p>0 && Token.size()>0 ) + { + Names.push_back(Token); + Cur += p + ((Cur[p]!='\0')?1:0); + } + } + if( p<=0 || (Names.size()!=1 && Names.size()!=2) ) + return 0; // parse error + int BarIdx = g_TwMgr->FindBar(Names[0].c_str()); + if( BarIdx<0 ) + { + if( Names.size()==1 && strcmp(Names[0].c_str(), "GLOBAL")==0 ) + { + *_Bar = TW_GLOBAL_BAR; + return +3; // 'GLOBAL' found + } + else + return -1; // bar not found + } + *_Bar = g_TwMgr->m_Bars[BarIdx]; + if( Names.size()==1 ) + return 1; // bar found, no var name parsed + *_Var = (*_Bar)->Find(Names[1].c_str(), _VarParent, _VarIndex); + if( *_Var==NULL ) + return -2; // var not found + return 2; // bar and var found +} + + +int BarVarHasAttrib(CTwBar *_Bar, CTwVar *_Var, const char *_Attrib, bool *_HasValue) +{ + assert(_Bar!=NULL && _HasValue!=NULL && _Attrib!=NULL && strlen(_Attrib)>0); + *_HasValue = false; + if( _Bar==TW_GLOBAL_BAR ) + { + assert( _Var==NULL ); + return g_TwMgr->HasAttrib(_Attrib, _HasValue); + } + else if( _Var==NULL ) + return _Bar->HasAttrib(_Attrib, _HasValue); + else + return _Var->HasAttrib(_Attrib, _HasValue); +} + + +int BarVarSetAttrib(CTwBar *_Bar, CTwVar *_Var, CTwVarGroup *_VarParent, int _VarIndex, int _AttribID, const char *_Value) +{ + assert(_Bar!=NULL && _AttribID>0); + + /* don't delete popupbar here: if any attrib is changed every frame by the app, popup will not work anymore. + if( g_TwMgr->m_PopupBar!=NULL && _Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_PopupBar->m_BarLinkedToPopupList==_Bar ) // delete popup bar first if it exists + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + */ + + if( _Bar==TW_GLOBAL_BAR ) + { + assert( _Var==NULL ); + return g_TwMgr->SetAttrib(_AttribID, _Value); + } + else if( _Var==NULL ) + return _Bar->SetAttrib(_AttribID, _Value); + else + return _Var->SetAttrib(_AttribID, _Value, _Bar, _VarParent, _VarIndex); + // don't make _Bar not-up-to-date here, should be done in SetAttrib if needed to avoid too frequent refreshs +} + + +ERetType BarVarGetAttrib(CTwBar *_Bar, CTwVar *_Var, CTwVarGroup *_VarParent, int _VarIndex, int _AttribID, std::vector& outDoubles, std::ostringstream& outString) +{ + assert(_Bar!=NULL && _AttribID>0); + + if( _Bar==TW_GLOBAL_BAR ) + { + assert( _Var==NULL ); + return g_TwMgr->GetAttrib(_AttribID, outDoubles, outString); + } + else if( _Var==NULL ) + return _Bar->GetAttrib(_AttribID, outDoubles, outString); + else + return _Var->GetAttrib(_AttribID, _Bar, _VarParent, _VarIndex, outDoubles, outString); +} + +// --------------------------------------------------------------------------- + +static inline std::string ErrorPosition(bool _MultiLine, int _Line, int _Column) +{ + if( !_MultiLine ) + return ""; + else + { + char pos[32]; + //_snprintf(pos, sizeof(pos)-1, " line %d column %d", _Line, _Column); + _snprintf(pos, sizeof(pos)-1, " line %d", _Line); (void)_Column; + pos[sizeof(pos)-1] = '\0'; + return pos; + } +} + +// --------------------------------------------------------------------------- + +int ANT_CALL TwDefine(const char *_Def) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return 0; // not initialized + } + if( _Def==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return 0; + } + + bool MultiLine = false; + const char *Cur = _Def; + while( *Cur!='\0' ) + { + if( *Cur=='\n' ) + { + MultiLine = true; + break; + } + ++Cur; + } + + int Line = 1; + int Column = 1; + enum EState { PARSE_NAME, PARSE_ATTRIB }; + EState State = PARSE_NAME; + string Token; + string Value; + CTwBar *Bar = NULL; + CTwVar *Var = NULL; + CTwVarGroup *VarParent = NULL; + int VarIndex = -1; + int p; + + Cur = _Def; + while( *Cur!='\0' ) + { + const char *PrevCur = Cur; + p = ParseToken(Token, Cur, Line, Column, (State==PARSE_NAME), (State==PARSE_ATTRIB), (State==PARSE_ATTRIB)?'=':'\0'); + if( p<=0 || Token.size()<=0 ) + { + if( p>0 && Cur[p]=='\0' ) + { + Cur += p; + continue; + } + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), (p<0)?(Cur-p):PrevCur); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + char CurSep = Cur[p]; + Cur += p + ((CurSep!='\0')?1:0); + + if( State==PARSE_NAME ) + { + int Err = GetBarVarFromString(&Bar, &Var, &VarParent, &VarIndex, Token.c_str()); + if( Err<=0 ) + { + if( Err==-1 ) + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string: Bar not found%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + else if( Err==-2 ) + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string: Variable not found%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + else + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + State = PARSE_ATTRIB; + } + else // State==PARSE_ATTRIB + { + assert(State==PARSE_ATTRIB); + assert(Bar!=NULL); + + bool HasValue = false; + Value = ""; + int AttribID = BarVarHasAttrib(Bar, Var, Token.c_str(), &HasValue); + if( AttribID<=0 ) + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string: Unknown attribute%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + + // special case for backward compatibility + if( HasValue && ( _stricmp(Token.c_str(), "readonly")==0 || _stricmp(Token.c_str(), "hexa")==0 ) ) + { + if( CurSep==' ' || CurSep=='\t' ) + { + const char *ch = Cur; + while( *ch==' ' || *ch=='\t' ) // find next non-space character + ++ch; + if( *ch!='=' ) // if this is not '=' the param has no value + HasValue = false; + } + } + + if( HasValue ) + { + if( CurSep!='=' ) + { + string EqualStr; + p = ParseToken(EqualStr, Cur, Line, Column, true, true, '='); + CurSep = Cur[p]; + if( p<0 || EqualStr.size()>0 || CurSep!='=' ) + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string: '=' not found while reading attribute value%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + Cur += p + 1; + } + p = ParseToken(Value, Cur, Line, Column, false, true); + if( p<=0 ) + { + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string: can't read attribute value%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + CurSep = Cur[p]; + Cur += p + ((CurSep!='\0')?1:0); + } + const char *PrevLastErrorPtr = g_TwMgr->CheckLastError(); + if( BarVarSetAttrib(Bar, Var, VarParent, VarIndex, AttribID, HasValue?Value.c_str():NULL)==0 ) + { + if( g_TwMgr->CheckLastError()==NULL || strlen(g_TwMgr->CheckLastError())<=0 || g_TwMgr->CheckLastError()==PrevLastErrorPtr ) + _snprintf(g_ErrParse, sizeof(g_ErrParse), "Parsing error in def string: wrong attribute value%s [%-16s...]", ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + else + _snprintf(g_ErrParse, sizeof(g_ErrParse), "%s%s [%-16s...]", g_TwMgr->CheckLastError(), ErrorPosition(MultiLine, Line, Column).c_str(), Token.c_str()); + g_ErrParse[sizeof(g_ErrParse)-1] = '\0'; + g_TwMgr->SetLastError(g_ErrParse); + return 0; + } + // sweep spaces to detect next attrib + while( *Cur==' ' || *Cur=='\t' || *Cur=='\r' ) + { + ++Cur; + if( *Cur=='\t' ) + Column += g_TabLength; + else if( *Cur!='\r' ) + ++Column; + } + if( *Cur=='\n' ) // new line detected + { + ++Line; + Column = 1; + State = PARSE_NAME; + } + } + } + + g_TwMgr->m_HelpBarNotUpToDate = true; + return 1; +} + +// --------------------------------------------------------------------------- + +TwType ANT_CALL TwDefineEnum(const char *_Name, const TwEnumVal *_EnumValues, unsigned int _NbValues) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return TW_TYPE_UNDEF; // not initialized + } + if( _EnumValues==NULL && _NbValues!=0 ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return TW_TYPE_UNDEF; + } + + if( g_TwMgr->m_PopupBar!=NULL ) // delete popup bar first if it exists + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + size_t enumIndex = g_TwMgr->m_Enums.size(); + if( _Name!=NULL && strlen(_Name)>0 ) + for( size_t j=0; jm_Enums.size(); ++j ) + if( strcmp(_Name, g_TwMgr->m_Enums[j].m_Name.c_str())==0 ) + { + enumIndex = j; + break; + } + if( enumIndex==g_TwMgr->m_Enums.size() ) + g_TwMgr->m_Enums.push_back(CTwMgr::CEnum()); + assert( enumIndex>=0 && enumIndexm_Enums.size() ); + CTwMgr::CEnum& e = g_TwMgr->m_Enums[enumIndex]; + if( _Name!=NULL && strlen(_Name)>0 ) + e.m_Name = _Name; + else + e.m_Name = ""; + e.m_Entries.clear(); + for(unsigned int i=0; i<_NbValues; ++i) + { + CTwMgr::CEnum::CEntries::value_type Entry(_EnumValues[i].Value, (_EnumValues[i].Label!=NULL)?_EnumValues[i].Label:""); + pair Result = e.m_Entries.insert(Entry); + if( !Result.second ) + (Result.first)->second = Entry.second; + } + + return TwType( TW_TYPE_ENUM_BASE + enumIndex ); +} + +// --------------------------------------------------------------------------- + +TwType TW_CALL TwDefineEnumFromString(const char *_Name, const char *_EnumString) +{ + if (_EnumString == NULL) + return TwDefineEnum(_Name, NULL, 0); + + // split enumString + stringstream EnumStream(_EnumString); + string Label; + vector Labels; + while( getline(EnumStream, Label, ',') ) { + // trim Label + size_t Start = Label.find_first_not_of(" \n\r\t"); + size_t End = Label.find_last_not_of(" \n\r\t"); + if( Start==string::npos || End==string::npos ) + Label = ""; + else + Label = Label.substr(Start, (End-Start)+1); + // store Label + Labels.push_back(Label); + } + // create TwEnumVal array + vector Vals(Labels.size()); + for( int i=0; i<(int)Labels.size(); i++ ) + { + Vals[i].Value = i; + Vals[i].Label = Labels[i].c_str(); + } + + return TwDefineEnum(_Name, Vals.empty() ? NULL : &(Vals[0]), (unsigned int)Vals.size()); +} + +// --------------------------------------------------------------------------- + +void ANT_CALL CTwMgr::CStruct::DefaultSummary(char *_SummaryString, size_t _SummaryMaxLength, const void *_Value, void *_ClientData) +{ + const CTwVarGroup *varGroup = static_cast(_Value); // special case + if( _SummaryString && _SummaryMaxLength>0 ) + _SummaryString[0] = '\0'; + size_t structIndex = (size_t)(_ClientData); + if( g_TwMgr && _SummaryString && _SummaryMaxLength>2 + && varGroup && static_cast(varGroup)->IsGroup() + && structIndex>=0 && structIndex<=g_TwMgr->m_Structs.size() ) + { + // return g_TwMgr->m_Structs[structIndex].m_Name.c_str(); + CTwMgr::CStruct& s = g_TwMgr->m_Structs[structIndex]; + _SummaryString[0] = '{'; + _SummaryString[1] = '\0'; + bool separator = false; + for( size_t i=0; im_Name + '.' + s.m_Members[i].m_Name; + const CTwVar *var = varGroup->Find(varName.c_str(), NULL, NULL); + if( var ) + { + if( var->IsGroup() ) + { + const CTwVarGroup *grp = static_cast(var); + if( grp->m_SummaryCallback!=NULL ) + { + size_t l = strlen(_SummaryString); + if( separator ) + { + _SummaryString[l++] = ','; + _SummaryString[l++] = '\0'; + } + if( grp->m_SummaryCallback==CTwMgr::CStruct::DefaultSummary ) + grp->m_SummaryCallback(_SummaryString+l, _SummaryMaxLength-l, grp, grp->m_SummaryClientData); + else + grp->m_SummaryCallback(_SummaryString+l, _SummaryMaxLength-l, grp->m_StructValuePtr, grp->m_SummaryClientData); + separator = true; + } + } + else + { + size_t l = strlen(_SummaryString); + if( separator ) + { + _SummaryString[l++] = ','; + _SummaryString[l++] = '\0'; + } + string valString; + const CTwVarAtom *atom = static_cast(var); + atom->ValueToString(&valString); + if( atom->m_Type==TW_TYPE_BOOLCPP || atom->m_Type==TW_TYPE_BOOL8 || atom->m_Type==TW_TYPE_BOOL16 || atom->m_Type==TW_TYPE_BOOL32 ) + { + if (valString == "0") + valString = "-"; + else if (valString == "1") + valString = "\x7f"; // check sign + } + strncat(_SummaryString, valString.c_str(), _SummaryMaxLength-l); + separator = true; + } + if( strlen(_SummaryString)>_SummaryMaxLength-2 ) + break; + } + } + size_t l = strlen(_SummaryString); + if( l>_SummaryMaxLength-2 ) + { + _SummaryString[_SummaryMaxLength-2] = '.'; + _SummaryString[_SummaryMaxLength-1] = '.'; + _SummaryString[_SummaryMaxLength+0] = '\0'; + } + else + { + _SummaryString[l+0] = '}'; + _SummaryString[l+1] = '\0'; + } + } +} + +// --------------------------------------------------------------------------- + +TwType ANT_CALL TwDefineStruct(const char *_StructName, const TwStructMember *_StructMembers, unsigned int _NbMembers, size_t _StructSize, TwSummaryCallback _SummaryCallback, void *_SummaryClientData) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return TW_TYPE_UNDEF; // not initialized + } + if( _StructMembers==NULL || _NbMembers==0 || _StructSize==0 ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return TW_TYPE_UNDEF; + } + + if( _StructName!=NULL && strlen(_StructName)>0 ) + for( size_t j=0; jm_Structs.size(); ++j ) + if( strcmp(_StructName, g_TwMgr->m_Structs[j].m_Name.c_str())==0 ) + { + g_TwMgr->SetLastError(g_ErrExist); + return TW_TYPE_UNDEF; + } + + size_t structIndex = g_TwMgr->m_Structs.size(); + CTwMgr::CStruct s; + s.m_Size = _StructSize; + if( _StructName!=NULL && strlen(_StructName)>0 ) + s.m_Name = _StructName; + else + s.m_Name = ""; + s.m_Members.resize(_NbMembers); + if( _SummaryCallback!=NULL ) + { + s.m_SummaryCallback = _SummaryCallback; + s.m_SummaryClientData = _SummaryClientData; + } + else + { + s.m_SummaryCallback = CTwMgr::CStruct::DefaultSummary; + s.m_SummaryClientData = (void *)(structIndex); + } + for( unsigned int i=0; i<_NbMembers; ++i ) + { + CTwMgr::CStructMember& m = s.m_Members[i]; + if( _StructMembers[i].Name!=NULL ) + m.m_Name = _StructMembers[i].Name; + else + { + char name[16]; + sprintf(name, "%u", i); + m.m_Name = name; + } + m.m_Type = _StructMembers[i].Type; + m.m_Size = 0; // to avoid endless recursivity in GetDataSize + m.m_Size = CTwVar::GetDataSize(m.m_Type); + if( _StructMembers[i].Offset<_StructSize ) + m.m_Offset = _StructMembers[i].Offset; + else + { + g_TwMgr->SetLastError(g_ErrOffset); + return TW_TYPE_UNDEF; + } + if( _StructMembers[i].DefString!=NULL && strlen(_StructMembers[i].DefString)>0 ) + m.m_DefString = _StructMembers[i].DefString; + else + m.m_DefString = ""; + } + + g_TwMgr->m_Structs.push_back(s); + assert( g_TwMgr->m_Structs.size()==structIndex+1 ); + return TwType( TW_TYPE_STRUCT_BASE + structIndex ); +} + +// --------------------------------------------------------------------------- + +TwType ANT_CALL TwDefineStructExt(const char *_StructName, const TwStructMember *_StructExtMembers, unsigned int _NbExtMembers, size_t _StructSize, size_t _StructExtSize, TwStructExtInitCallback _StructExtInitCallback, TwCopyVarFromExtCallback _CopyVarFromExtCallback, TwCopyVarToExtCallback _CopyVarToExtCallback, TwSummaryCallback _SummaryCallback, void *_ClientData, const char *_Help) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL ) + { + TwGlobalError(g_ErrNotInit); + return TW_TYPE_UNDEF; // not initialized + } + if( _StructSize==0 || _StructExtInitCallback==NULL || _CopyVarFromExtCallback==NULL || _CopyVarToExtCallback==NULL ) + { + g_TwMgr->SetLastError(g_ErrBadParam); + return TW_TYPE_UNDEF; + } + TwType type = TwDefineStruct(_StructName, _StructExtMembers, _NbExtMembers, _StructExtSize, _SummaryCallback, _ClientData); + if( type>=TW_TYPE_STRUCT_BASE && typem_Structs.size() ) + { + CTwMgr::CStruct& s = g_TwMgr->m_Structs[type-TW_TYPE_STRUCT_BASE]; + s.m_IsExt = true; + s.m_ClientStructSize = _StructSize; + s.m_StructExtInitCallback = _StructExtInitCallback; + s.m_CopyVarFromExtCallback = _CopyVarFromExtCallback; + s.m_CopyVarToExtCallback = _CopyVarToExtCallback; + s.m_ExtClientData = _ClientData; + if( _Help!=NULL ) + s.m_Help = _Help; + } + return type; +} + + +// --------------------------------------------------------------------------- + +bool TwGetKeyCode(int *_Code, int *_Modif, const char *_String) +{ + assert(_Code!=NULL && _Modif!=NULL); + bool Ok = true; + *_Modif = TW_KMOD_NONE; + *_Code = 0; + size_t Start = strlen(_String)-1; + if( Start<0 ) + return false; + while( Start>0 && _String[Start-1]!='+' ) + --Start; + while( _String[Start]==' ' || _String[Start]=='\t' ) + ++Start; + char *CodeStr = _strdup(_String+Start); + for( size_t i=strlen(CodeStr)-1; i>=0; ++i ) + if( CodeStr[i]==' ' || CodeStr[i]=='\t' ) + CodeStr[i] = '\0'; + else + break; + + /* + if( strstr(_String, "SHIFT")!=NULL || strstr(_String, "shift")!=NULL ) + *_Modif |= TW_KMOD_SHIFT; + if( strstr(_String, "CTRL")!=NULL || strstr(_String, "ctrl")!=NULL ) + *_Modif |= TW_KMOD_CTRL; + if( strstr(_String, "META")!=NULL || strstr(_String, "meta")!=NULL ) + *_Modif |= TW_KMOD_META; + + if( strstr(_String, "ALTGR")!=NULL || strstr(_String, "altgr")!=NULL ) + ((void)(0)); // *_Modif |= TW_KMOD_ALTGR; + else // ALT and ALTGR are exclusive + if( strstr(_String, "ALT")!=NULL || strstr(_String, "alt")!=NULL ) + *_Modif |= TW_KMOD_ALT; + */ + char *up = _strdup(_String); + // _strupr(up); + for( char *upch=up; *upch!='\0'; ++upch ) + *upch = (char)toupper(*upch); + if( strstr(up, "SHIFT")!=NULL ) + *_Modif |= TW_KMOD_SHIFT; + if( strstr(up, "CTRL")!=NULL ) + *_Modif |= TW_KMOD_CTRL; + if( strstr(up, "META")!=NULL ) + *_Modif |= TW_KMOD_META; + + if( strstr(up, "ALTGR")!=NULL ) + ((void)(0)); // *_Modif |= TW_KMOD_ALTGR; + else // ALT and ALTGR are exclusive + if( strstr(up, "ALT")!=NULL ) + *_Modif |= TW_KMOD_ALT; + free(up); + + if( strlen(CodeStr)==1 ) + *_Code = (unsigned char)(CodeStr[0]); + else if( _stricmp(CodeStr, "backspace")==0 || _stricmp(CodeStr, "bs")==0 ) + *_Code = TW_KEY_BACKSPACE; + else if( _stricmp(CodeStr, "tab")==0 ) + *_Code = TW_KEY_TAB; + else if( _stricmp(CodeStr, "clear")==0 || _stricmp(CodeStr, "clr")==0 ) + *_Code = TW_KEY_CLEAR; + else if( _stricmp(CodeStr, "return")==0 || _stricmp(CodeStr, "ret")==0 ) + *_Code = TW_KEY_RETURN; + else if( _stricmp(CodeStr, "pause")==0 ) + *_Code = TW_KEY_PAUSE; + else if( _stricmp(CodeStr, "escape")==0 || _stricmp(CodeStr, "esc")==0 ) + *_Code = TW_KEY_ESCAPE; + else if( _stricmp(CodeStr, "space")==0 ) + *_Code = TW_KEY_SPACE; + else if( _stricmp(CodeStr, "delete")==0 || _stricmp(CodeStr, "del")==0 ) + *_Code = TW_KEY_DELETE; + /* + else if( strlen(CodeStr)==4 && CodeStr[3]>='0' && CodeStr[3]<='9' && (strstr(CodeStr, "pad")==CodeStr || strstr(CodeStr, "PAD")==CodeStr) ) + *_Code = TW_KEY_PAD_0 + CodeStr[3]-'0'; + else if( _stricmp(CodeStr, "pad.")==0 ) + *_Code = TW_KEY_PAD_PERIOD; + else if( _stricmp(CodeStr, "pad/")==0 ) + *_Code = TW_KEY_PAD_DIVIDE; + else if( _stricmp(CodeStr, "pad*")==0 ) + *_Code = TW_KEY_PAD_MULTIPLY; + else if( _stricmp(CodeStr, "pad+")==0 ) + *_Code = TW_KEY_PAD_PLUS; + else if( _stricmp(CodeStr, "pad-")==0 ) + *_Code = TW_KEY_PAD_MINUS; + else if( _stricmp(CodeStr, "padenter")==0 ) + *_Code = TW_KEY_PAD_ENTER; + else if( _stricmp(CodeStr, "pad=")==0 ) + *_Code = TW_KEY_PAD_EQUALS; + */ + else if( _stricmp(CodeStr, "up")==0 ) + *_Code = TW_KEY_UP; + else if( _stricmp(CodeStr, "down")==0 ) + *_Code = TW_KEY_DOWN; + else if( _stricmp(CodeStr, "right")==0 ) + *_Code = TW_KEY_RIGHT; + else if( _stricmp(CodeStr, "left")==0 ) + *_Code = TW_KEY_LEFT; + else if( _stricmp(CodeStr, "insert")==0 || _stricmp(CodeStr, "ins")==0 ) + *_Code = TW_KEY_INSERT; + else if( _stricmp(CodeStr, "home")==0 ) + *_Code = TW_KEY_HOME; + else if( _stricmp(CodeStr, "end")==0 ) + *_Code = TW_KEY_END; + else if( _stricmp(CodeStr, "pgup")==0 ) + *_Code = TW_KEY_PAGE_UP; + else if( _stricmp(CodeStr, "pgdown")==0 ) + *_Code = TW_KEY_PAGE_DOWN; + else if( (strlen(CodeStr)==2 || strlen(CodeStr)==3) && (CodeStr[0]=='f' || CodeStr[0]=='F') ) + { + int n = 0; + if( sscanf(CodeStr+1, "%d", &n)==1 && n>0 && n<16 ) + *_Code = TW_KEY_F1 + n-1; + else + Ok = false; + } + + free(CodeStr); + return Ok; +} + +bool TwGetKeyString(std::string *_String, int _Code, int _Modif) +{ + assert(_String!=NULL); + bool Ok = true; + if( _Modif & TW_KMOD_SHIFT ) + *_String += "SHIFT+"; + if( _Modif & TW_KMOD_CTRL ) + *_String += "CTRL+"; + if ( _Modif & TW_KMOD_ALT ) + *_String += "ALT+"; + if ( _Modif & TW_KMOD_META ) + *_String += "META+"; + // if ( _Modif & TW_KMOD_ALTGR ) + // *_String += "ALTGR+"; + switch( _Code ) + { + case TW_KEY_BACKSPACE: + *_String += "BackSpace"; + break; + case TW_KEY_TAB: + *_String += "Tab"; + break; + case TW_KEY_CLEAR: + *_String += "Clear"; + break; + case TW_KEY_RETURN: + *_String += "Return"; + break; + case TW_KEY_PAUSE: + *_String += "Pause"; + break; + case TW_KEY_ESCAPE: + *_String += "Esc"; + break; + case TW_KEY_SPACE: + *_String += "Space"; + break; + case TW_KEY_DELETE: + *_String += "Delete"; + break; + /* + case TW_KEY_PAD_0: + *_String += "PAD0"; + break; + case TW_KEY_PAD_1: + *_String += "PAD1"; + break; + case TW_KEY_PAD_2: + *_String += "PAD2"; + break; + case TW_KEY_PAD_3: + *_String += "PAD3"; + break; + case TW_KEY_PAD_4: + *_String += "PAD4"; + break; + case TW_KEY_PAD_5: + *_String += "PAD5"; + break; + case TW_KEY_PAD_6: + *_String += "PAD6"; + break; + case TW_KEY_PAD_7: + *_String += "PAD7"; + break; + case TW_KEY_PAD_8: + *_String += "PAD8"; + break; + case TW_KEY_PAD_9: + *_String += "PAD9"; + break; + case TW_KEY_PAD_PERIOD: + *_String += "PAD."; + break; + case TW_KEY_PAD_DIVIDE: + *_String += "PAD/"; + break; + case TW_KEY_PAD_MULTIPLY: + *_String += "PAD*"; + break; + case TW_KEY_PAD_MINUS: + *_String += "PAD-"; + break; + case TW_KEY_PAD_PLUS: + *_String += "PAD+"; + break; + case TW_KEY_PAD_ENTER: + *_String += "PADEnter"; + break; + case TW_KEY_PAD_EQUALS: + *_String += "PAD="; + break; + */ + case TW_KEY_UP: + *_String += "Up"; + break; + case TW_KEY_DOWN: + *_String += "Down"; + break; + case TW_KEY_RIGHT: + *_String += "Right"; + break; + case TW_KEY_LEFT: + *_String += "Left"; + break; + case TW_KEY_INSERT: + *_String += "Insert"; + break; + case TW_KEY_HOME: + *_String += "Home"; + break; + case TW_KEY_END: + *_String += "End"; + break; + case TW_KEY_PAGE_UP: + *_String += "PgUp"; + break; + case TW_KEY_PAGE_DOWN: + *_String += "PgDown"; + break; + case TW_KEY_F1: + *_String += "F1"; + break; + case TW_KEY_F2: + *_String += "F2"; + break; + case TW_KEY_F3: + *_String += "F3"; + break; + case TW_KEY_F4: + *_String += "F4"; + break; + case TW_KEY_F5: + *_String += "F5"; + break; + case TW_KEY_F6: + *_String += "F6"; + break; + case TW_KEY_F7: + *_String += "F7"; + break; + case TW_KEY_F8: + *_String += "F8"; + break; + case TW_KEY_F9: + *_String += "F9"; + break; + case TW_KEY_F10: + *_String += "F10"; + break; + case TW_KEY_F11: + *_String += "F11"; + break; + case TW_KEY_F12: + *_String += "F12"; + break; + case TW_KEY_F13: + *_String += "F13"; + break; + case TW_KEY_F14: + *_String += "F14"; + break; + case TW_KEY_F15: + *_String += "F15"; + break; + default: + if( _Code>0 && _Code<256 ) + *_String += char(_Code); + else + { + *_String += "Unknown"; + Ok = false; + } + } + return Ok; +} + +// --------------------------------------------------------------------------- + +const int TW_MOUSE_NOMOTION = -1; +ETwMouseAction TW_MOUSE_MOTION = (ETwMouseAction)(-2); +ETwMouseAction TW_MOUSE_WHEEL = (ETwMouseAction)(-3); +ETwMouseButtonID TW_MOUSE_NA = (ETwMouseButtonID)(-1); + +static int TwMouseEvent(ETwMouseAction _EventType, TwMouseButtonID _Button, int _MouseX, int _MouseY, int _WheelPos) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL || g_TwMgr->m_Graph==NULL ) + { + // TwGlobalError(g_ErrNotInit); -> not an error here + return 0; // not initialized + } + if( g_TwMgr->m_WndHeight<=0 || g_TwMgr->m_WndWidth<=0 ) + { + //g_TwMgr->SetLastError(g_ErrBadWndSize); // not an error, windows not yet ready. + return 0; + } + + // For multi-thread safety + if( !TwFreeAsyncDrawing() ) + return 0; + + if( _MouseX==TW_MOUSE_NOMOTION ) + _MouseX = g_TwMgr->m_LastMouseX; + else + g_TwMgr->m_LastMouseX = _MouseX; + if( _MouseY==TW_MOUSE_NOMOTION ) + _MouseY = g_TwMgr->m_LastMouseY; + else + g_TwMgr->m_LastMouseY = _MouseY; + + // for autorepeat + if( (!g_TwMgr->m_IsRepeatingMousePressed || !g_TwMgr->m_CanRepeatMousePressed) && _EventType==TW_MOUSE_PRESSED ) + { + g_TwMgr->m_LastMousePressedTime = g_TwMgr->m_Timer.GetTime(); + g_TwMgr->m_LastMousePressedButtonID = _Button; + g_TwMgr->m_LastMousePressedPosition[0] = _MouseX; + g_TwMgr->m_LastMousePressedPosition[1] = _MouseY; + g_TwMgr->m_CanRepeatMousePressed = true; + g_TwMgr->m_IsRepeatingMousePressed = false; + } + else if( _EventType==TW_MOUSE_RELEASED || _EventType==TW_MOUSE_WHEEL ) + { + g_TwMgr->m_CanRepeatMousePressed = false; + g_TwMgr->m_IsRepeatingMousePressed = false; + } + + bool Handled = false; + bool wasPopup = (g_TwMgr->m_PopupBar!=NULL); + CTwBar *Bar = NULL; + int i; + + // search for a bar with mousedrag enabled + CTwBar *BarDragging = NULL; + for( i=((int)g_TwMgr->m_Bars.size())-1; i>=0; --i ) + { + Bar = g_TwMgr->m_Bars[g_TwMgr->m_Order[i]]; + if( Bar!=NULL && Bar->m_Visible && Bar->IsDragging() ) + { + BarDragging = Bar; + break; + } + } + + for( i=(int)g_TwMgr->m_Bars.size(); i>=0; --i ) + { + if( i==(int)g_TwMgr->m_Bars.size() ) // first try the bar with mousedrag enabled (this bar has the focus) + Bar = BarDragging; + else + { + Bar = g_TwMgr->m_Bars[g_TwMgr->m_Order[i]]; + if( Bar==BarDragging ) + continue; + } + if( Bar!=NULL && Bar->m_Visible ) + { + if( _EventType==TW_MOUSE_MOTION ) + Handled = Bar->MouseMotion(_MouseX, _MouseY); + else if( _EventType==TW_MOUSE_PRESSED || _EventType==TW_MOUSE_RELEASED ) + Handled = Bar->MouseButton(_Button, (_EventType==TW_MOUSE_PRESSED), _MouseX, _MouseY); + else if( _EventType==TW_MOUSE_WHEEL ) + { + if( abs(_WheelPos-g_TwMgr->m_LastMouseWheelPos)<4 ) // avoid crazy wheel positions + Handled = Bar->MouseWheel(_WheelPos, g_TwMgr->m_LastMouseWheelPos, _MouseX, _MouseY); + } + if( Handled ) + break; + } + } + + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + + /* + if( i>=0 && Bar!=NULL && Handled && (_EventType==TW_MOUSE_PRESSED || Bar->IsMinimized()) && i!=((int)g_TwMgr->m_Bars.size())-1 ) + { + int iOrder = g_TwMgr->m_Order[i]; + for( int j=i; j<(int)g_TwMgr->m_Bars.size()-1; ++j ) + g_TwMgr->m_Order[j] = g_TwMgr->m_Order[j+1]; + g_TwMgr->m_Order[(int)g_TwMgr->m_Bars.size()-1] = iOrder; + } + */ + if( _EventType==TW_MOUSE_PRESSED || (Bar!=NULL && Bar->IsMinimized() && Handled) ) + { + if( wasPopup && Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_PopupBar!=NULL ) // delete popup + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + if( i>=0 && Bar!=NULL && Handled && !wasPopup ) + TwSetTopBar(Bar); + } + + if( _EventType==TW_MOUSE_WHEEL ) + g_TwMgr->m_LastMouseWheelPos = _WheelPos; + + return Handled ? 1 : 0; +} + +int ANT_CALL TwMouseButton(ETwMouseAction _EventType, TwMouseButtonID _Button) +{ + return TwMouseEvent(_EventType, _Button, TW_MOUSE_NOMOTION, TW_MOUSE_NOMOTION, 0); +} + +int ANT_CALL TwMouseMotion(int _MouseX, int _MouseY) +{ + return TwMouseEvent(TW_MOUSE_MOTION, TW_MOUSE_NA, _MouseX, _MouseY, 0); +} + +int ANT_CALL TwMouseWheel(int _Pos) +{ + return TwMouseEvent(TW_MOUSE_WHEEL, TW_MOUSE_NA, TW_MOUSE_NOMOTION, TW_MOUSE_NOMOTION, _Pos); +} + +// --------------------------------------------------------------------------- + +static int TranslateKey(int _Key, int _Modifiers) +{ + // CTRL special cases + //if( (_Modifiers&TW_KMOD_CTRL) && !(_Modifiers&TW_KMOD_ALT || _Modifiers&TW_KMOD_META) && _Key>0 && _Key<32 ) + // _Key += 'a'-1; + if( (_Modifiers&TW_KMOD_CTRL) ) + { + if( _Key>='a' && _Key<='z' && ( ((_Modifiers&0x2000) && !(_Modifiers&TW_KMOD_SHIFT)) || (!(_Modifiers&0x2000) && (_Modifiers&TW_KMOD_SHIFT)) )) // 0x2000 is SDL's KMOD_CAPS + _Key += 'A'-'a'; + else if ( _Key>='A' && _Key<='Z' && ( ((_Modifiers&0x2000) && (_Modifiers&TW_KMOD_SHIFT)) || (!(_Modifiers&0x2000) && !(_Modifiers&TW_KMOD_SHIFT)) )) // 0x2000 is SDL's KMOD_CAPS + _Key += 'a'-'A'; + } + + // PAD translation (for SDL keysym) + if( _Key>=256 && _Key<=272 ) // 256=SDLK_KP0 ... 272=SDLK_KP_EQUALS + { + //bool Num = ((_Modifiers&TW_KMOD_SHIFT) && !(_Modifiers&0x1000)) || (!(_Modifiers&TW_KMOD_SHIFT) && (_Modifiers&0x1000)); // 0x1000 is SDL's KMOD_NUM + //_Modifiers &= ~TW_KMOD_SHIFT; // remove shift modifier + bool Num = (!(_Modifiers&TW_KMOD_SHIFT) && (_Modifiers&0x1000)); // 0x1000 is SDL's KMOD_NUM + if( _Key==266 ) // SDLK_KP_PERIOD + _Key = Num ? '.' : TW_KEY_DELETE; + else if( _Key==267 ) // SDLK_KP_DIVIDE + _Key = '/'; + else if( _Key==268 ) // SDLK_KP_MULTIPLY + _Key = '*'; + else if( _Key==269 ) // SDLK_KP_MINUS + _Key = '-'; + else if( _Key==270 ) // SDLK_KP_PLUS + _Key = '+'; + else if( _Key==271 ) // SDLK_KP_ENTER + _Key = TW_KEY_RETURN; + else if( _Key==272 ) // SDLK_KP_EQUALS + _Key = '='; + else if( Num ) // num SDLK_KP0..9 + _Key += '0' - 256; + else if( _Key==256 ) // non-num SDLK_KP01 + _Key = TW_KEY_INSERT; + else if( _Key==257 ) // non-num SDLK_KP1 + _Key = TW_KEY_END; + else if( _Key==258 ) // non-num SDLK_KP2 + _Key = TW_KEY_DOWN; + else if( _Key==259 ) // non-num SDLK_KP3 + _Key = TW_KEY_PAGE_DOWN; + else if( _Key==260 ) // non-num SDLK_KP4 + _Key = TW_KEY_LEFT; + else if( _Key==262 ) // non-num SDLK_KP6 + _Key = TW_KEY_RIGHT; + else if( _Key==263 ) // non-num SDLK_KP7 + _Key = TW_KEY_HOME; + else if( _Key==264 ) // non-num SDLK_KP8 + _Key = TW_KEY_UP; + else if( _Key==265 ) // non-num SDLK_KP9 + _Key = TW_KEY_PAGE_UP; + } + return _Key; +} + +// --------------------------------------------------------------------------- + +static int KeyPressed(int _Key, int _Modifiers, bool _TestOnly) +{ + CTwFPU fpu; // force fpu precision + + if( g_TwMgr==NULL || g_TwMgr->m_Graph==NULL ) + { + // TwGlobalError(g_ErrNotInit); -> not an error here + return 0; // not initialized + } + if( g_TwMgr->m_WndHeight<=0 || g_TwMgr->m_WndWidth<=0 ) + { + //g_TwMgr->SetLastError(g_ErrBadWndSize); // not an error, windows not yet ready. + return 0; + } + + // For multi-thread savety + if( !TwFreeAsyncDrawing() ) + return 0; + + /* + // Test for TwDeleteBar + if( _Key>='0' && _Key<='9' ) + { + int n = _Key-'0'; + if( (int)g_TwMgr->m_Bars.size()>n && g_TwMgr->m_Bars[n]!=NULL ) + { + printf("Delete %s\n", g_TwMgr->m_Bars[n]->m_Name.c_str()); + TwDeleteBar(g_TwMgr->m_Bars[n]); + } + else + printf("can't delete %d\n", n); + return 1; + } + */ + + //char s[256]; + //sprintf(s, "twkeypressed k=%d m=%x\n", _Key, _Modifiers); + //OutputDebugString(s); + + _Key = TranslateKey(_Key, _Modifiers); + if( _Key>' ' && _Key<256 ) // don't test SHIFT if _Key is a common key + _Modifiers &= ~TW_KMOD_SHIFT; + // complete partial modifiers comming from SDL + if( _Modifiers & TW_KMOD_SHIFT ) + _Modifiers |= TW_KMOD_SHIFT; + if( _Modifiers & TW_KMOD_CTRL ) + _Modifiers |= TW_KMOD_CTRL; + if( _Modifiers & TW_KMOD_ALT ) + _Modifiers |= TW_KMOD_ALT; + if( _Modifiers & TW_KMOD_META ) + _Modifiers |= TW_KMOD_META; + + bool Handled = false; + CTwBar *Bar = NULL; + CTwBar *PopupBar = g_TwMgr->m_PopupBar; + //int Order = 0; + int i; + if( _Key>0 && _Keym_LastMouseX; + int MouseY = g_TwMgr->m_LastMouseY; + for( i=((int)g_TwMgr->m_Bars.size())-1; i>=0 && !Handled; --i ) + { + Bar = g_TwMgr->m_Bars[g_TwMgr->m_Order[i]]; + if( Bar!=NULL && Bar->m_Visible && !Bar->IsMinimized() + && ( (MouseX>=Bar->m_PosX && MouseXm_PosX+Bar->m_Width && MouseY>=Bar->m_PosY && MouseYm_PosY+Bar->m_Height) + || Bar==PopupBar) ) + { + if (_TestOnly) + Handled = Bar->KeyTest(_Key, _Modifiers); + else + Handled = Bar->KeyPressed(_Key, _Modifiers); + } + } + + // If not handled, send it to non-iconified bars in the right order + for( i=((int)g_TwMgr->m_Bars.size())-1; i>=0 && !Handled; --i ) + { + Bar = g_TwMgr->m_Bars[g_TwMgr->m_Order[i]]; + /* + for( size_t j=0; jm_Bars.size(); ++j ) + if( g_TwMgr->m_Order[j]==i ) + { + Bar = g_TwMgr->m_Bars[j]; + break; + } + Order = i; + */ + + if( Bar!=NULL && Bar->m_Visible && !Bar->IsMinimized() ) + { + if( _TestOnly ) + Handled = Bar->KeyTest(_Key, _Modifiers); + else + Handled = Bar->KeyPressed(_Key, _Modifiers); + if( g_TwMgr==NULL ) // Mgr might have been destroyed by the client inside a callback call + return 1; + } + } + + // If not handled, send it to iconified bars in the right order + for( i=((int)g_TwMgr->m_Bars.size())-1; i>=0 && !Handled; --i ) + { + Bar = g_TwMgr->m_Bars[g_TwMgr->m_Order[i]]; + if( Bar!=NULL && Bar->m_Visible && Bar->IsMinimized() ) + { + if( _TestOnly ) + Handled = Bar->KeyTest(_Key, _Modifiers); + else + Handled = Bar->KeyPressed(_Key, _Modifiers); + } + } + + if( g_TwMgr->m_HelpBar!=NULL && g_TwMgr->m_Graph && !_TestOnly ) + { + string Str; + TwGetKeyString(&Str, _Key, _Modifiers); + char Msg[256]; + sprintf(Msg, "Key pressed: %s", Str.c_str()); + g_TwMgr->m_KeyPressedStr = Msg; + g_TwMgr->m_KeyPressedBuildText = true; + // OutputDebugString(Msg); + } + } + + if( Handled && Bar!=g_TwMgr->m_PopupBar && g_TwMgr->m_PopupBar!=NULL && g_TwMgr->m_PopupBar==PopupBar ) // delete popup + { + TwDeleteBar(g_TwMgr->m_PopupBar); + g_TwMgr->m_PopupBar = NULL; + } + + if( Handled && Bar!=NULL && Bar!=g_TwMgr->m_PopupBar && Bar!=PopupBar ) // popup bar may have been destroyed + TwSetTopBar(Bar); + + return Handled ? 1 : 0; +} + +int ANT_CALL TwKeyPressed(int _Key, int _Modifiers) +{ + return KeyPressed(_Key, _Modifiers, false); +} + +int ANT_CALL TwKeyTest(int _Key, int _Modifiers) +{ + return KeyPressed(_Key, _Modifiers, true); +} + +// --------------------------------------------------------------------------- + +struct StructCompare : public binary_function +{ + bool operator()(const TwType& _Left, const TwType& _Right) const + { + assert( g_TwMgr!=NULL ); + int i0 = _Left-TW_TYPE_STRUCT_BASE; + int i1 = _Right-TW_TYPE_STRUCT_BASE; + if( i0>=0 && i0<(int)g_TwMgr->m_Structs.size() && i1>=0 && i1<(int)g_TwMgr->m_Structs.size() ) + return g_TwMgr->m_Structs[i0].m_Name < g_TwMgr->m_Structs[i1].m_Name; + else + return false; + } +}; + +typedef set StructSet; + +static void InsertUsedStructs(StructSet& _Set, const CTwVarGroup *_Grp) +{ + assert( g_TwMgr!=NULL && _Grp!=NULL ); + + for( size_t i=0; i<_Grp->m_Vars.size(); ++i ) + if( _Grp->m_Vars[i]!=NULL && _Grp->m_Vars[i]->m_Visible && _Grp->m_Vars[i]->IsGroup() )// && _Grp->m_Vars[i]->m_Help.length()>0 ) + { + const CTwVarGroup *SubGrp = static_cast(_Grp->m_Vars[i]); + if( SubGrp->m_StructValuePtr!=NULL && SubGrp->m_StructType>=TW_TYPE_STRUCT_BASE && SubGrp->m_StructTypem_Structs.size() && g_TwMgr->m_Structs[SubGrp->m_StructType-TW_TYPE_STRUCT_BASE].m_Name.length()>0 ) + { + if( SubGrp->m_Help.length()>0 ) + _Set.insert(SubGrp->m_StructType); + else + { + int idx = SubGrp->m_StructType - TW_TYPE_STRUCT_BASE; + if( idx>=0 && idx<(int)g_TwMgr->m_Structs.size() && g_TwMgr->m_Structs[idx].m_Name.length()>0 ) + { + for( size_t j=0; jm_Structs[idx].m_Members.size(); ++j ) + if( g_TwMgr->m_Structs[idx].m_Members[j].m_Help.length()>0 ) + { + _Set.insert(SubGrp->m_StructType); + break; + } + } + } + } + InsertUsedStructs(_Set, SubGrp); + } +} + +static void SplitString(vector& _OutSplits, const char *_String, int _Width, const CTexFont *_Font) +{ + assert( _Font!=NULL && _String!=NULL ); + _OutSplits.resize(0); + int l = (int)strlen(_String); + if( l==0 ) + { + _String = " "; + l = 1; + } + + if( _String!=NULL && l>0 && _Width>0 ) + { + int w = 0; + int i = 0; + int First = 0; + int Last = 0; + bool PrevNotBlank = true; + unsigned char c; + bool Tab = false, CR = false; + string Split; + const string TabString(g_TabLength, ' '); + + while( im_CharWidth[(int)' ']; + Tab = true; + } + else if( c=='\n' ) + { + w += _Width+1; // force split + Last = i; + CR = true; + } + else + w += _Font->m_CharWidth[(int)c]; + if( w>_Width || i==l-1 ) + { + if( Last<=First || i==l-1 ) + Last = i; + if( Tab ) + { + Split.resize(0); + for(int k=0; km_HelpBar!=NULL); + assert( _String!=NULL ); + int n = 0; + const CTexFont *Font = g_TwMgr->m_HelpBar->m_Font; + assert(Font!=NULL); + string Decal; + for( int s=0; s<_Level; ++s ) + Decal += ' '; + int DecalWidth = (_Level+2)*Font->m_CharWidth[(int)' ']; + + if( _Width>DecalWidth ) + { + vector Split; + SplitString(Split, _String, _Width-DecalWidth, Font); + for( int i=0; i<(int)Split.size(); ++i ) + { + CTwVarAtom *Var = new CTwVarAtom; + Var->m_Name = Decal + Split[i]; + Var->m_Ptr = NULL; + if( _Type==TW_TYPE_HELP_HEADER ) + Var->m_ReadOnly = false; + else + Var->m_ReadOnly = true; + Var->m_NoSlider = true; + Var->m_DontClip = true; + Var->m_Type = _Type; + Var->m_LeftMargin = (signed short)((_Level+1)*Font->m_CharWidth[(int)' ']); + Var->m_TopMargin = (signed short)(-g_TwMgr->m_HelpBar->m_Sep); + //Var->m_TopMargin = 1; + Var->m_ColorPtr = &(g_TwMgr->m_HelpBar->m_ColHelpText); + Var->SetDefaults(); + _Grp->m_Vars.push_back(Var); + ++n; + } + } + return n; +} + +static int AppendHelp(CTwVarGroup *_Grp, const CTwVarGroup *_ToAppend, int _Level, int _Width) +{ + assert( _Grp!=NULL ); + assert( _ToAppend!=NULL ); + int n = 0; + string Decal; + for( int s=0; s<_Level; ++s ) + Decal += ' '; + + if( _ToAppend->m_Help.size()>0 ) + n += AppendHelpString(_Grp, _ToAppend->m_Help.c_str(), _Level, _Width, TW_TYPE_HELP_GRP); + + for( size_t i=0; i<_ToAppend->m_Vars.size(); ++i ) + if( _ToAppend->m_Vars[i]!=NULL && _ToAppend->m_Vars[i]->m_Visible ) + { + bool append = true; + if( !_ToAppend->m_Vars[i]->IsGroup() ) + { + const CTwVarAtom *a = static_cast(_ToAppend->m_Vars[i]); + if( a->m_Type==TW_TYPE_BUTTON && a->m_Val.m_Button.m_Callback==NULL ) + append = false; + else if( a->m_KeyIncr[0]==0 && a->m_KeyIncr[1]==0 && a->m_KeyDecr[0]==0 && a->m_KeyDecr[1]==0 && a->m_Help.length()<=0 ) + append = false; + } + else if( _ToAppend->m_Vars[i]->IsGroup() && static_cast(_ToAppend->m_Vars[i])->m_StructValuePtr!=NULL // that's a struct var + && _ToAppend->m_Vars[i]->m_Help.length()<=0 ) + append = false; + + if( append ) + { + CTwVarAtom *Var = new CTwVarAtom; + Var->m_Name = Decal; + if( _ToAppend->m_Vars[i]->m_Label.size()>0 ) + Var->m_Name += _ToAppend->m_Vars[i]->m_Label; + else + Var->m_Name += _ToAppend->m_Vars[i]->m_Name; + Var->m_Ptr = NULL; + if( _ToAppend->m_Vars[i]->IsGroup() && static_cast(_ToAppend->m_Vars[i])->m_StructValuePtr!=NULL ) + { // That's a struct var + Var->m_Type = TW_TYPE_HELP_STRUCT; + Var->m_Val.m_HelpStruct.m_StructType = static_cast(_ToAppend->m_Vars[i])->m_StructType; + Var->m_ReadOnly = true; + Var->m_NoSlider = true; + } + else if( !_ToAppend->m_Vars[i]->IsGroup() ) + { + Var->m_Type = TW_TYPE_SHORTCUT; + Var->m_Val.m_Shortcut.m_Incr[0] = static_cast(_ToAppend->m_Vars[i])->m_KeyIncr[0]; + Var->m_Val.m_Shortcut.m_Incr[1] = static_cast(_ToAppend->m_Vars[i])->m_KeyIncr[1]; + Var->m_Val.m_Shortcut.m_Decr[0] = static_cast(_ToAppend->m_Vars[i])->m_KeyDecr[0]; + Var->m_Val.m_Shortcut.m_Decr[1] = static_cast(_ToAppend->m_Vars[i])->m_KeyDecr[1]; + Var->m_ReadOnly = static_cast(_ToAppend->m_Vars[i])->m_ReadOnly; + Var->m_NoSlider = true; + } + else + { + Var->m_Type = TW_TYPE_HELP_GRP; + Var->m_DontClip = true; + Var->m_LeftMargin = (signed short)((_Level+2)*g_TwMgr->m_HelpBar->m_Font->m_CharWidth[(int)' ']); + //Var->m_TopMargin = (signed short)(g_TwMgr->m_HelpBar->m_Font->m_CharHeight/2-2+2*(_Level-1)); + Var->m_TopMargin = 2; + if( Var->m_TopMargin>g_TwMgr->m_HelpBar->m_Font->m_CharHeight-3 ) + Var->m_TopMargin = (signed short)(g_TwMgr->m_HelpBar->m_Font->m_CharHeight-3); + Var->m_ReadOnly = true; + } + Var->SetDefaults(); + _Grp->m_Vars.push_back(Var); + size_t VarIndex = _Grp->m_Vars.size()-1; + ++n; + if( _ToAppend->m_Vars[i]->IsGroup() && static_cast(_ToAppend->m_Vars[i])->m_StructValuePtr==NULL ) + { + int nAppended = AppendHelp(_Grp, static_cast(_ToAppend->m_Vars[i]), _Level+1, _Width); + if( _Grp->m_Vars.size()==VarIndex+1 ) + { + delete _Grp->m_Vars[VarIndex]; + _Grp->m_Vars.resize(VarIndex); + } + else + n += nAppended; + } + else if( _ToAppend->m_Vars[i]->m_Help.length()>0 ) + n += AppendHelpString(_Grp, _ToAppend->m_Vars[i]->m_Help.c_str(), _Level+1, _Width, TW_TYPE_HELP_ATOM); + } + } + return n; +} + + +static void CopyHierarchy(CTwVarGroup *dst, const CTwVarGroup *src) +{ + if( dst==NULL || src==NULL ) + return; + + dst->m_Name = src->m_Name; + dst->m_Open = src->m_Open; + dst->m_Visible = src->m_Visible; + dst->m_ColorPtr = src->m_ColorPtr; + dst->m_DontClip = src->m_DontClip; + dst->m_IsRoot = src->m_IsRoot; + dst->m_LeftMargin = src->m_LeftMargin; + dst->m_TopMargin = src->m_TopMargin; + + dst->m_Vars.resize(src->m_Vars.size()); + for(size_t i=0; im_Vars.size(); ++i) + if( src->m_Vars[i]!=NULL && src->m_Vars[i]->IsGroup() ) + { + CTwVarGroup *grp = new CTwVarGroup; + CopyHierarchy(grp, static_cast(src->m_Vars[i])); + dst->m_Vars[i] = grp; + } + else + dst->m_Vars[i] = NULL; +} + +// copy the 'open' flag from original hierarchy to current hierarchy +static void SynchroHierarchy(CTwVarGroup *cur, const CTwVarGroup *orig) +{ + if( cur==NULL || orig==NULL ) + return; + + if( strcmp(cur->m_Name.c_str(), orig->m_Name.c_str())==0 ) + cur->m_Open = orig->m_Open; + + size_t j = 0; + while( jm_Vars.size() && (orig->m_Vars[j]==NULL || !orig->m_Vars[j]->IsGroup()) ) + ++j; + + for(size_t i=0; im_Vars.size(); ++i) + if( cur->m_Vars[i]!=NULL && cur->m_Vars[i]->IsGroup() && jm_Vars.size() && orig->m_Vars[j]!=NULL && orig->m_Vars[j]->IsGroup() ) + { + CTwVarGroup *curGrp = static_cast(cur->m_Vars[i]); + const CTwVarGroup *origGrp = static_cast(orig->m_Vars[j]); + if( strcmp(curGrp->m_Name.c_str(), origGrp->m_Name.c_str())==0 ) + { + curGrp->m_Open = origGrp->m_Open; + + SynchroHierarchy(curGrp, origGrp); + + ++j; + while( jm_Vars.size() && (orig->m_Vars[j]==NULL || !orig->m_Vars[j]->IsGroup()) ) + ++j; + } + } +} + + +void CTwMgr::UpdateHelpBar() +{ + if( m_HelpBar==NULL || m_HelpBar->IsMinimized() ) + return; + if( !m_HelpBarUpdateNow && (float)m_Timer.GetTime()m_VarRoot); + + TwRemoveAllVars(m_HelpBar); + + if( m_HelpBar->m_UpToDate ) + m_HelpBar->Update(); + + if( m_Help.size()>0 ) + AppendHelpString(&(m_HelpBar->m_VarRoot), m_Help.c_str(), 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_ATOM); + if( m_HelpBar->m_Help.size()>0 ) + AppendHelpString(&(m_HelpBar->m_VarRoot), m_HelpBar->m_Help.c_str(), 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_ATOM); + AppendHelpString(&(m_HelpBar->m_VarRoot), "", 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_HEADER); + + for( size_t ib=0; ibm_IsHelpBar) && m_Bars[ib]!=m_PopupBar && m_Bars[ib]->m_Visible ) + { + // Create a group + CTwVarGroup *Grp = new CTwVarGroup; + Grp->m_SummaryCallback = NULL; + Grp->m_SummaryClientData = NULL; + Grp->m_StructValuePtr = NULL; + if( m_Bars[ib]->m_Label.size()<=0 ) + Grp->m_Name = m_Bars[ib]->m_Name; + else + Grp->m_Name = m_Bars[ib]->m_Label; + Grp->m_Open = true; + Grp->m_ColorPtr = &(m_HelpBar->m_ColGrpText); + m_HelpBar->m_VarRoot.m_Vars.push_back(Grp); + if( m_Bars[ib]->m_Help.size()>0 ) + AppendHelpString(Grp, m_Bars[ib]->m_Help.c_str(), 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_GRP); + + // Append variables (recursive) + AppendHelp(Grp, &(m_Bars[ib]->m_VarRoot), 1, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0); + + // Append structures + StructSet UsedStructs; + InsertUsedStructs(UsedStructs, &(m_Bars[ib]->m_VarRoot)); + CTwVarGroup *StructGrp = NULL; + int MemberCount = 0; + for( StructSet::iterator it=UsedStructs.begin(); it!=UsedStructs.end(); ++it ) + { + int idx = (*it) - TW_TYPE_STRUCT_BASE; + if( idx>=0 && idx<(int)g_TwMgr->m_Structs.size() && g_TwMgr->m_Structs[idx].m_Name.length()>0 ) + { + if( StructGrp==NULL ) + { + StructGrp = new CTwVarGroup; + StructGrp->m_StructType = TW_TYPE_HELP_STRUCT; // a special line background color will be used + StructGrp->m_Name = "Structures"; + StructGrp->m_Open = false; + StructGrp->m_ColorPtr = &(m_HelpBar->m_ColStructText); + //Grp->m_Vars.push_back(StructGrp); + MemberCount = 0; + } + CTwVarAtom *Var = new CTwVarAtom; + Var->m_Ptr = NULL; + Var->m_Type = TW_TYPE_HELP_GRP; + Var->m_DontClip = true; + Var->m_LeftMargin = (signed short)(3*g_TwMgr->m_HelpBar->m_Font->m_CharWidth[(int)' ']); + Var->m_TopMargin = 2; + Var->m_ReadOnly = true; + Var->m_NoSlider = true; + Var->m_Name = '{'+g_TwMgr->m_Structs[idx].m_Name+'}'; + StructGrp->m_Vars.push_back(Var); + size_t structIndex = StructGrp->m_Vars.size()-1; + if( g_TwMgr->m_Structs[idx].m_Help.size()>0 ) + AppendHelpString(StructGrp, g_TwMgr->m_Structs[idx].m_Help.c_str(), 2, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0-2*Var->m_LeftMargin, TW_TYPE_HELP_ATOM); + + // Append struct members + for( size_t im=0; imm_Structs[idx].m_Members.size(); ++im ) + { + if( g_TwMgr->m_Structs[idx].m_Members[im].m_Help.size()>0 ) + { + CTwVarAtom *Var = new CTwVarAtom; + Var->m_Ptr = NULL; + Var->m_Type = TW_TYPE_SHORTCUT; + Var->m_Val.m_Shortcut.m_Incr[0] = 0; + Var->m_Val.m_Shortcut.m_Incr[1] = 0; + Var->m_Val.m_Shortcut.m_Decr[0] = 0; + Var->m_Val.m_Shortcut.m_Decr[1] = 0; + Var->m_ReadOnly = false; + Var->m_NoSlider = true; + if( g_TwMgr->m_Structs[idx].m_Members[im].m_Label.length()>0 ) + Var->m_Name = " "+g_TwMgr->m_Structs[idx].m_Members[im].m_Label; + else + Var->m_Name = " "+g_TwMgr->m_Structs[idx].m_Members[im].m_Name; + StructGrp->m_Vars.push_back(Var); + //if( g_TwMgr->m_Structs[idx].m_Members[im].m_Help.size()>0 ) + AppendHelpString(StructGrp, g_TwMgr->m_Structs[idx].m_Members[im].m_Help.c_str(), 3, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0-4*Var->m_LeftMargin, TW_TYPE_HELP_ATOM); + } + } + + if( StructGrp->m_Vars.size()==structIndex+1 ) // remove struct from help + { + delete StructGrp->m_Vars[structIndex]; + StructGrp->m_Vars.resize(structIndex); + } + else + ++MemberCount; + } + } + if( StructGrp!=NULL ) + { + if( MemberCount==1 ) + StructGrp->m_Name = "Structure"; + if( StructGrp->m_Vars.size()>0 ) + Grp->m_Vars.push_back(StructGrp); + else + { + delete StructGrp; + StructGrp = NULL; + } + } + } + + // Append RotoSlider + CTwVarGroup *RotoGrp = new CTwVarGroup; + RotoGrp->m_SummaryCallback = NULL; + RotoGrp->m_SummaryClientData = NULL; + RotoGrp->m_StructValuePtr = NULL; + RotoGrp->m_Name = "RotoSlider"; + RotoGrp->m_Open = false; + RotoGrp->m_ColorPtr = &(m_HelpBar->m_ColGrpText); + m_HelpBar->m_VarRoot.m_Vars.push_back(RotoGrp); + AppendHelpString(RotoGrp, "The RotoSlider allows rapid editing of numerical values.", 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_ATOM); + AppendHelpString(RotoGrp, "To modify a numerical value, click on its label or on its roto [.] button, then move the mouse outside of the grey circle while keeping the mouse button pressed, and turn around the circle to increase or decrease the numerical value.", 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_ATOM); + AppendHelpString(RotoGrp, "The two grey lines depict the min and max bounds.", 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_ATOM); + AppendHelpString(RotoGrp, "Moving the mouse far form the circle allows precise increase or decrease, while moving near the circle allows fast increase or decrease.", 0, m_HelpBar->m_VarX2-m_HelpBar->m_VarX0, TW_TYPE_HELP_ATOM); + + SynchroHierarchy(&m_HelpBar->m_VarRoot, &prevHierarchy); + + m_HelpBarNotUpToDate = false; +} + +// --------------------------------------------------------------------------- + +#if defined(ANT_WINDOWS) + +#include "res/TwXCursors.h" + +void CTwMgr::CreateCursors() +{ + if( m_CursorsCreated ) + return; + m_CursorArrow = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_ARROW)); + m_CursorMove = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZEALL)); + m_CursorWE = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZEWE)); + m_CursorNS = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZENS)); + m_CursorTopRight = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZENESW)); + m_CursorTopLeft = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZENWSE)); + m_CursorBottomLeft = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZENESW)); + m_CursorBottomRight = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_SIZENWSE)); + m_CursorHelp = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_HELP)); + m_CursorCross = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_CROSS)); + m_CursorUpArrow = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_UPARROW)); + m_CursorNo = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_NO)); + m_CursorIBeam = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_IBEAM)); + #ifdef IDC_HAND + m_CursorHand = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_HAND)); + #else + m_CursorHand = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_UPARROW)); + #endif + int cur; + HMODULE hdll = GetModuleHandle(ANT_TWEAK_BAR_DLL); + if( hdll==NULL ) + g_UseCurRsc = false; // force the use of built-in cursors (not using resources) + if( g_UseCurRsc ) + m_CursorCenter = ::LoadCursor(hdll, MAKEINTRESOURCE(IDC_CURSOR1+0)); + else + m_CursorCenter = PixmapCursor(0); + if( m_CursorCenter==NULL ) + m_CursorCenter = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_CROSS)); + if( g_UseCurRsc ) + m_CursorPoint = ::LoadCursor(hdll, MAKEINTRESOURCE(IDC_CURSOR1+1)); + else + m_CursorPoint = PixmapCursor(1); + if( m_CursorPoint==NULL ) + m_CursorPoint = ::LoadCursor(NULL ,MAKEINTRESOURCE(IDC_CROSS)); + + for( cur=0; cur>2) + y*8] |= (unsigned char)(g_CurPict[_CurIdx][x+y*32] << 2*(3-(x&3))+1); //turn whiteon + data[(x>>2) + y*8] |= (unsigned char)(g_CurMask[_CurIdx][x+y*32] << 2*(3-(x&3))); //turn the alpha all the way up + } + //printf("\n"); + } + NSImage *img = [[NSImage alloc] initWithSize: [imgr size]]; + [img addRepresentation: imgr]; + NSCursor *cur = [[NSCursor alloc] initWithImage: img hotSpot: NSMakePoint(g_CurHot[_CurIdx][0],g_CurHot[_CurIdx][1])]; + + [imgr autorelease]; + [img autorelease]; + if (cur) + return cur; + else + return [NSCursor arrowCursor]; +} + +void CTwMgr::CreateCursors() +{ + if (m_CursorsCreated) + return; + + m_CursorArrow = [[NSCursor arrowCursor] retain]; + m_CursorMove = [[NSCursor crosshairCursor] retain]; + m_CursorWE = [[NSCursor resizeLeftRightCursor] retain]; + m_CursorNS = [[NSCursor resizeUpDownCursor] retain]; + m_CursorTopRight = [[NSCursor arrowCursor] retain]; //osx not have one + m_CursorTopLeft = [[NSCursor arrowCursor] retain]; //osx not have one + m_CursorBottomRight = [[NSCursor arrowCursor] retain]; //osx not have one + m_CursorBottomLeft = [[NSCursor arrowCursor] retain]; //osx not have one + m_CursorHelp = [[NSCursor arrowCursor] retain]; //osx not have one + m_CursorHand = [[NSCursor pointingHandCursor] retain]; + m_CursorCross = [[NSCursor arrowCursor] retain]; + m_CursorUpArrow = [[NSCursor arrowCursor] retain]; + m_CursorNo = [[NSCursor arrowCursor] retain]; + m_CursorIBeam = [[NSCursor IBeamCursor] retain]; + for (int i=0;ierror_code, err->request_code); + // No exit! + return 0 ; +} + +static void IgnoreXErrors() +{ + if( g_TwMgr!=NULL && g_TwMgr->m_CurrentXDisplay==glXGetCurrentDisplay() ) + { + XFlush(g_TwMgr->m_CurrentXDisplay); + XSync(g_TwMgr->m_CurrentXDisplay, False); + } + s_PrevErrorHandler = XSetErrorHandler(InactiveErrorHandler); +} + +static void RestoreXErrors() +{ + if( g_TwMgr!=NULL && g_TwMgr->m_CurrentXDisplay==glXGetCurrentDisplay() ) + { + XFlush(g_TwMgr->m_CurrentXDisplay); + XSync(g_TwMgr->m_CurrentXDisplay, False); + } + XSetErrorHandler(s_PrevErrorHandler); +} + +CTwMgr::CCursor CTwMgr::PixmapCursor(int _CurIdx) +{ + if( !m_CurrentXDisplay || !m_CurrentXWindow ) + return XC_left_ptr; + + IgnoreXErrors(); + + XColor black, white, exact; + Colormap colmap = DefaultColormap(m_CurrentXDisplay, DefaultScreen(m_CurrentXDisplay)); + Status s1 = XAllocNamedColor(m_CurrentXDisplay, colmap, "black", &black, &exact); + Status s2 = XAllocNamedColor(m_CurrentXDisplay, colmap, "white", &white, &exact); + if( s1==0 || s2==0 ) + return XC_left_ptr; // cannot allocate colors! + int x, y; + unsigned int mask[32]; + unsigned int pict[32]; + for( y=0; y<32; ++y ) + { + mask[y] = pict[y] = 0; + for( x=0; x<32; ++x ) + { + mask[y] |= (((unsigned int)(g_CurMask[_CurIdx][x+y*32]))<m_CurrentXDisplay ) + { + Window wnd = glXGetCurrentDrawable(); + if( wnd!=g_TwMgr->m_CurrentXWindow ) + { + FreeCursors(); + g_TwMgr->m_CurrentXWindow = wnd; + CreateCursors(); + // now _Cursor is not a valid cursor ID. + } + else + { + IgnoreXErrors(); + XDefineCursor(m_CurrentXDisplay, m_CurrentXWindow, _Cursor); + RestoreXErrors(); + } + } + } +} + +#endif //defined(ANT_UNIX) + +// --------------------------------------------------------------------------- + +void ANT_CALL TwCopyCDStringToClientFunc(TwCopyCDStringToClient copyCDStringToClientFunc) +{ + g_InitCopyCDStringToClient = copyCDStringToClientFunc; + if( g_TwMgr!=NULL ) + g_TwMgr->m_CopyCDStringToClient = copyCDStringToClientFunc; +} + +void ANT_CALL TwCopyCDStringToLibrary(char **destinationLibraryStringPtr, const char *sourceClientString) +{ + if( g_TwMgr==NULL ) + { + if( destinationLibraryStringPtr!=NULL ) + *destinationLibraryStringPtr = const_cast(sourceClientString); + return; + } + + // static buffer to store sourceClientString copy associated to sourceClientString pointer + std::vector& Buf = g_TwMgr->m_CDStdStringCopyBuffers[(void *)sourceClientString]; + + size_t len = (sourceClientString!=NULL) ? strlen(sourceClientString) : 0; + if( Buf.size()m_CopyStdStringToClient = copyStdStringToClientFunc; +} + +void ANT_CALL TwCopyStdStringToLibrary(std::string& destLibraryString, const std::string& srcClientString) +{ + /* + // check if destLibraryString should be initialized + char *Mem = (char *)&destLibraryString; + bool Init = true; + for( int i=0; i& Buf = g_TwMgr->m_CDStdStringCopyBuffers[(void *)&srcClientString]; + + size_t len = strlen(SrcStr); + if( Buf.size()& _OutRects) const +{ + if( Empty() ) + return false; + if( _Rect.Empty() || _Rect.Y>=Y+H || _Rect.Y+_Rect.H<=Y || _Rect.X>=X+W || _Rect.X+_Rect.W<=X ) + { + _OutRects.push_back(*this); + return true; + } + + bool Ret = false; + int Y0 = Y; + int Y1 = Y+H-1; + if( _Rect.Y>Y ) + { + Y0 = _Rect.Y; + _OutRects.push_back(CRect(X, Y, W, Y0-Y+1)); + Ret = true; + } + if( _Rect.Y+_Rect.HX ) + { + X0 = _Rect.X; //-2; + _OutRects.push_back(CRect(X, Y0, X0-X+1, Y1-Y0+1)); + Ret = true; + } + if( _Rect.X+_Rect.W& _Rects, vector& _OutRects) const +{ + _OutRects.clear(); + size_t i, j, NbRects = _Rects.size(); + if( NbRects==0 ) + { + _OutRects.push_back(*this); + return true; + } + else + { + vector TmpRects; + Subtract(_Rects[0], _OutRects); + + for( i=1; i +#define ANT_CALL TW_CALL + +#include "TwColors.h" +#include "TwFonts.h" +#include "TwGraph.h" +#include "AntPerfTimer.h" + + +//#define BENCH // uncomment to activate benchmarks + +#ifdef BENCH +# define PERF(cmd) cmd +#else // BENCH +# define PERF(cmd) +#endif // BENCH + +const int NB_ROTO_CURSORS = 12; + + +// --------------------------------------------------------------------------- +// API unexposed by AntTweakBar.h +// --------------------------------------------------------------------------- + +// bar states -> use TwDefine instead +typedef enum ETwState +{ + TW_STATE_SHOWN = 1, + TW_STATE_ICONIFIED = 2, + TW_STATE_HIDDEN = 3, + TW_STATE_UNICONIFIED = 4, + TW_STATE_ERROR = 0 +} TwState; +/*ANT_TWEAK_BAR_API*/ int ANT_CALL TwSetBarState(TwBar *bar, TwState state); +/*ANT_TWEAK_BAR_API*/ //TwState ANT_CALL TwGetBarState(const TwBar *bar); +// var states -> use TwDefine instead: visible/iconified implemented only as string commands +//ANT_TWEAK_BAR_API int ANT_CALL TwSetVarState(TwBar *bar, const char *name, TwState state); +//ANT_TWEAK_BAR_API TwState ANT_CALL TwGetVarState(const TwBar *bar, const char *name); + +struct CTwVarGroup; +typedef void (ANT_CALL *TwStructExtInitCallback)(void *structExtValue, void *clientData); +typedef void (ANT_CALL *TwCopyVarFromExtCallback)(void *structValue, const void *structExtValue, unsigned int structExtMemberIndex, void *clientData); +typedef void (ANT_CALL *TwCopyVarToExtCallback)(const void *structValue, void *structExtValue, unsigned int structExtMemberIndex, void *clientData); +/*ANT_TWEAK_BAR_API*/ TwType ANT_CALL TwDefineStructExt(const char *name, const TwStructMember *structExtMembers, unsigned int nbExtMembers, size_t structSize, size_t structExtSize, TwStructExtInitCallback structExtInitCallback, TwCopyVarFromExtCallback copyVarFromExtCallback, TwCopyVarToExtCallback copyVarToExtCallback, TwSummaryCallback summaryCallback, void *clientData, const char *help); +typedef void (ANT_CALL *TwCustomDrawCallback)(int w, int h, void *structExtValue, void *clientData, TwBar *bar, CTwVarGroup *varGrp); +typedef bool (ANT_CALL *TwCustomMouseMotionCallback)(int mouseX, int mouseY, int w, int h, void *structExtValue, void *clientData, TwBar *bar, CTwVarGroup *varGrp); +typedef bool (ANT_CALL *TwCustomMouseButtonCallback)(TwMouseButtonID button, bool pressed, int mouseX, int mouseY, int w, int h, void *structExtValue, void *clientData, TwBar *bar, CTwVarGroup *varGrp); +typedef void (ANT_CALL *TwCustomMouseLeaveCallback)(void *structExtValue, void *clientData, TwBar *bar); + +enum ERetType +{ + RET_ERROR = 0, + RET_DOUBLE, + RET_STRING +}; + +enum EButtonAlign +{ + BUTTON_ALIGN_LEFT, + BUTTON_ALIGN_CENTER, + BUTTON_ALIGN_RIGHT +}; + +// --------------------------------------------------------------------------- +// AntTweakBar Manager +// --------------------------------------------------------------------------- + +struct CTwMgr +{ + ETwGraphAPI m_GraphAPI; + void * m_Device; + int m_WndID; + class ITwGraph * m_Graph; + int m_WndWidth; + int m_WndHeight; + const CTexFont * m_CurrentFont; + + std::vector m_Bars; + std::vector m_Order; + + std::vector m_MinOccupied; + void Minimize(TwBar *_Bar); + void Maximize(TwBar *_Bar); + void Hide(TwBar *_Bar); + void Unhide(TwBar *_Bar); + void SetFont(const CTexFont *_Font, bool _ResizeBars); + int m_LastMouseX; + int m_LastMouseY; + int m_LastMouseWheelPos; + int m_IconPos; // 0: bottom-left, 1:bottom-right, 2:top-left, 3:top-right + int m_IconAlign; // 0: vertical, 1: horizontal + int m_IconMarginX, m_IconMarginY; + bool m_FontResizable; + std::string m_BarAlwaysOnTop; + std::string m_BarAlwaysOnBottom; + bool m_UseOldColorScheme; + bool m_Contained; + EButtonAlign m_ButtonAlign; + bool m_OverlapContent; + bool m_Terminating; + + std::string m_Help; + TwBar * m_HelpBar; + float m_LastHelpUpdateTime; + void UpdateHelpBar(); + bool m_HelpBarNotUpToDate; + bool m_HelpBarUpdateNow; + void * m_KeyPressedTextObj; + bool m_KeyPressedBuildText; + std::string m_KeyPressedStr; + float m_KeyPressedTime; + void * m_InfoTextObj; + bool m_InfoBuildText; + int m_BarInitColorHue; + int FindBar(const char *_Name) const; + int HasAttrib(const char *_Attrib, bool *_HasValue) const; + int SetAttrib(int _AttribID, const char *_Value); + ERetType GetAttrib(int _AttribID, std::vector& outDouble, std::ostringstream& outString) const; + void SetLastError(const char *_StaticErrorMesssage); // _StaticErrorMesssage must be a static string + const char * GetLastError(); // returns a static string describing the error, and set LastError to NULL + const char * CheckLastError() const; // returns the LastError, but does not set it to NULL + void SetCurrentDbgParams(const char *file, int line); + TwBar * m_PopupBar; + //bool IsProcessing() const { return m_Processing); + //void SetProcessing(bool processing) { m_Processing = processing; } + + CTwMgr(ETwGraphAPI _GraphAPI, void *_Device, int _WndID); + ~CTwMgr(); + + struct CStructMember + { + std::string m_Name; + std::string m_Label; + TwType m_Type; + size_t m_Offset; + std::string m_DefString; + size_t m_Size; + std::string m_Help; + }; + struct CStruct + { + std::string m_Name; + std::vector m_Members; + size_t m_Size; + TwSummaryCallback m_SummaryCallback; + void * m_SummaryClientData; + std::string m_Help; + bool m_IsExt; + size_t m_ClientStructSize; + TwStructExtInitCallback m_StructExtInitCallback; + TwCopyVarFromExtCallback m_CopyVarFromExtCallback; + TwCopyVarToExtCallback m_CopyVarToExtCallback; + void * m_ExtClientData; + CStruct() : m_IsExt(false), m_StructExtInitCallback(NULL), m_CopyVarFromExtCallback(NULL), m_CopyVarToExtCallback(NULL), m_ExtClientData(NULL) {} + static void ANT_CALL DefaultSummary(char *_SummaryString, size_t _SummaryMaxLength, const void *_Value, void *_ClientData); + static void * s_PassProxyAsClientData; + }; + std::vector m_Structs; + + // followings are used for TwAddVarCB( ... StructType ... ) + struct CStructProxy + { + TwType m_Type; + void * m_StructData; + bool m_DeleteStructData; + void * m_StructExtData; + TwSetVarCallback m_StructSetCallback; + TwGetVarCallback m_StructGetCallback; + void * m_StructClientData; + TwCustomDrawCallback m_CustomDrawCallback; + TwCustomMouseMotionCallback m_CustomMouseMotionCallback; + TwCustomMouseButtonCallback m_CustomMouseButtonCallback; + TwCustomMouseLeaveCallback m_CustomMouseLeaveCallback; + bool m_CustomCaptureFocus; + int m_CustomIndexFirst; + int m_CustomIndexLast; + CStructProxy(); + ~CStructProxy(); + }; + struct CMemberProxy + { + CStructProxy * m_StructProxy; + int m_MemberIndex; + struct CTwVar * m_Var; + struct CTwVarGroup * m_VarParent; + CTwBar * m_Bar; + CMemberProxy(); + ~CMemberProxy(); + static void ANT_CALL SetCB(const void *_Value, void *_ClientData); + static void ANT_CALL GetCB(void *_Value, void *_ClientData); + }; + std::list m_StructProxies; // elements should not move + std::list m_MemberProxies; // elements should not move + //void InitVarData(TwType _Type, void *_Data, size_t _Size); + //void UninitVarData(TwType _Type, void *_Data, size_t _Size); + + struct CEnum + { + std::string m_Name; + typedef std::map CEntries; + CEntries m_Entries; + }; + std::vector m_Enums; + + TwType m_TypeColor32; + TwType m_TypeColor3F; + TwType m_TypeColor4F; + TwType m_TypeQuat4F; + TwType m_TypeQuat4D; + TwType m_TypeDir3F; + TwType m_TypeDir3D; + + std::vector m_CSStringBuffer; + struct CCDStdString + { + std::string * m_ClientStdStringPtr; + char m_LocalString[sizeof(std::string)+2*sizeof(void*)]; //+2*sizeof(void*) because of VC++ std::string extra info in Debug + TwSetVarCallback m_ClientSetCallback; + TwGetVarCallback m_ClientGetCallback; + void * m_ClientData; + static void ANT_CALL SetCB(const void *_Value, void *_ClientData); + static void ANT_CALL GetCB(void *_Value, void *_ClientData); + }; + std::list m_CDStdStrings; + struct CClientStdString // Convertion between VC++ Debug/Release std::string + { + CClientStdString(); + void FromLib(const char *libStr); + std::string& ToClient(); + private: + char m_Data[sizeof(std::string)+2*sizeof(void *)]; + std::string m_LibStr; + }; + struct CLibStdString // Convertion between VC++ Debug/Release std::string + { + CLibStdString(); + void FromClient(const std::string& clientStr); + std::string& ToLib(); + private: + char m_Data[sizeof(std::string)+2*sizeof(void *)]; + }; + struct CCDStdStringRecord + { + void * m_DataPtr; + char m_PrevValue[sizeof(std::string)+2*sizeof(void*)]; + CClientStdString m_ClientStdString; + }; + std::vector m_CDStdStringRecords; + void UnrollCDStdString(std::vector& _Records, TwType _Type, void *_Data); + void RestoreCDStdString(const std::vector& _Records); + std::map > m_CDStdStringCopyBuffers; + + struct CCustom // custom var type + { + virtual ~CCustom() = 0; + }; + std::vector m_Customs; + + PerfTimer m_Timer; + double m_LastMousePressedTime; + TwMouseButtonID m_LastMousePressedButtonID; + int m_LastMousePressedPosition[2]; + double m_RepeatMousePressedDelay; + double m_RepeatMousePressedPeriod; + bool m_CanRepeatMousePressed; + bool m_IsRepeatingMousePressed; + double m_LastDrawTime; + + #if defined(ANT_WINDOWS) + typedef HCURSOR CCursor; + CCursor PixmapCursor(int _CurIdx); + #elif defined(ANT_UNIX) + typedef Cursor CCursor; + CCursor PixmapCursor(int _CurIdx); + Display * m_CurrentXDisplay; + Window m_CurrentXWindow; + #elif defined(ANT_OSX) + typedef NSCursor * CCursor; + CCursor PixmapCursor(int _CurIdx); + #endif // defined(ANT_UNIX) + bool m_CursorsCreated; + void CreateCursors(); + void FreeCursors(); + void SetCursor(CCursor _Cursor); + CCursor m_CursorArrow; + CCursor m_CursorMove; + CCursor m_CursorWE; + CCursor m_CursorNS; + CCursor m_CursorTopLeft; + CCursor m_CursorTopRight; + CCursor m_CursorBottomLeft; + CCursor m_CursorBottomRight; + CCursor m_CursorHelp; + CCursor m_CursorHand; + CCursor m_CursorCross; + CCursor m_CursorUpArrow; + CCursor m_CursorNo; + CCursor m_CursorIBeam; + CCursor m_RotoCursors[NB_ROTO_CURSORS]; + CCursor m_CursorCenter; + CCursor m_CursorPoint; + + TwCopyCDStringToClient m_CopyCDStringToClient; + TwCopyStdStringToClient m_CopyStdStringToClient; + size_t m_ClientStdStringStructSize; + +protected: + int m_NbMinimizedBars; + const char * m_LastError; + const char * m_CurrentDbgFile; + int m_CurrentDbgLine; + //bool m_Processing; +}; + +extern CTwMgr *g_TwMgr; + + +// --------------------------------------------------------------------------- +// Extra functions and TwTypes +// --------------------------------------------------------------------------- + + +bool TwGetKeyCode(int *_Code, int *_Modif, const char *_String); +bool TwGetKeyString(std::string *_String, int _Code, int _Modif); + +const TwType TW_TYPE_SHORTCUT = TwType(0xfff1); +const TwType TW_TYPE_HELP_GRP = TwType(0xfff2); +const TwType TW_TYPE_HELP_ATOM = TwType(0xfff3); +const TwType TW_TYPE_HELP_HEADER = TwType(0xfff4); +const TwType TW_TYPE_HELP_STRUCT = TwType(0xfff5); +const TwType TW_TYPE_BUTTON = TwType(0xfff6); +const TwType TW_TYPE_CDSTDSTRING = TwType(0xfff7); +const TwType TW_TYPE_STRUCT_BASE = TwType(0x10000000); +const TwType TW_TYPE_ENUM_BASE = TwType(0x20000000); +const TwType TW_TYPE_CSSTRING_BASE = TW_TYPE_CSSTRING(0); // defined as 0x30000000 (see AntTweakBar.h) +const TwType TW_TYPE_CSSTRING_MAX = TW_TYPE_CSSTRING(0xfffffff); +#define TW_CSSTRING_SIZE(type) ((int)((type)&0xfffffff)) +const TwType TW_TYPE_CUSTOM_BASE = TwType(0x40000000); + +extern "C" int ANT_CALL TwSetLastError(const char *_StaticErrorMessage); + +const TwGraphAPI TW_OPENGL_CORE = (TwGraphAPI)5; // WIP (note: OpenGL Core Profil requires OpenGL 3.2 or later) + +// Clipping helper +struct CRect +{ + int X, Y, W, H; + CRect() : X(0), Y(0), W(0), H(0) {} + CRect(int _X, int _Y, int _W, int _H) : X(_X), Y(_Y), W(_W), H(_H) {} + bool operator==(const CRect& _Rect) { return (Empty() && _Rect.Empty()) || (X==_Rect.X && Y==_Rect.Y && W==_Rect.W && H==_Rect.H); } + bool Empty(int _Margin=0) const { return (W<=_Margin || H<=_Margin); } + bool Subtract(const CRect& _Rect, std::vector& _OutRects) const; + bool Subtract(const std::vector& _Rects, std::vector& _OutRects) const; +}; + + +// --------------------------------------------------------------------------- +// Global bar attribs +// --------------------------------------------------------------------------- + + +enum EMgrAttribs +{ + MGR_HELP = 1, + MGR_FONT_SIZE, + MGR_ICON_POS, + MGR_ICON_ALIGN, + MGR_ICON_MARGIN, + MGR_FONT_RESIZABLE, + MGR_COLOR_SCHEME, + MGR_CONTAINED, + MGR_BUTTON_ALIGN, + MGR_OVERLAP +}; + + +// --------------------------------------------------------------------------- +// Color struct ext +// --------------------------------------------------------------------------- + + +struct CColorExt +{ + int R, G, B; + int H, L, S; + int A; + bool m_HLS, m_HasAlpha, m_OGL; + bool m_CanHaveAlpha; + bool m_IsColorF; + unsigned int m_PrevConvertedColor; + CTwMgr::CStructProxy*m_StructProxy; + void RGB2HLS(); + void HLS2RGB(); + static void ANT_CALL InitColor32CB(void *_ExtValue, void *_ClientData); + static void ANT_CALL InitColor3FCB(void *_ExtValue, void *_ClientData); + static void ANT_CALL InitColor4FCB(void *_ExtValue, void *_ClientData); + static void ANT_CALL CopyVarFromExtCB(void *_VarValue, const void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData); + static void ANT_CALL CopyVarToExtCB(const void *_VarValue, void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData); + static void ANT_CALL SummaryCB(char *_SummaryString, size_t _SummaryMaxLength, const void *_ExtValue, void *_ClientData); + static void CreateTypes(); +}; + + +// --------------------------------------------------------------------------- +// Quaternion struct ext +// --------------------------------------------------------------------------- + + +struct CQuaternionExt +{ + double Qx, Qy, Qz, Qs; // Quat value + double Vx, Vy, Vz, Angle; // Not used + double Dx, Dy, Dz; // Dir value set when used as a direction + bool m_AAMode; // Axis & angle mode -> disabled + bool m_ShowVal; // Display values + bool m_IsFloat; // Quat/Dir uses floats + bool m_IsDir; // Mapped to a dir vector instead of a quat + double m_Dir[3]; // If not zero, display one direction vector + color32 m_DirColor; // Direction vector color + float m_Permute[3][3]; // Permute frame axis + CTwMgr::CStructProxy*m_StructProxy; + static void ANT_CALL InitQuat4FCB(void *_ExtValue, void *_ClientData); + static void ANT_CALL InitQuat4DCB(void *_ExtValue, void *_ClientData); + static void ANT_CALL InitDir3FCB(void *_ExtValue, void *_ClientData); + static void ANT_CALL InitDir3DCB(void *_ExtValue, void *_ClientData); + static void ANT_CALL CopyVarFromExtCB(void *_VarValue, const void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData); + static void ANT_CALL CopyVarToExtCB(const void *_VarValue, void *_ExtValue, unsigned int _ExtMemberIndex, void *_ClientData); + static void ANT_CALL SummaryCB(char *_SummaryString, size_t _SummaryMaxLength, const void *_ExtValue, void *_ClientData); + static void ANT_CALL DrawCB(int _W, int _H, void *_ExtValue, void *_ClientData, TwBar *_Bar, CTwVarGroup *varGrp); + static bool ANT_CALL MouseMotionCB(int _MouseX, int _MouseY, int _W, int _H, void *_StructExtValue, void *_ClientData, TwBar *_Bar, CTwVarGroup *varGrp); + static bool ANT_CALL MouseButtonCB(TwMouseButtonID _Button, bool _Pressed, int _MouseX, int _MouseY, int _W, int _H, void *_StructExtValue, void *_ClientData, TwBar *_Bar, CTwVarGroup *varGrp); + static void ANT_CALL MouseLeaveCB(void *_StructExtValue, void *_ClientData, TwBar *_Bar); + static void CreateTypes(); + static TwType s_CustomType; + void ConvertToAxisAngle(); + void ConvertFromAxisAngle(); + void CopyToVar(); + static std::vector s_SphTri; + static std::vector s_SphCol; + static std::vector s_SphTriProj; + static std::vector s_SphColLight; + static std::vector s_ArrowTri[4]; + static std::vector s_ArrowTriProj[4]; + static std::vector s_ArrowNorm[4]; + static std::vector s_ArrowColLight[4]; + enum EArrowParts { ARROW_CONE, ARROW_CONE_CAP, ARROW_CYL, ARROW_CYL_CAP }; + static void CreateSphere(); + static void CreateArrow(); + static void ApplyQuat(float *outX, float *outY, float *outZ, float x, float y, float z, float qx, float qy, float qz, float qs); + static void QuatFromDir(double *outQx, double *outQy, double *outQz, double *outQs, double dx, double dy, double dz); + inline void Permute(float *outX, float *outY, float *outZ, float x, float y, float z); + inline void PermuteInv(float *outX, float *outY, float *outZ, float x, float y, float z); + inline void Permute(double *outX, double *outY, double *outZ, double x, double y, double z); + inline void PermuteInv(double *outX, double *outY, double *outZ, double x, double y, double z); + bool m_Highlighted; + bool m_Rotating; + double m_OrigQuat[4]; + float m_OrigX, m_OrigY; + double m_PrevX, m_PrevY; +}; + + +// --------------------------------------------------------------------------- +// CTwFPU objects set and restore the fpu precision if needed. +// (could be useful because DirectX changes it and AntTweakBar requires default double precision) +// --------------------------------------------------------------------------- + + +struct CTwFPU +{ + CTwFPU() + { + #ifdef ANT_WINDOWS + state0 = _controlfp(0, 0); + if( (state0&MCW_PC)==_PC_24 ) // we need at least _PC_53 + _controlfp(_PC_53, MCW_PC); + #else + state0 = 0; + #endif + } + ~CTwFPU() + { + #ifdef ANT_WINDOWS + if( (state0&MCW_PC)==_PC_24 ) + _controlfp(_PC_24, MCW_PC); + #else + state0 = 0; + #endif + } +private: + unsigned int state0; +}; + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_MGR_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,744 @@ +// --------------------------------------------------------------------------- +// +// @file TwOpenGLCore.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Work In Progress +// +// --------------------------------------------------------------------------- + +#pragma warning GL3 +#define GL3_PROTOTYPES 1 //// +#include //// +#define ANT_OGL_HEADER_INCLUDED //// +#include "TwPrecomp.h" +#include "LoadOGLCore.h" +#include "TwOpenGLCore.h" +#include "TwMgr.h" + +using namespace std; + +extern const char *g_ErrCantLoadOGL; +extern const char *g_ErrCantUnloadOGL; + +// --------------------------------------------------------------------------- + +#ifdef _DEBUG + static void CheckGLCoreError(const char *file, int line, const char *func) + { + int err=0; + char msg[256]; + while( (err=_glGetError())!=0 ) + { + sprintf(msg, "%s(%d) : [%s] GL_CORE_ERROR=0x%x\n", file, line, func, err); + #ifdef ANT_WINDOWS + OutputDebugString(msg); + #endif + fprintf(stderr, msg); + } + } +# ifdef __FUNCTION__ +# define CHECK_GL_ERROR CheckGLCoreError(__FILE__, __LINE__, __FUNCTION__) +# else +# define CHECK_GL_ERROR CheckGLCoreError(__FILE__, __LINE__, "") +# endif +#else +# define CHECK_GL_ERROR ((void)(0)) +#endif + +// --------------------------------------------------------------------------- + +static GLuint BindFont(const CTexFont *_Font) +{ + GLuint TexID = 0; +/* + _glGenTextures(1, &TexID); + _glBindTexture(GL_TEXTURE_2D, TexID); + _glPixelStorei(GL_UNPACK_SWAP_BYTES, GL_FALSE); + _glPixelStorei(GL_UNPACK_LSB_FIRST, GL_FALSE); + _glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); + _glPixelStorei(GL_UNPACK_SKIP_ROWS, 0); + _glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0); + _glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + _glPixelTransferf(GL_ALPHA_SCALE, 1); + _glPixelTransferf(GL_ALPHA_BIAS, 0); + _glPixelTransferf(GL_RED_BIAS, 1); + _glPixelTransferf(GL_GREEN_BIAS, 1); + _glPixelTransferf(GL_BLUE_BIAS, 1); + _glTexImage2D(GL_TEXTURE_2D, 0, 4, _Font->m_TexWidth, _Font->m_TexHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, _Font->m_TexBytes); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_NEAREST); + _glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); + _glBindTexture(GL_TEXTURE_2D, 0); + _glPixelTransferf(GL_ALPHA_BIAS, 0); + _glPixelTransferf(GL_RED_BIAS, 0); + _glPixelTransferf(GL_GREEN_BIAS, 0); + _glPixelTransferf(GL_BLUE_BIAS, 0); +*/ + return TexID; +} + +static void UnbindFont(GLuint _FontTexID) +{ +/* + if( _FontTexID>0 ) + _glDeleteTextures(1, &_FontTexID); +*/ +} + +// --------------------------------------------------------------------------- + +int CTwGraphOpenGLCore::Init() +{ + m_Drawing = false; + m_FontTexID = 0; + m_FontTex = NULL; + + if( LoadOpenGLCore()==0 ) + { + g_TwMgr->SetLastError(g_ErrCantLoadOGL); + return 0; + } + +/* + m_MaxClipPlanes = -1; + + // Get extensions + _glBindBufferARB = reinterpret_cast(_glGetProcAddress("glBindBufferARB")); + _glBindProgramARB = reinterpret_cast(_glGetProcAddress("glBindProgramARB")); + _glGetHandleARB = reinterpret_cast(_glGetProcAddress("glGetHandleARB")); + _glUseProgramObjectARB = reinterpret_cast(_glGetProcAddress("glUseProgramObjectARB")); + _glTexImage3D = reinterpret_cast(_glGetProcAddress("glTexImage3D")); + _glActiveTextureARB = reinterpret_cast(_glGetProcAddress("glActiveTextureARB")); + _glClientActiveTextureARB = reinterpret_cast(_glGetProcAddress("glClientActiveTextureARB")); + _glBlendEquation = reinterpret_cast(_glGetProcAddress("glBlendEquation")); + _glBlendEquationSeparate = reinterpret_cast(_glGetProcAddress("glBlendEquationSeparate")); + _glBlendFuncSeparate = reinterpret_cast(_glGetProcAddress("glBlendFuncSeparate")); + +#if !defined(ANT_OSX) + const char *ext = (const char *)_glGetString(GL_EXTENSIONS); + if( ext!=0 && strlen(ext)>0 ) + m_SupportTexRect = (strstr(ext, "GL_ARB_texture_rectangle")!=NULL); + else +#endif + m_SupportTexRect = false; +*/ + + // Create shaders + const GLchar *lineRectVS[] = { + "#version 150 core\n" + "in vec3 vertex;" + "void main() { gl_Position = vec4(vertex, 1); }" + }; + m_LineRectVS = _glCreateShader(GL_VERTEX_SHADER); + _glShaderSource(m_LineRectVS, 1, lineRectVS, NULL); + _glCompileShader(m_LineRectVS); + + const GLchar *lineRectFS[] = { + "#version 150 core\n" + "out vec4 color;" + "void main() { color = vec4(1, 0, 1, 1); }" + }; + m_LineRectFS = _glCreateShader(GL_FRAGMENT_SHADER); + _glShaderSource(m_LineRectFS, 1, lineRectFS, NULL); + _glCompileShader(m_LineRectFS); + + m_LineRectProgram = _glCreateProgram(); + _glAttachShader(m_LineRectProgram, m_LineRectVS); + _glAttachShader(m_LineRectProgram, m_LineRectFS); + _glLinkProgram(m_LineRectProgram); + + // Create line/rect vertex buffer + const GLfloat lineRectInitBuffer[] = { 0,0,0, 0,0,0, 0,0,0, 0,0,0 }; + _glGenVertexArrays(1, &m_LineRectVArray); + _glBindVertexArray(m_LineRectVArray); + _glGenBuffers(1, &m_LineRectBuffer); + _glBindBuffer(GL_ARRAY_BUFFER, m_LineRectBuffer); + _glBufferData(GL_ARRAY_BUFFER, sizeof(lineRectInitBuffer), lineRectInitBuffer, GL_DYNAMIC_DRAW); + + CHECK_GL_ERROR; + return 1; +} + +// --------------------------------------------------------------------------- + +int CTwGraphOpenGLCore::Shut() +{ + assert(m_Drawing==false); + + UnbindFont(m_FontTexID); + + int Res = 1; + if( UnloadOpenGLCore()==0 ) + { + g_TwMgr->SetLastError(g_ErrCantUnloadOGL); + Res = 0; + } + + return Res; +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::BeginDraw(int _WndWidth, int _WndHeight) +{ + assert(m_Drawing==false && _WndWidth>0 && _WndHeight>0); + m_Drawing = true; + m_WndWidth = _WndWidth; + m_WndHeight = _WndHeight; + m_OffsetX = 0; + m_OffsetY = 0; + + CHECK_GL_ERROR; + + //_glPushAttrib(GL_ALL_ATTRIB_BITS); + //_glPushClientAttrib(GL_CLIENT_ALL_ATTRIB_BITS); +/* + _glGetIntegerv(GL_ACTIVE_TEXTURE, &m_PrevActiveTexture); + GLint maxTexUnits = 1; + _glGetIntegerv(GL_MAX_TEXTURE_IMAGE_UNITS, &maxTexUnits); + if( maxTexUnits<1 ) + maxTexUnits = 1; + else if( maxTexUnits > 32 ) + maxTexUnits = 32; + for( GLint i=0; i0 && _WndHeight>0 ) + { + Vp[0] = 0; + Vp[1] = 0; + Vp[2] = _WndWidth-1; + Vp[3] = _WndHeight-1; + _glViewport(Vp[0], Vp[1], Vp[2], Vp[3]); + } + _glGetIntegerv(GL_VIEWPORT, m_ViewportInit); + + _glGetFloatv(GL_LINE_WIDTH, &m_PrevLineWidth); + _glLineWidth(1); + _glDisable(GL_LINE_SMOOTH); + _glDisable(GL_CULL_FACE); + _glDisable(GL_DEPTH_TEST); + _glEnable(GL_BLEND); + _glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + _glDisable(GL_SCISSOR_TEST); + m_PrevTexture = 0; + _glGetIntegerv(GL_TEXTURE_BINDING_2D, &m_PrevTexture); + +/* + _glDisableClientState(GL_VERTEX_ARRAY); + _glDisableClientState(GL_NORMAL_ARRAY); + _glDisableClientState(GL_TEXTURE_COORD_ARRAY); + _glDisableClientState(GL_INDEX_ARRAY); + _glDisableClientState(GL_COLOR_ARRAY); + _glDisableClientState(GL_EDGE_FLAG_ARRAY); + + if( _glBindBuffer!=NULL ) + { + m_PrevArrayBufferARB = m_PrevElementArrayBufferARB = 0; + _glGetIntegerv(GL_ARRAY_BUFFER_BINDING_ARB, &m_PrevArrayBufferARB); + _glGetIntegerv(GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB, &m_PrevElementArrayBufferARB); + _glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0); + _glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, 0); + } + if( _glBindProgramARB!=NULL ) + { + m_PrevVertexProgramARB = _glIsEnabled(GL_VERTEX_PROGRAM_ARB); + m_PrevFragmentProgramARB = _glIsEnabled(GL_FRAGMENT_PROGRAM_ARB); + _glDisable(GL_VERTEX_PROGRAM_ARB); + _glDisable(GL_FRAGMENT_PROGRAM_ARB); + } + if( _glGetHandleARB!=NULL && _glUseProgramObjectARB!=NULL ) + { + m_PrevProgramObjectARB = _glGetHandleARB(GL_PROGRAM_OBJECT_ARB); + _glUseProgramObjectARB(0); + } +*/ +/* + _glDisable(GL_TEXTURE_1D); + _glDisable(GL_TEXTURE_2D); + m_PrevTexture3D = _glIsEnabled(GL_TEXTURE_3D); + _glDisable(GL_TEXTURE_3D); + m_PrevTexRect = _glIsEnabled(GL_TEXTURE_RECTANGLE); + _glDisable(GL_TEXTURE_RECTANGLE); + if( _glBlendEquationSeparate!=NULL ) + { + _glGetIntegerv(GL_BLEND_EQUATION_RGB, &m_PrevBlendEquationRGB); + _glGetIntegerv(GL_BLEND_EQUATION_ALPHA, &m_PrevBlendEquationAlpha); + _glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD); + } + if( _glBlendFuncSeparate!=NULL ) + { + _glGetIntegerv(GL_BLEND_SRC_RGB, &m_PrevBlendSrcRGB); + _glGetIntegerv(GL_BLEND_DST_RGB, &m_PrevBlendDstRGB); + _glGetIntegerv(GL_BLEND_SRC_ALPHA, &m_PrevBlendSrcAlpha); + _glGetIntegerv(GL_BLEND_DST_ALPHA, &m_PrevBlendDstAlpha); + _glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + } + if( _glBlendEquation!=NULL ) + { + _glGetIntegerv(GL_BLEND_EQUATION, &m_PrevBlendEquation); + _glBlendEquation(GL_FUNC_ADD); + } +*/ + CHECK_GL_ERROR; + +// _glUseProgram(m_LineRectProgram); +// GLint projLoc = _glGetUniformLocation(m_LineRectProgram, "proj"); +// _glUniformMatrix4fv(projLoc, 1, false, proj); + + CHECK_GL_ERROR; +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::EndDraw() +{ + assert(m_Drawing==true); + m_Drawing = false; +/* + _glBindTexture(GL_TEXTURE_2D, m_PrevTexture); + if( _glBindBufferARB!=NULL ) + { + _glBindBufferARB(GL_ARRAY_BUFFER_ARB, m_PrevArrayBufferARB); + _glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, m_PrevElementArrayBufferARB); + } + if( _glBindProgramARB!=NULL ) + { + if( m_PrevVertexProgramARB ) + _glEnable(GL_VERTEX_PROGRAM_ARB); + if( m_PrevFragmentProgramARB ) + _glEnable(GL_FRAGMENT_PROGRAM_ARB); + } + if( _glGetHandleARB!=NULL && _glUseProgramObjectARB!=NULL ) + _glUseProgramObjectARB(m_PrevProgramObjectARB); + if( _glTexImage3D!=NULL && m_PrevTexture3D ) + _glEnable(GL_TEXTURE_3D); + if( m_SupportTexRect && m_PrevTexRectARB ) + _glEnable(GL_TEXTURE_RECTANGLE_ARB); + if( _glBlendEquation!=NULL ) + _glBlendEquation(m_PrevBlendEquation); + if( _glBlendEquationSeparate!=NULL ) + _glBlendEquationSeparate(m_PrevBlendEquationRGB, m_PrevBlendEquationAlpha); + if( _glBlendFuncSeparate!=NULL ) + _glBlendFuncSeparate(m_PrevBlendSrcRGB, m_PrevBlendDstRGB, m_PrevBlendSrcAlpha, m_PrevBlendDstAlpha); + + _glPolygonMode(GL_FRONT, m_PrevPolygonMode[0]); + _glPolygonMode(GL_BACK, m_PrevPolygonMode[1]); + _glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, m_PrevTexEnv); + _glLineWidth(m_PrevLineWidth); + _glMatrixMode(GL_PROJECTION); + _glPopMatrix(); + _glMatrixMode(GL_MODELVIEW); + _glPopMatrix(); + _glMatrixMode(GL_TEXTURE); + _glPopMatrix(); + _glPopClientAttrib(); + _glPopAttrib(); + + if( _glActiveTextureARB ) + { + GLint maxTexUnits = 1; + _glGetIntegerv(GL_MAX_TEXTURE_UNITS_ARB, &maxTexUnits); + if( maxTexUnits<1 ) + maxTexUnits = 1; + else if( maxTexUnits > 32 ) + maxTexUnits = 32; + for( GLint i=0; i>16) & 0xff) | ((col<<16) & 0xff0000); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased) +{ + assert(m_Drawing==true); + /* + //const GLfloat dx = +0.0f; + const GLfloat dx = +0.5f; + //GLfloat dy = -0.2f; + const GLfloat dy = -0.5f; + if( _AntiAliased ) + _glEnable(GL_LINE_SMOOTH); + else + _glDisable(GL_LINE_SMOOTH); + _glDisable(GL_TEXTURE_2D); + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + _glBegin(GL_LINES); + _glColor4ub(GLubyte(_Color0>>16), GLubyte(_Color0>>8), GLubyte(_Color0), GLubyte(_Color0>>24)); + _glVertex2f((GLfloat)_X0+dx, (GLfloat)_Y0+dy); + _glColor4ub(GLubyte(_Color1>>16), GLubyte(_Color1>>8), GLubyte(_Color1), GLubyte(_Color1>>24)); + _glVertex2f((GLfloat)_X1+dx, (GLfloat)_Y1+dy); + //_glVertex2i(_X0, _Y0); + //_glVertex2i(_X1, _Y1); + _glEnd(); + _glDisable(GL_LINE_SMOOTH); + */ + + GLfloat x0 = ToNormScreenX(_X0 + m_OffsetX, m_WndWidth); + GLfloat y0 = ToNormScreenY(_Y0 + m_OffsetY, m_WndHeight); + GLfloat x1 = ToNormScreenX(_X1 + m_OffsetX, m_WndWidth); + GLfloat y1 = ToNormScreenY(_Y1 + m_OffsetY, m_WndHeight); + GLfloat vertices[] = { x0, y0, 0, x1, y1, 0 }; + _glBindBuffer(GL_ARRAY_BUFFER, m_LineRectBuffer); + _glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(vertices), vertices); + + _glUseProgram(m_LineRectProgram); + _glBindVertexArray(m_LineRectVArray); + GLint vlocation = _glGetAttribLocation(m_LineRectProgram, "vertex"); + _glVertexAttribPointer(vlocation, 3, GL_FLOAT, GL_TRUE, 0, NULL); + _glEnableVertexAttribArray(vlocation); + _glDrawArrays(GL_LINES, 0, 2); + + CHECK_GL_ERROR; +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11) +{ + assert(m_Drawing==true); + + /* + // border adjustment + if(_X0<_X1) + ++_X1; + else if(_X0>_X1) + ++_X0; + if(_Y0<_Y1) + --_Y0; + else if(_Y0>_Y1) + --_Y1; + const GLfloat dx = +0.0f; + const GLfloat dy = +0.0f; + + _glDisable(GL_TEXTURE_2D); + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + //GLubyte r = GLubyte(_Color>>16); + //GLubyte g = GLubyte(_Color>>8); + //GLubyte b = GLubyte(_Color); + //GLubyte a = GLubyte(_Color>>24); + //_glColor4ub(GLubyte(_Color>>16), GLubyte(_Color>>8), GLubyte(_Color), GLubyte(_Color>>24)); + //_glColor4ub(r, g, b, a); + _glBegin(GL_QUADS); + _glColor4ub(GLubyte(_Color00>>16), GLubyte(_Color00>>8), GLubyte(_Color00), GLubyte(_Color00>>24)); + _glVertex2f((GLfloat)_X0+dx, (GLfloat)_Y0+dy); + _glColor4ub(GLubyte(_Color10>>16), GLubyte(_Color10>>8), GLubyte(_Color10), GLubyte(_Color10>>24)); + _glVertex2f((GLfloat)_X1+dx, (GLfloat)_Y0+dy); + _glColor4ub(GLubyte(_Color11>>16), GLubyte(_Color11>>8), GLubyte(_Color11), GLubyte(_Color11>>24)); + _glVertex2f((GLfloat)_X1+dx, (GLfloat)_Y1+dy); + _glColor4ub(GLubyte(_Color01>>16), GLubyte(_Color01>>8), GLubyte(_Color01), GLubyte(_Color01>>24)); + _glVertex2f((GLfloat)_X0+dx, (GLfloat)_Y1+dy); + _glEnd(); + */ +} + +// --------------------------------------------------------------------------- + +void *CTwGraphOpenGLCore::NewTextObj() +{ + return new CTextObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::DeleteTextObj(void *_TextObj) +{ + assert(_TextObj!=NULL); + delete static_cast(_TextObj); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + assert(_Font!=NULL); + + if( _Font != m_FontTex ) + { + UnbindFont(m_FontTexID); + m_FontTexID = BindFont(_Font); + m_FontTex = _Font; + } + CTextObj *TextObj = static_cast(_TextObj); + TextObj->m_TextVerts.resize(0); + TextObj->m_TextUVs.resize(0); + TextObj->m_BgVerts.resize(0); + TextObj->m_Colors.resize(0); + TextObj->m_BgColors.resize(0); + + int x, x1, y, y1, i, Len; + unsigned char ch; + const unsigned char *Text; + color32 LineColor = COLOR32_RED; + for( int Line=0; Line<_NbLines; ++Line ) + { + x = 0; + y = Line * (_Font->m_CharHeight+_Sep); + y1 = y+_Font->m_CharHeight; + Len = (int)_TextLines[Line].length(); + Text = (const unsigned char *)(_TextLines[Line].c_str()); + if( _LineColors!=NULL ) + LineColor = (_LineColors[Line]&0xff00ff00) | GLubyte(_LineColors[Line]>>16) | (GLubyte(_LineColors[Line])<<16); + + for( i=0; im_CharWidth[ch]; + + TextObj->m_TextVerts.push_back(Vec2(x , y )); + TextObj->m_TextVerts.push_back(Vec2(x1, y )); + TextObj->m_TextVerts.push_back(Vec2(x , y1)); + TextObj->m_TextVerts.push_back(Vec2(x1, y )); + TextObj->m_TextVerts.push_back(Vec2(x1, y1)); + TextObj->m_TextVerts.push_back(Vec2(x , y1)); + + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU0[ch], _Font->m_CharV0[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU1[ch], _Font->m_CharV0[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU0[ch], _Font->m_CharV1[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU1[ch], _Font->m_CharV0[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU1[ch], _Font->m_CharV1[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU0[ch], _Font->m_CharV1[ch])); + + if( _LineColors!=NULL ) + { + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + } + + x = x1; + } + if( _BgWidth>0 ) + { + TextObj->m_BgVerts.push_back(Vec2(-1 , y )); + TextObj->m_BgVerts.push_back(Vec2(_BgWidth+1, y )); + TextObj->m_BgVerts.push_back(Vec2(-1 , y1)); + TextObj->m_BgVerts.push_back(Vec2(_BgWidth+1, y )); + TextObj->m_BgVerts.push_back(Vec2(_BgWidth+1, y1)); + TextObj->m_BgVerts.push_back(Vec2(-1 , y1)); + + if( _LineBgColors!=NULL ) + { + color32 LineBgColor = (_LineBgColors[Line]&0xff00ff00) | GLubyte(_LineBgColors[Line]>>16) | (GLubyte(_LineBgColors[Line])<<16); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + } + } + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + CTextObj *TextObj = static_cast(_TextObj); + + if( TextObj->m_TextVerts.size()<4 && TextObj->m_BgVerts.size()<4 ) + return; // nothing to draw +/* + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + _glTranslatef((GLfloat)_X, (GLfloat)_Y, 0); + _glEnableClientState(GL_VERTEX_ARRAY); + if( (_BgColor!=0 || TextObj->m_BgColors.size()==TextObj->m_BgVerts.size()) && TextObj->m_BgVerts.size()>=4 ) + { + _glDisable(GL_TEXTURE_2D); + _glVertexPointer(2, GL_FLOAT, 0, &(TextObj->m_BgVerts[0])); + if( TextObj->m_BgColors.size()==TextObj->m_BgVerts.size() && _BgColor==0 ) + { + _glEnableClientState(GL_COLOR_ARRAY); + _glColorPointer(4, GL_UNSIGNED_BYTE, 0, &(TextObj->m_BgColors[0])); + } + else + { + _glDisableClientState(GL_COLOR_ARRAY); + _glColor4ub(GLubyte(_BgColor>>16), GLubyte(_BgColor>>8), GLubyte(_BgColor), GLubyte(_BgColor>>24)); + } + _glDrawArrays(GL_TRIANGLES, 0, (int)TextObj->m_BgVerts.size()); + } + _glEnable(GL_TEXTURE_2D); + _glBindTexture(GL_TEXTURE_2D, m_FontTexID); + _glEnableClientState(GL_TEXTURE_COORD_ARRAY); + if( TextObj->m_TextVerts.size()>=4 ) + { + _glVertexPointer(2, GL_FLOAT, 0, &(TextObj->m_TextVerts[0])); + _glTexCoordPointer(2, GL_FLOAT, 0, &(TextObj->m_TextUVs[0])); + if( TextObj->m_Colors.size()==TextObj->m_TextVerts.size() && _Color==0 ) + { + _glEnableClientState(GL_COLOR_ARRAY); + _glColorPointer(4, GL_UNSIGNED_BYTE, 0, &(TextObj->m_Colors[0])); + } + else + { + _glDisableClientState(GL_COLOR_ARRAY); + _glColor4ub(GLubyte(_Color>>16), GLubyte(_Color>>8), GLubyte(_Color), GLubyte(_Color>>24)); + } + + _glDrawArrays(GL_TRIANGLES, 0, (int)TextObj->m_TextVerts.size()); + } + + _glDisableClientState(GL_VERTEX_ARRAY); + _glDisableClientState(GL_TEXTURE_COORD_ARRAY); + _glDisableClientState(GL_COLOR_ARRAY); +*/ +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY) +{ +/* + if( _Width>0 && _Height>0 ) + { + GLint vp[4]; + vp[0] = _X0; + vp[1] = _Y0; + vp[2] = _Width-1; + vp[3] = _Height-1; + _glViewport(vp[0], m_WndHeight-vp[1]-vp[3], vp[2], vp[3]); + + GLint matrixMode = 0; + _glGetIntegerv(GL_MATRIX_MODE, &matrixMode); + _glMatrixMode(GL_PROJECTION); + _glLoadIdentity(); + _glOrtho(_OffsetX, _OffsetX+vp[2], vp[3]-_OffsetY, -_OffsetY, -1, 1); + _glMatrixMode(matrixMode); + } +*/ +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::RestoreViewport() +{ +/* + _glViewport(m_ViewportInit[0], m_ViewportInit[1], m_ViewportInit[2], m_ViewportInit[3]); + + GLint matrixMode = 0; + _glGetIntegerv(GL_MATRIX_MODE, &matrixMode); + _glMatrixMode(GL_PROJECTION); + _glLoadMatrixf(m_ProjMatrixInit); + _glMatrixMode(matrixMode); +*/ +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGLCore::DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode) +{ + assert(m_Drawing==true); + + const GLfloat dx = +0.0f; + const GLfloat dy = +0.0f; +/* + GLint prevCullFaceMode, prevFrontFace; + _glGetIntegerv(GL_CULL_FACE_MODE, &prevCullFaceMode); + _glGetIntegerv(GL_FRONT_FACE, &prevFrontFace); + GLboolean prevCullEnable = _glIsEnabled(GL_CULL_FACE); + _glCullFace(GL_BACK); + _glEnable(GL_CULL_FACE); + if( _CullMode==CULL_CW ) + _glFrontFace(GL_CCW); + else if( _CullMode==CULL_CCW ) + _glFrontFace(GL_CW); + else + _glDisable(GL_CULL_FACE); + + _glDisable(GL_TEXTURE_2D); + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + _glBegin(GL_TRIANGLES); + for(int i=0; i<3*_NumTriangles; ++i) + { + color32 col = _Colors[i]; + _glColor4ub(GLubyte(col>>16), GLubyte(col>>8), GLubyte(col), GLubyte(col>>24)); + _glVertex2f((GLfloat)_Vertices[2*i+0]+dx, (GLfloat)_Vertices[2*i+1]+dy); + } + _glEnd(); + + _glCullFace(prevCullFaceMode); + _glFrontFace(prevFrontFace); + if( prevCullEnable ) + _glEnable(GL_CULL_FACE); + else + _glDisable(GL_CULL_FACE); +*/ +} + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGLCore.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,96 @@ +// --------------------------------------------------------------------------- +// +// @file TwOpenGLCore.h +// @brief OpenGL Core graph functions +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// notes: Private header, +// Work In Progress, Disabled. +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_OPENGL_CORE_INCLUDED +#define ANT_TW_OPENGL_CORE_INCLUDED + +#include "TwGraph.h" + +// --------------------------------------------------------------------------- + +class CTwGraphOpenGLCore : public ITwGraph +{ +public: + virtual int Init(); + virtual int Shut(); + virtual void BeginDraw(int _WndWidth, int _WndHeight); + virtual void EndDraw(); + virtual bool IsDrawing(); + virtual void Restore(); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased=false); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color, bool _AntiAliased=false) { DrawLine(_X0, _Y0, _X1, _Y1, _Color, _Color, _AntiAliased); } + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11); + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color) { DrawRect(_X0, _Y0, _X1, _Y1, _Color, _Color, _Color, _Color); } + virtual void DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode); + + virtual void * NewTextObj(); + virtual void DeleteTextObj(void *_TextObj); + virtual void BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth); + virtual void DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor); + + virtual void ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY); + virtual void RestoreViewport(); + +protected: + bool m_Drawing; + GLuint m_FontTexID; + const CTexFont * m_FontTex; + + GLfloat m_PrevLineWidth; + GLint m_PrevTexture; + GLint m_PrevArrayBuffer; + GLint m_PrevElementArrayBuffer; + GLboolean m_PrevVertexProgram; + GLboolean m_PrevFragmentProgram; + GLuint m_PrevProgramObject; + GLboolean m_PrevTexture3D; + GLboolean m_PrevActiveTexture1D[32]; + GLboolean m_PrevActiveTexture2D[32]; + GLboolean m_PrevActiveTexture3D[32]; + GLint m_PrevActiveTexture; + GLboolean m_PrevTexRect; + GLint m_PrevBlendEquation; + GLint m_PrevBlendEquationRGB; + GLint m_PrevBlendEquationAlpha; + GLint m_PrevBlendSrcRGB; + GLint m_PrevBlendDstRGB; + GLint m_PrevBlendSrcAlpha; + GLint m_PrevBlendDstAlpha; + GLint m_ViewportInit[4]; + GLuint m_LineRectVS; + GLuint m_LineRectFS; + GLuint m_LineRectProgram; + GLuint m_LineRectVArray; + GLuint m_LineRectBuffer; + + int m_WndWidth; + int m_WndHeight; + int m_OffsetX; + int m_OffsetY; + + struct Vec2 { GLfloat x, y; Vec2(){} Vec2(GLfloat _X, GLfloat _Y):x(_X),y(_Y){} Vec2(int _X, int _Y):x(GLfloat(_X)),y(GLfloat(_Y)){} }; + struct CTextObj + { + std::vector m_TextVerts; + std::vector m_TextUVs; + std::vector m_BgVerts; + std::vectorm_Colors; + std::vectorm_BgColors; + }; +}; + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_OPENGL_CORE_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,851 @@ +// --------------------------------------------------------------------------- +// +// @file TwOpenGL.cpp +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// --------------------------------------------------------------------------- + + +#include "TwPrecomp.h" +#include "LoadOGL.h" +#include "TwOpenGL.h" +#include "TwMgr.h" + +using namespace std; + +const char *g_ErrCantLoadOGL = "Cannot load OpenGL library dynamically"; +const char *g_ErrCantUnloadOGL = "Cannot unload OpenGL library"; + +GLuint g_SmallFontTexID = 0; +GLuint g_NormalFontTexID = 0; +GLuint g_LargeFontTexID = 0; + +// --------------------------------------------------------------------------- +// Extensions + +typedef void (APIENTRY * PFNGLBindBufferARB)(GLenum target, GLuint buffer); +typedef void (APIENTRY * PFNGLBindProgramARB)(GLenum target, GLuint program); +typedef GLuint (APIENTRY * PFNGLGetHandleARB)(GLenum pname); +typedef void (APIENTRY * PFNGLUseProgramObjectARB)(GLuint programObj); +typedef void (APIENTRY * PFNGLTexImage3D)(GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRY * PFNGLActiveTextureARB)(GLenum texture); +typedef void (APIENTRY * PFNGLClientActiveTextureARB)(GLenum texture); +typedef void (APIENTRY * PFNGLBlendEquation)(GLenum mode); +typedef void (APIENTRY * PFNGLBlendEquationSeparate)(GLenum srcMode, GLenum dstMode); +typedef void (APIENTRY * PFNGLBlendFuncSeparate)(GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +PFNGLBindBufferARB _glBindBufferARB = NULL; +PFNGLBindProgramARB _glBindProgramARB = NULL; +PFNGLGetHandleARB _glGetHandleARB = NULL; +PFNGLUseProgramObjectARB _glUseProgramObjectARB = NULL; +PFNGLTexImage3D _glTexImage3D = NULL; +PFNGLActiveTextureARB _glActiveTextureARB = NULL; +PFNGLClientActiveTextureARB _glClientActiveTextureARB = NULL; +PFNGLBlendEquation _glBlendEquation = NULL; +PFNGLBlendEquationSeparate _glBlendEquationSeparate = NULL; +PFNGLBlendFuncSeparate _glBlendFuncSeparate = NULL; +#ifndef GL_ARRAY_BUFFER_ARB +# define GL_ARRAY_BUFFER_ARB 0x8892 +#endif +#ifndef GL_ELEMENT_ARRAY_BUFFER_ARB +# define GL_ELEMENT_ARRAY_BUFFER_ARB 0x8893 +#endif +#ifndef GL_ARRAY_BUFFER_BINDING_ARB +# define GL_ARRAY_BUFFER_BINDING_ARB 0x8894 +#endif +#ifndef GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB +# define GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB 0x8895 +#endif +#ifndef GL_VERTEX_PROGRAM_ARB +# define GL_VERTEX_PROGRAM_ARB 0x8620 +#endif +#ifndef GL_FRAGMENT_PROGRAM_ARB +# define GL_FRAGMENT_PROGRAM_ARB 0x8804 +#endif +#ifndef GL_PROGRAM_OBJECT_ARB +# define GL_PROGRAM_OBJECT_ARB 0x8B40 +#endif +#ifndef GL_TEXTURE_3D +# define GL_TEXTURE_3D 0x806F +#endif +#ifndef GL_TEXTURE0_ARB +# define GL_TEXTURE0_ARB 0x84C0 +#endif +#ifndef GL_ACTIVE_TEXTURE_ARB +# define GL_ACTIVE_TEXTURE_ARB 0x84E0 +#endif +#ifndef GL_CLIENT_ACTIVE_TEXTURE_ARB +# define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 +#endif +#ifndef GL_MAX_TEXTURE_UNITS_ARB +# define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 +#endif +#ifndef GL_MAX_TEXTURE_COORDS +# define GL_MAX_TEXTURE_COORDS 0x8871 +#endif +#ifndef GL_TEXTURE_RECTANGLE_ARB +# define GL_TEXTURE_RECTANGLE_ARB 0x84F5 +#endif +#ifndef GL_FUNC_ADD +# define GL_FUNC_ADD 0x8006 +#endif +#ifndef GL_BLEND_EQUATION +# define GL_BLEND_EQUATION 0x8009 +#endif +#ifndef GL_BLEND_EQUATION_RGB +# define GL_BLEND_EQUATION_RGB GL_BLEND_EQUATION +#endif +#ifndef GL_BLEND_EQUATION_ALPHA +# define GL_BLEND_EQUATION_ALPHA 0x883D +#endif +#ifndef GL_BLEND_SRC_RGB +# define GL_BLEND_SRC_RGB 0x80C9 +#endif +#ifndef GL_BLEND_DST_RGB +# define GL_BLEND_DST_RGB 0x80C8 +#endif +#ifndef GL_BLEND_SRC_ALPHA +# define GL_BLEND_SRC_ALPHA 0x80CB +#endif +#ifndef GL_BLEND_DST_ALPHA +# define GL_BLEND_DST_ALPHA 0x80CA +#endif + +// --------------------------------------------------------------------------- + +#ifdef _DEBUG + static void CheckGLError(const char *file, int line, const char *func) + { + int err=0; + char msg[256]; + while( (err=_glGetError())!=0 ) + { + sprintf(msg, "%s(%d) : [%s] GL_ERROR=0x%x\n", file, line, func, err); + #ifdef ANT_WINDOWS + OutputDebugString(msg); + #endif + fprintf(stderr, msg); + } + } +# ifdef __FUNCTION__ +# define CHECK_GL_ERROR CheckGLError(__FILE__, __LINE__, __FUNCTION__) +# else +# define CHECK_GL_ERROR CheckGLError(__FILE__, __LINE__, "") +# endif +#else +# define CHECK_GL_ERROR ((void)(0)) +#endif + +// --------------------------------------------------------------------------- + +static GLuint BindFont(const CTexFont *_Font) +{ + GLuint TexID = 0; + _glGenTextures(1, &TexID); + _glBindTexture(GL_TEXTURE_2D, TexID); + _glPixelStorei(GL_UNPACK_SWAP_BYTES, GL_FALSE); + _glPixelStorei(GL_UNPACK_LSB_FIRST, GL_FALSE); + _glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); + _glPixelStorei(GL_UNPACK_SKIP_ROWS, 0); + _glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0); + _glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + _glPixelTransferf(GL_ALPHA_SCALE, 1); + _glPixelTransferf(GL_ALPHA_BIAS, 0); + _glPixelTransferf(GL_RED_BIAS, 1); + _glPixelTransferf(GL_GREEN_BIAS, 1); + _glPixelTransferf(GL_BLUE_BIAS, 1); + _glTexImage2D(GL_TEXTURE_2D, 0, 4, _Font->m_TexWidth, _Font->m_TexHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, _Font->m_TexBytes); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST); + _glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_NEAREST); + _glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); + _glBindTexture(GL_TEXTURE_2D, 0); + _glPixelTransferf(GL_ALPHA_BIAS, 0); + _glPixelTransferf(GL_RED_BIAS, 0); + _glPixelTransferf(GL_GREEN_BIAS, 0); + _glPixelTransferf(GL_BLUE_BIAS, 0); + + return TexID; +} + +static void UnbindFont(GLuint _FontTexID) +{ + if( _FontTexID>0 ) + _glDeleteTextures(1, &_FontTexID); +} + +// --------------------------------------------------------------------------- + +int CTwGraphOpenGL::Init() +{ + m_Drawing = false; + m_FontTexID = 0; + m_FontTex = NULL; + m_MaxClipPlanes = -1; + + if( LoadOpenGL()==0 ) + { + g_TwMgr->SetLastError(g_ErrCantLoadOGL); + return 0; + } + + // Get extensions + _glBindBufferARB = reinterpret_cast(_glGetProcAddress("glBindBufferARB")); + _glBindProgramARB = reinterpret_cast(_glGetProcAddress("glBindProgramARB")); + _glGetHandleARB = reinterpret_cast(_glGetProcAddress("glGetHandleARB")); + _glUseProgramObjectARB = reinterpret_cast(_glGetProcAddress("glUseProgramObjectARB")); + _glTexImage3D = reinterpret_cast(_glGetProcAddress("glTexImage3D")); + _glActiveTextureARB = reinterpret_cast(_glGetProcAddress("glActiveTextureARB")); + _glClientActiveTextureARB = reinterpret_cast(_glGetProcAddress("glClientActiveTextureARB")); + _glBlendEquation = reinterpret_cast(_glGetProcAddress("glBlendEquation")); + _glBlendEquationSeparate = reinterpret_cast(_glGetProcAddress("glBlendEquationSeparate")); + _glBlendFuncSeparate = reinterpret_cast(_glGetProcAddress("glBlendFuncSeparate")); + + m_SupportTexRect = false; // updated in BeginDraw + + return 1; +} + +// --------------------------------------------------------------------------- + +int CTwGraphOpenGL::Shut() +{ + assert(m_Drawing==false); + + UnbindFont(m_FontTexID); + + int Res = 1; + if( UnloadOpenGL()==0 ) + { + g_TwMgr->SetLastError(g_ErrCantUnloadOGL); + Res = 0; + } + + return Res; +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::BeginDraw(int _WndWidth, int _WndHeight) +{ + assert(m_Drawing==false && _WndWidth>0 && _WndHeight>0); + m_Drawing = true; + m_WndWidth = _WndWidth; + m_WndHeight = _WndHeight; + + CHECK_GL_ERROR; + +//#if !defined(ANT_OSX) + static bool s_SupportTexRectChecked = false; + if (!s_SupportTexRectChecked) + { + const char *ext = (const char *)_glGetString(GL_EXTENSIONS); + if( ext!=0 && strlen(ext)>0 ) + m_SupportTexRect = (strstr(ext, "GL_ARB_texture_rectangle")!=NULL); + s_SupportTexRectChecked = true; + } +//#endif + + _glPushAttrib(GL_ALL_ATTRIB_BITS); + _glPushClientAttrib(GL_CLIENT_ALL_ATTRIB_BITS); + + if( _glActiveTextureARB ) + { + _glGetIntegerv(GL_ACTIVE_TEXTURE_ARB, &m_PrevActiveTextureARB); + _glGetIntegerv(GL_CLIENT_ACTIVE_TEXTURE_ARB, &m_PrevClientActiveTextureARB); + GLint maxTexUnits = 1; + _glGetIntegerv(GL_MAX_TEXTURE_COORDS, &maxTexUnits); // was GL_MAX_TEXTURE_UNITS_ARB + if( maxTexUnits<1 ) + maxTexUnits = 1; + else if( maxTexUnits > MAX_TEXTURES ) + maxTexUnits = MAX_TEXTURES; + GLint i; + for( i=0; i0 && _WndHeight>0 ) + { + Vp[0] = 0; + Vp[1] = 0; + Vp[2] = _WndWidth; + Vp[3] = _WndHeight; + _glViewport(Vp[0], Vp[1], Vp[2], Vp[3]); + } + _glLoadIdentity(); + //_glOrtho(Vp[0], Vp[0]+Vp[2]-1, Vp[1]+Vp[3]-1, Vp[1], -1, 1); // Doesn't work + _glOrtho(Vp[0], Vp[0]+Vp[2], Vp[1]+Vp[3], Vp[1], -1, 1); + */ + if( _WndWidth>0 && _WndHeight>0 ) + { + Vp[0] = 0; + Vp[1] = 0; + Vp[2] = _WndWidth-1; + Vp[3] = _WndHeight-1; + _glViewport(Vp[0], Vp[1], Vp[2], Vp[3]); + } + _glLoadIdentity(); + _glOrtho(Vp[0], Vp[0]+Vp[2], Vp[1]+Vp[3], Vp[1], -1, 1); + _glGetIntegerv(GL_VIEWPORT, m_ViewportInit); + _glGetFloatv(GL_PROJECTION_MATRIX, m_ProjMatrixInit); + + _glGetFloatv(GL_LINE_WIDTH, &m_PrevLineWidth); + _glDisable(GL_POLYGON_STIPPLE); + _glLineWidth(1); + _glDisable(GL_LINE_SMOOTH); + _glDisable(GL_LINE_STIPPLE); + _glDisable(GL_CULL_FACE); + _glDisable(GL_DEPTH_TEST); + _glDisable(GL_LIGHTING); + _glEnable(GL_BLEND); + _glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + _glGetTexEnviv(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, &m_PrevTexEnv); + _glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); + _glGetIntegerv(GL_POLYGON_MODE, m_PrevPolygonMode); + _glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + _glDisable(GL_ALPHA_TEST); + //_glEnable(GL_ALPHA_TEST); + //_glAlphaFunc(GL_GREATER, 0); + _glDisable(GL_FOG); + _glDisable(GL_LOGIC_OP); + _glDisable(GL_SCISSOR_TEST); + if( m_MaxClipPlanes<0 ) + { + _glGetIntegerv(GL_MAX_CLIP_PLANES, &m_MaxClipPlanes); + if( m_MaxClipPlanes<0 || m_MaxClipPlanes>255 ) + m_MaxClipPlanes = 6; + } + for( GLint i=0; i MAX_TEXTURES ) + maxTexUnits = MAX_TEXTURES; + GLint i; + for( i=0; i_X1) + ++_X0; + if(_Y0<_Y1) + ++_Y1; + else if(_Y0>_Y1) + ++_Y0; + */ + //const GLfloat dx = +0.0f; + const GLfloat dx = +0.5f; + //GLfloat dy = -0.2f; + const GLfloat dy = -0.5f; + if( _AntiAliased ) + _glEnable(GL_LINE_SMOOTH); + else + _glDisable(GL_LINE_SMOOTH); + _glDisable(GL_TEXTURE_2D); + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + _glBegin(GL_LINES); + _glColor4ub(GLubyte(_Color0>>16), GLubyte(_Color0>>8), GLubyte(_Color0), GLubyte(_Color0>>24)); + _glVertex2f((GLfloat)_X0+dx, (GLfloat)_Y0+dy); + _glColor4ub(GLubyte(_Color1>>16), GLubyte(_Color1>>8), GLubyte(_Color1), GLubyte(_Color1>>24)); + _glVertex2f((GLfloat)_X1+dx, (GLfloat)_Y1+dy); + //_glVertex2i(_X0, _Y0); + //_glVertex2i(_X1, _Y1); + _glEnd(); + _glDisable(GL_LINE_SMOOTH); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11) +{ + assert(m_Drawing==true); + + /* + // border adjustment + if(_X0<_X1) + ++_X1; + else if(_X0>_X1) + ++_X0; + if(_Y0<_Y1) + ++_Y1; + else if(_Y0>_Y1) + ++_Y0; + */ + // border adjustment + if(_X0<_X1) + ++_X1; + else if(_X0>_X1) + ++_X0; + if(_Y0<_Y1) + --_Y0; + else if(_Y0>_Y1) + --_Y1; + const GLfloat dx = +0.0f; + const GLfloat dy = +0.0f; + + _glDisable(GL_TEXTURE_2D); + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + //GLubyte r = GLubyte(_Color>>16); + //GLubyte g = GLubyte(_Color>>8); + //GLubyte b = GLubyte(_Color); + //GLubyte a = GLubyte(_Color>>24); + //_glColor4ub(GLubyte(_Color>>16), GLubyte(_Color>>8), GLubyte(_Color), GLubyte(_Color>>24)); + //_glColor4ub(r, g, b, a); + _glBegin(GL_QUADS); + _glColor4ub(GLubyte(_Color00>>16), GLubyte(_Color00>>8), GLubyte(_Color00), GLubyte(_Color00>>24)); + _glVertex2f((GLfloat)_X0+dx, (GLfloat)_Y0+dy); + _glColor4ub(GLubyte(_Color10>>16), GLubyte(_Color10>>8), GLubyte(_Color10), GLubyte(_Color10>>24)); + _glVertex2f((GLfloat)_X1+dx, (GLfloat)_Y0+dy); + _glColor4ub(GLubyte(_Color11>>16), GLubyte(_Color11>>8), GLubyte(_Color11), GLubyte(_Color11>>24)); + _glVertex2f((GLfloat)_X1+dx, (GLfloat)_Y1+dy); + _glColor4ub(GLubyte(_Color01>>16), GLubyte(_Color01>>8), GLubyte(_Color01), GLubyte(_Color01>>24)); + _glVertex2f((GLfloat)_X0+dx, (GLfloat)_Y1+dy); + _glEnd(); +} + +// --------------------------------------------------------------------------- + +void *CTwGraphOpenGL::NewTextObj() +{ + return new CTextObj; +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::DeleteTextObj(void *_TextObj) +{ + assert(_TextObj!=NULL); + delete static_cast(_TextObj); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + assert(_Font!=NULL); + + if( _Font != m_FontTex ) + { + UnbindFont(m_FontTexID); + m_FontTexID = BindFont(_Font); + m_FontTex = _Font; + } + CTextObj *TextObj = static_cast(_TextObj); + TextObj->m_TextVerts.resize(0); + TextObj->m_TextUVs.resize(0); + TextObj->m_BgVerts.resize(0); + TextObj->m_Colors.resize(0); + TextObj->m_BgColors.resize(0); + + int x, x1, y, y1, i, Len; + unsigned char ch; + const unsigned char *Text; + color32 LineColor = COLOR32_RED; + for( int Line=0; Line<_NbLines; ++Line ) + { + x = 0; + y = Line * (_Font->m_CharHeight+_Sep); + y1 = y+_Font->m_CharHeight; + Len = (int)_TextLines[Line].length(); + Text = (const unsigned char *)(_TextLines[Line].c_str()); + if( _LineColors!=NULL ) + LineColor = (_LineColors[Line]&0xff00ff00) | GLubyte(_LineColors[Line]>>16) | (GLubyte(_LineColors[Line])<<16); + + for( i=0; im_CharWidth[ch]; + + TextObj->m_TextVerts.push_back(Vec2(x , y )); + TextObj->m_TextVerts.push_back(Vec2(x1, y )); + TextObj->m_TextVerts.push_back(Vec2(x , y1)); + TextObj->m_TextVerts.push_back(Vec2(x1, y )); + TextObj->m_TextVerts.push_back(Vec2(x1, y1)); + TextObj->m_TextVerts.push_back(Vec2(x , y1)); + + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU0[ch], _Font->m_CharV0[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU1[ch], _Font->m_CharV0[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU0[ch], _Font->m_CharV1[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU1[ch], _Font->m_CharV0[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU1[ch], _Font->m_CharV1[ch])); + TextObj->m_TextUVs.push_back(Vec2(_Font->m_CharU0[ch], _Font->m_CharV1[ch])); + + if( _LineColors!=NULL ) + { + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + TextObj->m_Colors.push_back(LineColor); + } + + x = x1; + } + if( _BgWidth>0 ) + { + TextObj->m_BgVerts.push_back(Vec2(-1 , y )); + TextObj->m_BgVerts.push_back(Vec2(_BgWidth+1, y )); + TextObj->m_BgVerts.push_back(Vec2(-1 , y1)); + TextObj->m_BgVerts.push_back(Vec2(_BgWidth+1, y )); + TextObj->m_BgVerts.push_back(Vec2(_BgWidth+1, y1)); + TextObj->m_BgVerts.push_back(Vec2(-1 , y1)); + + if( _LineBgColors!=NULL ) + { + color32 LineBgColor = (_LineBgColors[Line]&0xff00ff00) | GLubyte(_LineBgColors[Line]>>16) | (GLubyte(_LineBgColors[Line])<<16); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + TextObj->m_BgColors.push_back(LineBgColor); + } + } + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor) +{ + assert(m_Drawing==true); + assert(_TextObj!=NULL); + CTextObj *TextObj = static_cast(_TextObj); + + if( TextObj->m_TextVerts.size()<4 && TextObj->m_BgVerts.size()<4 ) + return; // nothing to draw + + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + _glTranslatef((GLfloat)_X, (GLfloat)_Y, 0); + _glEnableClientState(GL_VERTEX_ARRAY); + if( (_BgColor!=0 || TextObj->m_BgColors.size()==TextObj->m_BgVerts.size()) && TextObj->m_BgVerts.size()>=4 ) + { + _glDisable(GL_TEXTURE_2D); + _glVertexPointer(2, GL_FLOAT, 0, &(TextObj->m_BgVerts[0])); + if( TextObj->m_BgColors.size()==TextObj->m_BgVerts.size() && _BgColor==0 ) + { + _glEnableClientState(GL_COLOR_ARRAY); + _glColorPointer(4, GL_UNSIGNED_BYTE, 0, &(TextObj->m_BgColors[0])); + } + else + { + _glDisableClientState(GL_COLOR_ARRAY); + _glColor4ub(GLubyte(_BgColor>>16), GLubyte(_BgColor>>8), GLubyte(_BgColor), GLubyte(_BgColor>>24)); + } + _glDrawArrays(GL_TRIANGLES, 0, (int)TextObj->m_BgVerts.size()); + } + _glEnable(GL_TEXTURE_2D); + _glBindTexture(GL_TEXTURE_2D, m_FontTexID); + _glEnableClientState(GL_TEXTURE_COORD_ARRAY); + if( TextObj->m_TextVerts.size()>=4 ) + { + _glVertexPointer(2, GL_FLOAT, 0, &(TextObj->m_TextVerts[0])); + _glTexCoordPointer(2, GL_FLOAT, 0, &(TextObj->m_TextUVs[0])); + if( TextObj->m_Colors.size()==TextObj->m_TextVerts.size() && _Color==0 ) + { + _glEnableClientState(GL_COLOR_ARRAY); + _glColorPointer(4, GL_UNSIGNED_BYTE, 0, &(TextObj->m_Colors[0])); + } + else + { + _glDisableClientState(GL_COLOR_ARRAY); + _glColor4ub(GLubyte(_Color>>16), GLubyte(_Color>>8), GLubyte(_Color), GLubyte(_Color>>24)); + } + + _glDrawArrays(GL_TRIANGLES, 0, (int)TextObj->m_TextVerts.size()); + } + + _glDisableClientState(GL_VERTEX_ARRAY); + _glDisableClientState(GL_TEXTURE_COORD_ARRAY); + _glDisableClientState(GL_COLOR_ARRAY); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY) +{ + if( _Width>0 && _Height>0 ) + { + GLint vp[4]; + vp[0] = _X0; + vp[1] = _Y0; + vp[2] = _Width-1; + vp[3] = _Height-1; + _glViewport(vp[0], m_WndHeight-vp[1]-vp[3], vp[2], vp[3]); + + GLint matrixMode = 0; + _glGetIntegerv(GL_MATRIX_MODE, &matrixMode); + _glMatrixMode(GL_PROJECTION); + _glLoadIdentity(); + _glOrtho(_OffsetX, _OffsetX+vp[2], vp[3]-_OffsetY, -_OffsetY, -1, 1); + _glMatrixMode(matrixMode); + } +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::RestoreViewport() +{ + _glViewport(m_ViewportInit[0], m_ViewportInit[1], m_ViewportInit[2], m_ViewportInit[3]); + + GLint matrixMode = 0; + _glGetIntegerv(GL_MATRIX_MODE, &matrixMode); + _glMatrixMode(GL_PROJECTION); + _glLoadMatrixf(m_ProjMatrixInit); + _glMatrixMode(matrixMode); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::SetScissor(int _X0, int _Y0, int _Width, int _Height) +{ + if( _Width>0 && _Height>0 ) + { + _glScissor(_X0-1, m_WndHeight-_Y0-_Height, _Width-1, _Height); + _glEnable(GL_SCISSOR_TEST); + } + else + _glDisable(GL_SCISSOR_TEST); +} + +// --------------------------------------------------------------------------- + +void CTwGraphOpenGL::DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode) +{ + assert(m_Drawing==true); + + const GLfloat dx = +0.0f; + const GLfloat dy = +0.0f; + + GLint prevCullFaceMode, prevFrontFace; + _glGetIntegerv(GL_CULL_FACE_MODE, &prevCullFaceMode); + _glGetIntegerv(GL_FRONT_FACE, &prevFrontFace); + GLboolean prevCullEnable = _glIsEnabled(GL_CULL_FACE); + _glCullFace(GL_BACK); + _glEnable(GL_CULL_FACE); + if( _CullMode==CULL_CW ) + _glFrontFace(GL_CCW); + else if( _CullMode==CULL_CCW ) + _glFrontFace(GL_CW); + else + _glDisable(GL_CULL_FACE); + + _glDisable(GL_TEXTURE_2D); + _glMatrixMode(GL_MODELVIEW); + _glLoadIdentity(); + _glBegin(GL_TRIANGLES); + for(int i=0; i<3*_NumTriangles; ++i) + { + color32 col = _Colors[i]; + _glColor4ub(GLubyte(col>>16), GLubyte(col>>8), GLubyte(col), GLubyte(col>>24)); + _glVertex2f((GLfloat)_Vertices[2*i+0]+dx, (GLfloat)_Vertices[2*i+1]+dy); + } + _glEnd(); + + _glCullFace(prevCullFaceMode); + _glFrontFace(prevFrontFace); + if( prevCullEnable ) + _glEnable(GL_CULL_FACE); + else + _glDisable(GL_CULL_FACE); +} + +// --------------------------------------------------------------------------- diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwOpenGL.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,96 @@ +// --------------------------------------------------------------------------- +// +// @file TwOpenGL.h +// @brief OpenGL graph functions +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// notes: Private header +// TAB=4 +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_OPENGL_INCLUDED +#define ANT_TW_OPENGL_INCLUDED + +#include "TwGraph.h" + +// --------------------------------------------------------------------------- + +class CTwGraphOpenGL : public ITwGraph +{ +public: + virtual int Init(); + virtual int Shut(); + virtual void BeginDraw(int _WndWidth, int _WndHeight); + virtual void EndDraw(); + virtual bool IsDrawing(); + virtual void Restore(); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color0, color32 _Color1, bool _AntiAliased=false); + virtual void DrawLine(int _X0, int _Y0, int _X1, int _Y1, color32 _Color, bool _AntiAliased=false) { DrawLine(_X0, _Y0, _X1, _Y1, _Color, _Color, _AntiAliased); } + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color00, color32 _Color10, color32 _Color01, color32 _Color11); + virtual void DrawRect(int _X0, int _Y0, int _X1, int _Y1, color32 _Color) { DrawRect(_X0, _Y0, _X1, _Y1, _Color, _Color, _Color, _Color); } + virtual void DrawTriangles(int _NumTriangles, int *_Vertices, color32 *_Colors, Cull _CullMode); + + virtual void * NewTextObj(); + virtual void DeleteTextObj(void *_TextObj); + virtual void BuildText(void *_TextObj, const std::string *_TextLines, color32 *_LineColors, color32 *_LineBgColors, int _NbLines, const CTexFont *_Font, int _Sep, int _BgWidth); + virtual void DrawText(void *_TextObj, int _X, int _Y, color32 _Color, color32 _BgColor); + + virtual void ChangeViewport(int _X0, int _Y0, int _Width, int _Height, int _OffsetX, int _OffsetY); + virtual void RestoreViewport(); + virtual void SetScissor(int _X0, int _Y0, int _Width, int _Height); + +protected: + bool m_Drawing; + GLuint m_FontTexID; + const CTexFont * m_FontTex; + GLfloat m_PrevLineWidth; + GLint m_PrevTexEnv; + GLint m_PrevPolygonMode[2]; + GLint m_MaxClipPlanes; + GLint m_PrevTexture; + GLint m_PrevArrayBufferARB; + GLint m_PrevElementArrayBufferARB; + GLboolean m_PrevVertexProgramARB; + GLboolean m_PrevFragmentProgramARB; + GLuint m_PrevProgramObjectARB; + GLboolean m_PrevTexture3D; + enum EMaxTextures { MAX_TEXTURES = 128 }; + GLboolean m_PrevActiveTexture1D[MAX_TEXTURES]; + GLboolean m_PrevActiveTexture2D[MAX_TEXTURES]; + GLboolean m_PrevActiveTexture3D[MAX_TEXTURES]; + GLboolean m_PrevClientTexCoordArray[MAX_TEXTURES]; + GLint m_PrevActiveTextureARB; + GLint m_PrevClientActiveTextureARB; + bool m_SupportTexRect; + GLboolean m_PrevTexRectARB; + GLint m_PrevBlendEquation; + GLint m_PrevBlendEquationRGB; + GLint m_PrevBlendEquationAlpha; + GLint m_PrevBlendSrcRGB; + GLint m_PrevBlendDstRGB; + GLint m_PrevBlendSrcAlpha; + GLint m_PrevBlendDstAlpha; + GLint m_ViewportInit[4]; + GLfloat m_ProjMatrixInit[16]; + int m_WndWidth; + int m_WndHeight; + + struct Vec2 { GLfloat x, y; Vec2(){} Vec2(GLfloat _X, GLfloat _Y):x(_X),y(_Y){} Vec2(int _X, int _Y):x(GLfloat(_X)),y(GLfloat(_Y)){} }; + struct CTextObj + { + std::vector m_TextVerts; + std::vector m_TextUVs; + std::vector m_BgVerts; + std::vectorm_Colors; + std::vectorm_BgColors; + }; +}; + +// --------------------------------------------------------------------------- + + +#endif // !defined ANT_TW_OPENGL_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.cpp ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.cpp --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1 @@ +#include "TwPrecomp.h" diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.h ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.h --- ode-0.11.1/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/AntTweakBar/src/TwPrecomp.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,91 @@ +// --------------------------------------------------------------------------- +// +// @file TwPrecomp.h +// @brief Precompiled header +// @author Philippe Decaudin - http://www.antisphere.com +// @license This file is part of the AntTweakBar library. +// For conditions of distribution and use, see License.txt +// +// note: Private header +// +// --------------------------------------------------------------------------- + + +#if !defined ANT_TW_PRECOMP_INCLUDED +#define ANT_TW_PRECOMP_INCLUDED + + +#if defined _MSC_VER +# pragma warning(disable: 4514) // unreferenced inline function has been removed +# pragma warning(disable: 4710) // function not inlined +# pragma warning(disable: 4786) // template name truncated +# pragma warning(disable: 4530) // exceptions not handled +# define _CRT_SECURE_NO_DEPRECATE // visual 8 secure crt warning +#endif + +#include +#include +#include +#include +#include +#include +#include + +#if defined(_MSC_VER) && _MSC_VER<=1200 +# pragma warning(push, 3) +#endif +#include +#include +#include +#include +#include +#include +#if defined(_MSC_VER) && _MSC_VER<=1200 +# pragma warning(pop) +#endif + +#if defined(_UNIX) || defined(__unix__) +# define ANT_UNIX +# include +# define GLX_GLXEXT_LEGACY +# include +# include +# include +# include +# undef _WIN32 +# undef WIN32 +# undef _WIN64 +# undef WIN64 +# undef _WINDOWS +# undef ANT_WINDOWS +# undef ANT_OSX +#elif defined(_MACOSX) +# define ANT_OSX +# include +# include +# include +# include +# undef _WIN32 +# undef WIN32 +# undef _WIN64 +# undef WIN64 +# undef _WINDOWS +# undef ANT_WINDOWS +# undef ANT_UNIX +#elif defined(_WINDOWS) || defined(WIN32) || defined(WIN64) || defined(_WIN32) || defined(_WIN64) +# define ANT_WINDOWS +# define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers +# include +# include +#endif + +#if !defined(ANT_OGL_HEADER_INCLUDED) +# if defined(ANT_OSX) +# include +# else +# include // must be included after windows.h +# endif +# define ANT_OGL_HEADER_INCLUDED +#endif + +#endif // !defined ANT_TW_PRECOMP_INCLUDED diff -Nru ode-0.11.1/contrib/InteractiveCollisions/deps/Makefile.am ode-0.14/contrib/InteractiveCollisions/deps/Makefile.am --- ode-0.11.1/contrib/InteractiveCollisions/deps/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/deps/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,2 @@ +SUBDIRS = AntTweakBar + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/INSTALL ode-0.14/contrib/InteractiveCollisions/INSTALL --- ode-0.11.1/contrib/InteractiveCollisions/INSTALL 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/INSTALL 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,365 @@ +Installation Instructions +************************* + +Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002, 2004, 2005, +2006, 2007, 2008, 2009 Free Software Foundation, Inc. + + Copying and distribution of this file, with or without modification, +are permitted in any medium without royalty provided the copyright +notice and this notice are preserved. This file is offered as-is, +without warranty of any kind. + +Basic Installation +================== + + Briefly, the shell commands `./configure; make; make install' should +configure, build, and install this package. The following +more-detailed instructions are generic; see the `README' file for +instructions specific to this package. Some packages provide this +`INSTALL' file but do not implement all of the features documented +below. The lack of an optional feature in a given package is not +necessarily a bug. More recommendations for GNU packages can be found +in *note Makefile Conventions: (standards)Makefile Conventions. + + The `configure' shell script attempts to guess correct values for +various system-dependent variables used during compilation. It uses +those values to create a `Makefile' in each directory of the package. +It may also create one or more `.h' files containing system-dependent +definitions. 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If you are using the cache, and at +some point `config.cache' contains results you don't want to keep, you +may remove or edit it. + + The file `configure.ac' (or `configure.in') is used to create +`configure' by a program called `autoconf'. You need `configure.ac' if +you want to change it or regenerate `configure' using a newer version +of `autoconf'. + + The simplest way to compile this package is: + + 1. `cd' to the directory containing the package's source code and type + `./configure' to configure the package for your system. + + Running `configure' might take a while. While running, it prints + some messages telling which features it is checking for. + + 2. Type `make' to compile the package. + + 3. Optionally, type `make check' to run any self-tests that come with + the package, generally using the just-built uninstalled binaries. + + 4. Type `make install' to install the programs and any data files and + documentation. 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Like +this: + + ./configure CC="gcc -arch i386 -arch x86_64 -arch ppc -arch ppc64" \ + CXX="g++ -arch i386 -arch x86_64 -arch ppc -arch ppc64" \ + CPP="gcc -E" CXXCPP="g++ -E" + + This is not guaranteed to produce working output in all cases, you +may have to build one architecture at a time and combine the results +using the `lipo' tool if you have problems. + +Installation Names +================== + + By default, `make install' installs the package's commands under +`/usr/local/bin', include files under `/usr/local/include', etc. You +can specify an installation prefix other than `/usr/local' by giving +`configure' the option `--prefix=PREFIX', where PREFIX must be an +absolute file name. + + You can specify separate installation prefixes for +architecture-specific files and architecture-independent files. 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Until the bug is fixed you can use this workaround: + + CONFIG_SHELL=/bin/bash /bin/bash ./configure CONFIG_SHELL=/bin/bash + +`configure' Invocation +====================== + + `configure' recognizes the following options to control how it +operates. + +`--help' +`-h' + Print a summary of all of the options to `configure', and exit. + +`--help=short' +`--help=recursive' + Print a summary of the options unique to this package's + `configure', and exit. The `short' variant lists options used + only in the top level, while the `recursive' variant lists options + also present in any nested packages. + +`--version' +`-V' + Print the version of Autoconf used to generate the `configure' + script, and exit. + +`--cache-file=FILE' + Enable the cache: use and save the results of the tests in FILE, + traditionally `config.cache'. FILE defaults to `/dev/null' to + disable caching. + +`--config-cache' +`-C' + Alias for `--cache-file=config.cache'. + +`--quiet' +`--silent' +`-q' + Do not print messages saying which checks are being made. To + suppress all normal output, redirect it to `/dev/null' (any error + messages will still be shown). + +`--srcdir=DIR' + Look for the package's source code in directory DIR. Usually + `configure' can determine that directory automatically. + +`--prefix=DIR' + Use DIR as the installation prefix. *note Installation Names:: + for more details, including other options available for fine-tuning + the installation locations. + +`--no-create' +`-n' + Run the configure checks, but stop before creating any output + files. + +`configure' also accepts some other, not widely useful, options. Run +`configure --help' for more details. + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/Makefile.am ode-0.14/contrib/InteractiveCollisions/Makefile.am --- ode-0.11.1/contrib/InteractiveCollisions/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,5 @@ +SUBDIRS = deps src + +EXTRA_DIST = bootstrap + + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/NEWS ode-0.14/contrib/InteractiveCollisions/NEWS --- ode-0.11.1/contrib/InteractiveCollisions/NEWS 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/NEWS 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1 @@ +2011-11-13 Basic functionality implemented (Sphere, Box, Capsule) diff -Nru ode-0.11.1/contrib/InteractiveCollisions/README ode-0.14/contrib/InteractiveCollisions/README --- ode-0.11.1/contrib/InteractiveCollisions/README 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/README 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,8 @@ +This is a simple tool to test pairs of ODE geoms. + +It uses AntTweakBar for the GUI. + +Dependencies are currently GLFW, but other backends (SDL, GLUT, etc) +can be easily implemented, that part of the code is only used to open +a windows and get mouse and keyboard events. + diff -Nru ode-0.11.1/contrib/InteractiveCollisions/src/camera.cpp ode-0.14/contrib/InteractiveCollisions/src/camera.cpp --- ode-0.11.1/contrib/InteractiveCollisions/src/camera.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/src/camera.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,222 @@ +#include +#include +#include +#include + +#include +#include + +#include "camera.hpp" + + +using std::clog; +using std::endl; + +Camera::Camera() : + fov(50), + aspect(1), + znear(.01), + zfar(50), + width(0), + height(0), + window_x(0), + window_y(0) +{ + reset(); +} + + +void +Camera::transform_proj() const +{ + glLoadIdentity(); + gluPerspective(fov, aspect, znear, zfar); +} + +void +Camera::transform_model() const +{ + glLoadIdentity(); + gluLookAt(x, y, z, tx, ty, tz, up[0], up[1], up[2]); +} + + + +void +Camera::reset() +{ + x = 0; + y = 0; + z = 0; + tx = 0; + ty = 0; + tz = 0; + up[0] = 0; + up[1] = 1; + up[2] = 0; + right[0] = 1; + right[1] = 0; + right[2] = 0; +} + + + +void +Camera::reshape(int w, int h) +{ + aspect = float(w)/h; + width = w; + height = h; +} + + +float +Camera::normx(int x) const +{ + return (2.0*(x-window_x)) / width - 1.0; +} + +float +Camera::normy(int y) const +{ + return -((2.0*(y-window_y)) / height - 1.0); +} + + +void +Camera::press(int x, int y) +{ + old_x = normx(x); + old_y = normy(y); +} + + + +float +Camera::to_sphere_z(float r, float x, float y) +{ + float delta = x*x + y*y; + if (delta > r*r) + return 0; + else + return std::sqrt(r*r - delta); +} + + +void showm(dMatrix3 m) +{ + for (int i=0; i<3; ++i) { + for (int j=0; j<3; ++j) + clog << " " << std::setw(12) << m[i*4 + j]; + clog << endl; + } + clog << endl; +} + +void showv(dVector3 v) +{ + for (int i=0; i<3; ++i) + clog << " " << std::setw(12) << v[i]; + clog << endl << endl; +} + + + +void +Camera::arcball(int mx, int my) +{ + const float radius = 2; + + float new_x, new_y; + new_x = normx(mx); + new_y = normy(my); + + float old_z, new_z; + old_z = to_sphere_z(radius, old_x, old_y); + new_z = to_sphere_z(radius, new_x, new_y); + + dVector3 m = { old_x, old_y, old_z }; + dVector3 n = { new_x, new_y, new_z }; + + //std::clog << "old: " << old_x << " , " << old_y << std::endl; + //std::clog << "new: " << new_x << " , " << new_y << std::endl; + old_x = new_x; + old_y = new_y; + + + dNormalize3(m); + dNormalize3(n); + + // axis of rotation r is along m cross n + dVector3 r; + dCROSS(r, =, m, n); + float s = dLENGTH(r); + s = std::min(1.f, std::max(-1.f, s)); + float angle = std::asin(s); + + // build the local matrix + dVector3 f = {x-tx, y-ty, z-tz}; + dNormalize3(f); + //showv(f); + dCROSS(right, =, up, f); + dNormalize3(right); + dCROSS(up, =, f, right); + dNormalize3(up); + dMatrix3 localR = { + right[0], right[1], right[2], 0, + up[0], up[1], up[2], 0, + f[0], f[1], f[2] + }; + //showm(localR); + + // bring the axis to global coordinates + dVector3 global_r; + dMultiply1_331(global_r, localR, r); + dMatrix3 R; + dRFromAxisAndAngle(R, global_r[0], global_r[1], global_r[2], -2*angle); + + // we re-position the camera, maintaining the distance + dVector3 p = { x, y, z }; + dVector3 t = { tx, ty, tz }; + dVector3 d; + dSubtractVectors3(d, p, t); // d = p - t + dVector3 nd; + dMultiply0_331(nd, R, d); + x = nd[0] + tx; + y = nd[1] + ty; + z = nd[2] + tz; + + dVector3 nup; + dMultiply0_331(nup, R, up); + dCopyVector3(up, nup); + dNormalize3(up); + + dVector3 nright; + dMultiply0_331(nright, R, right); + dCopyVector3(right, nright); + dNormalize3(right); +} + + +double +Camera::dist() const +{ + double dx = tx - x; + double dy = ty - y; + double dz = tz - z; + return std::sqrt(dx*dx + dy*dy + dz*dz); +} + +void +Camera::zoom(float d) +{ + double dx = x - tx; + double dy = y - ty; + double dz = z - tz; + dx *= d; + dy *= d; + dz *= d; + x = tx + dx; + y = ty + dy; + z = tz + dz; +} diff -Nru ode-0.11.1/contrib/InteractiveCollisions/src/camera.hpp ode-0.14/contrib/InteractiveCollisions/src/camera.hpp --- ode-0.11.1/contrib/InteractiveCollisions/src/camera.hpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/src/camera.hpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,47 @@ +#ifndef CAMERA_H +#define CAMERA_H + +#include + +/* + Simple implementatino of a camera that orbits the origin + */ + + +struct Camera { + + float fov, aspect, + znear, zfar; + + float x, y, z; // eye pos + float tx, ty, tz; // target + dVector3 up; + dVector3 right; + + int width, height, window_x, window_y; + + + Camera(); + void transform_proj() const; + void transform_model() const; + + void reshape(int w, int h); + + void press(int x, int y); + void arcball(int x, int y); + + double dist() const; + + void zoom(float d); // >1 to zoom out, <1 to zoom in + +private: + float old_x, old_y; + + void reset(); + float normx(int x) const; + float normy(int y) const; + + float to_sphere_z(float r, float x, float y); +}; + +#endif diff -Nru ode-0.11.1/contrib/InteractiveCollisions/src/main.cpp ode-0.14/contrib/InteractiveCollisions/src/main.cpp --- ode-0.11.1/contrib/InteractiveCollisions/src/main.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/InteractiveCollisions/src/main.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,979 @@ +#include +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +#include + +#include + +#if USE_GLFW +#include +#endif + +#include +#include + + +#include "camera.hpp" + + +using std::cout; +using std::cerr; +using std::clog; +using std::endl; + + + +TwBar *left_bar = 0; +TwBar *right_bar = 0; + + +float left_x=-1, left_y=0, left_z=0; +float left_quat[4] = {0, 0, 0, 1}; // x y z w + +float right_x=1, right_y=0, right_z=0; +float right_quat[4] = {0, 0, 0, 1}; // x y z w + +int left_geom_type = 0; +int right_geom_type = 0; + +// left +float left_sphere_radius = 1; +float left_box_width = 1; +float left_box_height = 1; +float left_box_depth = 1; +float left_capsule_radius = 1; +float left_capsule_length = 1; + +float right_sphere_radius = 1; +float right_box_width = 1; +float right_box_height = 1; +float right_box_depth = 1; +float right_capsule_radius = 1; +float right_capsule_length = 1; + + +struct Color { + float r, g, b, a; + Color() : + r(0), g(0), b(0), a(0) + {} + + Color(float x, float y, float z, float w=1.0) : + r(x), g(y), b(z), a(w) + {} +}; + +Color left_fill, + left_wire, + right_fill, + right_wire, + contact_p, + contact_d, + contact_n; + + +dGeomID left_geom=0, right_geom=0; + +Camera cam; + +enum GeomType { Sphere, Box, Capsule }; + + + +void draw(); + + +void left_update_position(); +void right_update_position(); + + +#if USE_GLFW +void GLFWCALL mouse_moved(int x, int y); +void GLFWCALL mouse_button(int button, int action); +void GLFWCALL mouse_wheel(int pos); + +void GLFWCALL resize(int width, int height) +{ + // Set OpenGL viewport and camera + glViewport(0, 0, width, height); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + gluPerspective(40, (double)width/height, 1, 10); + gluLookAt(-1,0,3, 0,0,0, 0,1,0); + + + cam.reshape(width, height); + + // Send the new window size to AntTweakBar + TwWindowSize(width, height); +} + +void init_gl() +{ + if (!glfwInit()) { + cerr << "Failed to initialize GLFW" << endl; + exit(EXIT_FAILURE); + } + std::atexit(glfwTerminate); + + if (!glfwOpenWindow(1024, 768, + 0,0,0,0, + 16, // depth + 0, // stencil + GLFW_WINDOW)) { + exit(EXIT_FAILURE); + } + + glfwEnable(GLFW_MOUSE_CURSOR); + glfwEnable(GLFW_KEY_REPEAT); + glfwSetWindowTitle("ODE collision test environment"); + + // Initialize AntTweakBar + TwInit(TW_OPENGL, NULL); + + // Set GLFW event callbacks + // - Redirect window size changes to the callback function WindowSizeCB + glfwSetWindowSizeCallback(resize); + + glfwSetMouseButtonCallback(mouse_button); + + glfwSetMousePosCallback(mouse_moved); + + glfwSetMouseWheelCallback((GLFWmousewheelfun)mouse_wheel); + // - Directly redirect GLFW key events to AntTweakBar + glfwSetKeyCallback((GLFWkeyfun)TwEventKeyGLFW); + // - Directly redirect GLFW char events to AntTweakBar + glfwSetCharCallback((GLFWcharfun)TwEventCharGLFW); + + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); +} + +void loop() +{ + bool running = true; + + while (running) { + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + draw(); + + TwDraw(); + + glfwSwapBuffers(); + + running = glfwGetWindowParam(GLFW_OPENED) && !glfwGetKey(GLFW_KEY_ESC); + } +} + +static bool left_dragging = false; +static bool right_dragging = false; +static bool left_dragging_geom = false; +static bool right_dragging_geom = false; + +static int prev_x = 0; +static int prev_y = 0; + +void GLFWCALL mouse_moved(int x, int y) +{ + int dx = x - prev_x; + int dy = y - prev_y; + + // don't let Tw eat the events if we are doing something + if (!right_dragging && !left_dragging && !left_dragging_geom && !right_dragging_geom) + TwEventMousePosGLFW(x, y); + else { + if (right_dragging) { + cam.arcball(x, y); + } + if (left_dragging) { + float s = 0.001*cam.dist(); + cam.tx += s*(-dx * cam.right[0] + dy*cam.up[0]); + cam.ty += s*(-dx * cam.right[1] + dy*cam.up[1]); + cam.tz += s*(-dx * cam.right[2] + dy*cam.up[2]); + } + if (left_dragging_geom) { + float s = 0.001*cam.dist(); + left_x += s*(dx * cam.right[0] - dy*cam.up[0]); + left_y += s*(dx * cam.right[1] - dy*cam.up[1]); + left_z += s*(dx * cam.right[2] - dy*cam.up[2]); + left_update_position(); + } + if (right_dragging_geom) { + float s = 0.001*cam.dist(); + right_x += s*(dx * cam.right[0] - dy*cam.up[0]); + right_y += s*(dx * cam.right[1] - dy*cam.up[1]); + right_z += s*(dx * cam.right[2] - dy*cam.up[2]); + right_update_position(); + } + } + prev_x = x; + prev_y = y; +} + +void GLFWCALL mouse_button(int button, int action) +{ + int x, y; + glfwGetMousePos(&x, &y); + + int handled = TwEventMouseButtonGLFW(button, action); + if (!handled) { + if (button == GLFW_MOUSE_BUTTON_RIGHT && action == GLFW_PRESS) { + cam.press(x, y); + right_dragging = true; + } + if (button == GLFW_MOUSE_BUTTON_RIGHT && action == GLFW_RELEASE) { + right_dragging = false; + } + + if (button == GLFW_MOUSE_BUTTON_LEFT && action == GLFW_PRESS) { + + GLdouble model[16]; + GLdouble proj[16]; + GLint viewport[4]; + glGetDoublev(GL_MODELVIEW_MATRIX, model); + glGetDoublev(GL_PROJECTION_MATRIX, proj); + glGetIntegerv(GL_VIEWPORT, viewport); + GLdouble ox, oy, oz; + + if (gluUnProject(x, viewport[3] - y, 0, model, proj, viewport, &ox, &oy, &oz) == GLU_TRUE) { + double dx, dy, dz; + dx = ox - cam.x; + dy = oy - cam.y; + dz = oz - cam.z; + + dGeomID ray = dCreateRay(0, 100); + dGeomRaySet(ray, cam.x, cam.y, cam.z, dx, dy, dz); + dContactGeom left_contact, right_contact; + int leftn, rightn; + leftn = dCollide(ray, left_geom, 1, &left_contact, sizeof left_contact); + rightn = dCollide(ray, right_geom, 1, &right_contact, sizeof right_contact); + if (leftn && !rightn) + left_dragging_geom = true; + if (rightn && !leftn) + right_dragging_geom = true; + if (leftn && rightn) { + if (left_contact.depth < right_contact.depth) + left_dragging_geom = true; + else + right_dragging_geom = true; + } + + dGeomDestroy(ray); + + } + if (!left_dragging_geom && !right_dragging_geom) + left_dragging = true; + } + if (button == GLFW_MOUSE_BUTTON_LEFT && action == GLFW_RELEASE) { + left_dragging = false; + left_dragging_geom = false; + right_dragging_geom = false; + } + } +} + +static int prev_wheel = 0; +void GLFWCALL mouse_wheel(int pos) +{ + if (!TwEventMouseWheelGLFW(pos)) { + int delta = pos - prev_wheel; + + // set the camera zoom + if (delta > 0) + cam.zoom(1.1); + if (delta < 0) + cam.zoom(1/1.1); + } + prev_wheel = pos; +} + + + +#else +void init_gl() +{} + +void loop() +{} +#endif + + + + +// generic getters +void TW_CALL get_float(void *value, void *data) +{ + float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *v = *d; +} + +void TW_CALL get_int(void *value, void *data) +{ + int *v = reinterpret_cast(value); + int *d = reinterpret_cast(data); + *v = *d; +} + + +void enable_sphere(TwBar *bar) +{ + TwSetParam(bar, "SphereRadius", "visible", TW_PARAM_CSTRING, 1, "true"); +} + +void disable_sphere(TwBar *bar) +{ + TwSetParam(bar, "SphereRadius", "visible", TW_PARAM_CSTRING, 1, "false"); +} + +void enable_box(TwBar *bar) +{ + TwSetParam(bar, "BoxWidth", "visible", TW_PARAM_CSTRING, 1, "true"); + TwSetParam(bar, "BoxHeight", "visible", TW_PARAM_CSTRING, 1, "true"); + TwSetParam(bar, "BoxDepth", "visible", TW_PARAM_CSTRING, 1, "true"); +} + +void disable_box(TwBar *bar) +{ + TwSetParam(bar, "BoxWidth", "visible", TW_PARAM_CSTRING, 1, "false"); + TwSetParam(bar, "BoxHeight", "visible", TW_PARAM_CSTRING, 1, "false"); + TwSetParam(bar, "BoxDepth", "visible", TW_PARAM_CSTRING, 1, "false"); +} + +void enable_capsule(TwBar *bar) +{ + TwSetParam(bar, "CapsuleRadius", "visible", TW_PARAM_CSTRING, 1, "true"); + TwSetParam(bar, "CapsuleLength", "visible", TW_PARAM_CSTRING, 1, "true"); +} + +void disable_capsule(TwBar *bar) +{ + TwSetParam(bar, "CapsuleRadius", "visible", TW_PARAM_CSTRING, 1, "false"); + TwSetParam(bar, "CapsuleLength", "visible", TW_PARAM_CSTRING, 1, "false"); +} + + +void left_update_position() +{ + if (left_geom) + dGeomSetPosition(left_geom, left_x, left_y, left_z); +} + +void right_update_position() +{ + if (right_geom) + dGeomSetPosition(right_geom, right_x, right_y, right_z); +} + +void left_update_quat() +{ + if (left_geom) { + dQuaternion q = {left_quat[3], left_quat[0], left_quat[1], left_quat[2]}; + dGeomSetQuaternion(left_geom, q); + } +} + +void right_update_quat() +{ + if (right_geom) { + dQuaternion q = {right_quat[3], right_quat[0], right_quat[1], right_quat[2]}; + dGeomSetQuaternion(right_geom, q); + } +} + +void choose_left_geom(int type); +void choose_right_geom(int type); + + +void TW_CALL left_set_geom_type(const void *value, void *data) +{ + const int *v = reinterpret_cast(value); + int *d = reinterpret_cast(data); + *d = *v; + + choose_left_geom(*d); +} + +void TW_CALL right_set_geom_type(const void *value, void *data) +{ + const int *v = reinterpret_cast(value); + int *d = reinterpret_cast(data); + *d = *v; + + choose_right_geom(*d); +} + + +void TW_CALL left_set_val(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + left_update_position(); +} + +void TW_CALL right_set_val(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + right_update_position(); +} + +void TW_CALL left_set_quat(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d++ = *v++; + *d++ = *v++; + *d++ = *v++; + *d++ = *v++; + + left_update_quat(); +} + +void TW_CALL right_set_quat(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d++ = *v++; + *d++ = *v++; + *d++ = *v++; + *d++ = *v++; + + right_update_quat(); +} + +void TW_CALL get_quat(void *value, void *data) +{ + float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *v++ = *d++; + *v++ = *d++; + *v++ = *d++; + *v++ = *d++; +} + + + + + +void TW_CALL left_sphere_set_radius(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomSphereSetRadius(left_geom, left_sphere_radius); +} + +void TW_CALL right_sphere_set_radius(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomSphereSetRadius(right_geom, right_sphere_radius); +} + + + +void TW_CALL left_box_set_size(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomBoxSetLengths(left_geom, left_box_width, left_box_height, left_box_depth); +} + +void TW_CALL right_box_set_size(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomBoxSetLengths(right_geom, right_box_width, right_box_height, right_box_depth); +} + + +void TW_CALL left_capsule_set_radius(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomCapsuleSetParams(left_geom, left_capsule_radius, left_capsule_length); +} + +void TW_CALL left_capsule_set_length(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomCapsuleSetParams(left_geom, left_capsule_radius, left_capsule_length); +} + +void TW_CALL right_capsule_set_radius(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomCapsuleSetParams(right_geom, right_capsule_radius, right_capsule_length); +} + +void TW_CALL right_capsule_set_length(const void *value, void *data) +{ + const float *v = reinterpret_cast(value); + float *d = reinterpret_cast(data); + *d = *v; + + dGeomCapsuleSetParams(right_geom, right_capsule_radius, right_capsule_length); +} + + + + +void choose_left_geom(int g) +{ + if (left_geom) { + dGeomDestroy(left_geom); + left_geom = 0; + } + + // TODO: update ODE geom + if (g == Sphere) { + enable_sphere(left_bar); + left_geom = dCreateSphere(0, left_sphere_radius); + } else + disable_sphere(left_bar); + + if (g == Box) { + enable_box(left_bar); + left_geom = dCreateBox(0, left_box_width, left_box_height, left_box_depth); + } else + disable_box(left_bar); + + if (g == Capsule) { + enable_capsule(left_bar); + left_geom = dCreateCapsule(0, left_capsule_radius, left_capsule_length); + } else + disable_capsule(left_bar); + + + left_update_position(); + left_update_quat(); +} + +void choose_right_geom(int g) +{ + if (right_geom) { + dGeomDestroy(right_geom); + right_geom = 0; + } + + // TODO: update ODE geom + if (g == Sphere) { + enable_sphere(right_bar); + right_geom = dCreateSphere(0, right_sphere_radius); + } else + disable_sphere(right_bar); + + if (g == Box) { + enable_box(right_bar); + right_geom = dCreateBox(0, right_box_width, right_box_height, right_box_depth); + } else + disable_box(right_bar); + + if (g == Capsule) { + enable_capsule(right_bar); + right_geom = dCreateCapsule(0, right_capsule_radius, right_capsule_length); + } else + disable_capsule(right_bar); + + + right_update_position(); + right_update_quat(); +} + + + +void TW_CALL reset_camera(void*) +{ + cam.x = 0; + cam.y = 0; + cam.z = 8; + cam.tx = 0; + cam.ty = 0; + cam.tz = 0; + + cam.up[0] = 0; + cam.up[1] = 1; + cam.up[2] = 0; + + cam.right[0] = 1; + cam.right[1] = 0; + cam.right[2] = 0; +} + +void TW_CALL reset_geoms(void*) +{ + choose_left_geom(Sphere); + choose_right_geom(Sphere); + left_x = -1; + left_y = 0; + left_z = 0; + right_x = 1; + right_y = 0; + right_z = 0; + left_quat[0] = 1; + left_quat[1] = 0; + left_quat[2] = 0; + left_quat[3] = 0; + right_quat[0] = 1; + right_quat[1] = 0; + right_quat[2] = 0; + right_quat[3] = 0; + + left_update_position(); + left_update_quat(); + right_update_position(); + right_update_quat(); +} + + + + + +void init_ui() +{ + TwBar *bar = TwNewBar("Controls"); + + TwAddButton(bar, "ResetCamera", reset_camera, 0, "label='Reset camera'"); + TwAddButton(bar, "ResetGeoms", reset_geoms, 0, "label='Reset geoms'"); + + TwType gtype = TwDefineEnumFromString("GeomType", "Sphere,Box,Capsule"); + + left_bar = TwNewBar("Left"); + + TwAddVarCB(left_bar, "Geom", gtype, left_set_geom_type, get_int, &left_geom_type, NULL); + + TwSetParam(left_bar, NULL, "position", TW_PARAM_CSTRING, 1, "50 50"); + + TwAddVarCB(left_bar, "X", TW_TYPE_FLOAT, left_set_val, get_float, &left_x, "min=-100 max=100 step=0.01"); + TwAddVarCB(left_bar, "Y", TW_TYPE_FLOAT, left_set_val, get_float, &left_y, "min=-100 max=100 step=0.01"); + TwAddVarCB(left_bar, "Z", TW_TYPE_FLOAT, left_set_val, get_float, &left_z, "min=-100 max=100 step=0.01"); + TwAddVarCB(left_bar, "Quat", TW_TYPE_QUAT4F, left_set_quat, get_quat, left_quat, "showval=true opened=true"); + + TwAddVarCB(left_bar, "SphereRadius", TW_TYPE_FLOAT, left_sphere_set_radius, get_float, &left_sphere_radius, " min=0.001 max=100 step=0.01 visible=false"); + + TwAddVarCB(left_bar, "BoxWidth", TW_TYPE_FLOAT, left_box_set_size, get_float, &left_box_width, " min=0.001 max=100 step=0.01 visible=false"); + TwAddVarCB(left_bar, "BoxHeight", TW_TYPE_FLOAT, left_box_set_size, get_float, &left_box_height, " min=0.001 max=100 step=0.01 visible=false"); + TwAddVarCB(left_bar, "BoxDepth", TW_TYPE_FLOAT, left_box_set_size, get_float, &left_box_depth, " min=0.001 max=100 step=0.01 visible=false"); + + TwAddVarCB(left_bar, "CapsuleRadius", TW_TYPE_FLOAT, left_capsule_set_radius, get_float, &left_capsule_radius, " min=0.001 max=100 step=0.01 visible=false"); + TwAddVarCB(left_bar, "CapsuleLength", TW_TYPE_FLOAT, left_capsule_set_length, get_float, &left_capsule_length, " min=0.001 max=100 step=0.01 visible=false"); + +#if 1 + right_bar = TwNewBar("Right"); + + TwAddVarCB(right_bar, "Geom", gtype, right_set_geom_type, get_int, &right_geom_type, NULL); + + TwSetParam(right_bar, NULL, "position", TW_PARAM_CSTRING, 1, "650 50"); + + TwAddVarCB(right_bar, "X", TW_TYPE_FLOAT, right_set_val, get_float, &right_x, "min=-100 max=100 step=0.01"); + TwAddVarCB(right_bar, "Y", TW_TYPE_FLOAT, right_set_val, get_float, &right_y, "min=-100 max=100 step=0.01"); + TwAddVarCB(right_bar, "Z", TW_TYPE_FLOAT, right_set_val, get_float, &right_z, "min=-100 max=100 step=0.01"); + TwAddVarCB(right_bar, "Quat", TW_TYPE_QUAT4F, right_set_quat, get_quat, right_quat, "showval=true opened=true"); + + + TwAddVarCB(right_bar, "SphereRadius", TW_TYPE_FLOAT, right_sphere_set_radius, get_float, &right_sphere_radius, " min=0.001 max=100 step=0.01 visible=false"); + + TwAddVarCB(right_bar, "BoxWidth", TW_TYPE_FLOAT, right_box_set_size, get_float, &right_box_width, " min=0.001 max=100 step=0.01 visible=false"); + TwAddVarCB(right_bar, "BoxHeight", TW_TYPE_FLOAT, right_box_set_size, get_float, &right_box_height, " min=0.001 max=100 step=0.01 visible=false"); + TwAddVarCB(right_bar, "BoxDepth", TW_TYPE_FLOAT, right_box_set_size, get_float, &right_box_depth, " min=0.001 max=100 step=0.01 visible=false"); + + TwAddVarCB(right_bar, "CapsuleRadius", TW_TYPE_FLOAT, right_capsule_set_radius, get_float, &right_capsule_radius, " min=0.001 max=100 step=0.01 visible=false"); + TwAddVarCB(right_bar, "CapsuleLength", TW_TYPE_FLOAT, right_capsule_set_length, get_float, &right_capsule_length, " min=0.001 max=100 step=0.01 visible=false"); +#endif +} + + +void draw_sphere(float radius, Color fill, Color wire) +{ + const int stacks = std::max(16, int(radius * 16)); + const int slices = std::max(32, int(radius * 32)); + + GLUquadric* q = gluNewQuadric(); + + gluQuadricDrawStyle(q, GLU_FILL); + + glColor4f(fill.r, fill.g, fill.b, fill.a); + gluSphere(q, radius, slices, stacks); + + gluQuadricDrawStyle(q, GLU_LINE); + + glColor4f(wire.r, wire.g, wire.b, wire.a); + gluSphere(q, radius, slices, stacks); + + gluDeleteQuadric(q); +} + + +void draw_box_face(float w, float h, float d, + Color fill, Color wire) +{ + const int partsw = std::max(2, int(w*4)); + const int partsh = std::max(2, int(h*4)); + + glLineWidth(1); + + glBegin(GL_QUADS); + glColor4f(fill.r, fill.g, fill.b, fill.a); + glVertex3f(-w/2, -h/2, d/2); + glVertex3f( w/2, -h/2, d/2); + glVertex3f( w/2, h/2, d/2); + glVertex3f(-w/2, h/2, d/2); + glEnd(); + + glBegin(GL_LINES); + glColor4f(wire.r, wire.g, wire.b, wire.a); + for (int i=0; i<=partsw; ++i) { // vertical lines + glVertex3f(-w/2 + i*w/partsw, -h/2, d/2); + glVertex3f(-w/2 + i*w/partsw, h/2, d/2); + } + for (int i=0; i<=partsh; ++i) { // horizontal lines + glVertex3f(-w/2, -h/2+i*h/partsh, d/2); + glVertex3f( w/2, -h/2+i*h/partsh, d/2); + } + glEnd(); +} + +void draw_box(float w, float h, float d, Color fill, Color wire) +{ + draw_box_face(w, h, d, fill, wire); + + glPushMatrix(); + glRotatef(90, 0, 1, 0); + draw_box_face(d, h, w, fill, wire); + glPopMatrix(); + + glPushMatrix(); + glRotatef(180, 0, 1, 0); + draw_box_face(w, h, d, fill, wire); + glPopMatrix(); + + glPushMatrix(); + glRotatef(270, 0, 1, 0); + draw_box_face(d, h, w, fill, wire); + glPopMatrix(); + + glPushMatrix(); + glRotatef(90, 1, 0, 0); + draw_box_face(w, d, h, fill, wire); + glPopMatrix(); + + glPushMatrix(); + glRotatef(270, 1, 0, 0); + draw_box_face(w, d, h, fill, wire); + glPopMatrix(); +} + + +void draw_cylinder(float radius, float length, Color fill, Color wire) +{ + GLUquadric *q = gluNewQuadric(); + + const int stacks = std::max(2, int(length*4)); + const int slices = std::max(32, int(radius * 32)); + + glPushMatrix(); + glTranslatef(0, 0, -length/2); + + gluQuadricDrawStyle(q, GLU_FILL); + glColor4f(fill.r, fill.g, fill.b, fill.a); + gluCylinder(q, radius, radius, length, slices, stacks); + + gluQuadricDrawStyle(q, GLU_LINE); + glColor4f(wire.r, wire.g, wire.b, wire.a); + gluCylinder(q, radius, radius, length, slices, stacks); + + glPopMatrix(); + + gluDeleteQuadric(q); +} + + + + +void draw_capsule(float radius, float length, Color fill, Color wire) +{ + draw_cylinder(radius, length, fill, wire); + + glEnable(GL_CLIP_PLANE0); + + glPushMatrix(); + glTranslatef(0, 0, length/2); + + GLdouble plane[4] = {0, 0, 1, 0}; + glClipPlane(GL_CLIP_PLANE0, plane); + draw_sphere(radius, fill, wire); + glPopMatrix(); + + glPushMatrix(); + glTranslatef(0, 0, -length/2); + plane[2] = -1; + glClipPlane(GL_CLIP_PLANE0, plane); + draw_sphere(radius, fill, wire); + glPopMatrix(); + + glDisable(GL_CLIP_PLANE0); +} + + + + +void draw_geom(dGeomID geom, Color fill, Color wire) +{ + if (!geom) + return; + + glPushMatrix(); + const dReal *p = dGeomGetPosition(geom); + const dReal *r = dGeomGetRotation(geom); + GLfloat m[16] = { + r[0], r[4], r[8], 0, + r[1], r[5], r[9], 0, + r[2], r[6], r[10], 0, + p[0], p[1], p[2], 1 + }; + glMultMatrixf(m); + + glLineWidth(1); + + int c = dGeomGetClass(geom); + switch (c) { + case dSphereClass: + { + float r = dGeomSphereGetRadius(geom); + draw_sphere(r, fill, wire); + break; + } + case dBoxClass: + { + dVector3 lengths; + dGeomBoxGetLengths(geom, lengths); + draw_box(lengths[0], lengths[1], lengths[2], fill, wire); + break; + } + case dCapsuleClass: + { + dReal radius, length; + dGeomCapsuleGetParams(geom, &radius, &length); + draw_capsule(radius, length, fill, wire); + break; + } + } + + glPopMatrix(); +} + + +void draw_contact(const dContactGeom& c, Color p, Color d, Color n) +{ + glPointSize(5); + glBegin(GL_POINTS); + glColor4f(p.r, p.g, p.b, p.a); + glVertex3f(c.pos[0], c.pos[1], c.pos[2]); + glEnd(); + + const float scale = c.depth; + + glLineWidth(3); + glBegin(GL_LINES); + glColor4f(d.r, d.g, d.b, d.a); + glVertex3f(c.pos[0], c.pos[1], c.pos[2]); + glVertex3f(c.pos[0]+c.normal[0]*scale, c.pos[1]+c.normal[1]*scale, c.pos[2]+c.normal[2]*scale); + glEnd(); + + const float cscale = cam.dist() * 0.125; + + glLineWidth(1); + glBegin(GL_LINES); + glColor4f(n.r, n.g, n.b, n.a); + glVertex3f(c.pos[0], c.pos[1], c.pos[2]); + glVertex3f(c.pos[0]+c.normal[0]*cscale, c.pos[1]+c.normal[1]*cscale, c.pos[2]+c.normal[2]*cscale); + glEnd(); +} + + +void draw_contacts() +{ + if (!left_geom || !right_geom) + return; + + const int max_contacts = 32; + dContactGeom dg[max_contacts]; + + int n = dCollide(left_geom, right_geom, max_contacts, &dg[0], sizeof(dContactGeom)); + for (int i=0; i +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include "internal.h" + + +//*************************************************************************** +// error handling for unix (works just fine with SIOUX) + +static void printMessage (char *msg1, char *msg2, va_list ap) +{ + fflush (stderr); + fflush (stdout); + fprintf (stderr,"\n%s: ",msg1); + vfprintf (stderr,msg2,ap); + fprintf (stderr,"\n"); + fflush (stderr); +} + +extern "C" void dsError (char *msg, ...) +{ + va_list ap; + va_start (ap,msg); + printMessage ("Error",msg,ap); + va_end (ap); + exit (1); +} + + +extern "C" void dsDebug (char *msg, ...) +{ + va_list ap; + va_start (ap,msg); + printMessage ("INTERNAL ERROR",msg,ap); + va_end (ap); + // *((char *)0) = 0; ... commit SEGVicide ? + abort(); +} + +extern "C" void dsPrint (char *msg, ...) +{ + va_list ap; + va_start (ap,msg); + vprintf (msg,ap); + va_end (ap); +} + +//*************************************************************************** +// openGL window + +// window and openGL +static int width=0,height=0; // window size +static int last_key_pressed=0; // last key pressed in the window +static int pause=0; // 1 if in `pause' mode +static int singlestep=0; // 1 if single step key pressed +static int writeframes=0; // 1 if frame files to be written +static dsFunctions *gfn; +static int frame = 1; + +float getTime (void) +{ + UnsignedWide ms; + + Microseconds(&ms); + return ms.lo / 1000000.0; +} + + +static void captureFrame (int num) +{ +// TODO +} + +static void reshape(int w, int h) +{ + width = w; + height = h; +} + +static void draw(void) +{ + dsDrawFrame (width,height,gfn,pause && !singlestep); + singlestep = 0; + glutSwapBuffers(); + + if (pause==0 && writeframes) { + captureFrame (frame); + frame++; + } +} + +static void idle(void) +{ + static float lasttime=0; + float t; + + // Try to maintain a reasonable rate (good enough for testing anyway) + t = getTime(); + if (lasttime < t) { + lasttime = t+0.005; + draw(); + } +} + +static void key(unsigned char key, int x, int y) +{ + if (!glutGetModifiers()) { + + if (key >= ' ' && key <= 126 && gfn->command) gfn->command (key); + + // GLUT_ACTIVE_CTRL doesn't seem to be working, so we use Alt + } else if (glutGetModifiers()&GLUT_ACTIVE_ALT) { + + switch (key) { + case 't': case 'T': + dsSetTextures (dsGetTextures() ^ 1); + break; + case 's': case 'S': + dsSetShadows (dsGetShadows() ^ 1); + break; + case 'p': case 'P': + pause ^= 1; + singlestep = 0; + break; + case 'o': case 'O': + if (pause) singlestep = 1; + break; + case 'v': case 'V': { + float xyz[3],hpr[3]; + dsGetViewpoint (xyz,hpr); + printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", + xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]); + break; + } + // No case 'X' - Quit works through the Mac system menu, or cmd-q + case 'w': case 'W': + writeframes ^= 1; + if (writeframes) printf ("Write frames not done yet!\n");// TODO + break; + } + } + + last_key_pressed = key; +} + +static int mx=0,my=0; // mouse position +static int mode = 0; // mouse button bits + +static void MouseDown(int button, int state, int x, int y) +{ + if(button == GLUT_LEFT_BUTTON) + { + if(state == GLUT_DOWN) + mode |= 1; + else if(state == GLUT_UP) + mode &= (~1); + } + else if (button == GLUT_MIDDLE_BUTTON) + { + if(state == GLUT_DOWN) + mode |= 3; + else if(state == GLUT_UP) + mode &= (~3); + } + else if (button == GLUT_RIGHT_BUTTON) + { + if(state == GLUT_DOWN) + mode |= 2; + else if(state == GLUT_UP) + mode &= (~2); + } + + mx = x; + my = y; +} + +static void MouseMove(int x, int y) +{ + dsMotion (mode, x - mx, y - my); + mx = x; + my = y; +} + +static void createMainWindow (int _width, int _height) +{ + // So GLUT doesn't complain + int argc = 0; + char **argv = NULL; + + // initialize variables + width = _width; + height = _height; + last_key_pressed = 0; + + if (width < 1 || height < 1) dsDebug (0,"bad window width or height"); + + glutInit(&argc, argv); + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); + glutInitWindowSize(_width, _height); + glutInitWindowPosition(100, 100); + glutCreateWindow("ODE Simulation"); + + glutKeyboardFunc(key); + glutMotionFunc(MouseMove); + glutMouseFunc(MouseDown); + glutReshapeFunc(reshape); + glutDisplayFunc(idle); + glutIdleFunc(idle); +} + +void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn, + int initial_pause) +{ + SIOUXSettings.initializeTB = false; + SIOUXSettings.standalone = false; + SIOUXSettings.setupmenus = false; + SIOUXSettings.autocloseonquit = true; + SIOUXSettings.asktosaveonclose = false; + + gfn = fn; + pause = initial_pause; + + printf ( + "\n" + "Simulation test environment v%d.%02d\n" + " Option-P : pause / unpause (or say `-pause' on command line).\n" + " Option-O : single step when paused.\n" + " Option-T : toggle textures (or say `-notex' on command line).\n" + " Option-S : toggle shadows (or say `-noshadow' on command line).\n" + " Option-V : print current viewpoint coordinates (x,y,z,h,p,r).\n" + " Option-W : write frames to ppm files: frame/frameNNN.ppm\n" + "\n" + "Change the camera position by clicking + dragging in the window.\n" + " Left button - pan and tilt.\n" + " Right button - forward and sideways.\n" + " Left + Right button (or middle button) - sideways and up.\n" + "\n",DS_VERSION >> 8,DS_VERSION & 0xff); + + createMainWindow (window_width, window_height); + dsStartGraphics (window_width,window_height,fn); + + if (fn->start) fn->start(); + + glutMainLoop(); + + if (fn->stop) fn->stop(); + dsStopGraphics(); +} + +extern "C" void dsStop(){ }// GLUT/MSL hooks into the system to exit diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ +#ifndef prefix_h +#define prefix_h + +#include "CommonPrefix.h" + +#endif // prefix_h \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,13 @@ +#ifndef prefix_h +#define prefix_h + +#include "CommonPrefix.h" + +// Hack to automatically call SIOUX's CLI interface for the test apps +#include +#include +int fmain (int argc, char **argv); +int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(argc, argv); } +#define main(argc, argv) fmain(argc, argv) + +#endif // prefix_h \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,2 @@ +// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths) +#include \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,2 @@ +// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths) +#include \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,52 @@ +/* This file has been manually hacked together for the Mac CFM Carbon build - Frank. */ + +#ifndef _ODE_CONFIG_H_ +#define _ODE_CONFIG_H_ + +/* standard system headers */ +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* #define PENTIUM 1 -- not a pentium */ + +/* integer types (we assume int >= 32 bits) */ +typedef char int8; +typedef unsigned char uint8; +typedef int int32; +typedef unsigned int uint32; + +/* an integer type that we can safely cast a pointer to and from without loss of bits. */ +typedef unsigned int intP; + +#ifdef PRECISION_DOUBLE + + /*select the base floating point type*/ + #define dDOUBLE 1 + + /* the floating point infinity */ + #define dInfinity DBL_MAX + +#else + + /* select the base floating point type */ + #define dSINGLE 1 + + /* the floating point infinity */ + #define dInfinity FLT_MAX + +#endif + +#ifdef __cplusplus +} +#endif +#endif \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp ode-0.14/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,289 @@ +/************************************************************************* + * * + * 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 +#include + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// select correct drawing functions + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCappedCylinder dsDrawCappedCylinderD +#endif + + +// some constants + +#define DENSITY (5.0) // density of all objects + +// dynamics and collision objects + +struct MyObject { + dBodyID body; // the body + dGeomID geom; // geometry representing this body +}; + +static dWorldID world; +static dSpaceID space; +static MyObject fallingObject; +static dGeomID box1, box2; +static dJointGroupID contactgroup; + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + int i; + // if (o1->body && o2->body) return; + + // exit without doing anything if the two bodies are connected by a joint + dBodyID b1 = dGeomGetBody(o1); + dBodyID b2 = dGeomGetBody(o2); + if (b1 && b2 && dAreConnected (b1,b2)) return; + + dContact contact[4]; // up to 3 contacts per box + for (i=0; i<4; i++) { + contact[i].surface.mode = dContactBounce; //dContactMu2; + contact[i].surface.mu = dInfinity; + contact[i].surface.mu2 = 0; + contact[i].surface.bounce = 0.5; + contact[i].surface.bounce_vel = 0.1; + } + if (int numc = dCollide (o1,o2,4,&contact[0].geom,sizeof(dContact))) { + // dMatrix3 RI; + // dRSetIdentity (RI); + // const dReal ss[3] = {0.02,0.02,0.02}; + for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); + else return c; +} + + +// called when a key pressed + +static void command (int cmd) +{ + int i,k; + dReal sides[3]; + dMass m; + + cmd = locase (cmd); + if (cmd == 'b' || cmd == 's' || cmd == 'c') { + // Destroy the currently falling object and replace it by an instance of the requested type + if (fallingObject.body) { + dBodyDestroy (fallingObject.body); + dGeomDestroy (fallingObject.geom); + memset (&fallingObject, 0, sizeof(fallingObject)); + } + + fallingObject.body = dBodyCreate (world); + for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; + + // Start out centered above the V-gap + dBodySetPosition (fallingObject.body, 0,0,5); + +#if 0 + dMatrix3 R; + dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + dBodySetRotation (fallingObject.body,R); + dBodySetData (fallingObject.body,(void*) i); +#endif + + if (cmd == 'b') { + dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); + fallingObject.geom = dCreateBox (space,sides[0],sides[1],sides[2]); + } + else if (cmd == 'c') { + sides[0] *= 0.5; + dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); + fallingObject.geom = dCreateCCylinder (space,sides[0],sides[1]); + } + else if (cmd == 's') { + sides[0] *= 0.5; + dMassSetSphere (&m,DENSITY,sides[0]); + fallingObject.geom = dCreateSphere (space,sides[0]); + } + + dGeomSetBody (fallingObject.geom,fallingObject.body); + + dBodySetMass (fallingObject.body,&m); + } +} + + +// draw a geom + +void drawGeom (dGeomID g, const dReal *pos, const dReal *R) +{ + if (!g) return; + if (!pos) pos = dGeomGetPosition (g); + if (!R) R = dGeomGetRotation (g); + + int type = dGeomGetClass (g); + if (type == dBoxClass) { + dVector3 sides; + dGeomBoxGetLengths (g,sides); + dsDrawBox (pos,R,sides); + } + else if (type == dSphereClass) { + dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); + } + else if (type == dCCylinderClass) { + dReal radius,length; + dGeomCCylinderGetParams (g,&radius,&length); + dsDrawCappedCylinder (pos,R,length,radius); + } + /* + else if (type == dGeomTransformClass) { + dGeomID g2 = dGeomTransformGetGeom (g); + const dReal *pos2 = dGeomGetPosition (g2); + const dReal *R2 = dGeomGetRotation (g2); + dVector3 actual_pos; + dMatrix3 actual_R; + dMULTIPLY0_331 (actual_pos,R,pos2); + actual_pos[0] += pos[0]; + actual_pos[1] += pos[1]; + actual_pos[2] += pos[2]; + dMULTIPLY0_333 (actual_R,R,R2); + drawGeom (g2,actual_pos,actual_R); + } + */ +} + + +// simulation loop + +static void simLoop (int pause) +{ + dsSetColor (0,0,2); + dSpaceCollide (space,0,&nearCallback); + if (!pause) dWorldStep (world,0.0005); + + // remove all contact joints + dJointGroupEmpty (contactgroup); + + dsSetColor (1,1,0); + dsSetTexture (DS_WOOD); + + // draw the falling object + dsSetColor (1,0,0); + drawGeom (fallingObject.geom,0,0); + + // draw the constraining boxes + dsSetColor(0.8, 1, 0.8); + drawGeom (box1,0,0); + drawGeom (box2,0,0); +} + + +int main (int argc, char **argv) +{ + // setup pointers to drawstuff callback functions + dsFunctions fn; + fn.version = DS_VERSION; + fn.start = &start; + fn.step = &simLoop; + fn.command = &command; + fn.stop = 0; + fn.path_to_textures = "../../drawstuff/textures"; + if(argc==2) + { + fn.path_to_textures = argv[1]; + } + + // create world + + world = dWorldCreate(); + space = dHashSpaceCreate(); + contactgroup = dJointGroupCreate (0); + dWorldSetGravity (world,0,0,-0.5); + dWorldSetCFM (world,1e-5); + dCreatePlane (space,0,0,1,0); + memset (&fallingObject,0,sizeof(fallingObject)); + + // Create two flat boxes, just slightly off vertical and a bit apart for stuff to fall in between. + // Don't create bodies for these boxes -- they'll be immovable instead. + { + dReal sides[3]; + dMatrix3 R; + + sides[0] = 4; + sides[1] = 0.2; + sides[2] = 3; + + box1 = dCreateBox (space,sides[0],sides[1],sides[2]); + dGeomSetPosition (box1, 0, sides[1], sides[2]/2); + dRFromAxisAndAngle (R, 1, 0, 0, -0.1); + dGeomSetRotation (box1, R); + + box2 = dCreateBox (space,sides[0],sides[1],sides[2]); + dGeomSetPosition (box2, 0, -sides[1], sides[2]/2); + dRFromAxisAndAngle (R, 1, 0, 0, 0.1); + dGeomSetRotation (box2, R); + } + + // Pretend to drop a box to start + command('b'); + + // run simulation + dsSimulationLoop (argc,argv,640,480,&fn); + + dJointGroupDestroy (contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); + + return 0; +} diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c ode-0.14/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,197 @@ +#include +#include +#include "ode.h" + +#define NUMBODIES 80 + +#define USE_SPHERE 0 +#define USE_HELIX 1 +#define USE_TORQUE 1 +#define USE_WEIRD_MATRIX_OPS 0 + +#define CONTACTS 1 + +dWorldID aWorld; +dSpaceID aSpace; +float cycle = 0, fade; +dJointGroupID aContactGroup; +dBodyID bodies[NUMBODIES]; +dGeomID geoms[NUMBODIES]; +GLfloat colors[NUMBODIES][4]; +unsigned int contactsThisFrame; + +void kglTransformByODEGeom(dGeomID geom) { + const dReal *p = dGeomGetPosition(geom); + const dReal *R = dGeomGetRotation(geom); + GLdouble glm[16]; + + glm[0] = R[0]; glm[1] = R[4]; glm[2] = R[8]; glm[3] = 0; + glm[4] = R[1]; glm[5] = R[5]; glm[6] = R[9]; glm[7] = 0; + glm[8] = R[2]; glm[9] = R[6]; glm[10] = R[10];glm[11] = 0; + glm[12] = p[0]; glm[13] = p[1]; glm[14] = p[2]; glm[15] = 1; + + glMultMatrixd(glm); +} + +static void odeNearCallback(void *data, dGeomID g1, dGeomID g2) { + dBodyID b1 = dGeomGetBody(g1), + b2 = dGeomGetBody(g2); + dContact contact[CONTACTS]; + int contactsUsed, i; + + if (b1 && b2 && dAreConnected(b1, b2)) return; + + contactsUsed = dCollide(g1, g2, CONTACTS, &contact[0].geom, + sizeof(dContact)); + if (contactsUsed > CONTACTS) contactsUsed = CONTACTS; + + for (i = 0; i < contactsUsed; i++) { + contact[i].surface.mode = 0; + contact[i].surface.mu = 20.0; + + dJointAttach(dJointCreateContact(aWorld, aContactGroup, + &(contact[i])), b1, b2); + contactsThisFrame++; + } +} + +void myGlutResize(int w, int h) { + glViewport(0, 0, w, h); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + gluPerspective(45.0, (GLfloat)w / h, 1.0, 120.0); + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + glTranslatef(0, -6, -20); +} + +void myGlutIdle(void) { + const float step = 1.0/120; + int i; + + cycle = fmod(cycle + step / 4, 1); + fade = fabs(cycle * 2 - 1); + + contactsThisFrame = 0; + dSpaceCollide(aSpace, NULL, &odeNearCallback); + //printf("%u\n", contactsThisFrame); + dWorldStep(aWorld, step); + dJointGroupEmpty(aContactGroup); + + for (i = 0; i < NUMBODIES; i++) { + const dReal *cvel = dBodyGetLinearVel(bodies[i]); + dBodyAddForce(bodies[i], + -cvel[0] * 0.5, + -cvel[1] * 0.5, + -cvel[2] * 0.5 + ); + } + + glutPostRedisplay(); +} + +void myGlutDisplay(void) { + int i; + + glClearColor(fade * 0.15, 0, 0, 1); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + if (USE_WEIRD_MATRIX_OPS) glPushMatrix(); + for (i = 0; i < NUMBODIES; i++) { + if (!USE_WEIRD_MATRIX_OPS) glPushMatrix(); + kglTransformByODEGeom(geoms[i]); + glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, colors[i]); + glColor3f(fade * 1.5, 0, 0); +#if USE_SPHERE + glRotatef(90, 1, 0, 0); + glutSolidSphere(0.5, 9, 6); + glDisable(GL_LIGHTING); + glutWireSphere(0.5, 9, 6); +#else + glutSolidCube(1); + glDisable(GL_LIGHTING); + glutWireCube(1); +#endif + glEnable(GL_LIGHTING); + if (!USE_WEIRD_MATRIX_OPS) glPopMatrix(); + } + if (USE_WEIRD_MATRIX_OPS) glPopMatrix(); + + glutSwapBuffers(); +} + +int main(int argc, char **argv) { + printf("Initializing GLUT\n"); + + glutInit(&argc, argv); + glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH); + glutInitWindowSize(400, 300); + glutInitWindowPosition(100, 100); + glutCreateWindow("ODE Crash Test"); + + glutDisplayFunc(myGlutDisplay); + glutReshapeFunc(myGlutResize); + glutIdleFunc(myGlutIdle); + + glPolygonOffset(1, 1); + glDepthFunc(GL_LEQUAL); + glEnable(GL_POLYGON_OFFSET_FILL); + glEnable(GL_DEPTH_TEST); + glEnable(GL_CULL_FACE); + glEnable(GL_LIGHTING); + glEnable(GL_LIGHT0); + myGlutResize(400, 300); + + printf("Creating ODE world\n"); + aWorld = dWorldCreate(); + aSpace = dHashSpaceCreate(); + aContactGroup = dJointGroupCreate(0); + dCreatePlane(aSpace, 0, 1, 0, 0); + dWorldSetGravity(aWorld, 0, -9.81, 0); + dWorldSetERP(aWorld, 0.4); + dWorldSetCFM(aWorld, 1e-10); + + printf("Creating objects\n"); + { + int i; + dMass mass; + + dMassSetBox(&mass, 1.0, 1, 1, 1); + + for (i = 0; i < NUMBODIES; i++) { + float fraction = (float)i / NUMBODIES; + + bodies[i] = dBodyCreate(aWorld); + dBodySetMass(bodies[i], &mass); +#if USE_SPHERE + geoms[i] = dCreateSphere(aSpace, 0.5); +#else + geoms[i] = dCreateBox(aSpace, 1, 1, 1); +#endif + dGeomSetBody(geoms[i], bodies[i]); + + if (USE_HELIX) { + float r = (i % 3 - 1) * (1.5+4*(1 - fraction)), + theta = (float)i / 4; + dBodySetPosition(bodies[i], + sin(theta) * r, + (float)i + 1, + cos(theta) * r + ); + } else { + dBodySetPosition(bodies[i], 0, (float)i * 2 + 1, 0); + } + if (USE_TORQUE) dBodyAddTorque(bodies[i], fraction*10, fraction*20, fraction*30); + + colors[i][0] = fraction; + colors[i][1] = 1 - fraction; + colors[i][2] = 1 - fabs(fraction * 2 - 1); + colors[i][3] = 1; + } + } + + printf("Starting simulation\n"); + glutMainLoop(); + + return 0; +} \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,13 @@ +#ifndef prefix_h +#define prefix_h + +#include "CommonPrefix.h" + +// Hack to automatically call SIOUX's CLI interface for the test apps +#include +#include +int fmain (); +int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(); } +#define main() fmain() + +#endif // prefix_h \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h ode-0.14/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h --- ode-0.11.1/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ +#ifndef prefix_h +#define prefix_h + +#include "CommonPrefix.h" + +#endif // prefix_h \ No newline at end of file diff -Nru ode-0.11.1/contrib/Mac_CFMCarbon/README.txt ode-0.14/contrib/Mac_CFMCarbon/README.txt --- ode-0.11.1/contrib/Mac_CFMCarbon/README.txt 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Mac_CFMCarbon/README.txt 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,95 @@ +----------------------------- +ODE - Mac CFM Carbon Port +(contact Frank Condello with questions regarding this port) + +Although ODE contains a MacOSX makefile, and some individuals have implemented ODE in +Cocoa, I opted to use (and prefer) CodeWarrior. This also opens up ODE to MacOS8 & 9 +users, without scarfing functionality in MacOSX (same binaries run on both platforms). + +The 'ode_CW7.mcp' project contains release and debug targets to create static ODE and +DrawStuff libraries. + +'examples_CW7.mcp' contains targets for the entire ODE test suite, plus a couple other +test programs which were posted to the ODE mailing list. + + +----------------------------- +Compiling Notes: + +You'll need to extract the CodeWarrior projects from the 'CW7_projects.sit.bin' archive +(They're nearly a meg uncompressed so this was done to be bandwith friendly on the CVS). + +Projects require CodeWarrior 7 or above (recreating them with earlier versions shouldn't +be too difficult). The projects use relative paths and are meant to be compiled from +'contrib/Mac_CFMCarbon/'. Don't move them! + +All the libraries build into the 'lib/' directory, all test applications build into +'contrib/Mac_CFMCarbon/mac_testbin/' (and must be run from that directory since the +texture path is hard-coded). + +You'll need to compile the release ODE library, and the DrawStuff library before +compiling the examples. + +The ODE 'configurator' has not been ported, but a Mac-friendly 'config.h' header has been +manually hacked together (all PPC Macs should be fine with this header). Single or double +precision can be defined in the 'CommonPrefix.h' header found in +'contrib/Mac_CFMCarbon/mac_source/'. + +'contrib/Mac_CFMCarbon/mac_source/' also contains any mac specific additions to the main source. +The directory structure here matches the main source tree, and I would recommend that this +format is maintained when making additions, since the access paths are touchy (more below...) + +Some issues were encountered with duplicate header names. CodeWarrior tends to be +unforgiving about this sort of thing but fudging with the access paths eventually +cleared up the problem. If ODE fails to compile, make sure the and +"objects.h" or and are actually pointing to the correct header. + +You'll need Apple's OpenGL SDK (with GLUT) in your compiler path to build DrawStuff. I've +added redirection headers in 'contrib/Mac_CFMCarbon/mac_source/include/GL/' to properly +link with the Apple headers (since the projects are set to follow DOS paths). + +The examples link against a crapload of static libraries, but my initial builds using +ODE, MSL, GLUT, and DrawStuff shared/merged DLL's proved unstable (mostly problems with +SIOUX spawning multiple sessions, and crashes in Classic). Static libs just worked better +in the end, but the test apps are a little bloated as a result, and need to be re-linked +whenever a change to a library is made. + +IMPORTANT: You must use the same 'CommonPrefix.h' settings for libraries, and test apps +(i.e. double or single precision). + + +----------------------------- +Running the test apps: + +The test apps will show the SIOUX CLI prompt when run. Just hit OK to ignore it, or add any +DrawStuff arguments. You'll want to log output to a file for 'test_ode'. + +There are two extra test programs in the 'mac_source' directory. Both were posted to the ODE +mailing list by OSX users. 'test_stability1' visualizes some internal issues with ODE, and +'test_stacktest' is a standalone GLUT program (doesn't use DrawStuff) that can be useful +to stress test the library, and give you an idea of just how much stack memory you're +going to need for large systems. + +ISSUES: + +The carbon DrawStuff lib uses GLUT to make life easy, but GLUT isn't exactly bug-free +or stable on the Mac... Try moving the mouse around if a simulation is running slowly +on OS9 (it's not ODE's fault, but rather a poor carbon GLUT implementation - seems GLUT stalls +when it's not getting system events - I haven't seen this problem on OSX). + +The 3D view may not update if typing in the SIOUX console window. + +You cannot pass startup args to GLUT due to the way the DrawStuff library initializes. + +'Write Frames' doesn't actually do anything at the moment. + +The 'test_joints' app seems broken (though I don't know what the intended effect should be) + + +----------------------------- +TODO: + +- Re-add shared library targets (if stability issues are resolved). +- Implement 'Write Frames' in DrawStuff. +- Write a Carbon compatible configurator +- Create CodeWarrior 8 projects (once I scrounge up enough dough for the update). \ No newline at end of file diff -Nru ode-0.11.1/contrib/OdeModelProcessor/LICENSE-BSD.TXT ode-0.14/contrib/OdeModelProcessor/LICENSE-BSD.TXT --- ode-0.11.1/contrib/OdeModelProcessor/LICENSE-BSD.TXT 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/LICENSE-BSD.TXT 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,37 @@ + +This is the BSD-style license for The ODE Model Processor +---------------------------------------------------------- + +The ODE Model Processor +Copyright (c) 2007, Department Of Information Science, +University of Otago, Dunedin, New Zealand. +All rights reserved. + +Author: Richard Barrington + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + +Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +Neither the names of the copyright owner nor the names of its +contributors may be used to endorse or promote products derived from +this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + +Also add information on how to contact you by electronic and paper mail. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the library, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random Hacker. + + , 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! diff -Nru ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs --- ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,354 @@ +/* + * The ODE Model Processor + * ----------------------- + * + * Copyright 2007, Department of Information Science, + * University of Otago, Dunedin, New Zealand. + * + * Author: Richard Barrington + * + * This is a Content Processor and Tag library written for use with + * Microsoft Visual C# 2005 Express Edition and Microsoft XNA Game + * Studio Express 1.0. + * + * It can be used to read .x model vertex and index data before + * insertion into the content pipeline. This is used to build ODE + * Triangle Meshes which are then used for collision detection that + * is more accurate than the default XNA bounding boxes or spheres. + * + * Usage is simple: + * Build the library and reference the DLL in your project. + * Add the DLL to the Content Pipeline + * Set the content processor for you .x models to OdeModelProcessor. + * + * Create triangle meshes as follows: + * 1) Create a space, but only one for all of models. + * 2) Create a triangle data. + * 3) Load the model. + * 4) Retreive the tag from the model. + * 6) Build the triangle mesh by calling d.GeomTriMeshDataBuildSimple. + * + * Eg: + * IntPtr space = d.SimpleSpaceCreate(IntPtr.Zero); + * IntPtr triangleData = d.GeomTriMeshDataCreate(); + * Model obj = content.Load("Content\\mycube"); + * OdeTag tag = (OdeTag)obj.Tag; + * IntPtr vertexArray = tag.getVertices(); + * IntPtr indexArray = tag.getIndices(); + * d.GeomTriMeshDataBuildSimple + * ( + * triangleData, + * vertexArray, tag.getVertexStride(), tag.getVertexCount(), + * indexArray, tag.getIndexCount(), tag.getIndexStride() + * ); + * IntPtr triangleMesh = d.CreateTriMesh(space, triangleData, null, null, null); + * + * You can load multiple models and test for collisions with something + * like this in the update method: + * + * d.GeomSetPosition(odeTri1, obj1Position.X, obj1Position.Y, obj1Position.Z); + * d.GeomSetPosition(odeTri2, obj2Position.X, obj2Position.Y, obj2Position.Z); + * int numberOfContacts = d.Collide(odeTri1, odeTri2, ODE_CONTACTS, + * contactGeom, d.ContactGeom.SizeOf); + * + * Where odeTri1 and odeTri2 are triangle meshes you've created, obj1Position + * and obj2Position are the positions of your rendered models in the scene, + * ODE_CONTACTS is a constant defining the maximum number of contacts + * to test for, contactGeom is a d.ContactGeom[] of length ODE_CONTACTS. + * + * If numberOfContacts is greater than 0, you have a collision. + * + * Other ODE functions such as d.SpaceCollide() also work; see ODE.NET BoxTest.cs. + * + * This library is free software; you can redistribute it and/or + * modify it under the same terms as the ODE and ODE.Net libraries. + * Specifically, the terms are one 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. + * + */ + +using System; +using System.Collections.Generic; +using System.Text; +using Microsoft.Xna.Framework; +using Microsoft.Xna.Framework.Content; +using Microsoft.Xna.Framework.Graphics; +using Microsoft.Xna.Framework.Design; +using Microsoft.Xna.Framework.Content.Pipeline; +using Microsoft.Xna.Framework.Content.Pipeline.Graphics; +using Microsoft.Xna.Framework.Content.Pipeline.Processors; +using Microsoft.Xna.Framework.Content.Pipeline.Serialization.Compiler; +using Ode.NET; +using System.Runtime.InteropServices; + +namespace OdeModelProcessor +{ + /* + * Container for vertex and index data in a format + * that ODE.Net can use + */ + public class OdeTag + { + + private float[] vertexData; + private int[] indexData; + private const int indexStride = (sizeof(int)); + private const int vertexStride = (3 * sizeof(float)); + + /* Constructors */ + public OdeTag() + { + vertexData = new float[0]; + indexData = new int[0]; + } + + public OdeTag(float[] vertexData, int[] indexData) + { + this.vertexData = vertexData; + this.indexData = indexData; + } + + /* Data setter */ + public void setData(float[] vertexData, int[] indexData) + { + this.vertexData = vertexData; + this.indexData = indexData; + } + + /* Data appenders */ + public void appendVertexData(float[] vertexData) + { + int newVertexDataLength = vertexData.Length; + float[] tempVertexArray = new float[newVertexDataLength + this.vertexData.Length]; + this.vertexData.CopyTo(tempVertexArray, 0); + vertexData.CopyTo(tempVertexArray, this.vertexData.Length); + this.vertexData = tempVertexArray; + } + + public void appendIndexData(int[] indexData) + { + int newIndexDataLength = indexData.Length; + int[] tempIndexArray = new int[newIndexDataLength + this.indexData.Length]; + this.indexData.CopyTo(tempIndexArray, 0); + indexData.CopyTo(tempIndexArray, this.indexData.Length); + this.indexData = tempIndexArray; + } + + /* Data getters */ + public float[] getVertexData() + { + return this.vertexData; + } + + public int[] getIndexData() + { + return this.indexData; + } + + /* Native data getters */ + public IntPtr getVertices() + { + int count = getVertexData().Length; + int memsize = count * Marshal.SizeOf(getVertexData()[0].GetType()); + IntPtr pointer = Marshal.AllocCoTaskMem(memsize); + Marshal.Copy(getVertexData(), 0, pointer, count); + return pointer; + } + + public IntPtr getIndices() + { + int count = getIndexData().Length; + int memsize = count * Marshal.SizeOf(getIndexData()[0].GetType()); + IntPtr pointer = Marshal.AllocCoTaskMem(memsize); + Marshal.Copy(getIndexData(), 0, pointer, count); + return pointer; + } + + /* Count getters */ + public int getVertexCount() + { + return vertexData.Length/3; + } + + public int getIndexCount() + { + return indexData.Length; + } + + /* Stride getters */ + public int getVertexStride() + { + return vertexStride; + } + + public int getIndexStride() + { + return indexStride; + } + + /* + * Convienience method to build the mesh and return it. The triangleData + * is passed in to allow the calling application to delete it afterwards. + * + * Be sure to destroy the returned TriangleMesh in the client application. + * + * Can't destroy the index and vertex arrays here though, so best to handle + * this manually - only use this method if nothing else makes sense. + */ + public IntPtr getTriangleMesh(IntPtr space, IntPtr triangleData) + { + d.GeomTriMeshDataBuildSimple( + triangleData, + getVertices(), getVertexStride(), getVertexCount(), + getIndices(), getIndexCount(), getIndexStride() + ); + return d.CreateTriMesh(space, triangleData, null, null, null); + } + + } + + /* + * Subclass of the XNA .x model processor, which creates and appends a tag + * containing vertex and index data for ODE.Net to use. + */ + [ContentProcessor] + public class OdeModelProcessor : ModelProcessor + { + private OdeTag tag; + private int indexOffset = 0; + + public override ModelContent Process(NodeContent input, ContentProcessorContext context) + { + tag = new OdeTag(); + GenerateVerticesRecursive( input ); + ModelContent model = base.Process(input, context); + model.Tag = tag; + indexOffset = 0; + return model; + } + + public void GenerateVerticesRecursive(NodeContent input) + { + + MeshContent mesh = input as MeshContent; + + if (mesh != null) + { + GeometryContentCollection gc = mesh.Geometry; + foreach (GeometryContent g in gc) + { + VertexContent vc = g.Vertices; + IndirectPositionCollection ipc = vc.Positions; + IndexCollection ic = g.Indices; + + float[] vertexData = new float[ipc.Count * 3]; + for (int i = 0; i < ipc.Count; i++) + { + + Vector3 v0 = ipc[i]; + vertexData[(i * 3) + 0] = v0.X; + vertexData[(i * 3) + 1] = v0.Y; + vertexData[(i * 3) + 2] = v0.Z; + + } + + int[] indexData = new int[ic.Count]; + for (int j = 0; j < ic.Count; j ++) + { + + indexData[j] = ic[j] + indexOffset; + + } + + tag.appendVertexData(vertexData); + tag.appendIndexData(indexData); + indexOffset += ipc.Count; + } + + } + + foreach (NodeContent child in input.Children) + { + GenerateVerticesRecursive(child); + } + + } + + } + + /* Writer for the OdeTag class */ + [ContentTypeWriter] + public class OdeTagWriter : ContentTypeWriter + { + + protected override void Write(ContentWriter output, OdeTag value) + { + float[] vertexData = value.getVertexData(); + int[] indexData = value.getIndexData(); + output.Write(vertexData.Length); + output.Write(indexData.Length); + for (int j = 0; j < vertexData.Length; j++) + { + output.Write(vertexData[j]); + } + for (int i = 0; i < indexData.Length; i++) + { + output.Write(indexData[i]); + } + } + + public override string GetRuntimeType(TargetPlatform targetPlatform) + { + return typeof(OdeTag).AssemblyQualifiedName; + } + + public override string GetRuntimeReader(TargetPlatform targetPlatform) + { + return "OdeModelProcessor.OdeTagReader, OdeModelProcessor, Version=1.0.0.0, Culture=neutral"; + } + + } + + /* Reader for the OdeTag class */ + public class OdeTagReader : ContentTypeReader + { + protected override OdeTag Read(ContentReader input, OdeTag existingInstance) + { + float[] vertexData = new float[input.ReadInt32()]; + int[] indexData = new int[input.ReadInt32()]; + for (int j = 0; j < vertexData.Length; j++) + { + vertexData[j] = input.ReadSingle(); + } + for (int i = 0; i < indexData.Length; i++) + { + indexData[i] = input.ReadInt32(); + } + + OdeTag tag = null; + if (existingInstance == null) + { + tag = new OdeTag(vertexData, indexData); + } + else + { + tag = existingInstance; + tag.setData(vertexData, indexData); + } + return tag; + } + } +} diff -Nru ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj --- ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,69 @@ + + + Debug + AnyCPU + 8.0.50727 + 2.0 + {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2} + Library + Properties + OdeModelProcessor + OdeModelProcessor + + + true + full + false + bin\Debug\ + DEBUG + prompt + 4 + false + false + + + pdbonly + true + bin\Release\ + + + prompt + 4 + false + false + + + + + + False + ..\..\ODE\Ode.NET-0.8\bin\Release\Ode.NET.dll + + + + + + + + + + True + True + Settings.settings + + + + + SettingsSingleFileGenerator + Settings.Designer.cs + + + + + \ No newline at end of file diff -Nru ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs --- ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,35 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +[assembly: AssemblyTitle("OdeModelProcessor")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("OdeModelProcessor")] +[assembly: AssemblyCopyright("Copyright © 2007")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// Setting ComVisible to false makes the types in this assembly not visible +// to COM components. If you need to access a type in this assembly from +// COM, set the ComVisible attribute to true on that type. +[assembly: ComVisible(false)] + +// The following GUID is for the ID of the typelib if this project is exposed to COM +[assembly: Guid("29c5609a-cd5f-480b-b4ef-5c11de022268")] + +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +// You can specify all the values or you can default the Revision and Build Numbers +// by using the '*' as shown below: +[assembly: AssemblyVersion("1.0.0.0")] +[assembly: AssemblyFileVersion("1.0.0.0")] diff -Nru ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs --- ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,26 @@ +//------------------------------------------------------------------------------ +// +// This code was generated by a tool. +// Runtime Version:2.0.50727.832 +// +// Changes to this file may cause incorrect behavior and will be lost if +// the code is regenerated. +// +//------------------------------------------------------------------------------ + +namespace OdeModelProcessor.Properties { + + + [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()] + [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "8.0.0.0")] + internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase { + + private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings()))); + + public static Settings Default { + get { + return defaultInstance; + } + } + } +} diff -Nru ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings --- ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ + + + + + + diff -Nru ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor.sln ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor.sln --- ode-0.11.1/contrib/OdeModelProcessor/OdeModelProcessor.sln 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/OdeModelProcessor.sln 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,20 @@ + +Microsoft Visual Studio Solution File, Format Version 9.00 +# Visual C# Express 2005 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "OdeModelProcessor", "OdeModelProcessor\OdeModelProcessor.csproj", "{246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Debug|Any CPU.Build.0 = Debug|Any CPU + {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Release|Any CPU.ActiveCfg = Release|Any CPU + {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff -Nru ode-0.11.1/contrib/OdeModelProcessor/README.TXT ode-0.14/contrib/OdeModelProcessor/README.TXT --- ode-0.11.1/contrib/OdeModelProcessor/README.TXT 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/OdeModelProcessor/README.TXT 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,78 @@ +The ODE Model Processor +----------------------- + +Copyright 2007, Department of Information Science, +University of Otago, Dunedin, New Zealand. + +Author: Richard Barrington + +This is a Content Processor and Tag library written for use with +Microsoft Visual C# 2005 Express Edition and Microsoft XNA Game +Studio Express 1.0. + +It can be used to read .x model vertex and index data before +insertion into the content pipeline. This is used to build ODE +Triangle Meshes which are then used for collision detection that +is more accurate than the default XNA bounding boxes or spheres. + +Usage is fairly simple: +Build the library and reference the DLL in your project. +Add the DLL to the Content Pipeline +Set the content processor for you .x models to OdeModelProcessor. + +Create triangle meshes as follows: +1) Create a space, but only one for all of models. +2) Create a triangle data. +3) Load the model. +4) Retreive the tag from the model. +6) Build the triangle mesh by calling d.GeomTriMeshDataBuildSimple. + +Eg: +IntPtr space = d.SimpleSpaceCreate(IntPtr.Zero); +IntPtr triangleData = d.GeomTriMeshDataCreate(); +Model obj = content.Load("Content\\mycube"); +OdeTag tag = (OdeTag)obj.Tag; +IntPtr vertexArray = tag.getVertices(); +IntPtr indexArray = tag.getIndices(); +d.GeomTriMeshDataBuildSimple +( + triangleData, + vertexArray, tag.getVertexStride(), tag.getVertexCount(), + indexArray, tag.getIndexCount(), tag.getIndexStride() +); +IntPtr triangleMesh = d.CreateTriMesh(space, triangleData, null, null, null); + +You can load multiple models and test for collisions with something +like this in the update method: + +d.GeomSetPosition(odeTri1, obj1Position.X, obj1Position.Y, obj1Position.Z); +d.GeomSetPosition(odeTri2, obj2Position.X, obj2Position.Y, obj2Position.Z); +int numberOfContacts = d.Collide(odeTri1, odeTri2, ODE_CONTACTS, + contactGeom, d.ContactGeom.SizeOf); + +Where odeTri1 and odeTri2 are triangle meshes you've created, obj1Position +and obj2Position are the positions of your rendered models in the scene, +ODE_CONTACTS is a constant defining the maximum number of contacts +to test for, contactGeom is a d.ContactGeom[] of length ODE_CONTACTS. + +If numberOfContacts is greater than 0, you have a collision. + +Other ODE functions such as d.SpaceCollide() also work; see ODE.NET BoxTest.cs. + +This library is free software; you can redistribute it and/or +modify it under the same terms as the ODE and ODE.Net libraries. +Specifically, the terms are one 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. diff -Nru ode-0.11.1/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs ode-0.14/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs --- ode-0.11.1/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,18 @@ +using System; +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +[assembly: AssemblyTitle("Drawstuff.NET")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("Ode.NET")] +[assembly: AssemblyCopyright("")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] +[assembly: ComVisible(false)] +[assembly: Guid("b2a39dd4-dd67-4e8a-af70-d3b412da8850")] +[assembly: AssemblyVersion("0.7.0.0")] +[assembly: AssemblyFileVersion("0.7.0.0")] +[assembly: CLSCompliantAttribute(true)] diff -Nru ode-0.11.1/contrib/Ode.NET/Drawstuff/Drawstuff.cs ode-0.14/contrib/Ode.NET/Drawstuff/Drawstuff.cs --- ode-0.11.1/contrib/Ode.NET/Drawstuff/Drawstuff.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Drawstuff/Drawstuff.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,58 @@ +using System; +using System.Runtime.InteropServices; +using Ode.NET; + +namespace Drawstuff.NET +{ +#if dDOUBLE + using dReal = System.Double; +#else + using dReal = System.Single; +#endif + + public static class ds + { + public const int VERSION = 2; + + public enum Texture + { + None, + Wood + } + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void CallbackFunction(int arg); + + [StructLayout(LayoutKind.Sequential)] + public struct Functions + { + public int version; + public CallbackFunction start; + public CallbackFunction step; + public CallbackFunction command; + public CallbackFunction stop; + public string path_to_textures; + } + + [DllImport("drawstuff", EntryPoint="dsDrawBox")] + public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides); + + [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")] + public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius); + + [DllImport("drawstuff", EntryPoint = "dsDrawConvex")] + public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); + + [DllImport("drawstuff", EntryPoint="dsSetColor")] + public static extern void SetColor(float red, float green, float blue); + + [DllImport("drawstuff", EntryPoint="dsSetTexture")] + public static extern void SetTexture(Texture texture); + + [DllImport("drawstuff", EntryPoint="dsSetViewpoint")] + public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr); + + [DllImport("drawstuff", EntryPoint="dsSimulationLoop")] + public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn); + } +} diff -Nru ode-0.11.1/contrib/Ode.NET/Drawstuff/premake.lua ode-0.14/contrib/Ode.NET/Drawstuff/premake.lua --- ode-0.11.1/contrib/Ode.NET/Drawstuff/premake.lua 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Drawstuff/premake.lua 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,19 @@ +package.name = "Drawstuff.NET" +package.kind = "dll" +package.language = "c#" + +if (options["with-doubles"]) then + package.defines = { "dDOUBLE" } +else + package.defines = { "dSINGLE " } +end + +package.links = { + "System", + "Ode.NET" +} + +package.files = { + "AssemblyInfo.cs", + "Drawstuff.cs" +} diff -Nru ode-0.11.1/contrib/Ode.NET/Ode/AssemblyInfo.cs ode-0.14/contrib/Ode.NET/Ode/AssemblyInfo.cs --- ode-0.11.1/contrib/Ode.NET/Ode/AssemblyInfo.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Ode/AssemblyInfo.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,18 @@ +using System; +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +[assembly: AssemblyTitle("Ode.NET")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("Ode.NET")] +[assembly: AssemblyCopyright("")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] +[assembly: ComVisible(false)] +[assembly: Guid("1347a35e-c32b-4ff6-8064-7d10b2cc113b")] +[assembly: AssemblyVersion("0.10.1.0")] +[assembly: AssemblyFileVersion("0.10.1.0")] +[assembly: CLSCompliantAttribute(true)] diff -Nru ode-0.11.1/contrib/Ode.NET/Ode/Ode.cs ode-0.14/contrib/Ode.NET/Ode/Ode.cs --- ode-0.11.1/contrib/Ode.NET/Ode/Ode.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Ode/Ode.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1870 @@ +using System; +using System.Runtime.InteropServices; +using System.Security; + +namespace Ode.NET +{ +#if dDOUBLE + using dReal = System.Double; +#else + using dReal = System.Single; +#endif + + public static class d + { + public static dReal Infinity = dReal.MaxValue; + + #region Flags and Enumerations + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [Flags] + public enum AllocateODEDataFlags : uint + { + BasicData = 0, + CollisionData = 0x00000001, + All = ~0u + } + + [CLSCompliant(false)] + [Flags] + public enum IniteODEFlags : uint + { + dInitFlagManualThreadCleanup = 0x00000001 + } +#endif + + [Flags] + public enum ContactFlags : int + { + Mu2 = 0x001, + FDir1 = 0x002, + Bounce = 0x004, + SoftERP = 0x008, + SoftCFM = 0x010, + Motion1 = 0x020, + Motion2 = 0x040, + MotionN = 0x080, + Slip1 = 0x100, + Slip2 = 0x200, + Approx0 = 0x0000, + Approx1_1 = 0x1000, + Approx1_2 = 0x2000, + Approx1 = 0x3000 + } + + public enum GeomClassID : int + { + SphereClass, + BoxClass, + CapsuleClass, + CylinderClass, + PlaneClass, + RayClass, + ConvexClass, + GeomTransformClass, + TriMeshClass, + HeightfieldClass, + FirstSpaceClass, + SimpleSpaceClass = FirstSpaceClass, + HashSpaceClass, + QuadTreeSpaceClass, + LastSpaceClass = QuadTreeSpaceClass, + FirstUserClass, + LastUserClass = FirstUserClass + MaxUserClasses - 1, + NumClasses, + MaxUserClasses = 4 + } + + public enum JointType : int + { + None, + Ball, + Hinge, + Slider, + Contact, + Universal, + Hinge2, + Fixed, + Null, + AMotor, + LMotor, + Plane2D + } + + public enum JointParam : int + { + LoStop, + HiStop, + Vel, + FMax, + FudgeFactor, + Bounce, + CFM, + StopERP, + StopCFM, + SuspensionERP, + SuspensionCFM, + LoStop2 = 256, + HiStop2, + Vel2, + FMax2, + FudgeFactor2, + Bounce2, + CFM2, + StopERP2, + StopCFM2, + SuspensionERP2, + SuspensionCFM2, + LoStop3 = 512, + HiStop3, + Vel3, + FMax3, + FudgeFactor3, + Bounce3, + CFM3, + StopERP3, + StopCFM3, + SuspensionERP3, + SuspensionCFM3 + } + + public enum dSweepAndPruneAxis : int + { + XYZ = ((0)|(1<<2)|(2<<4)), + XZY = ((0)|(2<<2)|(1<<4)), + YXZ = ((1)|(0<<2)|(2<<4)), + YZX = ((1)|(2<<2)|(0<<4)), + ZXY = ((2)|(0<<2)|(1<<4)), + ZYX = ((2)|(1<<2)|(0<<4)) + } + + #endregion + + #region Callbacks + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void GetAABBFn(IntPtr geom, out AABB aabb); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate ColliderFn GetColliderFnFn(int num); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void GeomDtorFn(IntPtr o); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount); + + [UnmanagedFunctionPointer(CallingConvention.Cdecl)] + public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v); + + #endregion + + #region Structs + + [StructLayout(LayoutKind.Sequential)] + public struct AABB + { + public dReal MinX, MaxX; + public dReal MinY, MaxY; + public dReal MinZ, MaxZ; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Contact + { + public SurfaceParameters surface; + public ContactGeom geom; + public Vector3 fdir1; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct ContactGeom + { + public static readonly int SizeOf = Marshal.SizeOf(typeof(ContactGeom)); + + public Vector3 pos; + public Vector3 normal; + public dReal depth; + public IntPtr g1; + public IntPtr g2; + public int side1; + public int side2; + } + + [StructLayout(LayoutKind.Sequential)] + public struct GeomClass + { + public int bytes; + public GetColliderFnFn collider; + public GetAABBFn aabb; + public AABBTestFn aabb_test; + public GeomDtorFn dtor; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct JointFeedback + { + public Vector3 f1; + public Vector3 t1; + public Vector3 f2; + public Vector3 t2; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Mass + { + public dReal mass; + public Vector4 c; + public Matrix3 I; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Matrix3 + { + public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22) + { + M00 = m00; M10 = m10; M20 = m20; _m30 = 0.0f; + M01 = m01; M11 = m11; M21 = m21; _m31 = 0.0f; + M02 = m02; M12 = m12; M22 = m22; _m32 = 0.0f; + } + public dReal M00, M10, M20; + private dReal _m30; + public dReal M01, M11, M21; + private dReal _m31; + public dReal M02, M12, M22; + private dReal _m32; + } + + [StructLayout(LayoutKind.Sequential)] + public struct Matrix4 + { + public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30, + dReal m01, dReal m11, dReal m21, dReal m31, + dReal m02, dReal m12, dReal m22, dReal m32, + dReal m03, dReal m13, dReal m23, dReal m33) + { + M00 = m00; M10 = m10; M20 = m20; M30 = m30; + M01 = m01; M11 = m11; M21 = m21; M31 = m31; + M02 = m02; M12 = m12; M22 = m22; M32 = m32; + M03 = m03; M13 = m13; M23 = m23; M33 = m33; + } + public dReal M00, M10, M20, M30; + public dReal M01, M11, M21, M31; + public dReal M02, M12, M22, M32; + public dReal M03, M13, M23, M33; + } + + [StructLayout(LayoutKind.Sequential)] + public struct Quaternion + { + public dReal W, X, Y, Z; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct SurfaceParameters + { + public ContactFlags mode; + public dReal mu; + public dReal mu2; + public dReal bounce; + public dReal bounce_vel; + public dReal soft_erp; + public dReal soft_cfm; + public dReal motion1; + public dReal motion2; + public dReal motionN; + public dReal slip1; + public dReal slip2; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Vector3 + { + public Vector3(dReal x, dReal y, dReal z) + { + X = x; Y = y; Z = z; _w = 0.0f; + } + public dReal X, Y, Z; + private dReal _w; + } + + + [StructLayout(LayoutKind.Sequential)] + public struct Vector4 + { + public Vector4(dReal x, dReal y, dReal z, dReal w) + { + X = x; Y = y; Z = z; W = w; + } + public dReal X, Y, Z, W; + } + + #endregion + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dAllocateODEDataForThread"), SuppressUnmanagedCodeSecurity] + public static extern int AllocateODEDataForThread(uint ODEInitFlags); +#endif + + [DllImport("ode", EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity] + public static extern bool AreConnected(IntPtr b1, IntPtr b2); + + [DllImport("ode", EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity] + public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type); + + [DllImport("ode", EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz); + + [DllImport("ode", EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity] + public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz); + + [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos); + + [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyPosition(IntPtr body, out dReal X); + + [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat); + + [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyQuaternion(IntPtr body, out dReal X); + + [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R); + + [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodyCopyRotation(IntPtr body, out dReal M00); + + [DllImport("ode", EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyCreate(IntPtr world); + + [DllImport("ode", EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void BodyDestroy(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity] + public static extern void BodyDisable(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity] + public static extern void BodyEnable(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern bool BodyGetAutoDisableFlag(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetAutoDisableDefaults(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetAutoDisableSteps(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAutoDisableTime(IntPtr body); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body); + public static Vector3 BodyGetAngularVel(IntPtr body) + { + unsafe { return *(BodyGetAngularVelUnsafe(body)); } + } +#endif + + [DllImport("ode", EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetData(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetFiniteRotationMode(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body); + public static Vector3 BodyGetForce(IntPtr body) + { + unsafe { return *(BodyGetForceUnsafe(body)); } + } +#endif + + [DllImport("ode", EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity] + public static extern bool BodyGetGravityMode(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetGyroscopicMode"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetGyroscopicMode(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetJoint(IntPtr body, int index); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body); + public static Vector3 BodyGetLinearVel(IntPtr body) + { + unsafe { return *(BodyGetLinearVelUnsafe(body)); } + } +#endif + + [DllImport("ode", EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetMass(IntPtr body, out Mass mass); + + [DllImport("ode", EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity] + public static extern int BodyGetNumJoints(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body); + public static Vector3 BodyGetPosition(IntPtr body) + { + unsafe { return *(BodyGetPositionUnsafe(body)); } + } +#endif + + [DllImport("ode", EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body); + public static Quaternion BodyGetQuaternion(IntPtr body) + { + unsafe { return *(BodyGetQuaternionUnsafe(body)); } + } +#endif + + [DllImport("ode", EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body); + public static Matrix3 BodyGetRotation(IntPtr body) + { + unsafe { return *(BodyGetRotationUnsafe(body)); } + } +#endif + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body); + public static Vector3 BodyGetTorque(IntPtr body) + { + unsafe { return *(BodyGetTorqueUnsafe(body)); } + } +#endif + + [DllImport("ode", EntryPoint = "dBodyGetWorld"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr BodyGetWorld(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity] + public static extern bool BodyIsEnabled(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold); + + [DllImport("ode", EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableDefaults(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable); + + [DllImport("ode", EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold); + + [DllImport("ode", EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableSteps(IntPtr body, int steps); + + [DllImport("ode", EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAutoDisableTime(IntPtr body, dReal time); + + [DllImport("ode", EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetData(IntPtr body, IntPtr data); + + [DllImport("ode", EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetFiniteRotationMode(IntPtr body, int mode); + + [DllImport("ode", EntryPoint = "dBodySetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetFiniteRotationAxis(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dBodySetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetLinearDamping(IntPtr body, dReal scale); + + [DllImport("ode", EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAngularDamping(IntPtr body, dReal scale); + + [DllImport("ode", EntryPoint = "dBodyGetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetLinearDamping(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAngularDamping(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodySetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetDamping(IntPtr body, dReal linear_scale, dReal angular_scale); + + [DllImport("ode", EntryPoint = "dBodySetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetAngularDampingThreshold(IntPtr body, dReal threshold); + + [DllImport("ode", EntryPoint = "dBodySetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetLinearDampingThreshold(IntPtr body, dReal threshold); + + [DllImport("ode", EntryPoint = "dBodyGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetLinearDampingThreshold(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodyGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal BodyGetAngularDampingThreshold(IntPtr body); + + [DllImport("ode", EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetGravityMode(IntPtr body, bool mode); + + /// + /// Sets the Gyroscopic term status on the body specified. + /// + /// Pointer to body + /// NonZero enabled, Zero disabled + [DllImport("ode", EntryPoint = "dBodySetGyroscopicMode"), SuppressUnmanagedCodeSecurity] + public static extern void dBodySetGyroscopicMode(IntPtr body, int enabled); + + [DllImport("ode", EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetMass(IntPtr body, ref Mass mass); + + [DllImport("ode", EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q); + + [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetQuaternion(IntPtr body, ref dReal w); + + [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetRotation(IntPtr body, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetRotation(IntPtr body, ref dReal M00); + + [DllImport("ode", EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity] + public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity] + public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity] + public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result); + + [DllImport("ode", EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity] + public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1, + ref Vector3 side1, ref Vector3 p2, + ref Matrix3 R2, ref Vector3 side2, + ref Vector3 normal, out dReal depth, out int return_code, + int maxc, out ContactGeom contact, int skip); + + [DllImport("ode", EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity] + public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1, + ref Vector3 side1, ref Vector3 _p2, + ref Matrix3 R2, ref Vector3 side2); + + [DllImport("ode", EntryPoint = "dCleanupODEAllDataForThread"), SuppressUnmanagedCodeSecurity] + public static extern void CleanupODEAllDataForThread(); + + [DllImport("ode", EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity] + public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, + ref Vector3 b1, ref Vector3 b2, + ref Vector3 cp1, ref Vector3 cp2); + + [DllImport("ode", EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity] + public static extern void CloseODE(); + + [DllImport("ode", EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity] + public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip); + + [DllImport("ode", EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2); + + [DllImport("ode", EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz); + + [DllImport("ode", EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); + + [DllImport("ode", EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable); + + [DllImport("ode", EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateGeom(int classnum); + + [DllImport("ode", EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity] + public static extern int CreateGeomClass(ref GeomClass classptr); + + [DllImport("ode", EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateGeomTransform(IntPtr space); + + [DllImport("ode", EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d); + + [DllImport("ode", EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateRay(IntPtr space, dReal length); + + [DllImport("ode", EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateSphere(IntPtr space, dReal radius); + + [DllImport("ode", EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data, + TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback); + + [DllImport("ode", EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity] + public static extern dReal Dot(ref dReal X0, ref dReal X1, int n); + + [DllImport("ode", EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity] + public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q); + + [DllImport("ode", EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity] + public static extern int FactorCholesky(ref dReal A00, int n); + + [DllImport("ode", EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity] + public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip); + + [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] + public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len); + + [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity] + public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x); + + [DllImport("ode", EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity] + public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length); + + [DllImport("ode", EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity] + public static extern void GeomClearOffset(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos); + + [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X); + + [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q); + + [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X); + + [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos); + + [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyPosition(IntPtr geom, out dReal X); + + [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R); + + [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyRotation(IntPtr geom, out dReal M00); + + [DllImport("ode", EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length); + + [DllImport("ode", EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void GeomDestroy(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity] + public static extern void GeomDisable(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity] + public static extern void GeomEnable(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] + public static extern void GeomGetAABB(IntPtr geom, out AABB aabb); + + [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity] + public static extern void GeomGetAABB(IntPtr geom, out dReal minX); + + [DllImport("ode", EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetBody(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity] + public static extern int GeomGetCategoryBits(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetClassData(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity] + public static extern int GeomGetCollideBits(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity] + public static extern GeomClassID GeomGetClass(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetData(IntPtr geom); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom); + public static Vector3 GeomGetOffsetPosition(IntPtr geom) + { + unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); } + } +#endif + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom); + public static Matrix3 GeomGetOffsetRotation(IntPtr geom) + { + unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); } + } +#endif + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom); + public static Vector3 GeomGetPosition(IntPtr geom) + { + unsafe { return *(GeomGetPositionUnsafe(geom)); } + } +#endif + + [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q); + + [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom); + public static Matrix3 GeomGetRotation(IntPtr geom) + { + unsafe { return *(GeomGetRotationUnsafe(geom)); } + } +#endif + + [DllImport("ode", EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomGetSpace(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData, + dReal width, dReal depth, int widthSamples, int depthSamples, + dReal scale, dReal offset, dReal thickness, int bWrap); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomHeightfieldDataCreate(); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataDestroy(IntPtr d); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d); + + [DllImport("ode", EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomIsEnabled(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomIsOffset(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomIsSpace(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result); + + [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A); + + [DllImport("ode", EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d); + + [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir); + + [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX); + + [DllImport("ode", EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity] + public static extern int GeomRayGetClosestHit(IntPtr ray); + + [DllImport("ode", EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomRayGetLength(IntPtr ray); + + [DllImport("ode", EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull); + + [DllImport("ode", EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz); + + [DllImport("ode", EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit); + + [DllImport("ode", EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySetLength(IntPtr ray, dReal length); + + [DllImport("ode", EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity] + public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull); + + [DllImport("ode", EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetBody(IntPtr geom, IntPtr body); + + [DllImport("ode", EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetCategoryBits(IntPtr geom, int bits); + + [DllImport("ode", EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetCollideBits(IntPtr geom, int bits); + + [DllImport("ode", EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons); + + [DllImport("ode", EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetData(IntPtr geom, IntPtr data); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat); + + [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w); + + [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSetRotation(IntPtr geom, ref dReal M00); + + [DllImport("ode", EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomSphereGetRadius(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity] + public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity] + public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius); + + [DllImport("ode", EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern int GeomTransformGetCleanup(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTransformGetGeom(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity] + public static extern int GeomTransformGetInfo(IntPtr geom); + + [DllImport("ode", EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTransformSetCleanup(IntPtr geom, int mode); + + [DllImport("ode", EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj); + + [DllImport("ode", EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTransformSetInfo(IntPtr geom, int info); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble(IntPtr d, + double[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble1(IntPtr d, + double[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride, + double[] normals); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildDouble(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride, + IntPtr normals); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle(IntPtr d, + dReal[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, + dReal[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride, + dReal[] normals); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSingle1(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride, + IntPtr normals); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple(IntPtr d, + float[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, + float[] vertices, int vertexStride, int vertexCount, + int[] indices, int indexCount, int triStride, + float[] normals); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, + IntPtr vertices, int vertexStride, int vertexCount, + IntPtr indices, int indexCount, int triStride, + IntPtr normals); + + [DllImport("ode", EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshClearTCCache(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshDataCreate(); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataDestroy(IntPtr d); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataPreprocess(IntPtr d); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data); + + [DllImport("ode", EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshDataUpdate(IntPtr d); + + [DllImport("ode", EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity] + public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity] + public static extern TriCallback GeomTriMeshGetCallback(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshGetData(IntPtr g); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity] + public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom); + public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom) + { + unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); } + } +#endif + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity] + public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity] + public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity] + public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity] + public extern static int GeomTriMeshGetTriangleCount(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g); + + [DllImport("ode", EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity] + public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass); + + [DllImport("ode", EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback); + + [DllImport("ode", EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback); + + [DllImport("ode", EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data); + + [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans); + + [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00); + + [DllImport("ode", EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity] + public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback); + + [DllImport("ode", EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr HashSpaceCreate(IntPtr space); + + [DllImport("ode", EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity] + public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel); + + [DllImport("ode", EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity] + public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel); + + [DllImport("ode", EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity] + public static extern void InfiniteAABB(IntPtr geom, out AABB aabb); + + [DllImport("ode", EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity] + public static extern void InitODE(); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dInitODE2"), SuppressUnmanagedCodeSecurity] + public static extern int InitODE2(uint ODEInitFlags); +#endif + [DllImport("ode", EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity] + public static extern int IsPositiveDefinite(ref dReal A, int n); + + [DllImport("ode", EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity] + public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n); + + [DllImport("ode", EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3); + + [DllImport("ode", EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddHingeTorque(IntPtr joint, dReal torque); + + [DllImport("ode", EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2); + + [DllImport("ode", EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddPRTorque(IntPtr joint, dReal torque); + + [DllImport("ode", EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2); + + [DllImport("ode", EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity] + public static extern void JointAddSliderForce(IntPtr joint, dReal force); + + [DllImport("ode", EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity] + public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2); + + [DllImport("ode", EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact); + + [DllImport("ode", EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group); + + [DllImport("ode", EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void JointDestroy(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetAMotorAngle(IntPtr j, int anum); + + [DllImport("ode", EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum); + + [DllImport("ode", EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetAMotorAxisRel(IntPtr j, int anum); + + [DllImport("ode", EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetAMotorMode(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetAMotorNumAxes(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetAMotorParam(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointGetBody(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointGetData(IntPtr j); + +#if !dNO_UNSAFE_CODE + [CLSCompliant(false)] + [DllImport("ode", EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity] + public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j); + public static JointFeedback JointGetFeedback(IntPtr j) + { + unsafe { return *(JointGetFeedbackUnsafe(j)); } + } +#endif + + [DllImport("ode", EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHingeAngle(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHingeAngleRate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHingeParam(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Angle1(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Angle1Rate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Angle2Rate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetHinge2Param(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern int JointGetLMotorNumAxes(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetLMotorParam(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetPRParam(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetPRPosition(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetPRPositionRate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetSliderParam(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetSliderPosition(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetSliderPositionRate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity] + public static extern JointType JointGetType(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle1(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle1Rate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle2(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalAngle2Rate(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result); + + [DllImport("ode", EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity] + public static extern dReal JointGetUniversalParam(IntPtr j, int parameter); + + [DllImport("ode", EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr JointGroupCreate(int max_size); + + [DllImport("ode", EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void JointGroupDestroy(IntPtr group); + + [DllImport("ode", EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity] + public static extern void JointGroupEmpty(IntPtr group); + + [DllImport("ode", EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle); + + [DllImport("ode", EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorMode(IntPtr j, int mode); + + [DllImport("ode", EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorNumAxes(IntPtr group, int num); + + [DllImport("ode", EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetData(IntPtr j, IntPtr data); + + [DllImport("ode", EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback); + + [DllImport("ode", EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetFixed(IntPtr j); + + [DllImport("ode", EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + + [DllImport("ode", EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetLMotorNumAxes(IntPtr j, int num); + + [DllImport("ode", EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); + + [DllImport("ode", EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity] + public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value); + + [DllImport("ode", EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity] + public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip); + + [DllImport("ode", EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity] + public static extern void MassAdd(ref Mass a, ref Mass b); + + [DllImport("ode", EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity] + public static extern void MassAdjust(ref Mass m, dReal newmass); + + [DllImport("ode", EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity] + public static extern bool MassCheck(ref Mass m); + + [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] + public static extern void MassRotate(out Mass mass, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity] + public static extern void MassRotate(out Mass mass, ref dReal M00); + + [DllImport("ode", EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz); + + [DllImport("ode", EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz); + + [DllImport("ode", EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length); + + [DllImport("ode", EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetParameters(out Mass mass, dReal themass, + dReal cgx, dReal cgy, dReal cgz, + dReal i11, dReal i22, dReal i33, + dReal i12, dReal i13, dReal i23); + + [DllImport("ode", EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius); + + [DllImport("ode", EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity] + public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius); + + [DllImport("ode", EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g); + + [DllImport("ode", EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity] + public static extern void MassSetZero(out Mass mass); + + [DllImport("ode", EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity] + public static extern void MassTranslate(out Mass mass, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity] + public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); + + [DllImport("ode", EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity] + public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); + + [DllImport("ode", EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity] + public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r); + + [DllImport("ode", EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] + public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle); + + [DllImport("ode", EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity] + public static extern void QfromR(out Quaternion q, ref Matrix3 R); + + [DllImport("ode", EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity] + public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc); + + [DllImport("ode", EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity] + public static extern void QSetIdentity(out Quaternion q); + + [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth); + + [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth); + + [DllImport("ode", EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity] + public static extern dReal RandReal(); + + [DllImport("ode", EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity] + public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz); + + [DllImport("ode", EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity] + public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle); + + [DllImport("ode", EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity] + public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi); + + [DllImport("ode", EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity] + public static extern void RfromQ(out Matrix3 R, ref Quaternion q); + + [DllImport("ode", EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity] + public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az); + + [DllImport("ode", EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity] + public static extern void RSetIdentity(out Matrix3 R); + + [DllImport("ode", EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity] + public static extern void SetValue(out dReal a, int n); + + [DllImport("ode", EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity] + public static extern void SetZero(out dReal a, int n); + + [DllImport("ode", EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr SimpleSpaceCreate(IntPtr space); + + [DllImport("ode", EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity] + public static extern void SolveCholesky(ref dReal L, out dReal b, int n); + + [DllImport("ode", EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity] + public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip); + + [DllImport("ode", EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity] + public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip); + + [DllImport("ode", EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity] + public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip); + + [DllImport("ode", EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceAdd(IntPtr space, IntPtr geom); + + [DllImport("ode", EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceClean(IntPtr space); + + [DllImport("ode", EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback); + + [DllImport("ode", EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback); + + [DllImport("ode", EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceDestroy(IntPtr space); + + [DllImport("ode", EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern bool SpaceGetCleanup(IntPtr space); + + [DllImport("ode", EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity] + public static extern int SpaceGetNumGeoms(IntPtr space); + + [DllImport("ode", EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr SpaceGetGeom(IntPtr space, int i); + + [DllImport("ode", EntryPoint = "dSpaceGetSublevel"), SuppressUnmanagedCodeSecurity] + public static extern int SpaceGetSublevel(IntPtr space); + + [DllImport("ode", EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity] + public static extern bool SpaceQuery(IntPtr space, IntPtr geom); + + [DllImport("ode", EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceRemove(IntPtr space, IntPtr geom); + + [DllImport("ode", EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceSetCleanup(IntPtr space, bool mode); + + [DllImport("ode", EntryPoint = "dSpaceSetSublevel"), SuppressUnmanagedCodeSecurity] + public static extern void SpaceSetSublevel(IntPtr space, int sublevel); + + [DllImport("ode", EntryPoint = "dSweepAndPruneSpaceCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr SweepAndPruneSpaceCreate(IntPtr space, int AxisOrder); + + [DllImport("ode", EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity] + public static extern void VectorScale(out dReal a, ref dReal d, int n); + + [DllImport("ode", EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity] + public static extern IntPtr WorldCreate(); + + [DllImport("ode", EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity] + public static extern void WorldDestroy(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetAutoDisableAverageSamplesCount(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern bool WorldGetAutoDisableFlag(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetAutoDisableSteps(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAutoDisableTime(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetAutoEnableDepthSF1(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetCFM(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetERP(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] + public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity); + + [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity] + public static extern void WorldGetGravity(IntPtr world, out dReal X); + + [DllImport("ode", EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetContactSurfaceLayer(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAngularDamping(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetAngularDampingThreshold(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetLinearDamping(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetLinearDampingThreshold(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] + public static extern int WorldGetQuickStepNumIterations(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetQuickStepW(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldGetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] + public static extern dReal WorldGetMaxAngularSpeed(IntPtr world); + + [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] + public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force); + + [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity] + public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX); + + [DllImport("ode", EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity] + public static extern void WorldQuickStep(IntPtr world, dReal stepsize); + + [DllImport("ode", EntryPoint = "dWorldSetAngularDamping"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAngularDamping(IntPtr world, dReal scale); + + [DllImport("ode", EntryPoint = "dWorldSetAngularDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAngularDampingThreshold(IntPtr world, dReal threshold); + + [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold); + + [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAverageSamplesCount"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableAverageSamplesCount(IntPtr world, int average_samples_count); + + [DllImport("ode", EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable); + + [DllImport("ode", EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold); + + [DllImport("ode", EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps); + + [DllImport("ode", EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time); + + [DllImport("ode", EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth); + + [DllImport("ode", EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetCFM(IntPtr world, dReal cfm); + + [DllImport("ode", EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel); + + [DllImport("ode", EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth); + + [DllImport("ode", EntryPoint = "dWorldSetDamping"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetDamping(IntPtr world, dReal linear_scale, dReal angular_scale); + + [DllImport("ode", EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetERP(IntPtr world, dReal erp); + + [DllImport("ode", EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z); + + [DllImport("ode", EntryPoint = "dWorldSetLinearDamping"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetLinearDamping(IntPtr world, dReal scale); + + [DllImport("ode", EntryPoint = "dWorldSetLinearDampingThreshold"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetLinearDampingThreshold(IntPtr world, dReal threshold); + + [DllImport("ode", EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num); + + [DllImport("ode", EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation); + + [DllImport("ode", EntryPoint = "dWorldSetMaxAngularSpeed"), SuppressUnmanagedCodeSecurity] + public static extern void WorldSetMaxAngularSpeed(IntPtr world, dReal max_speed); + + [DllImport("ode", EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity] + public static extern void WorldStep(IntPtr world, dReal stepsize); + + [DllImport("ode", EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity] + public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations); + + + } +} diff -Nru ode-0.11.1/contrib/Ode.NET/Ode/premake.lua ode-0.14/contrib/Ode.NET/Ode/premake.lua --- ode-0.11.1/contrib/Ode.NET/Ode/premake.lua 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Ode/premake.lua 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,31 @@ +package.name = "Ode.NET" +package.kind = "dll" +package.language = "c#" + +-- Build options + + package.defines = { } + + if (options["with-doubles"]) then + table.insert(package.defines, "dDOUBLE") + else + table.insert(package.defines, "dSINGLE") + end + + if (options["no-unsafe"]) then + table.insert(package.defines, "dNO_UNSAFE_CODE") + else + package.buildflags = { "unsafe" } + end + + +-- Files & Libraries + + package.files = { + "AssemblyInfo.cs", + "Ode.cs" + } + + package.links = { + "System" + } diff -Nru ode-0.11.1/contrib/Ode.NET/premake.lua ode-0.14/contrib/Ode.NET/premake.lua --- ode-0.11.1/contrib/Ode.NET/premake.lua 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/premake.lua 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,29 @@ +project.name = "Ode.NET" + +-- Target checking + + if (target and target ~= "vs2005" and target ~= "gnu") then + error("Ode.NET requires a .NET 2.0 compiler") + end + + +-- Project options + + addoption("with-doubles", "Use double instead of float as base numeric type") + addoption("with-tests", "Builds the test applications and DrawStuff library") + addoption("no-unsafe", "Exclude functions using unsafe code (dBodyGetPosition, etc.)") + + +-- Build settings + + project.config["Debug"].bindir = "bin/Debug" + project.config["Release"].bindir = "bin/Release" + + +-- Packages + + if (options["with-tests"]) then + dopackage("Tests") + dopackage("Drawstuff") + end + dopackage("Ode") diff -Nru ode-0.11.1/contrib/Ode.NET/README.TXT ode-0.14/contrib/Ode.NET/README.TXT --- ode-0.11.1/contrib/Ode.NET/README.TXT 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/README.TXT 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,68 @@ +Ode.NET - .NET bindings for ODE +Jason Perkins (starkos@industriousone.com) + + +--------------------------------------------------------------------- + INSTALLATION +--------------------------------------------------------------------- + + This binding uses a C# 2.0 feature (the UnmanagedFunctionPointer + attribute). You will need to use Visual Studio 2005 (C# Express is + fine) or Mono's gmcs compiler. + + Start by getting or building ODE as a shared library (DLL). + + The simplest way to build the bindings is probably to create a + new library assembly in your tool of choice and drop in the files + Ode/Ode.cs and Ode/AssemblyInfo.cs (optional). Define the symbol + `dDOUBLE` if you used double-precision math in your ode.dll. + Build, done. + + For testing purposes, I have also created bindings for the + Drawstuff library and a C# version of the BoxStack demo. You can + throw all of these files into a console executable and run it to + see the demo. + + If you happen to have Premake installed (http://premake.sf.net/), + you can generate build scripts for the library with: + + premake --target (toolset) # for single precision + premake --with-doubles --target (toolset) # for double precision + + To build the test application too, use: + + premake --with-tests --target (toolset) + + To build with Mono, you must add the --dotnet parameter to enable + support .NET 2.0: + + premake --dotnet mono2 --target gnu + + +--------------------------------------------------------------------- + USAGE +--------------------------------------------------------------------- + + I have tried to keep things as close to the original C API as I can, + rather than forcing a class structure on everyone. Everything is + contained within the `Ode.NET` namespace inside a static class + named `d`. All ODE IDs are replaced with IntPtrs. A quick example: + + using Ode.NET; + + IntPtr world = d.WorldCreate(); + IntPtr body = d.BodyCreate(world); + + Take a look at Tests/BoxStack.cs for a more complete example. + + +--------------------------------------------------------------------- + KNOWN ISSUES +--------------------------------------------------------------------- + + While I managed to map most of the API, there may still be some bits + missing. If you find something, please submit a bug report or patch + the Tracker on SourceForge. + + Collision response (contact joints) do not work when built under + Mono as double-precision. I have not tried to track down why. diff -Nru ode-0.11.1/contrib/Ode.NET/Tests/BoxStack.cs ode-0.14/contrib/Ode.NET/Tests/BoxStack.cs --- ode-0.11.1/contrib/Ode.NET/Tests/BoxStack.cs 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Tests/BoxStack.cs 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,261 @@ +using System; +using System.Collections.Generic; +using Drawstuff.NET; + +namespace Ode.NET +{ +#if dDOUBLE + using dReal = System.Double; +#else + using dReal = System.Single; +#endif + + public class TestBoxStack + { + #region Description of convex shape + + static dReal[] planes = + { + 1.0f, 0.0f, 0.0f, 0.25f, + 0.0f, 1.0f, 0.0f, 0.25f, + 0.0f, 0.0f, 1.0f, 0.25f, + 0.0f, 0.0f, -1.0f, 0.25f, + 0.0f, -1.0f, 0.0f, 0.25f, + -1.0f, 0.0f , 0.0f, 0.25f + }; + + static dReal[] points = + { + 0.25f, 0.25f, 0.25f, + -0.25f, 0.25f, 0.25f, + 0.25f, -0.25f, 0.25f, + -0.25f, -0.25f, 0.25f, + 0.25f, 0.25f, -0.25f, + -0.25f,0.25f,-0.25f, + 0.25f,-0.25f,-0.25f, + -0.25f,-0.25f,-0.25f, + }; + + static int[] polygons = + { + 4, 0, 2, 6, 4, + 4, 1, 0, 4, 5, + 4, 0, 1, 3, 2, + 4, 3, 1, 5, 7, + 4, 2, 3, 7, 6, + 4, 5, 4, 6, 7, + }; + + #endregion + + const int NUM = 100; + const float DENSITY = 5.0f; + const int MAX_CONTACTS = 8; + + static IntPtr world; + static IntPtr space; + static IntPtr contactgroup; + + static Queue obj = new Queue(); + + static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f); + static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f); + + static d.NearCallback nearCallback = near; + static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS]; + static d.Contact contact; + + + // Called when window is opened - sets up viewpoint and prints usage + static void start(int unused) + { + ds.SetViewpoint(ref xyz, ref hpr); + Console.WriteLine("To drop another object, press:"); + Console.WriteLine(" b for box."); + Console.WriteLine(" s for sphere."); + Console.WriteLine(" c for capsule."); + Console.WriteLine(" y for cylinder."); + Console.WriteLine(" v for a convex object."); + Console.WriteLine(" x for a composite object."); + Console.WriteLine("To select an object, press space."); + Console.WriteLine("To disable the selected object, press d."); + Console.WriteLine("To enable the selected object, press e."); + Console.WriteLine("To toggle showing the geom AABBs, press a."); + Console.WriteLine("To toggle showing the contact points, press t."); + Console.WriteLine("To toggle dropping from random position/orientation, press r."); + Console.WriteLine("To save the current state to 'state.dif', press 1."); + } + + + // Near callback - creates contact joints + static void near(IntPtr space, IntPtr g1, IntPtr g2) + { + IntPtr b1 = d.GeomGetBody(g1); + IntPtr b2 = d.GeomGetBody(g2); + if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact)) + return; + + int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf); + for (int i = 0; i < count; ++i) + { + contact.geom = contacts[i]; + IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact); + d.JointAttach(joint, b1, b2); + } + } + + + // Adds a new object to the scene - attaches a body to the geom and + // sets the initial position and orientation + static void addObject(IntPtr geom, d.Mass mass) + { + // Create a body for this object + IntPtr body = d.BodyCreate(world); + d.GeomSetBody(geom, body); + d.BodySetMass(body, ref mass); + obj.Enqueue(geom); + + // Set the position of the new object + d.Matrix3 R; + d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2); + d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5); + d.BodySetRotation(body, ref R); + + // Cap the total number of objects + if (obj.Count > NUM) + { + geom = obj.Dequeue(); + body = d.GeomGetBody(geom); + d.BodyDestroy(body); + d.GeomDestroy(geom); + } + } + + + // Keyboard callback + static void command(int cmd) + { + IntPtr geom; + d.Mass mass; + d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f); + + Char ch = Char.ToLower((Char)cmd); + switch ((Char)ch) + { + case 'b': + d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z); + geom = d.CreateBox(space, sides.X, sides.Y, sides.Z); + addObject(geom, mass); + break; + + case 'c': + sides.X *= 0.5f; + d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y); + geom = d.CreateCapsule(space, sides.X, sides.Y); + addObject(geom, mass); + break; + + case 'v': + d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f); + geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons); + addObject(geom, mass); + break; + } + } + + + // Draw an object in the scene + static void drawGeom(IntPtr geom) + { + IntPtr body = d.GeomGetBody(geom); + + d.Vector3 pos; + d.BodyCopyPosition(body, out pos); + + d.Matrix3 R; + d.BodyCopyRotation(body, out R); + + d.GeomClassID type = d.GeomGetClass(geom); + switch (type) + { + case d.GeomClassID.BoxClass: + d.Vector3 sides; + d.GeomBoxGetLengths(geom, out sides); + ds.DrawBox(ref pos, ref R, ref sides); + break; + case d.GeomClassID.CapsuleClass: + dReal radius, length; + d.GeomCapsuleGetParams(geom, out radius, out length); + ds.DrawCapsule(ref pos, ref R, length, radius); + break; + case d.GeomClassID.ConvexClass: + ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons); + break; + } + } + + + // Called once per frame; updates the scene + static void step(int pause) + { + d.SpaceCollide(space, IntPtr.Zero, nearCallback); + if (pause == 0) + d.WorldQuickStep(world, 0.02f); + d.JointGroupEmpty(contactgroup); + + ds.SetColor(1.0f, 1.0f, 0.0f); + ds.SetTexture(ds.Texture.Wood); + + foreach (IntPtr geom in obj) + { + drawGeom(geom); + } + } + + + static void Main(string[] args) + { + dInitODE(); + // Setup pointers to drawstuff callback functions + ds.Functions fn; + fn.version = ds.VERSION; + fn.start = new ds.CallbackFunction(start); + fn.step = new ds.CallbackFunction(step); + fn.command = new ds.CallbackFunction(command); + fn.stop = null; + fn.path_to_textures = "../../../../drawstuff/textures"; + if (args.Length > 0) + { + fn.path_to_textures = args[0]; + } + + // Set up contact response parameters + contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM; + contact.surface.mu = d.Infinity; + contact.surface.mu2 = 0.0f; + contact.surface.bounce = 0.1f; + contact.surface.bounce_vel = 0.1f; + contact.surface.soft_cfm = 0.01f; + + // Initialize the scene + world = d.WorldCreate(); + space = d.HashSpaceCreate(IntPtr.Zero); + contactgroup = d.JointGroupCreate(0); + d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f); + d.WorldSetCFM(world, 1e-5f); + d.WorldSetAutoDisableFlag(world, true); + d.WorldSetContactMaxCorrectingVel(world, 0.1f); + d.WorldSetContactSurfaceLayer(world, 0.001f); + d.CreatePlane(space, 0, 0, 1, 0); + + // Run the scene + ds.SimulationLoop(args.Length, args, 352, 288, ref fn); + + // Clean up + d.JointGroupDestroy(contactgroup); + d.SpaceDestroy(space); + d.WorldDestroy(world); + d.CloseODE(); + } + } +} diff -Nru ode-0.11.1/contrib/Ode.NET/Tests/premake.lua ode-0.14/contrib/Ode.NET/Tests/premake.lua --- ode-0.11.1/contrib/Ode.NET/Tests/premake.lua 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/Ode.NET/Tests/premake.lua 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,27 @@ +-- This function creates the test packages +function maketest(name) + + package = newpackage() + package.name = name + package.kind = "exe" + package.language = "c#" + + if (options["with-doubles"]) then + package.defines = { "dDOUBLE" } + else + package.defines = { "dSINGLE " } + end + + package.links = { + "System", + "Ode.NET", + "Drawstuff.NET" + } + + package.files = { + name .. ".cs" + } + +end + +maketest("BoxStack") diff -Nru ode-0.11.1/contrib/README ode-0.14/contrib/README --- ode-0.11.1/contrib/README 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/README 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,19 @@ +This directory contains ODE-related things that have been generously +contributed by ODE's users. Why is this stuff here and not integrated +into the main ODE source tree? There may be several reasons: + + * The author(s) and ODE maintainers(s) may not have had time to do + the job. + + * It may not be finished. + + * It may contribute functionality that is useful but not considered + to be part of ODE's core. + +No guarantees are made about the code in this directory - it may not +be documented, it may not have been tested, and it may not even +compile for you. + +Each package has its own subdirectory, with a README file in that +directory explaining what the package is. + diff -Nru ode-0.11.1/contrib/TerrainAndCone/collision_std_internal.h ode-0.14/contrib/TerrainAndCone/collision_std_internal.h --- ode-0.11.1/contrib/TerrainAndCone/collision_std_internal.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/TerrainAndCone/collision_std_internal.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,100 @@ +//Benoit CHAPEROT 2003-2004 www.jstarlab.com +#ifndef _ODE_COLLISION_STD_INTERNAL_H_ +#define _ODE_COLLISION_STD_INTERNAL_H_ + +#include +#include "collision_kernel.h" + +struct dxSphere : public dxGeom { + dReal radius; // sphere radius + dxSphere (dSpaceID space, dReal _radius); + void computeAABB(); +}; + + +struct dxBox : public dxGeom { + dVector3 side; // side lengths (x,y,z) + dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); + void computeAABB(); +}; + + +struct dxCCylinder : public dxGeom { + dReal radius,lz; // radius, length along z axis + dxCCylinder (dSpaceID space, dReal _radius, dReal _length); + void computeAABB(); +}; + + +struct dxPlane : public dxGeom { + dReal p[4]; + dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); + void computeAABB(); +}; + +struct dxCylinder : public dxGeom { + dReal radius,lz; // radius, length along z axis + dxCylinder (dSpaceID space, dReal _radius, dReal _length); + void computeAABB(); +}; + +struct dxCone : public dxGeom { + dReal radius,lz; + dxCone(dSpaceID space, dReal _radius,dReal _length); + ~dxCone(); + void computeAABB(); +}; + +struct dxRay : public dxGeom { + dReal length; + dxRay (dSpaceID space, dReal _length); + void computeAABB(); +}; + +struct dxTerrainY : public dxGeom { + dReal m_vLength; + dReal *m_pHeights; + dReal m_vMinHeight; + dReal m_vMaxHeight; + dReal m_vNodeLength; + int m_nNumNodesPerSide; + int m_nNumNodesPerSideShift; + int m_nNumNodesPerSideMask; + int m_bFinite; + dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable); + ~dxTerrainY(); + void computeAABB(); + dReal GetHeight(dReal x,dReal z); + dReal GetHeight(int x,int z); + int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip); + bool IsOnTerrain(int nx,int nz,int w,dReal *pos); +}; + +struct dxTerrainZ : public dxGeom { + dReal m_vLength; + dReal *m_pHeights; + dReal m_vMinHeight; + dReal m_vMaxHeight; + dReal m_vNodeLength; + int m_nNumNodesPerSide; + int m_nNumNodesPerSideShift; + int m_nNumNodesPerSideMask; + int m_bFinite; + dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable); + ~dxTerrainZ(); + void computeAABB(); + dReal GetHeight(dReal x,dReal y); + dReal GetHeight(int x,int y); + int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip); + bool IsOnTerrain(int nx,int ny,int w,dReal *pos); +}; + +#ifndef MIN +#define MIN(a,b) ((ab)?a:b) +#endif + +#endif //_ODE_COLLISION_STD_INTERNAL_H_ \ No newline at end of file diff -Nru ode-0.11.1/contrib/TerrainAndCone/dCone.cpp ode-0.14/contrib/TerrainAndCone/dCone.cpp --- ode-0.11.1/contrib/TerrainAndCone/dCone.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/TerrainAndCone/dCone.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,504 @@ +//Benoit CHAPEROT 2003-2004 www.jstarlab.com +//some code inspired by Magic Software +#include +#include +#include +#include +#include +#include "collision_kernel.h" +#include "collision_std.h" +#include "collision_std_internal.h" +#include "collision_util.h" +#include +#include "windows.h" +#include "ode\ode.h" + +#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) +const dReal fEPSILON = 1e-9f; + +dxCone::dxCone (dSpaceID space, dReal _radius,dReal _length) : +dxGeom (space,1) +{ + dAASSERT(_radius > 0.f); + dAASSERT(_length > 0.f); + type = dConeClass; + radius = _radius; + lz = _length; +} + +dxCone::~dxCone() +{ +} + +void dxCone::computeAABB() +{ + const dMatrix3& R = final_posr->R; + const dVector3& pos = final_posr->pos; + + dReal xrange = dFabs(R[2] * lz) + radius; + dReal yrange = dFabs(R[6] * lz) + radius; + dReal zrange = dFabs(R[10] * lz) + radius; + aabb[0] = pos[0] - xrange; + aabb[1] = pos[0] + xrange; + aabb[2] = pos[1] - yrange; + aabb[3] = pos[1] + yrange; + aabb[4] = pos[2] - zrange; + aabb[5] = pos[2] + zrange; +} + +dGeomID dCreateCone(dSpaceID space, dReal _radius,dReal _length) +{ + return new dxCone(space,_radius,_length); +} + +void dGeomConeSetParams (dGeomID g, dReal _radius, dReal _length) +{ + dUASSERT (g && g->type == dConeClass,"argument not a cone"); + dAASSERT (_radius > 0.f); + dAASSERT (_length > 0.f); + g->recomputePosr(); + dxCone *c = (dxCone*) g; + c->radius = _radius; + c->lz = _length; + dGeomMoved (g); +} + + +void dGeomConeGetParams (dGeomID g, dReal *_radius, dReal *_length) +{ + dUASSERT (g && g->type == dConeClass,"argument not a cone"); + g->recomputePosr(); + dxCone *c = (dxCone*) g; + *_radius = c->radius; + *_length = c->lz; +} + +//positive inside +dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z) +{ + dUASSERT (g && g->type == dConeClass,"argument not a cone"); + + g->recomputePosr(); + dxCone *cone = (dxCone*) g; + + dVector3 tmp,q; + tmp[0] = x - cone->final_posr->pos[0]; + tmp[1] = y - cone->final_posr->pos[1]; + tmp[2] = z - cone->final_posr->pos[2]; + dMULTIPLY1_331 (q,cone->final_posr->R,tmp); + + dReal r = cone->radius; + dReal h = cone->lz; + + dReal d0 = (r - r*q[2]/h) - dSqrt(q[0]*q[0]+q[1]*q[1]); + dReal d1 = q[2]; + dReal d2 = h-q[2]; + + if (d0 < d1) { + if (d0 < d2) return d0; else return d2; + } + else { + if (d1 < d2) return d1; else return d2; + } +} + +//plane plane +bool FindIntersectionPlanePlane(const dReal Plane0[4], const dReal Plane1[4], + dVector3 LinePos,dVector3 LineDir) +{ + // If Cross(N0,N1) is zero, then either planes are parallel and separated + // or the same plane. In both cases, 'false' is returned. Otherwise, + // the intersection line is + // + // L(t) = t*Cross(N0,N1) + c0*N0 + c1*N1 + // + // for some coefficients c0 and c1 and for t any real number (the line + // parameter). Taking dot products with the normals, + // + // d0 = Dot(N0,L) = c0*Dot(N0,N0) + c1*Dot(N0,N1) + // d1 = Dot(N1,L) = c0*Dot(N0,N1) + c1*Dot(N1,N1) + // + // which are two equations in two unknowns. The solution is + // + // c0 = (Dot(N1,N1)*d0 - Dot(N0,N1)*d1)/det + // c1 = (Dot(N0,N0)*d1 - Dot(N0,N1)*d0)/det + // + // where det = Dot(N0,N0)*Dot(N1,N1)-Dot(N0,N1)^2. +/* + Real fN00 = rkPlane0.Normal().SquaredLength(); + Real fN01 = rkPlane0.Normal().Dot(rkPlane1.Normal()); + Real fN11 = rkPlane1.Normal().SquaredLength(); + Real fDet = fN00*fN11 - fN01*fN01; + + if ( Math::FAbs(fDet) < gs_fEpsilon ) + return false; + + Real fInvDet = 1.0f/fDet; + Real fC0 = (fN11*rkPlane0.Constant() - fN01*rkPlane1.Constant())*fInvDet; + Real fC1 = (fN00*rkPlane1.Constant() - fN01*rkPlane0.Constant())*fInvDet; + + rkLine.Direction() = rkPlane0.Normal().Cross(rkPlane1.Normal()); + rkLine.Origin() = fC0*rkPlane0.Normal() + fC1*rkPlane1.Normal(); + return true; +*/ + dReal fN00 = dLENGTHSQUARED(Plane0); + dReal fN01 = dDOT(Plane0,Plane1); + dReal fN11 = dLENGTHSQUARED(Plane1); + dReal fDet = fN00*fN11 - fN01*fN01; + + if ( fabs(fDet) < fEPSILON) + return false; + + dReal fInvDet = 1.0f/fDet; + dReal fC0 = (fN11*Plane0[3] - fN01*Plane1[3])*fInvDet; + dReal fC1 = (fN00*Plane1[3] - fN01*Plane0[3])*fInvDet; + + dCROSS(LineDir,=,Plane0,Plane1); + dNormalize3(LineDir); + + dVector3 Temp0,Temp1; + dOPC(Temp0,*,Plane0,fC0); + dOPC(Temp1,*,Plane1,fC1); + dOP(LinePos,+,Temp0,Temp1); + + return true; +} + +//plane ray +bool FindIntersectionPlaneRay(const dReal Plane[4], + const dVector3 &LinePos,const dVector3 &LineDir, + dReal &u,dVector3 &Pos) +{ +/* + u = (A*X1 + B*Y1 + C*Z1 + D) / (A*(X1-X2) + B*(Y1-Y2)+C*(Z1-Z2)) +*/ + dReal fDet = -dDot(Plane,LineDir,3); + + if ( fabs(fDet) < fEPSILON) + return false; + + u = (dDot(Plane,LinePos,3) - Plane[3]) / fDet; + dOPC(Pos,*,LineDir,u); + dOPE(Pos,+=,LinePos); + + return true; +} + +int SolveQuadraticPolynomial(dReal a,dReal b,dReal c,dReal &x0,dReal &x1) +{ + dReal d = b*b - 4*a*c; + int NumRoots = 0; + dReal dr; + + if (d < 0.f) + return NumRoots; + + if (d == 0.f) + { + NumRoots = 1; + dr = 0.f; + } + else + { + NumRoots = 2; + dr = sqrtf(d); + } + + x0 = (-b -dr) / (2.f * a); + x1 = (-b +dr) / (2.f * a); + + return NumRoots; +} +/* +const int VALID_INTERSECTION = 1<<0; +const int POS_TEST_FAILEDT0 = 1<<0; +const int POS_TEST_FAILEDT1 = 1<<1; +*/ +int ProcessConeRayIntersectionPoint( dReal r,dReal h, + const dVector3 &q,const dVector3 &v,dReal t, + dVector3 &p, + dVector3 &n, + int &f) +{ + dOPC(p,*,v,t); + dOPE(p,+=,q); + n[0] = 2*p[0]; + n[1] = 2*p[1]; + n[2] = -2*p[2]*r*r/(h*h); + + f = 0; + if (p[2] > h) return 0; + if (p[2] < 0) return 0; + if (t > 1) return 0; + if (t < 0) return 0; + + return 1; +} + +//cone ray +//line in cone space (position,direction) +//distance from line position (direction normalized)(if any) +//return the number of intersection +int FindIntersectionConeRay(dReal r,dReal h, + const dVector3 &q,const dVector3 &v,dContactGeom *pContact) +{ + dVector3 qp,vp; + dOPE(qp,=,q); + dOPE(vp,=,v); + qp[2] = h-q[2]; + vp[2] = -v[2]; + dReal ts = (r/h); + ts *= ts; + dReal a = vp[0]*vp[0] + vp[1]*vp[1] - ts*vp[2]*vp[2]; + dReal b = 2.f*qp[0]*vp[0] + 2.f*qp[1]*vp[1] - 2.f*ts*qp[2]*vp[2]; + dReal c = qp[0]*qp[0] + qp[1]*qp[1] - ts*qp[2]*qp[2]; + +/* + dReal a = v[0]*v[0] + v[1]*v[1] - (v[2]*v[2]*r*r) / (h*h); + dReal b = 2.f*q[0]*v[0] + 2.f*q[1]*v[1] + 2.f*r*r*v[2]/h - 2*r*r*q[0]*v[0]/(h*h); + dReal c = q[0]*q[0] + q[1]*q[1] + 2*r*r*q[2]/h - r*r*q[2]/(h*h) - r*r; +*/ + int nNumRoots=SolveQuadraticPolynomial(a,b,c,pContact[0].depth,pContact[1].depth); + int flag = 0; + + dContactGeom ValidContact[2]; + + int nNumValidContacts = 0; + for (int i=0;i=0) && (d<=1)) + { + dOPC(vp,*,v,d); + dOP(qp,+,q,vp); + + if (qp[0]*qp[0]+qp[1]*qp[1] < r*r) + { + dOPE(ValidContact[nNumValidContacts].pos,=,qp); + ValidContact[nNumValidContacts].normal[0] = 0.f; + ValidContact[nNumValidContacts].normal[1] = 0.f; + ValidContact[nNumValidContacts].normal[2] = -1.f; + ValidContact[nNumValidContacts].depth = d; + nNumValidContacts++; + } + } + } + + if (nNumValidContacts == 2) + { + if (ValidContact[0].depth > ValidContact[1].depth) + { + pContact[0] = ValidContact[1]; + pContact[1] = ValidContact[0]; + } + else + { + pContact[0] = ValidContact[0]; + pContact[1] = ValidContact[1]; + } + } + else if (nNumValidContacts == 1) + { + pContact[0] = ValidContact[0]; + } + + return nNumValidContacts; +} + +int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dConeClass); + dIASSERT (o2->type == dPlaneClass); + dxCone *cone = (dxCone*) o1; + dxPlane *plane = (dxPlane*) o2; + + contact->g1 = o1; + contact->g2 = o2; + + dVector3 p0,p1,pp0,pp1; + dOPE(p0,=,cone->final_posr->pos); + p1[0] = cone->final_posr->R[0*4+2] * cone->lz + p0[0]; + p1[1] = cone->final_posr->R[1*4+2] * cone->lz + p0[1]; + p1[2] = cone->final_posr->R[2*4+2] * cone->lz + p0[2]; + + dReal u; + FindIntersectionPlaneRay(plane->p,p0,plane->p,u,pp0); + FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); + + if (dDISTANCE(pp0,pp1) < fEPSILON) + { + p1[0] = cone->final_posr->R[0*4+0] * cone->lz + p0[0]; + p1[1] = cone->final_posr->R[1*4+0] * cone->lz + p0[1]; + p1[2] = cone->final_posr->R[2*4+0] * cone->lz + p0[2]; + FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1); + dIASSERT(dDISTANCE(pp0,pp1) >= fEPSILON); + } + dVector3 h,r0,r1; + h[0] = cone->final_posr->R[0*4+2]; + h[1] = cone->final_posr->R[1*4+2]; + h[2] = cone->final_posr->R[2*4+2]; + + dOP(r0,-,pp0,pp1); + dCROSS(r1,=,h,r0); + dCROSS(r0,=,r1,h); + dNormalize3(r0); + dOPEC(h,*=,cone->lz); + dOPEC(r0,*=,cone->radius); + + dVector3 p[3]; + dOP(p[0],+,cone->final_posr->pos,h); + dOP(p[1],+,cone->final_posr->pos,r0); + dOP(p[2],-,cone->final_posr->pos,r0); + + int numMaxContacts = flags & 0xffff; + if (numMaxContacts == 0) + numMaxContacts = 1; + + int n=0; + for (int i=0;i<3;i++) + { + dReal d = dGeomPlanePointDepth(o2, p[i][0], p[i][1], p[i][2]); + + if (d>0.f) + { + CONTACT(contact,n*skip)->g1 = o1; + CONTACT(contact,n*skip)->g2 = o2; + dOPE(CONTACT(contact,n*skip)->normal,=,plane->p); + dOPE(CONTACT(contact,n*skip)->pos,=,p[i]); + CONTACT(contact,n*skip)->depth = d; + n++; + + if (n == numMaxContacts) + return n; + } + } + + return n; +} + +int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dRayClass); + dIASSERT (o2->type == dConeClass); + dxRay *ray = (dxRay*) o1; + dxCone *cone = (dxCone*) o2; + + contact->g1 = o1; + contact->g2 = o2; + + dVector3 tmp,q,v; + tmp[0] = ray->final_posr->pos[0] - cone->final_posr->pos[0]; + tmp[1] = ray->final_posr->pos[1] - cone->final_posr->pos[1]; + tmp[2] = ray->final_posr->pos[2] - cone->final_posr->pos[2]; + dMULTIPLY1_331 (q,cone->final_posr->R,tmp); + tmp[0] = ray->final_posr->R[0*4+2] * ray->length; + tmp[1] = ray->final_posr->R[1*4+2] * ray->length; + tmp[2] = ray->final_posr->R[2*4+2] * ray->length; + dMULTIPLY1_331 (v,cone->final_posr->R,tmp); + + dReal r = cone->radius; + dReal h = cone->lz; + + dContactGeom Contact[2]; + + if (FindIntersectionConeRay(r,h,q,v,Contact)) + { + dMULTIPLY0_331(contact->normal,cone->final_posr->R,Contact[0].normal); + dMULTIPLY0_331(contact->pos,cone->final_posr->R,Contact[0].pos); + dOPE(contact->pos,+=,cone->final_posr->pos); + contact->depth = Contact[0].depth * dLENGTH(v); +/* + dMatrix3 RI; + dRSetIdentity (RI); + dVector3 ss; + ss[0] = 0.01f; + ss[1] = 0.01f; + ss[2] = 0.01f; + + dsSetColorAlpha (1,0,0,0.8f); + dsDrawBox(contact->pos,RI,ss); +*/ + return 1; + } + + return 0; +} + +int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dConeClass); + dIASSERT (o2->type == dSphereClass); + dxCone *cone = (dxCone*) o1; + + dxSphere ASphere(0,cone->radius); + dGeomSetRotation(&ASphere,cone->final_posr->R); + dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); + + return dCollideSphereSphere(&ASphere, o2, flags, contact, skip); +} + +int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dConeClass); + dIASSERT (o2->type == dBoxClass); + dxCone *cone = (dxCone*) o1; + + dxSphere ASphere(0,cone->radius); + dGeomSetRotation(&ASphere,cone->final_posr->R); + dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); + + return dCollideSphereBox(&ASphere, o2, flags, contact, skip); +} + +int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dCCylinderClass); + dIASSERT (o2->type == dConeClass); + dxCone *cone = (dxCone*) o2; + + dxSphere ASphere(0,cone->radius); + dGeomSetRotation(&ASphere,cone->final_posr->R); + dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); + + return dCollideCCylinderSphere(o1, &ASphere, flags, contact, skip); +} + +extern int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip); + +int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dTriMeshClass); + dIASSERT (o2->type == dConeClass); + dxCone *cone = (dxCone*) o2; + + dxSphere ASphere(0,cone->radius); + dGeomSetRotation(&ASphere,cone->final_posr->R); + dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]); + + return dCollideSTL(o1, &ASphere, flags, contact, skip); +} + + + + + diff -Nru ode-0.11.1/contrib/TerrainAndCone/dTerrainY.cpp ode-0.14/contrib/TerrainAndCone/dTerrainY.cpp --- ode-0.11.1/contrib/TerrainAndCone/dTerrainY.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/TerrainAndCone/dTerrainY.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,662 @@ +//Benoit CHAPEROT 2003-2004 www.jstarlab.com +//some code inspired by Magic Software +#include +#include +#include +#include +#include +#include "collision_kernel.h" +#include "collision_std.h" +#include "collision_std_internal.h" +#include "collision_util.h" +//#include +#include "windows.h" +#include "ode\ode.h" + +#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) +#define MAXCONTACT 10 +#define TERRAINTOL 0.0f + +static bool IsAPowerOfTwo(int f) +{ + dAASSERT(f!=0); + while ((f&1) != 1) + f >>= 1; + + return (f == 1); +} + +static int GetPowerOfTwo(int f) +{ + dAASSERT(f!=0); + int n = 0; + while ((f&1) != 1) + { + n++; + f >>= 1; + } + + return n; +} + +dxTerrainY::dxTerrainY (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) : +dxGeom (space,bPlaceable) +{ + dIASSERT(IsAPowerOfTwo(nNumNodesPerSide)); + dIASSERT(pHeights); + dIASSERT(vLength > 0.f); + dIASSERT(nNumNodesPerSide > 0); + type = dTerrainYClass; + m_vLength = vLength; + m_pHeights = new dReal[nNumNodesPerSide * nNumNodesPerSide]; + dIASSERT(m_pHeights); + m_nNumNodesPerSide = nNumNodesPerSide; + m_vNodeLength = m_vLength / m_nNumNodesPerSide; + m_nNumNodesPerSideShift = GetPowerOfTwo(m_nNumNodesPerSide); + m_nNumNodesPerSideMask = m_nNumNodesPerSide - 1; + m_vMinHeight = dInfinity; + m_vMaxHeight = -dInfinity; + m_bFinite = bFinite; + + for (int i=0;i m_vMaxHeight) m_vMaxHeight = m_pHeights[i]; + } +} + +dxTerrainY::~dxTerrainY() +{ + dIASSERT(m_pHeights); + delete [] m_pHeights; +} + +void dxTerrainY::computeAABB() +{ + if (m_bFinite) + { + if (gflags & GEOM_PLACEABLE) + { + dReal dx[6],dy[6],dz[6]; + dx[0] = 0; + dx[1] = final_posr->R[0] * m_vLength; + dx[2] = final_posr->R[1] * m_vMinHeight; + dx[3] = final_posr->R[1] * m_vMaxHeight; + dx[4] = 0; + dx[5] = final_posr->R[2] * m_vLength; + + dy[0] = 0; + dy[1] = final_posr->R[4] * m_vLength; + dy[2] = final_posr->R[5] * m_vMinHeight; + dy[3] = final_posr->R[5] * m_vMaxHeight; + dy[4] = 0; + dy[5] = final_posr->R[6] * m_vLength; + + dz[0] = 0; + dz[1] = final_posr->R[8] * m_vLength; + dz[2] = final_posr->R[9] * m_vMinHeight; + dz[3] = final_posr->R[9] * m_vMaxHeight; + dz[4] = 0; + dz[5] = final_posr->R[10] * m_vLength; + + aabb[0] = final_posr->pos[0] + MIN(dx[0],dx[1]) + MIN(dx[2],dx[3]) + MIN(dx[4],dx[5]); + aabb[1] = final_posr->pos[0] + MAX(dx[0],dx[1]) + MAX(dx[2],dx[3]) + MAX(dx[4],dx[5]); + aabb[2] = final_posr->pos[1] + MIN(dy[0],dy[1]) + MIN(dy[2],dy[3]) + MIN(dy[4],dy[5]); + aabb[3] = final_posr->pos[1] + MAX(dy[0],dy[1]) + MAX(dy[2],dy[3]) + MAX(dy[4],dy[5]); + aabb[4] = final_posr->pos[2] + MIN(dz[0],dz[1]) + MIN(dz[2],dz[3]) + MIN(dz[4],dz[5]); + aabb[5] = final_posr->pos[2] + MAX(dz[0],dz[1]) + MAX(dz[2],dz[3]) + MAX(dz[4],dz[5]); + } + else + { + aabb[0] = 0; + aabb[1] = m_vLength; + aabb[2] = m_vMinHeight; + aabb[3] = m_vMaxHeight; + aabb[4] = 0; + aabb[5] = m_vLength; + } + } + else + { + if (gflags & GEOM_PLACEABLE) + { + aabb[0] = -dInfinity; + aabb[1] = dInfinity; + aabb[2] = -dInfinity; + aabb[3] = dInfinity; + aabb[4] = -dInfinity; + aabb[5] = dInfinity; + } + else + { + aabb[0] = -dInfinity; + aabb[1] = dInfinity; + aabb[2] = m_vMinHeight; + aabb[3] = m_vMaxHeight; + aabb[4] = -dInfinity; + aabb[5] = dInfinity; + } + } +} + +dReal dxTerrainY::GetHeight(int x,int z) +{ + return m_pHeights[ (((unsigned int)(z) & m_nNumNodesPerSideMask) << m_nNumNodesPerSideShift) + + ((unsigned int)(x) & m_nNumNodesPerSideMask)]; +} + +dReal dxTerrainY::GetHeight(dReal x,dReal z) +{ + int nX = int(floor(x / m_vNodeLength)); + int nZ = int(floor(z / m_vNodeLength)); + dReal dx = (x - (dReal(nX) * m_vNodeLength)) / m_vNodeLength; + dReal dz = (z - (dReal(nZ) * m_vNodeLength)) / m_vNodeLength; + dIASSERT((dx >= 0.f) && (dx <= 1.f)); + dIASSERT((dz >= 0.f) && (dz <= 1.f)); + + dReal y,y0; + + if (dx + dz < 1.f) + { + y0 = GetHeight(nX,nZ); + y = y0 + + (GetHeight(nX+1,nZ) - y0) * dx + + (GetHeight(nX,nZ+1) - y0) * dz; + } + else + { + y0 = GetHeight(nX+1,nZ+1); + y = y0 + + (GetHeight(nX+1,nZ) - y0) * (1.f - dz) + + (GetHeight(nX,nZ+1) - y0) * (1.f - dx); + } + + return y; +} + +bool dxTerrainY::IsOnTerrain(int nx,int nz,int w,dReal *pos) +{ + dVector3 Min,Max; + Min[0] = nx * m_vNodeLength; + Min[2] = nz * m_vNodeLength; + Max[0] = (nx+1) * m_vNodeLength; + Max[2] = (nz+1) * m_vNodeLength; + dReal Tol = m_vNodeLength * TERRAINTOL; + + if ((pos[0]Max[0]+Tol)) + return false; + + if ((pos[2]Max[2]+Tol)) + return false; + + dReal dx = (pos[0] - (dReal(nx) * m_vNodeLength)) / m_vNodeLength; + dReal dz = (pos[2] - (dReal(nz) * m_vNodeLength)) / m_vNodeLength; + + if ((w == 0) && (dx + dz > 1.f+TERRAINTOL)) + return false; + + if ((w == 1) && (dx + dz < 1.f-TERRAINTOL)) + return false; + + return true; +} + +dGeomID dCreateTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) +{ + return new dxTerrainY(space, pHeights,vLength,nNumNodesPerSide,bFinite,bPlaceable); +} + +dReal dGeomTerrainYPointDepth (dGeomID g, dReal x, dReal y, dReal z) +{ + dUASSERT (g && g->type == dTerrainYClass,"argument not a terrain"); + g->recomputePosr(); + dxTerrainY *t = (dxTerrainY*) g; + return t->GetHeight(x,z) - y; +} + +typedef dReal dGetDepthFn(dGeomID g, dReal x, dReal y, dReal z); +#define RECOMPUTE_RAYNORMAL +//#define DO_RAYDEPTH + +#define DMESS(A) \ + dMessage(0,"Contact Plane (%d %d %d) %.5e %.5e (%.5e %.5e %.5e)(%.5e %.5e %.5e)).", \ + x,z,A, \ + pContact->depth, \ + dGeomSphereGetRadius(o2), \ + pContact->pos[0], \ + pContact->pos[1], \ + pContact->pos[2], \ + pContact->normal[0], \ + pContact->normal[1], \ + pContact->normal[2]); +/* +(y is up) + +A-B-E.x +|/| +C-D +| +F +. +z +*/ +int dxTerrainY::dCollideTerrainUnit( + int x,int z,dxGeom *o2,int numMaxContacts, + int flags,dContactGeom *contact, int skip) +{ + dColliderFn *CollideRayN; + dColliderFn *CollideNPlane; + dGetDepthFn *GetDepth; + int numContacts = 0; + int numPlaneContacts = 0; + int i; + + if (numContacts == numMaxContacts) + return numContacts; + + dContactGeom PlaneContact[MAXCONTACT]; + flags = (flags & 0xffff0000) | MAXCONTACT; + + switch (o2->type) + { + case dSphereClass: + CollideRayN = dCollideRaySphere; + CollideNPlane = dCollideSpherePlane; + GetDepth = dGeomSpherePointDepth; + break; + case dBoxClass: + CollideRayN = dCollideRayBox; + CollideNPlane = dCollideBoxPlane; + GetDepth = dGeomBoxPointDepth; + break; + case dCCylinderClass: + CollideRayN = dCollideRayCCylinder; + CollideNPlane = dCollideCCylinderPlane; + GetDepth = dGeomCCylinderPointDepth; + break; + case dRayClass: + CollideRayN = NULL; + CollideNPlane = dCollideRayPlane; + GetDepth = NULL; + break; + case dConeClass: + CollideRayN = dCollideRayCone; + CollideNPlane = dCollideConePlane; + GetDepth = dGeomConePointDepth; + break; + default: + dIASSERT(0); + } + + dReal Plane[4],lBD,lCD,lBC; + dVector3 A,B,C,D,BD,CD,BC,AB,AC; + A[0] = x * m_vNodeLength; + A[2] = z* m_vNodeLength; + A[1] = GetHeight(x,z); + B[0] = (x+1) * m_vNodeLength; + B[2] = z * m_vNodeLength; + B[1] = GetHeight(x+1,z); + C[0] = x * m_vNodeLength; + C[2] = (z+1) * m_vNodeLength; + C[1] = GetHeight(x,z+1); + D[0] = (x+1) * m_vNodeLength; + D[2] = (z+1) * m_vNodeLength; + D[1] = GetHeight(x+1,z+1); + + dOP(BC,-,C,B); + lBC = dLENGTH(BC); + dOPEC(BC,/=,lBC); + + dOP(BD,-,D,B); + lBD = dLENGTH(BD); + dOPEC(BD,/=,lBD); + + dOP(CD,-,D,C); + lCD = dLENGTH(CD); + dOPEC(CD,/=,lCD); + + dOP(AB,-,B,A); + dNormalize3(AB); + + dOP(AC,-,C,A); + dNormalize3(AC); + + if (CollideRayN) + { +#ifdef RECOMPUTE_RAYNORMAL + dVector3 E,F; + dVector3 CE,FB,AD; + dVector3 Normal[3]; + E[0] = (x+2) * m_vNodeLength; + E[2] = z * m_vNodeLength; + E[1] = GetHeight(x+2,z); + F[0] = x * m_vNodeLength; + F[2] = (z+2) * m_vNodeLength; + F[1] = GetHeight(x,z+2); + dOP(AD,-,D,A); + dNormalize3(AD); + dOP(CE,-,E,C); + dNormalize3(CE); + dOP(FB,-,B,F); + dNormalize3(FB); + + //BC + dCROSS(Normal[0],=,BC,AD); + dNormalize3(Normal[0]); + + //BD + dCROSS(Normal[1],=,BD,CE); + dNormalize3(Normal[1]); + + //CD + dCROSS(Normal[2],=,CD,FB); + dNormalize3(Normal[2]); +#endif + int nA[3],nB[3]; + dContactGeom ContactA[3],ContactB[3]; + dxRay rayBC(0,lBC); + dGeomRaySet(&rayBC, B[0], B[1], B[2], BC[0], BC[1], BC[2]); + nA[0] = CollideRayN(&rayBC,o2,flags,&ContactA[0],sizeof(dContactGeom)); + dGeomRaySet(&rayBC, C[0], C[1], C[2], -BC[0], -BC[1], -BC[2]); + nB[0] = CollideRayN(&rayBC,o2,flags,&ContactB[0],sizeof(dContactGeom)); + + dxRay rayBD(0,lBD); + dGeomRaySet(&rayBD, B[0], B[1], B[2], BD[0], BD[1], BD[2]); + nA[1] = CollideRayN(&rayBD,o2,flags,&ContactA[1],sizeof(dContactGeom)); + dGeomRaySet(&rayBD, D[0], D[1], D[2], -BD[0], -BD[1], -BD[2]); + nB[1] = CollideRayN(&rayBD,o2,flags,&ContactB[1],sizeof(dContactGeom)); + + dxRay rayCD(0,lCD); + dGeomRaySet(&rayCD, C[0], C[1], C[2], CD[0], CD[1], CD[2]); + nA[2] = CollideRayN(&rayCD,o2,flags,&ContactA[2],sizeof(dContactGeom)); + dGeomRaySet(&rayCD, D[0], D[1], D[2], -CD[0], -CD[1], -CD[2]); + nB[2] = CollideRayN(&rayCD,o2,flags,&ContactB[2],sizeof(dContactGeom)); + + for (i=0;i<3;i++) + { + if (nA[i] & nB[i]) + { + dContactGeom *pContact = CONTACT(contact,numContacts*skip); + pContact->pos[0] = (ContactA[i].pos[0] + ContactB[i].pos[0])/2; + pContact->pos[1] = (ContactA[i].pos[1] + ContactB[i].pos[1])/2; + pContact->pos[2] = (ContactA[i].pos[2] + ContactB[i].pos[2])/2; +#ifdef RECOMPUTE_RAYNORMAL + pContact->normal[0] = -Normal[i][0]; + pContact->normal[1] = -Normal[i][1]; + pContact->normal[2] = -Normal[i][2]; +#else + pContact->normal[0] = (ContactA[i].normal[0] + ContactB[i].normal[0])/2; //0.f; + pContact->normal[1] = (ContactA[i].normal[1] + ContactB[i].normal[1])/2; //0.f; + pContact->normal[2] = (ContactA[i].normal[2] + ContactB[i].normal[2])/2; //-1.f; + dNormalize3(pContact->normal); +#endif +#ifdef DO_RAYDEPTH + dxRay rayV(0,1000.f); + dGeomRaySet(&rayV, pContact->pos[0], + pContact->pos[1], + pContact->pos[2], + -pContact->normal[0], + -pContact->normal[1], + -pContact->normal[2]); + + dContactGeom ContactV; + if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) + { + pContact->depth = ContactV.depth; + numContacts++; + } +#else + + if (GetDepth == NULL) + { + dxRay rayV(0,1000.f); + dGeomRaySet(&rayV, pContact->pos[0], + pContact->pos[1], + pContact->pos[2], + -pContact->normal[0], + -pContact->normal[1], + -pContact->normal[2]); + + dContactGeom ContactV; + + if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) + { + pContact->depth = ContactV.depth; + numContacts++; + } + } + else + { + pContact->depth = GetDepth(o2, + pContact->pos[0], + pContact->pos[1], + pContact->pos[2]); + numContacts++; + } + +#endif + if (numContacts == numMaxContacts) + return numContacts; + + } + } + } + + dCROSS(Plane,=,AC,AB); + dNormalize3(Plane); + Plane[3] = Plane[0] * A[0] + Plane[1] * A[1] + Plane[2] * A[2]; + dxPlane planeABC(0,Plane[0],Plane[1],Plane[2],Plane[3]); + numPlaneContacts = CollideNPlane(o2,&planeABC,flags,PlaneContact,sizeof(dContactGeom)); + + for (i=0;ipos[0] = PlaneContact[i].pos[0]; + pContact->pos[1] = PlaneContact[i].pos[1]; + pContact->pos[2] = PlaneContact[i].pos[2]; + pContact->normal[0] = -PlaneContact[i].normal[0]; + pContact->normal[1] = -PlaneContact[i].normal[1]; + pContact->normal[2] = -PlaneContact[i].normal[2]; + pContact->depth = PlaneContact[i].depth; + + //DMESS(0); + numContacts++; + + if (numContacts == numMaxContacts) + return numContacts; + } + } + + dCROSS(Plane,=,BD,CD); + dNormalize3(Plane); + Plane[3] = Plane[0] * D[0] + Plane[1] * D[1] + Plane[2] * D[2]; + dxPlane planeDCB(0,Plane[0],Plane[1],Plane[2],Plane[3]); + numPlaneContacts = CollideNPlane(o2,&planeDCB,flags,PlaneContact,sizeof(dContactGeom)); + + for (i=0;ipos[0] = PlaneContact[i].pos[0]; + pContact->pos[1] = PlaneContact[i].pos[1]; + pContact->pos[2] = PlaneContact[i].pos[2]; + pContact->normal[0] = -PlaneContact[i].normal[0]; + pContact->normal[1] = -PlaneContact[i].normal[1]; + pContact->normal[2] = -PlaneContact[i].normal[2]; + pContact->depth = PlaneContact[i].depth; + //DMESS(1); + numContacts++; + + if (numContacts == numMaxContacts) + return numContacts; + } + } + + return numContacts; +} + +int dCollideTerrainY(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dTerrainYClass); + int i,j; + + if ((flags & 0xffff) == 0) + flags = (flags & 0xffff0000) | 1; + + int numMaxTerrainContacts = (flags & 0xffff); + dxTerrainY *terrain = (dxTerrainY*) o1; + + dReal aabbbak[6]; + int gflagsbak; + + dVector3 pos0; + int numTerrainContacts = 0; + + dxPosR *bak; + dxPosR X1; + + if (terrain->gflags & GEOM_PLACEABLE) + { + dOP(pos0,-,o2->final_posr->pos,terrain->final_posr->pos); + dMULTIPLY1_331(X1.pos,terrain->final_posr->R,pos0); + dMULTIPLY1_333(X1.R,terrain->final_posr->R,o2->final_posr->R); + bak = o2->final_posr; + o2->final_posr = &X1; + memcpy(aabbbak,o2->aabb,sizeof(dReal)*6); + gflagsbak = o2->gflags; + o2->computeAABB(); + } + + int nMinX = int(floor(o2->aabb[0] / terrain->m_vNodeLength)); + int nMaxX = int(floor(o2->aabb[1] / terrain->m_vNodeLength)) + 1; + int nMinZ = int(floor(o2->aabb[4] / terrain->m_vNodeLength)); + int nMaxZ = int(floor(o2->aabb[5] / terrain->m_vNodeLength)) + 1; + + if (terrain->m_bFinite) + { + nMinX = MAX(nMinX,0); + nMaxX = MIN(nMaxX,terrain->m_nNumNodesPerSide); + nMinZ = MAX(nMinZ,0); + nMaxZ = MIN(nMaxZ,terrain->m_nNumNodesPerSide); + + if ((nMinX >= nMaxX) || (nMinZ >= nMaxZ)) + goto dCollideTerrainYExit; + } + + dVector3 AabbTop; + AabbTop[0] = (o2->aabb[0]+o2->aabb[1]) / 2; + AabbTop[2] = (o2->aabb[4]+o2->aabb[5]) / 2; + AabbTop[1] = o2->aabb[3]; + if (o2->type != dRayClass) + { + dReal AabbTopDepth = terrain->GetHeight(AabbTop[0],AabbTop[2]) - AabbTop[1]; + if (AabbTopDepth > 0.f) + { + contact->depth = AabbTopDepth; + dReal MaxDepth = (o2->aabb[3]-o2->aabb[2]) / 2; + if (contact->depth > MaxDepth) + contact->depth = MaxDepth; + contact->g1 = o1; + contact->g2 = o2; + dOPE(contact->pos,=,AabbTop); + contact->normal[0] = 0.f; + contact->normal[1] = -1.f; + contact->normal[2] = 0.f; + + numTerrainContacts = 1; + goto dCollideTerrainYExit; + } + } + + for (i=nMinX;idCollideTerrainUnit( + i,j,o2,numMaxTerrainContacts - numTerrainContacts, + flags,CONTACT(contact,numTerrainContacts*skip),skip ); + } + } + + dIASSERT(numTerrainContacts <= numMaxTerrainContacts); + + for (i=0; ig1 = o1; + CONTACT(contact,i*skip)->g2 = o2; + } + +dCollideTerrainYExit: + + if (terrain->gflags & GEOM_PLACEABLE) + { + o2->final_posr = bak; + memcpy(o2->aabb,aabbbak,sizeof(dReal)*6); + o2->gflags = gflagsbak; + + for (i=0; ipos); + dMULTIPLY0_331(CONTACT(contact,i*skip)->pos,terrain->final_posr->R,pos0); + dOP(CONTACT(contact,i*skip)->pos,+,CONTACT(contact,i*skip)->pos,terrain->final_posr->pos); + + dOPE(pos0,=,CONTACT(contact,i*skip)->normal); + dMULTIPLY0_331(CONTACT(contact,i*skip)->normal,terrain->final_posr->R,pos0); + } + } + + return numTerrainContacts; +} +/* +void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos) +{ + float A[3],B[3],C[3],D[3]; + float R[12]; + float pos[3]; + if (pR) + memcpy(R,pR,sizeof(R)); + else + { + memset(R,0,sizeof(R)); + R[0] = 1.f; + R[5] = 1.f; + R[10] = 1.f; + } + + if (ppos) + memcpy(pos,ppos,sizeof(pos)); + else + memset(pos,0,sizeof(pos)); + + float vx,vz; + vx = vLength * x; + vz = vLength * z; + + int i; + for (i=0;i +#include +#include +#include +#include +#include "collision_kernel.h" +#include "collision_std.h" +#include "collision_std_internal.h" +#include "collision_util.h" +//#include +#include "windows.h" +#include "ode\ode.h" + +#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) +#define MAXCONTACT 10 +#define TERRAINTOL 0.0f + +static bool IsAPowerOfTwo(int f) +{ + dAASSERT(f!=0); + while ((f&1) != 1) + f >>= 1; + + return (f == 1); +} + +static int GetPowerOfTwo(int f) +{ + dAASSERT(f!=0); + int n = 0; + while ((f&1) != 1) + { + n++; + f >>= 1; + } + + return n; +} + +dxTerrainZ::dxTerrainZ (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) : +dxGeom (space,bPlaceable) +{ + dIASSERT(IsAPowerOfTwo(nNumNodesPerSide)); + dIASSERT(pHeights); + dIASSERT(vLength > 0.f); + dIASSERT(nNumNodesPerSide > 0); + type = dTerrainZClass; + m_vLength = vLength; + m_pHeights = new dReal[nNumNodesPerSide * nNumNodesPerSide]; + dIASSERT(m_pHeights); + m_nNumNodesPerSide = nNumNodesPerSide; + m_vNodeLength = m_vLength / m_nNumNodesPerSide; + m_nNumNodesPerSideShift = GetPowerOfTwo(m_nNumNodesPerSide); + m_nNumNodesPerSideMask = m_nNumNodesPerSide - 1; + m_vMinHeight = dInfinity; + m_vMaxHeight = -dInfinity; + m_bFinite = bFinite; + + for (int i=0;i m_vMaxHeight) m_vMaxHeight = m_pHeights[i]; + } +} + +dxTerrainZ::~dxTerrainZ() +{ + dIASSERT(m_pHeights); + delete [] m_pHeights; +} + +void dxTerrainZ::computeAABB() +{ + if (m_bFinite) + { + if (gflags & GEOM_PLACEABLE) + { + dReal dx[6],dy[6],dz[6]; + dx[0] = 0; + dx[1] = final_posr->R[0] * m_vLength; + dx[2] = 0; + dx[3] = final_posr->R[1] * m_vLength; + dx[4] = final_posr->R[2] * m_vMinHeight; + dx[5] = final_posr->R[2] * m_vMaxHeight; + + dy[0] = 0; + dy[1] = final_posr->R[4] * m_vLength; + dy[2] = 0; + dy[3] = final_posr->R[5] * m_vLength; + dy[4] = final_posr->R[6] * m_vMinHeight; + dy[5] = final_posr->R[6] * m_vMaxHeight; + + dz[0] = 0; + dz[1] = final_posr->R[8] * m_vLength; + dz[2] = 0; + dz[3] = final_posr->R[9] * m_vLength; + dz[4] = final_posr->R[10] * m_vMinHeight; + dz[5] = final_posr->R[10] * m_vMaxHeight; + + aabb[0] = final_posr->pos[0] + MIN(dx[0],dx[1]) + MIN(dx[2],dx[3]) + MIN(dx[4],dx[5]); + aabb[1] = final_posr->pos[0] + MAX(dx[0],dx[1]) + MAX(dx[2],dx[3]) + MAX(dx[4],dx[5]); + aabb[2] = final_posr->pos[1] + MIN(dy[0],dy[1]) + MIN(dy[2],dy[3]) + MIN(dy[4],dy[5]); + aabb[3] = final_posr->pos[1] + MAX(dy[0],dy[1]) + MAX(dy[2],dy[3]) + MAX(dy[4],dy[5]); + aabb[4] = final_posr->pos[2] + MIN(dz[0],dz[1]) + MIN(dz[2],dz[3]) + MIN(dz[4],dz[5]); + aabb[5] = final_posr->pos[2] + MAX(dz[0],dz[1]) + MAX(dz[2],dz[3]) + MAX(dz[4],dz[5]); + } + else + { + aabb[0] = 0; + aabb[1] = m_vLength; + aabb[2] = 0; + aabb[3] = m_vLength; + aabb[4] = m_vMinHeight; + aabb[5] = m_vMaxHeight; + } + } + else + { + if (gflags & GEOM_PLACEABLE) + { + aabb[0] = -dInfinity; + aabb[1] = dInfinity; + aabb[2] = -dInfinity; + aabb[3] = dInfinity; + aabb[4] = -dInfinity; + aabb[5] = dInfinity; + } + else + { + aabb[0] = -dInfinity; + aabb[1] = dInfinity; + aabb[2] = -dInfinity; + aabb[3] = dInfinity; + aabb[4] = m_vMinHeight; + aabb[5] = m_vMaxHeight; + } + } +} + +dReal dxTerrainZ::GetHeight(int x,int y) +{ + return m_pHeights[ (((unsigned int)(y) & m_nNumNodesPerSideMask) << m_nNumNodesPerSideShift) + + ((unsigned int)(x) & m_nNumNodesPerSideMask)]; +} + +dReal dxTerrainZ::GetHeight(dReal x,dReal y) +{ + int nX = int(floor(x / m_vNodeLength)); + int nY = int(floor(y / m_vNodeLength)); + dReal dx = (x - (dReal(nX) * m_vNodeLength)) / m_vNodeLength; + dReal dy = (y - (dReal(nY) * m_vNodeLength)) / m_vNodeLength; + dIASSERT((dx >= 0.f) && (dx <= 1.f)); + dIASSERT((dy >= 0.f) && (dy <= 1.f)); + + dReal z,z0; + + if (dx + dy < 1.f) + { + z0 = GetHeight(nX,nY); + z = z0 + + (GetHeight(nX+1,nY) - z0) * dx + + (GetHeight(nX,nY+1) - z0) * dy; + } + else + { + z0 = GetHeight(nX+1,nY+1); + z = z0 + + (GetHeight(nX+1,nY) - z0) * (1.f - dy) + + (GetHeight(nX,nY+1) - z0) * (1.f - dx); + } + + return z; +} + +bool dxTerrainZ::IsOnTerrain(int nx,int ny,int w,dReal *pos) +{ + dVector3 Min,Max; + Min[0] = nx * m_vNodeLength; + Min[1] = ny * m_vNodeLength; + Max[0] = (nx+1) * m_vNodeLength; + Max[1] = (ny+1) * m_vNodeLength; + dReal Tol = m_vNodeLength * TERRAINTOL; + + if ((pos[0]Max[0]+Tol)) + return false; + + if ((pos[1]Max[1]+Tol)) + return false; + + dReal dx = (pos[0] - (dReal(nx) * m_vNodeLength)) / m_vNodeLength; + dReal dy = (pos[1] - (dReal(ny) * m_vNodeLength)) / m_vNodeLength; + + if ((w == 0) && (dx + dy > 1.f+TERRAINTOL)) + return false; + + if ((w == 1) && (dx + dy < 1.f-TERRAINTOL)) + return false; + + return true; +} + +dGeomID dCreateTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) +{ + return new dxTerrainZ(space, pHeights,vLength,nNumNodesPerSide, bFinite, bPlaceable); +} + +dReal dGeomTerrainZPointDepth (dGeomID g, dReal x, dReal y, dReal z) +{ + dUASSERT (g && g->type == dTerrainZClass,"argument not a terrain"); + g->recomputePosr(); + dxTerrainZ *t = (dxTerrainZ*) g; + return t->GetHeight(x,y) - z; +} + +typedef dReal dGetDepthFn(dGeomID g, dReal x, dReal y, dReal z); +#define RECOMPUTE_RAYNORMAL +//#define DO_RAYDEPTH + +#define DMESS(A) \ + dMessage(0,"Contact Plane (%d %d %d) %.5e %.5e (%.5e %.5e %.5e)(%.5e %.5e %.5e)).", \ + x,y,A, \ + pContact->depth, \ + dGeomSphereGetRadius(o2), \ + pContact->pos[0], \ + pContact->pos[1], \ + pContact->pos[2], \ + pContact->normal[0], \ + pContact->normal[1], \ + pContact->normal[2]); +/* +(z is up) + +y +. +F +| +C-D +|\| +A-B-E.x +*/ +int dxTerrainZ::dCollideTerrainUnit( + int x,int y,dxGeom *o2,int numMaxContacts, + int flags,dContactGeom *contact, int skip) +{ + dColliderFn *CollideRayN; + dColliderFn *CollideNPlane; + dGetDepthFn *GetDepth; + int numContacts = 0; + int numPlaneContacts = 0; + int i; + + if (numContacts == numMaxContacts) + return numContacts; + + dContactGeom PlaneContact[MAXCONTACT]; + flags = (flags & 0xffff0000) | MAXCONTACT; + + switch (o2->type) + { + case dSphereClass: + CollideRayN = dCollideRaySphere; + CollideNPlane = dCollideSpherePlane; + GetDepth = dGeomSpherePointDepth; + break; + case dBoxClass: + CollideRayN = dCollideRayBox; + CollideNPlane = dCollideBoxPlane; + GetDepth = dGeomBoxPointDepth; + break; + case dCCylinderClass: + CollideRayN = dCollideRayCCylinder; + CollideNPlane = dCollideCCylinderPlane; + GetDepth = dGeomCCylinderPointDepth; + break; + case dRayClass: + CollideRayN = NULL; + CollideNPlane = dCollideRayPlane; + GetDepth = NULL; + break; + case dConeClass: + CollideRayN = dCollideRayCone; + CollideNPlane = dCollideConePlane; + GetDepth = dGeomConePointDepth; + break; + default: + dIASSERT(0); + } + + dReal Plane[4],lBD,lCD,lBC; + dVector3 A,B,C,D,BD,CD,BC,AB,AC; + A[0] = x * m_vNodeLength; + A[1] = y * m_vNodeLength; + A[2] = GetHeight(x,y); + B[0] = (x+1) * m_vNodeLength; + B[1] = y * m_vNodeLength; + B[2] = GetHeight(x+1,y); + C[0] = x * m_vNodeLength; + C[1] = (y+1) * m_vNodeLength; + C[2] = GetHeight(x,y+1); + D[0] = (x+1) * m_vNodeLength; + D[1] = (y+1) * m_vNodeLength; + D[2] = GetHeight(x+1,y+1); + + dOP(BC,-,C,B); + lBC = dLENGTH(BC); + dOPEC(BC,/=,lBC); + + dOP(BD,-,D,B); + lBD = dLENGTH(BD); + dOPEC(BD,/=,lBD); + + dOP(CD,-,D,C); + lCD = dLENGTH(CD); + dOPEC(CD,/=,lCD); + + dOP(AB,-,B,A); + dNormalize3(AB); + + dOP(AC,-,C,A); + dNormalize3(AC); + + if (CollideRayN) + { +#ifdef RECOMPUTE_RAYNORMAL + dVector3 E,F; + dVector3 CE,FB,AD; + dVector3 Normal[3]; + E[0] = (x+2) * m_vNodeLength; + E[1] = y * m_vNodeLength; + E[2] = GetHeight(x+2,y); + F[0] = x * m_vNodeLength; + F[1] = (y+2) * m_vNodeLength; + F[2] = GetHeight(x,y+2); + dOP(AD,-,D,A); + dNormalize3(AD); + dOP(CE,-,E,C); + dNormalize3(CE); + dOP(FB,-,B,F); + dNormalize3(FB); + + //BC + dCROSS(Normal[0],=,AD,BC); + dNormalize3(Normal[0]); + + //BD + dCROSS(Normal[1],=,CE,BD); + dNormalize3(Normal[1]); + + //CD + dCROSS(Normal[2],=,FB,CD); + dNormalize3(Normal[2]); +#endif + int nA[3],nB[3]; + dContactGeom ContactA[3],ContactB[3]; + dxRay rayBC(0,lBC); + dGeomRaySet(&rayBC, B[0], B[1], B[2], BC[0], BC[1], BC[2]); + nA[0] = CollideRayN(&rayBC,o2,flags,&ContactA[0],sizeof(dContactGeom)); + dGeomRaySet(&rayBC, C[0], C[1], C[2], -BC[0], -BC[1], -BC[2]); + nB[0] = CollideRayN(&rayBC,o2,flags,&ContactB[0],sizeof(dContactGeom)); + + dxRay rayBD(0,lBD); + dGeomRaySet(&rayBD, B[0], B[1], B[2], BD[0], BD[1], BD[2]); + nA[1] = CollideRayN(&rayBD,o2,flags,&ContactA[1],sizeof(dContactGeom)); + dGeomRaySet(&rayBD, D[0], D[1], D[2], -BD[0], -BD[1], -BD[2]); + nB[1] = CollideRayN(&rayBD,o2,flags,&ContactB[1],sizeof(dContactGeom)); + + dxRay rayCD(0,lCD); + dGeomRaySet(&rayCD, C[0], C[1], C[2], CD[0], CD[1], CD[2]); + nA[2] = CollideRayN(&rayCD,o2,flags,&ContactA[2],sizeof(dContactGeom)); + dGeomRaySet(&rayCD, D[0], D[1], D[2], -CD[0], -CD[1], -CD[2]); + nB[2] = CollideRayN(&rayCD,o2,flags,&ContactB[2],sizeof(dContactGeom)); + + for (i=0;i<3;i++) + { + if (nA[i] & nB[i]) + { + dContactGeom *pContact = CONTACT(contact,numContacts*skip); + pContact->pos[0] = (ContactA[i].pos[0] + ContactB[i].pos[0])/2; + pContact->pos[1] = (ContactA[i].pos[1] + ContactB[i].pos[1])/2; + pContact->pos[2] = (ContactA[i].pos[2] + ContactB[i].pos[2])/2; +#ifdef RECOMPUTE_RAYNORMAL + pContact->normal[0] = -Normal[i][0]; + pContact->normal[1] = -Normal[i][1]; + pContact->normal[2] = -Normal[i][2]; +#else + pContact->normal[0] = (ContactA[i].normal[0] + ContactB[i].normal[0])/2; //0.f; + pContact->normal[1] = (ContactA[i].normal[1] + ContactB[i].normal[1])/2; //0.f; + pContact->normal[2] = (ContactA[i].normal[2] + ContactB[i].normal[2])/2; //-1.f; + dNormalize3(pContact->normal); +#endif +#ifdef DO_RAYDEPTH + dxRay rayV(0,1000.f); + dGeomRaySet(&rayV, pContact->pos[0], + pContact->pos[1], + pContact->pos[2], + -pContact->normal[0], + -pContact->normal[1], + -pContact->normal[2]); + + dContactGeom ContactV; + if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) + { + pContact->depth = ContactV.depth; + numContacts++; + } +#else + if (GetDepth == NULL) + { + dxRay rayV(0,1000.f); + dGeomRaySet(&rayV, pContact->pos[0], + pContact->pos[1], + pContact->pos[2], + -pContact->normal[0], + -pContact->normal[1], + -pContact->normal[2]); + + dContactGeom ContactV; + if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom))) + { + pContact->depth = ContactV.depth; + numContacts++; + } + } + else + { + pContact->depth = GetDepth(o2, + pContact->pos[0], + pContact->pos[1], + pContact->pos[2]); + numContacts++; + } +#endif + if (numContacts == numMaxContacts) + return numContacts; + + } + } + } + + dCROSS(Plane,=,AB,AC); + dNormalize3(Plane); + Plane[3] = Plane[0] * A[0] + Plane[1] * A[1] + Plane[2] * A[2]; + dxPlane planeABC(0,Plane[0],Plane[1],Plane[2],Plane[3]); + numPlaneContacts = CollideNPlane(o2,&planeABC,flags,PlaneContact,sizeof(dContactGeom)); + + for (i=0;ipos[0] = PlaneContact[i].pos[0]; + pContact->pos[1] = PlaneContact[i].pos[1]; + pContact->pos[2] = PlaneContact[i].pos[2]; + pContact->normal[0] = -PlaneContact[i].normal[0]; + pContact->normal[1] = -PlaneContact[i].normal[1]; + pContact->normal[2] = -PlaneContact[i].normal[2]; + pContact->depth = PlaneContact[i].depth; + + //DMESS(0); + numContacts++; + + if (numContacts == numMaxContacts) + return numContacts; + } + } + + dCROSS(Plane,=,CD,BD); + dNormalize3(Plane); + Plane[3] = Plane[0] * D[0] + Plane[1] * D[1] + Plane[2] * D[2]; + dxPlane planeDCB(0,Plane[0],Plane[1],Plane[2],Plane[3]); + numPlaneContacts = CollideNPlane(o2,&planeDCB,flags,PlaneContact,sizeof(dContactGeom)); + + for (i=0;ipos[0] = PlaneContact[i].pos[0]; + pContact->pos[1] = PlaneContact[i].pos[1]; + pContact->pos[2] = PlaneContact[i].pos[2]; + pContact->normal[0] = -PlaneContact[i].normal[0]; + pContact->normal[1] = -PlaneContact[i].normal[1]; + pContact->normal[2] = -PlaneContact[i].normal[2]; + pContact->depth = PlaneContact[i].depth; + //DMESS(1); + numContacts++; + + if (numContacts == numMaxContacts) + return numContacts; + } + } + + return numContacts; +} + +int dCollideTerrainZ(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip) +{ + dIASSERT (skip >= (int)sizeof(dContactGeom)); + dIASSERT (o1->type == dTerrainZClass); + int i,j; + + if ((flags & 0xffff) == 0) + flags = (flags & 0xffff0000) | 1; + + int numMaxTerrainContacts = (flags & 0xffff); + dxTerrainZ *terrain = (dxTerrainZ*) o1; + + dReal aabbbak[6]; + int gflagsbak; + + dVector3 pos0; + int numTerrainContacts = 0; + + dxPosR *bak; + dxPosR X1; + + if (terrain->gflags & GEOM_PLACEABLE) + { + dOP(pos0,-,o2->final_posr->pos,terrain->final_posr->pos); + dMULTIPLY1_331(X1.pos,terrain->final_posr->R,pos0); + dMULTIPLY1_333(X1.R,terrain->final_posr->R,o2->final_posr->R); + bak = o2->final_posr; + o2->final_posr = &X1; + memcpy(aabbbak,o2->aabb,sizeof(dReal)*6); + gflagsbak = o2->gflags; + o2->computeAABB(); + } + + int nMinX = int(floor(o2->aabb[0] / terrain->m_vNodeLength)); + int nMaxX = int(floor(o2->aabb[1] / terrain->m_vNodeLength)) + 1; + int nMinY = int(floor(o2->aabb[2] / terrain->m_vNodeLength)); + int nMaxY = int(floor(o2->aabb[3] / terrain->m_vNodeLength)) + 1; + + if (terrain->m_bFinite) + { + nMinX = MAX(nMinX,0); + nMaxX = MIN(nMaxX,terrain->m_nNumNodesPerSide); + nMinY = MAX(nMinY,0); + nMaxY = MIN(nMaxY,terrain->m_nNumNodesPerSide); + + if ((nMinX >= nMaxX) || (nMinY >= nMaxY)) + goto dCollideTerrainZExit; + } + + dVector3 AabbTop; + AabbTop[0] = (o2->aabb[0]+o2->aabb[1]) / 2; + AabbTop[1] = (o2->aabb[2]+o2->aabb[3]) / 2; + AabbTop[2] = o2->aabb[5]; + if (o2->type != dRayClass) + { + dReal AabbTopDepth = terrain->GetHeight(AabbTop[0],AabbTop[1]) - AabbTop[2]; + if (AabbTopDepth > 0.f) + { + contact->depth = AabbTopDepth; + dReal MaxDepth = (o2->aabb[5]-o2->aabb[4]) / 2; + if (contact->depth > MaxDepth) + contact->depth = MaxDepth; + contact->g1 = o1; + contact->g2 = o2; + dOPE(contact->pos,=,AabbTop); + contact->normal[0] = 0.f; + contact->normal[1] = 0.f; + contact->normal[2] = -1.f; + + numTerrainContacts = 1; + goto dCollideTerrainZExit; + } + } + + for (i=nMinX;idCollideTerrainUnit( + i,j,o2,numMaxTerrainContacts - numTerrainContacts, + flags,CONTACT(contact,numTerrainContacts*skip),skip ); + } + } + + dIASSERT(numTerrainContacts <= numMaxTerrainContacts); + + for (i=0; ig1 = o1; + CONTACT(contact,i*skip)->g2 = o2; + } + +dCollideTerrainZExit: + + if (terrain->gflags & GEOM_PLACEABLE) + { + o2->final_posr = bak; + memcpy(o2->aabb,aabbbak,sizeof(dReal)*6); + o2->gflags = gflagsbak; + + for (i=0; ipos); + dMULTIPLY0_331(CONTACT(contact,i*skip)->pos,terrain->final_posr->R,pos0); + dOP(CONTACT(contact,i*skip)->pos,+,CONTACT(contact,i*skip)->pos,terrain->final_posr->pos); + + dOPE(pos0,=,CONTACT(contact,i*skip)->normal); + dMULTIPLY0_331(CONTACT(contact,i*skip)->normal,terrain->final_posr->R,pos0); + } + } + + return numTerrainContacts; +} +/* +void dsDrawTerrainZ(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos) +{ + float A[3],B[3],C[3],D[3]; + float R[12]; + float pos[3]; + if (pR) + memcpy(R,pR,sizeof(R)); + else + { + memset(R,0,sizeof(R)); + R[0] = 1.f; + R[5] = 1.f; + R[10] = 1.f; + } + + if (ppos) + memcpy(pos,ppos,sizeof(pos)); + else + memset(pos,0,sizeof(pos)); + + float vx,vz; + vx = vLength * x; + vz = vLength * z; + + int i; + for (i=0;i edit each .cpp file and comment out #include "windows.h" & #include "ode\ode.h" + + +*** add to drawstuff\src\drawstuff.cpp: + +static void drawCone(float l, float r) +{ + int i; + float tmp,ny,nz,a,ca,sa; + const int n = 24; // number of sides to the cone (divisible by 4) + + a = float(M_PI*2.0)/float(n); + sa = (float) sin(a); + ca = (float) cos(a); + + // draw top + glShadeModel (GL_FLAT); + ny=1; nz=0; // normal vector = (0,ny,nz) + glBegin (GL_TRIANGLE_FAN); + glNormal3d (0,0,1); + glVertex3d (0,0,l); + for (i=0; i<=n; i++) { + if (i==1 || i==n/2+1) + setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); + glNormal3d (ny*r,nz*r,0); + glVertex3d (ny*r,nz*r,0); + if (i==1 || i==n/2+1) + setColor (color[0],color[1],color[2],color[3]); + + // rotate ny,nz + tmp = ca*ny - sa*nz; + nz = sa*ny + ca*nz; + ny = tmp; + } + glEnd(); + + // draw bottom + ny=1; nz=0; // normal vector = (0,ny,nz) + glBegin (GL_TRIANGLE_FAN); + glNormal3d (0,0,-1); + glVertex3d (0,0,0); + for (i=0; i<=n; i++) { + if (i==1 || i==n/2+1) + setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]); + glNormal3d (0,0,-1); + glVertex3d (ny*r,nz*r,0); + if (i==1 || i==n/2+1) + setColor (color[0],color[1],color[2],color[3]); + + // rotate ny,nz + tmp = ca*ny + sa*nz; + nz = -sa*ny + ca*nz; + ny = tmp; + } + glEnd(); +} + +void dsDrawCone (const float pos[3], const float R[12], float length, float radius) +{ + if (current_state != 2) dsError ("drawing function called outside simulation loop"); + setupDrawingMode(); + glShadeModel (GL_SMOOTH); + setTransform (pos,R); + drawCone (length,radius); + glPopMatrix(); + + if (use_shadows) { + setShadowDrawingMode(); + setShadowTransform(); + setTransform (pos,R); + drawCone (length,radius); + glPopMatrix(); + glPopMatrix(); + glDepthRange (0,1); + } +} + +void dsDrawConeD (const double pos[3], const double R[12], float length, float radius) +{ + int i; + float pos2[3],R2[12]; + for (i=0; i<3; i++) pos2[i]=(float)pos[i]; + for (i=0; i<12; i++) R2[i]=(float)R[i]; + dsDrawCone(pos2,R2,length,radius); +} + +static float GetHeight(int x,int y,int nNumNodesPerSide,float *pHeights) +{ + int nNumNodesPerSideMask = nNumNodesPerSide - 1; + return pHeights[ (((unsigned int)(y) & nNumNodesPerSideMask) * nNumNodesPerSide) + + ((unsigned int)(x) & nNumNodesPerSideMask)]; +} + +void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos) +{ + float A[3],B[3],C[3],D[3]; + float R[12]; + float pos[3]; + if (pR) + memcpy(R,pR,sizeof(R)); + else + { + memset(R,0,sizeof(R)); + R[0] = 1.f; + R[5] = 1.f; + R[10] = 1.f; + } + + if (ppos) + memcpy(pos,ppos,sizeof(pos)); + else + memset(pos,0,sizeof(pos)); + + float vx,vz; + vx = vLength * x; + vz = vLength * z; + + int i; + for (i=0;i add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the libode_a_SOURCES variable in the ode/src/Makefile.am file. + +*** now you can now test using file test_boxstackb.cpp (to add in folder ode\test). + diff -Nru ode-0.11.1/contrib/TerrainAndCone/test_boxstackb.cpp ode-0.14/contrib/TerrainAndCone/test_boxstackb.cpp --- ode-0.11.1/contrib/TerrainAndCone/test_boxstackb.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/contrib/TerrainAndCone/test_boxstackb.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,1375 @@ +/************************************************************************* + + +* * + + +* 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 + + +#include + + + + + +#ifdef _MSC_VER + + +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints + + +#endif + + + + + +// select correct drawing functions + + + + + +#ifdef dDOUBLE + + +#define dsDrawBox dsDrawBoxD + + +#define dsDrawSphere dsDrawSphereD + + +#define dsDrawCylinder dsDrawCylinderD + + +#define dsDrawCappedCylinder dsDrawCappedCylinderD + + +#endif + + + + + + + + +// some constants + + + + + +const dReal vTerrainLength = 4.f; + + +const dReal vTerrainHeight = 0.5f; + + +const int TERRAINNODES = 4; + + +dReal pTerrainHeights[TERRAINNODES*TERRAINNODES]; + + + + + +dGeomID terrainZ = NULL; + + +dGeomID terrainY = NULL; + + + + + +#define NUM 20 // max number of objects + + +#define DENSITY (5.0) // density of all objects + + +#define GPB 3 // maximum number of geometries per body + + +#define MAX_CONTACTS 4 // maximum number of contact points per body + + + + + + + + +// dynamics and collision objects + + + + + +struct MyObject { + + + dBodyID body; // the body + + + dGeomID geom[GPB]; // geometries representing this body + + +}; + + + + + +static int num=0; // number of objects in simulation + + +static int nextobj=0; // next object to recycle if num==NUM + + +static dWorldID world; + + +static dSpaceID space; + + +static MyObject obj[NUM]; + + +static dJointGroupID contactgroup; + + +static int selected = -1; // selected object + + +static int show_aabb = 0; // show geom AABBs? + + +static int show_contacts = 0; // show contact points? + + +static int random_pos = 1; // drop objects from random position? + + + + + + + + +// this is called by dSpaceCollide when two objects in space are + + +// potentially colliding. + + + + + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) + + +{ + + + int i; + + + // if (o1->body && o2->body) return; + + + + + + // exit without doing anything if the two bodies are connected by a joint + + + dBodyID b1 = dGeomGetBody(o1); + + + dBodyID b2 = dGeomGetBody(o2); + + + if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; + + + + + + dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box + + + for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); + + + else return c; + + +} + + + + + + + + +// called when a key pressed + + + + + +static void command (int cmd) + + +{ + + + int i,j,k; + + + dReal sides[3]; + + + dMass m; + + + + + + cmd = locase (cmd); + + + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' + + + /* || cmd == 'l' */) { + + + if (num < NUM) { + + + i = num; + + + num++; + + + } + + + else { + + + i = nextobj; + + + nextobj++; + + + if (nextobj >= num) nextobj = 0; + + + + + + // destroy the body and geoms for slot i + + + dBodyDestroy (obj[i].body); + + + for (k=0; k < GPB; k++) { + + + if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); + + + } + + + memset (&obj[i],0,sizeof(obj[i])); + + + } + + + + + + obj[i].body = dBodyCreate (world); + + + for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; + + + + + + dMatrix3 R; + + + if (random_pos) { + + + dBodySetPosition (obj[i].body, + + + dRandReal()*2-1,dRandReal()*2+1,dRandReal()+3); + + + dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + + + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + + + } + + + else { + + + dReal maxheight = 0; + + + for (k=0; k maxheight) maxheight = pos[2]; + + + } + + + dBodySetPosition (obj[i].body, 0,maxheight+1,maxheight+3); + + + dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); + + + } + + + dBodySetRotation (obj[i].body,R); + + + dBodySetData (obj[i].body,(void*) i); + + + + + + if (cmd == 'b') { + + + dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); + + + obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); + + + } + + + else if (cmd == 'c') { + + + sides[0] *= 0.5; + + + dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); + + + obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]); + + + } + + + /* + + + // cylinder option not yet implemented + + + else if (cmd == 'l') { + + + sides[1] *= 0.5; + + + dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]); + + + obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); + + + } + + + */ + + + else if (cmd == 's') { + + + sides[0] *= 0.5; + + + dMassSetSphere (&m,DENSITY,sides[0]); + + + obj[i].geom[0] = dCreateSphere (space,sides[0]); + + + } + + + else if (cmd == 'x') { + + + dGeomID g2[GPB]; // encapsulated geometries + + + dReal dpos[GPB][3]; // delta-positions for encapsulated geometries + + + + + + // start accumulating masses for the encapsulated geometries + + + dMass m2; + + + dMassSetZero (&m); + + + + + + // set random delta positions + + + for (j=0; j= num) selected = 0; + + + if (selected < 0) selected = 0; + + + } + + + else if (cmd == 'd' && selected >= 0 && selected < num) { + + + dBodyDisable (obj[selected].body); + + + } + + + else if (cmd == 'e' && selected >= 0 && selected < num) { + + + dBodyEnable (obj[selected].body); + + + } + + + else if (cmd == 'a') { + + + show_aabb ^= 1; + + + } + + + else if (cmd == 't') { + + + show_contacts ^= 1; + + + } + + + else if (cmd == 'r') { + + + random_pos ^= 1; + + + } + + +} + + + + + + + + +// draw a geom + + + + + +void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) + + +{ + + + int i; + + + + + + if (!g) return; + + + if (!pos) pos = dGeomGetPosition (g); + + + if (!R) R = dGeomGetRotation (g); + + + + + + int type = dGeomGetClass (g); + + + if (type == dBoxClass) { + + + dVector3 sides; + + + dGeomBoxGetLengths (g,sides); + + + dsDrawBox (pos,R,sides); + + + } + + + else if (type == dSphereClass) { + + + dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); + + + } + + + else if (type == dCCylinderClass) { + + + dReal radius,length; + + + dGeomCCylinderGetParams (g,&radius,&length); + + + dsDrawCappedCylinder (pos,R,length,radius); + + + } + + + /* + + + // cylinder option not yet implemented + + + else if (type == dCylinderClass) { + + + dReal radius,length; + + + dGeomCylinderGetParams (g,&radius,&length); + + + dsDrawCylinder (pos,R,length,radius); + + + } + + + */ + + + else if (type == dGeomTransformClass) { + + + dGeomID g2 = dGeomTransformGetGeom (g); + + + const dReal *pos2 = dGeomGetPosition (g2); + + + const dReal *R2 = dGeomGetRotation (g2); + + + dVector3 actual_pos; + + + dMatrix3 actual_R; + + + dMULTIPLY0_331 (actual_pos,R,pos2); + + + actual_pos[0] += pos[0]; + + + actual_pos[1] += pos[1]; + + + actual_pos[2] += pos[2]; + + + dMULTIPLY0_333 (actual_R,R,R2); + + + drawGeom (g2,actual_pos,actual_R,0); + + + } + + + + + + if (show_aabb) { + + + // draw the bounding box for this geom + + + dReal aabb[6]; + + + dGeomGetAABB (g,aabb); + + + dVector3 bbpos; + + + for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + + + dVector3 bbsides; + + + for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; + + + dMatrix3 RI; + + + dRSetIdentity (RI); + + + dsSetColorAlpha (1,0,0,0.5); + + + dsDrawBox (bbpos,RI,bbsides); + + + } + + +} + + + + + + + + +// simulation loop + + + + + +static void simLoop (int pause) + + +{ + + + dsSetColor (0,0,2); + + + dSpaceCollide (space,0,&nearCallback); + + + if (!pause) dWorldStep (world,0.05); + + + + + + dAASSERT(terrainY); + + + dAASSERT(terrainZ); + + + dsSetColor (0,1,0); + + + dsDrawTerrainY(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainY),dGeomGetPosition(terrainY)); + + + dsDrawTerrainZ(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainZ),dGeomGetPosition(terrainZ)); + + + + + + if (show_aabb) + + + { + + + dReal aabb[6]; + + + dGeomGetAABB (terrainY,aabb); + + + dVector3 bbpos; + + + int i; + + + for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + + + dVector3 bbsides; + + + for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; + + + dMatrix3 RI; + + + dRSetIdentity (RI); + + + dsSetColorAlpha (1,0,0,0.5); + + + dsDrawBox (bbpos,RI,bbsides); + + + + + + dGeomGetAABB (terrainZ,aabb); + + + for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + + + for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; + + + dsDrawBox (bbpos,RI,bbsides); + + + } + + + + + + dsSetColor (1,1,0); + + + + + + // remove all contact joints + + + dJointGroupEmpty (contactgroup); + + + + + + dsSetColor (1,1,0); + + + dsSetTexture (DS_WOOD); + + + for (int i=0; i Mon, 30 Dec 2013 08:05:39 +0000 + -- Leopold Palomo-Avellaneda Thu, 21 Jul 2016 09:44:33 +0200 -ode (2:0.11.1-4build1) precise; urgency=low +ode (2:0.14-2) unstable; urgency=medium - * No-change rebuild against current pkgbinarymangler to fix broken - md5sums. (see LP #875466) + * Uploaded version to unstable. + * Transition initiated to libode6. + + -- Leopold Palomo-Avellaneda Thu, 19 May 2016 09:09:53 +0200 + +ode (2:0.14-1) experimental; urgency=medium + + * New upstream version. Upstream recover the two number version X.Y + * Transition initiated to libode6 (upstream jump two numbers) + * Droped applied patch from upstream + * Upstream bump soname. Packages adapted + * Dropped old filename + * Bump Standards-Version to 3.9.8 (no changes) + * Updated Vcs-Browser and Vcs-Git fields + + -- Leopold Palomo-Avellaneda Wed, 27 Apr 2016 08:31:56 +0200 + +ode (2:0.13.1+git20150309-2) unstable; urgency=medium + + * Uploaded version to unstable. + * Transition initiated to libode4. + + -- Leopold Palomo-Avellaneda Tue, 10 Nov 2015 14:54:59 +0100 + +ode (2:0.13.1+git20150309-1) experimental; urgency=low + + [ Jonathan Dowland ] + * Team upload. + * Update Vcs-Browser field in control file. Closes: #705591. + + [ Evgeni Golov ] + * Correct Vcs-* URLs to point to anonscm.debian.org + + [ Anton Balashov ] + * Fix the watch file (Closes: #705523) + + [ Jackson Doak ] + * New upstream release. 0.12 + * debian/control: + - Bump debhelper to 9 + - Build-depend on dh-autoreconf + * debian/compat: Set as 9 + * debian/rules: + - Switch to dh + - Remove manpage lines + - Enable Hardening + - Use dh_autoreconf + * Create PACKAGE.manpage files + * Create debian/source/format + + [ Leopold Palomo-Avellaneda ] + * Continue Jackson Doak work ... + * New upstream release: 0.13.1 with a patch (Closes: #670746) + Version used git cloned 20150309. + * New upstream release + git version + * Added missing dependencies + * Bump standards to 3.9.6. No changes + * Added myself as Uploaders + * Deleted unused files + * Adapted files to new Soname + * Rename packages to a new version of Sonames + * Refactored rules. Conditional options depends on the platform + * Updated Vcs-Browser and Vcs-Git + * Drop sp version. Now all platforms have double precision excep + armel, mips and mipseland that have single precision. Thanks + Simon McVittie. + * Install files more simple and better changelog. Thanks to Gianfranco + Costamagna + * New watch file for Bitbucket + * Added patch to solve autoreconf issue. Thanks to James Cowgill and + Gianfranco Costamagna. Now it's working with dh-autoreconf + * Dropped unused vars and clean tabs + * Setting version to experimental + * Dropped override rule + + -- Leopold Palomo-Avellaneda Fri, 03 Oct 2014 14:47:43 +0200 + +ode (2:0.11.1-4.1) unstable; urgency=medium + + [ Aurelien Jarno ] + * Non-maintainer upload. + * Build-depends on dh-autoreconf. - -- Martin Pitt Wed, 29 Feb 2012 08:50:31 +0100 + [ Breno Leitao ] + * Run dh_autoreconf to update autoconf/libtool files (Closes: #752463). + + -- Aurelien Jarno Wed, 17 Sep 2014 22:37:14 +0200 ode (2:0.11.1-4) unstable; urgency=low diff -Nru ode-0.11.1/debian/clean ode-0.14/debian/clean --- ode-0.11.1/debian/clean 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/debian/clean 2016-04-28 20:18:36.000000000 +0000 @@ -0,0 +1 @@ +debian/ode-config.1 diff -Nru ode-0.11.1/debian/compat ode-0.14/debian/compat --- ode-0.11.1/debian/compat 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/compat 2016-04-28 20:18:36.000000000 +0000 @@ -1 +1 @@ -5 +9 diff -Nru ode-0.11.1/debian/control ode-0.14/debian/control --- ode-0.11.1/debian/control 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/control 2016-04-28 20:18:36.000000000 +0000 @@ -1,22 +1,22 @@ Source: ode Section: devel Priority: optional -Maintainer: Ubuntu Developers -XSBC-Original-Maintainer: Debian Games Team -Uploaders: Barry deFreese -Build-Depends: debhelper (>> 5.0.0), dh-autoreconf, docbook-to-man, - libglu1-mesa-dev | libglu-dev, libgl1-mesa-dev | libgl-dev -Standards-Version: 3.8.2 -Vcs-Svn: svn://svn.debian.org/svn/pkg-games/packages/trunk/ode/ -Vcs-Browser: http://svn.debian.org/wsvn/pkg-games/packages/trunk/ode/?op=log +Maintainer: Debian Games Team +Uploaders: Barry deFreese , + Leopold Palomo-Avellaneda +Build-Depends: debhelper (>= 9), docbook-to-man, dh-autoreconf, + libglu1-mesa-dev | libglu-dev, libgl1-mesa-dev | libgl-dev, + libccd-dev +Standards-Version: 3.9.8 +Vcs-Browser: https://anonscm.debian.org/cgit/pkg-games/ode.git +Vcs-Git: https://anonscm.debian.org/git/pkg-games/ode.git Homepage: http://www.ode.org/ -Package: libode1 +Package: libode6 Section: libs Architecture: any Depends: ${shlibs:Depends}, ${misc:Depends} -Conflicts: libode0c2 -Replaces: libode0c2 +Pre-Depends: ${misc:Pre-Depends} Description: Open Dynamics Engine - runtime library ODE is a free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving @@ -24,15 +24,18 @@ independent, with advanced joints, contact with friction, and built-in collision detection. . - This package provides the shared libraries built with double precision. + This package provides the shared libraries built with double precision, + default in 64 bits platforms. In 32 bits platforms default is single + precision. + Package: libode-dev Section: libdevel Architecture: any -Depends: libode1 (= ${binary:Version}), ${shlibs:Depends}, ${misc:Depends} -Conflicts: ode-dev, libode0-dev, libode-sp-dev -Replaces: ode-dev, libode0-dev -Provides: libode0-dev +Depends: libode6 (= ${binary:Version}), ${misc:Depends} +Conflicts: libode0-dev, libode-sp-dev, libode4-dev +Replaces: libode0-dev +Provides: libode6-dev Description: Open Dynamics Engine - development files ODE is a free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving @@ -41,37 +44,6 @@ collision detection. . This package provides the header files and static libraries built with - double precision. - -Package: libode1sp -Section: libs -Architecture: any -Depends: ${shlibs:Depends}, ${misc:Depends} -Conflicts: libode0c2 -Replaces: libode0c2 -Description: Open Dynamics Engine - runtime library with single precision - ODE is a free, industrial quality library for simulating articulated rigid - body dynamics - for example ground vehicles, legged creatures, and moving - objects in VR environments. It is fast, flexible, robust and platform - independent, with advanced joints, contact with friction, and built-in - collision detection. - . - This package provides the shared libraries built with single precision. - -Package: libode-sp-dev -Section: libdevel -Architecture: any -Depends: libode1sp (= ${binary:Version}), ${shlibs:Depends}, ${misc:Depends} -Conflicts: ode-dev, libode0-dev, libode-dev -Replaces: ode-dev, libode0-dev -Provides: libode0-dev -Description: Open Dynamics Engine - development files with single precision - ODE is a free, industrial quality library for simulating articulated rigid - body dynamics - for example ground vehicles, legged creatures, and moving - objects in VR environments. It is fast, flexible, robust and platform - independent, with advanced joints, contact with friction, and built-in - collision detection. - . - This package provides the header files and static libraries built with - single precision. + double precision, default in 64 bits platforms. In 32 bits platforms + default is single precision. diff -Nru ode-0.11.1/debian/copyright ode-0.14/debian/copyright --- ode-0.11.1/debian/copyright 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/copyright 2016-04-28 20:18:36.000000000 +0000 @@ -1,163 +1,190 @@ -This package was debianized by Guus Sliepen on -Sun, 9 Feb 2003 12:23:52 +0100. - -The actual maintainer is the Debian Games Team: -http://wiki.debian.org/Games/Development - -It was downloaded from http://www.ode.org/ - -Upstream Author: Russel Smith - -Copyright: - -Either LGPL 2.1 (see /usr/share/common-licenses/LGPL-2.1) or the following -license, at your choice: - -This is the BSD-style license for the Open Dynamics Engine ----------------------------------------------------------- - -Open Dynamics Engine -Copyright (c) 2001-2008, Russell L. Smith. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. - -Redistributions in binary form must reproduce the above copyright notice, -this list of conditions and the following disclaimer in the documentation -and/or other materials provided with the distribution. - -Neither the names of ODE's copyright owner nor the names of its -contributors may be used to endorse or promote products derived from -this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED -TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -The GIMPACT directory: -Copyright (c) 2006 , Francisco León. - -It's covered by: - -GIMPACT/GIMPACT-LICENSE-BSD.TXT - -GIMPACT/GIMPACT-LICENSE-LGPL.TXT (/usr/share/common-licenses/LGPL) - -GIMPACT/GIMPACT-LICENSE-BSD.TXT: -Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - * Neither the name of the GIMPACT nor the names of its contributors may be used - to endorse or promote products derived from this software without specific prior - written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS -OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. -IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, -INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING - IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH - DAMAGE. - - - - -the OPCODE directory is covered by this license: -You’re free to use them in any commercial or non-commercial program. -Copyright 2001-2003 Pierre Terdiman - -Another clause found in http://www.codercorner.com/OpcodeUserManual.pdf makes the license -DFSG free: -Q: Am I allowed to use OPCODE in a commercial program ? -A: Yes. The library is free. No GPL or LGPL, you can do whatever you want with the code. I -would appreciate it if you write somewhere in your product that you're using OPCODE, but -that's not mandatory. I would also appreciate a notification by mail, just to know how people -are using the lib. - -The 'ou' directory: -ODER's Utilities Library. Copyright (C) 2008 Oleh Derevenko. - -This directory is covered by either: - -The LGPLv3+ (/usr/share/common-licenses/LGPL) - -ou/LICENSE-BSD.TXT - -ou/LICENSE-ZLIB.TXT - -ou/LICENSE-BSD.TXT: -This is the BSD-style license for the ODER's Utilities Library --------------------------------------------------------------- - -ODER's Utilities Library -Copyright (c) 2008, Oleh Derevenko. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -Redistributions of source code must retain the above copyright notice, -this list of conditions and the following disclaimer. - -Redistributions in binary form must reproduce the above copyright notice, -this list of conditions and the following disclaimer in the documentation -and/or other materials provided with the distribution. - -Neither the names of ODER's Utilities' copyright owner nor the names of -its contributors may be used to endorse or promote products derived from -this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED -TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -ou/LICENSE-ZLIB.TXT: -The zlib/libpng License for the ODER's Utilities Library - -Copyright (c) 2008 Oleh Derevenko - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any damages -arising from the use of this software. - -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it -freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not -claim that you wrote the original software. If you use this software -in a product, an acknowledgment in the product documentation would be -appreciated but is not required. - -2. Altered source versions must be plainly marked as such, and must not be -misrepresented as being the original software. - -3. This notice may not be removed or altered from any source -distribution. +Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ +Upstream-Name: ode +Source: https://bitbucket.org/odedevs/ode + +Files: * +Copyright: 1996-1998 Vienna University of Technology + 2001 Pierre Terdiman + 2001-2003 Russell L. Smith. + 2008 Oleh Derevenko, E-mail: oder@eleks.com +License: BSD-3-Clause or LGPL-2.1+ + +Files: GIMPACT/* +Copyright: 2006 Francisco Leon Najera. C.C. 80087371. email: projectileman@yahoo.com + 2006 Francisco Leon. C.C. 80087371. email: projectileman@yahoo.com +License: BSD-3-Clause or LGPL-2.1+ + +Files: libccd/* +Copyright: 2007, 2008, 2009 Daniel Fiser + 2010, 2011 Daniel Fiser + 2012 Daniel Fiser + 2013 Daniel Fiser +License: BSD-3-Clause + +Files: libccd/src/testsuites/cu/check-regressions + libccd/src/testsuites/cu/cu.c + libccd/src/testsuites/cu/cu.h +Copyright: 2007-2009 Daniel Fiser +License: LGPL-3.0+ + This file is part of CU. + . + CU is free software; you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as + published by the Free Software Foundation; either version 3 of + the License, or (at your option) any later version. + . + CU 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 + GNU Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + . + On Debian systems, the complete text of the GNU Lesser General Public License + Version 3 can be found in `/usr/share/common-licenses/LGPL-3'. + +Files: ou/* +Copyright: 2008 Oleh Derevenko +License: Zlib or GPL-3 or BSD-3-Clause + +Files: bindings/python/* +Copyright: 2004 PyODE developers + Timothy Stranex + Matthias Baas + Brett Hartshorn + Bernie Roehl + Alex Dumitrache +License: BSD-3-Clause + +Files: contrib/BreakableJoints/* +Copyright: 2004 Roel van Dijk +License: BSD-3-Clause + +Files: contrib/dCylinder/* +Copyright: 2002 Konstantin Slipchenko +License: BSD-3-Clause + +Files: contrib/dRay/* +Copyright: 2002 Erwin de Vries +License: BSD-3-Clause + +Files: contrib/GeomTransformGroup/* +Copyright: 2002 Tim Schmidt +License: BSD-3-Clause + +Files: contrib/InteractiveCollisions/* +Copyright: 2011 Daniel K. O. +License: GPL-3 + + +Files: contrib/InteractiveCollisions/deps/AntTweakBar/* +Copyright: 2005-2011 Philippe Decaudin +License: Zlib + +Files: contrib/Mac_CFMCarbon/* +Copyright: 2001 Russell L. Smith. + Frank Condello +License: LGPL-2.1+ + +Files: contrib/OdeModelProcessor/* +Copyright: 2007 Department Of Information Science, University of Otago, Dunedin, New Zealand. + Richard Barrington +License: BSD-3-Clause + +Files: contrib/Ode.NET/* +Copyright: 2006 Jason Perkins +License: BSD-3-Clause + +Files: contrib/TerrainAndCone/* +Copyright: 2001-2002 Russell L. Smith + 2001-2002 Russell L. Smith +License: BSD-3-Clause + +License: LGPL-2.1+ + This library is free software; you can redistribute it and/or + modify it under the terms of 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. + . + 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 GNU + Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public + License along with this library (see the file LICENSE.TXT); if not, + write to the Free Software Foundation, Inc., 59 Temple Place, + Suite 330, Boston, MA 02111-1307 USA. + . + The FSF address in the above text is the old one. + . + On Debian systems, the complete text of the GNU Lesser General Public License + Version 2.1 can be found in `/usr/share/common-licenses/LGPL-2.1'. + +License: BSD-3-Clause + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + . + Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + . + Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + . + Neither the names of the copyright owner nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + . + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED + TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +License: Zlib + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + . + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + . + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + . + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + . + 3. This notice may not be removed or altered from any source + distribution. + +License: GPL-3 + On Debian systems, the full text of the GNU General Public License + version 2 can be found in the file `/usr/share/common-licenses/GPL-2', + and the full text of the GNU General Public License version 3 can be + found in the file `/usr/share/common-licenses/GPL-3'. + +Files: debian/* +Copyright: 2003 Guus Sliepen + 2006-2009 Gonéri Le Bouder + 2007 Peter De Wachter + 2007 Barry deFreese + 2008 Eddy Petrișor + 2010 Evgeni Golov + 2013 Anton Balashov + 2013 Jackson Doak + 2013 Jon Dowland + 2014-2015 Leopold Palomo-Avellaneda +License: BSD-3-Clause diff -Nru ode-0.11.1/debian/docs ode-0.14/debian/docs --- ode-0.11.1/debian/docs 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/docs 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -README.txt diff -Nru ode-0.11.1/debian/files.mrproper ode-0.14/debian/files.mrproper --- ode-0.11.1/debian/files.mrproper 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/debian/files.mrproper 2016-07-21 07:36:16.000000000 +0000 @@ -0,0 +1,54 @@ +GIMPACT/Makefile.in +GIMPACT/include/GIMPACT/Makefile.in +GIMPACT/include/Makefile.in +GIMPACT/src/Makefile.in +Makefile.in +OPCODE/Ice/Makefile.in +OPCODE/Makefile.in +aclocal.m4 +build2/ +compile +config.guess +config.sub +configure +depcomp +drawstuff/Makefile.in +drawstuff/dstest/Makefile.in +drawstuff/src/Makefile.in +include/Makefile.in +include/drawstuff/Makefile.in +include/ode/Makefile.in +install-sh +libccd/Makefile.in +libccd/aclocal.m4 +libccd/configure +libccd/src/Makefile.in +libccd/src/config.h.in +libccd/src/testsuites/Makefile.in +libccd/src/testsuites/cu/Makefile.in +ltmain.sh +m4/libtool.m4 +m4/ltoptions.m4 +m4/ltsugar.m4 +m4/ltversion.m4 +m4/lt~obsolete.m4 +missing +ode/Makefile.in +ode/demo/Makefile.in +ode/doc/Makefile.in +ode/src/Makefile.in +ode/src/config.h.in +ode/src/joints/Makefile.in +ou/Makefile.in +ou/aclocal.m4 +ou/configure +ou/include/ou/Makefile.in +ou/src/ou/Makefile.in +ou/test/Makefile.in +test-driver +tests/Makefile.in +tests/UnitTest++/Makefile.in +tests/UnitTest++/src/Makefile.in +tests/UnitTest++/src/Posix/Makefile.in +tests/UnitTest++/src/Win32/Makefile.in +tests/joints/Makefile.in diff -Nru ode-0.11.1/debian/libode1.dirs ode-0.14/debian/libode1.dirs --- ode-0.11.1/debian/libode1.dirs 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode1.dirs 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib diff -Nru ode-0.11.1/debian/libode1.install ode-0.14/debian/libode1.install --- ode-0.11.1/debian/libode1.install 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode1.install 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/lib*.so.* diff -Nru ode-0.11.1/debian/libode1.links ode-0.14/debian/libode1.links --- ode-0.11.1/debian/libode1.links 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode1.links 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/libode.so.1.1.1 usr/lib/libode.so.1 diff -Nru ode-0.11.1/debian/libode1sp.dirs ode-0.14/debian/libode1sp.dirs --- ode-0.11.1/debian/libode1sp.dirs 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode1sp.dirs 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib diff -Nru ode-0.11.1/debian/libode1sp.install ode-0.14/debian/libode1sp.install --- ode-0.11.1/debian/libode1sp.install 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode1sp.install 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/lib*.so.* diff -Nru ode-0.11.1/debian/libode1sp.links ode-0.14/debian/libode1sp.links --- ode-0.11.1/debian/libode1sp.links 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode1sp.links 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/libode.so.1.1.1sp usr/lib/libode.so.1sp diff -Nru ode-0.11.1/debian/libode6.install ode-0.14/debian/libode6.install --- ode-0.11.1/debian/libode6.install 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/debian/libode6.install 2016-04-28 20:18:36.000000000 +0000 @@ -0,0 +1 @@ +usr/lib/*/lib*.so.* diff -Nru ode-0.11.1/debian/libode-dev.dirs ode-0.14/debian/libode-dev.dirs --- ode-0.11.1/debian/libode-dev.dirs 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode-dev.dirs 1970-01-01 00:00:00.000000000 +0000 @@ -1,2 +0,0 @@ -usr/lib -usr/include/ode diff -Nru ode-0.11.1/debian/libode-dev.install ode-0.14/debian/libode-dev.install --- ode-0.11.1/debian/libode-dev.install 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode-dev.install 2016-04-28 20:18:36.000000000 +0000 @@ -1,4 +1,6 @@ usr/include/* -usr/lib/lib*.a +usr/lib/*/lib*.so +usr/lib/*/pkgconfig/* +usr/lib/*/lib*.a usr/bin/ode-config -usr/lib/pkgconfig/ode.pc + diff -Nru ode-0.11.1/debian/libode-dev.links ode-0.14/debian/libode-dev.links --- ode-0.11.1/debian/libode-dev.links 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode-dev.links 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/libode.so.1.1.1 usr/lib/libode.so diff -Nru ode-0.11.1/debian/libode-dev.manpages ode-0.14/debian/libode-dev.manpages --- ode-0.11.1/debian/libode-dev.manpages 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/debian/libode-dev.manpages 2016-04-28 20:18:36.000000000 +0000 @@ -0,0 +1 @@ +debian/ode-config.1 \ No newline at end of file diff -Nru ode-0.11.1/debian/libode-sp-dev.dirs ode-0.14/debian/libode-sp-dev.dirs --- ode-0.11.1/debian/libode-sp-dev.dirs 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode-sp-dev.dirs 1970-01-01 00:00:00.000000000 +0000 @@ -1,2 +0,0 @@ -usr/lib -usr/include/ode diff -Nru ode-0.11.1/debian/libode-sp-dev.install ode-0.14/debian/libode-sp-dev.install --- ode-0.11.1/debian/libode-sp-dev.install 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode-sp-dev.install 1970-01-01 00:00:00.000000000 +0000 @@ -1,4 +0,0 @@ -usr/include/* -usr/lib/lib*.a -usr/bin/ode-config -usr/lib/pkgconfig/ode.pc diff -Nru ode-0.11.1/debian/libode-sp-dev.links ode-0.14/debian/libode-sp-dev.links --- ode-0.11.1/debian/libode-sp-dev.links 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/libode-sp-dev.links 1970-01-01 00:00:00.000000000 +0000 @@ -1 +0,0 @@ -usr/lib/libode.so.1.1.1sp usr/lib/libode.so diff -Nru ode-0.11.1/debian/rules ode-0.14/debian/rules --- ode-0.11.1/debian/rules 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/rules 2016-07-21 07:37:59.000000000 +0000 @@ -1,102 +1,39 @@ #!/usr/bin/make -f -ifneq (,$(findstring noopt,$(DEB_BUILD_OPTIONS))) - CXXFLAGS += -O0 -g3 - CFLAGS += -O0 -g3 - export CXXFLAGS CFLAGS -endif +# Uncomment this to turn on verbose mode. +#export DH_VERBOSE=1 + +export DEB_BUILD_MAINT_OPTIONS = hardening=+all -configure: configure-stamp -configure-stamp: - dh_testdir - dh_autoreconf - mkdir -p debian/build/dp debian/build/sp - # SP: single precision build - cd debian/build/sp && ../../../configure --enable-shared --prefix=/usr LIBS="-lX11" - # Adjust the SONAME of the single precision flavor - sed -i 's,^soname_spec=.*,soname_spec=libode.so.1sp,' debian/build/sp/libtool - cd debian/build/dp && ../../../configure --enable-shared --prefix=/usr --enable-double-precision LIBS="-lX11" - - touch configure-stamp - - -build: build-stamp -build-stamp: configure-stamp - dh_testdir - - cd debian/build/sp && $(MAKE) - cd debian/build/dp && $(MAKE) - - touch build-stamp - -clean: - dh_testdir - dh_testroot - rm -f build-stamp \ - configure-stamp - rm -rf \ - debian/build \ - debian/tmp-sp \ - debian/tmp-dp - - # Add here commands to clean up after the build process. - [ ! -f Makefile ] || $(MAKE) distclean - dh_autoreconf_clean - dh_clean configure-stamp build-stamp debian/ode-config.1 - -install: build - dh_testdir - dh_testroot - dh_clean -k - dh_installdirs - - # Add here commands to install the package into debian/tmp - cd debian/build/sp && $(MAKE) install DESTDIR=$(CURDIR)/debian/tmp-sp - rm debian/tmp-sp/usr/lib/libode.so.1 - mv debian/tmp-sp/usr/lib/libode.so.1.1.1 \ - debian/tmp-sp/usr/lib/libode.so.1.1.1sp - cd debian/build/dp && $(MAKE) install DESTDIR=$(CURDIR)/debian/tmp-dp - - docbook-to-man debian/ode-config.man.sgml > \ - debian/ode-config.1 - -# Build architecture-independent files here. -binary-indep: -# no arch indep -# dh_testdir -i -# dh_testroot -i -# dh_installdocs -i -# dh_install -i -# dh_installchangelogs -i CHANGELOG.txt -# dh_compress -i -# dh_fixperms -i -# dh_installdeb -i -# dh_gencontrol -i -# dh_md5sums -i -# dh_builddeb -i - -# Build architecture-dependent files here. -binary-arch: build install - dh_testdir -a - dh_testroot -a - dh_installdocs -a - dh_installman -plibode-dev debian/ode-config.1 - dh_installman -plibode-sp-dev debian/ode-config.1 - dh_install --sourcedir=debian/tmp-sp -plibode-sp-dev - dh_install --sourcedir=debian/tmp-sp -plibode1sp - dh_install --sourcedir=debian/tmp-dp -plibode-dev - dh_install --sourcedir=debian/tmp-dp -plibode1 - dh_installchangelogs -a CHANGELOG.txt - dh_link -a - dh_strip -a - dh_compress -a - dh_fixperms -a - dh_makeshlibs -a - dh_shlibdeps -a - dh_installdeb -a - dh_gencontrol -a - dh_md5sums -a - dh_builddeb -a +DEB_HOST_ARCH ?= $(shell dpkg-architecture -qDEB_HOST_ARCH) + +# enabling single precision only for armel, mips and mipsel +ifeq ($(DEB_HOST_ARCH),armel) + CONFIG_OPTS = --enable-single-precision +else ifeq ($(DEB_HOST_ARCH),mips) + CONFIG_OPTS = --enable-single-precision +else ifeq ($(DEB_HOST_ARCH),mipsel) + CONFIG_OPTS = --enable-single-precision +else + CONFIG_OPTS = --enable-double-precision +endif -binary: binary-indep binary-arch -.PHONY: build clean binary-indep binary-arch binary install configure +CONFIG_OPTS += --mandir=/usr/share/man \ + --with-libccd=system \ + --enable-libccd \ + --enable-shared \ + --enable-static + +%: + dh $@ --parallel --with autoreconf + +override_dh_auto_configure: + dh_auto_configure -- $(CONFIG_OPTS) + +override_dh_auto_build: + dh_auto_build + docbook-to-man debian/ode-config.man.sgml > debian/ode-config.1 + +mr_proper: + dh_auto_clean + cat debian/files.mrproper | xargs -n1 rm -rf diff -Nru ode-0.11.1/debian/source/format ode-0.14/debian/source/format --- ode-0.11.1/debian/source/format 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/debian/source/format 2016-04-28 20:18:36.000000000 +0000 @@ -0,0 +1 @@ +3.0 (quilt) \ No newline at end of file diff -Nru ode-0.11.1/debian/watch ode-0.14/debian/watch --- ode-0.11.1/debian/watch 2016-07-21 07:48:17.000000000 +0000 +++ ode-0.14/debian/watch 2016-04-28 20:18:36.000000000 +0000 @@ -1,4 +1,4 @@ version=3 opts="dversionmangle=s/\.dfsg(.?\d+)?$//" \ -http://sf.net/opende/ode-src-([\d.]+)\.zip +https://bitbucket.org/odedevs/ode/downloads .*/(\d\S*)\.tar\.gz diff -Nru ode-0.11.1/depcomp ode-0.14/depcomp --- ode-0.11.1/depcomp 2009-05-24 22:15:46.000000000 +0000 +++ ode-0.14/depcomp 1970-01-01 00:00:00.000000000 +0000 @@ -1,589 +0,0 @@ -#! /bin/sh -# depcomp - compile a program generating dependencies as side-effects - -scriptversion=2007-03-29.01 - -# Copyright (C) 1999, 2000, 2003, 2004, 2005, 2006, 2007 Free Software -# Foundation, Inc. - -# This program is free software; you can redistribute it and/or modify -# it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 2, or (at your option) -# any later version. - -# This program 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 -# GNU General Public License for more details. - -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software -# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA -# 02110-1301, USA. - -# As a special exception to the GNU General Public License, if you -# distribute this file as part of a program that contains a -# configuration script generated by Autoconf, you may include it under -# the same distribution terms that you use for the rest of that program. - -# Originally written by Alexandre Oliva . - -case $1 in - '') - echo "$0: No command. Try \`$0 --help' for more information." 1>&2 - exit 1; - ;; - -h | --h*) - cat <<\EOF -Usage: depcomp [--help] [--version] PROGRAM [ARGS] - -Run PROGRAMS ARGS to compile a file, generating dependencies -as side-effects. - -Environment variables: - depmode Dependency tracking mode. - source Source file read by `PROGRAMS ARGS'. - object Object file output by `PROGRAMS ARGS'. - DEPDIR directory where to store dependencies. - depfile Dependency file to output. - tmpdepfile Temporary file to use when outputing dependencies. - libtool Whether libtool is used (yes/no). - -Report bugs to . -EOF - exit $? - ;; - -v | --v*) - echo "depcomp $scriptversion" - exit $? - ;; -esac - -if test -z "$depmode" || test -z "$source" || test -z "$object"; then - echo "depcomp: Variables source, object and depmode must be set" 1>&2 - exit 1 -fi - -# Dependencies for sub/bar.o or sub/bar.obj go into sub/.deps/bar.Po. -depfile=${depfile-`echo "$object" | - sed 's|[^\\/]*$|'${DEPDIR-.deps}'/&|;s|\.\([^.]*\)$|.P\1|;s|Pobj$|Po|'`} -tmpdepfile=${tmpdepfile-`echo "$depfile" | sed 's/\.\([^.]*\)$/.T\1/'`} - -rm -f "$tmpdepfile" - -# Some modes work just like other modes, but use different flags. We -# parameterize here, but still list the modes in the big case below, -# to make depend.m4 easier to write. Note that we *cannot* use a case -# here, because this file can only contain one case statement. -if test "$depmode" = hp; then - # HP compiler uses -M and no extra arg. - gccflag=-M - depmode=gcc -fi - -if test "$depmode" = dashXmstdout; then - # This is just like dashmstdout with a different argument. - dashmflag=-xM - depmode=dashmstdout -fi - -case "$depmode" in -gcc3) -## gcc 3 implements dependency tracking that does exactly what -## we want. Yay! Note: for some reason libtool 1.4 doesn't like -## it if -MD -MP comes after the -MF stuff. Hmm. -## Unfortunately, FreeBSD c89 acceptance of flags depends upon -## the command line argument order; so add the flags where they -## appear in depend2.am. Note that the slowdown incurred here -## affects only configure: in makefiles, %FASTDEP% shortcuts this. - for arg - do - case $arg in - -c) set fnord "$@" -MT "$object" -MD -MP -MF "$tmpdepfile" "$arg" ;; - *) set fnord "$@" "$arg" ;; - esac - shift # fnord - shift # $arg - done - "$@" - stat=$? - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile" - exit $stat - fi - mv "$tmpdepfile" "$depfile" - ;; - -gcc) -## There are various ways to get dependency output from gcc. Here's -## why we pick this rather obscure method: -## - Don't want to use -MD because we'd like the dependencies to end -## up in a subdir. Having to rename by hand is ugly. -## (We might end up doing this anyway to support other compilers.) -## - The DEPENDENCIES_OUTPUT environment variable makes gcc act like -## -MM, not -M (despite what the docs say). -## - Using -M directly means running the compiler twice (even worse -## than renaming). - if test -z "$gccflag"; then - gccflag=-MD, - fi - "$@" -Wp,"$gccflag$tmpdepfile" - stat=$? - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile" - exit $stat - fi - rm -f "$depfile" - echo "$object : \\" > "$depfile" - alpha=ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz -## The second -e expression handles DOS-style file names with drive letters. - sed -e 's/^[^:]*: / /' \ - -e 's/^['$alpha']:\/[^:]*: / /' < "$tmpdepfile" >> "$depfile" -## This next piece of magic avoids the `deleted header file' problem. -## The problem is that when a header file which appears in a .P file -## is deleted, the dependency causes make to die (because there is -## typically no way to rebuild the header). We avoid this by adding -## dummy dependencies for each header file. Too bad gcc doesn't do -## this for us directly. - tr ' ' ' -' < "$tmpdepfile" | -## Some versions of gcc put a space before the `:'. On the theory -## that the space means something, we add a space to the output as -## well. -## Some versions of the HPUX 10.20 sed can't process this invocation -## correctly. Breaking it into two sed invocations is a workaround. - sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile" - rm -f "$tmpdepfile" - ;; - -hp) - # This case exists only to let depend.m4 do its work. It works by - # looking at the text of this script. This case will never be run, - # since it is checked for above. - exit 1 - ;; - -sgi) - if test "$libtool" = yes; then - "$@" "-Wp,-MDupdate,$tmpdepfile" - else - "$@" -MDupdate "$tmpdepfile" - fi - stat=$? - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile" - exit $stat - fi - rm -f "$depfile" - - if test -f "$tmpdepfile"; then # yes, the sourcefile depend on other files - echo "$object : \\" > "$depfile" - - # Clip off the initial element (the dependent). Don't try to be - # clever and replace this with sed code, as IRIX sed won't handle - # lines with more than a fixed number of characters (4096 in - # IRIX 6.2 sed, 8192 in IRIX 6.5). We also remove comment lines; - # the IRIX cc adds comments like `#:fec' to the end of the - # dependency line. - tr ' ' ' -' < "$tmpdepfile" \ - | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' | \ - tr ' -' ' ' >> $depfile - echo >> $depfile - - # The second pass generates a dummy entry for each header file. - tr ' ' ' -' < "$tmpdepfile" \ - | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' -e 's/$/:/' \ - >> $depfile - else - # The sourcefile does not contain any dependencies, so just - # store a dummy comment line, to avoid errors with the Makefile - # "include basename.Plo" scheme. - echo "#dummy" > "$depfile" - fi - rm -f "$tmpdepfile" - ;; - -aix) - # The C for AIX Compiler uses -M and outputs the dependencies - # in a .u file. In older versions, this file always lives in the - # current directory. Also, the AIX compiler puts `$object:' at the - # start of each line; $object doesn't have directory information. - # Version 6 uses the directory in both cases. - dir=`echo "$object" | sed -e 's|/[^/]*$|/|'` - test "x$dir" = "x$object" && dir= - base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'` - if test "$libtool" = yes; then - tmpdepfile1=$dir$base.u - tmpdepfile2=$base.u - tmpdepfile3=$dir.libs/$base.u - "$@" -Wc,-M - else - tmpdepfile1=$dir$base.u - tmpdepfile2=$dir$base.u - tmpdepfile3=$dir$base.u - "$@" -M - fi - stat=$? - - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" - exit $stat - fi - - for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" - do - test -f "$tmpdepfile" && break - done - if test -f "$tmpdepfile"; then - # Each line is of the form `foo.o: dependent.h'. - # Do two passes, one to just change these to - # `$object: dependent.h' and one to simply `dependent.h:'. - sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile" - # That's a tab and a space in the []. - sed -e 's,^.*\.[a-z]*:[ ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile" - else - # The sourcefile does not contain any dependencies, so just - # store a dummy comment line, to avoid errors with the Makefile - # "include basename.Plo" scheme. - echo "#dummy" > "$depfile" - fi - rm -f "$tmpdepfile" - ;; - -icc) - # Intel's C compiler understands `-MD -MF file'. However on - # icc -MD -MF foo.d -c -o sub/foo.o sub/foo.c - # ICC 7.0 will fill foo.d with something like - # foo.o: sub/foo.c - # foo.o: sub/foo.h - # which is wrong. We want: - # sub/foo.o: sub/foo.c - # sub/foo.o: sub/foo.h - # sub/foo.c: - # sub/foo.h: - # ICC 7.1 will output - # foo.o: sub/foo.c sub/foo.h - # and will wrap long lines using \ : - # foo.o: sub/foo.c ... \ - # sub/foo.h ... \ - # ... - - "$@" -MD -MF "$tmpdepfile" - stat=$? - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile" - exit $stat - fi - rm -f "$depfile" - # Each line is of the form `foo.o: dependent.h', - # or `foo.o: dep1.h dep2.h \', or ` dep3.h dep4.h \'. - # Do two passes, one to just change these to - # `$object: dependent.h' and one to simply `dependent.h:'. - sed "s,^[^:]*:,$object :," < "$tmpdepfile" > "$depfile" - # Some versions of the HPUX 10.20 sed can't process this invocation - # correctly. Breaking it into two sed invocations is a workaround. - sed 's,^[^:]*: \(.*\)$,\1,;s/^\\$//;/^$/d;/:$/d' < "$tmpdepfile" | - sed -e 's/$/ :/' >> "$depfile" - rm -f "$tmpdepfile" - ;; - -hp2) - # The "hp" stanza above does not work with aCC (C++) and HP's ia64 - # compilers, which have integrated preprocessors. The correct option - # to use with these is +Maked; it writes dependencies to a file named - # 'foo.d', which lands next to the object file, wherever that - # happens to be. - # Much of this is similar to the tru64 case; see comments there. - dir=`echo "$object" | sed -e 's|/[^/]*$|/|'` - test "x$dir" = "x$object" && dir= - base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'` - if test "$libtool" = yes; then - tmpdepfile1=$dir$base.d - tmpdepfile2=$dir.libs/$base.d - "$@" -Wc,+Maked - else - tmpdepfile1=$dir$base.d - tmpdepfile2=$dir$base.d - "$@" +Maked - fi - stat=$? - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile1" "$tmpdepfile2" - exit $stat - fi - - for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" - do - test -f "$tmpdepfile" && break - done - if test -f "$tmpdepfile"; then - sed -e "s,^.*\.[a-z]*:,$object:," "$tmpdepfile" > "$depfile" - # Add `dependent.h:' lines. - sed -ne '2,${; s/^ *//; s/ \\*$//; s/$/:/; p;}' "$tmpdepfile" >> "$depfile" - else - echo "#dummy" > "$depfile" - fi - rm -f "$tmpdepfile" "$tmpdepfile2" - ;; - -tru64) - # The Tru64 compiler uses -MD to generate dependencies as a side - # effect. `cc -MD -o foo.o ...' puts the dependencies into `foo.o.d'. - # At least on Alpha/Redhat 6.1, Compaq CCC V6.2-504 seems to put - # dependencies in `foo.d' instead, so we check for that too. - # Subdirectories are respected. - dir=`echo "$object" | sed -e 's|/[^/]*$|/|'` - test "x$dir" = "x$object" && dir= - base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'` - - if test "$libtool" = yes; then - # With Tru64 cc, shared objects can also be used to make a - # static library. This mechanism is used in libtool 1.4 series to - # handle both shared and static libraries in a single compilation. - # With libtool 1.4, dependencies were output in $dir.libs/$base.lo.d. - # - # With libtool 1.5 this exception was removed, and libtool now - # generates 2 separate objects for the 2 libraries. These two - # compilations output dependencies in $dir.libs/$base.o.d and - # in $dir$base.o.d. We have to check for both files, because - # one of the two compilations can be disabled. We should prefer - # $dir$base.o.d over $dir.libs/$base.o.d because the latter is - # automatically cleaned when .libs/ is deleted, while ignoring - # the former would cause a distcleancheck panic. - tmpdepfile1=$dir.libs/$base.lo.d # libtool 1.4 - tmpdepfile2=$dir$base.o.d # libtool 1.5 - tmpdepfile3=$dir.libs/$base.o.d # libtool 1.5 - tmpdepfile4=$dir.libs/$base.d # Compaq CCC V6.2-504 - "$@" -Wc,-MD - else - tmpdepfile1=$dir$base.o.d - tmpdepfile2=$dir$base.d - tmpdepfile3=$dir$base.d - tmpdepfile4=$dir$base.d - "$@" -MD - fi - - stat=$? - if test $stat -eq 0; then : - else - rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4" - exit $stat - fi - - for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4" - do - test -f "$tmpdepfile" && break - done - if test -f "$tmpdepfile"; then - sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile" - # That's a tab and a space in the []. - sed -e 's,^.*\.[a-z]*:[ ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile" - else - echo "#dummy" > "$depfile" - fi - rm -f "$tmpdepfile" - ;; - -#nosideeffect) - # This comment above is used by automake to tell side-effect - # dependency tracking mechanisms from slower ones. - -dashmstdout) - # Important note: in order to support this mode, a compiler *must* - # always write the preprocessed file to stdout, regardless of -o. - "$@" || exit $? - - # Remove the call to Libtool. - if test "$libtool" = yes; then - while test $1 != '--mode=compile'; do - shift - done - shift - fi - - # Remove `-o $object'. - IFS=" " - for arg - do - case $arg in - -o) - shift - ;; - $object) - shift - ;; - *) - set fnord "$@" "$arg" - shift # fnord - shift # $arg - ;; - esac - done - - test -z "$dashmflag" && dashmflag=-M - # Require at least two characters before searching for `:' - # in the target name. 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installcheck-am installdirs installdirs-am maintainer-clean \ - maintainer-clean-generic mostlyclean mostlyclean-generic \ - mostlyclean-libtool pdf pdf-am ps ps-am tags tags-recursive \ - uninstall uninstall-am - -# Tell versions [3.59,3.63) of GNU make to not export all variables. -# Otherwise a system limit (for SysV at least) may be exceeded. -.NOEXPORT: diff -Nru ode-0.11.1/drawstuff/src/drawstuff.cpp ode-0.14/drawstuff/src/drawstuff.cpp --- ode-0.11.1/drawstuff/src/drawstuff.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/drawstuff/src/drawstuff.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -43,6 +43,7 @@ #include #include "config.h" + #ifdef HAVE_APPLE_OPENGL_FRAMEWORK #include #include @@ -108,6 +109,17 @@ } } +static void crossProduct3(float res[3], const float a[3], const float b[3]) +{ + float res_0 = a[1]*b[2] - a[2]*b[1]; + float res_1 = a[2]*b[0] - a[0]*b[2]; + float res_2 = a[0]*b[1] - a[1]*b[0]; + // Only assign after all the calculations are over to avoid incurring memory aliasing + res[0] = res_0; + res[1] = res_1; + res[2] = res_2; +} + //*************************************************************************** // PPM image object @@ -382,10 +394,9 @@ glMultMatrixf (matrix); } -static void drawConvex (float *_planes,unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons) +static void drawConvex (const float *_planes, unsigned int _planecount, + const float *_points, unsigned int /*_pointcount*/, + const unsigned int *_polygons) { unsigned int polyindex=0; for(unsigned int i=0;i<_planecount;++i) @@ -407,10 +418,9 @@ } } -static void drawConvexD (double *_planes,unsigned int _planecount, - double *_points, - unsigned int _pointcount, - unsigned int *_polygons) +static void drawConvexD (const double *_planes, unsigned int _planecount, + const double *_points, unsigned int /*_pointcount*/, + const unsigned int *_polygons) { unsigned int polyindex=0; for(unsigned int i=0;i<_planecount;++i) @@ -615,7 +625,7 @@ v[0] = v2[0] - v0[0]; v[1] = v2[1] - v0[1]; v[2] = v2[2] - v0[2]; - dCROSS (normal,=,u,v); + crossProduct3(normal,u,v); normalizeVector3 (normal); glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP); @@ -635,7 +645,7 @@ v[0] = float( v2[0] - v0[0] ); v[1] = float( v2[1] - v0[1] ); v[2] = float( v2[2] - v0[2] ); - dCROSS (normal,=,u,v); + crossProduct3(normal,u,v); normalizeVector3 (normal); glBegin(solid ? GL_TRIANGLES : GL_LINE_STRIP); @@ -884,7 +894,7 @@ #if !defined(macintosh) || defined(ODE_PLATFORM_OSX) -void dsStartGraphics (int width, int height, dsFunctions *fn) +void dsStartGraphics (int /*width*/, int /*height*/, dsFunctions *fn) { const char *prefix = DEFAULT_PATH_TO_TEXTURES; @@ -1367,10 +1377,9 @@ } extern "C" void dsDrawConvex (const float pos[3], const float R[12], - float *_planes,unsigned int _planecount, - float *_points, - unsigned int _pointcount, - unsigned int *_polygons) + const float *_planes,unsigned int _planecount, + const float *_points, unsigned int _pointcount, + const unsigned int *_polygons) { if (current_state != 2) dsError ("drawing function called outside simulation loop"); setupDrawingMode(); @@ -1483,10 +1492,8 @@ } -void dsDrawLine (const float pos1[3], const float pos2[3]) +static void drawLine(const float pos1[3], const float pos2[3]) { - setupDrawingMode(); - glColor3f (color[0],color[1],color[2]); glDisable (GL_LIGHTING); glLineWidth (2); glShadeModel (GL_FLAT); @@ -1497,8 +1504,26 @@ } -void dsDrawBoxD (const double pos[3], const double R[12], - const double sides[3]) +extern "C" void dsDrawLine (const float pos1[3], const float pos2[3]) +{ + setupDrawingMode(); + glColor4f(color[0], color[1], color[2], color[3]); + drawLine(pos1, pos2); + + if (use_shadows) { + setShadowDrawingMode(); + setShadowTransform(); + + drawLine(pos1, pos2); + + glPopMatrix(); + glDepthRange (0,1); + } +} + + +extern "C" void dsDrawBoxD (const double pos[3], const double R[12], + const double sides[3]) { int i; float pos2[3],R2[12],fsides[3]; @@ -1509,10 +1534,9 @@ } extern "C" void dsDrawConvexD (const double pos[3], const double R[12], - double *_planes,unsigned int _planecount, - double *_points, - unsigned int _pointcount, - unsigned int *_polygons) + const double *_planes, unsigned int _planecount, + const double *_points, unsigned int _pointcount, + const unsigned int *_polygons) { if (current_state != 2) dsError ("drawing function called outside simulation loop"); setupDrawingMode(); diff -Nru ode-0.11.1/drawstuff/src/Makefile.am ode-0.14/drawstuff/src/Makefile.am --- ode-0.11.1/drawstuff/src/Makefile.am 2008-06-03 23:08:30.000000000 +0000 +++ ode-0.14/drawstuff/src/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -4,8 +4,10 @@ noinst_LTLIBRARIES = libdrawstuff.la libdrawstuff_la_SOURCES = drawstuff.cpp internal.h AM_CPPFLAGS = -I$(top_srcdir)/include \ + -I$(top_builddir)/include \ + -I$(top_srcdir)/ode/src \ -DDEFAULT_PATH_TO_TEXTURES='"$(top_srcdir)/drawstuff/textures/"' \ - 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install-strip installcheck installcheck-am installdirs \ - maintainer-clean maintainer-clean-generic mostlyclean \ - mostlyclean-compile mostlyclean-generic mostlyclean-libtool \ - pdf pdf-am ps ps-am tags uninstall uninstall-am - -# Tell versions [3.59,3.63) of GNU make to not export all variables. -# Otherwise a system limit (for SysV at least) may be exceeded. -.NOEXPORT: diff -Nru ode-0.11.1/drawstuff/src/osx.cpp ode-0.14/drawstuff/src/osx.cpp --- ode-0.11.1/drawstuff/src/osx.cpp 2008-03-10 06:25:12.000000000 +0000 +++ ode-0.14/drawstuff/src/osx.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -40,52 +40,26 @@ #include #include "internal.h" -#include -#include +#include +#include // Global variables -static bool running = true; // 1 if simulation running static bool paused = false; // 1 if in `pause' mode static bool singlestep = false; // 1 if single step key pressed static bool writeframes = false; // 1 if frame files to be written static int windowWidth = -1; static int windowHeight = -1; -static UInt32 modifierMask = 0; static int mouseButtonMode = 0; static bool mouseWithOption = false; // Set if dragging the mouse with alt pressed static bool mouseWithControl = false; // Set if dragging the mouse with ctrl pressed static dsFunctions* functions = NULL; -static WindowRef windowReference; -static AGLContext aglContext; - -static EventHandlerUPP mouseUPP = NULL; -static EventHandlerUPP keyboardUPP = NULL; -static EventHandlerUPP windowUPP = NULL; - -// Describes the window-events we are interested in -EventTypeSpec OSX_WINDOW_EVENT_TYPES[] = { - { kEventClassWindow, kEventWindowBoundsChanged }, - { kEventClassWindow, kEventWindowClose }, - { kEventClassWindow, kEventWindowDrawContent } -}; - -// Describes the mouse-events we are interested in -EventTypeSpec OSX_MOUSE_EVENT_TYPES[] = { - { kEventClassMouse, kEventMouseDown }, - { kEventClassMouse, kEventMouseUp }, - { kEventClassMouse, kEventMouseMoved }, - { kEventClassMouse, kEventMouseDragged } -}; - -// Describes the key-events we are interested in -EventTypeSpec OSX_KEY_EVENT_TYPES[] = { - { kEventClassKeyboard, kEventRawKeyDown }, -// { kEventClassKeyboard, kEventRawKeyUp }, - { kEventClassKeyboard, kEventRawKeyModifiersChanged } -}; +static int windowReference; +static int frame = 1; +static int prev_x = 0; +static int prev_y = 0; //*************************************************************************** // error handling for unix @@ -105,6 +79,7 @@ va_list ap; va_start (ap,msg); printMessage ("Error",msg,ap); + va_end (ap); exit (1); } @@ -114,6 +89,7 @@ va_list ap; va_start (ap,msg); printMessage ("INTERNAL ERROR",msg,ap); + va_end (ap); // *((char *)0) = 0; ... commit SEGVicide ? abort(); } @@ -123,6 +99,7 @@ va_list ap; va_start (ap,msg); vprintf (msg,ap); + va_end (ap); } static void captureFrame( int num ){ @@ -143,9 +120,8 @@ fclose (f); } -extern "C" void dsStop(){ - - running = false; +extern "C" void dsStop() +{ } extern "C" double dsElapsedTime() @@ -168,309 +144,163 @@ #endif } -OSStatus osxKeyEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - UInt32 keyCode; - UInt32 state = 0; - void* KCHR = NULL; - char charCode = 0; - char uppercase = 0; - - switch( GetEventKind( event ) ){ - case kEventRawKeyDown: - if( GetEventParameter( event, kEventParamKeyCode, typeUInt32, NULL, sizeof( UInt32 ), NULL, &keyCode ) != noErr ){ - break; - } - KCHR = (void *)GetScriptVariable( smCurrentScript, smKCHRCache ); - charCode = (char)KeyTranslate( KCHR, keyCode, &state ); - uppercase = charCode; - UppercaseText( &uppercase, 1, smSystemScript ); - //printf( "Character %d [%c] [%c] modifiers [%d]\n", charCode, charCode, uppercase, modifierMask ); - - if( modifierMask == 0 ){ - if( charCode >= ' ' && charCode <= 126 && functions -> command ){ - functions -> command( charCode ); - } - } - else if( ( modifierMask & controlKey ) ){ - // ctrl+key was pressed - switch(uppercase ){ - case 'T': - dsSetTextures( !dsGetTextures() ); - break; - case 'S': - dsSetShadows( !dsGetShadows() ); - break; - case 'X': - running = false; - break; - case 'P': - paused = !paused; - singlestep = false; - break; - case 'O': - if( paused ){ - singlestep = true; - } - break; - case 'V': { - float xyz[3],hpr[3]; - dsGetViewpoint( xyz,hpr ); - printf( "Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", xyz[0], xyz[1], xyz[2], hpr[0], hpr[1], hpr[2] ); - break; - } - case 'W': - writeframes = !writeframes; - if( writeframes ){ - printf( "Now writing frames to PPM files\n" ); - } - break; - } - - } - return noErr; - case kEventRawKeyModifiersChanged: - if( GetEventParameter( event, kEventParamKeyModifiers, typeUInt32, NULL, sizeof( UInt32 ), NULL, &modifierMask ) == noErr ){ - if( ( mouseWithOption && !( modifierMask & optionKey ) ) || ( mouseWithControl && !( modifierMask & controlKey ) ) ){ - // The mouse was being dragged using either the command-key or the option-key modifier to emulate - // the right button or both left + right. - // Now the modifier-key has been released so the mouseButtonMode must be changed accordingly - // The following releases the right-button. - mouseButtonMode &= (~4); - mouseWithOption = false; - mouseWithControl = false; - } - return noErr; - } - break; - } - return eventNotHandledErr; +int osxGetModifierMask() +{ + return glutGetModifiers() & ~GLUT_ACTIVE_SHIFT; } -OSStatus osxMouseEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - bool buttonDown = false; - HIPoint mouseLocation; +void osxKeyEventHandler( unsigned char key, int x, int y ) +{ + unsigned char uppercase; + if (key >= 'a' && key <= 'z') + uppercase = key - ('a' - 'A'); + else + uppercase = key; + + int modifierMask = osxGetModifierMask(); + if (modifierMask == 0) + { + if( key >= ' ' && key <= 126 && functions -> command ) + functions -> command( key ); + } + else if (modifierMask & GLUT_ACTIVE_CTRL) + { + // ctrl+key was pressed + uppercase += 'A' - 1; + switch(uppercase ){ + case 'T': + dsSetTextures( !dsGetTextures() ); + break; + case 'S': + dsSetShadows( !dsGetShadows() ); + break; + case 'X': + exit(0); + break; + case 'P': + paused = !paused; + singlestep = false; + break; + case 'O': + if( paused ){ + singlestep = true; + } + break; + case 'V': { + float xyz[3],hpr[3]; + dsGetViewpoint( xyz,hpr ); + printf( "Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n", xyz[0], xyz[1], xyz[2], hpr[0], hpr[1], hpr[2] ); + break; + } + case 'W': + writeframes = !writeframes; + if( writeframes ){ + printf( "Now writing frames to PPM files\n" ); + } + break; + } + } +} - switch( GetEventKind( event ) ){ - - case kEventMouseDown: +void osxMouseEventHandler(int button, int state, int x, int y) +{ + prev_x = x; + prev_y = y; + bool buttonDown = false; + switch( state ){ + case GLUT_DOWN: buttonDown = true; - case kEventMouseUp: - if( GetEventParameter( event, kEventParamWindowMouseLocation, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) != noErr ){ - break; - } - EventMouseButton button; - if( GetEventParameter( event, kEventParamMouseButton, typeMouseButton, NULL, sizeof( EventMouseButton ), NULL, &button ) == noErr ){ - - if( button == kEventMouseButtonPrimary ){ - if( modifierMask & controlKey ){ - // Ctrl+button == right - button = kEventMouseButtonSecondary; - mouseWithControl = true; - } - else if( modifierMask & optionKey ){ - // Alt+button == left+right - mouseButtonMode = 5; - mouseWithOption = true; - return noErr; - } - } - if( buttonDown ){ - if( button == kEventMouseButtonPrimary ) mouseButtonMode |= 1; // Left - if( button == kEventMouseButtonTertiary ) mouseButtonMode |= 2; // Middle - if( button == kEventMouseButtonSecondary ) mouseButtonMode |= 4; // Right - } - else{ - if( button == kEventMouseButtonPrimary ) mouseButtonMode &= (~1); // Left - if( button == kEventMouseButtonTertiary ) mouseButtonMode &= (~2); // Middle - if( button == kEventMouseButtonSecondary ) mouseButtonMode &= (~4);// Right - } - return noErr; - } - break; - case kEventMouseMoved: - // NO-OP - return noErr; - case kEventMouseDragged: - // Carbon provides mouse-position deltas, so we don't have to store the old state ourselves - if( GetEventParameter( event, kEventParamMouseDelta, typeHIPoint, NULL, sizeof( HIPoint ), NULL, &mouseLocation ) == noErr ){ - //printf( "Mode %d\n", mouseButtonMode ); - dsMotion( mouseButtonMode, (int)mouseLocation.x, (int)mouseLocation.y ); - return noErr; - } - break; - case kEventMouseWheelMoved: - // NO-OP - break; - } - return eventNotHandledErr; + case GLUT_UP: + if( button == GLUT_LEFT_BUTTON ){ + int modifierMask = osxGetModifierMask(); + if( modifierMask & GLUT_ACTIVE_CTRL ){ + // Ctrl+button == right + button = GLUT_RIGHT_BUTTON; + mouseWithControl = true; + } + else if( modifierMask & GLUT_ACTIVE_ALT ){ + // Alt+button == left+right + mouseButtonMode = 5; + mouseWithOption = true; + return; + } + } + if( buttonDown ){ + if( button == GLUT_LEFT_BUTTON ) mouseButtonMode |= 1; // Left + if( button == GLUT_MIDDLE_BUTTON ) mouseButtonMode |= 2; // Middle + if( button == GLUT_RIGHT_BUTTON ) mouseButtonMode |= 4; // Right + } + else{ + if( button == GLUT_LEFT_BUTTON ) mouseButtonMode &= (~1); // Left + if( button == GLUT_MIDDLE_BUTTON ) mouseButtonMode &= (~2); // Middle + if( button == GLUT_RIGHT_BUTTON ) mouseButtonMode &= (~4); // Right + } + return; + } } -static void osxCloseMainWindow(){ - - if( windowUPP != NULL ){ - DisposeEventHandlerUPP( windowUPP ); - windowUPP = NULL; - } - - if( aglContext != NULL ){ - aglSetCurrentContext( NULL ); - aglSetDrawable( aglContext, NULL ); - aglDestroyContext( aglContext ); - aglContext = NULL; - } - - if( windowReference != NULL ){ - ReleaseWindow( windowReference ); - windowReference = NULL; - } +void osxMotionEventHandler(int x, int y) +{ + dsMotion( mouseButtonMode, x - prev_x, y - prev_y ); + prev_x = x; + prev_y = y; } -OSStatus osxWindowEventHandler( EventHandlerCallRef handlerCallRef, EventRef event, void *userData ){ - - //printf( "WindowEvent\n" ); - switch( GetEventKind(event) ){ - case kEventWindowBoundsChanged: - WindowRef window; - GetEventParameter( event, kEventParamDirectObject, typeWindowRef, NULL, sizeof(WindowRef), NULL, &window ); - Rect rect; - GetWindowPortBounds( window, &rect ); - windowWidth = rect.right; - windowHeight = rect.bottom; - aglUpdateContext( aglContext ); - break; - case kEventWindowClose: - osxCloseMainWindow(); - exit( 0 ); - return noErr; - case kEventWindowDrawContent: - // NO-OP - break; - } - - return eventNotHandledErr; +void osxWindowReshapeEventHandler(int width, int height) +{ + windowWidth = width; + windowHeight = height; } -static void osxCreateMainWindow( int width, int height ){ - - int redbits = 4; - int greenbits = 4; - int bluebits = 4; - int alphabits = 4; - int depthbits = 16; - - OSStatus error; - - // create pixel format attribute list - - GLint pixelFormatAttributes[256]; - int numAttrs = 0; - - pixelFormatAttributes[numAttrs++] = AGL_RGBA; - pixelFormatAttributes[numAttrs++] = AGL_DOUBLEBUFFER; - - pixelFormatAttributes[numAttrs++] = AGL_RED_SIZE; - pixelFormatAttributes[numAttrs++] = redbits; - pixelFormatAttributes[numAttrs++] = AGL_GREEN_SIZE; - pixelFormatAttributes[numAttrs++] = greenbits; - pixelFormatAttributes[numAttrs++] = AGL_BLUE_SIZE; - pixelFormatAttributes[numAttrs++] = bluebits; - pixelFormatAttributes[numAttrs++] = AGL_ALPHA_SIZE; - pixelFormatAttributes[numAttrs++] = alphabits; - pixelFormatAttributes[numAttrs++] = AGL_DEPTH_SIZE; - pixelFormatAttributes[numAttrs++] = depthbits; +static void osxCreateMainWindow( int width, int height ) +{ + int argc = 1; + char* argv[2]; + argv[0] = (char*)""; + argv[1] = NULL; + glutInit(&argc, argv); + glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH); + glutInitWindowSize(width, height); - pixelFormatAttributes[numAttrs++] = AGL_NONE; - - // create pixel format. - - AGLDevice mainMonitor = GetMainDevice(); - AGLPixelFormat pixelFormat = aglChoosePixelFormat( &mainMonitor, 1, pixelFormatAttributes ); - if( pixelFormat == NULL ){ - return; - } - - aglContext = aglCreateContext( pixelFormat, NULL ); - - aglDestroyPixelFormat( pixelFormat ); - - if( aglContext == NULL ){ - osxCloseMainWindow(); - return; - } - - Rect windowContentBounds; - windowContentBounds.left = 0; - windowContentBounds.top = 0; - windowContentBounds.right = width; - windowContentBounds.bottom = height; - - int windowAttributes = kWindowCloseBoxAttribute - | kWindowFullZoomAttribute - | kWindowCollapseBoxAttribute - | kWindowResizableAttribute - | kWindowStandardHandlerAttribute - | kWindowLiveResizeAttribute; - - error = CreateNewWindow( kDocumentWindowClass, windowAttributes, &windowContentBounds, &windowReference ); - if( ( error != noErr ) || ( windowReference == NULL ) ){ - osxCloseMainWindow(); - return; - } - - windowUPP = NewEventHandlerUPP( osxWindowEventHandler ); - - error = InstallWindowEventHandler( windowReference, windowUPP,GetEventTypeCount( OSX_WINDOW_EVENT_TYPES ), OSX_WINDOW_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - osxCloseMainWindow(); - return; - } - - // The process-type must be changed for a ForegroundApplication - // Unless it is a foreground-process, the application will not show in the dock or expose and the window - // will not behave properly. - ProcessSerialNumber currentProcess; - GetCurrentProcess( ¤tProcess ); - TransformProcessType( ¤tProcess, kProcessTransformToForegroundApplication ); - SetFrontProcess( ¤tProcess ); - - SetWindowTitleWithCFString( windowReference, CFSTR( "ODE - Drawstuff" ) ); - RepositionWindow( windowReference, NULL, kWindowCenterOnMainScreen ); - - ShowWindow( windowReference ); - - if( !aglSetDrawable( aglContext, GetWindowPort( windowReference ) ) ){ - osxCloseMainWindow(); - return; - } - - if( !aglSetCurrentContext( aglContext ) ){ - osxCloseMainWindow(); - } - + windowReference = glutCreateWindow("ODE - Drawstuff"); windowWidth = width; windowHeight = height; } -int osxInstallEventHandlers(){ - - OSStatus error; - - mouseUPP = NewEventHandlerUPP( osxMouseEventHandler ); - - error = InstallEventHandler( GetApplicationEventTarget(), mouseUPP, GetEventTypeCount( OSX_MOUSE_EVENT_TYPES ), OSX_MOUSE_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - return GL_FALSE; +void osxRedisplayEventHandler() +{ + dsDrawFrame( windowWidth, windowHeight, functions, paused && !singlestep ); + singlestep = false; + glutSwapBuffers(); + + // capture frames if necessary + if( !paused && writeframes ){ + captureFrame( frame ); + frame++; } +} - keyboardUPP = NewEventHandlerUPP( osxKeyEventHandler ); - - error = InstallEventHandler( GetApplicationEventTarget(), keyboardUPP, GetEventTypeCount( OSX_KEY_EVENT_TYPES ), OSX_KEY_EVENT_TYPES, NULL, NULL ); - if( error != noErr ){ - return GL_FALSE; - } - +void osxTimerEventHandler(int); + +void osxInstallTimerHandler() +{ + glutTimerFunc(1000/60, osxTimerEventHandler, 0); +} + +void osxTimerEventHandler(int) +{ + glutPostRedisplay(); + osxInstallTimerHandler(); +} + +int osxInstallEventHandlers() +{ + glutKeyboardFunc(osxKeyEventHandler); + glutMouseFunc(osxMouseEventHandler); + glutMotionFunc(osxMotionEventHandler); + glutDisplayFunc(osxRedisplayEventHandler); + glutReshapeFunc(osxWindowReshapeEventHandler); + osxInstallTimerHandler(); return GL_TRUE; } @@ -512,32 +342,5 @@ if( fn -> start ) fn->start(); - int frame = 1; - running = true; - while( running ){ - // read in and process all pending events for the main window - EventRef event; - EventTargetRef eventDispatcher = GetEventDispatcherTarget(); - while( ReceiveNextEvent( 0, NULL, 0.0, TRUE, &event ) == noErr ){ - SendEventToEventTarget( event, eventDispatcher ); - ReleaseEvent( event ); - } - - dsDrawFrame( windowWidth, windowHeight, fn, paused && !singlestep ); - singlestep = false; - - glFlush(); - aglSwapBuffers( aglContext ); - - // capture frames if necessary - if( !paused && writeframes ){ - captureFrame( frame ); - frame++; - } - } - - if( fn->stop ) fn->stop(); - dsStopGraphics(); - - osxCloseMainWindow(); + glutMainLoop(); } diff -Nru ode-0.11.1/drawstuff/src/windows.cpp ode-0.14/drawstuff/src/windows.cpp --- ode-0.11.1/drawstuff/src/windows.cpp 2009-05-24 16:44:32.000000000 +0000 +++ ode-0.14/drawstuff/src/windows.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -23,10 +23,11 @@ #if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built #include #endif +#include #include -#include "config.h" #include +#include "config.h" #include "resource.h" #include "internal.h" @@ -54,6 +55,7 @@ va_list ap; va_start (ap,msg); errorBox ("Warning",msg,ap); + va_end (ap); } @@ -62,6 +64,7 @@ va_list ap; va_start (ap,msg); errorBox ("Error",msg,ap); + va_end (ap); exit (1); } @@ -71,6 +74,7 @@ va_list ap; va_start (ap,msg); errorBox ("INTERNAL ERROR",msg,ap); + va_end (ap); // *((char *)0) = 0; ... commit SEGVicide ? abort(); exit (1); // should never get here, but just in case... @@ -82,6 +86,7 @@ va_list ap; va_start (ap,msg); vprintf (msg,ap); + va_end (ap); } //*************************************************************************** @@ -116,7 +121,7 @@ } -static DWORD WINAPI renderingThread (LPVOID lpParam) +static unsigned CALLBACK renderingThread (LPVOID lpParam) { // create openGL context and make it current HGLRC glc = wglCreateContext (renderer_dc); @@ -425,14 +430,14 @@ renderer_height = window_height; renderer_fn = fn; - DWORD threadId, thirdParam = 0; + unsigned threadId; HANDLE hThread; - hThread = CreateThread( + hThread = (HANDLE)_beginthreadex( NULL, // no security attributes 0, // use default stack size - renderingThread, // thread function - &thirdParam, // argument to thread function + &renderingThread, // thread function + NULL, // argument to thread function 0, // use default creation flags &threadId); // returns the thread identifier diff -Nru ode-0.11.1/drawstuff/src/x11.cpp ode-0.14/drawstuff/src/x11.cpp --- ode-0.11.1/drawstuff/src/x11.cpp 2008-09-08 20:19:34.000000000 +0000 +++ ode-0.14/drawstuff/src/x11.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -35,6 +35,9 @@ #ifdef HAVE_SYS_TIME_H #include #endif +#ifdef HAVE_UNISTD_H +#include +#endif #include #include @@ -59,6 +62,7 @@ va_list ap; va_start (ap,msg); printMessage ("Error",msg,ap); + va_end (ap); exit (1); } @@ -68,6 +72,7 @@ va_list ap; va_start (ap,msg); printMessage ("INTERNAL ERROR",msg,ap); + va_end (ap); // *((char *)0) = 0; ... commit SEGVicide ? abort(); } @@ -78,6 +83,7 @@ va_list ap; va_start (ap,msg); vprintf (msg,ap); + va_end (ap); } //*************************************************************************** @@ -97,7 +103,7 @@ static GLXContext glx_context=0; // openGL rendering context static int last_key_pressed=0; // last key pressed in the window static int run=1; // 1 if simulation running -static int pause=0; // 1 if in `pause' mode +static int pausemode=0; // 1 if in `pause' mode static int singlestep=0; // 1 if single step key pressed static int writeframes=0; // 1 if frame files to be written @@ -235,11 +241,11 @@ run = 0; break; case 'p': case 'P': - pause ^= 1; + pausemode ^= 1; singlestep = 0; break; case 'o': case 'O': - if (pause) singlestep = 1; + if (pausemode) singlestep = 1; break; case 'v': case 'V': { float xyz[3],hpr[3]; @@ -325,11 +331,33 @@ XDestroyImage (image); } +void processDrawFrame(int *frame, dsFunctions *fn) +{ + dsDrawFrame (width,height,fn,pausemode && !singlestep); + singlestep = 0; + + glFlush(); + glXSwapBuffers (display,win); + XSync (display,0); + + // capture frames if necessary + if (pausemode==0 && writeframes) { + captureFrame (*frame); + (*frame)++; + } +} + +void microsleep(int usecs) +{ +#ifdef HAVE_UNISTD_H + usleep(usecs); +#endif +} void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn, int initial_pause) { - pause = initial_pause; + pausemode = initial_pause; createMainWindow (window_width, window_height); glXMakeCurrent (display,win,glx_context); @@ -362,6 +390,12 @@ if (fn->start) fn->start(); +#if HAVE_GETTIMEOFDAY + timeval tv; + gettimeofday(&tv, 0); + double prev = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; +#endif + int frame = 1; run = 1; while (run) { @@ -371,19 +405,20 @@ XNextEvent (display,&event); handleEvent (event,fn); } - - dsDrawFrame (width,height,fn,pause && !singlestep); - singlestep = 0; - - glFlush(); - glXSwapBuffers (display,win); - XSync (display,0); - - // capture frames if necessary - if (pause==0 && writeframes) { - captureFrame (frame); - frame++; + +#if HAVE_GETTIMEOFDAY + gettimeofday(&tv, 0); + double curr = tv.tv_sec + (double) tv.tv_usec / 1000000.0 ; + if (curr-prev >= 1.0/60.0) + { + prev = curr; + processDrawFrame(&frame, fn); } + else + microsleep(1000); +#else + processDrawFrame(&frame, fn); +#endif }; if (fn->stop) fn->stop(); diff -Nru ode-0.11.1/GIMPACT/include/GIMPACT/gim_math.h ode-0.14/GIMPACT/include/GIMPACT/gim_math.h --- ode-0.11.1/GIMPACT/include/GIMPACT/gim_math.h 2008-10-29 11:28:56.000000000 +0000 +++ ode-0.14/GIMPACT/include/GIMPACT/gim_math.h 2015-12-18 14:09:27.000000000 +0000 @@ -59,6 +59,9 @@ #define GINT32 int32_t #define GUINT32 uint32_t +#ifdef GPTR +#undef GPTR +#endif #define GPTR void* /*! Constants for integers*/ diff -Nru ode-0.11.1/GIMPACT/include/GIMPACT/gim_memory.h ode-0.14/GIMPACT/include/GIMPACT/gim_memory.h --- ode-0.11.1/GIMPACT/include/GIMPACT/gim_memory.h 2008-10-16 17:59:43.000000000 +0000 +++ ode-0.14/GIMPACT/include/GIMPACT/gim_memory.h 2015-12-18 14:09:27.000000000 +0000 @@ -408,7 +408,7 @@ G_BUFFER_MANAGER_SYSTEM, G_BUFFER_MANAGER_SHARED, - G_BUFFER_MANAGER__MAX, + G_BUFFER_MANAGER__MAX }; //! @} diff -Nru ode-0.11.1/GIMPACT/include/GIMPACT/Makefile.in ode-0.14/GIMPACT/include/GIMPACT/Makefile.in --- ode-0.11.1/GIMPACT/include/GIMPACT/Makefile.in 2009-05-24 22:15:37.000000000 +0000 +++ ode-0.14/GIMPACT/include/GIMPACT/Makefile.in 1970-01-01 00:00:00.000000000 +0000 @@ -1,400 +0,0 @@ -# Makefile.in generated by automake 1.10.2 from Makefile.am. -# @configure_input@ - -# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, -# 2003, 2004, 2005, 2006, 2007, 2008 Free Software Foundation, Inc. -# This Makefile.in is free software; the Free Software Foundation -# gives unlimited permission to copy and/or distribute it, -# with or without modifications, as long as this notice is preserved. - 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DS_SKY, + DS_SKY }; /* draw modes */ @@ -253,11 +253,11 @@ * @ingroup drawstuff */ DS_API void dsDrawConvex(const float pos[3], const float R[12], - float *_planes, + const float *_planes, unsigned int _planecount, - float *_points, + const float *_points, unsigned int _pointcount, - unsigned int *_polygons); + const unsigned int *_polygons); /* these drawing functions are identical to the ones above, except they take * double arrays for `pos' and `R'. @@ -274,11 +274,11 @@ float length, float radius); DS_API void dsDrawLineD (const double pos1[3], const double pos2[3]); DS_API void dsDrawConvexD(const double pos[3], const double R[12], - double *_planes, + const double *_planes, unsigned int _planecount, - double *_points, + const double *_points, unsigned int _pointcount, - unsigned int *_polygons); + const unsigned int *_polygons); /** * @brief Set the quality with which curved objects are rendered. @@ -297,7 +297,7 @@ */ DS_API void dsSetDrawMode(int mode); -// Backwards compatible API +/* Backwards compatible API */ #define dsDrawCappedCylinder dsDrawCapsule #define dsDrawCappedCylinderD dsDrawCapsuleD #define dsSetCappedCylinderQuality dsSetCapsuleQuality diff -Nru ode-0.11.1/include/drawstuff/Makefile.am ode-0.14/include/drawstuff/Makefile.am --- ode-0.11.1/include/drawstuff/Makefile.am 2007-12-07 23:09:37.000000000 +0000 +++ ode-0.14/include/drawstuff/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -1,3 +1,2 @@ - 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installcheck-am installdirs installdirs-am maintainer-clean \ - maintainer-clean-generic mostlyclean mostlyclean-generic \ - mostlyclean-libtool pdf pdf-am ps ps-am tags tags-recursive \ - uninstall uninstall-am - -# Tell versions [3.59,3.63) of GNU make to not export all variables. -# Otherwise a system limit (for SysV at least) may be exceeded. -.NOEXPORT: diff -Nru ode-0.11.1/include/ode/collision.h ode-0.14/include/ode/collision.h --- ode-0.11.1/include/ode/collision.h 2009-01-28 02:53:09.000000000 +0000 +++ ode-0.14/include/ode/collision.h 2015-12-18 14:09:27.000000000 +0000 @@ -26,9 +26,6 @@ #include #include #include -// Include odeinit.h for backward compatibility as some of initialization APIs -// were initally declared in current header. -#include #ifdef __cplusplus extern "C" { @@ -407,6 +404,123 @@ */ ODE_API int dGeomIsEnabled (dGeomID geom); + +enum +{ + dGeomCommonControlClass = 0, + dGeomColliderControlClass = 1 +}; + +enum +{ + dGeomCommonAnyControlCode = 0, + + dGeomColliderSetMergeSphereContactsControlCode = 1, + dGeomColliderGetMergeSphereContactsControlCode = 2 +}; + +enum +{ + dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/ + dGeomColliderMergeContactsValue_None = 1, + dGeomColliderMergeContactsValue_Normals = 2, + dGeomColliderMergeContactsValue_Full = 3 +}; + +/** + * @brief Execute low level control operation for geometry. + * + * The variable the dataSize points to must be initialized before the call. + * If the size does not match the one expected for the control class/code function + * changes it to the size expected and returns failure. This implies the function + * can be called with NULL data and zero size to test if control class/code is supported + * and obtain required data size for it. + * + * dGeomCommonAnyControlCode applies to any control class and returns success if + * at least one control code is available for the given class with given geom. + * + * Currently there are the folliwing control classes supported: + * @li dGeomColliderControlClass + * + * For dGeomColliderControlClass there are the following codes available: + * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) + * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) + * + * @param geom the geom to control + * @param controlClass the control class + * @param controlCode the control code for the class + * @param dataValue the control argument pointer + * @param dataSize the control argument size provided or expected + * @returns Boolean execution status + * @ingroup collide + */ +ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize); + + +/** + * @brief Get world position of a relative point on geom. + * + * Calling this function on a non-placeable geom results in the same point being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomGetRelPointPos +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief takes a point in global coordinates and returns + * the point's position in geom-relative coordinates. + * + * Calling this function on a non-placeable geom results in the same point being + * returned. + * + * @remarks + * This is the inverse of dGeomGetRelPointPos() + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomGetPosRelPoint +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from geom-local to world coordinates. + * + * Calling this function on a non-placeable geom results in the same vector being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomVectorToWorld +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from world to geom-local coordinates. + * + * Calling this function on a non-placeable geom results in the same vector being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomVectorFromWorld +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + + /* ************************************************************************ */ /* geom offset from body */ @@ -775,7 +889,7 @@ dFirstSpaceClass, dSimpleSpaceClass = dFirstSpaceClass, dHashSpaceClass, - dSweepAndPruneSpaceClass, // SAP + dSweepAndPruneSpaceClass, /* SAP */ dQuadTreeSpaceClass, dLastSpaceClass = dQuadTreeSpaceClass, @@ -847,19 +961,21 @@ ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); -//--> Convex Functions +/*--> Convex Functions*/ ODE_API dGeomID dCreateConvex (dSpaceID space, - dReal *_planes, + const dReal *_planes, unsigned int _planecount, - dReal *_points, - unsigned int _pointcount,unsigned int *_polygons); + const dReal *_points, + unsigned int _pointcount, + const unsigned int *_polygons); ODE_API void dGeomSetConvex (dGeomID g, - dReal *_planes, + const dReal *_planes, unsigned int _count, - dReal *_points, - unsigned int _pointcount,unsigned int *_polygons); -//<-- Convex Functions + const dReal *_points, + unsigned int _pointcount, + const unsigned int *_polygons); +/*<-- Convex Functions*/ /** * @defgroup collide_box Box Class @@ -936,7 +1052,7 @@ ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); -// For now we want to have a backwards compatible C-API, note: C++ API is not. +/* For now we want to have a backwards compatible C-API, note: C++ API is not.*/ #define dCreateCCylinder dCreateCapsule #define dGeomCCylinderSetParams dGeomCapsuleSetParams #define dGeomCCylinderGetParams dGeomCapsuleGetParams @@ -959,27 +1075,31 @@ * These flags are currently only noticed by the trimesh collider, because * they can make a major differences there. */ -ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); -ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); +ODE_API_DEPRECATED ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); +ODE_API_DEPRECATED ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); +ODE_API void dGeomRaySetFirstContact (dGeomID g, int firstContact); +ODE_API int dGeomRayGetFirstContact (dGeomID g); +ODE_API void dGeomRaySetBackfaceCull (dGeomID g, int backfaceCull); +ODE_API int dGeomRayGetBackfaceCull (dGeomID g); ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); ODE_API int dGeomRayGetClosestHit (dGeomID g); #include "collision_trimesh.h" -ODE_API dGeomID dCreateGeomTransform (dSpaceID space); -ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); -ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); -ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); -ODE_API int dGeomTransformGetCleanup (dGeomID g); -ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); -ODE_API int dGeomTransformGetInfo (dGeomID g); +ODE_API_DEPRECATED ODE_API dGeomID dCreateGeomTransform (dSpaceID space); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); +ODE_API_DEPRECATED ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); +ODE_API_DEPRECATED ODE_API int dGeomTransformGetCleanup (dGeomID g); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); +ODE_API_DEPRECATED ODE_API int dGeomTransformGetInfo (dGeomID g); /* ************************************************************************ */ /* heightfield functions */ -// Data storage for heightfield data. +/* Data storage for heightfield data.*/ struct dxHeightfieldData; typedef struct dxHeightfieldData* dHeightfieldDataID; @@ -1354,7 +1474,7 @@ const dVector3 side1, const dVector3 _p2, const dMatrix3 R2, const dVector3 side2); -// The meaning of flags parameter is the same as in dCollide() +/* The meaning of flags parameter is the same as in dCollide()*/ ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, const dVector3 side1, const dVector3 p2, const dMatrix3 R2, const dVector3 side2, diff -Nru ode-0.11.1/include/ode/collision_space.h ode-0.14/include/ode/collision_space.h --- ode-0.11.1/include/ode/collision_space.h 2009-03-14 18:48:14.000000000 +0000 +++ ode-0.14/include/ode/collision_space.h 2015-12-18 14:09:27.000000000 +0000 @@ -54,8 +54,8 @@ ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, const dVector3 Center, const dVector3 Extents, int Depth); -// SAP -// Order XZY or ZXY usually works best, if your Y is up. +/* SAP */ +/* Order XZY or ZXY usually works best, if your Y is up. */ #define dSAP_AXES_XYZ ((0)|(1<<2)|(2<<4)) #define dSAP_AXES_XZY ((0)|(2<<2)|(1<<4)) #define dSAP_AXES_YXZ ((1)|(0<<2)|(2<<4)) diff -Nru ode-0.11.1/include/ode/collision_trimesh.h ode-0.14/include/ode/collision_trimesh.h --- ode-0.11.1/include/ode/collision_trimesh.h 2008-12-06 15:50:57.000000000 +0000 +++ ode-0.14/include/ode/collision_trimesh.h 2015-12-18 14:09:27.000000000 +0000 @@ -156,7 +156,7 @@ ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); -// enable/disable/check temporal coherence +/* enable/disable/check temporal coherence*/ ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass); diff -Nru ode-0.11.1/include/ode/common.h ode-0.14/include/ode/common.h --- ode-0.11.1/include/ode/common.h 2009-04-24 01:43:52.000000000 +0000 +++ ode-0.14/include/ode/common.h 2015-12-18 14:09:27.000000000 +0000 @@ -22,9 +22,10 @@ #ifndef _ODE_COMMON_H_ #define _ODE_COMMON_H_ + #include #include -#include + #ifdef __cplusplus extern "C" { @@ -42,81 +43,47 @@ #ifndef M_PI #define M_PI REAL(3.1415926535897932384626433832795029) #endif +#ifndef M_PI_2 +#define M_PI_2 REAL(1.5707963267948966192313216916398) +#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 -# if defined(__STDC__) && __STDC_VERSION__ >= 199901L -# define __FUNCTION__ __func__ -# endif -# 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 // not __GNUC__ -# 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 +#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. +/* 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 +#endif /* dTRIMESH_ENABLED */ -// Define a type for indices, either 16 or 32 bit, based on build option -// TODO: Currently GIMPACT only supports 32 bit indices. +/* + * Define a type for indices, either 16 or 32 bit, based on build option + * TODO: Currently GIMPACT only supports 32 bit indices. + */ #if dTRIMESH_16BIT_INDICES #if dTRIMESH_GIMPACT -typedef uint32 dTriIndex; -#else // dTRIMESH_GIMPACT -typedef uint16 dTriIndex; -#endif // dTRIMESH_GIMPACT -#else // dTRIMESH_16BIT_INDICES -typedef uint32 dTriIndex; -#endif // dTRIMESH_16BIT_INDICES +typedef duint32 dTriIndex; +#else /* dTRIMESH_GIMPACT */ +typedef duint16 dTriIndex; +#endif /* dTRIMESH_GIMPACT */ +#else /* dTRIMESH_16BIT_INDICES */ +typedef duint32 dTriIndex; +#endif /* dTRIMESH_16BIT_INDICES */ /* round an integer up to a multiple of 4, except that 0 and 1 are unmodified * (used to compute matrix leading dimensions) @@ -136,7 +103,7 @@ #if defined(dSINGLE) -#define REAL(x) (x ## f) /* form a constant */ +#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 */ @@ -144,8 +111,12 @@ #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 dAcos(x) (acosf(x)) #define dFMod(a,b) (fmodf(a,b)) /* modulo */ #define dFloor(x) floorf(x) /* floor */ +#define dCeil(x) ceilf(x) /* ceil */ +#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */ +#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */ #ifdef HAVE___ISNANF #define dIsNan(x) (__isnanf(x)) @@ -166,8 +137,6 @@ #define dIsNan(x) (_isnan(x)) #endif -#define dCopySign(a,b) ((dReal)copysignf(a,b)) - #elif defined(dDOUBLE) #define REAL(x) (x) @@ -178,8 +147,12 @@ #define dCos(x) cos(x) #define dFabs(x) fabs(x) #define dAtan2(y,x) atan2((y),(x)) +#define dAcos(x) acos(x) #define dFMod(a,b) (fmod((a),(b))) #define dFloor(x) floor(x) +#define dCeil(x) ceil(x) +#define dCopySign(a,b) _ode_copysign(a, b) +#define dNextAfter(x, y) _ode_nextafter(x, y) #ifdef HAVE___ISNAN #define dIsNan(x) (__isnan(x)) @@ -191,12 +164,11 @@ #define dIsNan(x) (_isnan(x)) #endif -#define dCopySign(a,b) (copysign((a),(b))) - #else #error You must #define dSINGLE or dDOUBLE #endif + /* internal object types (all prefixed with `dx') */ struct dxWorld; /* dynamics world */ @@ -206,6 +178,7 @@ struct dxJoint; struct dxJointNode; struct dxJointGroup; +struct dxWorldProcessThreadingManager; typedef struct dxWorld *dWorldID; typedef struct dxSpace *dSpaceID; @@ -213,7 +186,7 @@ typedef struct dxGeom *dGeomID; typedef struct dxJoint *dJointID; typedef struct dxJointGroup *dJointGroupID; - +typedef struct dxWorldProcessThreadingManager *dWorldStepThreadingManagerID; /* error numbers */ @@ -242,7 +215,10 @@ dJointTypePlane2D, dJointTypePR, dJointTypePU, - dJointTypePiston + dJointTypePiston, + dJointTypeDBall, + dJointTypeDHinge, + dJointTypeTransmission, } dJointType; @@ -284,6 +260,8 @@ dParamLoStop = start, \ dParamHiStop, \ dParamVel, \ + dParamLoVel, \ + dParamHiVel, \ dParamFMax, \ dParamFudgeFactor, \ dParamBounce, \ @@ -295,20 +273,22 @@ dParamSuspensionCFM, \ dParamERP, \ - ////////////////////////////////////////////////////////////////////////////// - /// \enum D_ALL_PARAM_NAMES_X - /// - /// \var dParamGroup This is the starting value of the different group - /// (i.e. dParamGroup1, dParamGroup2, dParamGroup3) - /// It also helps in the use of parameter - /// (dParamGroup2 | dParamFMax) == dParamFMax2 - ////////////////////////////////////////////////////////////////////////////// + /* + * \enum D_ALL_PARAM_NAMES_X + * + * \var dParamGroup This is the starting value of the different group + * (i.e. dParamGroup1, dParamGroup2, dParamGroup3) + * It also helps in the use of parameter + * (dParamGroup2 | dParamFMax) == dParamFMax2 + */ #define D_ALL_PARAM_NAMES_X(start,x) \ dParamGroup ## x = start, \ /* parameters for limits and motors */ \ dParamLoStop ## x = start, \ dParamHiStop ## x, \ dParamVel ## x, \ + dParamLoVel ## x, \ + dParamHiVel ## x, \ dParamFMax ## x, \ dParamFudgeFactor ## x, \ dParamBounce ## x, \ @@ -322,7 +302,7 @@ enum { D_ALL_PARAM_NAMES(0) - dParamsInGroup, ///< Number of parameter in a group + dParamsInGroup, /* < Number of parameter in a group */ D_ALL_PARAM_NAMES_X(0x000,1) D_ALL_PARAM_NAMES_X(0x100,2) D_ALL_PARAM_NAMES_X(0x200,3) @@ -341,6 +321,14 @@ dAMotorEuler = 1 }; +/* transmission joint mode numbers */ + +enum { + dTransmissionParallelAxes = 0, + dTransmissionIntersectingAxes = 1, + dTransmissionChainDrive = 2 +}; + /* joint force feedback information */ @@ -375,11 +363,12 @@ * ODE_EXT_trimesh * ODE_EXT_opcode * ODE_EXT_gimpact - * ODE_EXT_malloc_not_alloca - * ODE_EXT_gyroscopic * ODE_OPC_16bit_indices * ODE_OPC_new_collider -*/ + * ODE_EXT_mt_collisions + * ODE_EXT_threading + * ODE_THR_builtin_impl + */ ODE_API const char* dGetConfiguration (void); /** diff -Nru ode-0.11.1/include/ode/contact.h ode-0.14/include/ode/contact.h --- ode-0.11.1/include/ode/contact.h 2008-05-09 10:05:44.000000000 +0000 +++ ode-0.14/include/ode/contact.h 2015-12-18 14:09:27.000000000 +0000 @@ -31,33 +31,39 @@ enum { - dContactMu2 = 0x001, - dContactFDir1 = 0x002, - dContactBounce = 0x004, - dContactSoftERP = 0x008, - dContactSoftCFM = 0x010, - dContactMotion1 = 0x020, - dContactMotion2 = 0x040, - dContactMotionN = 0x080, - dContactSlip1 = 0x100, - dContactSlip2 = 0x200, - - dContactApprox0 = 0x0000, - dContactApprox1_1 = 0x1000, - dContactApprox1_2 = 0x2000, - dContactApprox1 = 0x3000 + dContactMu2 = 0x001, /**< Use axis dependent friction */ + dContactAxisDep = 0x001, /**< Same as above */ + dContactFDir1 = 0x002, /**< Use FDir for the first friction value */ + dContactBounce = 0x004, /**< Restore collision energy anti-parallel to the normal */ + dContactSoftERP = 0x008, /**< Don't use global erp for penetration reduction */ + dContactSoftCFM = 0x010, /**< Don't use global cfm for penetration constraint */ + dContactMotion1 = 0x020, /**< Use a non-zero target velocity for the constraint */ + dContactMotion2 = 0x040, + dContactMotionN = 0x080, + dContactSlip1 = 0x100, /**< Force-dependent slip. */ + dContactSlip2 = 0x200, + dContactRolling = 0x400, /**< Rolling/Angular friction */ + + dContactApprox0 = 0x0000, + dContactApprox1_1 = 0x1000, + dContactApprox1_2 = 0x2000, + dContactApprox1_N = 0x4000, /**< For rolling friction */ + dContactApprox1 = 0x7000 }; typedef struct dSurfaceParameters { /* must always be defined */ - int mode; + int mode; dReal mu; /* only defined if the corresponding flag is set in mode */ dReal mu2; - dReal bounce; - dReal bounce_vel; + dReal rho; /**< Rolling friction */ + dReal rho2; + dReal rhoN; /**< Spinning friction */ + dReal bounce; /**< Coefficient of restitution */ + dReal bounce_vel; /**< Bouncing threshold */ dReal soft_erp; dReal soft_cfm; dReal motion1,motion2,motionN; @@ -80,11 +86,11 @@ * @ingroup collide */ typedef struct dContactGeom { - dVector3 pos; ///< contact position - dVector3 normal; ///< normal vector - dReal depth; ///< penetration depth - dGeomID g1,g2; ///< the colliding geoms - int side1,side2; ///< (to be documented) + dVector3 pos; /*< contact position*/ + dVector3 normal; /*< normal vector*/ + dReal depth; /*< penetration depth*/ + dGeomID g1,g2; /*< the colliding geoms*/ + int side1,side2; /*< (to be documented)*/ } dContactGeom; diff -Nru ode-0.11.1/include/ode/export-dif.h ode-0.14/include/ode/export-dif.h --- ode-0.11.1/include/ode/export-dif.h 2006-03-24 19:36:06.000000000 +0000 +++ ode-0.14/include/ode/export-dif.h 2015-12-18 14:09:27.000000000 +0000 @@ -26,7 +26,15 @@ #include +#ifdef __cplusplus +extern "C" { +#endif + ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name); +#ifdef __cplusplus +} +#endif + #endif diff -Nru ode-0.11.1/include/ode/Makefile.am ode-0.14/include/ode/Makefile.am --- ode-0.11.1/include/ode/Makefile.am 2008-05-07 19:23:10.000000000 +0000 +++ ode-0.14/include/ode/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -1,24 +1,33 @@ libode_la_includedir = $(includedir)/ode -libode_la_include_HEADERS = collision_trimesh.h \ - mass.h \ - odecpp.h \ - common.h \ - matrix.h \ - odecpp_collision.h \ - compatibility.h \ - memory.h \ - contact.h \ - misc.h \ - odemath.h \ - odeinit.h \ - collision.h \ - error.h \ - objects.h \ - rotation.h \ - collision_space.h \ - export-dif.h \ - ode.h \ - timer.h \ - odeconfig.h +libode_la_include_HEADERS = \ + collision.h \ + collision_space.h \ + collision_trimesh.h \ + common.h \ + compatibility.h \ + contact.h \ + error.h \ + export-dif.h \ + mass.h \ + matrix.h \ + memory.h \ + misc.h \ + objects.h \ + ode.h \ + odeconfig.h \ + odecpp.h \ + odecpp_collision.h \ + odeinit.h \ + odemath.h \ + odemath_legacy.h \ + rotation.h \ + threading.h \ + threading_impl.h \ + timer.h + + +EXTRA_DIST = README precision.h.in version.h.in + +dist_libode_la_include_HEADERS = precision.h version.h + -EXTRA_DIST = README diff -Nru ode-0.11.1/include/ode/Makefile.in ode-0.14/include/ode/Makefile.in --- ode-0.11.1/include/ode/Makefile.in 2009-05-24 22:15:38.000000000 +0000 +++ ode-0.14/include/ode/Makefile.in 1970-01-01 00:00:00.000000000 +0000 @@ -1,446 +0,0 @@ -# Makefile.in generated by automake 1.10.2 from Makefile.am. -# @configure_input@ - -# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, -# 2003, 2004, 2005, 2006, 2007, 2008 Free Software Foundation, Inc. -# This Makefile.in is free software; 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-// Backwards compatible API +/* Backwards compatible API */ ODE_API ODE_API_DEPRECATED void dMassSetCappedCylinder(dMass *a, dReal b, int c, dReal d, dReal e); ODE_API ODE_API_DEPRECATED void dMassSetCappedCylinderTotal(dMass *a, dReal b, int c, dReal d, dReal e); diff -Nru ode-0.11.1/include/ode/matrix.h ode-0.14/include/ode/matrix.h --- ode-0.11.1/include/ode/matrix.h 2006-03-24 19:36:06.000000000 +0000 +++ ode-0.14/include/ode/matrix.h 2015-12-18 14:09:27.000000000 +0000 @@ -186,9 +186,9 @@ */ ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r); - #ifdef __cplusplus } #endif + #endif diff -Nru ode-0.11.1/include/ode/misc.h ode-0.14/include/ode/misc.h --- ode-0.11.1/include/ode/misc.h 2008-01-03 00:08:45.000000000 +0000 +++ ode-0.14/include/ode/misc.h 2015-12-18 14:09:27.000000000 +0000 @@ -54,12 +54,7 @@ ODE_API dReal dRandReal(void); /* print out a matrix */ -#ifdef __cplusplus -ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ", - FILE *f=stdout); -#else -ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f); -#endif +ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f); /* make a random vector with entries between +/- range. A has n elements. */ ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); @@ -82,4 +77,10 @@ } #endif + +#ifdef __cplusplus +static inline void dPrintMatrix (const dReal *A, int n, int m, const char *fmt="%10.4f ") { dPrintMatrix(A, n, m, fmt, stdout); } +#endif + + #endif diff -Nru ode-0.11.1/include/ode/objects.h ode-0.14/include/ode/objects.h --- ode-0.11.1/include/ode/objects.h 2009-01-23 18:29:56.000000000 +0000 +++ ode-0.14/include/ode/objects.h 2015-12-18 14:09:27.000000000 +0000 @@ -1,5 +1,3 @@ - - /************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * @@ -28,6 +26,7 @@ #include #include #include +#include #ifdef __cplusplus extern "C" { @@ -45,7 +44,6 @@ * Most applications will only need one world. */ - /** * @brief Create a new, empty world and return its ID number. * @return an identifier @@ -67,6 +65,24 @@ /** + * @brief Set the user-data pointer + * @param world the world to set the data on + * @param data + * @ingroup world + */ +ODE_API void dWorldSetData (dWorldID world, void* data); + + +/** + * @brief Get the user-data pointer + * @param world the world to set the data on + * @param data + * @ingroup world + */ +ODE_API void* dWorldGetData (dWorldID world); + + +/** * @brief Set the world's global gravity vector. * * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), @@ -118,58 +134,273 @@ ODE_API dReal dWorldGetCFM (dWorldID); +#define dWORLDSTEP_THREADCOUNT_UNLIMITED 0U + /** - * @brief Step the world. + * @brief Set maximum threads to be used for island stepping * - * This uses a "big matrix" method that takes time on the order of m^3 - * and memory on the order of m^2, where m is the total number of constraint - * rows. For large systems this will use a lot of memory and can be very slow, - * but this is currently the most accurate method. + * The actual number of threads that is going to be used will be the minimum + * of this limit and number of threads in the threading pool. By default + * there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED). + * + * @warning + * WARNING! Running island stepping in multiple threads requires allocating + * individual stepping memory buffer for each of those threads. The size of buffers + * allocated is the size needed to handle the largest island in the world. + * + * Note: Setting a limit for island stepping does not affect threading at lower + * levels in stepper functions. The sub-calls scheduled from them can be executed + * in as many threads as there are available in the pool. + * + * @param w The world affected + * @param count Thread count limit value for island stepping * @ingroup world - * @param stepsize The number of seconds that the simulation has to advance. + * @see dWorldGetStepIslandsProcessingMaxThreadCount + */ +ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count); +/** + * @brief Get maximum threads that are allowed to be used for island stepping. + * + * Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for + * important information regarding the value returned. + * + * @param w The world queried + * @returns Current thread count limit value for island stepping + * @ingroup world + * @see dWorldSetStepIslandsProcessingMaxThreadCount + */ +ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w); + +/** + * @brief Set the world to use shared working memory along with another world. + * + * The worlds allocate working memory internally for simulation stepping. This + * memory is cached among the calls to @c dWordStep and @c dWorldQuickStep. + * Similarly, several worlds can be set up to share this memory caches thus + * reducing overall memory usage by cost of making worlds inappropriate for + * simultaneous simulation in multiple threads. + * + * If null value is passed for @a from_world parameter the world is detached from + * sharing and returns to defaults for working memory, reservation policy and + * memory manager as if just created. This can also be used to enable use of shared + * memory for a world that has already had working memory allocated privately. + * Normally using shared memory after a world has its private working memory allocated + * is prohibited. + * + * Allocation policy used can only increase world's internal reserved memory size + * and never decreases it. @c dWorldCleanupWorkingMemory can be used to release + * working memory for a world in case if number of objects/joint decreases + * significantly in it. + * + * With sharing working memory worlds also automatically share memory reservation + * policy and memory manager. Thus, these parameters need to be customized for + * initial world to be used as sharing source only. + * + * If worlds share working memory they must also use compatible threading implementations + * (i.e. it is illegal for one world to perform stepping with self-threaded implementation + * when the other world is assigned a multi-threaded implementation). + * For more information read section about threading approaches in ODE. + * + * Failure result status means a memory allocation failure. + * + * @param w The world to use the shared memory with. + * @param from_world Null or the world the shared memory is to be used from. + * @returns 1 for success and 0 for failure. + * + * @ingroup world + * @see dWorldCleanupWorkingMemory + * @see dWorldSetStepMemoryReservationPolicy + * @see dWorldSetStepMemoryManager + */ +ODE_API int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world/*=NULL*/); + +/** + * @brief Release internal working memory allocated for world + * + * The worlds allocate working memory internally for simulation stepping. This + * function can be used to free world's internal memory cache in case if number of + * objects/joints in the world decreases significantly. By default, internal + * allocation policy is used to only increase cache size as necessary and never + * decrease it. + * + * If a world shares its working memory with other worlds the cache deletion + * affects all the linked worlds. However the shared status itself remains intact. + * + * The function call does affect neither memory reservation policy nor memory manager. + * + * @param w The world to release working memory for. + * + * @ingroup world + * @see dWorldUseSharedWorkingMemory + * @see dWorldSetStepMemoryReservationPolicy + * @see dWorldSetStepMemoryManager */ -ODE_API void dWorldStep (dWorldID, dReal stepsize); +ODE_API void dWorldCleanupWorkingMemory(dWorldID w); + +#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f +#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U /** - * @brief Converts an impulse to a force. + * @struct dWorldStepReserveInfo + * @brief Memory reservation policy descriptor structure for world stepping functions. + * + * @c struct_size should be assigned the size of the structure. + * + * @c reserve_factor is a quotient that is multiplied by required memory size + * to allocate extra reserve whenever reallocation is needed. + * + * @c reserve_minimum is a minimum size that is checked against whenever reallocation + * is needed to allocate expected working memory minimum at once without extra + * reallocations as number of bodies/joints grows. + * * @ingroup world - * @remarks - * If you want to apply a linear or angular impulse to a rigid body, - * instead of a force or a torque, then you can use this function to convert - * the desired impulse into a force/torque vector before calling the - * BodyAdd... function. - * The current algorithm simply scales the impulse by 1/stepsize, - * where stepsize is the step size for the next step that will be taken. - * This function is given a dWorldID because, in the future, the force - * computation may depend on integrator parameters that are set as - * properties of the world. + * @see dWorldSetStepMemoryReservationPolicy */ -ODE_API void dWorldImpulseToForce -( - dWorldID, dReal stepsize, - dReal ix, dReal iy, dReal iz, dVector3 force -); +typedef struct +{ + unsigned struct_size; + float reserve_factor; /* Use float as precision does not matter here*/ + unsigned reserve_minimum; + +} dWorldStepReserveInfo; + +/** + * @brief Set memory reservation policy for world to be used with simulation stepping functions + * + * The function allows to customize reservation policy to be used for internal + * memory which is allocated to aid simulation for a world. By default, values + * of @c dWORLDSTEP_RESERVEFACTOR_DEFAULT and @c dWORLDSTEP_RESERVESIZE_DEFAULT + * are used. + * + * Passing @a policyinfo argument as NULL results in reservation policy being + * reset to defaults as if the world has been just created. The content of + * @a policyinfo structure is copied internally and does not need to remain valid + * after the call returns. + * + * If the world uses working memory sharing, changing memory reservation policy + * affects all the worlds linked together. + * + * Failure result status means a memory allocation failure. + * + * @param w The world to change memory reservation policy for. + * @param policyinfo Null or a pointer to policy descriptor structure. + * @returns 1 for success and 0 for failure. + * + * @ingroup world + * @see dWorldUseSharedWorkingMemory + */ +ODE_API int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo/*=NULL*/); +/** +* @struct dWorldStepMemoryFunctionsInfo +* @brief World stepping memory manager descriptor structure +* +* This structure is intended to define the functions of memory manager to be used +* with world stepping functions. +* +* @c struct_size should be assigned the size of the structure +* +* @c alloc_block is a function to allocate memory block of given size. +* +* @c shrink_block is a function to shrink existing memory block to a smaller size. +* It must preserve the contents of block head while shrinking. The new block size +* is guaranteed to be always less than the existing one. +* +* @c free_block is a function to delete existing memory block. +* +* @ingroup init +* @see dWorldSetStepMemoryManager +*/ +typedef struct +{ + unsigned struct_size; + void *(*alloc_block)(size_t block_size); + void *(*shrink_block)(void *block_pointer, size_t block_current_size, size_t block_smaller_size); + void (*free_block)(void *block_pointer, size_t block_current_size); + +} dWorldStepMemoryFunctionsInfo; + +/** +* @brief Set memory manager for world to be used with simulation stepping functions +* +* The function allows to customize memory manager to be used for internal +* memory allocation during simulation for a world. By default, @c dAlloc/@c dRealloc/@c dFree +* based memory manager is used. +* +* Passing @a memfuncs argument as NULL results in memory manager being +* reset to default one as if the world has been just created. The content of +* @a memfuncs structure is copied internally and does not need to remain valid +* after the call returns. +* +* If the world uses working memory sharing, changing memory manager +* affects all the worlds linked together. +* +* Failure result status means a memory allocation failure. +* +* @param w The world to change memory reservation policy for. +* @param memfuncs Null or a pointer to memory manager descriptor structure. +* @returns 1 for success and 0 for failure. +* +* @ingroup world +* @see dWorldUseSharedWorkingMemory +*/ +ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs); + +/** + * @brief Assign threading implementation to be used for [quick]stepping the world. + * + * @warning It is not recommended to assign the same threading implementation to + * different worlds if they are going to be called in parallel. In particular this + * makes resources preallocation for threaded calls to lose its sense. + * Built-in threading implementation is likely to crash if misused this way. + * + * @param w The world to change threading implementation for. + * @param functions_info Pointer to threading functions structure + * @param threading_impl ID of threading implementation object + * + * @ingroup world + */ +ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl); /** * @brief Step the world. + * + * This uses a "big matrix" method that takes time on the order of m^3 + * and memory on the order of m^2, where m is the total number of constraint + * rows. For large systems this will use a lot of memory and can be very slow, + * but this is currently the most accurate method. + * + * Failure result status means that the memory allocation has failed for operation. + * In such a case all the objects remain in unchanged state and simulation can be + * retried as soon as more memory is available. + * + * @param w The world to be stepped + * @param stepsize The number of seconds that the simulation has to advance. + * @returns 1 for success and 0 for failure + * * @ingroup world - * @remarks + */ +ODE_API int dWorldStep (dWorldID w, dReal stepsize); + +/** + * @brief Quick-step the world. + * * This uses an iterative method that takes time on the order of m*N * and memory on the order of m, where m is the total number of constraint * rows N is the number of iterations. * For large systems this is a lot faster than dWorldStep(), * but it is less accurate. - * @remarks + * * QuickStep is great for stacks of objects especially when the * auto-disable feature is used as well. * However, it has poor accuracy for near-singular systems. * Near-singular systems can occur when using high-friction contacts, motors, * or certain articulated structures. For example, a robot with multiple legs * sitting on the ground may be near-singular. - * @remarks + * * There are ways to help overcome QuickStep's inaccuracy problems: + * * \li Increase CFM. * \li Reduce the number of contacts in your system (e.g. use the minimum * number of contacts for the feet of a robot or creature). @@ -182,8 +413,39 @@ * * Increasing the number of QuickStep iterations may help a little bit, but * it is not going to help much if your system is really near singular. + * + * Failure result status means that the memory allocation has failed for operation. + * In such a case all the objects remain in unchanged state and simulation can be + * retried as soon as more memory is available. + * + * @param w The world to be stepped + * @param stepsize The number of seconds that the simulation has to advance. + * @returns 1 for success and 0 for failure + * + * @ingroup world */ -ODE_API void dWorldQuickStep (dWorldID w, dReal stepsize); +ODE_API int dWorldQuickStep (dWorldID w, dReal stepsize); + + +/** +* @brief Converts an impulse to a force. +* @ingroup world +* @remarks +* If you want to apply a linear or angular impulse to a rigid body, +* instead of a force or a torque, then you can use this function to convert +* the desired impulse into a force/torque vector before calling the +* BodyAdd... function. +* The current algorithm simply scales the impulse by 1/stepsize, +* where stepsize is the step size for the next step that will be taken. +* This function is given a dWorldID because, in the future, the force +* computation may depend on integrator parameters that are set as +* properties of the world. +*/ +ODE_API void dWorldImpulseToForce +( + dWorldID, dReal stepsize, + dReal ix, dReal iy, dReal iz, dVector3 force + ); /** @@ -259,16 +521,6 @@ */ ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID); -/* StepFast1 functions */ - -/** - * @brief Step the world using the StepFast1 algorithm. - * @param stepsize the nr of seconds to advance the simulation. - * @param maxiterations The number of iterations to perform. - * @ingroup world - */ -ODE_API void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations); - /** * @defgroup disable Automatic Enabling and Disabling @@ -303,72 +555,32 @@ */ /** - * @brief Set the AutoEnableDepth parameter used by the StepFast1 algorithm. - * @ingroup disable - */ -ODE_API void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth); - -/** - * @brief Get the AutoEnableDepth parameter used by the StepFast1 algorithm. - * @ingroup disable - */ -ODE_API int dWorldGetAutoEnableDepthSF1(dWorldID); - -/** - * @brief Get auto disable linear threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); - -/** - * @brief Set auto disable linear threshold for newly created bodies. - * @param linear_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold); - -/** - * @brief Get auto disable angular threshold for newly created bodies. - * @ingroup disable - * @return the threshold - */ -ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); - -/** - * @brief Set auto disable angular threshold for newly created bodies. - * @param linear_threshold default is 0.01 - * @ingroup disable - */ -ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold); - -/** * @brief Get auto disable linear average threshold for newly created bodies. * @ingroup disable * @return the threshold */ -ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold (dWorldID); +ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID); /** * @brief Set auto disable linear average threshold for newly created bodies. * @param linear_average_threshold default is 0.01 * @ingroup disable */ -ODE_API void dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold); +ODE_API void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_average_threshold); /** * @brief Get auto disable angular average threshold for newly created bodies. * @ingroup disable * @return the threshold */ -ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold (dWorldID); +ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID); /** * @brief Set auto disable angular average threshold for newly created bodies. * @param linear_average_threshold default is 0.01 * @ingroup disable */ -ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold); +ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_average_threshold); /** * @brief Get auto disable sample count for newly created bodies. @@ -1420,22 +1632,22 @@ */ ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID); - /** - * @brief Create a new joint of the PU (Prismatic and Universal) type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given joint group. - */ - ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); +/** + * @brief Create a new joint of the PU (Prismatic and Universal) type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreatePU (dWorldID, dJointGroupID); - /** - * @brief Create a new joint of the Piston type. - * @ingroup joints - * @param dJointGroupID set to 0 to allocate the joint normally. - * If it is nonzero the joint is allocated in the given - * joint group. - */ - ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); +/** + * @brief Create a new joint of the Piston type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given + * joint group. + */ +ODE_API dJointID dJointCreatePiston (dWorldID, dJointGroupID); /** * @brief Create a new joint of the fixed type. @@ -1472,6 +1684,31 @@ ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID); /** + * @brief Create a new joint of the double ball type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateDBall (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the double hinge type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateDHinge (dWorldID, dJointGroupID); + +/** + * @brief Create a new joint of the Transmission type. + * @ingroup joints + * @param dJointGroupID set to 0 to allocate the joint normally. + * If it is nonzero the joint is allocated in the given joint group. + */ +ODE_API dJointID dJointCreateTransmission (dWorldID, dJointGroupID); + + +/** * @brief Destroy a joint. * @ingroup joints * @@ -1900,177 +2137,177 @@ ODE_API void dJointAddPRTorque (dJointID j, dReal torque); - /** - * @brief set anchor - * @ingroup joints - */ - ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); +/** +* @brief set anchor +* @ingroup joints +*/ +ODE_API void dJointSetPUAnchor (dJointID, dReal x, dReal y, dReal z); - /** - * @brief set anchor - * @ingroup joints - */ - ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); +/** + * @brief set anchor + * @ingroup joints + */ +ODE_API_DEPRECATED ODE_API void dJointSetPUAnchorDelta (dJointID, dReal x, dReal y, dReal z, + dReal dx, dReal dy, dReal dz); - /** - * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
-   * dReal offset = 3;
-   * dVector3 axis;
-   * dJointGetPUAxis(jId, axis);
-   * dJointSetPUAnchor(jId, 0, 0, 0);
-   * // If you request the position you will have: dJointGetPUPosition(jId) == 0
-   * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
-   * // If you request the position you will have: dJointGetPUPosition(jId) == offset
-   *
- * @param j The PU joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ - ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); +/** + * @brief Set the PU anchor as if the 2 bodies were already at [dx, dy, dz] appart. + * @ingroup joints + * + * This function initialize the anchor and the relative position of each body + * as if the position between body1 and body2 was already the projection of [dx, dy, dz] + * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the + * axis is set). + * Ex: + * 
+ * dReal offset = 3;
+ * dVector3 axis;
+ * dJointGetPUAxis(jId, axis);
+ * dJointSetPUAnchor(jId, 0, 0, 0);
+ * // If you request the position you will have: dJointGetPUPosition(jId) == 0
+ * dJointSetPUAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
+ * // If you request the position you will have: dJointGetPUPosition(jId) == offset
+ *
+ * @param j The PU joint for which the anchor point will be set + * @param x The X position of the anchor point in world frame + * @param y The Y position of the anchor point in world frame + * @param z The Z position of the anchor point in world frame + * @param dx A delta to be substracted to the X position as if the anchor was set + * when body1 was at current_position[X] - dx + * @param dx A delta to be substracted to the Y position as if the anchor was set + * when body1 was at current_position[Y] - dy + * @param dx A delta to be substracted to the Z position as if the anchor was set + * when body1 was at current_position[Z] - dz + */ +ODE_API void dJointSetPUAnchorOffset (dJointID, dReal x, dReal y, dReal z, + dReal dx, dReal dy, dReal dz); - /** - * @brief set the axis for the first axis or the universal articulation - * @ingroup joints - */ - ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); +/** + * @brief set the axis for the first axis or the universal articulation + * @ingroup joints + */ +ODE_API void dJointSetPUAxis1 (dJointID, dReal x, dReal y, dReal z); - /** - * @brief set the axis for the second axis or the universal articulation - * @ingroup joints - */ - ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); +/** + * @brief set the axis for the second axis or the universal articulation + * @ingroup joints + */ +ODE_API void dJointSetPUAxis2 (dJointID, dReal x, dReal y, dReal z); - /** - * @brief set the axis for the prismatic articulation - * @ingroup joints - */ - ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); +/** + * @brief set the axis for the prismatic articulation + * @ingroup joints + */ +ODE_API void dJointSetPUAxis3 (dJointID, dReal x, dReal y, dReal z); - /** - * @brief set the axis for the prismatic articulation - * @ingroup joints - * @note This function was added for convenience it is the same as - * dJointSetPUAxis3 - */ - ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); +/** + * @brief set the axis for the prismatic articulation + * @ingroup joints + * @note This function was added for convenience it is the same as + * dJointSetPUAxis3 + */ +ODE_API void dJointSetPUAxisP (dJointID id, dReal x, dReal y, dReal z); - /** - * @brief set joint parameter - * @ingroup joints - * - * @note parameterX where X equal 2 refer to parameter for second axis of the - * universal articulation - * @note parameterX where X equal 3 refer to parameter for prismatic - * articulation - */ - ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); +/** + * @brief set joint parameter + * @ingroup joints + * + * @note parameterX where X equal 2 refer to parameter for second axis of the + * universal articulation + * @note parameterX where X equal 3 refer to parameter for prismatic + * articulation + */ +ODE_API void dJointSetPUParam (dJointID, int parameter, dReal value); - /** - * @brief Applies the torque about the rotoide axis of the PU joint - * - * That is, it applies a torque with specified magnitude in the direction - * of the rotoide axis, to body 1, and with the same magnitude but in opposite - * direction to body 2. This function is just a wrapper for dBodyAddTorque()} - * @ingroup joints - */ - ODE_API void dJointAddPUTorque (dJointID j, dReal torque); +/** + * @brief Applies the torque about the rotoide axis of the PU joint + * + * That is, it applies a torque with specified magnitude in the direction + * of the rotoide axis, to body 1, and with the same magnitude but in opposite + * direction to body 2. This function is just a wrapper for dBodyAddTorque()} + * @ingroup joints + */ +ODE_API void dJointAddPUTorque (dJointID j, dReal torque); - /** - * @brief set the joint anchor - * @ingroup joints - */ - ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); +/** + * @brief set the joint anchor + * @ingroup joints + */ +ODE_API void dJointSetPistonAnchor (dJointID, dReal x, dReal y, dReal z); + +/** + * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. + * @ingroup joints + * + * This function initialize the anchor and the relative position of each body + * as if the position between body1 and body2 was already the projection of [dx, dy, dz] + * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the + * axis is set). + * Ex: + * 
+ * dReal offset = 3;
+ * dVector3 axis;
+ * dJointGetPistonAxis(jId, axis);
+ * dJointSetPistonAnchor(jId, 0, 0, 0);
+ * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
+ * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
+ * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
+ *
+ * @param j The Piston joint for which the anchor point will be set + * @param x The X position of the anchor point in world frame + * @param y The Y position of the anchor point in world frame + * @param z The Z position of the anchor point in world frame + * @param dx A delta to be substracted to the X position as if the anchor was set + * when body1 was at current_position[X] - dx + * @param dx A delta to be substracted to the Y position as if the anchor was set + * when body1 was at current_position[Y] - dy + * @param dx A delta to be substracted to the Z position as if the anchor was set + * when body1 was at current_position[Z] - dz + */ +ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, + dReal dx, dReal dy, dReal dz); /** - * @brief Set the Piston anchor as if the 2 bodies were already at [dx,dy, dz] appart. - * @ingroup joints - * - * This function initialize the anchor and the relative position of each body - * as if the position between body1 and body2 was already the projection of [dx, dy, dz] - * along the Piston axis. (i.e as if the body1 was at its current position - [dx,dy,dy] when the - * axis is set). - * Ex: - * 
-   * dReal offset = 3;
-   * dVector3 axis;
-   * dJointGetPistonAxis(jId, axis);
-   * dJointSetPistonAnchor(jId, 0, 0, 0);
-   * // If you request the position you will have: dJointGetPistonPosition(jId) == 0
-   * dJointSetPistonAnchorOffset(jId, 0, 0, 0, axis[X]*offset, axis[Y]*offset, axis[Z]*offset);
-   * // If you request the position you will have: dJointGetPistonPosition(jId) == offset
-   *
- * @param j The Piston joint for which the anchor point will be set - * @param x The X position of the anchor point in world frame - * @param y The Y position of the anchor point in world frame - * @param z The Z position of the anchor point in world frame - * @param dx A delta to be substracted to the X position as if the anchor was set - * when body1 was at current_position[X] - dx - * @param dx A delta to be substracted to the Y position as if the anchor was set - * when body1 was at current_position[Y] - dy - * @param dx A delta to be substracted to the Z position as if the anchor was set - * when body1 was at current_position[Z] - dz - */ - ODE_API void dJointSetPistonAnchorOffset(dJointID j, dReal x, dReal y, dReal z, - dReal dx, dReal dy, dReal dz); + * @brief set the joint axis + * @ingroup joints + */ +ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); - /** - * @brief set the joint axis - * @ingroup joints - */ - ODE_API void dJointSetPistonAxis (dJointID, dReal x, dReal y, dReal z); - - /** - * This function set prismatic axis of the joint and also set the position - * of the joint. - * - * @ingroup joints - * @param j The joint affected by this function - * @param x The x component of the axis - * @param y The y component of the axis - * @param z The z component of the axis - * @param dx The Initial position of the prismatic join in the x direction - * @param dy The Initial position of the prismatic join in the y direction - * @param dz The Initial position of the prismatic join in the z direction - */ - ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); +/** + * This function set prismatic axis of the joint and also set the position + * of the joint. + * + * @ingroup joints + * @param j The joint affected by this function + * @param x The x component of the axis + * @param y The y component of the axis + * @param z The z component of the axis + * @param dx The Initial position of the prismatic join in the x direction + * @param dy The Initial position of the prismatic join in the y direction + * @param dz The Initial position of the prismatic join in the z direction + */ +ODE_API_DEPRECATED ODE_API void dJointSetPistonAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az); - /** - * @brief set joint parameter - * @ingroup joints - */ - ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); +/** + * @brief set joint parameter + * @ingroup joints + */ +ODE_API void dJointSetPistonParam (dJointID, int parameter, dReal value); - /** - * @brief Applies the given force in the slider's direction. - * - * That is, it applies a force with specified magnitude, in the direction of - * prismatic's axis, to body1, and with the same magnitude but opposite - * direction to body2. This function is just a wrapper for dBodyAddForce(). - * @ingroup joints - */ - ODE_API void dJointAddPistonForce (dJointID joint, dReal force); +/** + * @brief Applies the given force in the slider's direction. + * + * That is, it applies a force with specified magnitude, in the direction of + * prismatic's axis, to body1, and with the same magnitude but opposite + * direction to body2. This function is just a wrapper for dBodyAddForce(). + * @ingroup joints + */ +ODE_API void dJointAddPistonForce (dJointID joint, dReal force); /** @@ -2328,6 +2565,12 @@ ODE_API dReal dJointGetHinge2Angle1 (dJointID); /** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetHinge2Angle2 (dJointID); + +/** * @brief Get time derivative of angle * @ingroup joints */ @@ -2450,12 +2693,12 @@ /** - * @brief Get the PR angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ + * @brief Get the PR angular position (i.e. the twist between the 2 bodies) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * @ingroup joints + */ ODE_API dReal dJointGetPRAngle (dJointID); /** @@ -2486,185 +2729,185 @@ - /** - * @brief Get the joint anchor point, in world coordinates. - * @return the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2. - * @ingroup joints - */ - ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); +/** + * @brief Get the joint anchor point, in world coordinates. + * @return the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2. + * @ingroup joints + */ +ODE_API void dJointGetPUAnchor (dJointID, dVector3 result); - /** - * @brief Get the PU linear position (i.e. the prismatic's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * - * The position is the "oriented" length between the - * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUPosition (dJointID); +/** + * @brief Get the PU linear position (i.e. the prismatic's extension) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * + * The position is the "oriented" length between the + * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)] + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUPosition (dJointID); - /** - * @brief Get the PR linear position's time derivative - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUPositionRate (dJointID); +/** + * @brief Get the PR linear position's time derivative + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUPositionRate (dJointID); - /** - * @brief Get the first axis of the universal component of the joint - * @ingroup joints - */ - ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); +/** + * @brief Get the first axis of the universal component of the joint + * @ingroup joints + */ +ODE_API void dJointGetPUAxis1 (dJointID, dVector3 result); - /** - * @brief Get the second axis of the Universal component of the joint - * @ingroup joints - */ - ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); +/** + * @brief Get the second axis of the Universal component of the joint + * @ingroup joints + */ +ODE_API void dJointGetPUAxis2 (dJointID, dVector3 result); - /** - * @brief Get the prismatic axis - * @ingroup joints - */ - ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); +/** + * @brief Get the prismatic axis + * @ingroup joints + */ +ODE_API void dJointGetPUAxis3 (dJointID, dVector3 result); - /** - * @brief Get the prismatic axis - * @ingroup joints - * - * @note This function was added for convenience it is the same as - * dJointGetPUAxis3 - */ - ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); +/** + * @brief Get the prismatic axis + * @ingroup joints + * + * @note This function was added for convenience it is the same as + * dJointGetPUAxis3 + */ +ODE_API void dJointGetPUAxisP (dJointID id, dVector3 result); - /** - * @brief Get both angles at the same time. - * @ingroup joints - * - * @param joint The Prismatic universal joint for which we want to calculate the angles - * @param angle1 The angle between the body1 and the axis 1 - * @param angle2 The angle between the body2 and the axis 2 - * - * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together - * and try to avoid redundant calculation - */ - ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); +/** + * @brief Get both angles at the same time. + * @ingroup joints + * + * @param joint The Prismatic universal joint for which we want to calculate the angles + * @param angle1 The angle between the body1 and the axis 1 + * @param angle2 The angle between the body2 and the axis 2 + * + * @note This function combine dJointGetPUAngle1 and dJointGetPUAngle2 together + * and try to avoid redundant calculation + */ +ODE_API void dJointGetPUAngles (dJointID, dReal *angle1, dReal *angle2); - /** - * @brief Get angle - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle1 (dJointID); +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle1 (dJointID); - /** - * @brief * @brief Get time derivative of angle1 - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle1Rate (dJointID); +/** + * @brief * @brief Get time derivative of angle1 + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle1Rate (dJointID); - /** - * @brief Get angle - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle2 (dJointID); +/** + * @brief Get angle + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle2 (dJointID); - /** - * @brief * @brief Get time derivative of angle2 - * - * @ingroup joints - */ - ODE_API dReal dJointGetPUAngle2Rate (dJointID); +/** + * @brief * @brief Get time derivative of angle2 + * + * @ingroup joints + */ +ODE_API dReal dJointGetPUAngle2Rate (dJointID); /** * @brief get joint parameter * @ingroup joints */ - ODE_API dReal dJointGetPUParam (dJointID, int parameter); +ODE_API dReal dJointGetPUParam (dJointID, int parameter); /** - * @brief Get the Piston linear position (i.e. the piston's extension) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonPosition (dJointID); + * @brief Get the Piston linear position (i.e. the piston's extension) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonPosition (dJointID); - /** - * @brief Get the piston linear position's time derivative. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonPositionRate (dJointID); +/** + * @brief Get the piston linear position's time derivative. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonPositionRate (dJointID); /** - * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) - * - * When the axis is set, the current position of the attached bodies is - * examined and that position will be the zero position. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonAngle (dJointID); + * @brief Get the Piston angular position (i.e. the twist between the 2 bodies) + * + * When the axis is set, the current position of the attached bodies is + * examined and that position will be the zero position. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonAngle (dJointID); - /** - * @brief Get the piston angular position's time derivative. - * @ingroup joints - */ - ODE_API dReal dJointGetPistonAngleRate (dJointID); +/** + * @brief Get the piston angular position's time derivative. + * @ingroup joints + */ +ODE_API dReal dJointGetPistonAngleRate (dJointID); - /** - * @brief Get the joint anchor - * - * This returns the point on body 1. If the joint is perfectly satisfied, - * this will be the same as the point on body 2 in direction perpendicular - * to the prismatic axis. - * - * @ingroup joints - */ - ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); +/** + * @brief Get the joint anchor + * + * This returns the point on body 1. If the joint is perfectly satisfied, + * this will be the same as the point on body 2 in direction perpendicular + * to the prismatic axis. + * + * @ingroup joints + */ +ODE_API void dJointGetPistonAnchor (dJointID, dVector3 result); - /** - * @brief Get the joint anchor w.r.t. body 2 - * - * This returns the point on body 2. You can think of a Piston - * joint as trying to keep the result of dJointGetPistonAnchor() and - * dJointGetPistonAnchor2() the same in the direction perpendicular to the - * pirsmatic axis. If the joint is perfectly satisfied, - * this function will return the same value as dJointGetPistonAnchor() to - * within roundoff errors. dJointGetPistonAnchor2() can be used, along with - * dJointGetPistonAnchor(), to see how far the joint has come apart. - * - * @ingroup joints - */ - ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); +/** + * @brief Get the joint anchor w.r.t. body 2 + * + * This returns the point on body 2. You can think of a Piston + * joint as trying to keep the result of dJointGetPistonAnchor() and + * dJointGetPistonAnchor2() the same in the direction perpendicular to the + * pirsmatic axis. If the joint is perfectly satisfied, + * this function will return the same value as dJointGetPistonAnchor() to + * within roundoff errors. dJointGetPistonAnchor2() can be used, along with + * dJointGetPistonAnchor(), to see how far the joint has come apart. + * + * @ingroup joints + */ +ODE_API void dJointGetPistonAnchor2 (dJointID, dVector3 result); - /** - * @brief Get the prismatic axis (This is also the rotoide axis. - * @ingroup joints - */ - ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); +/** + * @brief Get the prismatic axis (This is also the rotoide axis. + * @ingroup joints + */ +ODE_API void dJointGetPistonAxis (dJointID, dVector3 result); - /** - * @brief get joint parameter - * @ingroup joints - */ - ODE_API dReal dJointGetPistonParam (dJointID, int parameter); +/** + * @brief get joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetPistonParam (dJointID, int parameter); - /** +/** * @brief Get the number of angular axes that will be controlled by the * AMotor. * @param num can range from 0 (which effectively deactivates the @@ -2770,6 +3013,327 @@ /** + * @brief get the contact point of the first wheel of the Transmission joint. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionContactPoint1(dJointID, dVector3 result); + +/** + * @brief get contact point of the second wheel of the Transmission joint. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionContactPoint2(dJointID, dVector3 result); + +/** + * @brief set the first axis for the Transmission joint + * @remarks This is the axis around which the first body is allowed to + * revolve and is attached to it. It is given in global coordinates + * and can only be set explicitly in intersecting-axes mode. For the + * parallel-axes and chain modes which share one common axis of + * revolution for both gears dJointSetTransmissionAxis should be used. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAxis1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get first axis for the Transmission joint + * @remarks In parallel-axes and chain mode the common axis with + * respect to the first body is returned. If the joint constraint is + * satisfied it should be the same as the axis return with + * dJointGetTransmissionAxis2 or dJointGetTransmissionAxis. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAxis1(dJointID, dVector3 result); + +/** + * @brief set second axis for the Transmission joint + * @remarks This is the axis around which the second body is allowed + * to revolve and is attached to it. It is given in global + * coordinates and can only be set explicitly in intersecting-axes + * mode. For the parallel-axes and chain modes which share one common + * axis of revolution for both gears dJointSetTransmissionAxis should + * be used. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAxis2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get second axis for the Transmission joint + * @remarks In parallel-axes and chain mode the common axis with + * respect to the second body is returned. If the joint constraint is + * satisfied it should be the same as the axis return with + * dJointGetTransmissionAxis1 or dJointGetTransmissionAxis. + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAxis2(dJointID, dVector3 result); + +/** + * @brief set the first anchor for the Transmission joint + * @remarks This is the point of attachment of the wheel on the + * first body. It is given in global coordinates. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAnchor1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get the first anchor of the Transmission joint + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAnchor1(dJointID, dVector3 result); + +/** + * @brief set the second anchor for the Transmission joint + * @remarks This is the point of attachment of the wheel on the + * second body. It is given in global coordinates. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAnchor2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get the second anchor for the Transmission joint + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAnchor2(dJointID, dVector3 result); + +/** + * @brief set a Transmission joint parameter + * @ingroup joints + */ +ODE_API void dJointSetTransmissionParam(dJointID, int parameter, dReal value); + +/** + * @brief get a Transmission joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionParam(dJointID, int parameter); + +/** + * @brief set the Transmission joint mode + * @remarks The mode can be one of dTransmissionParallelAxes, + * dTransmissionIntersectingAxes and dTransmissionChainDrive simulating a + * set of parallel-axes gears, intersecting-axes beveled gears or + * chain and sprockets respectively. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionMode( dJointID j, int mode ); + +/** + * @brief get the Transmission joint mode + * @ingroup joints + */ +ODE_API int dJointGetTransmissionMode( dJointID j ); + +/** + * @brief set the Transmission ratio + * @remarks This is the ratio of the angular speed of the first gear + * to that of the second gear. It can only be set explicitly in + * parallel-axes mode. In intersecting-axes mode the ratio is defined + * implicitly by the initial configuration of the wheels and in chain + * mode it is defined implicitly be the wheel radii. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionRatio( dJointID j, dReal ratio ); + +/** + * @brief get the Transmission joint ratio + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionRatio( dJointID j ); + +/** + * @brief set the common axis for both wheels of the Transmission joint + * @remarks This sets the common axis of revolution for both wheels + * and should only be used in parallel-axes or chain mode. For + * intersecting-axes mode where each wheel axis needs to be specified + * individually dJointSetTransmissionAxis1 and + * dJointSetTransmissionAxis2 should be used. The axis is given in + * global coordinates + * @ingroup joints + */ +ODE_API void dJointSetTransmissionAxis( dJointID j, dReal x, dReal y, dReal z ); + +/** + * @brief get the common axis for both wheels of the Transmission joint + * @ingroup joints + */ +ODE_API void dJointGetTransmissionAxis( dJointID j, dVector3 result ); + +/** + * @brief get the phase, that is the traversed angle for the first + * wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionAngle1( dJointID j ); + +/** + * @brief get the phase, that is the traversed angle for the second + * wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionAngle2( dJointID j ); + +/** + * @brief get the radius of the first wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionRadius1( dJointID j ); + +/** + * @brief get the radius of the second wheel of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionRadius2( dJointID j ); + +/** + * @brief set the radius of the first wheel of the Transmission joint + * @remarks The wheel radii can only be set explicitly in chain mode. + * In the other modes they're defined implicitly by the initial + * configuration and ratio of the wheels. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionRadius1( dJointID j, dReal radius ); + +/** + * @brief set the radius of the second wheel of the Transmission joint + * @remarks The wheel radii can only be set explicitly in chain mode. + * In the other modes they're defined implicitly by the initial + * configuration and ratio of the wheels. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionRadius2( dJointID j, dReal radius ); + +/** + * @brief get the backlash of the Transmission joint + * @ingroup joints + */ +ODE_API dReal dJointGetTransmissionBacklash( dJointID j ); + +/** + * @brief set the backlash of the Transmission joint + * @remarks Backlash is the clearance in the mesh of the wheels of the + * transmission and is defined as the maximum distance that the + * geometric contact point can travel without any actual contact or + * transfer of power between the wheels. This can be converted in + * degrees of revolution for each wheel by dividing by the wheel's + * radius. To further illustrate this consider the situation where a + * wheel of radius r_1 is driving another wheel of radius r_2 and + * there is an amount of backlash equal to b in their mesh. If the + * driving wheel were to instantaneously stop there would be no + * contact and hence the driven wheel would continue to turn for + * another b / r_2 radians until all the backlash in the mesh was take + * up and contact restored with the relationship of driving and driven + * wheel reversed. The backlash is therefore given in untis of + * length. + * @ingroup joints + */ +ODE_API void dJointSetTransmissionBacklash( dJointID j, dReal backlash ); + +/** + * @brief set anchor1 for double ball joint + * @ingroup joints + */ +ODE_API void dJointSetDBallAnchor1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set anchor2 for double ball joint + * @ingroup joints + */ +ODE_API void dJointSetDBallAnchor2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get anchor1 from double ball joint + * @ingroup joints + */ +ODE_API void dJointGetDBallAnchor1(dJointID, dVector3 result); + +/** + * @brief get anchor2 from double ball joint + * @ingroup joints + */ +ODE_API void dJointGetDBallAnchor2(dJointID, dVector3 result); + +/** + * @brief get the target distance from double ball joint + * @ingroup joints + */ +ODE_API dReal dJointGetDBallDistance(dJointID); + +/** + * @brief set the target distance for the double ball joint + * @ingroup joints + */ +ODE_API void dJointSetDBallDistance(dJointID, dReal dist); + +/** + * @brief set double ball joint parameter + * @ingroup joints + */ +ODE_API void dJointSetDBallParam(dJointID, int parameter, dReal value); + +/** + * @brief get double ball joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetDBallParam(dJointID, int parameter); + +/** + * @brief set axis for double hinge joint + * @ingroup joints + */ +ODE_API void dJointSetDHingeAxis(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get axis for double hinge joint + * @ingroup joints + */ +ODE_API void dJointGetDHingeAxis(dJointID, dVector3 result); + +/** + * @brief set anchor1 for double hinge joint + * @ingroup joints + */ +ODE_API void dJointSetDHingeAnchor1(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief set anchor2 for double hinge joint + * @ingroup joints + */ +ODE_API void dJointSetDHingeAnchor2(dJointID, dReal x, dReal y, dReal z); + +/** + * @brief get anchor1 from double hinge joint + * @ingroup joints + */ +ODE_API void dJointGetDHingeAnchor1(dJointID, dVector3 result); + +/** + * @brief get anchor2 from double hinge joint + * @ingroup joints + */ +ODE_API void dJointGetDHingeAnchor2(dJointID, dVector3 result); + +/** + * @brief get the set distance from double hinge joint + * @ingroup joints + */ +ODE_API dReal dJointGetDHingeDistance(dJointID); + +/** + * @brief set double hinge joint parameter + * @ingroup joints + */ +ODE_API void dJointSetDHingeParam(dJointID, int parameter, dReal value); + +/** + * @brief get double hinge joint parameter + * @ingroup joints + */ +ODE_API dReal dJointGetDHingeParam(dJointID, int parameter); + + + + +/** * @ingroup joints */ ODE_API dJointID dConnectingJoint (dBodyID, dBodyID); diff -Nru ode-0.11.1/include/ode/odeconfig.h ode-0.14/include/ode/odeconfig.h --- ode-0.11.1/include/ode/odeconfig.h 2008-10-16 22:33:17.000000000 +0000 +++ ode-0.14/include/ode/odeconfig.h 2015-12-18 14:09:27.000000000 +0000 @@ -1,13 +1,31 @@ -#ifndef ODECONFIG_H -#define ODECONFIG_H +/************************************************************************* + * * + * 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 dDOUBLE -#ifndef dSINGLE -#define dSINGLE -#endif -#endif +#ifndef _ODE_ODECONFIG_H_ +#define _ODE_ODECONFIG_H_ /* Pull in the standard headers */ +#include +#include #include #include #include @@ -15,12 +33,16 @@ #include #include -#if defined(ODE_DLL) || defined(ODE_LIB) || !defined(_MSC_VER) + +#include + + +#if defined(ODE_DLL) || defined(ODE_LIB) #define __ODE__ #endif /* Define a DLL export symbol for those platforms that need it */ -#if defined(_MSC_VER) +#if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32)) #if defined(ODE_DLL) #define ODE_API __declspec(dllexport) #elif !defined(ODE_LIB) @@ -40,35 +62,55 @@ # define ODE_API_DEPRECATED #endif +#define ODE_PURE_INLINE static __inline +#define ODE_INLINE __inline + +#if defined(__cplusplus) + #define ODE_EXTERN_C extern "C" +#else + #define ODE_EXTERN_C +#endif + /* Well-defined common data types...need to define for 64 bit systems */ #if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__) #define X86_64_SYSTEM 1 - typedef int int32; - typedef unsigned int uint32; - typedef short int16; - typedef unsigned short uint16; - typedef char int8; - typedef unsigned char uint8; -#else - typedef int int32; - typedef unsigned int uint32; - typedef short int16; - typedef unsigned short uint16; - typedef char int8; - typedef unsigned char uint8; +#if defined(_MSC_VER) + typedef __int64 dint64; + typedef unsigned __int64 duint64; +#else + typedef long long dint64; + typedef unsigned long long duint64; #endif - -/* Visual C does not define these functions */ + typedef int dint32; + typedef unsigned int duint32; + typedef short dint16; + typedef unsigned short duint16; + typedef signed char dint8; + typedef unsigned char duint8; +#else #if defined(_MSC_VER) - #define copysignf _copysign - #define copysign _copysign + typedef __int64 dint64; + typedef unsigned __int64 duint64; +#else + typedef long long dint64; + typedef unsigned long long duint64; +#endif + typedef int dint32; + typedef unsigned int duint32; + typedef short dint16; + typedef unsigned short duint16; + typedef signed char dint8; + typedef unsigned char duint8; #endif - /* Define the dInfinity macro */ #ifdef INFINITY - #define dInfinity INFINITY + #ifdef dSINGLE + #define dInfinity ((float)INFINITY) + #else + #define dInfinity ((double)INFINITY) + #endif #elif defined(HUGE_VAL) #ifdef dSINGLE #ifdef HUGE_VALF @@ -88,4 +130,34 @@ #endif +/* Define the dNaN macro */ +#ifdef NAN + #define dNaN NAN +#else + #ifdef dSINGLE + #define dNaN ((float)(dInfinity - dInfinity)) + #else + #define dNaN (dInfinity - dInfinity) + #endif +#endif + + + /* Visual C does not define these functions */ +#if defined(_MSC_VER) + #define _ode_copysignf(x, y) ((float)_copysign(x, y)) + #define _ode_copysign(x, y) _copysign(x, y) + #define _ode_nextafterf(x, y) _nextafterf(x, y) + #define _ode_nextafter(x, y) _nextafter(x, y) + #if !defined(_WIN64) && defined(dSINGLE) + #define _ODE__NEXTAFTERF_REQUIRED + ODE_EXTERN_C float _nextafterf(float x, float y); + #endif +#else + #define _ode_copysignf(x, y) copysignf(x, y) + #define _ode_copysign(x, y) copysign(x, y) + #define _ode_nextafterf(x, y) nextafterf(x, y) + #define _ode_nextafter(x, y) nextafter(x, y) +#endif + + #endif diff -Nru ode-0.11.1/include/ode/odecpp_collision.h ode-0.14/include/ode/odecpp_collision.h --- ode-0.11.1/include/ode/odecpp_collision.h 2008-12-17 08:20:07.000000000 +0000 +++ ode-0.14/include/ode/odecpp_collision.h 2015-12-18 14:09:27.000000000 +0000 @@ -1,23 +1,23 @@ /************************************************************************* - * * - * 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: * + * * + * 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. * - * * + * 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. * + * * *************************************************************************/ /* C++ interface for new collision API */ @@ -80,7 +80,7 @@ { dGeomSetRotation (_id,R); } const dReal * getRotation() const { return dGeomGetRotation (_id); } - + void setQuaternion (const dQuaternion quat) { dGeomSetQuaternion (_id,quat); } void getQuaternion (dQuaternion quat) const @@ -108,6 +108,26 @@ int isEnabled() { return dGeomIsEnabled (_id); } + void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomGetRelPointPos (_id, px, py, pz, result); } + void getRelPointPos (const dVector3 p, dVector3 result) const + { getRelPointPos (p[0], p[1], p[2], result); } + + void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomGetPosRelPoint (_id, px, py, pz, result); } + void getPosRelPoint (const dVector3 p, dVector3 result) const + { getPosRelPoint (p[0], p[1], p[2], result); } + + void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomVectorToWorld (_id, px, py, pz, result); } + void vectorToWorld (const dVector3 p, dVector3 result) const + { vectorToWorld (p[0], p[1], p[2], result); } + + void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const + { dGeomVectorFromWorld (_id, px, py, pz, result); } + void vectorFromWorld (const dVector3 p, dVector3 result) const + { vectorFromWorld (p[0], p[1], p[2], result); } + void collide2 (dGeomID g, void *data, dNearCallback *callback) { dSpaceCollide2 (_id,g,data,callback); } }; @@ -359,18 +379,50 @@ void get (dVector3 start, dVector3 dir) { dGeomRayGet (_id, start, dir); } +#ifdef WIN32 +#pragma warning( push ) +#pragma warning( disable : 4996 ) +#else +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif + ODE_API_DEPRECATED void setParams (int firstContact, int backfaceCull) { dGeomRaySetParams (_id, firstContact, backfaceCull); } + + ODE_API_DEPRECATED void getParams (int *firstContact, int *backfaceCull) { dGeomRayGetParams (_id, firstContact, backfaceCull); } +#ifdef WIN32 +#pragma warning( pop ) +#else +#pragma GCC diagnostic pop +#endif + void setBackfaceCull (int backfaceCull) + { dGeomRaySetBackfaceCull (_id, backfaceCull); } + int getBackfaceCull() + { return dGeomRayGetBackfaceCull (_id); } + + void setFirstContact (int firstContact) + { dGeomRaySetFirstContact (_id, firstContact); } + int getFirstContact() + { return dGeomRayGetFirstContact (_id); } + void setClosestHit (int closestHit) { dGeomRaySetClosestHit (_id, closestHit); } int getClosestHit() { return dGeomRayGetClosestHit (_id); } }; +#ifdef WIN32 +#pragma warning( push ) +#pragma warning( disable : 4996 ) +#else +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdeprecated-declarations" +#endif -class dGeomTransform : public dGeom { +class ODE_API_DEPRECATED dGeomTransform : public dGeom { // intentionally undefined, don't use these dGeomTransform (dGeomTransform &); void operator= (dGeomTransform &); @@ -403,6 +455,12 @@ { return dGeomTransformGetInfo (_id); } }; +#ifdef WIN32 +#pragma warning( pop ) +#else +#pragma GCC diagnostic pop +#endif + //} #endif diff -Nru ode-0.11.1/include/ode/odecpp.h ode-0.14/include/ode/odecpp.h --- ode-0.11.1/include/ode/odecpp.h 2008-12-21 00:36:18.000000000 +0000 +++ ode-0.14/include/ode/odecpp.h 2015-12-18 14:09:27.000000000 +0000 @@ -1,23 +1,23 @@ /************************************************************************* - * * - * 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: * + * * + * 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. * - * * + * 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. * + * * *************************************************************************/ /* C++ interface for non-collision stuff */ @@ -32,448 +32,533 @@ //namespace ode { -class dWorld { - dWorldID _id; +class dWorldSimpleIDContainer { +protected: + dWorldID _id; + + dWorldSimpleIDContainer(): _id(0) {} + ~dWorldSimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dWorldDestroy(_id); + _id = 0; + } + } +}; + +class dWorldDynamicIDContainer: public dWorldSimpleIDContainer { +protected: + virtual ~dWorldDynamicIDContainer() {} +}; + +template +class dWorldTemplate: public dWorldTemplateBase { // intentionally undefined, don't use these - dWorld (const dWorld &); - void operator= (const dWorld &); + dWorldTemplate (const dWorldTemplate &); + void operator= (const dWorldTemplate &); + +protected: + dWorldID get_id() const { return dWorldTemplateBase::_id; } + void set_id(dWorldID value) { dWorldTemplateBase::_id = value; } public: - dWorld() - { _id = dWorldCreate(); } - ~dWorld() - { dWorldDestroy (_id); } + dWorldTemplate() + { set_id(dWorldCreate()); } dWorldID id() const - { return _id; } + { return get_id(); } operator dWorldID() const - { return _id; } + { return get_id(); } void setGravity (dReal x, dReal y, dReal z) - { dWorldSetGravity (_id,x,y,z); } + { dWorldSetGravity (get_id(), x, y, z); } void setGravity (const dVector3 g) { setGravity (g[0], g[1], g[2]); } void getGravity (dVector3 g) const - { dWorldGetGravity (_id,g); } + { dWorldGetGravity (get_id(), g); } void setERP (dReal erp) - { dWorldSetERP(_id, erp); } + { dWorldSetERP(get_id(), erp); } dReal getERP() const - { return dWorldGetERP(_id); } + { return dWorldGetERP(get_id()); } void setCFM (dReal cfm) - { dWorldSetCFM(_id, cfm); } + { dWorldSetCFM(get_id(), cfm); } dReal getCFM() const - { return dWorldGetCFM(_id); } + { return dWorldGetCFM(get_id()); } void step (dReal stepsize) - { dWorldStep (_id,stepsize); } - - void stepFast1 (dReal stepsize, int maxiterations) - { dWorldStepFast1 (_id,stepsize,maxiterations); } - void setAutoEnableDepthSF1(int depth) - { dWorldSetAutoEnableDepthSF1 (_id, depth); } - int getAutoEnableDepthSF1() const - { return dWorldGetAutoEnableDepthSF1 (_id); } + { dWorldStep (get_id(), stepsize); } void quickStep(dReal stepsize) - { dWorldQuickStep (_id, stepsize); } + { dWorldQuickStep (get_id(), stepsize); } void setQuickStepNumIterations(int num) - { dWorldSetQuickStepNumIterations (_id, num); } + { dWorldSetQuickStepNumIterations (get_id(), num); } int getQuickStepNumIterations() const - { return dWorldGetQuickStepNumIterations (_id); } + { return dWorldGetQuickStepNumIterations (get_id()); } void setQuickStepW(dReal over_relaxation) - { dWorldSetQuickStepW (_id, over_relaxation); } + { dWorldSetQuickStepW (get_id(), over_relaxation); } dReal getQuickStepW() const - { return dWorldGetQuickStepW (_id); } + { return dWorldGetQuickStepW (get_id()); } void setAutoDisableLinearThreshold (dReal threshold) - { dWorldSetAutoDisableLinearThreshold (_id,threshold); } + { dWorldSetAutoDisableLinearThreshold (get_id(), threshold); } dReal getAutoDisableLinearThreshold() const - { return dWorldGetAutoDisableLinearThreshold (_id); } + { return dWorldGetAutoDisableLinearThreshold (get_id()); } void setAutoDisableAngularThreshold (dReal threshold) - { dWorldSetAutoDisableAngularThreshold (_id,threshold); } + { dWorldSetAutoDisableAngularThreshold (get_id(), threshold); } dReal getAutoDisableAngularThreshold() const - { return dWorldGetAutoDisableAngularThreshold (_id); } + { return dWorldGetAutoDisableAngularThreshold (get_id()); } void setAutoDisableSteps (int steps) - { dWorldSetAutoDisableSteps (_id,steps); } + { dWorldSetAutoDisableSteps (get_id(), steps); } int getAutoDisableSteps() const - { return dWorldGetAutoDisableSteps (_id); } + { return dWorldGetAutoDisableSteps (get_id()); } void setAutoDisableTime (dReal time) - { dWorldSetAutoDisableTime (_id,time); } + { dWorldSetAutoDisableTime (get_id(), time); } dReal getAutoDisableTime() const - { return dWorldGetAutoDisableTime (_id); } + { return dWorldGetAutoDisableTime (get_id()); } void setAutoDisableFlag (int do_auto_disable) - { dWorldSetAutoDisableFlag (_id,do_auto_disable); } + { dWorldSetAutoDisableFlag (get_id(), do_auto_disable); } int getAutoDisableFlag() const - { return dWorldGetAutoDisableFlag (_id); } + { return dWorldGetAutoDisableFlag (get_id()); } dReal getLinearDampingThreshold() const - { return dWorldGetLinearDampingThreshold(_id); } + { return dWorldGetLinearDampingThreshold(get_id()); } void setLinearDampingThreshold(dReal threshold) - { dWorldSetLinearDampingThreshold(_id, threshold); } + { dWorldSetLinearDampingThreshold(get_id(), threshold); } dReal getAngularDampingThreshold() const - { return dWorldGetAngularDampingThreshold(_id); } + { return dWorldGetAngularDampingThreshold(get_id()); } void setAngularDampingThreshold(dReal threshold) - { dWorldSetAngularDampingThreshold(_id, threshold); } + { dWorldSetAngularDampingThreshold(get_id(), threshold); } dReal getLinearDamping() const - { return dWorldGetLinearDamping(_id); } + { return dWorldGetLinearDamping(get_id()); } void setLinearDamping(dReal scale) - { dWorldSetLinearDamping(_id, scale); } + { dWorldSetLinearDamping(get_id(), scale); } dReal getAngularDamping() const - { return dWorldGetAngularDamping(_id); } + { return dWorldGetAngularDamping(get_id()); } void setAngularDamping(dReal scale) - { dWorldSetAngularDamping(_id, scale); } + { dWorldSetAngularDamping(get_id(), scale); } void setDamping(dReal linear_scale, dReal angular_scale) - { dWorldSetDamping(_id, linear_scale, angular_scale); } + { dWorldSetDamping(get_id(), linear_scale, angular_scale); } dReal getMaxAngularSpeed() const - { return dWorldGetMaxAngularSpeed(_id); } + { return dWorldGetMaxAngularSpeed(get_id()); } void setMaxAngularSpeed(dReal max_speed) - { dWorldSetMaxAngularSpeed(_id, max_speed); } + { dWorldSetMaxAngularSpeed(get_id(), max_speed); } void setContactSurfaceLayer(dReal depth) - { dWorldSetContactSurfaceLayer (_id, depth); } + { dWorldSetContactSurfaceLayer (get_id(), depth); } dReal getContactSurfaceLayer() const - { return dWorldGetContactSurfaceLayer (_id); } + { return dWorldGetContactSurfaceLayer (get_id()); } - void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, + void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force) - { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); } + { dWorldImpulseToForce (get_id(), stepsize, ix, iy, iz, force); } }; -class dBody { - dBodyID _id; +class dBodySimpleIDContainer { +protected: + dBodyID _id; + + dBodySimpleIDContainer(): _id(0) {} + ~dBodySimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dBodyDestroy(_id); + _id = 0; + } + } +}; + +class dBodyDynamicIDContainer: public dBodySimpleIDContainer { +protected: + virtual ~dBodyDynamicIDContainer() {} +}; + +template +class dBodyTemplate: public dBodyTemplateBase { // intentionally undefined, don't use these - dBody (const dBody &); - void operator= (const dBody &); + dBodyTemplate (const dBodyTemplate &); + void operator= (const dBodyTemplate &); + +protected: + dBodyID get_id() const { return dBodyTemplateBase::_id; } + void set_id(dBodyID value) { dBodyTemplateBase::_id = value; } + + void destroy() { dBodyTemplateBase::destroy(); } public: - dBody() - { _id = 0; } - dBody (dWorldID world) - { _id = dBodyCreate (world); } - dBody (dWorld& world) - { _id = dBodyCreate (world.id()); } - ~dBody() - { if (_id) dBodyDestroy (_id); } + dBodyTemplate() + { } + dBodyTemplate (dWorldID world) + { set_id(dBodyCreate(world)); } + dBodyTemplate (dWorldTemplate& world) + { set_id(dBodyCreate(world.id())); } void create (dWorldID world) { - if (_id) dBodyDestroy (_id); - _id = dBodyCreate (world); + destroy(); + set_id(dBodyCreate(world)); } - void create (dWorld& world) { + void create (dWorldTemplate& world) { create(world.id()); } dBodyID id() const - { return _id; } + { return get_id(); } operator dBodyID() const - { return _id; } + { return get_id(); } void setData (void *data) - { dBodySetData (_id,data); } + { dBodySetData (get_id(), data); } void *getData() const - { return dBodyGetData (_id); } + { return dBodyGetData (get_id()); } void setPosition (dReal x, dReal y, dReal z) - { dBodySetPosition (_id,x,y,z); } + { dBodySetPosition (get_id(), x, y, z); } void setPosition (const dVector3 p) { setPosition(p[0], p[1], p[2]); } void setRotation (const dMatrix3 R) - { dBodySetRotation (_id,R); } + { dBodySetRotation (get_id(), R); } void setQuaternion (const dQuaternion q) - { dBodySetQuaternion (_id,q); } + { dBodySetQuaternion (get_id(), q); } void setLinearVel (dReal x, dReal y, dReal z) - { dBodySetLinearVel (_id,x,y,z); } + { dBodySetLinearVel (get_id(), x, y, z); } void setLinearVel (const dVector3 v) { setLinearVel(v[0], v[1], v[2]); } void setAngularVel (dReal x, dReal y, dReal z) - { dBodySetAngularVel (_id,x,y,z); } + { dBodySetAngularVel (get_id(), x, y, z); } void setAngularVel (const dVector3 v) { setAngularVel (v[0], v[1], v[2]); } const dReal * getPosition() const - { return dBodyGetPosition (_id); } + { return dBodyGetPosition (get_id()); } const dReal * getRotation() const - { return dBodyGetRotation (_id); } + { return dBodyGetRotation (get_id()); } const dReal * getQuaternion() const - { return dBodyGetQuaternion (_id); } + { return dBodyGetQuaternion (get_id()); } const dReal * getLinearVel() const - { return dBodyGetLinearVel (_id); } + { return dBodyGetLinearVel (get_id()); } const dReal * getAngularVel() const - { return dBodyGetAngularVel (_id); } + { return dBodyGetAngularVel (get_id()); } void setMass (const dMass *mass) - { dBodySetMass (_id,mass); } + { dBodySetMass (get_id(), mass); } void setMass (const dMass &mass) { setMass (&mass); } dMass getMass () const - { dMass mass; dBodyGetMass (_id,&mass); return mass; } + { dMass mass; dBodyGetMass (get_id(), &mass); return mass; } void addForce (dReal fx, dReal fy, dReal fz) - { dBodyAddForce (_id, fx, fy, fz); } + { dBodyAddForce (get_id(), fx, fy, fz); } void addForce (const dVector3 f) { addForce (f[0], f[1], f[2]); } void addTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddTorque (_id, fx, fy, fz); } + { dBodyAddTorque (get_id(), fx, fy, fz); } void addTorque (const dVector3 t) { addTorque(t[0], t[1], t[2]); } void addRelForce (dReal fx, dReal fy, dReal fz) - { dBodyAddRelForce (_id, fx, fy, fz); } + { dBodyAddRelForce (get_id(), fx, fy, fz); } void addRelForce (const dVector3 f) { addRelForce (f[0], f[1], f[2]); } void addRelTorque (dReal fx, dReal fy, dReal fz) - { dBodyAddRelTorque (_id, fx, fy, fz); } + { dBodyAddRelTorque (get_id(), fx, fy, fz); } void addRelTorque (const dVector3 t) { addRelTorque (t[0], t[1], t[2]); } - void addForceAtPos (dReal fx, dReal fy, dReal fz, + void addForceAtPos (dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) - { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); } + { dBodyAddForceAtPos (get_id(), fx, fy, fz, px, py, pz); } void addForceAtPos (const dVector3 f, const dVector3 p) { addForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - void addForceAtRelPos (dReal fx, dReal fy, dReal fz, + void addForceAtRelPos (dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) - { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); } + { dBodyAddForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } void addForceAtRelPos (const dVector3 f, const dVector3 p) { addForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - void addRelForceAtPos (dReal fx, dReal fy, dReal fz, + void addRelForceAtPos (dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); } + { dBodyAddRelForceAtPos (get_id(), fx, fy, fz, px, py, pz); } void addRelForceAtPos (const dVector3 f, const dVector3 p) { addRelForceAtPos (f[0], f[1], f[2], p[0], p[1], p[2]); } - void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, + void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) - { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); } + { dBodyAddRelForceAtRelPos (get_id(), fx, fy, fz, px, py, pz); } void addRelForceAtRelPos (const dVector3 f, const dVector3 p) { addRelForceAtRelPos (f[0], f[1], f[2], p[0], p[1], p[2]); } const dReal * getForce() const - { return dBodyGetForce(_id); } + { return dBodyGetForce(get_id()); } const dReal * getTorque() const - { return dBodyGetTorque(_id); } + { return dBodyGetTorque(get_id()); } void setForce (dReal x, dReal y, dReal z) - { dBodySetForce (_id,x,y,z); } + { dBodySetForce (get_id(), x, y, z); } void setForce (const dVector3 f) { setForce (f[0], f[1], f[2]); } void setTorque (dReal x, dReal y, dReal z) - { dBodySetTorque (_id,x,y,z); } + { dBodySetTorque (get_id(), x, y, z); } void setTorque (const dVector3 t) { setTorque (t[0], t[1], t[2]); } void setDynamic() - { dBodySetDynamic (_id); } + { dBodySetDynamic (get_id()); } void setKinematic() - { dBodySetKinematic (_id); } + { dBodySetKinematic (get_id()); } bool isKinematic() const - { return dBodyIsKinematic (_id) != 0; } + { return dBodyIsKinematic (get_id()) != 0; } void enable() - { dBodyEnable (_id); } + { dBodyEnable (get_id()); } void disable() - { dBodyDisable (_id); } + { dBodyDisable (get_id()); } bool isEnabled() const - { return dBodyIsEnabled (_id) != 0; } + { return dBodyIsEnabled (get_id()) != 0; } void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointPos (_id, px, py, pz, result); } + { dBodyGetRelPointPos (get_id(), px, py, pz, result); } void getRelPointPos (const dVector3 p, dVector3 result) const { getRelPointPos (p[0], p[1], p[2], result); } void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetRelPointVel (_id, px, py, pz, result); } + { dBodyGetRelPointVel (get_id(), px, py, pz, result); } void getRelPointVel (const dVector3 p, dVector3 result) const { getRelPointVel (p[0], p[1], p[2], result); } void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPointVel (_id, px, py, pz, result); } + { dBodyGetPointVel (get_id(), px, py, pz, result); } void getPointVel (const dVector3 p, dVector3 result) const { getPointVel (p[0], p[1], p[2], result); } void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyGetPosRelPoint (_id, px, py, pz, result); } + { dBodyGetPosRelPoint (get_id(), px, py, pz, result); } void getPosRelPoint (const dVector3 p, dVector3 result) const { getPosRelPoint (p[0], p[1], p[2], result); } void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorToWorld (_id, px, py, pz, result); } + { dBodyVectorToWorld (get_id(), px, py, pz, result); } void vectorToWorld (const dVector3 p, dVector3 result) const { vectorToWorld (p[0], p[1], p[2], result); } void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const - { dBodyVectorFromWorld (_id,px,py,pz,result); } + { dBodyVectorFromWorld (get_id(), px, py, pz, result); } void vectorFromWorld (const dVector3 p, dVector3 result) const { vectorFromWorld (p[0], p[1], p[2], result); } void setFiniteRotationMode (bool mode) - { dBodySetFiniteRotationMode (_id, mode); } + { dBodySetFiniteRotationMode (get_id(), mode); } void setFiniteRotationAxis (dReal x, dReal y, dReal z) - { dBodySetFiniteRotationAxis (_id, x, y, z); } + { dBodySetFiniteRotationAxis (get_id(), x, y, z); } void setFiniteRotationAxis (const dVector3 a) { setFiniteRotationAxis (a[0], a[1], a[2]); } bool getFiniteRotationMode() const - { return dBodyGetFiniteRotationMode (_id) != 0; } + { return dBodyGetFiniteRotationMode (get_id()) != 0; } void getFiniteRotationAxis (dVector3 result) const - { dBodyGetFiniteRotationAxis (_id, result); } + { dBodyGetFiniteRotationAxis (get_id(), result); } int getNumJoints() const - { return dBodyGetNumJoints (_id); } + { return dBodyGetNumJoints (get_id()); } dJointID getJoint (int index) const - { return dBodyGetJoint (_id, index); } + { return dBodyGetJoint (get_id(), index); } void setGravityMode (bool mode) - { dBodySetGravityMode (_id,mode); } + { dBodySetGravityMode (get_id(), mode); } bool getGravityMode() const - { return dBodyGetGravityMode (_id) != 0; } + { return dBodyGetGravityMode (get_id()) != 0; } bool isConnectedTo (dBodyID body) const - { return dAreConnected (_id, body) != 0; } + { return dAreConnected (get_id(), body) != 0; } void setAutoDisableLinearThreshold (dReal threshold) - { dBodySetAutoDisableLinearThreshold (_id,threshold); } + { dBodySetAutoDisableLinearThreshold (get_id(), threshold); } dReal getAutoDisableLinearThreshold() const - { return dBodyGetAutoDisableLinearThreshold (_id); } + { return dBodyGetAutoDisableLinearThreshold (get_id()); } void setAutoDisableAngularThreshold (dReal threshold) - { dBodySetAutoDisableAngularThreshold (_id,threshold); } + { dBodySetAutoDisableAngularThreshold (get_id(), threshold); } dReal getAutoDisableAngularThreshold() const - { return dBodyGetAutoDisableAngularThreshold (_id); } + { return dBodyGetAutoDisableAngularThreshold (get_id()); } void setAutoDisableSteps (int steps) - { dBodySetAutoDisableSteps (_id,steps); } + { dBodySetAutoDisableSteps (get_id(), steps); } int getAutoDisableSteps() const - { return dBodyGetAutoDisableSteps (_id); } + { return dBodyGetAutoDisableSteps (get_id()); } void setAutoDisableTime (dReal time) - { dBodySetAutoDisableTime (_id,time); } + { dBodySetAutoDisableTime (get_id(), time); } dReal getAutoDisableTime() const - { return dBodyGetAutoDisableTime (_id); } + { return dBodyGetAutoDisableTime (get_id()); } void setAutoDisableFlag (bool do_auto_disable) - { dBodySetAutoDisableFlag (_id,do_auto_disable); } + { dBodySetAutoDisableFlag (get_id(), do_auto_disable); } bool getAutoDisableFlag() const - { return dBodyGetAutoDisableFlag (_id) != 0; } + { return dBodyGetAutoDisableFlag (get_id()) != 0; } dReal getLinearDamping() const - { return dBodyGetLinearDamping(_id); } + { return dBodyGetLinearDamping(get_id()); } void setLinearDamping(dReal scale) - { dBodySetLinearDamping(_id, scale); } + { dBodySetLinearDamping(get_id(), scale); } dReal getAngularDamping() const - { return dBodyGetAngularDamping(_id); } + { return dBodyGetAngularDamping(get_id()); } void setAngularDamping(dReal scale) - { dBodySetAngularDamping(_id, scale); } + { dBodySetAngularDamping(get_id(), scale); } void setDamping(dReal linear_scale, dReal angular_scale) - { dBodySetDamping(_id, linear_scale, angular_scale); } + { dBodySetDamping(get_id(), linear_scale, angular_scale); } dReal getLinearDampingThreshold() const - { return dBodyGetLinearDampingThreshold(_id); } + { return dBodyGetLinearDampingThreshold(get_id()); } void setLinearDampingThreshold(dReal threshold) const - { dBodySetLinearDampingThreshold(_id, threshold); } + { dBodySetLinearDampingThreshold(get_id(), threshold); } dReal getAngularDampingThreshold() const - { return dBodyGetAngularDampingThreshold(_id); } + { return dBodyGetAngularDampingThreshold(get_id()); } void setAngularDampingThreshold(dReal threshold) - { dBodySetAngularDampingThreshold(_id, threshold); } + { dBodySetAngularDampingThreshold(get_id(), threshold); } void setDampingDefaults() - { dBodySetDampingDefaults(_id); } + { dBodySetDampingDefaults(get_id()); } dReal getMaxAngularSpeed() const - { return dBodyGetMaxAngularSpeed(_id); } + { return dBodyGetMaxAngularSpeed(get_id()); } void setMaxAngularSpeed(dReal max_speed) - { dBodySetMaxAngularSpeed(_id, max_speed); } + { dBodySetMaxAngularSpeed(get_id(), max_speed); } bool getGyroscopicMode() const - { return dBodyGetGyroscopicMode(_id) != 0; } + { return dBodyGetGyroscopicMode(get_id()) != 0; } void setGyroscopicMode(bool mode) - { dBodySetGyroscopicMode(_id, mode); } + { dBodySetGyroscopicMode(get_id(), mode); } }; -class dJointGroup { - dJointGroupID _id; +class dJointGroupSimpleIDContainer { +protected: + dJointGroupID _id; + + dJointGroupSimpleIDContainer(): _id(0) {} + ~dJointGroupSimpleIDContainer() { destroy(); } + void destroy() { + if (_id) { + dJointGroupDestroy(_id); + _id = 0; + } + } +}; + +class dJointGroupDynamicIDContainer: public dJointGroupSimpleIDContainer { +protected: + virtual ~dJointGroupDynamicIDContainer() {} +}; + +template +class dJointGroupTemplate: public dJointGroupTemplateBase { // intentionally undefined, don't use these - dJointGroup (const dJointGroup &); - void operator= (const dJointGroup &); + dJointGroupTemplate (const dJointGroupTemplate &); + void operator= (const dJointGroupTemplate &); + +protected: + dJointGroupID get_id() const { return dJointGroupTemplateBase::_id; } + void set_id(dJointGroupID value) { dJointGroupTemplateBase::_id = value; } + + void destroy() { dJointGroupTemplateBase::destroy(); } public: - dJointGroup () - { _id = dJointGroupCreate (0); } - ~dJointGroup() - { dJointGroupDestroy (_id); } + dJointGroupTemplate () + { set_id(dJointGroupCreate(0)); } + void create () { - if (_id) dJointGroupDestroy (_id); - _id = dJointGroupCreate (0); + destroy(); + set_id(dJointGroupCreate(0)); } dJointGroupID id() const - { return _id; } + { return get_id(); } operator dJointGroupID() const - { return _id; } + { return get_id(); } void empty() - { dJointGroupEmpty (_id); } + { dJointGroupEmpty (get_id()); } void clear() { empty(); } }; -class dJoint { +class dJointSimpleIDContainer { +protected: + dJointID _id; + + dJointSimpleIDContainer(): _id(0) {} + ~dJointSimpleIDContainer() { destroy(); } + + void destroy() { + if (_id) { + dJointDestroy (_id); + _id = 0; + } + } +}; + +class dJointDynamicIDContainer: public dJointSimpleIDContainer { +protected: + virtual ~dJointDynamicIDContainer() {} +}; + +template +class dJointTemplate: public dJointTemplateBase { private: // intentionally undefined, don't use these - dJoint (const dJoint &) ; - void operator= (const dJoint &); + dJointTemplate (const dJointTemplate &) ; + void operator= (const dJointTemplate &); protected: - dJointID _id; + dJointID get_id() const { return dJointTemplateBase::_id; } + void set_id(dJointID value) { dJointTemplateBase::_id = value; } - dJoint() // don't let user construct pure dJoint objects - { _id = 0; } + void destroy() { dJointTemplateBase::destroy(); } -public: - virtual ~dJoint() // :( Destructor must be virtual to suppress compiler warning "class XXX has virtual functions but non-virtual destructor" - { if (_id) dJointDestroy (_id); } +protected: + dJointTemplate() // don't let user construct pure dJointTemplate objects + { } +public: dJointID id() const - { return _id; } + { return get_id(); } operator dJointID() const - { return _id; } + { return get_id(); } int getNumBodies() const - { return dJointGetNumBodies(_id); } + { return dJointGetNumBodies(get_id()); } void attach (dBodyID body1, dBodyID body2) - { dJointAttach (_id, body1, body2); } - void attach (dBody& body1, dBody& body2) + { dJointAttach (get_id(), body1, body2); } + void attach (dBodyTemplate& body1, dBodyTemplate& body2) { attach(body1.id(), body2.id()); } void enable() - { dJointEnable (_id); } + { dJointEnable (get_id()); } void disable() - { dJointDisable (_id); } + { dJointDisable (get_id()); } bool isEnabled() const - { return dJointIsEnabled (_id) != 0; } + { return dJointIsEnabled (get_id()) != 0; } void setData (void *data) - { dJointSetData (_id, data); } + { dJointSetData (get_id(), data); } void *getData() const - { return dJointGetData (_id); } + { return dJointGetData (get_id()); } dJointType getType() const - { return dJointGetType (_id); } + { return dJointGetType (get_id()); } dBodyID getBody (int index) const - { return dJointGetBody (_id, index); } + { return dJointGetBody (get_id(), index); } void setFeedback(dJointFeedback *fb) - { dJointSetFeedback(_id, fb); } + { dJointSetFeedback(get_id(), fb); } dJointFeedback *getFeedback() const - { return dJointGetFeedback(_id); } + { return dJointGetFeedback(get_id()); } // If not implemented it will do nothing as describe in the doc virtual void setParam (int, dReal) {}; @@ -481,382 +566,453 @@ }; -class dBallJoint : public dJoint { +template +class dBallJointTemplate : public dJointTemplate { private: // intentionally undefined, don't use these - dBallJoint (const dBallJoint &); - void operator= (const dBallJoint &); + dBallJointTemplate (const dBallJointTemplate &); + void operator= (const dBallJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dBallJoint() { } - dBallJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateBall (world, group); } - dBallJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateBall (world.id(), group); } + dBallJointTemplate() { } + dBallJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateBall(world, group)); } + dBallJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateBall(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateBall (world, group); + destroy(); + set_id(dJointCreateBall(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetBallAnchor (_id, x, y, z); } + { dJointSetBallAnchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor (a[0], a[1], a[2]); } void getAnchor (dVector3 result) const - { dJointGetBallAnchor (_id, result); } + { dJointGetBallAnchor (get_id(), result); } void getAnchor2 (dVector3 result) const - { dJointGetBallAnchor2 (_id, result); } + { dJointGetBallAnchor2 (get_id(), result); } virtual void setParam (int parameter, dReal value) - { dJointSetBallParam (_id, parameter, value); } + { dJointSetBallParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetBallParam (_id, parameter); } + { return dJointGetBallParam (get_id(), parameter); } // TODO: expose params through methods } ; -class dHingeJoint : public dJoint { +template +class dHingeJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dHingeJoint (const dHingeJoint &); - void operator = (const dHingeJoint &); + dHingeJointTemplate (const dHingeJointTemplate &); + void operator = (const dHingeJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dHingeJoint() { } - dHingeJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateHinge (world, group); } - dHingeJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateHinge (world.id(), group); } + dHingeJointTemplate() { } + dHingeJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateHinge(world, group)); } + dHingeJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateHinge(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateHinge (world, group); + destroy(); + set_id(dJointCreateHinge (world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHingeAnchor (_id, x, y, z); } + { dJointSetHingeAnchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor (a[0], a[1], a[2]); } void getAnchor (dVector3 result) const - { dJointGetHingeAnchor (_id, result); } + { dJointGetHingeAnchor (get_id(), result); } void getAnchor2 (dVector3 result) const - { dJointGetHingeAnchor2 (_id, result); } + { dJointGetHingeAnchor2 (get_id(), result); } void setAxis (dReal x, dReal y, dReal z) - { dJointSetHingeAxis (_id, x, y, z); } + { dJointSetHingeAxis (get_id(), x, y, z); } void setAxis (const dVector3 a) { setAxis(a[0], a[1], a[2]); } void getAxis (dVector3 result) const - { dJointGetHingeAxis (_id, result); } + { dJointGetHingeAxis (get_id(), result); } dReal getAngle() const - { return dJointGetHingeAngle (_id); } + { return dJointGetHingeAngle (get_id()); } dReal getAngleRate() const - { return dJointGetHingeAngleRate (_id); } + { return dJointGetHingeAngleRate (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetHingeParam (_id, parameter, value); } + { dJointSetHingeParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetHingeParam (_id, parameter); } + { return dJointGetHingeParam (get_id(), parameter); } // TODO: expose params through methods void addTorque (dReal torque) - { dJointAddHingeTorque(_id, torque); } + { dJointAddHingeTorque(get_id(), torque); } }; -class dSliderJoint : public dJoint { +template +class dSliderJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dSliderJoint (const dSliderJoint &); - void operator = (const dSliderJoint &); + dSliderJointTemplate (const dSliderJointTemplate &); + void operator = (const dSliderJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dSliderJoint() { } - dSliderJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateSlider (world, group); } - dSliderJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateSlider (world.id(), group); } + dSliderJointTemplate() { } + dSliderJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateSlider(world, group)); } + dSliderJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateSlider(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateSlider (world, group); + destroy(); + set_id(dJointCreateSlider(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAxis (dReal x, dReal y, dReal z) - { dJointSetSliderAxis (_id, x, y, z); } + { dJointSetSliderAxis (get_id(), x, y, z); } void setAxis (const dVector3 a) { setAxis (a[0], a[1], a[2]); } void getAxis (dVector3 result) const - { dJointGetSliderAxis (_id, result); } + { dJointGetSliderAxis (get_id(), result); } dReal getPosition() const - { return dJointGetSliderPosition (_id); } + { return dJointGetSliderPosition (get_id()); } dReal getPositionRate() const - { return dJointGetSliderPositionRate (_id); } + { return dJointGetSliderPositionRate (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetSliderParam (_id, parameter, value); } + { dJointSetSliderParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetSliderParam (_id, parameter); } + { return dJointGetSliderParam (get_id(), parameter); } // TODO: expose params through methods void addForce (dReal force) - { dJointAddSliderForce(_id, force); } + { dJointAddSliderForce(get_id(), force); } }; -class dUniversalJoint : public dJoint { +template +class dUniversalJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dUniversalJoint (const dUniversalJoint &); - void operator = (const dUniversalJoint &); + dUniversalJointTemplate (const dUniversalJointTemplate &); + void operator = (const dUniversalJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dUniversalJoint() { } - dUniversalJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateUniversal (world, group); } - dUniversalJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateUniversal (world.id(), group); } + dUniversalJointTemplate() { } + dUniversalJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateUniversal(world, group)); } + dUniversalJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateUniversal(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateUniversal (world, group); + destroy(); + set_id(dJointCreateUniversal(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetUniversalAnchor (_id, x, y, z); } + { dJointSetUniversalAnchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor(a[0], a[1], a[2]); } void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis1 (_id, x, y, z); } + { dJointSetUniversalAxis1 (get_id(), x, y, z); } void setAxis1 (const dVector3 a) { setAxis1 (a[0], a[1], a[2]); } void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetUniversalAxis2 (_id, x, y, z); } + { dJointSetUniversalAxis2 (get_id(), x, y, z); } void setAxis2 (const dVector3 a) { setAxis2 (a[0], a[1], a[2]); } void getAnchor (dVector3 result) const - { dJointGetUniversalAnchor (_id, result); } + { dJointGetUniversalAnchor (get_id(), result); } void getAnchor2 (dVector3 result) const - { dJointGetUniversalAnchor2 (_id, result); } + { dJointGetUniversalAnchor2 (get_id(), result); } void getAxis1 (dVector3 result) const - { dJointGetUniversalAxis1 (_id, result); } + { dJointGetUniversalAxis1 (get_id(), result); } void getAxis2 (dVector3 result) const - { dJointGetUniversalAxis2 (_id, result); } + { dJointGetUniversalAxis2 (get_id(), result); } virtual void setParam (int parameter, dReal value) - { dJointSetUniversalParam (_id, parameter, value); } + { dJointSetUniversalParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetUniversalParam (_id, parameter); } + { return dJointGetUniversalParam (get_id(), parameter); } // TODO: expose params through methods void getAngles(dReal *angle1, dReal *angle2) const - { dJointGetUniversalAngles (_id, angle1, angle2); } + { dJointGetUniversalAngles (get_id(), angle1, angle2); } dReal getAngle1() const - { return dJointGetUniversalAngle1 (_id); } + { return dJointGetUniversalAngle1 (get_id()); } dReal getAngle1Rate() const - { return dJointGetUniversalAngle1Rate (_id); } + { return dJointGetUniversalAngle1Rate (get_id()); } dReal getAngle2() const - { return dJointGetUniversalAngle2 (_id); } + { return dJointGetUniversalAngle2 (get_id()); } dReal getAngle2Rate() const - { return dJointGetUniversalAngle2Rate (_id); } + { return dJointGetUniversalAngle2Rate (get_id()); } void addTorques (dReal torque1, dReal torque2) - { dJointAddUniversalTorques(_id, torque1, torque2); } + { dJointAddUniversalTorques(get_id(), torque1, torque2); } }; -class dHinge2Joint : public dJoint { +template +class dHinge2JointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dHinge2Joint (const dHinge2Joint &); - void operator = (const dHinge2Joint &); + dHinge2JointTemplate (const dHinge2JointTemplate &); + void operator = (const dHinge2JointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dHinge2Joint() { } - dHinge2Joint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateHinge2 (world, group); } - dHinge2Joint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateHinge2 (world.id(), group); } + dHinge2JointTemplate() { } + dHinge2JointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateHinge2(world, group)); } + dHinge2JointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateHinge2(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateHinge2 (world, group); + destroy(); + set_id(dJointCreateHinge2(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetHinge2Anchor (_id, x, y, z); } + { dJointSetHinge2Anchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor(a[0], a[1], a[2]); } void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetHinge2Axis1 (_id, x, y, z); } + { dJointSetHinge2Axis1 (get_id(), x, y, z); } void setAxis1 (const dVector3 a) { setAxis1 (a[0], a[1], a[2]); } void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetHinge2Axis2 (_id, x, y, z); } + { dJointSetHinge2Axis2 (get_id(), x, y, z); } void setAxis2 (const dVector3 a) { setAxis2 (a[0], a[1], a[2]); } void getAnchor (dVector3 result) const - { dJointGetHinge2Anchor (_id, result); } + { dJointGetHinge2Anchor (get_id(), result); } void getAnchor2 (dVector3 result) const - { dJointGetHinge2Anchor2 (_id, result); } + { dJointGetHinge2Anchor2 (get_id(), result); } void getAxis1 (dVector3 result) const - { dJointGetHinge2Axis1 (_id, result); } + { dJointGetHinge2Axis1 (get_id(), result); } void getAxis2 (dVector3 result) const - { dJointGetHinge2Axis2 (_id, result); } + { dJointGetHinge2Axis2 (get_id(), result); } dReal getAngle1() const - { return dJointGetHinge2Angle1 (_id); } + { return dJointGetHinge2Angle1 (get_id()); } dReal getAngle1Rate() const - { return dJointGetHinge2Angle1Rate (_id); } + { return dJointGetHinge2Angle1Rate (get_id()); } dReal getAngle2Rate() const - { return dJointGetHinge2Angle2Rate (_id); } + { return dJointGetHinge2Angle2Rate (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetHinge2Param (_id, parameter, value); } + { dJointSetHinge2Param (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetHinge2Param (_id, parameter); } + { return dJointGetHinge2Param (get_id(), parameter); } // TODO: expose params through methods void addTorques(dReal torque1, dReal torque2) - { dJointAddHinge2Torques(_id, torque1, torque2); } + { dJointAddHinge2Torques(get_id(), torque1, torque2); } }; -class dPRJoint : public dJoint { - dPRJoint (const dPRJoint &); - void operator = (const dPRJoint &); +template +class dPRJointTemplate : public dJointTemplate { +private: + // intentionally undefined, don't use these + dPRJointTemplate (const dPRJointTemplate &); + void operator = (const dPRJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dPRJoint() { } - dPRJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreatePR (world, group); } - dPRJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreatePR (world.id(), group); } + dPRJointTemplate() { } + dPRJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreatePR(world, group)); } + dPRJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreatePR(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreatePR (world, group); + destroy(); + set_id(dJointCreatePR(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPRAnchor (_id, x, y, z); } + { dJointSetPRAnchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor (a[0], a[1], a[2]); } void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPRAxis1 (_id, x, y, z); } + { dJointSetPRAxis1 (get_id(), x, y, z); } void setAxis1 (const dVector3 a) { setAxis1(a[0], a[1], a[2]); } void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPRAxis2 (_id, x, y, z); } + { dJointSetPRAxis2 (get_id(), x, y, z); } void setAxis2 (const dVector3 a) { setAxis2(a[0], a[1], a[2]); } void getAnchor (dVector3 result) const - { dJointGetPRAnchor (_id, result); } + { dJointGetPRAnchor (get_id(), result); } void getAxis1 (dVector3 result) const - { dJointGetPRAxis1 (_id, result); } + { dJointGetPRAxis1 (get_id(), result); } void getAxis2 (dVector3 result) const - { dJointGetPRAxis2 (_id, result); } + { dJointGetPRAxis2 (get_id(), result); } dReal getPosition() const - { return dJointGetPRPosition (_id); } + { return dJointGetPRPosition (get_id()); } dReal getPositionRate() const - { return dJointGetPRPositionRate (_id); } + { return dJointGetPRPositionRate (get_id()); } dReal getAngle() const - { return dJointGetPRAngle (_id); } + { return dJointGetPRAngle (get_id()); } dReal getAngleRate() const - { return dJointGetPRAngleRate (_id); } + { return dJointGetPRAngleRate (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetPRParam (_id, parameter, value); } + { dJointSetPRParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetPRParam (_id, parameter); } + { return dJointGetPRParam (get_id(), parameter); } }; -class dPUJoint : public dJoint +template +class dPUJointTemplate : public dJointTemplate { - dPUJoint (const dPUJoint &); - void operator = (const dPUJoint &); +private: + // intentionally undefined, don't use these + dPUJointTemplate (const dPUJointTemplate &); + void operator = (const dPUJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dPUJoint() { } - dPUJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreatePU (world, group); } - dPUJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreatePU (world.id(), group); } + dPUJointTemplate() { } + dPUJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreatePU(world, group)); } + dPUJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreatePU(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreatePU (world, group); + destroy(); + set_id(dJointCreatePU(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPUAnchor (_id, x, y, z); } + { dJointSetPUAnchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor (a[0], a[1], a[2]); } void setAxis1 (dReal x, dReal y, dReal z) - { dJointSetPUAxis1 (_id, x, y, z); } + { dJointSetPUAxis1 (get_id(), x, y, z); } void setAxis1 (const dVector3 a) { setAxis1(a[0], a[1], a[2]); } void setAxis2 (dReal x, dReal y, dReal z) - { dJointSetPUAxis2 (_id, x, y, z); } + { dJointSetPUAxis2 (get_id(), x, y, z); } void setAxis3 (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (_id, x, y, z); } + { dJointSetPUAxis3 (get_id(), x, y, z); } void setAxis3 (const dVector3 a) { setAxis3(a[0], a[1], a[2]); } void setAxisP (dReal x, dReal y, dReal z) - { dJointSetPUAxis3 (_id, x, y, z); } + { dJointSetPUAxis3 (get_id(), x, y, z); } void setAxisP (const dVector3 a) { setAxisP(a[0], a[1], a[2]); } virtual void getAnchor (dVector3 result) const - { dJointGetPUAnchor (_id, result); } + { dJointGetPUAnchor (get_id(), result); } void getAxis1 (dVector3 result) const - { dJointGetPUAxis1 (_id, result); } + { dJointGetPUAxis1 (get_id(), result); } void getAxis2 (dVector3 result) const - { dJointGetPUAxis2 (_id, result); } + { dJointGetPUAxis2 (get_id(), result); } void getAxis3 (dVector3 result) const - { dJointGetPUAxis3 (_id, result); } + { dJointGetPUAxis3 (get_id(), result); } void getAxisP (dVector3 result) const - { dJointGetPUAxis3 (_id, result); } + { dJointGetPUAxis3 (get_id(), result); } dReal getAngle1() const - { return dJointGetPUAngle1 (_id); } + { return dJointGetPUAngle1 (get_id()); } dReal getAngle1Rate() const - { return dJointGetPUAngle1Rate (_id); } + { return dJointGetPUAngle1Rate (get_id()); } dReal getAngle2() const - { return dJointGetPUAngle2 (_id); } + { return dJointGetPUAngle2 (get_id()); } dReal getAngle2Rate() const - { return dJointGetPUAngle2Rate (_id); } + { return dJointGetPUAngle2Rate (get_id()); } dReal getPosition() const - { return dJointGetPUPosition (_id); } + { return dJointGetPUPosition (get_id()); } dReal getPositionRate() const - { return dJointGetPUPositionRate (_id); } + { return dJointGetPUPositionRate (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetPUParam (_id, parameter, value); } + { dJointSetPUParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetPUParam (_id, parameter); } + { return dJointGetPUParam (get_id(), parameter); } // TODO: expose params through methods }; @@ -864,231 +1020,330 @@ -class dPistonJoint : public dJoint +template +class dPistonJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dPistonJoint (const dPistonJoint &); - void operator = (const dPistonJoint &); + dPistonJointTemplate (const dPistonJointTemplate &); + void operator = (const dPistonJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dPistonJoint() { } - dPistonJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreatePiston (world, group); } - dPistonJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreatePiston (world, group); } + dPistonJointTemplate() { } + dPistonJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreatePiston(world, group)); } + dPistonJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreatePiston(world, group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreatePiston (world, group); + destroy(); + set_id(dJointCreatePiston(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setAnchor (dReal x, dReal y, dReal z) - { dJointSetPistonAnchor (_id, x, y, z); } + { dJointSetPistonAnchor (get_id(), x, y, z); } void setAnchor (const dVector3 a) { setAnchor (a[0], a[1], a[2]); } void getAnchor (dVector3 result) const - { dJointGetPistonAnchor (_id, result); } + { dJointGetPistonAnchor (get_id(), result); } void getAnchor2 (dVector3 result) const - { dJointGetPistonAnchor2 (_id, result); } + { dJointGetPistonAnchor2 (get_id(), result); } void setAxis (dReal x, dReal y, dReal z) - { dJointSetPistonAxis (_id, x, y, z); } + { dJointSetPistonAxis (get_id(), x, y, z); } void setAxis (const dVector3 a) { setAxis(a[0], a[1], a[2]); } void getAxis (dVector3 result) const - { dJointGetPistonAxis (_id, result); } + { dJointGetPistonAxis (get_id(), result); } dReal getPosition() const - { return dJointGetPistonPosition (_id); } + { return dJointGetPistonPosition (get_id()); } dReal getPositionRate() const - { return dJointGetPistonPositionRate (_id); } + { return dJointGetPistonPositionRate (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetPistonParam (_id, parameter, value); } + { dJointSetPistonParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetPistonParam (_id, parameter); } + { return dJointGetPistonParam (get_id(), parameter); } // TODO: expose params through methods void addForce (dReal force) - { dJointAddPistonForce (_id, force); } + { dJointAddPistonForce (get_id(), force); } }; -class dFixedJoint : public dJoint +template +class dFixedJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dFixedJoint (const dFixedJoint &); - void operator = (const dFixedJoint &); + dFixedJointTemplate (const dFixedJointTemplate &); + void operator = (const dFixedJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dFixedJoint() { } - dFixedJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateFixed (world, group); } - dFixedJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateFixed (world, group); } + dFixedJointTemplate() { } + dFixedJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateFixed(world, group)); } + dFixedJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateFixed(world, group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateFixed (world, group); + destroy(); + set_id(dJointCreateFixed(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void set() - { dJointSetFixed (_id); } + { dJointSetFixed (get_id()); } virtual void setParam (int parameter, dReal value) - { dJointSetFixedParam (_id, parameter, value); } + { dJointSetFixedParam (get_id(), parameter, value); } virtual dReal getParam (int parameter) const - { return dJointGetFixedParam (_id, parameter); } + { return dJointGetFixedParam (get_id(), parameter); } // TODO: expose params through methods }; -class dContactJoint : public dJoint { +template +class dContactJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dContactJoint (const dContactJoint &); - void operator = (const dContactJoint &); + dContactJointTemplate (const dContactJointTemplate &); + void operator = (const dContactJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dContactJoint() { } - dContactJoint (dWorldID world, dJointGroupID group, dContact *contact) - { _id = dJointCreateContact (world, group, contact); } - dContactJoint (dWorld& world, dJointGroupID group, dContact *contact) - { _id = dJointCreateContact (world.id(), group, contact); } + dContactJointTemplate() { } + dContactJointTemplate (dWorldID world, dJointGroupID group, dContact *contact) + { set_id(dJointCreateContact(world, group, contact)); } + dContactJointTemplate (dWorldTemplate& world, dJointGroupID group, dContact *contact) + { set_id(dJointCreateContact(world.id(), group, contact)); } void create (dWorldID world, dJointGroupID group, dContact *contact) { - if (_id) dJointDestroy (_id); - _id = dJointCreateContact (world, group, contact); + destroy(); + set_id(dJointCreateContact(world, group, contact)); } - void create (dWorld& world, dJointGroupID group, dContact *contact) + void create (dWorldTemplate& world, dJointGroupID group, dContact *contact) { create(world.id(), group, contact); } }; -class dNullJoint : public dJoint { +template +class dNullJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dNullJoint (const dNullJoint &); - void operator = (const dNullJoint &); + dNullJointTemplate (const dNullJointTemplate &); + void operator = (const dNullJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dNullJoint() { } - dNullJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateNull (world, group); } - dNullJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateNull (world.id(), group); } + dNullJointTemplate() { } + dNullJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateNull(world, group)); } + dNullJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateNull (world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateNull (world, group); + destroy(); + set_id(dJointCreateNull(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } }; -class dAMotorJoint : public dJoint { +template +class dAMotorJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dAMotorJoint (const dAMotorJoint &); - void operator = (const dAMotorJoint &); + dAMotorJointTemplate (const dAMotorJointTemplate &); + void operator = (const dAMotorJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dAMotorJoint() { } - dAMotorJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateAMotor (world, group); } - dAMotorJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateAMotor (world.id(), group); } + dAMotorJointTemplate() { } + dAMotorJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateAMotor(world, group)); } + dAMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateAMotor(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateAMotor (world, group); + destroy(); + set_id(dJointCreateAMotor(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setMode (int mode) - { dJointSetAMotorMode (_id, mode); } + { dJointSetAMotorMode (get_id(), mode); } int getMode() const - { return dJointGetAMotorMode (_id); } + { return dJointGetAMotorMode (get_id()); } void setNumAxes (int num) - { dJointSetAMotorNumAxes (_id, num); } + { dJointSetAMotorNumAxes (get_id(), num); } int getNumAxes() const - { return dJointGetAMotorNumAxes (_id); } + { return dJointGetAMotorNumAxes (get_id()); } void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetAMotorAxis (_id, anum, rel, x, y, z); } + { dJointSetAMotorAxis (get_id(), anum, rel, x, y, z); } void setAxis (int anum, int rel, const dVector3 a) { setAxis(anum, rel, a[0], a[1], a[2]); } void getAxis (int anum, dVector3 result) const - { dJointGetAMotorAxis (_id, anum, result); } + { dJointGetAMotorAxis (get_id(), anum, result); } int getAxisRel (int anum) const - { return dJointGetAMotorAxisRel (_id, anum); } + { return dJointGetAMotorAxisRel (get_id(), anum); } void setAngle (int anum, dReal angle) - { dJointSetAMotorAngle (_id, anum, angle); } + { dJointSetAMotorAngle (get_id(), anum, angle); } dReal getAngle (int anum) const - { return dJointGetAMotorAngle (_id, anum); } + { return dJointGetAMotorAngle (get_id(), anum); } dReal getAngleRate (int anum) - { return dJointGetAMotorAngleRate (_id,anum); } + { return dJointGetAMotorAngleRate (get_id(), anum); } void setParam (int parameter, dReal value) - { dJointSetAMotorParam (_id, parameter, value); } + { dJointSetAMotorParam (get_id(), parameter, value); } dReal getParam (int parameter) const - { return dJointGetAMotorParam (_id, parameter); } + { return dJointGetAMotorParam (get_id(), parameter); } // TODO: expose params through methods void addTorques(dReal torque1, dReal torque2, dReal torque3) - { dJointAddAMotorTorques(_id, torque1, torque2, torque3); } + { dJointAddAMotorTorques(get_id(), torque1, torque2, torque3); } }; -class dLMotorJoint : public dJoint { +template +class dLMotorJointTemplate : public dJointTemplate { +private: // intentionally undefined, don't use these - dLMotorJoint (const dLMotorJoint &); - void operator = (const dLMotorJoint &); + dLMotorJointTemplate (const dLMotorJointTemplate &); + void operator = (const dLMotorJointTemplate &); + +protected: + typedef dJointTemplate dBaseTemplate; + + dJointID get_id() const { return dBaseTemplate::get_id(); } + void set_id(dJointID value) { dBaseTemplate::set_id(value); } + + void destroy() { dBaseTemplate::destroy(); } public: - dLMotorJoint() { } - dLMotorJoint (dWorldID world, dJointGroupID group=0) - { _id = dJointCreateLMotor (world, group); } - dLMotorJoint (dWorld& world, dJointGroupID group=0) - { _id = dJointCreateLMotor (world.id(), group); } + dLMotorJointTemplate() { } + dLMotorJointTemplate (dWorldID world, dJointGroupID group=0) + { set_id(dJointCreateLMotor(world, group)); } + dLMotorJointTemplate (dWorldTemplate& world, dJointGroupID group=0) + { set_id(dJointCreateLMotor(world.id(), group)); } void create (dWorldID world, dJointGroupID group=0) { - if (_id) dJointDestroy (_id); - _id = dJointCreateLMotor (world, group); + destroy(); + set_id(dJointCreateLMotor(world, group)); } - void create (dWorld& world, dJointGroupID group=0) + void create (dWorldTemplate& world, dJointGroupID group=0) { create(world.id(), group); } void setNumAxes (int num) - { dJointSetLMotorNumAxes (_id, num); } + { dJointSetLMotorNumAxes (get_id(), num); } int getNumAxes() const - { return dJointGetLMotorNumAxes (_id); } + { return dJointGetLMotorNumAxes (get_id()); } void setAxis (int anum, int rel, dReal x, dReal y, dReal z) - { dJointSetLMotorAxis (_id, anum, rel, x, y, z); } + { dJointSetLMotorAxis (get_id(), anum, rel, x, y, z); } void setAxis (int anum, int rel, const dVector3 a) { setAxis(anum, rel, a[0], a[1], a[2]); } void getAxis (int anum, dVector3 result) const - { dJointGetLMotorAxis (_id, anum, result); } + { dJointGetLMotorAxis (get_id(), anum, result); } void setParam (int parameter, dReal value) - { dJointSetLMotorParam (_id, parameter, value); } + { dJointSetLMotorParam (get_id(), parameter, value); } dReal getParam (int parameter) const - { return dJointGetLMotorParam (_id, parameter); } + { return dJointGetLMotorParam (get_id(), parameter); } // TODO: expose params through methods }; //} +#if !defined(dODECPP_WORLD_TEMPLATE_BASE) + +#if defined(dODECPP_BODY_TEMPLATE_BASE) || defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || defined(dODECPP_JOINT_TEMPLATE_BASE) +#error All the odecpp template bases must be defined or not defined together +#endif + +#define dODECPP_WORLD_TEMPLATE_BASE dWorldDynamicIDContainer +#define dODECPP_BODY_TEMPLATE_BASE dBodyDynamicIDContainer +#define dODECPP_JOINTGROUP_TEMPLATE_BASE dJointGroupDynamicIDContainer +#define dODECPP_JOINT_TEMPLATE_BASE dJointDynamicIDContainer + +#else // #if defined(dODECPP_WORLD_TEMPLATE_BASE) + +#if !defined(dODECPP_BODY_TEMPLATE_BASE) || !defined(dODECPP_JOINTGROUP_TEMPLATE_BASE) || !defined(dODECPP_JOINT_TEMPLATE_BASE) +#error All the odecpp template bases must be defined or not defined together +#endif + +#endif // #if defined(dODECPP_WORLD_TEMPLATE_BASE) + + +typedef dWorldTemplate dWorld; +typedef dBodyTemplate dBody; +typedef dJointGroupTemplate dJointGroup; +typedef dJointTemplate dJoint; +typedef dBallJointTemplate dBallJoint; +typedef dHingeJointTemplate dHingeJoint; +typedef dSliderJointTemplate dSliderJoint; +typedef dUniversalJointTemplate dUniversalJoint; +typedef dHinge2JointTemplate dHinge2Joint; +typedef dPRJointTemplate dPRJoint; +typedef dPUJointTemplate dPUJoint; +typedef dPistonJointTemplate dPistonJoint; +typedef dFixedJointTemplate dFixedJoint; +typedef dContactJointTemplate dContactJoint; +typedef dNullJointTemplate dNullJoint; +typedef dAMotorJointTemplate dAMotorJoint; +typedef dLMotorJointTemplate dLMotorJoint; + + #endif #endif diff -Nru ode-0.11.1/include/ode/ode.h ode-0.14/include/ode/ode.h --- ode-0.11.1/include/ode/ode.h 2008-04-28 09:58:39.000000000 +0000 +++ ode-0.14/include/ode/ode.h 2015-12-18 14:09:27.000000000 +0000 @@ -39,10 +39,16 @@ #include #include #include -#include #include #include -#include +#include +#include #include +#include + +#ifdef __cplusplus +# include +# include +#endif #endif diff -Nru ode-0.11.1/include/ode/odeinit.h ode-0.14/include/ode/odeinit.h --- ode-0.11.1/include/ode/odeinit.h 2009-03-14 18:48:14.000000000 +0000 +++ ode-0.14/include/ode/odeinit.h 2015-12-18 14:09:27.000000000 +0000 @@ -1,24 +1,24 @@ /************************************************************************* -* * -* 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. * -* * -*************************************************************************/ + * * + * 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. * + * * + *************************************************************************/ /* Library initialization/finalization functions. */ @@ -74,7 +74,7 @@ * @ingroup init */ enum dInitODEFlags { - dInitFlagManualThreadCleanup = 0x00000001, //@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call + dInitFlagManualThreadCleanup = 0x00000001 /*@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call*/ }; /** @@ -144,11 +144,11 @@ * @ingroup init */ enum dAllocateODEDataFlags { - dAllocateFlagBasicData = 0, //@< Allocate basic data required for library to operate + dAllocateFlagBasicData = 0, /*@< Allocate basic data required for library to operate*/ - dAllocateFlagCollisionData = 0x00000001, //@< Allocate data for collision detection + dAllocateFlagCollisionData = 0x00000001, /*@< Allocate data for collision detection*/ - dAllocateMaskAll = ~0U, //@< Allocate all the possible data that is currently defined or will be defined in the future. + dAllocateMaskAll = ~0 /*@< Allocate all the possible data that is currently defined or will be defined in the future.*/ }; /** @@ -228,11 +228,9 @@ - - #ifdef __cplusplus -}; // extern "C" +} /* extern "C" */ #endif -#endif // _ODE_ODEINIT_H_ +#endif /* _ODE_ODEINIT_H_ */ diff -Nru ode-0.11.1/include/ode/odemath.h ode-0.14/include/ode/odemath.h --- ode-0.11.1/include/ode/odemath.h 2009-02-02 15:06:45.000000000 +0000 +++ ode-0.14/include/ode/odemath.h 2015-12-18 14:09:27.000000000 +0000 @@ -25,12 +25,6 @@ #include -#ifdef __GNUC__ -#define PURE_INLINE extern inline -#else -#define PURE_INLINE inline -#endif - /* * macro to access elements i,j in an NxM matrix A, independent of the * matrix storage convention. @@ -47,122 +41,183 @@ -/* - * General purpose vector operations with other vectors or constants. - */ +/* Some vector math */ +ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = a[0] + b[0]; + const dReal res_1 = a[1] + b[1]; + const dReal res_2 = a[2] + b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#define dOP(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op ((c)[0]); \ - (a)[1] = ((b)[1]) op ((c)[1]); \ - (a)[2] = ((b)[2]) op ((c)[2]); \ - } while (0) -#define dOPC(a,op,b,c) do { \ - (a)[0] = ((b)[0]) op (c); \ - (a)[1] = ((b)[1]) op (c); \ - (a)[2] = ((b)[2]) op (c); \ - } while (0) -#define dOPE(a,op,b) do {\ - (a)[0] op ((b)[0]); \ - (a)[1] op ((b)[1]); \ - (a)[2] op ((b)[2]); \ - } while (0) -#define dOPEC(a,op,c) do { \ - (a)[0] op (c); \ - (a)[1] op (c); \ - (a)[2] op (c); \ - } while (0) - -/// Define an equation with operatos -/// For example this function can be used to replace -/// 
-/// for (int i=0; i<3; ++i)
-///   a[i] += b[i] + c[i];
-///
-#define dOPE2(a,op1,b,op2,c) do { \ - (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ - (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ - (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ - } while (0) +ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = a[0] - b[0]; + const dReal res_1 = a[1] - b[1]; + const dReal res_2 = a[2] - b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -/* - * Length, and squared length helpers. dLENGTH returns the length of a dVector3. - * dLENGTHSQUARED return the squared length of a dVector3. - */ +ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale) +{ + const dReal res_0 = a_scale * a[0] + b_scale * b[0]; + const dReal res_1 = a_scale * a[1] + b_scale * b[1]; + const dReal res_2 = a_scale * a[2] + b_scale * b[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2])) +ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale) +{ + res[0] *= nScale ; + res[1] *= nScale ; + res[2] *= nScale ; +} -#ifdef __cplusplus +ODE_PURE_INLINE void dNegateVector3(dReal *res) +{ + res[0] = -res[0]; + res[1] = -res[1]; + res[2] = -res[2]; +} -PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); } +ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a) +{ + const dReal res_0 = a[0]; + const dReal res_1 = a[1]; + const dReal res_2 = a[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#else +ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale) +{ + const dReal res_0 = a[0] * nScale; + const dReal res_1 = a[1] * nScale; + const dReal res_2 = a[2] * nScale; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) ) +ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a) +{ + const dReal res_0 = -a[0]; + const dReal res_1 = -a[1]; + const dReal res_2 = -a[2]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#endif /* __cplusplus */ +ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a) +{ + const dReal res_0 = a[0]; + const dReal res_1 = a[1]; + const dReal res_2 = a[2]; + const dReal res_3 = a[3]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3; +} +ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a) +{ + dCopyVector4(res + 0, a + 0); + dCopyVector4(res + 4, a + 4); + dCopyVector4(res + 8, a + 8); +} +ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a) +{ + dCopyVector3(res + 0, a + 0); + dCopyVector3(res + 4, a + 4); + dCopyVector3(res + 8, a + 8); +} +ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n) +{ + const dReal res_0 = a[n + 0]; + const dReal res_1 = a[n + 4]; + const dReal res_2 = a[n + 8]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} +ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a) +{ + return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); +} -/* - * 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced - * p and q indexes apart respectively. dDOT() means dDOT11. - * in C++ we could use function templates to get all the versions of these - * functions - but on some compilers this will result in sub-optimal code. - */ +ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a) +{ + return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); +} -#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)]) +ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n) +{ + return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2]; +} -#ifdef __cplusplus -PURE_INLINE dReal dDOT (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); } -PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); } -PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); } -PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); } -PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); } -PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); } -PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); } - -#else - -#define dDOT(a,b) dDOTpq(a,b,1,1) -#define dDOT13(a,b) dDOTpq(a,b,1,3) -#define dDOT31(a,b) dDOTpq(a,b,3,1) -#define dDOT33(a,b) dDOTpq(a,b,3,3) -#define dDOT14(a,b) dDOTpq(a,b,1,4) -#define dDOT41(a,b) dDOTpq(a,b,4,1) -#define dDOT44(a,b) dDOTpq(a,b,4,4) +/* +* 3-way dot product. _dCalcVectorDot3 means that elements of `a' and `b' are spaced +* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311. +*/ + +ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b) +{ + return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b]; +} + -#endif /* __cplusplus */ +ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); } +ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); } +ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); } +ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); } +ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); } +ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); } +ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); } /* - * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' - * and `c' are spaced p, q and r indexes apart respectively. - * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to - * +=, -= etc to get other effects. + * cross product, set res = a x b. _dCalcVectorCross3 means that elements of `res', `a' + * and `b' are spaced step_res, step_a and step_b indexes apart respectively. + * dCalcVectorCross3() means dCross3111. */ -#define dCROSS(a,op,b,c) \ -do { \ - (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ - (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ - (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ -} while(0) -#define dCROSSpqr(a,op,b,c,p,q,r) \ -do { \ - (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ - (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ - (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ -} while(0) -#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) -#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) -#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) -#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) -#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) -#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) -#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) +ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b) +{ + const dReal res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b]; + const dReal res_1 = a[2*step_a]*b[ 0] - a[ 0]*b[2*step_b]; + const dReal res_2 = a[ 0]*b[ step_b] - a[ step_a]*b[ 0]; + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[ 0] = res_0; + res[ step_res] = res_1; + res[2*step_res] = res_2; +} + +ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); } +ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); } +ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); } +ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); } +ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); } + +ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dCalcVectorCross3(tmp, a, b); + dAddVectors3(res, res, tmp); +} + +ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dCalcVectorCross3(tmp, a, b); + dSubtractVectors3(res, res, tmp); +} /* @@ -173,177 +228,254 @@ * if (plus,minus) is (-,+) then a negative version will be written. */ -#define dCROSSMAT(A,a,skip,plus,minus) \ -do { \ - (A)[1] = minus (a)[2]; \ - (A)[2] = plus (a)[1]; \ - (A)[(skip)+0] = plus (a)[2]; \ - (A)[(skip)+2] = minus (a)[0]; \ - (A)[2*(skip)+0] = minus (a)[1]; \ - (A)[2*(skip)+1] = plus (a)[0]; \ -} while(0) +ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip) +{ + const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; + res[1] = -a_2; + res[2] = +a_1; + res[skip+0] = +a_2; + res[skip+2] = -a_0; + res[2*skip+0] = -a_1; + res[2*skip+1] = +a_0; +} + +ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip) +{ + const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2]; + res[1] = +a_2; + res[2] = -a_1; + res[skip+0] = -a_2; + res[skip+2] = +a_0; + res[2*skip+0] = +a_1; + res[2*skip+1] = -a_0; +} /* * compute the distance between two 3D-vectors */ -#ifdef __cplusplus -PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b) - { 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]) ); } -#else -#define dDISTANCE(a,b) \ - (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]) )) -#endif - +ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b) +{ + dReal res; + dReal tmp[3]; + dSubtractVectors3(tmp, a, b); + res = dCalcVectorLength3(tmp); + return res; +} /* - * special case matrix multipication, with operator selection + * special case matrix multiplication, with operator selection */ -#define dMULTIPLYOP0_331(A,op,B,C) \ -do { \ - (A)[0] op dDOT((B),(C)); \ - (A)[1] op dDOT((B+4),(C)); \ - (A)[2] op dDOT((B+8),(C)); \ -} while(0) -#define dMULTIPLYOP1_331(A,op,B,C) \ -do { \ - (A)[0] op dDOT41((B),(C)); \ - (A)[1] op dDOT41((B+1),(C)); \ - (A)[2] op dDOT41((B+2),(C)); \ -} while(0) -#define dMULTIPLYOP0_133(A,op,B,C) \ -do { \ - (A)[0] op dDOT14((B),(C)); \ - (A)[1] op dDOT14((B),(C+1)); \ - (A)[2] op dDOT14((B),(C+2)); \ -} while(0) -#define dMULTIPLYOP0_333(A,op,B,C) \ -do { \ - (A)[0] op dDOT14((B),(C)); \ - (A)[1] op dDOT14((B),(C+1)); \ - (A)[2] op dDOT14((B),(C+2)); \ - (A)[4] op dDOT14((B+4),(C)); \ - (A)[5] op dDOT14((B+4),(C+1)); \ - (A)[6] op dDOT14((B+4),(C+2)); \ - (A)[8] op dDOT14((B+8),(C)); \ - (A)[9] op dDOT14((B+8),(C+1)); \ - (A)[10] op dDOT14((B+8),(C+2)); \ -} while(0) -#define dMULTIPLYOP1_333(A,op,B,C) \ -do { \ - (A)[0] op dDOT44((B),(C)); \ - (A)[1] op dDOT44((B),(C+1)); \ - (A)[2] op dDOT44((B),(C+2)); \ - (A)[4] op dDOT44((B+1),(C)); \ - (A)[5] op dDOT44((B+1),(C+1)); \ - (A)[6] op dDOT44((B+1),(C+2)); \ - (A)[8] op dDOT44((B+2),(C)); \ - (A)[9] op dDOT44((B+2),(C+1)); \ - (A)[10] op dDOT44((B+2),(C+2)); \ -} while(0) -#define dMULTIPLYOP2_333(A,op,B,C) \ -do { \ - (A)[0] op dDOT((B),(C)); \ - (A)[1] op dDOT((B),(C+4)); \ - (A)[2] op dDOT((B),(C+8)); \ - (A)[4] op dDOT((B+4),(C)); \ - (A)[5] op dDOT((B+4),(C+4)); \ - (A)[6] op dDOT((B+4),(C+8)); \ - (A)[8] op dDOT((B+8),(C)); \ - (A)[9] op dDOT((B+8),(C+4)); \ - (A)[10] op dDOT((B+8),(C+8)); \ -} while(0) +ODE_PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = dCalcVectorDot3(a, b); + const dReal res_1 = dCalcVectorDot3(a + 4, b); + const dReal res_2 = dCalcVectorDot3(a + 8, b); + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#ifdef __cplusplus +ODE_PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = dCalcVectorDot3_41(a, b); + const dReal res_1 = dCalcVectorDot3_41(a + 1, b); + const dReal res_2 = dCalcVectorDot3_41(a + 2, b); + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} -#define DECL template PURE_INLINE void +ODE_PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper1_331(res, b, a); +} + +ODE_PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b) +{ + const dReal res_0 = dCalcVectorDot3_44(a, b); + const dReal res_1 = dCalcVectorDot3_44(a + 1, b); + const dReal res_2 = dCalcVectorDot3_44(a + 2, b); + /* Only assign after all the calculations are over to avoid incurring memory aliasing*/ + res[0] = res_0; res[1] = res_1; res[2] = res_2; +} /* Note: NEVER call any of these functions/macros with the same variable for A and C, it is not equivalent to A*=B. */ -DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); } -DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); } -DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); } -DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); } -DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); } -DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); } - -DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); } -DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); } -DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); } -DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); } -DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); } -DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); } - -#undef DECL - -#else - -#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C) -#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C) -#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C) -#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C) -#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C) -#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C) - -#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C) -#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C) -#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C) -#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C) -#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C) -#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C) +ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_331(res, a, b); +} -#endif +ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper1_331(res, a, b); +} +ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_133(res, a, b); +} -#ifdef __cplusplus -extern "C" { -#endif +ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_133(res + 0, a + 0, b); + dMultiplyHelper0_133(res + 4, a + 4, b); + dMultiplyHelper0_133(res + 8, a + 8, b); +} -/* - * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) - */ +ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper1_133(res + 0, b, a + 0); + dMultiplyHelper1_133(res + 4, b, a + 1); + dMultiplyHelper1_133(res + 8, b, a + 2); +} -#if defined(__ODE__) +ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b) +{ + dMultiplyHelper0_331(res + 0, b, a + 0); + dMultiplyHelper0_331(res + 4, b, a + 4); + dMultiplyHelper0_331(res + 8, b, a + 8); +} -int _dSafeNormalize3 (dVector3 a); -int _dSafeNormalize4 (dVector4 a); - -static __inline void _dNormalize3(dVector3 a) +ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b) { - int bNormalizationResult = _dSafeNormalize3(a); - dIASSERT(bNormalizationResult); - dVARIABLEUSED(bNormalizationResult); + dReal tmp[3]; + dMultiplyHelper0_331(tmp, a, b); + dAddVectors3(res, res, tmp); } -static __inline void _dNormalize4(dVector4 a) +ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b) { - int bNormalizationResult = _dSafeNormalize4(a); - dIASSERT(bNormalizationResult); - dVARIABLEUSED(bNormalizationResult); + dReal tmp[3]; + dMultiplyHelper1_331(tmp, a, b); + dAddVectors3(res, res, tmp); } -#endif // defined(__ODE__) +ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_133(tmp, a, b); + dAddVectors3(res, res, tmp); +} -// For DLL export -ODE_API int dSafeNormalize3 (dVector3 a); -ODE_API int dSafeNormalize4 (dVector4 a); -ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec -ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec +ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_133(tmp, a + 0, b); + dAddVectors3(res+ 0, res + 0, tmp); + dMultiplyHelper0_133(tmp, a + 4, b); + dAddVectors3(res + 4, res + 4, tmp); + dMultiplyHelper0_133(tmp, a + 8, b); + dAddVectors3(res + 8, res + 8, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper1_133(tmp, b, a + 0); + dAddVectors3(res + 0, res + 0, tmp); + dMultiplyHelper1_133(tmp, b, a + 1); + dAddVectors3(res + 4, res + 4, tmp); + dMultiplyHelper1_133(tmp, b, a + 2); + dAddVectors3(res + 8, res + 8, tmp); +} + +ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b) +{ + dReal tmp[3]; + dMultiplyHelper0_331(tmp, b, a + 0); + dAddVectors3(res + 0, res + 0, tmp); + dMultiplyHelper0_331(tmp, b, a + 4); + dAddVectors3(res + 4, res + 4, tmp); + dMultiplyHelper0_331(tmp, b, a + 8); + dAddVectors3(res + 8, res + 8, tmp); +} + +ODE_PURE_INLINE dReal dCalcMatrix3Det( const dReal* mat ) +{ + dReal det; + + det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] ) + - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] ) + + mat[2] * ( mat[4]*mat[9] - mat[8]*mat[5] ); + + return( det ); +} + +/** + Closed form matrix inversion, copied from + collision_util.h for use in the stepper. + + Returns the determinant. + returns 0 and does nothing + if the matrix is singular. +*/ +ODE_PURE_INLINE dReal dInvertMatrix3(dReal *dst, const dReal *ma) +{ + dReal det; + dReal detRecip; -#if defined(__ODE__) + det = dCalcMatrix3Det( ma ); + -// For internal use -#define dSafeNormalize3(a) _dSafeNormalize3(a) -#define dSafeNormalize4(a) _dSafeNormalize4(a) -#define dNormalize3(a) _dNormalize3(a) -#define dNormalize4(a) _dNormalize4(a) + /* Setting an arbitrary non-zero threshold + for the determinant doesn't do anyone + any favors. The condition number is the + important thing. If all the eigen-values + of the matrix are small, so is the + determinant, but it can still be well + conditioned. + A single extremely large eigen-value could + push the determinant over threshold, but + produce a very unstable result if the other + eigen-values are small. So we just say that + the determinant must be non-zero and trust the + caller to provide well-conditioned matrices. + */ + if ( det == 0 ) + { + return 0; + } + + detRecip = dRecip(det); + + dst[0] = ( ma[5]*ma[10] - ma[6]*ma[9] ) * detRecip; + dst[1] = ( ma[9]*ma[2] - ma[1]*ma[10] ) * detRecip; + dst[2] = ( ma[1]*ma[6] - ma[5]*ma[2] ) * detRecip; + + dst[4] = ( ma[6]*ma[8] - ma[4]*ma[10] ) * detRecip; + dst[5] = ( ma[0]*ma[10] - ma[8]*ma[2] ) * detRecip; + dst[6] = ( ma[4]*ma[2] - ma[0]*ma[6] ) * detRecip; + + dst[8] = ( ma[4]*ma[9] - ma[8]*ma[5] ) * detRecip; + dst[9] = ( ma[8]*ma[1] - ma[0]*ma[9] ) * detRecip; + dst[10] = ( ma[0]*ma[5] - ma[1]*ma[4] ) * detRecip; -#endif // defined(__ODE__) + return det; +} + + +/* Include legacy macros here */ +#include + + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length) + */ + +/* For DLL export*/ +ODE_API int dSafeNormalize3 (dVector3 a); +ODE_API int dSafeNormalize4 (dVector4 a); +ODE_API void dNormalize3 (dVector3 a); /* Potentially asserts on zero vec*/ +ODE_API void dNormalize4 (dVector4 a); /* Potentially asserts on zero vec*/ /* * given a unit length "normal" vector n, generate vectors p and q vectors @@ -363,4 +495,5 @@ } #endif + #endif diff -Nru ode-0.11.1/include/ode/odemath_legacy.h ode-0.14/include/ode/odemath_legacy.h --- ode-0.11.1/include/ode/odemath_legacy.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/include/ode/odemath_legacy.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,162 @@ +/************************************************************************* + * * + * 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_ODEMATH_LEGACY_H_ +#define _ODE_ODEMATH_LEGACY_H_ + + +/* + * These macros are not used any more inside of ODE + * They are kept for backward compatibility with external code that + * might still be using them. + */ + +/* + * General purpose vector operations with other vectors or constants. + */ + +#define dOP(a,op,b,c) do { \ + (a)[0] = ((b)[0]) op ((c)[0]); \ + (a)[1] = ((b)[1]) op ((c)[1]); \ + (a)[2] = ((b)[2]) op ((c)[2]); \ +} while (0) +#define dOPC(a,op,b,c) do { \ + (a)[0] = ((b)[0]) op (c); \ + (a)[1] = ((b)[1]) op (c); \ + (a)[2] = ((b)[2]) op (c); \ +} while (0) +#define dOPE(a,op,b) do {\ + (a)[0] op ((b)[0]); \ + (a)[1] op ((b)[1]); \ + (a)[2] op ((b)[2]); \ +} while (0) +#define dOPEC(a,op,c) do { \ + (a)[0] op (c); \ + (a)[1] op (c); \ + (a)[2] op (c); \ +} while (0) + +/* Define an equation with operators + * For example this function can be used to replace + * 
+ * for (int i=0; i<3; ++i)
+ *   a[i] += b[i] + c[i];
+ *
+ */ +#define dOPE2(a,op1,b,op2,c) do { \ + (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ + (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ + (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ +} while (0) + + +#define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a) +#define dLENGTH(a) dCalcVectorLength3(a) +#define dDISTANCE(a, b) dCalcPointsDistance3(a, b) + + +#define dDOT(a, b) dCalcVectorDot3(a, b) +#define dDOT13(a, b) dCalcVectorDot3_13(a, b) +#define dDOT31(a, b) dCalcVectorDot3_31(a, b) +#define dDOT33(a, b) dCalcVectorDot3_33(a, b) +#define dDOT14(a, b) dCalcVectorDot3_14(a, b) +#define dDOT41(a, b) dCalcVectorDot3_41(a, b) +#define dDOT44(a, b) dCalcVectorDot3_44(a, b) + + +/* + * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' + * and `c' are spaced p, q and r indexes apart respectively. + * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to + * +=, -= etc to get other effects. + */ + +#define dCROSS(a,op,b,c) \ + do { \ + (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ + (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ + (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ + } while(0) +#define dCROSSpqr(a,op,b,c,p,q,r) \ + do { \ + (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ + (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ + (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ + } while(0) +#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) +#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) +#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) +#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) +#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) +#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) +#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) + + +/* +* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. +* A is stored by rows, and has `skip' elements per row. the matrix is +* assumed to be already zero, so this does not write zero elements! +* if (plus,minus) is (+,-) then a positive version will be written. +* if (plus,minus) is (-,+) then a negative version will be written. +*/ + +#define dCROSSMAT(A,a,skip,plus,minus) \ + do { \ + (A)[1] = minus (a)[2]; \ + (A)[2] = plus (a)[1]; \ + (A)[(skip)+0] = plus (a)[2]; \ + (A)[(skip)+2] = minus (a)[0]; \ + (A)[2*(skip)+0] = minus (a)[1]; \ + (A)[2*(skip)+1] = plus (a)[0]; \ + } while(0) + + + + +/* +Note: NEVER call any of these functions/macros with the same variable for A and C, +it is not equivalent to A*=B. +*/ + +#define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C) +#define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C) +#define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C) +#define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C) +#define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C) +#define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C) + +#define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C) +#define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C) +#define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C) +#define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C) +#define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C) +#define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C) + + +/* + * These macros are not used any more inside of ODE + * They are kept for backward compatibility with external code that + * might still be using them. + */ + + +#endif /* #ifndef _ODE_ODEMATH_LEGACY_H_ */ diff -Nru ode-0.11.1/include/ode/precision.h.in ode-0.14/include/ode/precision.h.in --- ode-0.11.1/include/ode/precision.h.in 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/include/ode/precision.h.in 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,16 @@ +#ifndef _ODE_PRECISION_H_ +#define _ODE_PRECISION_H_ + +/* Define dSINGLE for single precision, dDOUBLE for double precision, + * but never both! + */ + +#if defined(dIDESINGLE) +#define dSINGLE +#elif defined(dIDEDOUBLE) +#define dDOUBLE +#else +#define @ODE_PRECISION@ +#endif + +#endif diff -Nru ode-0.11.1/include/ode/threading.h ode-0.14/include/ode/threading.h --- ode-0.11.1/include/ode/threading.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/include/ode/threading.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,407 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * Threading support header file. * + * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. * + * e-mail: odar@eleks.com (change all "a" to "e") * + * * + * 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. * + * * + *************************************************************************/ + +/* + * ODE threading support interfaces + */ + + +#ifndef _ODE_THREADING_H_ +#define _ODE_THREADING_H_ + +#include +// Include since time_t is used and it is not available by default in some OSes +#include + + +#ifdef __cplusplus +extern "C" { +#endif + + +struct dxThreadingImplementation; +typedef struct dxThreadingImplementation *dThreadingImplementationID; + +typedef unsigned dmutexindex_t; +struct dxMutexGroup; +typedef struct dxMutexGroup *dMutexGroupID; + +/** + * @brief Allocates a group of muteces. + * + * The Mutex allocated do not need to support recursive locking. + * + * The Mutex names are provided to aid in debugging and thread state tracking. + * + * @param impl Threading implementation ID + * @param Mutex_count Number of Mutex to create + * @Mutex_names_ptr Pointer to optional Mutex names array to be associated with individual Mutex + * @returns MutexGroup ID or NULL if error occurred. + * + * @ingroup threading + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexLockFunction + * @see dMutexGroupMutexUnlockFunction + */ +typedef dMutexGroupID dMutexGroupAllocFunction (dThreadingImplementationID impl, dmutexindex_t Mutex_count, const char *const *Mutex_names_ptr/*=NULL*/); + +/** + * @brief Deletes a group of muteces. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to deallocate + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupMutexLockFunction + * @see dMutexGroupMutexUnlockFunction + */ +typedef void dMutexGroupFreeFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group); + +/** + * @brief Locks a mutex in a group of muteces. + * + * The function is to block execution until requested mutex can be locked. + * + * Note: Mutex provided may not support recursive locking. Calling this function + * while mutex is already locked by current thread will result in unpredictable behavior. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to use for locking + * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexUnlockFunction + */ +typedef void dMutexGroupMutexLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); + +/** + * @brief Attempts to lock a mutex in a group of muteces. + * + * The function is to lock the requested mutex if it is unoccupied or + * immediately return failure if mutex is already locked by other thread. + * + * Note: Mutex provided may not support recursive locking. Calling this function + * while mutex is already locked by current thread will result in unpredictable behavior. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to use for locking + * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1) + * @returns 1 for success (mutex is locked) and 0 for failure (mutex is not locked) + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexLockFunction + * @see dMutexGroupMutexUnlockFunction + */ +/* typedef int dMutexGroupMutexTryLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);*/ + +/** + * @brief Unlocks a mutex in a group of muteces. + * + * The function is to unlock the given mutex provided it had been locked before. + * + * @param impl Threading implementation ID + * @param mutex_group Mutex group to use for unlocking + * @param mutex_index The index of mutex to be unlocked (0..Mutex_count - 1) + * + * @ingroup threading + * @see dMutexGroupAllocFunction + * @see dMutexGroupFreeFunction + * @see dMutexGroupMutexLockFunction + */ +typedef void dMutexGroupMutexUnlockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index); + + +struct dxCallReleasee; +typedef struct dxCallReleasee *dCallReleaseeID; + +struct dxCallWait; +typedef struct dxCallWait *dCallWaitID; + +typedef size_t ddependencycount_t; +typedef ptrdiff_t ddependencychange_t; +typedef size_t dcallindex_t; +typedef int dThreadedCallFunction(void *call_context, dcallindex_t instance_index, + dCallReleaseeID this_releasee); + +typedef struct dxThreadedWaitTime +{ + time_t wait_sec; + unsigned long wait_nsec; + +} dThreadedWaitTime; + + +/** + * @brief Allocates a Wait ID that can be used to wait for a call. + * + * @param impl Threading implementation ID + * @returns Wait ID or NULL if error occurred + * + * @ingroup threading + * @see dThreadedCallWaitResetFunction + * @see dThreadedCallWaitFreeFunction + * @see dThreadedCallPostFunction + * @see dThreadedCallWaitFunction + */ +typedef dCallWaitID dThreadedCallWaitAllocFunction(dThreadingImplementationID impl); + +/** + * @brief Resets a Wait ID so that it could be used to wait for another call. + * + * @param impl Threading implementation ID + * @param call_wait Wait ID to reset + * + * @ingroup threading + * @see dThreadedCallWaitAllocFunction + * @see dThreadedCallWaitFreeFunction + * @see dThreadedCallPostFunction + * @see dThreadedCallWaitFunction + */ +typedef void dThreadedCallWaitResetFunction(dThreadingImplementationID impl, dCallWaitID call_wait); + +/** + * @brief Frees a Wait ID. + * + * @param impl Threading implementation ID + * @param call_wait Wait ID to delete + * + * @ingroup threading + * @see dThreadedCallWaitAllocFunction + * @see dThreadedCallPostFunction + * @see dThreadedCallWaitFunction + */ +typedef void dThreadedCallWaitFreeFunction(dThreadingImplementationID impl, dCallWaitID call_wait); + + +/** + * @brief Post a function to be called in another thread. + * + * A call is scheduled to be executed asynchronously. + * + * A @a out_summary_fault variable can be provided for call to accumulate any + * possible faults from its execution and execution of any possible sub-calls. + * This variable gets result that @a call_func returns. Also, if dependent calls + * are executed after the call already exits, the variable is also going to be + * updated with results of all those calls before control is released to master. + * + * @a out_post_releasee parameter receives a value of @c dCallReleaseeID that can + * later be used for @a dependent_releasee while scheduling sub-calls to make + * current call depend on them. The value is only returned if @a dependencies_count + * is not zero (i.e. if any dependencies are expected at all). The call is not going + * to start until all its dependencies complete. + * + * In case if number of dependencies is unknown in advance 1 can be passed on call + * scheduling. Then @c dThreadedCallDependenciesCountAlterFunction can be used to + * add one more extra dependencies before scheduling each subcall. And then, after + * all sub-calls had been scheduled, @c dThreadedCallDependenciesCountAlterFunction + * can be used again to subtract initial extra dependency from total number. + * Adding one dependency in advance is necessary to obtain releasee ID and to make + * sure the call will not start and will not terminate before all sub-calls are scheduled. + * + * Extra dependencies can also be added from the call itself after it has already + * been started (with parameter received in @c dThreadedCallFunction). + * In that case those dependencies will start immediately or after call returns + * but the call's master will not be released/notified until all additional + * dependencies complete. This can be used to schedule sub-calls from a call and + * then pass own job to another sub-call dependent on those initial sub-calls. + * + * By using @ call_wait it is possible to assign a Wait ID that can later + * be passed into @c dThreadedCallWaitFunction to wait for call completion. + * + * If @a call_name is available (and it should!) the string must remain valid until + * after call completion. In most cases this should be a static string literal. + * + * Since the function is an analogue of normal method call it is not supposed to fail. + * Any complications with resource allocation on call scheduling should be + * anticipated, avoided and worked around by implementation. + * + * @param impl Threading implementation ID + * @param out_summary_fault Optional pointer to variable to be set to 1 if function + * call (or any sub-call) fails internally, or 0 if all calls return success + * @param out_post_releasee Optional pointer to variable to receive releasee ID + * associated with the call + * @param dependencies_count Number of dependencies that are going to reference + * this call as dependent releasee + * @param dependent_releasee Optional releasee ID to reference with this call + * @param call_wait Optional Wait ID that can later be used to wait for the call + * @param call_func Pointer to function to be called + * @param call_context Context parameter to be passed into the call + * @param instance_index Index parameter to be passed into the call + * @param call_name Optional name to be associated with the call (for debugging and state tracking) + * + * @ingroup threading + * @see dThreadedCallWaitFunction + * @see dThreadedCallDependenciesCountAlterFunction + * @see dThreadingImplResourcesForCallsPreallocateFunction + */ +typedef void dThreadedCallPostFunction(dThreadingImplementationID impl, int *out_summary_fault/*=NULL*/, + dCallReleaseeID *out_post_releasee/*=NULL*/, ddependencycount_t dependencies_count, dCallReleaseeID dependent_releasee/*=NULL*/, + dCallWaitID call_wait/*=NULL*/, + dThreadedCallFunction *call_func, void *call_context, dcallindex_t instance_index, + const char *call_name/*=NULL*/); + +/** + * @brief Add or remove extra dependencies from call that has been scheduled + * or is in process of execution. + * + * Extra dependencies can be added to a call if exact number of sub-calls is + * not known in advance at the moment the call is scheduled. Also, some dependencies + * can be removed if sub-calls were planned but then dropped. + * + * In case if total dependency count of a call reaches zero by result of invoking + * this function, the call is free to start executing immediately. + * + * After the call execution had been started, any additional dependencies can only + * be added from the call function itself! + * + * @param impl Threading implementation ID + * @param target_releasee ID of releasee to apply dependencies count change to + * @param dependencies_count_change Number of dependencies to add or remove + * + * @ingroup threading + * @see dThreadedCallPostFunction + */ +typedef void dThreadedCallDependenciesCountAlterFunction(dThreadingImplementationID impl, dCallReleaseeID target_releasee, + ddependencychange_t dependencies_count_change); + +/** + * @brief Wait for a posted call to complete. + * + * Function blocks until a call identified by @a call_wait completes or + * timeout elapses. + * + * IT IS ILLEGAL TO INVOKE THIS FUNCTION FROM WITHIN A THREADED CALL! + * This is because doing so will block a physical thread and will require + * increasing worker thread count to avoid starvation. Use call dependencies + * if it is necessary make sure sub-calls have been completed instead! + * + * If @a timeout_time_ptr is NULL, the function waits without time limit. If @a timeout_time_ptr + * points to zero value, the function only checks status and does not block. + * + * If @a wait_name is available (and it should!) the string must remain valid for + * the duration of wait. In most cases this should be a static string literal. + * + * Function is not expected to return failures caused by system call faults as + * those are hardly ever possible to be handled in this case anyway. In event of + * system call fault the function is supposed to terminate application. + * + * @param impl Threading implementation ID + * @param out_wait_status Optional pointer to variable to receive 1 if waiting succeeded + * or 0 in case of timeout + * @param call_wait Wait ID that had been passed to scheduling a call that needs to be waited for + * @param timeout_time_ptr Optional pointer to time specification the wait must not + * last longer than (pass NULL for infinite timeout) + * @param wait_name Optional name to be associated with the wait (for debugging and state tracking) + * + * @ingroup threading + * @see dThreadedCallPostFunction + */ +typedef void dThreadedCallWaitFunction(dThreadingImplementationID impl, int *out_wait_status/*=NULL*/, + dCallWaitID call_wait, const dThreadedWaitTime *timeout_time_ptr/*=NULL*/, + const char *wait_name/*=NULL*/); + +/** + * @brief Retrieve number of active threads that serve the implementation. + * + * @param impl Threading implementation ID + * @returns Number of active threads + * + * @ingroup threading + */ +typedef unsigned dThreadingImplThreadCountRetrieveFunction(dThreadingImplementationID impl); + +/** + * @brief Preallocate resources to handle posted calls. + * + * The function is intended to make sure enough resources is preallocated for the + * implementation to be able to handle posted calls. Then @c max_simultaneous_calls_estimate + * is an estimate of how many posted calls can potentially be active or scheduled + * at the same time. The value is usually derived from the way the calls are posted + * in library code and dependencies between them. + * + * @warning While working on an implementation be prepared that the estimate provided + * yet rarely but theoretically can be exceeded due to unpredictability of thread execution. + * + * This function is normally going to be invoked by library each time it is entered + * from outside to do the job but before any threaded calls are going to be posted. + * + * @param impl Threading implementation ID + * @param max_simultaneous_calls_estimate An estimated number of calls that can be posted simultaneously + * @returns 1 or 0 to indicate success or failure + * + * @ingroup threading + * @see dThreadedCallPostFunction + */ +typedef int dThreadingImplResourcesForCallsPreallocateFunction(dThreadingImplementationID impl, + ddependencycount_t max_simultaneous_calls_estimate); + + +/** + * @brief An interface structure with function pointers to be provided by threading implementation. + */ +typedef struct dxThreadingFunctionsInfo +{ + unsigned struct_size; + + dMutexGroupAllocFunction *alloc_mutex_group; + dMutexGroupFreeFunction *free_mutex_group; + dMutexGroupMutexLockFunction *lock_group_mutex; + dMutexGroupMutexUnlockFunction *unlock_group_mutex; + + dThreadedCallWaitAllocFunction *alloc_call_wait; + dThreadedCallWaitResetFunction *reset_call_wait; + dThreadedCallWaitFreeFunction *free_call_wait; + + dThreadedCallPostFunction *post_call; + dThreadedCallDependenciesCountAlterFunction *alter_call_dependencies_count; + dThreadedCallWaitFunction *wait_call; + + dThreadingImplThreadCountRetrieveFunction *retrieve_thread_count; + dThreadingImplResourcesForCallsPreallocateFunction *preallocate_resources_for_calls; + + /* + * Beware of Jon Watte's anger if you dare to uncomment this! + * May cryptic text below be you a warning! + * Стародавні легенди розказують, що кожного сміливця, хто наважиться порушити табу + * і відкрити заборонений код, спіткає страшне прокляття і він відразу почне робити + * одні лиш помилки. + * + * dMutexGroupMutexTryLockFunction *trylock_group_mutex; + */ + +} dThreadingFunctionsInfo; + + +#ifdef __cplusplus +} +#endif + +#endif /* #ifndef _ODE_THREADING_H_ */ diff -Nru ode-0.11.1/include/ode/threading_impl.h ode-0.14/include/ode/threading_impl.h --- ode-0.11.1/include/ode/threading_impl.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/include/ode/threading_impl.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,264 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * Builtin ODE threading implementation header. * + * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. * + * e-mail: odar@eleks.com (change all "a" to "e") * + * * + * 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. * + * * + *************************************************************************/ + +/* + * A threading implementation built into ODE for those who does not care to + * or can't implement an own one. + */ + +#ifndef _ODE_THREADING_IMPL_H_ +#define _ODE_THREADING_IMPL_H_ + + +#include +#include + + +#ifdef __cplusplus +extern "C" { +#endif + + +struct dxThreadingThreadPool; +typedef struct dxThreadingThreadPool *dThreadingThreadPoolID; + + +/** + * @brief Allocates built-in multi-threaded threading implementation object. + * + * A multi-threaded implementation is a type of implementation that has to be + * served with a thread pool. The thread pool can be either the built-in ODE object + * or set of external threads that dedicate themselves to this purpose and stay + * in ODE until implementation releases them. + * + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingThreadPoolServeMultiThreadedImplementation + * @see dExternalThreadingServeMultiThreadedImplementation + * @see dThreadingFreeImplementation + */ +ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation(); + +/** + * @brief Retrieves the functions record of a built-in threading implementation. + * + * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation). + * Do not use this function with self-made custom implementations - + * they should be bundled with their own set of functions. + * + * @param impl Threading implementation ID + * @returns Pointer to associated functions structure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + */ +ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl); + +/** + * @brief Requests a built-in implementation to release threads serving it. + * + * The function unblocks threads employed in implementation serving and lets them + * return to from where they originate. It's the responsibility of external code + * to make sure all the calls to ODE that might be dependent on given threading + * implementation object had already returned before this call is made. If threading + * implementation is still processing some posted calls while this function is + * invoked the behavior is implementation dependent. + * + * This call is to be used to request the threads to be released before waiting + * for them in host pool or before waiting for them to exit. Implementation object + * must not be destroyed before it is known that all the serving threads have already + * returned from it. If implementation needs to be reused after this function is called + * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart + * must be made to restore internal state of the object. + * + * If this function is called for self-threaded built-in threading implementation + * the call has no effect. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationCleanupForRestart + */ +ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl); + +/** + * @brief Restores built-in implementation's state to let it be reused after shutdown. + * + * If a multi-threaded built-in implementation needs to be reused after a call + * to @c dThreadingImplementationShutdownProcessing this call is to be made to + * restore object's internal state. After that the implementation can be served again. + * + * If this function is called for self-threaded built-in threading implementation + * the call has no effect. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl); + +/** + * @brief Deletes an instance of built-in threading implementation. + * + * @warning A care must be taken to make sure the implementation is unassigned + * from all the objects it was assigned to and that there are no more threads + * serving it before attempting to call this function. + * + * @param impl Threading implementation ID + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + */ +ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl); + + +typedef void (dThreadReadyToServeCallback)(void *callback_context); + +/** + * @brief An entry point for external threads that would like to serve a built-in + * threading implementation object. + * + * A thread that calls this function remains blocked in ODE and serves implementation + * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call. + * This function can be used to provide external threads instead of ODE's built-in + * thread pools. + * + * The optional callback @readiness_callback is called after the thread has reached + * and has registered within the implementation. The implementation should not + * be used until all dedicated threads register within it as otherwise it will not + * have accurate view of the execution resources available. + * + * @param impl Threading implementation ID + * @param readiness_callback Optional readiness callback to be called after thread enters the implementation + * @param callback_context A value to be passed as parameter to readiness callback + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl, + dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/); + + +/** + * @brief Creates an instance of built-in thread pool object that can be used to serve + * multi-threaded threading implementations. + * + * The threads allocated inherit priority of caller thread. Their affinity is not + * explicitly adjusted and gets the value the system assigns by default. Threads + * have their stack memory fully committed immediately on start. On POSIX platforms + * threads are started with all the possible signals blocked. Threads execute + * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags + * on initialization. + * + * On POSIX platforms this function must be called with signals masked + * or other measures must be taken to prevent reception of signals by calling thread + * for the duration of the call. + * + * @param thread_count Number of threads to start in pool + * @param stack_size Size of stack to be used for every thread or 0 for system default value + * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread + * @returns ID of object allocated or NULL on failure + * + * @ingroup threading + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + * @see dThreadingFreeThreadPool + */ +ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count, + size_t stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/); + +/** + * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded + * threading implementation. + * + * A pool can only serve one threading implementation at a time. + * Call @c dThreadingImplementationShutdownProcessing to release pool threads + * from implementation serving and make them idle. Pool threads must be released + * from any implementations before pool is attempted to be deleted. + * + * This function waits for threads to register within implementation before returning. + * So, after the function call exits the implementation can be used immediately. + * + * @param pool Thread pool ID to serve the implementation + * @param impl Implementation ID of implementation to be served + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingAllocateMultiThreadedImplementation + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl); + +/** + * @brief Waits until all pool threads are released from threading implementation + * they might be serving. + * + * The function can be used after a call to @c dThreadingImplementationShutdownProcessing + * to make sure all the threads have already been released by threading implementation + * and it can be deleted or it can be cleaned up for restart and served by another pool + * or this pool's threads can be used to serve another threading implementation. + * + * Note that is it not necessary to call this function before pool destruction + * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own. + * + * It is OK to call this function even if pool was not serving any threading implementation + * in which case the call exits immediately with minimal delay. + * + * @param pool Thread pool ID to wait for + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingImplementationShutdownProcessing + * @see dThreadingFreeThreadPool + */ +ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool); + +/** + * @brief Deletes a built-in thread pool instance. + * + * The pool threads must be released from any implementations they might be serving + * before this function is called. Otherwise the call is going to block + * and wait until pool's threads return. + * + * @param pool Thread pool ID to delete + * + * @ingroup threading + * @see dThreadingAllocateThreadPool + * @see dThreadingImplementationShutdownProcessing + */ +ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool); + + +#ifdef __cplusplus +} +#endif + +#endif /* #ifndef _ODE_THREADING_IMPL_H_ */ diff -Nru ode-0.11.1/include/ode/version.h.in ode-0.14/include/ode/version.h.in --- ode-0.11.1/include/ode/version.h.in 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/include/ode/version.h.in 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ +#ifndef _ODE_VERSION_H_ +#define _ODE_VERSION_H_ + +#define dODE_VERSION "@ODE_VERSION@" + +#endif diff -Nru ode-0.11.1/install-sh ode-0.14/install-sh --- ode-0.11.1/install-sh 2009-05-24 22:15:46.000000000 +0000 +++ ode-0.14/install-sh 1970-01-01 00:00:00.000000000 +0000 @@ -1,519 +0,0 @@ -#!/bin/sh -# install - install a program, script, or datafile - -scriptversion=2006-12-25.00 - -# This originates from X11R5 (mit/util/scripts/install.sh), which was -# later released in X11R6 (xc/config/util/install.sh) with the -# following copyright and license. -# -# Copyright (C) 1994 X Consortium -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to -# deal in the Software without restriction, including without limitation the -# rights to use, copy, modify, merge, publish, distribute, sublicense, and/or -# sell copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in -# all copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# X CONSORTIUM BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN -# AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNEC- -# TION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. -# -# Except as contained in this notice, the name of the X Consortium shall not -# be used in advertising or otherwise to promote the sale, use or other deal- -# ings in this Software without prior written authorization from the X Consor- -# tium. -# -# -# FSF changes to this file are in the public domain. -# -# Calling this script install-sh is preferred over install.sh, to prevent -# `make' implicit rules from creating a file called install from it -# when there is no Makefile. -# -# This script is compatible with the BSD install script, but was written -# from scratch. - -nl=' -' -IFS=" "" $nl" - -# set DOITPROG to echo to test this script - -# Don't use :- since 4.3BSD and earlier shells don't like it. -doit=${DOITPROG-} -if test -z "$doit"; then - doit_exec=exec -else - doit_exec=$doit -fi - -# Put in absolute file names if you don't have them in your path; -# or use environment vars. - -chgrpprog=${CHGRPPROG-chgrp} -chmodprog=${CHMODPROG-chmod} -chownprog=${CHOWNPROG-chown} -cmpprog=${CMPPROG-cmp} -cpprog=${CPPROG-cp} -mkdirprog=${MKDIRPROG-mkdir} -mvprog=${MVPROG-mv} -rmprog=${RMPROG-rm} -stripprog=${STRIPPROG-strip} - -posix_glob='?' -initialize_posix_glob=' - test "$posix_glob" != "?" || { - if (set -f) 2>/dev/null; then - posix_glob= - else - posix_glob=: - fi - } -' - -posix_mkdir= - -# Desired mode of installed file. -mode=0755 - -chgrpcmd= -chmodcmd=$chmodprog -chowncmd= -mvcmd=$mvprog -rmcmd="$rmprog -f" -stripcmd= - -src= -dst= -dir_arg= -dst_arg= - -copy_on_change=false -no_target_directory= - -usage="\ -Usage: $0 [OPTION]... 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In this case, the final cleanup might fail but the new - # file should still install successfully. - { - test ! -f "$dst" || - $doit $rmcmd -f "$dst" 2>/dev/null || - { $doit $mvcmd -f "$dst" "$rmtmp" 2>/dev/null && - { $doit $rmcmd -f "$rmtmp" 2>/dev/null; :; } - } || - { echo "$0: cannot unlink or rename $dst" >&2 - (exit 1); exit 1 - } - } && - - # Now rename the file to the real destination. - $doit $mvcmd "$dsttmp" "$dst" - } - fi || exit 1 - - trap '' 0 - fi -done - -# Local variables: -# eval: (add-hook 'write-file-hooks 'time-stamp) -# time-stamp-start: "scriptversion=" -# time-stamp-format: "%:y-%02m-%02d.%02H" -# time-stamp-end: "$" -# End: diff -Nru ode-0.11.1/INSTALL.txt ode-0.14/INSTALL.txt --- ode-0.11.1/INSTALL.txt 2008-03-19 10:52:25.000000000 +0000 +++ ode-0.14/INSTALL.txt 2015-12-18 14:09:27.000000000 +0000 @@ -1,122 +1,131 @@ -As of version 0.6, ODE has two new build systems, one for Visual Studio -and another for just about everything else. +ODE has two new build systems, one for *nix systems and another for +just about everything else. 1. Building with Visual Studio -2. Building with Autotools (Linux, OS X, etc.) +2. Building with Autotools (Linux, OS X, MSYS, etc.) 3. Building with Code::Blocks 4. Building with Something Else + + 1. BUILDING WITH VISUAL STUDIO (2002 and up) +============================================ If you downloaded this source code from Subversion you must first use - the Premake build system to generate project files. See build/readme.txt - for more details. If you downloaded this source code package from - SourceForge this has already been done for you. - - The directory ode/build contains project files for all supported - versions of Visual Studio. Note that Visual Studio 6 is not supported - and users are advised to upgrade to Visual C++ 2005 Express (it's free!) + the Premake build system to generate project files. - Open the appropriate solution for your version, pick the build - configuration you want, and build! - - The build configuration choices are: + Open a command prompt and enter into the build directory. Then run the + premake4.exe program with the appropriate options to generate the + project files. For example, to generate a project for VS2008: + + > premake4.exe --with-tests --with-demos vs2008 + + To see a complete list of options use: - Debug or Release - Single or Double precision - Static Library (Lib) or Shared Library (DLL) - + > premake4.exe --help + + Note that Visual Studio 6 is not supported and users are advised to upgrade + to at least Visual Studio 2005 Express (it's free!) + + + -2. BUILDING WITH AUTOTOOLS (Linux, OS X, etc.) +2. BUILDING WITH AUTOTOOLS (Linux, OS X, MSYS, etc.) +==================================================== + +2.1 FROM SUBVERSION REPOSITORY +------------------------------ If you downloaded the source code from Subversion you must bootstrap the process by running the command: - $ sh autogen.sh - + $ ./bootstrap + + For this command to work you need a set of tools typically available + on BSD and Linux distributions with development packages installed. OS X + users may need to manually install libtool, autoconf, automake, + pkg-config, and maybe some more. + If you downloaded a source code package from SourceForge this has already been done for you. You may see some "underquoted definition" warnings depending on your platform, these are (for now) harmless warnings regarding scripts from other m4 installed packages. - Run the configure script to autodetect your build environment. +2.2 FROM A RELEASED TARBALL +--------------------------- + + First extract the archive (e.g. tar xvfz ) and enter + the created directory (ode-x.y). + + Run the configure script to autodetect your build environment: $ ./configure By default this will build ODE as a static library with single-precision - math, trimesh support, and debug symbols enabled. You can modify these - defaults by passing additional parameters to configure. For a full list - of available options, type + math, trimesh support with OPCODE, and debug symbols enabled. You can + modify these defaults by passing additional parameters to + configure. For a full list of available options, type: $ ./configure --help Some of the more popular options are - --enable-double-precision enable double-precision math - --with-trimesh=none disables the trimesh support - --with-trimesh=opcode use OPCODE for trimesh code - --with-trimesh=gimpact use GIMPACT for trimesh code + --enable-double-precision enable double-precision math + --with-trimesh=none disables the trimesh support + --with-trimesh=opcode use OPCODE for trimesh code + --with-trimesh=gimpact use GIMPACT for trimesh code - --enabled-shared builds a shared library + --enabled-shared builds a shared library To pass specific flags for an optimized build, you must do so - in the CPPFLAGS CFLAGS and CXXFLAGS enviroment variables, - you can set these with the export command before running configure - or by defining them on the same call to configure, so for example - if you are building for an athlon xp processor and you want the - compiler to use SSE instructions you can run configure as follows: - - $ CFLAGS="-msse -march=atlon-xp" CXXFLAGS="-msse -march=atlon-xp" ./configure - - Note that you must set both CFLAGS and CXXFLAGS as ODE contains a mixture of C and C++ files. - For preprocessor flags such as -L and -I to define library and header paths - respectively use CPPFLAGS. - + in the CFLAGS and CXXFLAGS enviroment variables, or as arguments + to ./configure. For example if you are building for an athlon xp processor + and you want the compiler to use SSE instructions you can run configure as + follows: + + $ ./configure CFLAGS="-msse -march=atlon-xp" CXXFLAGS="-msse -march=atlon-xp" + + Note that you must set both CFLAGS and CXXFLAGS as ODE contains a mixture of + C and C++ files. + Once configure has run successfully, build and install ODE: - + $ make $ make install - - The latter command will also create an `ode-config` script which you can - use to pass cflags and ldflags to your projects. run `ode-config` from a - command prompt to find out how it works. - - In addition the option `--with-arch=` allows the user to pass the -march - flag to GCC, in order to tune the library for a particular architecture. - The arguments for --with-arch are listed on this page for -mtune: - - http://gcc.gnu.org/onlinedocs/gcc-3.4.1/gcc/i386-and-x86-64-Options.html#i386%20and%20x86-64%20Options - - Note that the link points to posible values for Intel processors, but - other processors are also supported, check the page for your particular - processor to see what parameters can be passed to -march in your case. - -3. Building with Code::Blocks + The latter command will also create a pkg-config script that provides + compilation and linking flags for programs. The old stand-alone + "ode-config" script is also installed for compatibility. + + + + +3. BUILDING WITH Code::Blocks +============================= Because Code::Blocks supports so many different platforms, we do not provide workspaces. Instead, use Premake to create a workspace tailored for your platform and project. Like so: - $ cd ode/build - $ premake --with-tests --target cb-gcc + $ cd build + $ premake4 --with-tests --with-demos codeblocks To see a complete list of options: - $ cd ode/build - $ premake --help - - -4. Building with Something Else + $ cd build + $ premake4 --help + + + + +4. BUILDING WITH SOMETHING ELSE +=============================== ODE uses the Premake tool to provide support for several different toolsets. Premake adds support for new toolsets on a regular basis, so yours might be supported. Check the Premake website at http://premake.sourceforge.net/, and then follow the directions for Code::Blocks above, substituting your - toolset target in place of `cb-gcc`. - - - + toolset target in place of `codeblocks`. diff -Nru ode-0.11.1/libccd/bootstrap ode-0.14/libccd/bootstrap --- ode-0.11.1/libccd/bootstrap 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/bootstrap 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,12 @@ +#!/bin/sh + +# on Mac libtoolize is called glibtoolize +LIBTOOLIZE=libtoolize +if [ `uname -s` = Darwin ]; then + LIBTOOLIZE=glibtoolize +fi +$LIBTOOLIZE -c --automake +aclocal +autoheader +autoconf +automake -a --foreign -c diff -Nru ode-0.11.1/libccd/BSD-LICENSE ode-0.14/libccd/BSD-LICENSE --- ode-0.11.1/libccd/BSD-LICENSE 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/BSD-LICENSE 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,44 @@ +libccd +------- + +Copyright (c)2010 Daniel Fiser , +Intelligent and Mobile Robotics Group, Department of Cybernetics, +Faculty of Electrical Engineering, Czech Technical University in Prague. +All rights reserved. + + +This work was supported by SYMBRION and REPLICATOR projects. +The SYMBRION project is funded by European Commission within the work +"Future and Emergent Technologies Proactive" under grant agreement no. +216342. +The REPLICATOR project is funded within the work programme "Cognitive +Systems, Interaction, Robotics" under grant agreement no. 216240. +http://www.symbrion.eu/ +http://www.replicators.eu/ + + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + - Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + + - Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + - Neither the name of the University nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff -Nru ode-0.11.1/libccd/configure.ac ode-0.14/libccd/configure.ac --- ode-0.11.1/libccd/configure.ac 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/configure.ac 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,50 @@ +# -*- Autoconf -*- +# Process this file with autoconf to produce a configure script. + +#AC_PREREQ([2.65]) +AC_INIT([libccd], [1.0], [danfis@danfis.cz]) +AC_CONFIG_SRCDIR([src/ccd.c]) +AC_CONFIG_HEADERS([src/config.h]) +AM_INIT_AUTOMAKE(foreign) + +# Checks for programs. +AC_PROG_CXX +AC_PROG_CC +AC_PROG_INSTALL +AC_DISABLE_SHARED +LT_INIT + +# Checks for libraries. +AC_CHECK_LIB([m], [main]) +# FIXME: Replace `main' with a function in `-lrt': +AC_CHECK_LIB([rt], [main]) + +# Checks for header files. +AC_CHECK_HEADERS([float.h stdlib.h string.h unistd.h]) + +# Checks for typedefs, structures, and compiler characteristics. +AC_TYPE_SIZE_T + +# Checks for library functions. +AC_FUNC_FORK +AC_CHECK_FUNCS([clock_gettime]) + +use_double=no +AC_ARG_ENABLE(double-precision, + AS_HELP_STRING([--enable-double-precision], + [enable double precision computations instead of single precision]), + [use_double=$enableval]) +if test x$use_double = xno +then + CCD_PRECISION=CCD_SINGLE +else + CCD_PRECISION=CCD_DOUBLE +fi +AC_SUBST(CCD_PRECISION) + +AC_CONFIG_FILES([Makefile + src/Makefile + src/ccd/precision.h + src/testsuites/Makefile + src/testsuites/cu/Makefile]) +AC_OUTPUT diff -Nru ode-0.11.1/libccd/Makefile.am ode-0.14/libccd/Makefile.am --- ode-0.11.1/libccd/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ +SUBDIRS = src + +EXTRA_DIST = \ + bootstrap \ + BSD-LICENSE \ + README diff -Nru ode-0.11.1/libccd/README ode-0.14/libccd/README --- ode-0.11.1/libccd/README 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/README 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,72 @@ +libccd is library for a collision detection between two convex shapes. +libccd implements variation on Gilbert–Johnson–Keerthi algorithm plus Expand +Polytope Algorithm (EPA) and also implements algorithm Minkowski Portal +Refinement (MPR, a.k.a. XenoCollide) as described in Game Programming Gems 7. + +For more info see home of libccd: http://libccd.danfis.cz. + + +Dependencies +------------- +This library is currently based only on standard libraries. +The only exception are testsuites that are built on top of CU +(cu.danfis.cz) library licensed under LGPL, however only testing depends on +it and libccd library itself can be distributed without it. + + +License +-------- +libccd is licensed under OSI-approved 3-clause BSD License, text of license +is distributed along with source code in BSD-LICENSE file. +Each file should include license notice, the rest should be considered as +licensed under 3-clause BSD License. + + +Compile And Install +-------------------- +Simply type 'make' and 'make install' in src/ directory. + +Library libccd is by default compiled in double precision of floating point +numbers - you can controll this by options USE_SINGLE/USE_DOUBLE, i.e.: + $ make USE_SINGLE=yes +will compile library in single precision. + +Installation directory can be changed by options PREFIX, INCLUDEDIR and +LIBDIR. + +For more info type 'make help'. + + +Compile And Install Using Autotools +------------------------------------ +libccd also contains support for autotools: +1) Generate configure script etc.: $ ./bootstrap +2) Create new build/ directory: $ mkdir build && cd build +3) Run configure script: $ ../configure +4) Run make and make install: $ make && make install + +configure script can change the way libccd is compiled and installed, most +significant option is --enable-double-precision which enables double +precision (single is default in this case). + + +Usage +------ +See ccd.h for public API. +In your application include , setup ccd_t structure and run some +of functions (all functions are reentrant). Then link with libccd.a. + + +Directories +------------ +src/ + - contains source files of libccd. +src/testsuites + - testsuites - libccd must be compiled before compiling this. +src/testsuites/cu + - CU unit testing framework +src/testsuites/regressions + - files ready for regression tests + +doc/ + - some documentation. diff -Nru ode-0.11.1/libccd/src/alloc.c ode-0.14/libccd/src/alloc.c --- ode-0.11.1/libccd/src/alloc.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/alloc.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,38 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +void *ccdRealloc(void *ptr, size_t size) +{ + void *ret = realloc(ptr, size); + if (ret == NULL && size != 0){ + fprintf(stderr, "Fatal error: Allocation of memory failed!\n"); + fflush(stderr); + exit(-1); + } + + return ret; +} + + diff -Nru ode-0.11.1/libccd/src/ccd/alloc.h ode-0.14/libccd/src/ccd/alloc.h --- ode-0.11.1/libccd/src/ccd/alloc.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/alloc.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,52 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_ALLOC_H__ +#define __CCD_ALLOC_H__ + +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * Functions and macros required for memory allocation. + */ + +/* Memory allocation: */ +#define __CCD_ALLOC_MEMORY(type, ptr_old, size) \ + (type *)ccdRealloc((void *)ptr_old, (size)) + +/** Allocate memory for one element of type. */ +#define CCD_ALLOC(type) \ + __CCD_ALLOC_MEMORY(type, NULL, sizeof(type)) + +/** Allocate memory for array of elements of type type. */ +#define CCD_ALLOC_ARR(type, num_elements) \ + __CCD_ALLOC_MEMORY(type, NULL, sizeof(type) * (num_elements)) + +#define CCD_REALLOC_ARR(ptr, type, num_elements) \ + __CCD_ALLOC_MEMORY(type, ptr, sizeof(type) * (num_elements)) + +void *ccdRealloc(void *ptr, size_t size); + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_ALLOC_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/ccd.h ode-0.14/libccd/src/ccd/ccd.h --- ode-0.11.1/libccd/src/ccd/ccd.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/ccd.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,148 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_H__ +#define __CCD_H__ + +#include + +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * Type of *support* function that takes pointer to 3D object and direction + * and returns (via vec argument) furthest point from object in specified + * direction. + */ +typedef void (*ccd_support_fn)(const void *obj, const ccd_vec3_t *dir, + ccd_vec3_t *vec); + +/** + * Returns (via dir argument) first direction vector that will be used in + * initialization of algorithm. + */ +typedef void (*ccd_first_dir_fn)(const void *obj1, const void *obj2, + ccd_vec3_t *dir); + + +/** + * Returns (via center argument) geometric center (some point near center) + * of given object. + */ +typedef void (*ccd_center_fn)(const void *obj1, ccd_vec3_t *center); + +/** + * Main structure of CCD algorithm. + */ +struct _ccd_t { + ccd_first_dir_fn first_dir; /*!< Returns initial direction where first + !< support point will be searched*/ + ccd_support_fn support1; /*!< Function that returns support point of + !< first object*/ + ccd_support_fn support2; /*!< Function that returns support point of + !< second object*/ + + ccd_center_fn center1; /*!< Function that returns geometric center of + !< first object*/ + ccd_center_fn center2; /*!< Function that returns geometric center of + !< second object*/ + + unsigned long max_iterations; /*!< Maximal number of iterations*/ + ccd_real_t epa_tolerance; + ccd_real_t mpr_tolerance; /*!< Boundary tolerance for MPR algorithm*/ +}; +typedef struct _ccd_t ccd_t; + +/** + * Default first direction. + */ +void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir); + +#define CCD_INIT(ccd) \ + do { \ + (ccd)->first_dir = ccdFirstDirDefault; \ + (ccd)->support1 = NULL; \ + (ccd)->support2 = NULL; \ + (ccd)->center1 = NULL; \ + (ccd)->center2 = NULL; \ + \ + (ccd)->max_iterations = (unsigned long)-1; \ + (ccd)->epa_tolerance = CCD_REAL(0.0001); \ + (ccd)->mpr_tolerance = CCD_REAL(0.0001); \ + } while(0) + + +/** + * Returns true if two given objects interest. + */ +int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd); + +/** + * This function computes separation vector of two objects. Separation + * vector is minimal translation of obj2 to get obj1 and obj2 speparated + * (without intersection). + * Returns 0 if obj1 and obj2 intersect and sep is filled with translation + * vector. If obj1 and obj2 don't intersect -1 is returned. + */ +int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_vec3_t *sep); + +/** + * Computes penetration of obj2 into obj1. + * Depth of penetration, direction and position is returned. It means that + * if obj2 is translated by distance depth in direction dir objects will + * have touching contact, pos should be position in global coordinates + * where force should take a place. + * + * CCD+EPA algorithm is used. + * + * Returns 0 if obj1 and obj2 intersect and depth, dir and pos are filled + * if given non-NULL pointers. + * If obj1 and obj2 don't intersect -1 is returned. + */ +int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + + +/** + * Returns true if two given objects intersect - MPR algorithm is used. + */ +int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd); + +/** + * Computes penetration of obj2 into obj1. + * Depth of penetration, direction and position is returned, i.e. if obj2 + * is translated by computed depth in resulting direction obj1 and obj2 + * would have touching contact. Position is point in global coordinates + * where force should be take a place. + * + * Minkowski Portal Refinement algorithm is used (MPR, a.k.a. XenoCollide, + * see Game Programming Gem 7). + * + * Returns 0 if obj1 and obj2 intersect, otherwise -1 is returned. + */ +int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/compiler.h ode-0.14/libccd/src/ccd/compiler.h --- ode-0.11.1/libccd/src/ccd/compiler.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/compiler.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,61 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_COMPILER_H__ +#define __CCD_COMPILER_H__ + +#include + +#define ccd_offsetof(TYPE, MEMBER) offsetof(TYPE, MEMBER) + +#define ccd_container_of(ptr, type, member) \ + (type *)( (char *)ptr - ccd_offsetof(type, member)) + + +/** + * Marks inline function. + */ +#ifdef __GNUC__ +/*# define _ccd_inline static inline __attribute__((always_inline))*/ +# define _ccd_inline static inline +#else /* __GNUC__ */ +# define _ccd_inline static __inline +#endif /* __GNUC__ */ + + +/** + * __prefetch(x) - prefetches the cacheline at "x" for read + * __prefetchw(x) - prefetches the cacheline at "x" for write + */ +#ifdef __GNUC__ +# define _ccd_prefetch(x) __builtin_prefetch(x) +# define _ccd_prefetchw(x) __builtin_prefetch(x,1) +#else /* __GNUC__ */ +# define _ccd_prefetch(x) ((void)0) +# define _ccd_prefetchw(x) ((void)0) +#endif /* __GNUC__ */ + + +#ifdef __ICC +/* disable unused parameter warning */ +# pragma warning(disable:869) +/* disable annoying "operands are evaluated in unspecified order" warning */ +# pragma warning(disable:981) +#endif /* __ICC */ + +#endif /* __CCD_COMPILER_H__ */ + diff -Nru ode-0.11.1/libccd/src/ccd/dbg.h ode-0.14/libccd/src/ccd/dbg.h --- ode-0.11.1/libccd/src/ccd/dbg.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/dbg.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,65 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_DBG_H__ +#define __CCD_DBG_H__ + +/** + * Some macros which can be used for printing debug info to stderr if macro + * NDEBUG not defined. + * + * DBG_PROLOGUE can be specified as string and this string will be + * prepended to output text + */ +#ifndef NDEBUG + +#include + +#ifndef DBG_PROLOGUE +# define DBG_PROLOGUE +#endif + +# define DBG(format, ...) do { \ + fprintf(stderr, DBG_PROLOGUE "%s :: " format "\n", __func__, ## __VA_ARGS__); \ + fflush(stderr); \ + } while (0) + +# define DBG2(str) do { \ + fprintf(stderr, DBG_PROLOGUE "%s :: " str "\n", __func__); \ + fflush(stderr); \ + } while (0) + +# define DBG_VEC3(vec, prefix) do {\ + fprintf(stderr, DBG_PROLOGUE "%s :: %s[%lf %lf %lf]\n", \ + __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \ + fflush(stderr); \ + } while (0) +/* +# define DBG_VEC3(vec, prefix) do {\ + fprintf(stderr, DBG_PROLOGUE "%s :: %s[%.20lf %.20lf %.20lf]\n", \ + __func__, prefix, ccdVec3X(vec), ccdVec3Y(vec), ccdVec3Z(vec)); \ + fflush(stderr); \ + } while (0) +*/ + +#else +# define DBG(format, ...) +# define DBG2(str) +# define DBG_VEC3(v, prefix) +#endif + +#endif /* __CCD_DBG_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/list.h ode-0.14/libccd/src/ccd/list.h --- ode-0.11.1/libccd/src/ccd/list.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/list.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,155 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_LIST_H__ +#define __CCD_LIST_H__ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_list_t { + struct _ccd_list_t *next, *prev; +}; +typedef struct _ccd_list_t ccd_list_t; + + + +/** + * Get the struct for this entry. + * @ptr: the &ccd_list_t pointer. + * @type: the type of the struct this is embedded in. + * @member: the name of the list_struct within the struct. + */ +#define ccdListEntry(ptr, type, member) \ + ccd_container_of(ptr, type, member) + +/** + * Iterates over list. + */ +#define ccdListForEach(list, item) \ + for (item = (list)->next; \ + _ccd_prefetch((item)->next), item != (list); \ + item = (item)->next) + +/** + * Iterates over list safe against remove of list entry + */ +#define ccdListForEachSafe(list, item, tmp) \ + for (item = (list)->next, tmp = (item)->next; \ + item != (list); \ + item = tmp, tmp = (item)->next) + +/** + * Iterates over list of given type. + * @pos: the type * to use as a loop cursor. + * @head: the head for your list. + * @member: the name of the list_struct within the struct. + */ +#define ccdListForEachEntry(head, pos, postype, member) \ + for (pos = ccdListEntry((head)->next, postype, member); \ + _ccd_prefetch(pos->member.next), &pos->member != (head); \ + pos = ccdListEntry(pos->member.next, postype, member)) + +/** + * Iterates over list of given type safe against removal of list entry + * @pos: the type * to use as a loop cursor. + * @n: another type * to use as temporary storage + * @head: the head for your list. + * @member: the name of the list_struct within the struct. + */ +#define ccdListForEachEntrySafe(head, pos, postype, n, ntype, member) \ + for (pos = ccdListEntry((head)->next, postype, member), \ + n = ccdListEntry(pos->member.next, postype, member); \ + &pos->member != (head); \ + pos = n, n = ccdListEntry(n->member.next, ntype, member)) + + +/** + * Initialize list. + */ +_ccd_inline void ccdListInit(ccd_list_t *l); + +_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l); +_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l); + +/** + * Returns true if list is empty. + */ +_ccd_inline int ccdListEmpty(const ccd_list_t *head); + +/** + * Appends item to end of the list l. + */ +_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *item); + +/** + * Removes item from list. + */ +_ccd_inline void ccdListDel(ccd_list_t *item); + + + +/// +/// INLINES: +/// + +_ccd_inline void ccdListInit(ccd_list_t *l) +{ + l->next = l; + l->prev = l; +} + +_ccd_inline ccd_list_t *ccdListNext(ccd_list_t *l) +{ + return l->next; +} + +_ccd_inline ccd_list_t *ccdListPrev(ccd_list_t *l) +{ + return l->prev; +} + +_ccd_inline int ccdListEmpty(const ccd_list_t *head) +{ + return head->next == head; +} + +_ccd_inline void ccdListAppend(ccd_list_t *l, ccd_list_t *newccd) +{ + newccd->prev = l->prev; + newccd->next = l; + l->prev->next = newccd; + l->prev = newccd; +} + +_ccd_inline void ccdListDel(ccd_list_t *item) +{ + item->next->prev = item->prev; + item->prev->next = item->next; + item->next = item; + item->prev = item; +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_LIST_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/polytope.h ode-0.14/libccd/src/ccd/polytope.h --- ode-0.11.1/libccd/src/ccd/polytope.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/polytope.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,322 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_POLYTOPE_H__ +#define __CCD_POLYTOPE_H__ + +#include +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#define CCD_PT_VERTEX 1 +#define CCD_PT_EDGE 2 +#define CCD_PT_FACE 3 + + +#define __CCD_PT_EL \ + int type; /*! type of element */ \ + ccd_real_t dist; /*! distance from origin */ \ + ccd_vec3_t witness; /*! witness point of projection of origin */ \ + ccd_list_t list; /*! list of elements of same type */ + +/** + * General polytope element. + * Could be vertex, edge or triangle. + */ +struct _ccd_pt_el_t { + __CCD_PT_EL +}; +typedef struct _ccd_pt_el_t ccd_pt_el_t; + +struct _ccd_pt_edge_t; +struct _ccd_pt_face_t; + +/** + * Polytope's vertex. + */ +struct _ccd_pt_vertex_t { + __CCD_PT_EL + + int id; + ccd_support_t v; + ccd_list_t edges; //!< List of edges +}; +typedef struct _ccd_pt_vertex_t ccd_pt_vertex_t; + +/** + * Polytope's edge. + */ +struct _ccd_pt_edge_t { + __CCD_PT_EL + + ccd_pt_vertex_t *vertex[2]; //!< Reference to vertices + struct _ccd_pt_face_t *faces[2]; //!< Reference to faces + + ccd_list_t vertex_list[2]; //!< List items in vertices' lists +}; +typedef struct _ccd_pt_edge_t ccd_pt_edge_t; + +/** + * Polytope's triangle faces. + */ +struct _ccd_pt_face_t { + __CCD_PT_EL + + ccd_pt_edge_t *edge[3]; //!< Reference to surrounding edges +}; +typedef struct _ccd_pt_face_t ccd_pt_face_t; + + +/** + * Struct containing polytope. + */ +struct _ccd_pt_t { + ccd_list_t vertices; //!< List of vertices + ccd_list_t edges; //!< List of edges + ccd_list_t faces; //!< List of faces + + ccd_pt_el_t *nearest; + ccd_real_t nearest_dist; + int nearest_type; +}; +typedef struct _ccd_pt_t ccd_pt_t; + + +void ccdPtInit(ccd_pt_t *pt); +void ccdPtDestroy(ccd_pt_t *pt); + +/** + * Returns vertices surrounding given triangle face. + */ +_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face, + ccd_vec3_t **a, + ccd_vec3_t **b, + ccd_vec3_t **c); +_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b, + ccd_pt_vertex_t **c); +_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f, + ccd_pt_edge_t **a, + ccd_pt_edge_t **b, + ccd_pt_edge_t **c); + +_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e, + ccd_vec3_t **a, + ccd_vec3_t **b); +_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b); +_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e, + ccd_pt_face_t **f1, + ccd_pt_face_t **f2); + + +/** + * Adds vertex to polytope and returns pointer to newly created vertex. + */ +ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v); +_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt, + ccd_real_t x, ccd_real_t y, ccd_real_t z); + +/** + * Adds edge to polytope. + */ +ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1, + ccd_pt_vertex_t *v2); + +/** + * Adds face to polytope. + */ +ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1, + ccd_pt_edge_t *e2, + ccd_pt_edge_t *e3); + +/** + * Deletes vertex from polytope. + * Returns 0 on success, -1 otherwise. + */ +_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *); +_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *); +_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *); + + +/** + * Recompute distances from origin for all elements in pt. + */ +void ccdPtRecomputeDistances(ccd_pt_t *pt); + +/** + * Returns nearest element to origin. + */ +ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt); + + +void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn); +void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *); + + +/**** INLINES ****/ +_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt, + ccd_real_t x, ccd_real_t y, ccd_real_t z) +{ + ccd_support_t s; + ccdVec3Set(&s.v, x, y, z); + return ccdPtAddVertex(pt, &s); +} + +_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *v) +{ + // test if any edge is connected to this vertex + if (!ccdListEmpty(&v->edges)) + return -1; + + // delete vertex from main list + ccdListDel(&v->list); + + if ((void *)pt->nearest == (void *)v){ + pt->nearest = NULL; + } + + free(v); + return 0; +} + +_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *e) +{ + // text if any face is connected to this edge (faces[] is always + // aligned to lower indices) + if (e->faces[0] != NULL) + return -1; + + // disconnect edge from lists of edges in vertex struct + ccdListDel(&e->vertex_list[0]); + ccdListDel(&e->vertex_list[1]); + + // disconnect edge from main list + ccdListDel(&e->list); + + if ((void *)pt->nearest == (void *)e){ + pt->nearest = NULL; + } + + free(e); + return 0; +} + +_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *f) +{ + ccd_pt_edge_t *e; + size_t i; + + // remove face from edges' recerence lists + for (i = 0; i < 3; i++){ + e = f->edge[i]; + if (e->faces[0] == f){ + e->faces[0] = e->faces[1]; + } + e->faces[1] = NULL; + } + + // remove face from list of all faces + ccdListDel(&f->list); + + if ((void *)pt->nearest == (void *)f){ + pt->nearest = NULL; + } + + free(f); + return 0; +} + +_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face, + ccd_vec3_t **a, + ccd_vec3_t **b, + ccd_vec3_t **c) +{ + *a = &face->edge[0]->vertex[0]->v.v; + *b = &face->edge[0]->vertex[1]->v.v; + + if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0] + && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){ + *c = &face->edge[1]->vertex[0]->v.v; + }else{ + *c = &face->edge[1]->vertex[1]->v.v; + } +} + +_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b, + ccd_pt_vertex_t **c) +{ + *a = face->edge[0]->vertex[0]; + *b = face->edge[0]->vertex[1]; + + if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0] + && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){ + *c = face->edge[1]->vertex[0]; + }else{ + *c = face->edge[1]->vertex[1]; + } +} + +_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f, + ccd_pt_edge_t **a, + ccd_pt_edge_t **b, + ccd_pt_edge_t **c) +{ + *a = f->edge[0]; + *b = f->edge[1]; + *c = f->edge[2]; +} + +_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e, + ccd_vec3_t **a, + ccd_vec3_t **b) +{ + *a = &e->vertex[0]->v.v; + *b = &e->vertex[1]->v.v; +} + +_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e, + ccd_pt_vertex_t **a, + ccd_pt_vertex_t **b) +{ + *a = e->vertex[0]; + *b = e->vertex[1]; +} + +_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e, + ccd_pt_face_t **f1, + ccd_pt_face_t **f2) +{ + *f1 = e->faces[0]; + *f2 = e->faces[1]; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_POLYTOPE_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/precision.h.in ode-0.14/libccd/src/ccd/precision.h.in --- ode-0.11.1/libccd/src/ccd/precision.h.in 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/precision.h.in 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,14 @@ +#ifndef __CCD_PRECISION_H__ +#define __CCD_PRECISION_H__ + +/* define either CCD_SINGLE or CCD_DOUBLE */ + +#if defined(CCD_IDESINGLE) +#define CCD_SINGLE +#elif defined(CCD_IDEDOUBLE) +#define CCD_DOUBLE +#else +#define @CCD_PRECISION@ +#endif + +#endif diff -Nru ode-0.11.1/libccd/src/ccd/quat.h ode-0.14/libccd/src/ccd/quat.h --- ode-0.11.1/libccd/src/ccd/quat.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/quat.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,245 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_QUAT_H__ +#define __CCD_QUAT_H__ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_quat_t { + ccd_real_t q[4]; //!< x, y, z, w +}; +typedef struct _ccd_quat_t ccd_quat_t; + +#define CCD_QUAT(name, x, y, z, w) \ + ccd_quat_t name = { {x, y, z, w} } + +_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q); +_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q); + +_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w); +_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src); + +_ccd_inline int ccdQuatNormalize(ccd_quat_t *q); + +_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q, + ccd_real_t angle, const ccd_vec3_t *axis); + +_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k); + +/** + * q = q * q2 + */ +_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2); + +/** + * q = a * b + */ +_ccd_inline void ccdQuatMul2(ccd_quat_t *q, + const ccd_quat_t *a, const ccd_quat_t *b); + +/** + * Inverts quaternion. + * Returns 0 on success. + */ +_ccd_inline int ccdQuatInvert(ccd_quat_t *q); +_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src); + + +/** + * Rotate vector v by quaternion q. + */ +_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q); + + +/**** INLINES ****/ +_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q) +{ + ccd_real_t len; + + len = q->q[0] * q->q[0]; + len += q->q[1] * q->q[1]; + len += q->q[2] * q->q[2]; + len += q->q[3] * q->q[3]; + + return len; +} + +_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q) +{ + return CCD_SQRT(ccdQuatLen2(q)); +} + +_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w) +{ + q->q[0] = x; + q->q[1] = y; + q->q[2] = z; + q->q[3] = w; +} + +_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src) +{ + *dest = *src; +} + + +_ccd_inline int ccdQuatNormalize(ccd_quat_t *q) +{ + ccd_real_t len = ccdQuatLen(q); + if (len < CCD_EPS) + return 0; + + ccdQuatScale(q, CCD_ONE / len); + return 1; +} + +_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q, + ccd_real_t angle, const ccd_vec3_t *axis) +{ + ccd_real_t a, x, y, z, n, s; + + a = angle/2; + x = ccdVec3X(axis); + y = ccdVec3Y(axis); + z = ccdVec3Z(axis); + n = CCD_SQRT(x*x + y*y + z*z); + + // axis==0? (treat this the same as angle==0 with an arbitrary axis) + if (n < CCD_EPS){ + q->q[0] = q->q[1] = q->q[2] = CCD_ZERO; + q->q[3] = CCD_ONE; + }else{ + s = sin(a)/n; + + q->q[3] = cos(a); + q->q[0] = x*s; + q->q[1] = y*s; + q->q[2] = z*s; + + ccdQuatNormalize(q); + } +} + + +_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k) +{ + size_t i; + for (i = 0; i < 4; i++) + q->q[i] *= k; +} + +_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2) +{ + ccd_quat_t a; + ccdQuatCopy(&a, q); + ccdQuatMul2(q, &a, q2); +} + +_ccd_inline void ccdQuatMul2(ccd_quat_t *q, + const ccd_quat_t *a, const ccd_quat_t *b) +{ + q->q[0] = a->q[3] * b->q[0] + + a->q[0] * b->q[3] + + a->q[1] * b->q[2] + - a->q[2] * b->q[1]; + q->q[1] = a->q[3] * b->q[1] + + a->q[1] * b->q[3] + - a->q[0] * b->q[2] + + a->q[2] * b->q[0]; + q->q[2] = a->q[3] * b->q[2] + + a->q[2] * b->q[3] + + a->q[0] * b->q[1] + - a->q[1] * b->q[0]; + q->q[3] = a->q[3] * b->q[3] + - a->q[0] * b->q[0] + - a->q[1] * b->q[1] + - a->q[2] * b->q[2]; +} + +_ccd_inline int ccdQuatInvert(ccd_quat_t *q) +{ + ccd_real_t len2 = ccdQuatLen2(q); + if (len2 < CCD_EPS) + return -1; + + len2 = CCD_ONE / len2; + + q->q[0] = -q->q[0] * len2; + q->q[1] = -q->q[1] * len2; + q->q[2] = -q->q[2] * len2; + q->q[3] = q->q[3] * len2; + + return 0; +} +_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src) +{ + ccdQuatCopy(dest, src); + return ccdQuatInvert(dest); +} + +_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q) +{ + ccd_real_t w, x, y, z, ww, xx, yy, zz, wx, wy, wz, xy, xz, yz; + ccd_real_t vx, vy, vz; + + w = q->q[3]; + x = q->q[0]; + y = q->q[1]; + z = q->q[2]; + ww = w*w; + xx = x*x; + yy = y*y; + zz = z*z; + wx = w*x; + wy = w*y; + wz = w*z; + xy = x*y; + xz = x*z; + yz = y*z; + + vx = ww * ccdVec3X(v) + + xx * ccdVec3X(v) + - yy * ccdVec3X(v) + - zz * ccdVec3X(v) + + 2 * ((xy - wz) * ccdVec3Y(v) + + (xz + wy) * ccdVec3Z(v)); + vy = ww * ccdVec3Y(v) + - xx * ccdVec3Y(v) + + yy * ccdVec3Y(v) + - zz * ccdVec3Y(v) + + 2 * ((xy + wz) * ccdVec3X(v) + + (yz - wx) * ccdVec3Z(v)); + vz = ww * ccdVec3Z(v) + - xx * ccdVec3Z(v) + - yy * ccdVec3Z(v) + + zz * ccdVec3Z(v) + + 2 * ((xz - wy) * ccdVec3X(v) + + (yz + wx) * ccdVec3Y(v)); + ccdVec3Set(v, vx, vy, vz); +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_QUAT_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/simplex.h ode-0.14/libccd/src/ccd/simplex.h --- ode-0.11.1/libccd/src/ccd/simplex.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/simplex.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,104 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_SIMPLEX_H__ +#define __CCD_SIMPLEX_H__ + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_simplex_t { + ccd_support_t ps[4]; + int last; /*!< index of last added point*/ +}; +typedef struct _ccd_simplex_t ccd_simplex_t; + + +_ccd_inline void ccdSimplexInit(ccd_simplex_t *s); +_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s); +_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s); +_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx); +_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx); + +_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v); +_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a); +_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size); +_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2); + + +/**** INLINES ****/ + +_ccd_inline void ccdSimplexInit(ccd_simplex_t *s) +{ + s->last = -1; +} + +_ccd_inline int ccdSimplexSize(const ccd_simplex_t *s) +{ + return s->last + 1; +} + +_ccd_inline const ccd_support_t *ccdSimplexLast(const ccd_simplex_t *s) +{ + return ccdSimplexPoint(s, s->last); +} + +_ccd_inline const ccd_support_t *ccdSimplexPoint(const ccd_simplex_t *s, int idx) +{ + /* here is no check on boundaries */ + return &s->ps[idx]; +} +_ccd_inline ccd_support_t *ccdSimplexPointW(ccd_simplex_t *s, int idx) +{ + return &s->ps[idx]; +} + +_ccd_inline void ccdSimplexAdd(ccd_simplex_t *s, const ccd_support_t *v) +{ + /* here is no check on boundaries in sake of speed */ + ++s->last; + ccdSupportCopy(s->ps + s->last, v); +} + +_ccd_inline void ccdSimplexSet(ccd_simplex_t *s, size_t pos, const ccd_support_t *a) +{ + ccdSupportCopy(s->ps + pos, a); +} + +_ccd_inline void ccdSimplexSetSize(ccd_simplex_t *s, int size) +{ + s->last = size - 1; +} + +_ccd_inline void ccdSimplexSwap(ccd_simplex_t *s, size_t pos1, size_t pos2) +{ + ccd_support_t supp; + + ccdSupportCopy(&supp, &s->ps[pos1]); + ccdSupportCopy(&s->ps[pos1], &s->ps[pos2]); + ccdSupportCopy(&s->ps[pos2], &supp); +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_SIMPLEX_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/support.h ode-0.14/libccd/src/ccd/support.h --- ode-0.11.1/libccd/src/ccd/support.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/support.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,57 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_SUPPORT_H__ +#define __CCD_SUPPORT_H__ + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +struct _ccd_support_t { + ccd_vec3_t v; /*!< Support point in minkowski sum*/ + ccd_vec3_t v1; /*!< Support point in obj1*/ + ccd_vec3_t v2; /*!< Support point in obj2*/ +}; +typedef struct _ccd_support_t ccd_support_t; + +_ccd_inline void ccdSupportCopy(ccd_support_t *, const ccd_support_t *s); + +/** + * Computes support point of obj1 and obj2 in direction dir. + * Support point is returned via supp. + */ +void __ccdSupport(const void *obj1, const void *obj2, + const ccd_vec3_t *dir, const ccd_t *ccd, + ccd_support_t *supp); + + +/**** INLINES ****/ +_ccd_inline void ccdSupportCopy(ccd_support_t *d, const ccd_support_t *s) +{ + *d = *s; +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_SUPPORT_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd/vec3.h ode-0.14/libccd/src/ccd/vec3.h --- ode-0.11.1/libccd/src/ccd/vec3.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd/vec3.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,337 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#ifndef __CCD_VEC3_H__ +#define __CCD_VEC3_H__ + +#include +#include +#include + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +#ifndef CCD_SINGLE +# ifndef CCD_DOUBLE +# error You must define CCD_SINGLE or CCD_DOUBLE +# endif /* CCD_DOUBLE */ +#endif /* CCD_SINGLE */ + + +#if defined(_MSC_VER) +/* Define fmin, fmax, fminf, fmaxf which are missing from MSVC (up to VS2005 at least) */ +static __inline double fmin(double x, double y) { return __min(x, y); } +static __inline double fmax(double x, double y) { return __max(x, y); } +static __inline float fminf(float x, float y) { return __min(x, y); } +static __inline float fmaxf(float x, float y) { return __max(x, y); } + +#endif /* #if defined(_MSC_VER) */ + + +#ifdef CCD_SINGLE +# ifdef CCD_DOUBLE +# error You can define either CCD_SINGLE or CCD_DOUBLE, not both! +# endif /* CCD_DOUBLE */ + +typedef float ccd_real_t; + +/*# define CCD_EPS 1E-6*/ +# define CCD_EPS FLT_EPSILON + +# define CCD_REAL_MAX FLT_MAX + +# define CCD_REAL(x) (x ## f) /*!< form a constant */ +# define CCD_SQRT(x) (sqrtf(x)) /*!< square root */ +# define CCD_FABS(x) (fabsf(x)) /*!< absolute value */ +# define CCD_FMAX(x, y) (fmaxf((x), (y))) /*!< maximum of two floats */ +# define CCD_FMIN(x, y) (fminf((x), (y))) /*!< minimum of two floats */ +#endif /* CCD_SINGLE */ + +#ifdef CCD_DOUBLE +typedef double ccd_real_t; + +/*# define CCD_EPS 1E-10*/ +# define CCD_EPS DBL_EPSILON + +# define CCD_REAL_MAX DBL_MAX + +# define CCD_REAL(x) (x) /*!< form a constant */ +# define CCD_SQRT(x) (sqrt(x)) /*!< square root */ +# define CCD_FABS(x) (fabs(x)) /*!< absolute value */ +# define CCD_FMAX(x, y) (fmax((x), (y))) /*!< maximum of two floats */ +# define CCD_FMIN(x, y) (fmin((x), (y))) /*!< minimum of two floats */ +#endif /* CCD_DOUBLE */ + +#define CCD_ONE CCD_REAL(1.) +#define CCD_ZERO CCD_REAL(0.) + +struct _ccd_vec3_t { + ccd_real_t v[3]; +}; +typedef struct _ccd_vec3_t ccd_vec3_t; + + +/** + * Holds origin (0,0,0) - this variable is meant to be read-only! + */ +extern ccd_vec3_t *ccd_vec3_origin; + +/** + * Array of points uniformly distributed on unit sphere. + */ +extern ccd_vec3_t *ccd_points_on_sphere; +extern size_t ccd_points_on_sphere_len; + +/** Returns sign of value. */ +_ccd_inline int ccdSign(ccd_real_t val); +/** Returns true if val is zero. **/ +_ccd_inline int ccdIsZero(ccd_real_t val); +/** Returns true if a and b equal. **/ +_ccd_inline int ccdEq(ccd_real_t a, ccd_real_t b); + + +#define CCD_VEC3_STATIC(x, y, z) \ + { { (x), (y), (z) } } + +#define CCD_VEC3(name, x, y, z) \ + ccd_vec3_t name = CCD_VEC3_STATIC((x), (y), (z)) + +_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v); +_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v); +_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v); + +/** + * Returns true if a and b equal. + */ +_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b); + +/** + * Returns squared length of vector. + */ +_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v); + +/** + * Returns distance between a and b. + */ +_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b); + + +_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z); + +/** + * v = w + */ +_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * Substracts coordinates of vector w from vector v. v = v - w + */ +_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * Adds coordinates of vector w to vector v. v = v + w + */ +_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * d = v - w + */ +_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w); + +/** + * d = d * k; + */ +_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k); + +/** + * Normalizes given vector to unit length. + */ +_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d); + + +/** + * Dot product of two vectors. + */ +_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b); + +/** + * Cross product: d = a x b. + */ +_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b); + + +/** + * Returns distance2 of point P to segment ab. + * If witness is non-NULL it is filled with coordinates of point from which + * was computaed distance to point P. + */ +ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P, + const ccd_vec3_t *a, const ccd_vec3_t *b, + ccd_vec3_t *witness); + +/** + * Returns distance2 of point P from triangle formed by triplet a, b, c. + * If witness vector is provided it is filled with coordinates of point + * from which was computed distance to point P. + */ +ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P, + const ccd_vec3_t *a, const ccd_vec3_t *b, + const ccd_vec3_t *c, + ccd_vec3_t *witness); + + +/**** INLINES ****/ +_ccd_inline int ccdSign(ccd_real_t val) +{ + if (ccdIsZero(val)){ + return 0; + }else if (val < CCD_ZERO){ + return -1; + } + return 1; +} + +_ccd_inline int ccdIsZero(ccd_real_t val) +{ + return CCD_FABS(val) < CCD_EPS; +} + +_ccd_inline int ccdEq(ccd_real_t _a, ccd_real_t _b) +{ + ccd_real_t ab; + ccd_real_t a, b; + + ab = CCD_FABS(_a - _b); + if (CCD_FABS(ab) < CCD_EPS) + return 1; + + a = CCD_FABS(_a); + b = CCD_FABS(_b); + if (b > a){ + return ab < CCD_EPS * b; + }else{ + return ab < CCD_EPS * a; + } +} + + +_ccd_inline ccd_real_t ccdVec3X(const ccd_vec3_t *v) +{ + return v->v[0]; +} + +_ccd_inline ccd_real_t ccdVec3Y(const ccd_vec3_t *v) +{ + return v->v[1]; +} + +_ccd_inline ccd_real_t ccdVec3Z(const ccd_vec3_t *v) +{ + return v->v[2]; +} + +_ccd_inline int ccdVec3Eq(const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + return ccdEq(ccdVec3X(a), ccdVec3X(b)) + && ccdEq(ccdVec3Y(a), ccdVec3Y(b)) + && ccdEq(ccdVec3Z(a), ccdVec3Z(b)); +} + +_ccd_inline ccd_real_t ccdVec3Len2(const ccd_vec3_t *v) +{ + return ccdVec3Dot(v, v); +} + +_ccd_inline ccd_real_t ccdVec3Dist2(const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + ccd_vec3_t ab; + ccdVec3Sub2(&ab, a, b); + return ccdVec3Len2(&ab); +} + +_ccd_inline void ccdVec3Set(ccd_vec3_t *v, ccd_real_t x, ccd_real_t y, ccd_real_t z) +{ + v->v[0] = x; + v->v[1] = y; + v->v[2] = z; +} + +_ccd_inline void ccdVec3Copy(ccd_vec3_t *v, const ccd_vec3_t *w) +{ + *v = *w; +} + +_ccd_inline void ccdVec3Sub(ccd_vec3_t *v, const ccd_vec3_t *w) +{ + v->v[0] -= w->v[0]; + v->v[1] -= w->v[1]; + v->v[2] -= w->v[2]; +} +_ccd_inline void ccdVec3Sub2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w) +{ + d->v[0] = v->v[0] - w->v[0]; + d->v[1] = v->v[1] - w->v[1]; + d->v[2] = v->v[2] - w->v[2]; +} + +_ccd_inline void ccdVec3Add(ccd_vec3_t *v, const ccd_vec3_t *w) +{ + v->v[0] += w->v[0]; + v->v[1] += w->v[1]; + v->v[2] += w->v[2]; +} + +_ccd_inline void ccdVec3Scale(ccd_vec3_t *d, ccd_real_t k) +{ + d->v[0] *= k; + d->v[1] *= k; + d->v[2] *= k; +} + +_ccd_inline void ccdVec3Normalize(ccd_vec3_t *d) +{ + ccd_real_t k = CCD_ONE / CCD_SQRT(ccdVec3Len2(d)); + ccdVec3Scale(d, k); +} + +_ccd_inline ccd_real_t ccdVec3Dot(const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + ccd_real_t dot; + + dot = a->v[0] * b->v[0]; + dot += a->v[1] * b->v[1]; + dot += a->v[2] * b->v[2]; + return dot; +} + +_ccd_inline void ccdVec3Cross(ccd_vec3_t *d, const ccd_vec3_t *a, const ccd_vec3_t *b) +{ + d->v[0] = (a->v[1] * b->v[2]) - (a->v[2] * b->v[1]); + d->v[1] = (a->v[2] * b->v[0]) - (a->v[0] * b->v[2]); + d->v[2] = (a->v[0] * b->v[1]) - (a->v[1] * b->v[0]); +} + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_VEC3_H__ */ diff -Nru ode-0.11.1/libccd/src/ccd.c ode-0.14/libccd/src/ccd.c --- ode-0.11.1/libccd/src/ccd.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/ccd.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,954 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +/** Performs GJK algorithm. Returns 0 if intersection was found and simplex + * is filled with resulting polytope. */ +static int __ccdGJK(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *simplex); + +/** Performs GJK+EPA algorithm. Returns 0 if intersection was found and + * pt is filled with resulting polytope and nearest with pointer to + * nearest element (vertex, edge, face) of polytope to origin. */ +static int __ccdGJKEPA(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + + +/** Returns true if simplex contains origin. + * This function also alteres simplex and dir according to further + * processing of GJK algorithm. */ +static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir); +static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir); +static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir); +static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir); + +/** d = a x b x c */ +_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b, + const ccd_vec3_t *c, ccd_vec3_t *d); + + +/** Transforms simplex to polytope. It is assumed that simplex has 4 + * vertices. */ +static int simplexToPolytope4(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + +/** Transforms simplex to polytope, three vertices required */ +static int simplexToPolytope3(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + +/** Transforms simplex to polytope, two vertices required */ +static int simplexToPolytope2(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest); + +/** Expands polytope using new vertex v. */ +static void expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el, + const ccd_support_t *newv); + +/** Finds next support point (at stores it in out argument). + * Returns 0 on success, -1 otherwise */ +static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_pt_el_t *el, + ccd_support_t *out); + + + +void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir) +{ + ccdVec3Set(dir, CCD_ONE, CCD_ZERO, CCD_ZERO); +} + +int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd) +{ + ccd_simplex_t simplex; + return __ccdGJK(obj1, obj2, ccd, &simplex) == 0; +} + +int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_vec3_t *sep) +{ + ccd_pt_t polytope; + ccd_pt_el_t *nearest; + int ret; + + ccdPtInit(&polytope); + + ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest); + + // set separation vector + if (nearest) + ccdVec3Copy(sep, &nearest->witness); + + ccdPtDestroy(&polytope); + + return ret; +} + + +static int penEPAPosCmp(const void *a, const void *b) +{ + ccd_pt_vertex_t *v1, *v2; + v1 = *(ccd_pt_vertex_t **)a; + v2 = *(ccd_pt_vertex_t **)b; + + if (ccdEq(v1->dist, v2->dist)){ + return 0; + }else if (v1->dist < v2->dist){ + return -1; + }else{ + return 1; + } +} + +static void penEPAPos(const ccd_pt_t *pt, const ccd_pt_el_t *nearest, + ccd_vec3_t *pos) +{ + ccd_pt_vertex_t *v; + ccd_pt_vertex_t **vs; + size_t i, len; + ccd_real_t scale; + + // compute median + len = 0; + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + len++; + } + + vs = CCD_ALLOC_ARR(ccd_pt_vertex_t *, len); + i = 0; + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + vs[i++] = v; + } + + qsort(vs, len, sizeof(ccd_pt_vertex_t *), penEPAPosCmp); + + ccdVec3Set(pos, CCD_ZERO, CCD_ZERO, CCD_ZERO); + scale = CCD_ZERO; + if (len % 2 == 1) + len++; + + for (i = 0; i < len / 2; i++){ + ccdVec3Add(pos, &vs[i]->v.v1); + ccdVec3Add(pos, &vs[i]->v.v2); + scale += CCD_REAL(2.); + } + ccdVec3Scale(pos, CCD_ONE / scale); + + free(vs); +} + +int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos) +{ + ccd_pt_t polytope; + ccd_pt_el_t *nearest; + int ret; + + ccdPtInit(&polytope); + + ret = __ccdGJKEPA(obj1, obj2, ccd, &polytope, &nearest); + + // set separation vector + if (ret == 0 && nearest){ + // compute depth of penetration + *depth = CCD_SQRT(nearest->dist); + + // store normalized direction vector + ccdVec3Copy(dir, &nearest->witness); + ccdVec3Normalize(dir); + + // compute position + penEPAPos(&polytope, nearest, pos); + } + + ccdPtDestroy(&polytope); + + return ret; +} + + + + +static int __ccdGJK(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *simplex) +{ + unsigned long iterations; + ccd_vec3_t dir; // direction vector + ccd_support_t last; // last support point + int do_simplex_res; + + // initialize simplex struct + ccdSimplexInit(simplex); + + // get first direction + ccd->first_dir(obj1, obj2, &dir); + // get first support point + __ccdSupport(obj1, obj2, &dir, ccd, &last); + // and add this point to simplex as last one + ccdSimplexAdd(simplex, &last); + + // set up direction vector to as (O - last) which is exactly -last + ccdVec3Copy(&dir, &last.v); + ccdVec3Scale(&dir, -CCD_ONE); + + // start iterations + for (iterations = 0UL; iterations < ccd->max_iterations; ++iterations) { + // obtain support point + __ccdSupport(obj1, obj2, &dir, ccd, &last); + + // check if farthest point in Minkowski difference in direction dir + // isn't somewhere before origin (the test on negative dot product) + // - because if it is, objects are not intersecting at all. + if (ccdVec3Dot(&last.v, &dir) < CCD_ZERO){ + return -1; // intersection not found + } + + // add last support vector to simplex + ccdSimplexAdd(simplex, &last); + + // if doSimplex returns 1 if objects intersect, -1 if objects don't + // intersect and 0 if algorithm should continue + do_simplex_res = doSimplex(simplex, &dir); + if (do_simplex_res == 1){ + return 0; // intersection found + }else if (do_simplex_res == -1){ + return -1; // intersection not found + } + + if (ccdIsZero(ccdVec3Len2(&dir))){ + return -1; // intersection not found + } + } + + // intersection wasn't found + return -1; +} + +static int __ccdGJKEPA(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_pt_t *polytope, ccd_pt_el_t **nearest) +{ + ccd_simplex_t simplex; + ccd_support_t supp; // support point + int ret, size; + + *nearest = NULL; + + // run GJK and obtain terminal simplex + ret = __ccdGJK(obj1, obj2, ccd, &simplex); + if (ret != 0) + return -1; + + // transform simplex to polytope - simplex won't be used anymore + size = ccdSimplexSize(&simplex); + if (size == 4){ + if (simplexToPolytope4(obj1, obj2, ccd, &simplex, polytope, nearest) != 0){ + return 0;// touch contact + } + }else if (size == 3){ + if (simplexToPolytope3(obj1, obj2, ccd, &simplex, polytope, nearest) != 0){ + return 0; // touch contact + } + }else{ // size == 2 + if (simplexToPolytope2(obj1, obj2, ccd, &simplex, polytope, nearest) != 0){ + return 0; // touch contact + } + } + + while (1){ + // get triangle nearest to origin + *nearest = ccdPtNearest(polytope); + + // get next support point + if (nextSupport(obj1, obj2, ccd, *nearest, &supp) != 0) + break; + + // expand nearest triangle using new point - supp + expandPolytope(polytope, *nearest, &supp); + } + + return 0; +} + + + +static int doSimplex2(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + const ccd_support_t *A, *B; + ccd_vec3_t AB, AO, tmp; + ccd_real_t dot; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other point + B = ccdSimplexPoint(simplex, 0); + // compute AB oriented segment + ccdVec3Sub2(&AB, &B->v, &A->v); + // compute AO vector + ccdVec3Copy(&AO, &A->v); + ccdVec3Scale(&AO, -CCD_ONE); + + // dot product AB . AO + dot = ccdVec3Dot(&AB, &AO); + + // check if origin doesn't lie on AB segment + ccdVec3Cross(&tmp, &AB, &AO); + if (ccdIsZero(ccdVec3Len2(&tmp)) && dot > CCD_ZERO){ + return 1; + } + + // check if origin is in area where AB segment is + if (ccdIsZero(dot) || dot < CCD_ZERO){ + // origin is in outside are of A + ccdSimplexSet(simplex, 0, A); + ccdSimplexSetSize(simplex, 1); + ccdVec3Copy(dir, &AO); + }else{ + // origin is in area where AB segment is + + // keep simplex untouched and set direction to + // AB x AO x AB + tripleCross(&AB, &AO, &AB, dir); + } + + return 0; +} + +static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + const ccd_support_t *A, *B, *C; + ccd_vec3_t AO, AB, AC, ABC, tmp; + ccd_real_t dot, dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = ccdSimplexPoint(simplex, 1); + C = ccdSimplexPoint(simplex, 0); + + // check touching contact + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL); + if (ccdIsZero(dist)){ + return 1; + } + + // check if triangle is really triangle (has area > 0) + // if not simplex can't be expanded and thus no itersection is found + if (ccdVec3Eq(&A->v, &B->v) || ccdVec3Eq(&A->v, &C->v)){ + return -1; + } + + // compute AO vector + ccdVec3Copy(&AO, &A->v); + ccdVec3Scale(&AO, -CCD_ONE); + + // compute AB and AC segments and ABC vector (perpendircular to triangle) + ccdVec3Sub2(&AB, &B->v, &A->v); + ccdVec3Sub2(&AC, &C->v, &A->v); + ccdVec3Cross(&ABC, &AB, &AC); + + ccdVec3Cross(&tmp, &ABC, &AC); + dot = ccdVec3Dot(&tmp, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + dot = ccdVec3Dot(&AC, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + // C is already in place + ccdSimplexSet(simplex, 1, A); + ccdSimplexSetSize(simplex, 2); + tripleCross(&AC, &AO, &AC, dir); + }else{ +ccd_do_simplex3_45: + dot = ccdVec3Dot(&AB, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + ccdSimplexSet(simplex, 0, B); + ccdSimplexSet(simplex, 1, A); + ccdSimplexSetSize(simplex, 2); + tripleCross(&AB, &AO, &AB, dir); + }else{ + ccdSimplexSet(simplex, 0, A); + ccdSimplexSetSize(simplex, 1); + ccdVec3Copy(dir, &AO); + } + } + }else{ + ccdVec3Cross(&tmp, &AB, &ABC); + dot = ccdVec3Dot(&tmp, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + goto ccd_do_simplex3_45; + }else{ + dot = ccdVec3Dot(&ABC, &AO); + if (ccdIsZero(dot) || dot > CCD_ZERO){ + ccdVec3Copy(dir, &ABC); + }else{ + ccd_support_t Ctmp; + ccdSupportCopy(&Ctmp, C); + ccdSimplexSet(simplex, 0, B); + ccdSimplexSet(simplex, 1, &Ctmp); + + ccdVec3Copy(dir, &ABC); + ccdVec3Scale(dir, -CCD_ONE); + } + } + } + + return 0; +} + +static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + const ccd_support_t *A, *B, *C, *D; + ccd_vec3_t AO, AB, AC, AD, ABC, ACD, ADB; + int B_on_ACD, C_on_ADB, D_on_ABC; + int AB_O, AC_O, AD_O; + ccd_real_t dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = ccdSimplexPoint(simplex, 2); + C = ccdSimplexPoint(simplex, 1); + D = ccdSimplexPoint(simplex, 0); + + // check if tetrahedron is really tetrahedron (has volume > 0) + // if it is not simplex can't be expanded and thus no intersection is + // found + dist = ccdVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, NULL); + if (ccdIsZero(dist)){ + return -1; + } + + // check if origin lies on some of tetrahedron's face - if so objects + // intersect + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &C->v, NULL); + if (ccdIsZero(dist)) + return 1; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &C->v, &D->v, NULL); + if (ccdIsZero(dist)) + return 1; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &A->v, &B->v, &D->v, NULL); + if (ccdIsZero(dist)) + return 1; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &B->v, &C->v, &D->v, NULL); + if (ccdIsZero(dist)) + return 1; + + // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors + ccdVec3Copy(&AO, &A->v); + ccdVec3Scale(&AO, -CCD_ONE); + ccdVec3Sub2(&AB, &B->v, &A->v); + ccdVec3Sub2(&AC, &C->v, &A->v); + ccdVec3Sub2(&AD, &D->v, &A->v); + ccdVec3Cross(&ABC, &AB, &AC); + ccdVec3Cross(&ACD, &AC, &AD); + ccdVec3Cross(&ADB, &AD, &AB); + + // side (positive or negative) of B, C, D relative to planes ACD, ADB + // and ABC respectively + B_on_ACD = ccdSign(ccdVec3Dot(&ACD, &AB)); + C_on_ADB = ccdSign(ccdVec3Dot(&ADB, &AC)); + D_on_ABC = ccdSign(ccdVec3Dot(&ABC, &AD)); + + // whether origin is on same side of ACD, ADB, ABC as B, C, D + // respectively + AB_O = ccdSign(ccdVec3Dot(&ACD, &AO)) == B_on_ACD; + AC_O = ccdSign(ccdVec3Dot(&ADB, &AO)) == C_on_ADB; + AD_O = ccdSign(ccdVec3Dot(&ABC, &AO)) == D_on_ABC; + + if (AB_O && AC_O && AD_O){ + // origin is in tetrahedron + return 1; + + // rearrange simplex to triangle and call doSimplex3() + }else if (!AB_O){ + // B is farthest from the origin among all of the tetrahedron's + // points, so remove it from the list and go on with the triangle + // case + + // D and C are in place + ccdSimplexSet(simplex, 2, A); + ccdSimplexSetSize(simplex, 3); + }else if (!AC_O){ + // C is farthest + ccdSimplexSet(simplex, 1, D); + ccdSimplexSet(simplex, 0, B); + ccdSimplexSet(simplex, 2, A); + ccdSimplexSetSize(simplex, 3); + }else{ // (!AD_O) + ccdSimplexSet(simplex, 0, C); + ccdSimplexSet(simplex, 1, B); + ccdSimplexSet(simplex, 2, A); + ccdSimplexSetSize(simplex, 3); + } + + return doSimplex3(simplex, dir); +} + +static int doSimplex(ccd_simplex_t *simplex, ccd_vec3_t *dir) +{ + if (ccdSimplexSize(simplex) == 2){ + // simplex contains segment only one segment + return doSimplex2(simplex, dir); + }else if (ccdSimplexSize(simplex) == 3){ + // simplex contains triangle + return doSimplex3(simplex, dir); + }else{ // ccdSimplexSize(simplex) == 4 + // tetrahedron - this is the only shape which can encapsule origin + // so doSimplex4() also contains test on it + return doSimplex4(simplex, dir); + } +} + +_ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b, + const ccd_vec3_t *c, ccd_vec3_t *d) +{ + ccd_vec3_t e; + ccdVec3Cross(&e, a, b); + ccdVec3Cross(d, &e, c); +} + + + +/** Transforms simplex to polytope. It is assumed that simplex has 4 + * vertices! */ +static int simplexToPolytope4(const void *obj1, const void *obj2, + const ccd_t *ccd, + ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest) +{ + const ccd_support_t *a, *b, *c, *d; + int use_polytope3; + ccd_real_t dist; + ccd_pt_vertex_t *v[4]; + ccd_pt_edge_t *e[6]; + size_t i; + + a = ccdSimplexPoint(simplex, 0); + b = ccdSimplexPoint(simplex, 1); + c = ccdSimplexPoint(simplex, 2); + d = ccdSimplexPoint(simplex, 3); + + // check if origin lies on some of tetrahedron's face - if so use + // simplexToPolytope3() + use_polytope3 = 0; + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &c->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + } + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &c->v, &d->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + ccdSimplexSet(simplex, 1, c); + ccdSimplexSet(simplex, 2, d); + } + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &a->v, &b->v, &d->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + ccdSimplexSet(simplex, 2, d); + } + dist = ccdVec3PointTriDist2(ccd_vec3_origin, &b->v, &c->v, &d->v, NULL); + if (ccdIsZero(dist)){ + use_polytope3 = 1; + ccdSimplexSet(simplex, 0, b); + ccdSimplexSet(simplex, 1, c); + ccdSimplexSet(simplex, 2, d); + } + + if (use_polytope3){ + ccdSimplexSetSize(simplex, 3); + return simplexToPolytope3(obj1, obj2, ccd, simplex, pt, nearest); + } + + // no touching contact - simply create tetrahedron + for (i = 0; i < 4; i++){ + v[i] = ccdPtAddVertex(pt, ccdSimplexPoint(simplex, i)); + } + + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[0]); + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + e[4] = ccdPtAddEdge(pt, v[3], v[1]); + e[5] = ccdPtAddEdge(pt, v[3], v[2]); + + ccdPtAddFace(pt, e[0], e[1], e[2]); + ccdPtAddFace(pt, e[3], e[4], e[0]); + ccdPtAddFace(pt, e[4], e[5], e[1]); + ccdPtAddFace(pt, e[5], e[3], e[2]); + + return 0; +} + +/** Transforms simplex to polytope, three vertices required */ +static int simplexToPolytope3(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest) +{ + const ccd_support_t *a, *b, *c; + ccd_support_t d, d2; + ccd_vec3_t ab, ac, dir; + ccd_pt_vertex_t *v[5]; + ccd_pt_edge_t *e[9]; + ccd_real_t dist, dist2; + + *nearest = NULL; + + a = ccdSimplexPoint(simplex, 0); + b = ccdSimplexPoint(simplex, 1); + c = ccdSimplexPoint(simplex, 2); + + // If only one triangle left from previous GJK run origin lies on this + // triangle. So it is necessary to expand triangle into two + // tetrahedrons connected with base (which is exactly abc triangle). + + // get next support point in direction of normal of triangle + ccdVec3Sub2(&ab, &b->v, &a->v); + ccdVec3Sub2(&ac, &c->v, &a->v); + ccdVec3Cross(&dir, &ab, &ac); + __ccdSupport(obj1, obj2, &dir, ccd, &d); + dist = ccdVec3PointTriDist2(&d.v, &a->v, &b->v, &c->v, NULL); + + // and second one take in opposite direction + ccdVec3Scale(&dir, -CCD_ONE); + __ccdSupport(obj1, obj2, &dir, ccd, &d2); + dist2 = ccdVec3PointTriDist2(&d2.v, &a->v, &b->v, &c->v, NULL); + + // check if face isn't already on edge of minkowski sum and thus we + // have touching contact + if (ccdIsZero(dist) || ccdIsZero(dist2)){ + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, b); + v[2] = ccdPtAddVertex(pt, c); + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[0]); + *nearest = (ccd_pt_el_t *)ccdPtAddFace(pt, e[0], e[1], e[2]); + + return -1; + } + + // form polyhedron + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, b); + v[2] = ccdPtAddVertex(pt, c); + v[3] = ccdPtAddVertex(pt, &d); + v[4] = ccdPtAddVertex(pt, &d2); + + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[0]); + + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + e[4] = ccdPtAddEdge(pt, v[3], v[1]); + e[5] = ccdPtAddEdge(pt, v[3], v[2]); + + e[6] = ccdPtAddEdge(pt, v[4], v[0]); + e[7] = ccdPtAddEdge(pt, v[4], v[1]); + e[8] = ccdPtAddEdge(pt, v[4], v[2]); + + ccdPtAddFace(pt, e[3], e[4], e[0]); + ccdPtAddFace(pt, e[4], e[5], e[1]); + ccdPtAddFace(pt, e[5], e[3], e[2]); + + ccdPtAddFace(pt, e[6], e[7], e[0]); + ccdPtAddFace(pt, e[7], e[8], e[1]); + ccdPtAddFace(pt, e[8], e[6], e[2]); + + return 0; +} + +/** Transforms simplex to polytope, two vertices required */ +static int simplexToPolytope2(const void *obj1, const void *obj2, + const ccd_t *ccd, + const ccd_simplex_t *simplex, + ccd_pt_t *pt, ccd_pt_el_t **nearest) +{ + const ccd_support_t *a, *b; + ccd_vec3_t ab, ac, dir; + ccd_support_t supp[4]; + ccd_pt_vertex_t *v[6]; + ccd_pt_edge_t *e[12]; + size_t i; + int found; + + a = ccdSimplexPoint(simplex, 0); + b = ccdSimplexPoint(simplex, 1); + + // This situation is a bit tricky. If only one segment comes from + // previous run of GJK - it means that either this segment is on + // minkowski edge (and thus we have touch contact) or it it isn't and + // therefore segment is somewhere *inside* minkowski sum and it *must* + // be possible to fully enclose this segment with polyhedron formed by + // at least 8 triangle faces. + + // get first support point (any) + found = 0; + for (i = 0; i < ccd_points_on_sphere_len; i++){ + __ccdSupport(obj1, obj2, &ccd_points_on_sphere[i], ccd, &supp[0]); + if (!ccdVec3Eq(&a->v, &supp[0].v) && !ccdVec3Eq(&b->v, &supp[0].v)){ + found = 1; + break; + } + } + if (!found) + goto simplexToPolytope2_touching_contact; + + // get second support point in opposite direction than supp[0] + ccdVec3Copy(&dir, &supp[0].v); + ccdVec3Scale(&dir, -CCD_ONE); + __ccdSupport(obj1, obj2, &dir, ccd, &supp[1]); + if (ccdVec3Eq(&a->v, &supp[1].v) || ccdVec3Eq(&b->v, &supp[1].v)) + goto simplexToPolytope2_touching_contact; + + // next will be in direction of normal of triangle a,supp[0],supp[1] + ccdVec3Sub2(&ab, &supp[0].v, &a->v); + ccdVec3Sub2(&ac, &supp[1].v, &a->v); + ccdVec3Cross(&dir, &ab, &ac); + __ccdSupport(obj1, obj2, &dir, ccd, &supp[2]); + if (ccdVec3Eq(&a->v, &supp[2].v) || ccdVec3Eq(&b->v, &supp[2].v)) + goto simplexToPolytope2_touching_contact; + + // and last one will be in opposite direction + ccdVec3Scale(&dir, -CCD_ONE); + __ccdSupport(obj1, obj2, &dir, ccd, &supp[3]); + if (ccdVec3Eq(&a->v, &supp[3].v) || ccdVec3Eq(&b->v, &supp[3].v)) + goto simplexToPolytope2_touching_contact; + + goto simplexToPolytope2_not_touching_contact; +simplexToPolytope2_touching_contact: + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, b); + *nearest = (ccd_pt_el_t *)ccdPtAddEdge(pt, v[0], v[1]); + return -1; + +simplexToPolytope2_not_touching_contact: + // form polyhedron + v[0] = ccdPtAddVertex(pt, a); + v[1] = ccdPtAddVertex(pt, &supp[0]); + v[2] = ccdPtAddVertex(pt, b); + v[3] = ccdPtAddVertex(pt, &supp[1]); + v[4] = ccdPtAddVertex(pt, &supp[2]); + v[5] = ccdPtAddVertex(pt, &supp[3]); + + e[0] = ccdPtAddEdge(pt, v[0], v[1]); + e[1] = ccdPtAddEdge(pt, v[1], v[2]); + e[2] = ccdPtAddEdge(pt, v[2], v[3]); + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + + e[4] = ccdPtAddEdge(pt, v[4], v[0]); + e[5] = ccdPtAddEdge(pt, v[4], v[1]); + e[6] = ccdPtAddEdge(pt, v[4], v[2]); + e[7] = ccdPtAddEdge(pt, v[4], v[3]); + + e[8] = ccdPtAddEdge(pt, v[5], v[0]); + e[9] = ccdPtAddEdge(pt, v[5], v[1]); + e[10] = ccdPtAddEdge(pt, v[5], v[2]); + e[11] = ccdPtAddEdge(pt, v[5], v[3]); + + ccdPtAddFace(pt, e[4], e[5], e[0]); + ccdPtAddFace(pt, e[5], e[6], e[1]); + ccdPtAddFace(pt, e[6], e[7], e[2]); + ccdPtAddFace(pt, e[7], e[4], e[3]); + + ccdPtAddFace(pt, e[8], e[9], e[0]); + ccdPtAddFace(pt, e[9], e[10], e[1]); + ccdPtAddFace(pt, e[10], e[11], e[2]); + ccdPtAddFace(pt, e[11], e[8], e[3]); + + return 0; +} + +/** Expands polytope's tri by new vertex v. Triangle tri is replaced by + * three triangles each with one vertex in v. */ +static void expandPolytope(ccd_pt_t *pt, ccd_pt_el_t *el, + const ccd_support_t *newv) +{ + ccd_pt_vertex_t *v[5]; + ccd_pt_edge_t *e[8] = {0}; + ccd_pt_face_t *f[2]; + + + // element can be either segment or triangle + if (el->type == CCD_PT_EDGE){ + // In this case, segment should be replaced by new point. + // Simpliest case is when segment stands alone and in this case + // this segment is replaced by two other segments both connected to + // newv. + // Segment can be also connected to max two faces and in that case + // each face must be replaced by two other faces. To do this + // correctly it is necessary to have correctly ordered edges and + // vertices which is exactly what is done in following code. + // + + ccdPtEdgeVertices((const ccd_pt_edge_t *)el, &v[0], &v[2]); + + ccdPtEdgeFaces((ccd_pt_edge_t *)el, &f[0], &f[1]); + + if (f[0]){ + ccdPtFaceEdges(f[0], &e[0], &e[1], &e[2]); + if (e[0] == (ccd_pt_edge_t *)el){ + e[0] = e[2]; + }else if (e[1] == (ccd_pt_edge_t *)el){ + e[1] = e[2]; + } + ccdPtEdgeVertices(e[0], &v[1], &v[3]); + if (v[1] != v[0] && v[3] != v[0]){ + e[2] = e[0]; + e[0] = e[1]; + e[1] = e[2]; + if (v[1] == v[2]) + v[1] = v[3]; + }else{ + if (v[1] == v[0]) + v[1] = v[3]; + } + + if (f[1]){ + ccdPtFaceEdges(f[1], &e[2], &e[3], &e[4]); + if (e[2] == (ccd_pt_edge_t *)el){ + e[2] = e[4]; + }else if (e[3] == (ccd_pt_edge_t *)el){ + e[3] = e[4]; + } + ccdPtEdgeVertices(e[2], &v[3], &v[4]); + if (v[3] != v[2] && v[4] != v[2]){ + e[4] = e[2]; + e[2] = e[3]; + e[3] = e[4]; + if (v[3] == v[0]) + v[3] = v[4]; + }else{ + if (v[3] == v[2]) + v[3] = v[4]; + } + } + + + v[4] = ccdPtAddVertex(pt, newv); + + ccdPtDelFace(pt, f[0]); + if (f[1]){ + ccdPtDelFace(pt, f[1]); + ccdPtDelEdge(pt, (ccd_pt_edge_t *)el); + } + + e[4] = ccdPtAddEdge(pt, v[4], v[2]); + e[5] = ccdPtAddEdge(pt, v[4], v[0]); + e[6] = ccdPtAddEdge(pt, v[4], v[1]); + if (f[1]) + e[7] = ccdPtAddEdge(pt, v[4], v[3]); + + ccdPtAddFace(pt, e[1], e[4], e[6]); + ccdPtAddFace(pt, e[0], e[6], e[5]); + if (f[1]){ + ccdPtAddFace(pt, e[3], e[5], e[7]); + ccdPtAddFace(pt, e[4], e[7], e[2]); + }else{ + ccdPtAddFace(pt, e[4], e[5], (ccd_pt_edge_t *)el); + } + } + }else{ // el->type == CCD_PT_FACE + // replace triangle by tetrahedron without base (base would be the + // triangle that will be removed) + + // get triplet of surrounding edges and vertices of triangle face + ccdPtFaceEdges((const ccd_pt_face_t *)el, &e[0], &e[1], &e[2]); + ccdPtEdgeVertices(e[0], &v[0], &v[1]); + ccdPtEdgeVertices(e[1], &v[2], &v[3]); + + // following code sorts edges to have e[0] between vertices 0-1, + // e[1] between 1-2 and e[2] between 2-0 + if (v[2] != v[1] && v[3] != v[1]){ + // swap e[1] and e[2] + e[3] = e[1]; + e[1] = e[2]; + e[2] = e[3]; + } + if (v[3] != v[0] && v[3] != v[1]) + v[2] = v[3]; + + // remove triangle face + ccdPtDelFace(pt, (ccd_pt_face_t *)el); + + // expand triangle to tetrahedron + v[3] = ccdPtAddVertex(pt, newv); + e[3] = ccdPtAddEdge(pt, v[3], v[0]); + e[4] = ccdPtAddEdge(pt, v[3], v[1]); + e[5] = ccdPtAddEdge(pt, v[3], v[2]); + + ccdPtAddFace(pt, e[3], e[4], e[0]); + ccdPtAddFace(pt, e[4], e[5], e[1]); + ccdPtAddFace(pt, e[5], e[3], e[2]); + } +} + +/** Finds next support point (at stores it in out argument). + * Returns 0 on success, -1 otherwise */ +static int nextSupport(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_pt_el_t *el, + ccd_support_t *out) +{ + ccd_vec3_t *a, *b, *c; + ccd_real_t dist; + + if (el->type == CCD_PT_VERTEX) + return -1; + + // touch contact + if (ccdIsZero(el->dist)) + return -1; + + __ccdSupport(obj1, obj2, &el->witness, ccd, out); + + if (el->type == CCD_PT_EDGE){ + // fetch end points of edge + ccdPtEdgeVec3((ccd_pt_edge_t *)el, &a, &b); + + // get distance from segment + dist = ccdVec3PointSegmentDist2(&out->v, a, b, NULL); + }else{ // el->type == CCD_PT_FACE + // fetch vertices of triangle face + ccdPtFaceVec3((ccd_pt_face_t *)el, &a, &b, &c); + + // check if new point can significantly expand polytope + dist = ccdVec3PointTriDist2(&out->v, a, b, c, NULL); + } + + if (dist < ccd->epa_tolerance) + return -1; + + return 0; +} diff -Nru ode-0.11.1/libccd/src/Makefile.am ode-0.14/libccd/src/Makefile.am --- ode-0.11.1/libccd/src/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,21 @@ +SUBDIRS = . testsuites + +AM_CFLAGS = -std=c99 + +noinst_LTLIBRARIES = libccd.la + +libccd_la_SOURCES = alloc.c ccd/alloc.h \ + ccd/compiler.h \ + ccd/dbg.h \ + ccd.c ccd/ccd.h \ + ccd/list.h \ + polytope.c ccd/polytope.h \ + ccd/quat.h \ + ccd/simplex.h \ + support.c ccd/support.h \ + vec3.c ccd/vec3.h \ + mpr.c + +nodist_libccd_la_SOURCES = ccd/precision.h + +EXTRA_DIST = ccd/precision.h.in diff -Nru ode-0.11.1/libccd/src/Makefile.include ode-0.14/libccd/src/Makefile.include --- ode-0.11.1/libccd/src/Makefile.include 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/Makefile.include 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,100 @@ +### +# libccd +# --------------------------------- +# Copyright (c)2010 Daniel Fiser +# +# +# This file is part of libccd. +# +# Distributed under the OSI-approved BSD License (the "License"); +# see accompanying file BDS-LICENSE for details or see +# . +# +# This software is distributed WITHOUT ANY WARRANTY; without even the +# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. +# See the License for more information. +## + +CC ?= gcc +M4 ?= m4 +PYTHON ?= python + +SYSTEM = $(shell uname) + +SYSTEM_CXXFLAGS = +SYSTEM_LDFLAGS = + +ifeq '$(SYSTEM)' 'FreeBSD' + SYSTEM_CXXFLAGS = -Wno-long-long +else +endif + +NOWALL ?= no +NOPEDANTIC ?= no +DEBUG ?= no +PROFIL ?= no + +ifeq '$(PROFIL)' 'yes' + DEBUG = yes +endif + +ifeq '$(DEBUG)' 'yes' + CFLAGS = -g +endif +ifeq '$(PROFIL)' 'yes' + CFLAGS += -pg +endif + +ifneq '$(NOWALL)' 'yes' + CFLAGS += -Wall +endif +ifneq '$(NOPEDANTIC)' 'yes' + CFLAGS += -pedantic +endif + +CONFIG_FLAGS = +USE_DOUBLE ?= yes +USE_SINGLE ?= no + +ifeq '$(USE_SINGLE)' 'yes' + CONFIG_FLAGS += -DUSE_SINGLE + USE_DOUBLE = no +endif +ifeq '$(USE_DOUBLE)' 'yes' + CONFIG_FLAGS += -DUSE_DOUBLE +endif + +CFLAGS += --std=gnu99 +LDFLAGS += $(SYSTEM_LDFLAGS) + +CHECKTARGETS = +check-dep: $(CHECKTARGETS) + +PREFIX ?= /usr/local +INCLUDEDIR ?= include +LIBDIR ?= lib + +showvars: + @echo "SYSTEM = "$(SYSTEM) + @echo "" + @echo "CC = $(CC)" + @echo "M4 = $(M4)" + @echo "" + @echo "DEBUG = $(DEBUG)" + @echo "PROFIL = $(PROFIL)" + @echo "NOWALL = $(NOWALL)" + @echo "NOPEDANTIC = $(NOPEDANTIC)" + @echo "USE_SINGLE = $(USE_SINGLE)" + @echo "USE_DOUBLE = $(USE_DOUBLE)" + @echo "" + @echo "CFLAGS = $(CFLAGS)" + @echo "LDFLAGS = $(LDFLAGS)" + @echo "CONFIG_FLAGS = $(CONFIG_FLAGS)" + @echo "" + @echo "PREFIX = $(PREFIX)" + @echo "INCLUDEDIR = $(INCLUDEDIR)" + @echo "LIBDIR = $(LIBDIR)" + @echo "" + +.DEFAULT_GOAL := all +.PHONY: showvars diff -Nru ode-0.11.1/libccd/src/mpr.c ode-0.14/libccd/src/mpr.c --- ode-0.11.1/libccd/src/mpr.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/mpr.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,538 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010,2011 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include +#include +#include +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +/** Finds origin (center) of Minkowski difference (actually it can be any + * interior point of Minkowski difference. */ +_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_support_t *center); + +/** Discovers initial portal - that is tetrahedron that intersects with + * origin ray (ray from center of Minkowski diff to (0,0,0). + * + * Returns -1 if already recognized that origin is outside Minkowski + * portal. + * Returns 1 if origin lies on v1 of simplex (only v0 and v1 are present + * in simplex). + * Returns 2 if origin lies on v0-v1 segment. + * Returns 0 if portal was built. + */ +static int discoverPortal(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *portal); + + +/** Expands portal towards origin and determine if objects intersect. + * Already established portal must be given as argument. + * If intersection is found 0 is returned, -1 otherwise */ +static int refinePortal(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *portal); + +/** Finds penetration info by expanding provided portal. */ +static void findPenetr(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_simplex_t *portal, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + +/** Finds penetration info if origin lies on portal's v1 */ +static void findPenetrTouch(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_simplex_t *portal, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + +/** Find penetration info if origin lies on portal's segment v0-v1 */ +static void findPenetrSegment(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_simplex_t *portal, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos); + +/** Finds position vector from fully established portal */ +static void findPos(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_simplex_t *portal, ccd_vec3_t *pos); + +/** Extends portal with new support point. + * Portal must have face v1-v2-v3 arranged to face outside portal. */ +_ccd_inline void expandPortal(ccd_simplex_t *portal, + const ccd_support_t *v4); + +/** Fill dir with direction outside portal. Portal's v1-v2-v3 face must be + * arranged in correct order! */ +_ccd_inline void portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir); + +/** Returns true if portal encapsules origin (0,0,0), dir is direction of + * v1-v2-v3 face. */ +_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal, + const ccd_vec3_t *dir); + +/** Returns true if portal with new point v4 would reach specified + * tolerance (i.e. returns true if portal can _not_ significantly expand + * within Minkowski difference). + * + * v4 is candidate for new point in portal, dir is direction in which v4 + * was obtained. */ +_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir, + const ccd_t *ccd); + +/** Returns true if portal expanded by new point v4 could possibly contain + * origin, dir is direction in which v4 was obtained. */ +_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir); + + +int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd) +{ + ccd_simplex_t portal; + int res; + + // Phase 1: Portal discovery - find portal that intersects with origin + // ray (ray from center of Minkowski diff to origin of coordinates) + res = discoverPortal(obj1, obj2, ccd, &portal); + if (res < 0) + return 0; + if (res > 0) + return 1; + + // Phase 2: Portal refinement + res = refinePortal(obj1, obj2, ccd, &portal); + return (res == 0 ? 1 : 0); +} + +int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos) +{ + ccd_simplex_t portal; + int res; + + // Phase 1: Portal discovery + res = discoverPortal(obj1, obj2, ccd, &portal); + if (res < 0){ + // Origin isn't inside portal - no collision. + return -1; + + }else if (res == 1){ + // Touching contact on portal's v1. + findPenetrTouch(obj1, obj2, ccd, &portal, depth, dir, pos); + + }else if (res == 2){ + // Origin lies on v0-v1 segment. + findPenetrSegment(obj1, obj2, ccd, &portal, depth, dir, pos); + + }else if (res == 0){ + // Phase 2: Portal refinement + res = refinePortal(obj1, obj2, ccd, &portal); + if (res < 0) + return -1; + + // Phase 3. Penetration info + findPenetr(obj1, obj2, ccd, &portal, depth, dir, pos); + } + + return 0; +} + + + +_ccd_inline void findOrigin(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_support_t *center) +{ + ccd->center1(obj1, ¢er->v1); + ccd->center2(obj2, ¢er->v2); + ccdVec3Sub2(¢er->v, ¢er->v1, ¢er->v2); +} + +static int discoverPortal(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *portal) +{ + ccd_vec3_t dir, va, vb; + ccd_real_t dot; + int cont; + + // vertex 0 is center of portal + findOrigin(obj1, obj2, ccd, ccdSimplexPointW(portal, 0)); + ccdSimplexSetSize(portal, 1); + + if (ccdVec3Eq(&ccdSimplexPoint(portal, 0)->v, ccd_vec3_origin)){ + // Portal's center lies on origin (0,0,0) => we know that objects + // intersect but we would need to know penetration info. + // So move center little bit... + ccdVec3Set(&va, CCD_EPS * CCD_REAL(10.), CCD_ZERO, CCD_ZERO); + ccdVec3Add(&ccdSimplexPointW(portal, 0)->v, &va); + } + + + // vertex 1 = support in direction of origin + ccdVec3Copy(&dir, &ccdSimplexPoint(portal, 0)->v); + ccdVec3Scale(&dir, CCD_REAL(-1.)); + ccdVec3Normalize(&dir); + __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 1)); + ccdSimplexSetSize(portal, 2); + + // test if origin isn't outside of v1 + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &dir); + if (ccdIsZero(dot) || dot < CCD_ZERO) + return -1; + + + // vertex 2 + ccdVec3Cross(&dir, &ccdSimplexPoint(portal, 0)->v, + &ccdSimplexPoint(portal, 1)->v); + if (ccdIsZero(ccdVec3Len2(&dir))){ + if (ccdVec3Eq(&ccdSimplexPoint(portal, 1)->v, ccd_vec3_origin)){ + // origin lies on v1 + return 1; + }else{ + // origin lies on v0-v1 segment + return 2; + } + } + + ccdVec3Normalize(&dir); + __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 2)); + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &dir); + if (ccdIsZero(dot) || dot < CCD_ZERO) + return -1; + + ccdSimplexSetSize(portal, 3); + + // vertex 3 direction + ccdVec3Sub2(&va, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 0)->v); + ccdVec3Sub2(&vb, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 0)->v); + ccdVec3Cross(&dir, &va, &vb); + ccdVec3Normalize(&dir); + + // it is better to form portal faces to be oriented "outside" origin + dot = ccdVec3Dot(&dir, &ccdSimplexPoint(portal, 0)->v); + if (dot > CCD_ZERO){ + ccdSimplexSwap(portal, 1, 2); + ccdVec3Scale(&dir, CCD_REAL(-1.)); + } + + while (ccdSimplexSize(portal) < 4){ + __ccdSupport(obj1, obj2, &dir, ccd, ccdSimplexPointW(portal, 3)); + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &dir); + if (ccdIsZero(dot) || dot < CCD_ZERO) + return -1; + + cont = 0; + + // test if origin is outside (v1, v0, v3) - set v2 as v3 and + // continue + ccdVec3Cross(&va, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 3)->v); + dot = ccdVec3Dot(&va, &ccdSimplexPoint(portal, 0)->v); + if (dot < CCD_ZERO && !ccdIsZero(dot)){ + ccdSimplexSet(portal, 2, ccdSimplexPoint(portal, 3)); + cont = 1; + } + + if (!cont){ + // test if origin is outside (v3, v0, v2) - set v1 as v3 and + // continue + ccdVec3Cross(&va, &ccdSimplexPoint(portal, 3)->v, + &ccdSimplexPoint(portal, 2)->v); + dot = ccdVec3Dot(&va, &ccdSimplexPoint(portal, 0)->v); + if (dot < CCD_ZERO && !ccdIsZero(dot)){ + ccdSimplexSet(portal, 1, ccdSimplexPoint(portal, 3)); + cont = 1; + } + } + + if (cont){ + ccdVec3Sub2(&va, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 0)->v); + ccdVec3Sub2(&vb, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 0)->v); + ccdVec3Cross(&dir, &va, &vb); + ccdVec3Normalize(&dir); + }else{ + ccdSimplexSetSize(portal, 4); + } + } + + return 0; +} + +static int refinePortal(const void *obj1, const void *obj2, + const ccd_t *ccd, ccd_simplex_t *portal) +{ + ccd_vec3_t dir; + ccd_support_t v4; + + while (1){ + // compute direction outside the portal (from v0 throught v1,v2,v3 + // face) + portalDir(portal, &dir); + + // test if origin is inside the portal + if (portalEncapsulesOrigin(portal, &dir)) + return 0; + + // get next support point + __ccdSupport(obj1, obj2, &dir, ccd, &v4); + + // test if v4 can expand portal to contain origin and if portal + // expanding doesn't reach given tolerance + if (!portalCanEncapsuleOrigin(portal, &v4, &dir) + || portalReachTolerance(portal, &v4, &dir, ccd)){ + return -1; + } + + // v1-v2-v3 triangle must be rearranged to face outside Minkowski + // difference (direction from v0). + expandPortal(portal, &v4); + } + + return -1; +} + + +static void findPenetr(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_simplex_t *portal, + ccd_real_t *depth, ccd_vec3_t *pdir, ccd_vec3_t *pos) +{ + ccd_vec3_t dir; + ccd_support_t v4; + unsigned long iterations; + + iterations = 0UL; + while (1){ + // compute portal direction and obtain next support point + portalDir(portal, &dir); + __ccdSupport(obj1, obj2, &dir, ccd, &v4); + + // reached tolerance -> find penetration info + if (portalReachTolerance(portal, &v4, &dir, ccd) + || iterations > ccd->max_iterations){ + *depth = ccdVec3PointTriDist2(ccd_vec3_origin, + &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 3)->v, + pdir); + *depth = CCD_SQRT(*depth); + ccdVec3Normalize(pdir); + + // barycentric coordinates: + findPos(obj1, obj2, ccd, portal, pos); + + return; + } + + expandPortal(portal, &v4); + + iterations++; + } +} + +static void findPenetrTouch(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_simplex_t *portal, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos) +{ + // Touching contact on portal's v1 - so depth is zero and direction + // is unimportant and pos can be guessed + *depth = CCD_REAL(0.); + ccdVec3Copy(dir, ccd_vec3_origin); + + ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1); + ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2); + ccdVec3Scale(pos, 0.5); +} + +static void findPenetrSegment(const void *obj1, const void *obj2, const ccd_t *ccd, + ccd_simplex_t *portal, + ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos) +{ + /* + ccd_vec3_t vec; + ccd_real_t k; + */ + + // Origin lies on v0-v1 segment. + // Depth is distance to v1, direction also and position must be + // computed + + ccdVec3Copy(pos, &ccdSimplexPoint(portal, 1)->v1); + ccdVec3Add(pos, &ccdSimplexPoint(portal, 1)->v2); + ccdVec3Scale(pos, CCD_REAL(0.5)); + + /* + ccdVec3Sub2(&vec, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 0)->v); + k = CCD_SQRT(ccdVec3Len2(&ccdSimplexPoint(portal, 0)->v)); + k /= CCD_SQRT(ccdVec3Len2(&vec)); + ccdVec3Scale(&vec, -k); + ccdVec3Add(pos, &vec); + */ + + ccdVec3Copy(dir, &ccdSimplexPoint(portal, 1)->v); + *depth = CCD_SQRT(ccdVec3Len2(dir)); + ccdVec3Normalize(dir); +} + + +static void findPos(const void *obj1, const void *obj2, const ccd_t *ccd, + const ccd_simplex_t *portal, ccd_vec3_t *pos) +{ + ccd_vec3_t dir; + size_t i; + ccd_real_t b[4], sum, inv; + ccd_vec3_t vec, p1, p2; + + portalDir(portal, &dir); + + // use barycentric coordinates of tetrahedron to find origin + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 2)->v); + b[0] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v, + &ccdSimplexPoint(portal, 2)->v); + b[1] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 0)->v, + &ccdSimplexPoint(portal, 1)->v); + b[2] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 3)->v); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 1)->v); + b[3] = ccdVec3Dot(&vec, &ccdSimplexPoint(portal, 0)->v); + + sum = b[0] + b[1] + b[2] + b[3]; + + if (ccdIsZero(sum) || sum < CCD_ZERO){ + b[0] = CCD_REAL(0.); + + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 3)->v); + b[1] = ccdVec3Dot(&vec, &dir); + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 3)->v, + &ccdSimplexPoint(portal, 1)->v); + b[2] = ccdVec3Dot(&vec, &dir); + ccdVec3Cross(&vec, &ccdSimplexPoint(portal, 1)->v, + &ccdSimplexPoint(portal, 2)->v); + b[3] = ccdVec3Dot(&vec, &dir); + + sum = b[1] + b[2] + b[3]; + } + + inv = CCD_REAL(1.) / sum; + + ccdVec3Copy(&p1, ccd_vec3_origin); + ccdVec3Copy(&p2, ccd_vec3_origin); + for (i = 0; i < 4; i++){ + ccdVec3Copy(&vec, &ccdSimplexPoint(portal, i)->v1); + ccdVec3Scale(&vec, b[i]); + ccdVec3Add(&p1, &vec); + + ccdVec3Copy(&vec, &ccdSimplexPoint(portal, i)->v2); + ccdVec3Scale(&vec, b[i]); + ccdVec3Add(&p2, &vec); + } + ccdVec3Scale(&p1, inv); + ccdVec3Scale(&p2, inv); + + ccdVec3Copy(pos, &p1); + ccdVec3Add(pos, &p2); + ccdVec3Scale(pos, 0.5); +} + +_ccd_inline void expandPortal(ccd_simplex_t *portal, + const ccd_support_t *v4) +{ + ccd_real_t dot; + ccd_vec3_t v4v0; + + ccdVec3Cross(&v4v0, &v4->v, &ccdSimplexPoint(portal, 0)->v); + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, &v4v0); + if (dot > CCD_ZERO){ + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, &v4v0); + if (dot > CCD_ZERO){ + ccdSimplexSet(portal, 1, v4); + }else{ + ccdSimplexSet(portal, 3, v4); + } + }else{ + dot = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, &v4v0); + if (dot > CCD_ZERO){ + ccdSimplexSet(portal, 2, v4); + }else{ + ccdSimplexSet(portal, 1, v4); + } + } +} + +_ccd_inline void portalDir(const ccd_simplex_t *portal, ccd_vec3_t *dir) +{ + ccd_vec3_t v2v1, v3v1; + + ccdVec3Sub2(&v2v1, &ccdSimplexPoint(portal, 2)->v, + &ccdSimplexPoint(portal, 1)->v); + ccdVec3Sub2(&v3v1, &ccdSimplexPoint(portal, 3)->v, + &ccdSimplexPoint(portal, 1)->v); + ccdVec3Cross(dir, &v2v1, &v3v1); + ccdVec3Normalize(dir); +} + +_ccd_inline int portalEncapsulesOrigin(const ccd_simplex_t *portal, + const ccd_vec3_t *dir) +{ + ccd_real_t dot; + dot = ccdVec3Dot(dir, &ccdSimplexPoint(portal, 1)->v); + return ccdIsZero(dot) || dot > CCD_ZERO; +} + +_ccd_inline int portalReachTolerance(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir, + const ccd_t *ccd) +{ + ccd_real_t dv1, dv2, dv3, dv4; + ccd_real_t dot1, dot2, dot3; + + // find the smallest dot product of dir and {v1-v4, v2-v4, v3-v4} + + dv1 = ccdVec3Dot(&ccdSimplexPoint(portal, 1)->v, dir); + dv2 = ccdVec3Dot(&ccdSimplexPoint(portal, 2)->v, dir); + dv3 = ccdVec3Dot(&ccdSimplexPoint(portal, 3)->v, dir); + dv4 = ccdVec3Dot(&v4->v, dir); + + dot1 = dv4 - dv1; + dot2 = dv4 - dv2; + dot3 = dv4 - dv3; + + dot1 = CCD_FMIN(dot1, dot2); + dot1 = CCD_FMIN(dot1, dot3); + + return ccdEq(dot1, ccd->mpr_tolerance) || dot1 < ccd->mpr_tolerance; +} + +_ccd_inline int portalCanEncapsuleOrigin(const ccd_simplex_t *portal, + const ccd_support_t *v4, + const ccd_vec3_t *dir) +{ + ccd_real_t dot; + dot = ccdVec3Dot(&v4->v, dir); + return ccdIsZero(dot) || dot > CCD_ZERO; +} diff -Nru ode-0.11.1/libccd/src/polytope.c ode-0.14/libccd/src/polytope.c --- ode-0.11.1/libccd/src/polytope.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/polytope.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,287 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include +#include +#include +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +_ccd_inline void _ccdPtNearestUpdate(ccd_pt_t *pt, ccd_pt_el_t *el) +{ + if (ccdEq(pt->nearest_dist, el->dist)){ + if (el->type < pt->nearest_type){ + pt->nearest = el; + pt->nearest_dist = el->dist; + pt->nearest_type = el->type; + } + }else if (el->dist < pt->nearest_dist){ + pt->nearest = el; + pt->nearest_dist = el->dist; + pt->nearest_type = el->type; + } +} + +static void _ccdPtNearestRenew(ccd_pt_t *pt) +{ + ccd_pt_vertex_t *v; + ccd_pt_edge_t *e; + ccd_pt_face_t *f; + + pt->nearest_dist = CCD_REAL_MAX; + pt->nearest_type = 3; + pt->nearest = NULL; + + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)v); + } + + ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){ + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)e); + } + + ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){ + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)f); + } +} + + + +void ccdPtInit(ccd_pt_t *pt) +{ + ccdListInit(&pt->vertices); + ccdListInit(&pt->edges); + ccdListInit(&pt->faces); + + pt->nearest = NULL; + pt->nearest_dist = CCD_REAL_MAX; + pt->nearest_type = 3; +} + +void ccdPtDestroy(ccd_pt_t *pt) +{ + ccd_pt_face_t *f, *f2; + ccd_pt_edge_t *e, *e2; + ccd_pt_vertex_t *v, *v2; + + // first delete all faces + ccdListForEachEntrySafe(&pt->faces, f, ccd_pt_face_t, f2, ccd_pt_face_t, list){ + ccdPtDelFace(pt, f); + } + + // delete all edges + ccdListForEachEntrySafe(&pt->edges, e, ccd_pt_edge_t, e2, ccd_pt_edge_t, list){ + ccdPtDelEdge(pt, e); + } + + // delete all vertices + ccdListForEachEntrySafe(&pt->vertices, v, ccd_pt_vertex_t, v2, ccd_pt_vertex_t, list){ + ccdPtDelVertex(pt, v); + } +} + + +ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v) +{ + ccd_pt_vertex_t *vert; + + vert = CCD_ALLOC(ccd_pt_vertex_t); + vert->type = CCD_PT_VERTEX; + ccdSupportCopy(&vert->v, v); + + vert->dist = ccdVec3Len2(&vert->v.v); + ccdVec3Copy(&vert->witness, &vert->v.v); + + ccdListInit(&vert->edges); + + // add vertex to list + ccdListAppend(&pt->vertices, &vert->list); + + // update position in .nearest array + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)vert); + + return vert; +} + +ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1, + ccd_pt_vertex_t *v2) +{ + const ccd_vec3_t *a, *b; + ccd_pt_edge_t *edge; + + edge = CCD_ALLOC(ccd_pt_edge_t); + edge->type = CCD_PT_EDGE; + edge->vertex[0] = v1; + edge->vertex[1] = v2; + edge->faces[0] = edge->faces[1] = NULL; + + a = &edge->vertex[0]->v.v; + b = &edge->vertex[1]->v.v; + edge->dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &edge->witness); + + ccdListAppend(&edge->vertex[0]->edges, &edge->vertex_list[0]); + ccdListAppend(&edge->vertex[1]->edges, &edge->vertex_list[1]); + + ccdListAppend(&pt->edges, &edge->list); + + // update position in .nearest array + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)edge); + + return edge; +} + +ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1, + ccd_pt_edge_t *e2, + ccd_pt_edge_t *e3) +{ + const ccd_vec3_t *a, *b, *c; + ccd_pt_face_t *face; + ccd_pt_edge_t *e; + size_t i; + + face = CCD_ALLOC(ccd_pt_face_t); + face->type = CCD_PT_FACE; + face->edge[0] = e1; + face->edge[1] = e2; + face->edge[2] = e3; + + // obtain triplet of vertices + a = &face->edge[0]->vertex[0]->v.v; + b = &face->edge[0]->vertex[1]->v.v; + e = face->edge[1]; + if (e->vertex[0] != face->edge[0]->vertex[0] + && e->vertex[0] != face->edge[0]->vertex[1]){ + c = &e->vertex[0]->v.v; + }else{ + c = &e->vertex[1]->v.v; + } + face->dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &face->witness); + + + for (i = 0; i < 3; i++){ + if (face->edge[i]->faces[0] == NULL){ + face->edge[i]->faces[0] = face; + }else{ + face->edge[i]->faces[1] = face; + } + } + + ccdListAppend(&pt->faces, &face->list); + + // update position in .nearest array + _ccdPtNearestUpdate(pt, (ccd_pt_el_t *)face); + + return face; +} + + +void ccdPtRecomputeDistances(ccd_pt_t *pt) +{ + ccd_pt_vertex_t *v; + ccd_pt_edge_t *e; + ccd_pt_face_t *f; + const ccd_vec3_t *a, *b, *c; + ccd_real_t dist; + + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + dist = ccdVec3Len2(&v->v.v); + v->dist = dist; + ccdVec3Copy(&v->witness, &v->v.v); + } + + ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){ + a = &e->vertex[0]->v.v; + b = &e->vertex[1]->v.v; + dist = ccdVec3PointSegmentDist2(ccd_vec3_origin, a, b, &e->witness); + e->dist = dist; + } + + ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){ + // obtain triplet of vertices + a = &f->edge[0]->vertex[0]->v.v; + b = &f->edge[0]->vertex[1]->v.v; + e = f->edge[1]; + if (e->vertex[0] != f->edge[0]->vertex[0] + && e->vertex[0] != f->edge[0]->vertex[1]){ + c = &e->vertex[0]->v.v; + }else{ + c = &e->vertex[1]->v.v; + } + + dist = ccdVec3PointTriDist2(ccd_vec3_origin, a, b, c, &f->witness); + f->dist = dist; + } +} + +ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt) +{ + if (!pt->nearest){ + _ccdPtNearestRenew(pt); + } + return pt->nearest; +} + + +void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn) +{ + FILE *fout; + + fout = fopen(fn, "a"); + if (fout == NULL) + return; + + ccdPtDumpSVT2(pt, fout); + + fclose(fout); +} + +void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *fout) +{ + ccd_pt_vertex_t *v, *a, *b, *c; + ccd_pt_edge_t *e; + ccd_pt_face_t *f; + size_t i; + + fprintf(fout, "-----\n"); + + fprintf(fout, "Points:\n"); + i = 0; + ccdListForEachEntry(&pt->vertices, v, ccd_pt_vertex_t, list){ + v->id = i++; + fprintf(fout, "%lf %lf %lf\n", + ccdVec3X(&v->v.v), ccdVec3Y(&v->v.v), ccdVec3Z(&v->v.v)); + } + + fprintf(fout, "Edges:\n"); + ccdListForEachEntry(&pt->edges, e, ccd_pt_edge_t, list){ + fprintf(fout, "%d %d\n", e->vertex[0]->id, e->vertex[1]->id); + } + + fprintf(fout, "Faces:\n"); + ccdListForEachEntry(&pt->faces, f, ccd_pt_face_t, list){ + a = f->edge[0]->vertex[0]; + b = f->edge[0]->vertex[1]; + c = f->edge[1]->vertex[0]; + if (c == a || c == b){ + c = f->edge[1]->vertex[1]; + } + fprintf(fout, "%d %d %d\n", a->id, b->id, c->id); + } +} diff -Nru ode-0.11.1/libccd/src/support.c ode-0.14/libccd/src/support.c --- ode-0.11.1/libccd/src/support.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/support.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,39 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + + +void __ccdSupport(const void *obj1, const void *obj2, + const ccd_vec3_t *_dir, const ccd_t *ccd, + ccd_support_t *supp) +{ + ccd_vec3_t dir; + + ccdVec3Copy(&dir, _dir); + + ccd->support1(obj1, &dir, &supp->v1); + + ccdVec3Scale(&dir, -CCD_ONE); + ccd->support2(obj2, &dir, &supp->v2); + + ccdVec3Sub2(&supp->v, &supp->v1, &supp->v2); +} diff -Nru ode-0.11.1/libccd/src/testsuites/bench2.c ode-0.14/libccd/src/testsuites/bench2.c --- ode-0.11.1/libccd/src/testsuites/bench2.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/bench2.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,263 @@ +#define CU_ENABLE_TIMER +#include +#include +#include +#include +#include "support.h" + +TEST_SUITES { + TEST_SUITES_CLOSURE +}; + +static int bench_num = 1; +static size_t cycles = 10000; + +static void runBench(const void *o1, const void *o2, const ccd_t *ccd) +{ + ccd_real_t depth; + ccd_vec3_t dir, pos; + int res; + size_t i; + const struct timespec *timer; + + cuTimerStart(); + for (i = 0; i < cycles; i++){ + res = ccdMPRPenetration(o1, o2, ccd, &depth, &dir, &pos); + } + timer = cuTimerStop(); + fprintf(stdout, "%02d: %ld %ld\n", bench_num, + (long)timer->tv_sec, (long)timer->tv_nsec); + fflush(stdout); + + bench_num++; +} + +static void boxbox(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + ccd_vec3_t axis; + ccd_quat_t rot; + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + bench_num = 1; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + fprintf(stdout, "\n----\n\n"); +} + +void cylcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + ccd_vec3_t axis; + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +void boxcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +int main(int argc, char *argv[]) +{ + if (argc > 1){ + cycles = atol(argv[1]); + } + + fprintf(stdout, "Cycles: %u\n", cycles); + fprintf(stdout, "\n"); + + boxbox(); + cylcyl(); + boxcyl(); + + return 0; +} diff -Nru ode-0.11.1/libccd/src/testsuites/bench.c ode-0.14/libccd/src/testsuites/bench.c --- ode-0.11.1/libccd/src/testsuites/bench.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/bench.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,257 @@ +#define CU_ENABLE_TIMER +#include +#include +#include +#include +#include "support.h" + +TEST_SUITES { + TEST_SUITES_CLOSURE +}; + +static int bench_num = 1; +static size_t cycles = 10000; + +static void runBench(const void *o1, const void *o2, const ccd_t *ccd) +{ + ccd_real_t depth; + ccd_vec3_t dir, pos; + int res; + size_t i; + const struct timespec *timer; + + cuTimerStart(); + for (i = 0; i < cycles; i++){ + res = ccdGJKPenetration(o1, o2, ccd, &depth, &dir, &pos); + } + timer = cuTimerStop(); + fprintf(stdout, "%02d: %ld %ld\n", bench_num, + (long)timer->tv_sec, (long)timer->tv_nsec); + fflush(stdout); + + bench_num++; +} + +static void boxbox(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + ccd_vec3_t axis; + ccd_quat_t rot; + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + bench_num = 1; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + runBench(&box1, &box2, &ccd); + runBench(&box2, &box1, &ccd); + + + fprintf(stdout, "\n----\n\n"); +} + +void cylcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + ccd_vec3_t axis; + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + runBench(&cyl1, &cyl2, &ccd); + runBench(&cyl2, &cyl1, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +void boxcyl(void) +{ + fprintf(stdout, "%s:\n", __func__); + + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + runBench(&box, &cyl, &ccd); + runBench(&cyl, &box, &ccd); + + fprintf(stdout, "\n----\n\n"); +} + +int main(int argc, char *argv[]) +{ + if (argc > 1){ + cycles = atol(argv[1]); + } + + fprintf(stdout, "Cycles: %u\n", cycles); + fprintf(stdout, "\n"); + + boxbox(); + cylcyl(); + boxcyl(); + + return 0; +} diff -Nru ode-0.11.1/libccd/src/testsuites/boxbox.c ode-0.14/libccd/src/testsuites/boxbox.c --- ode-0.11.1/libccd/src/testsuites/boxbox.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/boxbox.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,467 @@ +#include +#include + +#include +#include "support.h" +#include +#include +#include "common.h" + + +TEST(boxboxSetUp) +{ +} + +TEST(boxboxTearDown) +{ +} + +TEST(boxboxAlignedX) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + //ccd.max_iterations = 20; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + + box1.x = 0.1; + box1.y = 0.2; + box1.z = 0.1; + box2.x = 0.2; + box2.y = 0.1; + box2.z = 0.2; + + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.01; + } + + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., -0.1, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } +} + +TEST(boxboxAlignedY) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., -5., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[1] += 0.1; + } +} + +TEST(boxboxAlignedZ) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., 0., -5.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[2] += 0.1; + } +} + + +TEST(boxboxRot) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_real_t angle; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0.5, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i < 33 || i > 67){ + assertFalse(res); + }else if (i != 33 && i != 67){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + box1.x = 1; + box1.y = 1; + box1.z = 1; + box2.x = 1; + box2.y = 1; + box2.z = 1; + + ccdVec3Set(&box1.pos, -1.01, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + ccdVec3Set(&axis, 0., 1., 0.); + angle = 0.; + for (i = 0; i < 30; i++){ + res = ccdGJKIntersect(&box1, &box2, &ccd); + + if (i != 0 && i != 10 && i != 20){ + assertTrue(res); + }else{ + assertFalse(res); + } + + angle += M_PI / 20.; + ccdQuatSetAngleAxis(&box1.quat, angle, &axis); + } + +} + + + +static void pConf(ccd_box_t *box1, ccd_box_t *box2, const ccd_vec3_t *v) +{ + fprintf(stdout, "# box1.pos: [%lf %lf %lf]\n", + ccdVec3X(&box1->pos), ccdVec3Y(&box1->pos), ccdVec3Z(&box1->pos)); + fprintf(stdout, "# box1->quat: [%lf %lf %lf %lf]\n", + box1->quat.q[0], box1->quat.q[1], box1->quat.q[2], box1->quat.q[3]); + fprintf(stdout, "# box2->pos: [%lf %lf %lf]\n", + ccdVec3X(&box2->pos), ccdVec3Y(&box2->pos), ccdVec3Z(&box2->pos)); + fprintf(stdout, "# box2->quat: [%lf %lf %lf %lf]\n", + box2->quat.q[0], box2->quat.q[1], box2->quat.q[2], box2->quat.q[3]); + fprintf(stdout, "# sep: [%lf %lf %lf]\n", + ccdVec3X(v), ccdVec3Y(v), ccdVec3Z(v)); + fprintf(stdout, "#\n"); +} + +TEST(boxboxSeparate) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t sep, expsep, expsep2, axis; + + fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.2); + res = ccdGJKIntersect(&box1, &box2, &ccd); + assertTrue(res); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0.25, 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + ccdVec3Scale(&sep, -1.); + ccdVec3Add(&box1.pos, &sep); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., -0.25); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 1.); + ccdVec3Set(&expsep2, 0., 0., -1.); + assertTrue(ccdVec3Eq(&sep, &expsep) || ccdVec3Eq(&sep, &expsep2)); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); +} + + +#define TOSVT() \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&box2.pos, &dir); \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(boxboxPenetration) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_quat_t rot; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); <<< + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0.1, 0., 0.1); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); <<< + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + + res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); +} diff -Nru ode-0.11.1/libccd/src/testsuites/boxbox.h ode-0.14/libccd/src/testsuites/boxbox.h --- ode-0.11.1/libccd/src/testsuites/boxbox.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/boxbox.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,32 @@ +#ifndef BOX_BOX +#define BOX_BOX + +#include + +TEST(boxboxSetUp); +TEST(boxboxTearDown); + +TEST(boxboxAlignedX); +TEST(boxboxAlignedY); +TEST(boxboxAlignedZ); + +TEST(boxboxRot); + +TEST(boxboxSeparate); +TEST(boxboxPenetration); + +TEST_SUITE(TSBoxBox) { + TEST_ADD(boxboxSetUp), + + TEST_ADD(boxboxAlignedX), + TEST_ADD(boxboxAlignedY), + TEST_ADD(boxboxAlignedZ), + TEST_ADD(boxboxRot), + TEST_ADD(boxboxSeparate), + TEST_ADD(boxboxPenetration), + + TEST_ADD(boxboxTearDown), + TEST_SUITE_CLOSURE +}; + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/boxcyl.c ode-0.14/libccd/src/testsuites/boxcyl.c --- ode-0.11.1/libccd/src/testsuites/boxcyl.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/boxcyl.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,162 @@ +#include +#include "common.h" +#include +#include "support.h" + + +#define TOSVT() \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl.pos, &dir); \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos) + + +TEST(boxcylIntersect) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdGJKIntersect(&box, &cyl, &ccd); + assertTrue(res); +} + + +TEST(boxcylPenEPA) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); <<< + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdGJKPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); +} + diff -Nru ode-0.11.1/libccd/src/testsuites/boxcyl.h ode-0.14/libccd/src/testsuites/boxcyl.h --- ode-0.11.1/libccd/src/testsuites/boxcyl.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/boxcyl.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,16 @@ +#ifndef TEST_BOXCYL_H +#define TEST_BOXCYL_H + +#include + +TEST(boxcylIntersect); +TEST(boxcylPenEPA); + +TEST_SUITE(TSBoxCyl){ + TEST_ADD(boxcylIntersect), + TEST_ADD(boxcylPenEPA), + + TEST_SUITE_CLOSURE +}; + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/common.c ode-0.14/libccd/src/testsuites/common.c --- ode-0.11.1/libccd/src/testsuites/common.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/common.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,174 @@ +#include "common.h" +#include +#include +#include "support.h" + +static void svtCyl(ccd_cyl_t *c, FILE *out, const char *color, const char *name) +{ + ccd_vec3_t v[32]; + ccd_quat_t rot; + ccd_vec3_t axis, vpos, vpos2; + ccd_real_t angle, x, y; + size_t i; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdVec3Set(&vpos, 0., c->radius, 0.); + angle = 0.; + for (i = 0; i < 16; i++){ + angle = (ccd_real_t)i * (2. * M_PI / 16.); + + ccdQuatSetAngleAxis(&rot, angle, &axis); + ccdVec3Copy(&vpos2, &vpos); + ccdQuatRotVec(&vpos2, &rot); + x = ccdVec3X(&vpos2); + y = ccdVec3Y(&vpos2); + + ccdVec3Set(&v[i], x, y, c->height / 2.); + ccdVec3Set(&v[i + 16], x, y, -c->height / 2.); + } + + for (i = 0; i < 32; i++){ + ccdQuatRotVec(&v[i], &c->quat); + ccdVec3Add(&v[i], &c->pos); + } + + fprintf(out, "-----\n"); + if (name) + fprintf(out, "Name: %s\n", name); + + fprintf(out, "Face color: %s\n", color); + fprintf(out, "Edge color: %s\n", color); + fprintf(out, "Point color: %s\n", color); + fprintf(out, "Points:\n"); + for (i = 0; i < 32; i++){ + fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i])); + } + + fprintf(out, "Edges:\n"); + fprintf(out, "0 16\n"); + fprintf(out, "0 31\n"); + for (i = 1; i < 16; i++){ + fprintf(out, "0 %d\n", i); + fprintf(out, "16 %d\n", i + 16); + if (i != 0){ + fprintf(out, "%d %d\n", i - 1, i); + fprintf(out, "%d %d\n", i + 16 - 1, i + 16); + } + + fprintf(out, "%d %d\n", i, i + 16); + fprintf(out, "%d %d\n", i, i + 16 - 1); + } + + fprintf(out, "Faces:\n"); + for (i = 2; i < 16; i++){ + fprintf(out, "0 %d %d\n", i, i -1); + fprintf(out, "16 %d %d\n", i + 16, i + 16 -1); + + } + fprintf(out, "0 16 31\n"); + fprintf(out, "0 31 15\n"); + for (i = 1; i < 16; i++){ + fprintf(out, "%d %d %d\n", i, i + 16, i + 16 - 1); + fprintf(out, "%d %d %d\n", i, i + 16 - 1, i - 1); + } + fprintf(out, "-----\n"); +} + +static void svtBox(ccd_box_t *b, FILE *out, const char *color, const char *name) +{ + ccd_vec3_t v[8]; + size_t i; + + ccdVec3Set(&v[0], b->x * 0.5, b->y * 0.5, b->z * 0.5); + ccdVec3Set(&v[1], b->x * 0.5, b->y * -0.5, b->z * 0.5); + ccdVec3Set(&v[2], b->x * 0.5, b->y * 0.5, b->z * -0.5); + ccdVec3Set(&v[3], b->x * 0.5, b->y * -0.5, b->z * -0.5); + ccdVec3Set(&v[4], b->x * -0.5, b->y * 0.5, b->z * 0.5); + ccdVec3Set(&v[5], b->x * -0.5, b->y * -0.5, b->z * 0.5); + ccdVec3Set(&v[6], b->x * -0.5, b->y * 0.5, b->z * -0.5); + ccdVec3Set(&v[7], b->x * -0.5, b->y * -0.5, b->z * -0.5); + + for (i = 0; i < 8; i++){ + ccdQuatRotVec(&v[i], &b->quat); + ccdVec3Add(&v[i], &b->pos); + } + + fprintf(out, "-----\n"); + if (name) + fprintf(out, "Name: %s\n", name); + fprintf(out, "Face color: %s\n", color); + fprintf(out, "Edge color: %s\n", color); + fprintf(out, "Point color: %s\n", color); + fprintf(out, "Points:\n"); + for (i = 0; i < 8; i++){ + fprintf(out, "%lf %lf %lf\n", ccdVec3X(&v[i]), ccdVec3Y(&v[i]), ccdVec3Z(&v[i])); + } + + fprintf(out, "Edges:\n"); + fprintf(out, "0 1\n 0 2\n2 3\n3 1\n1 2\n6 2\n1 7\n1 5\n"); + fprintf(out, "5 0\n0 4\n4 2\n6 4\n6 5\n5 7\n6 7\n7 2\n7 3\n4 5\n"); + + fprintf(out, "Faces:\n"); + fprintf(out, "0 2 1\n1 2 3\n6 2 4\n4 2 0\n4 0 5\n5 0 1\n"); + fprintf(out, "5 1 7\n7 1 3\n6 4 5\n6 5 7\n2 6 7\n2 7 3\n"); + fprintf(out, "-----\n"); +} + + +void svtObj(void *_o, FILE *out, const char *color, const char *name) +{ + ccd_obj_t *o = (ccd_obj_t *)_o; + + if (o->type == CCD_OBJ_CYL){ + svtCyl((ccd_cyl_t *)o, out, color, name); + }else if (o->type == CCD_OBJ_BOX){ + svtBox((ccd_box_t *)o, out, color, name); + } +} + +void svtObjPen(void *o1, void *o2, + FILE *out, const char *name, + ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos) +{ + ccd_vec3_t sep; + char oname[500]; + + ccdVec3Copy(&sep, dir); + ccdVec3Scale(&sep, depth); + ccdVec3Add(&sep, pos); + + fprintf(out, "------\n"); + if (name) + fprintf(out, "Name: %s\n", name); + fprintf(out, "Point color: 0.1 0.1 0.9\n"); + fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos)); + fprintf(out, "------\n"); + fprintf(out, "Point color: 0.1 0.9 0.9\n"); + fprintf(out, "Edge color: 0.1 0.9 0.9\n"); + fprintf(out, "Points:\n%lf %lf %lf\n", ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos)); + fprintf(out, "%lf %lf %lf\n", ccdVec3X(&sep), ccdVec3Y(&sep), ccdVec3Z(&sep)); + fprintf(out, "Edges: 0 1\n"); + + oname[0] = 0x0; + if (name) + sprintf(oname, "%s o1", name); + svtObj(o1, out, "0.9 0.1 0.1", oname); + + oname[0] = 0x0; + if (name) + sprintf(oname, "%s o1", name); + svtObj(o2, out, "0.1 0.9 0.1", oname); +} + + +void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos, + FILE *out, const char *note) +{ + if (!note) + note = ""; + + fprintf(out, "# %s: depth: %lf\n", note, depth); + fprintf(out, "# %s: dir: [%lf %lf %lf]\n", note, ccdVec3X(dir), ccdVec3Y(dir), ccdVec3Z(dir)); + fprintf(out, "# %s: pos: [%lf %lf %lf]\n", note, ccdVec3X(pos), ccdVec3Y(pos), ccdVec3Z(pos)); + fprintf(out, "#\n"); +} diff -Nru ode-0.11.1/libccd/src/testsuites/common.h ode-0.14/libccd/src/testsuites/common.h --- ode-0.11.1/libccd/src/testsuites/common.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/common.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,14 @@ +#ifndef TEST_COMMON +#define TEST_COMMON + +#include +#include + +void svtObj(void *o, FILE *out, const char *color, const char *name); +void svtObjPen(void *o1, void *o2, + FILE *out, const char *name, + ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos); +void recPen(ccd_real_t depth, const ccd_vec3_t *dir, const ccd_vec3_t *pos, + FILE *out, const char *note); + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/cu/check-regressions ode-0.14/libccd/src/testsuites/cu/check-regressions --- ode-0.11.1/libccd/src/testsuites/cu/check-regressions 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/check-regressions 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,413 @@ +#!/usr/bin/python +## +# CU - C unit testing framework +# --------------------------------- +# Copyright (c)2007,2008 Daniel Fiser +# +# +# This file is part of CU. +# +# CU is free software; you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License as +# published by the Free Software Foundation; either version 3 of +# the License, or (at your option) any later version. +# +# CU 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 +# GNU Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with this program. If not, see . +# + +from subprocess import Popen, PIPE +import os +import re +import sys +import math +from getopt import gnu_getopt, GetoptError + +EPS = 0.6 +BASE_DIR = "." +MAX_DIFF_LINES = 20 +EXACT = False + +PROGRESS_ON = True +MSG_BASE = "" + +class Hunk: + """ This class represents one hunk from diff. """ + + def __init__(self): + self.added = [] + self.deleted = [] + self.lines = [] + + # to identify lines with floating point numbers + self.re_is_num = re.compile("^.*[0-9].*$") + + # pattern to match floating point number + self.num_pattern = r"-?(?:(?:[0-9]+(?:\.[0-9]*)?)|(?:\.[0-9]+))(?:[eE]-?[0-9]+)?" + self.re_num = re.compile(self.num_pattern) + + def numLines(self): + return len(self.lines) + def numLinesAdded(self): + return len(self.added) + def numLinesDeleted(self): + return len(self.deleted) + + def addLineAdded(self, line): + self.added.append(line) + def addLineDeleted(self, line): + self.deleted.append(line) + def addLine(self, line): + self.lines.append(line) + + def getLines(self): + return self.lines + def getLinesAdded(self): + return self.added + def getLinesDeleted(self): + return self.deleted + + def __eq(self, num1, num2): + """ Returns True if num1 equals to num2 with respect to EPS + (defined above) """ + return math.fabs(num1 - num2) < EPS + + def checkFloats(self): + """ This method try to check if only difference between added and + deleted lines of this hunk is different precission of floating + point numbers + """ + + # If number of added and deleted lines differs, then there is more + # differences that precission of floating point numbers + if self.numLinesAdded() != self.numLinesDeleted(): + return False + + for i in xrange(0, self.numLinesAdded()): + # if any line does not contain number - return False because + # there must be more differences than in numbers + if not self.re_is_num.match(self.added[i]) \ + or not self.re_is_num.match(self.deleted[i]): + return False + + line1 = self.added[i] + line2 = self.deleted[i] + + # Extract all floating point numbers from each line + nums1 = self.re_num.findall(line1) + nums2 = self.re_num.findall(line2) + # and remove all empty strings + nums1 = filter(lambda x: len(x) > 0, nums1) + nums2 = filter(lambda x: len(x) > 0, nums2) + + # if length of list nums1 does not equal to length of nums2 + # return False + if len(nums1) != len(nums2): + return False + + # iterate trough all numbers + for j in xrange(0, len(nums1)): + # if numbers do not equal to each other return False + if not self.__eq(float(nums1[j]), float(nums2[j])): + return False + + # compare the rest of lines + line1 = self.re_num.sub("", line1) + line2 = self.re_num.sub("", line2) + if line1 != line2: + return False + + # If it does not fail anywhere, added and deleted lines must be + # same + return True + + +class Diff: + """ Represents whole diff. """ + + def __init__(self): + self.hunks = [] + self.lines = 0 + self.omitted_lines = 0 + + def addHunk(self, hunk): + self.hunks.append(hunk) + self.lines += hunk.numLines() + + def numLines(self): + return self.lines + def numOmittedLines(self): + return self.omitted_lines + + def getHunks(self): + return self.hunks + def numHunks(self): + return len(self.hunks) + + def checkFloats(self): + """ Will call method checkFloats on each hunk """ + hks = self.hunks[:] + self.hunks = [] + self.lines = 0 + for h in hks: + if not h.checkFloats(): + self.hunks.append(h) + self.lines += h.numLines() + else: + self.omitted_lines += h.numLines() + + + +class Parser: + def __init__(self, fin): + self.fin = fin + self.line = "" + self.diff = Diff() + self.cur_hunk = None + + # to recognize beginning of hunk: + self.re_hunk = re.compile(r"^[0-9]*(,[0-9]*){0,1}[a-zA-Z]?[0-9]*(,[0-9]*){0,1}$") + + self.re_added = re.compile(r"^> (.*)$") + self.re_deleted = re.compile(r"^< (.*)$") + + def __readNextLine(self): + self.line = self.fin.readline() + if len(self.line) == 0: + return False + return True + + def parse(self): + global PROGRESS_ON + global MSG_BASE + + num_lines = 0 + while self.__readNextLine(): + # beggining of hunk + if self.re_hunk.match(self.line): + if self.cur_hunk is not None: + self.diff.addHunk(self.cur_hunk) + self.cur_hunk = Hunk() + self.cur_hunk.addLine(self.line) + + # line added + match = self.re_added.match(self.line) + if match is not None: + self.cur_hunk.addLine(self.line) + self.cur_hunk.addLineAdded(match.group(1)) + + # line deleted + match = self.re_deleted.match(self.line) + if match is not None: + self.cur_hunk.addLine(self.line) + self.cur_hunk.addLineDeleted(match.group(1)) + + num_lines += 1 + + if PROGRESS_ON and num_lines % 50 == 0: + print MSG_BASE, "[ %08d ]" % num_lines, "\r", + sys.stdout.flush() + + # last push to list of hunks + if self.cur_hunk is not None: + self.diff.addHunk(self.cur_hunk) + + if PROGRESS_ON: + print MSG_BASE, " ", "\r", + sys.stdout.flush() + + def getDiff(self): + return self.diff + + +def regressionFilesInDir(): + """ Returns sorted list of pairs of filenames where first name in pair + is tmp. file and second corresponding file with saved regressions. + """ + + re_tmp_out_file = re.compile(r"tmp\.(.*\.out)") + re_tmp_err_file = re.compile(r"tmp\.(.*\.err)") + files = [] + + all_files = os.listdir(".") + all_files.sort() + for file in all_files: + res = re_tmp_out_file.match(file) + if res is not None: + fname = res.group(1) + tmp = [file, ""] + for file2 in all_files: + if file2 == fname: + tmp = [file, file2,] + break + files.append(tmp) + + res = re_tmp_err_file.match(file) + if res is not None: + fname = res.group(1) + tmp = [file, ""] + for file2 in all_files: + if file2 == fname: + tmp = [file, file2,] + break + files.append(tmp) + + return files + + +def MSG(str = "", wait = False): + if wait: + print str, + else: + print str +def MSGOK(prestr = "", str = "", poststr = ""): + print prestr, "\033[0;32m" + str + "\033[0;0m", poststr +def MSGFAIL(prestr = "", str = "", poststr = ""): + print prestr, "\033[0;31m" + str + "\033[0;0m", poststr +def MSGINFO(prestr = "", str = "", poststr = ""): + print prestr, "\033[0;33m" + str + "\033[0;0m", poststr +def dumpLines(lines, prefix = "", wait = False, max_lines = -1): + line_num = 0 + if wait: + for line in lines: + print prefix, line, + line_num += 1 + if max_lines >= 0 and line_num > max_lines: + break + else: + for line in lines: + print prefix, line + line_num += 1 + if max_lines >= 0 and line_num > max_lines: + break + +def main(files): + global MSG_BASE + + # As first compute length of columns + len1 = 0 + len2 = 0 + for filenames in files: + if len(filenames[0]) > len1: + len1 = len(filenames[0]) + if len(filenames[1]) > len2: + len2 = len(filenames[1]) + + for filenames in files: + if len(filenames[1]) == 0: + MSGFAIL("", "===", "Can't compare %s %s, bacause %s does not exist!" % \ + (filenames[0], filenames[0][4:], filenames[0][4:])) + continue + + cmd = ["diff", filenames[0], filenames[1]] + MSG_BASE = "Comparing %s and %s" % \ + (filenames[0].ljust(len1) ,filenames[1].ljust(len2)) + if not PROGRESS_ON: + print MSG_BASE, + sys.stdout.flush() + + pipe = Popen(cmd, stdout=PIPE) + parser = Parser(pipe.stdout) + parser.parse() + diff = parser.getDiff() + if not EXACT: + diff.checkFloats() + + if PROGRESS_ON: + print MSG_BASE, + + if diff.numHunks() == 0: + MSGOK(" [", "OK", "]") + if diff.numOmittedLines() > 0: + MSGINFO(" -->", str(diff.numOmittedLines()) + " lines from diff omitted") + else: + MSGFAIL(" [", "FAILED", "]") + if diff.numOmittedLines() > 0: + MSGINFO(" -->", str(diff.numOmittedLines()) + " lines from diff omitted") + MSGINFO(" -->", "Diff has " + str(diff.numLines()) + " lines") + + if diff.numLines() <= MAX_DIFF_LINES: + MSGINFO(" -->", "Diff:") + for h in diff.getHunks(): + dumpLines(h.getLines(), " |", True) + else: + MSGINFO(" -->", "Printing only first " + str(MAX_DIFF_LINES) + " lines:") + lines = [] + for h in diff.getHunks(): + lines += h.getLines() + if len(lines) > MAX_DIFF_LINES: + break; + dumpLines(lines, " |", True, MAX_DIFF_LINES) + +def usage(): + print "Usage: " + sys.argv[0] + " [ OPTIONS ] [ directory, [ directory, [ ... ] ] ]" + print "" + print " OPTIONS:" + print " --help / -h none Print this help" + print " --exact / -e none Switch do exact comparasion of files" + print " --not-exact / -n none Switch do non exact comparasion of files (default behaviour)" + print " --max-diff-lines int Maximum of lines of diff which can be printed (default " + str(MAX_DIFF_LINES) + ")" + print " --eps float Precision of floating point numbers (epsilon) (default " + str(EPS) + ")" + print " --no-progress none Turn off progress bar" + print " --progress none Turn on progress bar (default)" + print "" + print " This program is able to compare files with regressions generated by CU testsuites." + print " You can specify directories which are to be searched for regression files." + print " In non exact copmarasion mode (which is default), this program tries to compare" + print " floating point numbers in files with respect to specified precision (see --eps) and" + print " those lines which differ only in precission of floating point numbers are omitted." + print "" + sys.exit(-1) + + + +# Init: + +# Set up base dir +BASE_DIR = os.getcwd() + +# Parse command line options: +optlist, args = gnu_getopt(sys.argv[1:], + "hen", + ["help", "max-diff-lines=", "eps=", \ + "exact", "not-exact", \ + "no-progress", "progress"]) +for opt in optlist: + if opt[0] == "--help" or opt[0] == "-h": + usage() + if opt[0] == "--exact" or opt[0] == "-e": + EXACT = True + if opt[0] == "--not-exact" or opt[0] == "-n": + EXACT = False + if opt[0] == "--max-diff-lines": + MAX_DIFF_LINES = int(opt[1]) + if opt[0] == "--eps": + EPS = float(opt[1]) + if opt[0] == "--no-progress": + PROGRESS_ON = False + if opt[0] == "--progress": + PROGRESS_ON = True + +if len(args) == 0: + files = regressionFilesInDir() + main(files) +else: + for dir in args: + os.chdir(BASE_DIR) + + MSGINFO() + MSGINFO("", "Processing directory '" + dir + "':") + MSGINFO() + try: + os.chdir(dir) + except: + MSGFAIL(" -->", "Directory '" + dir + "' does not exist.") + files = regressionFilesInDir() + main(files) + +sys.exit(0) diff -Nru ode-0.11.1/libccd/src/testsuites/cu/COPYING ode-0.14/libccd/src/testsuites/cu/COPYING --- ode-0.11.1/libccd/src/testsuites/cu/COPYING 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/COPYING 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +. diff -Nru ode-0.11.1/libccd/src/testsuites/cu/COPYING.LESSER ode-0.14/libccd/src/testsuites/cu/COPYING.LESSER --- ode-0.11.1/libccd/src/testsuites/cu/COPYING.LESSER 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/COPYING.LESSER 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. 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Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff -Nru ode-0.11.1/libccd/src/testsuites/cu/cu.c ode-0.14/libccd/src/testsuites/cu/cu.c --- ode-0.11.1/libccd/src/testsuites/cu/cu.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/cu.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,387 @@ +/*** + * CU - C unit testing framework + * --------------------------------- + * Copyright (c)2007,2008,2009 Daniel Fiser + * + * + * This file is part of CU. + * + * CU is free software; you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation; either version 3 of + * the License, or (at your option) any later version. + * + * CU 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 + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see . + */ + +#include +#include +#include +#include + +#include "cu.h" + +/** Declared here, because I didn't find header file where it is declared */ +char *strsignal(int sig); + +const char *cu_current_test; +const char *cu_current_test_suite; +int cu_success_test_suites = 0; +int cu_fail_test_suites = 0; +int cu_success_tests = 0; +int cu_fail_tests = 0; +int cu_success_checks = 0; +int cu_fail_checks = 0; + +char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1] = ""; + + +/* globally used file descriptor for reading/writing messages */ +int fd; + +/* indicate if test was failed */ +int test_failed; + +/* codes of messages */ +#define CHECK_FAILED '0' +#define CHECK_SUCCEED '1' +#define TEST_FAILED '2' +#define TEST_SUCCEED '3' +#define TEST_SUITE_FAILED '4' +#define TEST_SUITE_SUCCEED '5' +#define END '6' +#define TEST_NAME '7' + +/* predefined messages */ +#define MSG_CHECK_SUCCEED write(fd, "1\n", 2) +#define MSG_TEST_FAILED write(fd, "2\n", 2) +#define MSG_TEST_SUCCEED write(fd, "3\n", 2) +#define MSG_TEST_SUITE_FAILED write(fd, "4\n", 2) +#define MSG_TEST_SUITE_SUCCEED write(fd, "5\n", 2) +#define MSG_END write(fd, "6\n", 2) + +/* length of buffers */ +#define BUF_LEN 1000 +#define MSGBUF_LEN 300 + + +static void redirect_out_err(const char *testName); +static void close_out_err(void); +static void run_test_suite(const char *ts_name, cu_test_suite_t *ts); +static void receive_messages(void); + +static void cu_run_fork(const char *ts_name, cu_test_suite_t *test_suite); +static void cu_print_results(void); + +void cu_run(int argc, char *argv[]) +{ + cu_test_suites_t *tss; + int i; + char found = 0; + + if (argc > 1){ + for (i=1; i < argc; i++){ + tss = cu_test_suites; + while (tss->name != NULL && tss->test_suite != NULL){ + if (strcmp(argv[i], tss->name) == 0){ + found = 1; + cu_run_fork(tss->name, tss->test_suite); + break; + } + tss++; + } + + if (tss->name == NULL || tss->test_suite == NULL){ + fprintf(stderr, "ERROR: Could not find test suite '%s'\n", argv[i]); + } + } + + if (found == 1) + cu_print_results(); + + }else{ + tss = cu_test_suites; + while (tss->name != NULL && tss->test_suite != NULL){ + cu_run_fork(tss->name, tss->test_suite); + tss++; + } + cu_print_results(); + } + + +} + +static void cu_run_fork(const char *ts_name, cu_test_suite_t *ts) +{ + int pipefd[2]; + int pid; + int status; + + if (pipe(pipefd) == -1){ + perror("Pipe error"); + exit(-1); + } + + fprintf(stdout, " -> %s [IN PROGESS]\n", ts_name); + fflush(stdout); + + pid = fork(); + if (pid < 0){ + perror("Fork error"); + exit(-1); + } + + if (pid == 0){ + /* close read end of pipe */ + close(pipefd[0]); + + fd = pipefd[1]; + + /* run testsuite, messages go to fd */ + run_test_suite(ts_name, ts); + + MSG_END; + close(fd); + + /* stop process where running testsuite */ + exit(0); + }else{ + /* close write end of pipe */ + close(pipefd[1]); + + fd = pipefd[0]; + + /* receive and interpret all messages */ + receive_messages(); + + /* wait for children */ + wait(&status); + if (!WIFEXITED(status)){ /* if child process ends up abnormaly */ + if (WIFSIGNALED(status)){ + fprintf(stdout, "Test suite was terminated by signal %d (%s).\n", + WTERMSIG(status), strsignal(WTERMSIG(status))); + }else{ + fprintf(stdout, "Test suite terminated abnormaly!\n"); + } + + /* mark this test suite as failed, because was terminated + * prematurely */ + cu_fail_test_suites++; + } + + close(fd); + + fprintf(stdout, " -> %s [DONE]\n\n", ts_name); + fflush(stdout); + } + +} + +static void run_test_suite(const char *ts_name, cu_test_suite_t *ts) +{ + int test_suite_failed = 0; + char buffer[MSGBUF_LEN]; + int len; + + /* set up current test suite name for later messaging... */ + cu_current_test_suite = ts_name; + + /* redirect stdout and stderr */ + redirect_out_err(cu_current_test_suite); + + while (ts->name != NULL && ts->func != NULL){ + test_failed = 0; + + /* set up name of test for later messaging */ + cu_current_test = ts->name; + + /* send message what test is currently running */ + len = snprintf(buffer, MSGBUF_LEN, "%c --> Running %s...\n", + TEST_NAME, cu_current_test); + write(fd, buffer, len); + + /* run test */ + (*(ts->func))(); + + if (test_failed){ + MSG_TEST_FAILED; + test_suite_failed = 1; + }else{ + MSG_TEST_SUCCEED; + } + + ts++; /* next test in test suite */ + } + + if (test_suite_failed){ + MSG_TEST_SUITE_FAILED; + }else{ + MSG_TEST_SUITE_SUCCEED; + } + + /* close redirected stdout and stderr */ + close_out_err(); +} + + +static void receive_messages(void) +{ + char buf[BUF_LEN]; /* buffer */ + int buf_len; /* how many chars stored in buf */ + char bufout[MSGBUF_LEN]; /* buffer which can be printed out */ + int bufout_len; + int state = 0; /* 0 - waiting for code, 1 - copy msg to stdout */ + int i; + int end = 0; /* end of messages? */ + + bufout_len = 0; + while((buf_len = read(fd, buf, BUF_LEN)) > 0 && !end){ + for (i=0; i < buf_len; i++){ + + /* Prepare message for printing out */ + if (state == 1 || state == 2){ + if (bufout_len < MSGBUF_LEN) + bufout[bufout_len++] = buf[i]; + } + + /* reset state on '\n' in msg */ + if (buf[i] == '\n'){ + /* copy messages out */ + if (state == 1) + write(1, bufout, bufout_len); + if (state == 2) + write(2, bufout, bufout_len); + + state = 0; + bufout_len = 0; + continue; + } + + if (state == 0){ + if (buf[i] == CHECK_FAILED){ + cu_fail_checks++; + state = 2; + }else if (buf[i] == TEST_NAME){ + state = 1; + }else if (buf[i] == CHECK_SUCCEED){ + cu_success_checks++; + }else if (buf[i] == TEST_FAILED){ + cu_fail_tests++; + }else if (buf[i] == TEST_SUCCEED){ + cu_success_tests++; + }else if (buf[i] == TEST_SUITE_FAILED){ + cu_fail_test_suites++; + }else if (buf[i] == TEST_SUITE_SUCCEED){ + cu_success_test_suites++; + }else if (buf[i] == END){ + end = 1; + break; + } + } + } + } +} + +void cu_success_assertation(void) +{ + MSG_CHECK_SUCCEED; +} + +void cu_fail_assertation(const char *file, int line, const char *msg) +{ + char buf[MSGBUF_LEN]; + int len; + + len = snprintf(buf, MSGBUF_LEN, "%c%s:%d (%s::%s) :: %s\n", + CHECK_FAILED, + file, line, cu_current_test_suite, cu_current_test, msg); + write(fd, buf, len); + + /* enable test_failed flag */ + test_failed = 1; +} + +static void cu_print_results(void) +{ + fprintf(stdout, "\n"); + fprintf(stdout, "==================================================\n"); + fprintf(stdout, "| | failed | succeed | total |\n"); + fprintf(stdout, "|------------------------------------------------|\n"); + fprintf(stdout, "| assertations: | %6d | %7d | %5d |\n", + cu_fail_checks, cu_success_checks, + cu_success_checks+cu_fail_checks); + fprintf(stdout, "| tests: | %6d | %7d | %5d |\n", + cu_fail_tests, cu_success_tests, + cu_success_tests+cu_fail_tests); + fprintf(stdout, "| tests suites: | %6d | %7d | %5d |\n", + cu_fail_test_suites, cu_success_test_suites, + cu_success_test_suites+cu_fail_test_suites); + fprintf(stdout, "==================================================\n"); +} + +void cu_set_out_prefix(const char *str) +{ + strncpy(cu_out_prefix, str, CU_OUT_PREFIX_LENGTH); +} + +static void redirect_out_err(const char *test_name) +{ + char buf[100]; + + snprintf(buf, 99, "%stmp.%s.out", cu_out_prefix, test_name); + if (freopen(buf, "w", stdout) == NULL){ + perror("Redirecting of stdout failed"); + exit(-1); + } + + snprintf(buf, 99, "%stmp.%s.err", cu_out_prefix, test_name); + if (freopen(buf, "w", stderr) == NULL){ + perror("Redirecting of stderr failed"); + exit(-1); + } +} + +static void close_out_err(void) +{ + fclose(stdout); + fclose(stderr); +} + + +#ifdef CU_ENABLE_TIMER +/* global variables for timer functions */ +struct timespec __cu_timer; +static struct timespec __cu_timer_start, __cu_timer_stop; + +const struct timespec *cuTimer(void) +{ + return &__cu_timer; +} + +void cuTimerStart(void) +{ + clock_gettime(CLOCK_MONOTONIC, &__cu_timer_start); +} + +const struct timespec *cuTimerStop(void) +{ + clock_gettime(CLOCK_MONOTONIC, &__cu_timer_stop); + + /* store into t difference between time_start and time_end */ + if (__cu_timer_stop.tv_nsec > __cu_timer_start.tv_nsec){ + __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec - __cu_timer_start.tv_nsec; + __cu_timer.tv_sec = __cu_timer_stop.tv_sec - __cu_timer_start.tv_sec; + }else{ + __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec + 1000000000L - __cu_timer_start.tv_nsec; + __cu_timer.tv_sec = __cu_timer_stop.tv_sec - 1 - __cu_timer_start.tv_sec; + } + + return &__cu_timer; +} +#endif /* CU_ENABLE_TIMER */ diff -Nru ode-0.11.1/libccd/src/testsuites/cu/cu.h ode-0.14/libccd/src/testsuites/cu/cu.h --- ode-0.11.1/libccd/src/testsuites/cu/cu.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/cu.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,164 @@ +/*** + * CU - C unit testing framework + * --------------------------------- + * Copyright (c)2007,2008,2009 Daniel Fiser + * + * + * This file is part of CU. + * + * CU is free software; you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as + * published by the Free Software Foundation; either version 3 of + * the License, or (at your option) any later version. + * + * CU 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 + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with this program. If not, see . + */ + +#ifndef _CU_H_ +#define _CU_H_ + +#ifdef CU_ENABLE_TIMER +# include +#endif /* CU_ENABLE_TIMER */ + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/***** PUBLIC API *****/ +/** + * Define test + */ +#define TEST(name) \ + void name(void) + +/** + * Define testsuite + */ +#define TEST_SUITE(name) \ + cu_test_suite_t test_suite_##name[] = +/** + * Must be on the end of list of tests. + */ +#define TEST_SUITE_CLOSURE \ + { NULL, NULL } + +#define TEST_SUITES \ + cu_test_suites_t cu_test_suites[] = +#define TEST_SUITES_CLOSURE \ + { NULL, NULL } +#define TEST_SUITE_ADD(name) \ + { #name, test_suite_##name } + +/** + * Add test to testsuite + */ +#define TEST_ADD(name) \ + { #name, name } + +#define CU_RUN(argc, argv) \ + cu_run(argc, argv) + +/** + * Set prefix for files printed out. Must contain trailing /. + */ +#define CU_SET_OUT_PREFIX(str) \ + cu_set_out_prefix(str) + +/** + * Assertations + * Assertations with suffix 'M' (e.g. assertTrueM) is variation of macro + * where is possible to specify error message. + */ +#define assertTrueM(a, message) \ + if (a){ \ + cu_success_assertation(); \ + }else{ \ + cu_fail_assertation(__FILE__, __LINE__, message); \ + } +#define assertTrue(a) \ + assertTrueM((a), #a " is not true") + +#define assertFalseM(a, message) \ + assertTrueM(!(a), message) +#define assertFalse(a) \ + assertFalseM((a), #a " is not false") + +#define assertEqualsM(a,b,message) \ + assertTrueM((a) == (b), message) +#define assertEquals(a,b) \ + assertEqualsM((a), (b), #a " not equals " #b) + +#define assertNotEqualsM(a,b,message) \ + assertTrueM((a) != (b), message) +#define assertNotEquals(a,b) \ + assertNotEqualsM((a), (b), #a " equals " #b) +/***** PUBLIC API END *****/ + + +#include + +#define CU_MAX_NAME_LENGTH 30 + +typedef void (*cu_test_func_t)(void); +typedef struct _cu_test_suite_t { + const char *name; + cu_test_func_t func; +} cu_test_suite_t; +typedef struct _cu_test_suites_t { + const char *name; + cu_test_suite_t *test_suite; +} cu_test_suites_t; + +extern cu_test_suites_t cu_test_suites[]; + +extern const char *cu_current_test; +extern const char *cu_current_test_suite; + +extern int cu_success_test_suites; +extern int cu_fail_test_suites; +extern int cu_success_tests; +extern int cu_fail_tests; +extern int cu_success_checks; +extern int cu_fail_checks; + +#define CU_OUT_PREFIX_LENGTH 30 +extern char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1]; + +void cu_run(int argc, char *argv[]); +void cu_success_assertation(void); +void cu_fail_assertation(const char *file, int line, const char *msg); +void cu_set_out_prefix(const char *str); + +/** Timer **/ +#ifdef CU_ENABLE_TIMER +extern struct timespec __cu_timer; + +/** + * Returns value of timer. (as timespec struct) + */ +const struct timespec *cuTimer(void); + +/** + * Starts timer. + */ +void cuTimerStart(void); + +/** + * Stops timer and record elapsed time from last call of cuTimerStart(). + * Returns current value of timer. + */ +const struct timespec *cuTimerStop(void); +#endif /* CU_ENABLE_TIMER */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/cu/latest.sh ode-0.14/libccd/src/testsuites/cu/latest.sh --- ode-0.11.1/libccd/src/testsuites/cu/latest.sh 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/latest.sh 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,17 @@ +#!/bin/bash + +repo=http://git.danfis.cz/cu.git +files="COPYING \ + COPYING.LESSER \ + cu.h \ + cu.c \ + Makefile \ + check-regressions \ + .gitignore \ + " +rm -rf cu +git clone $repo +for file in $files; do + mv cu/"$file" . +done; +rm -rf cu diff -Nru ode-0.11.1/libccd/src/testsuites/cu/Makefile.am ode-0.14/libccd/src/testsuites/cu/Makefile.am --- ode-0.11.1/libccd/src/testsuites/cu/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cu/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ +AM_CPPFLAGS = -DCU_ENABLE_TIMER + +check_LTLIBRARIES = libcu.la + +libcu_la_SOURCES = cu.c cu.h + diff -Nru ode-0.11.1/libccd/src/testsuites/cylcyl.c ode-0.14/libccd/src/testsuites/cylcyl.c --- ode-0.11.1/libccd/src/testsuites/cylcyl.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cylcyl.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,180 @@ +#include +#include +#include +#include "support.h" +#include "common.h" + + +TEST(cylcylSetUp) +{ +} + +TEST(cylcylTearDown) +{ +} + + +TEST(cylcylAlignedX) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, -5., 0., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[0] += 0.1; + } +} + +TEST(cylcylAlignedY) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., -5., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[1] += 0.1; + } +} + +TEST(cylcylAlignedZ) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., 0., -5.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&c1, &c2, &ccd); + + if (i < 43 || i > 57){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[2] += 0.1; + } +} + +#define TOSVT() \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl2.pos, &dir); \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(cylcylPenetrationEPA) +{ + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- cylcylPenetration ----\n\n\n"); + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&cyl2.pos, 0., 0., 0.3); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); <<< + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdGJKPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); +} diff -Nru ode-0.11.1/libccd/src/testsuites/cylcyl.h ode-0.14/libccd/src/testsuites/cylcyl.h --- ode-0.11.1/libccd/src/testsuites/cylcyl.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/cylcyl.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,29 @@ +#ifndef CYL_CYL +#define CYL_CYL + +#include + +TEST(cylcylSetUp); +TEST(cylcylTearDown); + +TEST(cylcylAlignedX); +TEST(cylcylAlignedY); +TEST(cylcylAlignedZ); + +TEST(cylcylPenetrationEPA); + +TEST_SUITE(TSCylCyl) { + TEST_ADD(cylcylSetUp), + + TEST_ADD(cylcylAlignedX), + TEST_ADD(cylcylAlignedY), + TEST_ADD(cylcylAlignedZ), + + TEST_ADD(cylcylPenetrationEPA), + + TEST_ADD(cylcylTearDown), + TEST_SUITE_CLOSURE +}; + +#endif + diff -Nru ode-0.11.1/libccd/src/testsuites/main.c ode-0.14/libccd/src/testsuites/main.c --- ode-0.11.1/libccd/src/testsuites/main.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/main.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,32 @@ +#include "vec3.h" +#include "polytope.h" +#include "boxbox.h" +#include "spheresphere.h" +#include "cylcyl.h" +#include "boxcyl.h" + +#include "mpr_boxbox.h" +#include "mpr_cylcyl.h" +#include "mpr_boxcyl.h" + +TEST_SUITES { + TEST_SUITE_ADD(TSVec3), + TEST_SUITE_ADD(TSPt), + TEST_SUITE_ADD(TSBoxBox), + TEST_SUITE_ADD(TSSphereSphere), + TEST_SUITE_ADD(TSCylCyl), + TEST_SUITE_ADD(TSBoxCyl), + + TEST_SUITE_ADD(TSMPRBoxBox), + TEST_SUITE_ADD(TSMPRCylCyl), + TEST_SUITE_ADD(TSMPRBoxCyl), + + TEST_SUITES_CLOSURE +}; +int main(int argc, char *argv[]) +{ + CU_SET_OUT_PREFIX("regressions/"); + CU_RUN(argc, argv); + + return 0; +} diff -Nru ode-0.11.1/libccd/src/testsuites/Makefile.am ode-0.14/libccd/src/testsuites/Makefile.am --- ode-0.11.1/libccd/src/testsuites/Makefile.am 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,28 @@ +SUBDIRS = cu + +AM_CPPFLAGS = -I $(srcdir)/.. -I $(builddir)/.. -I $(srcdir)/cu + +LDADD = $(builddir)/cu/libcu.la $(builddir)/../libccd.la + + +check_PROGRAMS = test bench bench2 + +test_SOURCES = main.c \ + common.c common.h \ + support.c support.h \ + vec3.c vec3.h \ + polytope.c polytope.h \ + boxbox.c boxbox.h \ + spheresphere.c spheresphere.h \ + cylcyl.c cylcyl.h \ + boxcyl.c boxcyl.h \ + mpr_boxbox.c mpr_boxbox.h \ + mpr_cylcyl.c mpr_cylcyl.h \ + mpr_boxcyl.c mpr_boxcyl.h + +bench_SOURCES = bench.c \ + support.c support.h + +bench2_SOURCES = bench2.c \ + support.c support.h + diff -Nru ode-0.11.1/libccd/src/testsuites/mpr_boxbox.c ode-0.14/libccd/src/testsuites/mpr_boxbox.c --- ode-0.11.1/libccd/src/testsuites/mpr_boxbox.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/mpr_boxbox.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,500 @@ +#include +#include + +#include +#include "support.h" +#include +#include +#include "common.h" + + +TEST(mprBoxboxAlignedX) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + box1.x = 0.1; + box1.y = 0.2; + box1.z = 0.1; + box2.x = 0.2; + box2.y = 0.1; + box2.z = 0.2; + + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.01; + } + + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., -0.1, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } +} + +TEST(mprBoxboxAlignedY) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., -5., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[1] += 0.1; + } +} + +TEST(mprBoxboxAlignedZ) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, 0., 0., -5.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 35 || i > 65){ + assertFalse(res); + }else if (i != 35 && i != 65){ + assertTrue(res); + } + + box1.pos.v[2] += 0.1; + } +} + + +TEST(mprBoxboxRot) +{ + size_t i; + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_real_t angle; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + box1.x = 1; + box1.y = 2; + box1.z = 1; + box2.x = 2; + box2.y = 1; + box2.z = 2; + + ccdVec3Set(&box1.pos, -5., 0.5, 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i < 33 || i > 67){ + assertFalse(res); + }else if (i != 33 && i != 67){ + assertTrue(res); + } + + box1.pos.v[0] += 0.1; + } + + box1.x = 1; + box1.y = 1; + box1.z = 1; + box2.x = 1; + box2.y = 1; + box2.z = 1; + + ccdVec3Set(&box1.pos, -1.01, 0., 0.); + ccdVec3Set(&box2.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + ccdVec3Set(&axis, 0., 1., 0.); + angle = 0.; + for (i = 0; i < 30; i++){ + res = ccdMPRIntersect(&box1, &box2, &ccd); + + if (i != 0 && i != 10 && i != 20){ + assertTrue(res); + }else{ + assertFalse(res); + } + + angle += M_PI / 20.; + ccdQuatSetAngleAxis(&box1.quat, angle, &axis); + } + +} + + + +static void pConf(ccd_box_t *box1, ccd_box_t *box2, const ccd_vec3_t *v) +{ + fprintf(stdout, "# box1.pos: [%lf %lf %lf]\n", + ccdVec3X(&box1->pos), ccdVec3Y(&box1->pos), ccdVec3Z(&box1->pos)); + fprintf(stdout, "# box1->quat: [%lf %lf %lf %lf]\n", + box1->quat.q[0], box1->quat.q[1], box1->quat.q[2], box1->quat.q[3]); + fprintf(stdout, "# box2->pos: [%lf %lf %lf]\n", + ccdVec3X(&box2->pos), ccdVec3Y(&box2->pos), ccdVec3Z(&box2->pos)); + fprintf(stdout, "# box2->quat: [%lf %lf %lf %lf]\n", + box2->quat.q[0], box2->quat.q[1], box2->quat.q[2], box2->quat.q[3]); + fprintf(stdout, "# sep: [%lf %lf %lf]\n", + ccdVec3X(v), ccdVec3Y(v), ccdVec3Z(v)); + fprintf(stdout, "#\n"); +} + +TEST(mprBoxboxSeparate) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t sep, expsep, expsep2, axis; + + fprintf(stderr, "\n\n\n---- boxboxSeparate ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.2); + res = ccdMPRIntersect(&box1, &box2, &ccd); + assertTrue(res); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0.25, 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + ccdVec3Scale(&sep, -1.); + ccdVec3Add(&box1.pos, &sep); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 0.); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., -0.25); + assertTrue(ccdVec3Eq(&sep, &expsep)); + + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0., 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + ccdVec3Set(&expsep, 0., 0., 1.); + ccdVec3Set(&expsep2, 0., 0., -1.); + assertTrue(ccdVec3Eq(&sep, &expsep) || ccdVec3Eq(&sep, &expsep2)); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); + + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdGJKSeparate(&box1, &box2, &ccd, &sep); + assertTrue(res == 0); + pConf(&box1, &box2, &sep); +} + + +#define TOSVT() \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&box2.pos, &dir); \ + svtObjPen(&box1, &box2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(mprBoxboxPenetration) +{ + ccd_t ccd; + CCD_BOX(box1); + CCD_BOX(box2); + int res; + ccd_vec3_t axis; + ccd_quat_t rot; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n"); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; + box2.y = 1.; + box2.z = 1.5; + + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + /* + ccdVec3Set(&box2.pos, 0., 0., 0.); + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + TOSVT(); + */ + + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + + ccdVec3Set(&box1.pos, -0.3, 0.5, 1.); + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, 0.1, 0., 0.1); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0., 0.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.5, 0.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = box2.y = box2.z = 1.; + ccdVec3Set(&box2.pos, 0.1, 0., 0.); + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 1., 1.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -0.5, 0.1, 0.4); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.2; box2.y = 0.5; box2.z = 1.; + box2.x = box2.y = box2.z = 1.; + + ccdVec3Set(&axis, 0., 0., 1.); + ccdQuatSetAngleAxis(&box1.quat, M_PI / 4., &axis); + ccdVec3Set(&axis, 1., 0., 0.); + ccdQuatSetAngleAxis(&rot, M_PI / 4., &axis); + ccdQuatMul(&box1.quat, &rot); + ccdVec3Set(&box1.pos, -1.3, 0., 0.); + + ccdVec3Set(&box2.pos, 0., 0., 0.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); + + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; box2.y = 0.5; box2.z = .5; + ccdVec3Set(&box1.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdVec3Set(&box2.pos, 0., 0.73, 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 9"); + //TOSVT(); + + box1.x = box1.y = box1.z = 1.; + box2.x = 0.5; box2.y = 0.5; box2.z = .5; + ccdVec3Set(&box1.pos, 0., 0., 0.); + ccdQuatSet(&box1.quat, 0., 0., 0., 1.); + ccdVec3Set(&box2.pos, 0.3, 0.738, 0.); + ccdQuatSet(&box2.quat, 0., 0., 0., 1.); + + res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 10"); + //TOSVT(); +} diff -Nru ode-0.11.1/libccd/src/testsuites/mpr_boxbox.h ode-0.14/libccd/src/testsuites/mpr_boxbox.h --- ode-0.11.1/libccd/src/testsuites/mpr_boxbox.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/mpr_boxbox.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,26 @@ +#ifndef MPR_BOX_BOX +#define MPR_BOX_BOX + +#include + +TEST(mprBoxboxAlignedX); +TEST(mprBoxboxAlignedY); +TEST(mprBoxboxAlignedZ); + +TEST(mprBoxboxRot); + +TEST(mprBoxboxSeparate); +TEST(mprBoxboxPenetration); + +TEST_SUITE(TSMPRBoxBox) { + TEST_ADD(mprBoxboxAlignedX), + TEST_ADD(mprBoxboxAlignedY), + TEST_ADD(mprBoxboxAlignedZ), + TEST_ADD(mprBoxboxRot), + //TEST_ADD(mprBoxboxSeparate), + TEST_ADD(mprBoxboxPenetration), + + TEST_SUITE_CLOSURE +}; + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/mpr_boxcyl.c ode-0.14/libccd/src/testsuites/mpr_boxcyl.c --- ode-0.11.1/libccd/src/testsuites/mpr_boxcyl.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/mpr_boxcyl.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,165 @@ +#include +#include "common.h" +#include +#include "support.h" + +#define TOSVT() \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl.pos, &dir); \ + svtObjPen(&box, &cyl, stdout, "Pen 1", depth, &dir, &pos) + +TEST(mprBoxcylIntersect) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdMPRIntersect(&box, &cyl, &ccd); + assertTrue(res); +} + + + +TEST(mprBoxcylPen) +{ + ccd_t ccd; + CCD_BOX(box); + CCD_CYL(cyl); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + box.x = 0.5; + box.y = 1.; + box.z = 1.5; + cyl.radius = 0.4; + cyl.height = 0.7; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + ccdVec3Set(&cyl.pos, 0.1, 0., 0.); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0., 0.); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 0.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl.pos, .6, 0.6, 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, 0.67, 1.1, 0.12); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .6, 0., 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 7"); + //TOSVT(); + + ccdVec3Set(&axis, -0.1, 2.2, -1.); + ccdQuatSetAngleAxis(&cyl.quat, M_PI / 5., &axis); + ccdVec3Set(&cyl.pos, .6, 0., 0.5); + ccdVec3Set(&axis, 1., 1., 0.); + ccdQuatSetAngleAxis(&box.quat, -M_PI / 4., &axis); + ccdVec3Set(&box.pos, .9, 0.8, 0.5); + res = ccdMPRPenetration(&box, &cyl, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 8"); + //TOSVT(); +} + diff -Nru ode-0.11.1/libccd/src/testsuites/mpr_boxcyl.h ode-0.14/libccd/src/testsuites/mpr_boxcyl.h --- ode-0.11.1/libccd/src/testsuites/mpr_boxcyl.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/mpr_boxcyl.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,16 @@ +#ifndef MPR_TEST_BOXCYL_H +#define MPR_TEST_BOXCYL_H + +#include + +TEST(mprBoxcylIntersect); +TEST(mprBoxcylPen); + +TEST_SUITE(TSMPRBoxCyl){ + TEST_ADD(mprBoxcylIntersect), + TEST_ADD(mprBoxcylPen), + + TEST_SUITE_CLOSURE +}; + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/mpr_cylcyl.c ode-0.14/libccd/src/testsuites/mpr_cylcyl.c --- ode-0.11.1/libccd/src/testsuites/mpr_cylcyl.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/mpr_cylcyl.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,179 @@ +#include +#include +#include +#include "support.h" +#include "common.h" + + +TEST(mprCylcylAlignedX) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, -5., 0., 0.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[0] += 0.1; + } +} + +TEST(mprCylcylAlignedY) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., -5., 0.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&c1, &c2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[1] += 0.1; + } +} + +TEST(mprCylcylAlignedZ) +{ + ccd_t ccd; + CCD_CYL(c1); + CCD_CYL(c2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + c1.radius = 0.35; + c1.height = 0.5; + c2.radius = 0.5; + c2.height = 1.; + + ccdVec3Set(&c1.pos, 0., 0., -5.); + for (i = 0; i < 100; i++){ + res = ccdMPRIntersect(&c1, &c2, &ccd); + + if (i < 43 || i > 57){ + assertFalse(res); + }else{ + assertTrue(res); + } + + c1.pos.v[2] += 0.1; + } +} + +#define TOSVT() \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos); \ + ccdVec3Scale(&dir, depth); \ + ccdVec3Add(&cyl2.pos, &dir); \ + svtObjPen(&cyl1, &cyl2, stdout, "Pen 1", depth, &dir, &pos) + +TEST(mprCylcylPenetration) +{ + ccd_t ccd; + CCD_CYL(cyl1); + CCD_CYL(cyl2); + int res; + ccd_vec3_t axis; + ccd_real_t depth; + ccd_vec3_t dir, pos; + + fprintf(stderr, "\n\n\n---- mprCylcylPenetration ----\n\n\n"); + + cyl1.radius = 0.35; + cyl1.height = 0.5; + cyl2.radius = 0.5; + cyl2.height = 1.; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + ccd.center1 = ccdObjCenter; + ccd.center2 = ccdObjCenter; + + ccdVec3Set(&cyl2.pos, 0., 0., 0.3); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 1"); + //TOSVT(); + + ccdVec3Set(&cyl1.pos, 0.3, 0.1, 0.1); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 2"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0., 0., 0.); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 3"); + //TOSVT(); + + ccdVec3Set(&axis, 0., 1., 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, -0.2, 0.7, 0.2); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 4"); + //TOSVT(); + + ccdVec3Set(&axis, 0.567, 1.2, 1.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 4., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 5"); + //TOSVT(); + + ccdVec3Set(&axis, -4.567, 1.2, 0.); + ccdQuatSetAngleAxis(&cyl2.quat, M_PI / 3., &axis); + ccdVec3Set(&cyl2.pos, 0.6, -0.7, 0.2); + res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos); + assertTrue(res == 0); + recPen(depth, &dir, &pos, stdout, "Pen 6"); + //TOSVT(); +} diff -Nru ode-0.11.1/libccd/src/testsuites/mpr_cylcyl.h ode-0.14/libccd/src/testsuites/mpr_cylcyl.h --- ode-0.11.1/libccd/src/testsuites/mpr_cylcyl.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/mpr_cylcyl.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,23 @@ +#ifndef MPR_CYL_CYL +#define MPR_CYL_CYL + +#include + +TEST(mprCylcylAlignedX); +TEST(mprCylcylAlignedY); +TEST(mprCylcylAlignedZ); + +TEST(mprCylcylPenetration); + +TEST_SUITE(TSMPRCylCyl) { + TEST_ADD(mprCylcylAlignedX), + TEST_ADD(mprCylcylAlignedY), + TEST_ADD(mprCylcylAlignedZ), + + TEST_ADD(mprCylcylPenetration), + + TEST_SUITE_CLOSURE +}; + +#endif + diff -Nru ode-0.11.1/libccd/src/testsuites/polytope.c ode-0.14/libccd/src/testsuites/polytope.c --- ode-0.11.1/libccd/src/testsuites/polytope.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/polytope.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,398 @@ +//#undef NDEBUG +#include +#include +#include + +TEST(ptSetUp) +{ +} + +TEST(ptTearDown) +{ +} + + +TEST(ptCreate1) +{ + ccd_pt_t pt; + ccd_pt_vertex_t *v[3]; + ccd_pt_edge_t *e[3]; + ccd_pt_face_t *f; + ccd_vec3_t u; + int res; + size_t i; + + DBG2("------"); + + ccdPtInit(&pt); + ccdPtDestroy(&pt); + + + ccdPtInit(&pt); + + ccdVec3Set(&u, -1., -1., 0.); + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + assertTrue(ccdVec3Eq(&u, &v[0]->v.v)); + + ccdVec3Set(&u, 1., 0., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + assertTrue(ccdVec3Eq(&u, &v[1]->v.v)); + + ccdVec3Set(&u, 0., 0., 1.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + assertTrue(ccdVec3Eq(&u, &v[2]->v.v)); + + for (i = 0; i < 3; i++){ + assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v))); + } + + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + for (i = 0; i < 3; i++){ + DBG("e[%d]->dist: %lf", i, e[i]->dist); + DBG_VEC3(&e[i]->witness, " ->witness: "); + } + + f = ccdPtAddFace(&pt, e[0], e[1], e[2]); + DBG("f->dist: %lf", f->dist); + DBG_VEC3(&f->witness, " ->witness: "); + + for (i = 0; i < 3; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + res = ccdPtDelEdge(&pt, e[i]); + assertFalse(res == 0); + } + + ccdPtDelFace(&pt, f); + for (i = 0; i < 3; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + } + for (i = 0; i < 3; i++){ + res = ccdPtDelEdge(&pt, e[i]); + assertTrue(res == 0); + } + for (i = 0; i < 3; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertTrue(res == 0); + } + + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + + f = ccdPtAddFace(&pt, e[0], e[1], e[2]); + + ccdPtDestroy(&pt); +} + +TEST(ptCreate2) +{ + ccd_pt_t pt; + ccd_pt_vertex_t *v[4]; + ccd_pt_edge_t *e[6]; + ccd_pt_face_t *f[4]; + ccd_vec3_t u; + int res; + size_t i; + + DBG2("------"); + + ccdPtInit(&pt); + + ccdVec3Set(&u, -1., -1., 0.); + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + assertTrue(ccdVec3Eq(&u, &v[0]->v.v)); + + ccdVec3Set(&u, 1., 0., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + assertTrue(ccdVec3Eq(&u, &v[1]->v.v)); + + ccdVec3Set(&u, 0., 0., 1.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + assertTrue(ccdVec3Eq(&u, &v[2]->v.v)); + + ccdVec3Set(&u, 0., 1., 0.); + v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.); + assertTrue(ccdVec3Eq(&u, &v[3]->v.v)); + + for (i = 0; i < 4; i++){ + assertTrue(ccdEq(v[i]->dist, ccdVec3Len2(&v[i]->v.v))); + } + for (i = 0; i < 4; i++){ + DBG("v[%d]->dist: %lf", i, v[i]->dist); + DBG_VEC3(&v[i]->witness, " ->witness: "); + } + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + e[3] = ccdPtAddEdge(&pt, v[3], v[0]); + e[4] = ccdPtAddEdge(&pt, v[3], v[1]); + e[5] = ccdPtAddEdge(&pt, v[3], v[2]); + for (i = 0; i < 6; i++){ + DBG("e[%d]->dist: %lf", i, e[i]->dist); + DBG_VEC3(&e[i]->witness, " ->witness: "); + } + + f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]); + f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]); + f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]); + f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]); + for (i = 0; i < 4; i++){ + DBG("f[%d]->dist: %lf", i, f[i]->dist); + DBG_VEC3(&f[i]->witness, " ->witness: "); + } + + for (i = 0; i < 4; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + } + for (i = 0; i < 6; i++){ + res = ccdPtDelEdge(&pt, e[i]); + assertFalse(res == 0); + } + + res = ccdPtDelFace(&pt, f[0]); + for (i = 0; i < 6; i++){ + res = ccdPtDelEdge(&pt, e[i]); + assertFalse(res == 0); + } + + res = ccdPtDelFace(&pt, f[1]); + assertTrue(ccdPtDelEdge(&pt, e[0]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[1]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[2]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[3]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[4]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[5]) == 0); + for (i = 0; i < 4; i++){ + res = ccdPtDelVertex(&pt, v[i]); + assertFalse(res == 0); + } + + res = ccdPtDelFace(&pt, f[2]); + assertTrue(ccdPtDelEdge(&pt, e[1]) == 0); + assertTrue(ccdPtDelEdge(&pt, e[4]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[2]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[3]) == 0); + assertFalse(ccdPtDelEdge(&pt, e[5]) == 0); + + assertTrue(ccdPtDelVertex(&pt, v[1]) == 0); + assertFalse(ccdPtDelVertex(&pt, v[0]) == 0); + assertFalse(ccdPtDelVertex(&pt, v[2]) == 0); + assertFalse(ccdPtDelVertex(&pt, v[3]) == 0); + + res = ccdPtDelFace(&pt, f[3]); + assertTrue(ccdPtDelEdge(&pt, e[2]) == 0); + assertTrue(ccdPtDelEdge(&pt, e[3]) == 0); + assertTrue(ccdPtDelEdge(&pt, e[5]) == 0); + + assertTrue(ccdPtDelVertex(&pt, v[0]) == 0); + assertTrue(ccdPtDelVertex(&pt, v[2]) == 0); + assertTrue(ccdPtDelVertex(&pt, v[3]) == 0); + + + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.); + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + e[3] = ccdPtAddEdge(&pt, v[3], v[0]); + e[4] = ccdPtAddEdge(&pt, v[3], v[1]); + e[5] = ccdPtAddEdge(&pt, v[3], v[2]); + + f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]); + f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]); + f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]); + f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]); + + ccdPtDestroy(&pt); +} + +TEST(ptNearest) +{ + ccd_pt_t pt; + ccd_pt_vertex_t *v[4]; + ccd_pt_edge_t *e[6]; + ccd_pt_face_t *f[4]; + ccd_pt_el_t *nearest; + + DBG2("------"); + + ccdPtInit(&pt); + + v[0] = ccdPtAddVertexCoords(&pt, -1., -1., 0.); + v[1] = ccdPtAddVertexCoords(&pt, 1., 0., 0.); + v[2] = ccdPtAddVertexCoords(&pt, 0., 0., 1.); + v[3] = ccdPtAddVertexCoords(&pt, 0., 1., 0.); + + e[0] = ccdPtAddEdge(&pt, v[0], v[1]); + e[1] = ccdPtAddEdge(&pt, v[1], v[2]); + e[2] = ccdPtAddEdge(&pt, v[2], v[0]); + e[3] = ccdPtAddEdge(&pt, v[3], v[0]); + e[4] = ccdPtAddEdge(&pt, v[3], v[1]); + e[5] = ccdPtAddEdge(&pt, v[3], v[2]); + + f[0] = ccdPtAddFace(&pt, e[0], e[1], e[2]); + f[1] = ccdPtAddFace(&pt, e[3], e[4], e[0]); + f[2] = ccdPtAddFace(&pt, e[4], e[5], e[1]); + f[3] = ccdPtAddFace(&pt, e[5], e[3], e[2]); + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertEquals(nearest, (ccd_pt_el_t *)f[1]); + assertTrue(ccdPtDelFace(&pt, f[1]) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertTrue(nearest == (ccd_pt_el_t *)f[0] + || nearest == (ccd_pt_el_t *)f[3]); + assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertTrue(nearest == (ccd_pt_el_t *)f[0] + || nearest == (ccd_pt_el_t *)f[3]); + assertTrue(ccdPtDelFace(&pt, (ccd_pt_face_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[0] + || nearest == (ccd_pt_el_t *)e[3]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[0] + || nearest == (ccd_pt_el_t *)e[3]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_FACE); + assertEquals(nearest, (ccd_pt_el_t *)f[2]); + assertTrue(ccdPtDelFace(&pt, f[2]) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[1] + || nearest == (ccd_pt_el_t *)e[4] + || nearest == (ccd_pt_el_t *)e[5]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[1] + || nearest == (ccd_pt_el_t *)e[4] + || nearest == (ccd_pt_el_t *)e[5]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[1] + || nearest == (ccd_pt_el_t *)e[4] + || nearest == (ccd_pt_el_t *)e[5]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_EDGE); + assertTrue(nearest == (ccd_pt_el_t *)e[2]); + assertTrue(ccdPtDelEdge(&pt, (ccd_pt_edge_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[1] + || nearest == (ccd_pt_el_t *)v[2] + || nearest == (ccd_pt_el_t *)v[3]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[1] + || nearest == (ccd_pt_el_t *)v[2] + || nearest == (ccd_pt_el_t *)v[3]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[1] + || nearest == (ccd_pt_el_t *)v[2] + || nearest == (ccd_pt_el_t *)v[3]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + //DBG("nearest->type: %d", nearest->type); + //DBG(" ->dist: %lf", nearest->dist); + //DBG_VEC3(&nearest->witness, " ->witness: "); + assertEquals(nearest->type, CCD_PT_VERTEX); + assertTrue(nearest == (ccd_pt_el_t *)v[0]); + assertTrue(ccdPtDelVertex(&pt, (ccd_pt_vertex_t *)nearest) == 0); + + + nearest = ccdPtNearest(&pt); + assertTrue(nearest == NULL); + + ccdPtDestroy(&pt); +} diff -Nru ode-0.11.1/libccd/src/testsuites/polytope.h ode-0.14/libccd/src/testsuites/polytope.h --- ode-0.11.1/libccd/src/testsuites/polytope.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/polytope.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,24 @@ +#ifndef TEST_POLYTOPE_H +#define TEST_POLYTOPE_H + +#include + +TEST(ptSetUp); +TEST(ptTearDown); + +TEST(ptCreate1); +TEST(ptCreate2); +TEST(ptNearest); + +TEST_SUITE(TSPt) { + TEST_ADD(ptSetUp), + + TEST_ADD(ptCreate1), + TEST_ADD(ptCreate2), + TEST_ADD(ptNearest), + + TEST_ADD(ptTearDown), + TEST_SUITE_CLOSURE +}; + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSBoxBox.err ode-0.14/libccd/src/testsuites/regressions/TSBoxBox.err --- ode-0.11.1/libccd/src/testsuites/regressions/TSBoxBox.err 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSBoxBox.err 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,12 @@ + + + +---- boxboxSeparate ---- + + + + + +---- boxboxPenetration ---- + + diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSBoxBox.out ode-0.14/libccd/src/testsuites/regressions/TSBoxBox.out --- ode-0.11.1/libccd/src/testsuites/regressions/TSBoxBox.out 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSBoxBox.out 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,44 @@ +# box1.pos: [-0.500000 0.000000 0.000000] +# box1->quat: [0.000000 0.000000 0.382683 0.923880] +# box2->pos: [0.000000 0.000000 0.000000] +# box2->quat: [0.000000 0.000000 0.000000 1.000000] +# sep: [0.707107 0.000000 0.000000] +# +# box1.pos: [-0.500000 0.100000 0.400000] +# box1->quat: [0.000000 0.270598 0.270598 0.923880] +# box2->pos: [0.000000 0.000000 0.000000] +# box2->quat: [0.000000 0.000000 0.000000 1.000000] +# sep: [0.633939 0.000000 -0.371353] +# +# Pen 1: depth: 0.650000 +# Pen 1: dir: [1.000000 0.000000 0.000000] +# Pen 1: pos: [0.096875 0.000000 0.000000] +# +# Pen 2: depth: 0.250000 +# Pen 2: dir: [-0.000000 0.000000 -1.000000] +# Pen 2: pos: [-0.058333 0.250000 0.583333] +# +# Pen 3: depth: 0.900000 +# Pen 3: dir: [0.000000 0.000000 -1.000000] +# Pen 3: pos: [0.111506 0.000000 0.050000] +# +# Pen 4: depth: 0.607107 +# Pen 4: dir: [1.000000 0.000000 0.000000] +# Pen 4: pos: [-0.153585 0.000000 0.000000] +# +# Pen 5: depth: 0.429289 +# Pen 5: dir: [0.707107 -0.707107 0.000000] +# Pen 5: pos: [-0.167157 0.379289 0.000000] +# +# Pen 6: depth: 0.648412 +# Pen 6: dir: [0.862856 0.000000 -0.505449] +# Pen 6: pos: [-0.148223 0.055362 0.319638] +# +# Pen 7: depth: 0.622622 +# Pen 7: dir: [1.000000 0.000000 -0.000000] +# Pen 7: pos: [-0.095997 0.063593 0.067678] +# +# Pen 8: depth: 0.053553 +# Pen 8: dir: [1.000000 0.000000 0.000000] +# Pen 8: pos: [-0.523223 -0.073223 0.020711] +# diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSBoxCyl.out ode-0.14/libccd/src/testsuites/regressions/TSBoxCyl.out --- ode-0.11.1/libccd/src/testsuites/regressions/TSBoxCyl.out 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSBoxCyl.out 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,32 @@ +# Pen 1: depth: 0.549996 +# Pen 1: dir: [0.999992 -0.003902 0.000000] +# Pen 1: pos: [0.020284 0.000000 0.000000] +# +# Pen 2: depth: 0.050000 +# Pen 2: dir: [0.999992 -0.003902 0.000000] +# Pen 2: pos: [0.253480 0.000000 0.025000] +# +# Pen 3: depth: 0.030994 +# Pen 3: dir: [0.950248 0.311493 0.000000] +# Pen 3: pos: [0.246546 0.420744 0.000000] +# +# Pen 4: depth: 0.033436 +# Pen 4: dir: [0.976101 0.217308 0.001900] +# Pen 4: pos: [0.243648 0.480401 0.450000] +# +# Pen 5: depth: 0.142160 +# Pen 5: dir: [0.968442 0.249235 0.001146] +# Pen 5: pos: [0.190887 0.421462 0.605496] +# +# Pen 6: depth: 0.179282 +# Pen 6: dir: [0.999995 0.001057 0.002913] +# Pen 6: pos: [0.176026 0.036944 0.488189] +# +# Pen 7: depth: 0.750000 +# Pen 7: dir: [-0.853795 -0.143509 -0.500438] +# Pen 7: pos: [0.572744 0.014828 0.562324] +# +# Pen 8: depth: 0.142666 +# Pen 8: dir: [-0.475515 -0.841074 0.257839] +# Pen 8: pos: [0.824886 0.230213 0.463136] +# diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSCylCyl.err ode-0.14/libccd/src/testsuites/regressions/TSCylCyl.err --- ode-0.11.1/libccd/src/testsuites/regressions/TSCylCyl.err 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSCylCyl.err 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ + + + +---- cylcylPenetration ---- + + diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSCylCyl.out ode-0.14/libccd/src/testsuites/regressions/TSCylCyl.out --- ode-0.11.1/libccd/src/testsuites/regressions/TSCylCyl.out 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSCylCyl.out 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,24 @@ +# Pen 1: depth: 0.750000 +# Pen 1: dir: [0.000000 0.000000 1.000000] +# Pen 1: pos: [0.004079 -0.012238 0.009615] +# +# Pen 2: depth: 0.531931 +# Pen 2: dir: [-0.926428 -0.376463 -0.002666] +# Pen 2: pos: [0.218566 0.072232 0.025000] +# +# Pen 3: depth: 0.645740 +# Pen 3: dir: [-0.500000 -0.146447 -0.853553] +# Pen 3: pos: [0.177594 0.070484 0.186987] +# +# Pen 4: depth: 0.104445 +# Pen 4: dir: [-0.482095 0.866317 0.130685] +# Pen 4: pos: [0.123724 0.348390 0.269312] +# +# Pen 5: depth: 0.093082 +# Pen 5: dir: [0.034600 -0.999228 -0.018627] +# Pen 5: pos: [0.311257 -0.203923 -0.064270] +# +# Pen 6: depth: 0.198749 +# Pen 6: dir: [0.411370 -0.911372 0.013223] +# Pen 6: pos: [0.405836 -0.130066 0.121441] +# diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSMPRBoxBox.err ode-0.14/libccd/src/testsuites/regressions/TSMPRBoxBox.err --- ode-0.11.1/libccd/src/testsuites/regressions/TSMPRBoxBox.err 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSMPRBoxBox.err 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ + + + +---- boxboxPenetration ---- + + diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSMPRBoxBox.out ode-0.14/libccd/src/testsuites/regressions/TSMPRBoxBox.out --- ode-0.11.1/libccd/src/testsuites/regressions/TSMPRBoxBox.out 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSMPRBoxBox.out 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,40 @@ +# Pen 1: depth: 0.650000 +# Pen 1: dir: [1.000000 0.000000 0.000000] +# Pen 1: pos: [0.175000 0.000000 0.000000] +# +# Pen 2: depth: 0.250000 +# Pen 2: dir: [-0.000000 0.000000 -1.000000] +# Pen 2: pos: [-0.033333 0.250000 0.600000] +# +# Pen 3: depth: 0.900000 +# Pen 3: dir: [0.000000 0.000000 -1.000000] +# Pen 3: pos: [0.100000 0.000000 0.050000] +# +# Pen 4: depth: 0.607107 +# Pen 4: dir: [1.000000 0.000000 0.000000] +# Pen 4: pos: [-0.096447 0.000000 0.000000] +# +# Pen 5: depth: 0.429289 +# Pen 5: dir: [0.707107 -0.707107 0.000000] +# Pen 5: pos: [-0.222183 0.322183 0.000000] +# +# Pen 6: depth: 0.648412 +# Pen 6: dir: [0.862856 -0.000000 -0.505449] +# Pen 6: pos: [-0.163060 0.012676 0.263060] +# +# Pen 7: depth: 0.622928 +# Pen 7: dir: [0.999509 0.028016 -0.014008] +# Pen 7: pos: [-0.145374 0.170833 0.176732] +# +# Pen 8: depth: 0.053553 +# Pen 8: dir: [1.000000 0.000000 0.000000] +# Pen 8: pos: [-0.480217 -0.140652 0.000000] +# +# Pen 9: depth: 0.020000 +# Pen 9: dir: [0.000000 1.000000 0.000000] +# Pen 9: pos: [0.000000 0.490000 0.000000] +# +# Pen 10: depth: 0.012000 +# Pen 10: dir: [-0.000000 1.000000 0.000000] +# Pen 10: pos: [0.200000 0.492000 0.000000] +# diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSMPRBoxCyl.out ode-0.14/libccd/src/testsuites/regressions/TSMPRBoxCyl.out --- ode-0.11.1/libccd/src/testsuites/regressions/TSMPRBoxCyl.out 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSMPRBoxCyl.out 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,32 @@ +# Pen 1: depth: 0.550000 +# Pen 1: dir: [1.000000 0.000000 0.000000] +# Pen 1: pos: [-0.025000 0.000000 0.000000] +# +# Pen 2: depth: 0.050000 +# Pen 2: dir: [1.000000 0.000000 0.000000] +# Pen 2: pos: [0.225000 0.000000 0.000000] +# +# Pen 3: depth: 0.038532 +# Pen 3: dir: [0.788956 0.614450 -0.000000] +# Pen 3: pos: [0.238587 0.477175 0.000000] +# +# Pen 4: depth: 0.038654 +# Pen 4: dir: [0.779134 0.626832 -0.005696] +# Pen 4: pos: [0.238603 0.477206 0.340909] +# +# Pen 5: depth: 0.166653 +# Pen 5: dir: [0.734126 0.679013 -0.000000] +# Pen 5: pos: [0.208320 0.416640 0.595113] +# +# Pen 6: depth: 0.180673 +# Pen 6: dir: [1.000000 0.000003 -0.000000] +# Pen 6: pos: [0.192142 0.009404 0.479162] +# +# Pen 7: depth: 0.771410 +# Pen 7: dir: [-0.922598 -0.242256 -0.300208] +# Pen 7: pos: [0.600000 0.000000 0.500000] +# +# Pen 8: depth: 0.142813 +# Pen 8: dir: [-0.476782 -0.840534 0.257259] +# Pen 8: pos: [0.776128 0.285646 0.436629] +# diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSMPRCylCyl.err ode-0.14/libccd/src/testsuites/regressions/TSMPRCylCyl.err --- ode-0.11.1/libccd/src/testsuites/regressions/TSMPRCylCyl.err 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSMPRCylCyl.err 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,6 @@ + + + +---- mprCylcylPenetration ---- + + diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSMPRCylCyl.out ode-0.14/libccd/src/testsuites/regressions/TSMPRCylCyl.out --- ode-0.11.1/libccd/src/testsuites/regressions/TSMPRCylCyl.out 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSMPRCylCyl.out 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,24 @@ +# Pen 1: depth: 0.450000 +# Pen 1: dir: [0.000000 0.000000 1.000000] +# Pen 1: pos: [0.000000 0.000000 0.025000] +# +# Pen 2: depth: 0.533732 +# Pen 2: dir: [-0.952492 -0.304562 0.000000] +# Pen 2: pos: [0.176471 0.058824 0.166667] +# +# Pen 3: depth: 0.720933 +# Pen 3: dir: [-0.947406 -0.320033 0.000085] +# Pen 3: pos: [0.198747 0.066309 0.050800] +# +# Pen 4: depth: 0.106076 +# Pen 4: dir: [-0.524820 0.835278 0.163936] +# Pen 4: pos: [0.138692 0.362418 0.320024] +# +# Pen 5: depth: 0.103863 +# Pen 5: dir: [0.291494 -0.956567 -0.003314] +# Pen 5: pos: [0.337721 -0.209314 -0.094587] +# +# Pen 6: depth: 0.202625 +# Pen 6: dir: [0.347225 -0.937782 -0.000000] +# Pen 6: pos: [0.399554 -0.164780 0.199941] +# diff -Nru ode-0.11.1/libccd/src/testsuites/regressions/TSPt.err ode-0.14/libccd/src/testsuites/regressions/TSPt.err --- ode-0.11.1/libccd/src/testsuites/regressions/TSPt.err 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/regressions/TSPt.err 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,39 @@ +ptCreate1 :: ------ +ptCreate1 :: e[0]->dist: 0.200000 +ptCreate1 :: ->witness: [0.200000 -0.400000 0.000000] +ptCreate1 :: e[1]->dist: 0.500000 +ptCreate1 :: ->witness: [0.500000 0.000000 0.500000] +ptCreate1 :: e[2]->dist: 0.666667 +ptCreate1 :: ->witness: [-0.333333 -0.333333 0.666667] +ptCreate1 :: f->dist: 0.166667 +ptCreate1 :: ->witness: [0.166667 -0.333333 0.166667] +ptCreate2 :: ------ +ptCreate2 :: v[0]->dist: 2.000000 +ptCreate2 :: ->witness: [-1.000000 -1.000000 0.000000] +ptCreate2 :: v[1]->dist: 1.000000 +ptCreate2 :: ->witness: [1.000000 0.000000 0.000000] +ptCreate2 :: v[2]->dist: 1.000000 +ptCreate2 :: ->witness: [0.000000 0.000000 1.000000] +ptCreate2 :: v[3]->dist: 1.000000 +ptCreate2 :: ->witness: [0.000000 1.000000 0.000000] +ptCreate2 :: e[0]->dist: 0.200000 +ptCreate2 :: ->witness: [0.200000 -0.400000 0.000000] +ptCreate2 :: e[1]->dist: 0.500000 +ptCreate2 :: ->witness: [0.500000 0.000000 0.500000] +ptCreate2 :: e[2]->dist: 0.666667 +ptCreate2 :: ->witness: [-0.333333 -0.333333 0.666667] +ptCreate2 :: e[3]->dist: 0.200000 +ptCreate2 :: ->witness: [-0.400000 0.200000 0.000000] +ptCreate2 :: e[4]->dist: 0.500000 +ptCreate2 :: ->witness: [0.500000 0.500000 0.000000] +ptCreate2 :: e[5]->dist: 0.500000 +ptCreate2 :: ->witness: [0.000000 0.500000 0.500000] +ptCreate2 :: f[0]->dist: 0.166667 +ptCreate2 :: ->witness: [0.166667 -0.333333 0.166667] +ptCreate2 :: f[1]->dist: 0.000000 +ptCreate2 :: ->witness: [0.000000 0.000000 0.000000] +ptCreate2 :: f[2]->dist: 0.333333 +ptCreate2 :: ->witness: [0.333333 0.333333 0.333333] +ptCreate2 :: f[3]->dist: 0.166667 +ptCreate2 :: ->witness: [-0.333333 0.166667 0.166667] +ptNearest :: ------ diff -Nru ode-0.11.1/libccd/src/testsuites/spheresphere.c ode-0.14/libccd/src/testsuites/spheresphere.c --- ode-0.11.1/libccd/src/testsuites/spheresphere.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/spheresphere.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,99 @@ +#include +#include +#include "support.h" +#include + +TEST(spheresphereSetUp) +{ +} + +TEST(spheresphereTearDown) +{ +} + +TEST(spheresphereAlignedX) +{ + ccd_t ccd; + CCD_SPHERE(s1); + CCD_SPHERE(s2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + s1.radius = 0.35; + s2.radius = .5; + + ccdVec3Set(&s1.pos, -5., 0., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&s1, &s2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + s1.pos.v[0] += 0.1; + } +} + +TEST(spheresphereAlignedY) +{ + ccd_t ccd; + CCD_SPHERE(s1); + CCD_SPHERE(s2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + s1.radius = 0.35; + s2.radius = .5; + + ccdVec3Set(&s1.pos, 0., -5., 0.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&s1, &s2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + s1.pos.v[1] += 0.1; + } +} + +TEST(spheresphereAlignedZ) +{ + ccd_t ccd; + CCD_SPHERE(s1); + CCD_SPHERE(s2); + size_t i; + int res; + + CCD_INIT(&ccd); + ccd.support1 = ccdSupport; + ccd.support2 = ccdSupport; + + s1.radius = 0.35; + s2.radius = .5; + + ccdVec3Set(&s1.pos, 0., 0., -5.); + for (i = 0; i < 100; i++){ + res = ccdGJKIntersect(&s1, &s2, &ccd); + + if (i < 42 || i > 58){ + assertFalse(res); + }else{ + assertTrue(res); + } + + s1.pos.v[2] += 0.1; + } +} diff -Nru ode-0.11.1/libccd/src/testsuites/spheresphere.h ode-0.14/libccd/src/testsuites/spheresphere.h --- ode-0.11.1/libccd/src/testsuites/spheresphere.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/spheresphere.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,24 @@ +#ifndef SPHERE_SPHERE +#define SPHERE_SPHERE + +#include + +TEST(spheresphereSetUp); +TEST(spheresphereTearDown); + +TEST(spheresphereAlignedX); +TEST(spheresphereAlignedY); +TEST(spheresphereAlignedZ); + +TEST_SUITE(TSSphereSphere) { + TEST_ADD(spheresphereSetUp), + + TEST_ADD(spheresphereAlignedX), + TEST_ADD(spheresphereAlignedY), + TEST_ADD(spheresphereAlignedZ), + + TEST_ADD(spheresphereTearDown), + TEST_SUITE_CLOSURE +}; + +#endif diff -Nru ode-0.11.1/libccd/src/testsuites/support.c ode-0.14/libccd/src/testsuites/support.c --- ode-0.11.1/libccd/src/testsuites/support.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/support.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,85 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include +#include +#include +#include "support.h" + +void ccdSupport(const void *_obj, const ccd_vec3_t *_dir, + ccd_vec3_t *v) +{ + // Support function is made according to Gino van den Bergen's paper + // A Fast and Robust CCD Implementation for Collision Detection of + // Convex Objects + + ccd_obj_t *obj = (ccd_obj_t *)_obj; + ccd_vec3_t dir; + ccd_quat_t qinv; + + ccdVec3Copy(&dir, _dir); + ccdQuatInvert2(&qinv, &obj->quat); + + ccdQuatRotVec(&dir, &qinv); + + if (obj->type == CCD_OBJ_BOX){ + ccd_box_t *box = (ccd_box_t *)obj; + ccdVec3Set(v, ccdSign(ccdVec3X(&dir)) * box->x * CCD_REAL(0.5), + ccdSign(ccdVec3Y(&dir)) * box->y * CCD_REAL(0.5), + ccdSign(ccdVec3Z(&dir)) * box->z * CCD_REAL(0.5)); + }else if (obj->type == CCD_OBJ_SPHERE){ + ccd_sphere_t *sphere = (ccd_sphere_t *)obj; + ccd_real_t len; + + len = ccdVec3Len2(&dir); + if (len - CCD_EPS > CCD_ZERO){ + ccdVec3Copy(v, &dir); + ccdVec3Scale(v, sphere->radius / CCD_SQRT(len)); + }else{ + ccdVec3Set(v, CCD_ZERO, CCD_ZERO, CCD_ZERO); + } + }else if (obj->type == CCD_OBJ_CYL){ + ccd_cyl_t *cyl = (ccd_cyl_t *)obj; + ccd_real_t zdist, rad; + + zdist = dir.v[0] * dir.v[0] + dir.v[1] * dir.v[1]; + zdist = CCD_SQRT(zdist); + if (ccdIsZero(zdist)){ + ccdVec3Set(v, CCD_ZERO, CCD_ZERO, + ccdSign(ccdVec3Z(&dir)) * cyl->height * CCD_REAL(0.5)); + }else{ + rad = cyl->radius / zdist; + + ccdVec3Set(v, rad * ccdVec3X(&dir), + rad * ccdVec3Y(&dir), + ccdSign(ccdVec3Z(&dir)) * cyl->height * CCD_REAL(0.5)); + } + } + + // transform support vertex + ccdQuatRotVec(v, &obj->quat); + ccdVec3Add(v, &obj->pos); +} + +void ccdObjCenter(const void *_obj, ccd_vec3_t *center) +{ + ccd_obj_t *obj = (ccd_obj_t *)_obj; + + ccdVec3Set(center, CCD_ZERO, CCD_ZERO, CCD_ZERO); + // rotation is not needed + ccdVec3Add(center, &obj->pos); +} diff -Nru ode-0.11.1/libccd/src/testsuites/support.h ode-0.14/libccd/src/testsuites/support.h --- ode-0.11.1/libccd/src/testsuites/support.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/support.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,102 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +/*** + * Some support() functions for some convex shapes. + */ + +#ifndef __CCD_SUPPORT_H__ +#define __CCD_SUPPORT_H__ + +#include + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +#define CCD_OBJ_BOX 1 +#define CCD_OBJ_SPHERE 2 +#define CCD_OBJ_CYL 3 + +#define __CCD_OBJ__ \ + int type; \ + ccd_vec3_t pos; \ + ccd_quat_t quat; + +struct _ccd_obj_t { + __CCD_OBJ__ +}; +typedef struct _ccd_obj_t ccd_obj_t; + +struct _ccd_box_t { + __CCD_OBJ__ + ccd_real_t x, y, z; //!< Lengths of box's edges +}; +typedef struct _ccd_box_t ccd_box_t; + +struct _ccd_sphere_t { + __CCD_OBJ__ + ccd_real_t radius; +}; +typedef struct _ccd_sphere_t ccd_sphere_t; + +struct _ccd_cyl_t { + __CCD_OBJ__ + ccd_real_t radius; + ccd_real_t height; +}; +typedef struct _ccd_cyl_t ccd_cyl_t; + + +#define CCD_BOX(name) \ + ccd_box_t name = { .type = CCD_OBJ_BOX, \ + .pos = { .v = { 0., 0., 0. } }, \ + .quat = { .q = { 0., 0., 0., 1. } }, \ + .x = 0., \ + .y = 0., \ + .z = 0. } + +#define CCD_SPHERE(name) \ + ccd_sphere_t name = { .type = CCD_OBJ_SPHERE, \ + .pos = { .v = { 0., 0., 0. } }, \ + .quat = { .q = { 0., 0., 0., 1. } }, \ + .radius = 0. } + +#define CCD_CYL(name) \ + ccd_cyl_t name = { .type = CCD_OBJ_CYL, \ + .pos = { .v = { 0., 0., 0. } }, \ + .quat = { .q = { 0., 0., 0., 1. } }, \ + .radius = 0., \ + .height = 0. } + +/** + * Returns supporting vertex via v. + * Supporting vertex is fathest vertex from object in direction dir. + */ +void ccdSupport(const void *obj, const ccd_vec3_t *dir, + ccd_vec3_t *v); + +/** + * Returns center of object. + */ +void ccdObjCenter(const void *obj, ccd_vec3_t *center); + +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ + +#endif /* __CCD_SUPPORT_H__ */ diff -Nru ode-0.11.1/libccd/src/testsuites/vec3.c ode-0.14/libccd/src/testsuites/vec3.c --- ode-0.11.1/libccd/src/testsuites/vec3.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/vec3.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,273 @@ +#include +#include +#include + +TEST(vec3SetUp) +{ +} + +TEST(vec3TearDown) +{ +} + + +TEST(vec3PointSegmentDist) +{ + ccd_vec3_t P, a, b, w, ew; + ccd_real_t dist; + + ccdVec3Set(&a, 0., 0., 0.); + ccdVec3Set(&b, 1., 0., 0.); + + // extereme w == a + ccdVec3Set(&P, -1., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.5, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5 * 0.5)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.1, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, .1 * .1)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -1., 1., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.5, 0.5, 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -0.1, -1., 2.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 5.01)); + assertTrue(ccdVec3Eq(&w, &a)); + + + // extereme w == b + ccdVec3Set(&P, 2., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.5, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5 * 0.5)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.1, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, .1 * .1)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 2., 1., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.5, 0.5, 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.5)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 1.1, -1., 2.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 5.01)); + assertTrue(ccdVec3Eq(&w, &b)); + + // inside segment + ccdVec3Set(&P, .5, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + + ccdVec3Set(&P, .9, 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + + ccdVec3Set(&P, .5, 1., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 1.)); + ccdVec3Set(&ew, 0.5, 0., 0.); + assertTrue(ccdVec3Eq(&w, &ew)); + + ccdVec3Set(&P, .5, 1., 1.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + ccdVec3Set(&ew, 0.5, 0., 0.); + assertTrue(ccdVec3Eq(&w, &ew)); + + + + ccdVec3Set(&a, -.5, 2., 1.); + ccdVec3Set(&b, 1., 1.5, 0.5); + + // extereme w == a + ccdVec3Set(&P, -10., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9.5 * 9.5 + 2. * 2. + 1.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, -10., 9.2, 3.4); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9.5 * 9.5 + 7.2 * 7.2 + 2.4 * 2.4)); + assertTrue(ccdVec3Eq(&w, &a)); + + // extereme w == b + ccdVec3Set(&P, 10., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9. * 9. + 1.5 * 1.5 + 0.5 * 0.5)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, 10., 9.2, 3.4); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 9. * 9. + 7.7 * 7.7 + 2.9 * 2.9)); + assertTrue(ccdVec3Eq(&w, &b)); + + // inside ab + ccdVec3Set(&a, -.1, 1., 1.); + ccdVec3Set(&b, 1., 1., 1.); + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointSegmentDist2(&P, &a, &b, &w); + assertTrue(ccdEq(dist, 2.)); + ccdVec3Set(&ew, 0., 1., 1.); + assertTrue(ccdVec3Eq(&w, &ew)); +} + + +TEST(vec3PointTriDist) +{ + ccd_vec3_t P, a, b, c, w, P0; + ccd_real_t dist; + + ccdVec3Set(&a, -1., 0., 0.); + ccdVec3Set(&b, 0., 1., 1.); + ccdVec3Set(&c, -1., 0., 1.); + + ccdVec3Set(&P, -1., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &a)); + + ccdVec3Set(&P, 0., 1., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &b)); + + ccdVec3Set(&P, -1., 0., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &c)); + + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, NULL); + assertTrue(ccdEq(dist, 2./3.)); + + + // region 4 + ccdVec3Set(&P, -2., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &a))); + assertTrue(ccdVec3Eq(&w, &a)); + ccdVec3Set(&P, -2., 0.2, -1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &a))); + assertTrue(ccdVec3Eq(&w, &a)); + + // region 2 + ccdVec3Set(&P, -1.3, 0., 1.2); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &c))); + assertTrue(ccdVec3Eq(&w, &c)); + ccdVec3Set(&P, -1.2, 0.2, 1.1); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &c))); + assertTrue(ccdVec3Eq(&w, &c)); + + // region 6 + ccdVec3Set(&P, 0.3, 1., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &b))); + assertTrue(ccdVec3Eq(&w, &b)); + ccdVec3Set(&P, .1, 1., 1.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, ccdVec3Dist2(&P, &b))); + assertTrue(ccdVec3Eq(&w, &b)); + + // region 1 + ccdVec3Set(&P, 0., 1., 2.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &b)); + ccdVec3Set(&P, -1., 0., 2.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 1.)); + assertTrue(ccdVec3Eq(&w, &c)); + ccdVec3Set(&P, -0.5, 0.5, 2.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 1.)); + ccdVec3Set(&P0, -0.5, 0.5, 1.); + assertTrue(ccdVec3Eq(&w, &P0)); + + // region 3 + ccdVec3Set(&P, -2., -1., 0.7); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 2.)); + ccdVec3Set(&P0, -1., 0., 0.7); + assertTrue(ccdVec3Eq(&w, &P0)); + + // region 5 + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 2./3.)); + ccdVec3Set(&P0, -2./3., 1./3., 1./3.); + assertTrue(ccdVec3Eq(&w, &P0)); + + // region 0 + ccdVec3Set(&P, -0.5, 0.5, 0.5); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + ccdVec3Set(&P, -0.5, 0.5, 0.7); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + ccdVec3Set(&P, -0.5, 0.5, 0.9); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.)); + assertTrue(ccdVec3Eq(&w, &P)); + + ccdVec3Set(&P, 0., 0., 0.5); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.5)); + ccdVec3Set(&P0, -.5, .5, .5); + assertTrue(ccdVec3Eq(&w, &P0)); + + ccdVec3Set(&a, -1., 0., 0.); + ccdVec3Set(&b, 0., 1., -1.); + ccdVec3Set(&c, 0., 1., 1.); + ccdVec3Set(&P, 0., 0., 0.); + dist = ccdVec3PointTriDist2(&P, &a, &b, &c, &w); + assertTrue(ccdEq(dist, 0.5)); + ccdVec3Set(&P0, -.5, .5, 0.); + assertTrue(ccdVec3Eq(&w, &P0)); + //fprintf(stderr, "dist: %lf\n", dist); +} diff -Nru ode-0.11.1/libccd/src/testsuites/vec3.h ode-0.14/libccd/src/testsuites/vec3.h --- ode-0.11.1/libccd/src/testsuites/vec3.h 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/testsuites/vec3.h 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,20 @@ +#ifndef TEST_VEC3_H +#define TEST_VEC3_H + +#include + +TEST(vec3SetUp); +TEST(vec3TearDown); +TEST(vec3PointSegmentDist); +TEST(vec3PointTriDist); + +TEST_SUITE(TSVec3) { + TEST_ADD(vec3SetUp), + + TEST_ADD(vec3PointSegmentDist), + TEST_ADD(vec3PointTriDist), + + TEST_ADD(vec3TearDown), + TEST_SUITE_CLOSURE +}; +#endif diff -Nru ode-0.11.1/libccd/src/vec3.c ode-0.14/libccd/src/vec3.c --- ode-0.11.1/libccd/src/vec3.c 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/libccd/src/vec3.c 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,215 @@ +/*** + * libccd + * --------------------------------- + * Copyright (c)2010 Daniel Fiser + * + * + * This file is part of libccd. + * + * Distributed under the OSI-approved BSD License (the "License"); + * see accompanying file BDS-LICENSE for details or see + * . + * + * This software is distributed WITHOUT ANY WARRANTY; without even the + * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * See the License for more information. + */ + +#include +#include +#include + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +static CCD_VEC3(__ccd_vec3_origin, CCD_ZERO, CCD_ZERO, CCD_ZERO); +ccd_vec3_t *ccd_vec3_origin = &__ccd_vec3_origin; + +static ccd_vec3_t points_on_sphere[] = { + CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-0.000000), CCD_REAL(-1.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL(-0.525725), CCD_REAL(-0.447219)), + CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL(-0.850649), CCD_REAL(-0.447219)), + CCD_VEC3_STATIC(CCD_REAL(-0.894426), CCD_REAL(-0.000000), CCD_REAL(-0.447216)), + CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL( 0.850649), CCD_REAL(-0.447220)), + CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL( 0.525725), CCD_REAL(-0.447219)), + CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL(-0.850649), CCD_REAL( 0.447220)), + CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL(-0.525725), CCD_REAL( 0.447219)), + CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL( 0.525725), CCD_REAL( 0.447219)), + CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL( 0.850649), CCD_REAL( 0.447219)), + CCD_VEC3_STATIC(CCD_REAL( 0.894426), CCD_REAL( 0.000000), CCD_REAL( 0.447216)), + CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 0.000000), CCD_REAL( 1.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL(-0.309011), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL(-0.499995), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL(-0.809012), CCD_REAL(-0.525738)), + CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL( 0.309011), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL( 0.850648), CCD_REAL(-0.000000), CCD_REAL(-0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.525730), CCD_REAL(-0.000000), CCD_REAL(-0.850652)), + CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL(-0.499997), CCD_REAL(-0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL( 0.499995), CCD_REAL(-0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL( 0.499997), CCD_REAL(-0.525736)), + CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL( 0.809012), CCD_REAL(-0.525738)), + CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL( 0.309013), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL(-0.309013), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-1.000000), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL(-0.309013), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL( 0.309013), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 1.000000), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)), + CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL(-0.499997), CCD_REAL( 0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL(-0.809012), CCD_REAL( 0.525738)), + CCD_VEC3_STATIC(CCD_REAL(-0.850648), CCD_REAL( 0.000000), CCD_REAL( 0.525736)), + CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL( 0.809012), CCD_REAL( 0.525738)), + CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL( 0.499997), CCD_REAL( 0.525736)), + CCD_VEC3_STATIC(CCD_REAL( 0.525730), CCD_REAL( 0.000000), CCD_REAL( 0.850652)), + CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL(-0.499995), CCD_REAL( 0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL(-0.309011), CCD_REAL( 0.850654)), + CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL( 0.309011), CCD_REAL( 0.850654)), + CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL( 0.499995), CCD_REAL( 0.850654)) +}; +ccd_vec3_t *ccd_points_on_sphere = points_on_sphere; +size_t ccd_points_on_sphere_len = sizeof(points_on_sphere) / sizeof(ccd_vec3_t); + + +_ccd_inline ccd_real_t __ccdVec3PointSegmentDist2(const ccd_vec3_t *P, + const ccd_vec3_t *x0, + const ccd_vec3_t *b, + ccd_vec3_t *witness) +{ + // The computation comes from solving equation of segment: + // S(t) = x0 + t.d + // where - x0 is initial point of segment + // - d is direction of segment from x0 (|d| > 0) + // - t belongs to <0, 1> interval + // + // Than, distance from a segment to some point P can be expressed: + // D(t) = |x0 + t.d - P|^2 + // which is distance from any point on segment. Minimization + // of this function brings distance from P to segment. + // Minimization of D(t) leads to simple quadratic equation that's + // solving is straightforward. + // + // Bonus of this method is witness point for free. + + ccd_real_t dist, t; + ccd_vec3_t d, a; + + // direction of segment + ccdVec3Sub2(&d, b, x0); + + // precompute vector from P to x0 + ccdVec3Sub2(&a, x0, P); + + t = -CCD_REAL(1.) * ccdVec3Dot(&a, &d); + t /= ccdVec3Len2(&d); + + if (t < CCD_ZERO || ccdIsZero(t)){ + dist = ccdVec3Dist2(x0, P); + if (witness) + ccdVec3Copy(witness, x0); + }else if (t > CCD_ONE || ccdEq(t, CCD_ONE)){ + dist = ccdVec3Dist2(b, P); + if (witness) + ccdVec3Copy(witness, b); + }else{ + if (witness){ + ccdVec3Copy(witness, &d); + ccdVec3Scale(witness, t); + ccdVec3Add(witness, x0); + dist = ccdVec3Dist2(witness, P); + }else{ + // recycling variables + ccdVec3Scale(&d, t); + ccdVec3Add(&d, &a); + dist = ccdVec3Len2(&d); + } + } + + return dist; +} + +ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P, + const ccd_vec3_t *x0, const ccd_vec3_t *b, + ccd_vec3_t *witness) +{ + return __ccdVec3PointSegmentDist2(P, x0, b, witness); +} + +ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P, + const ccd_vec3_t *x0, const ccd_vec3_t *B, + const ccd_vec3_t *C, + ccd_vec3_t *witness) +{ + // Computation comes from analytic expression for triangle (x0, B, C) + // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and + // Then equation for distance is: + // D(s, t) = | T(s, t) - P |^2 + // This leads to minimization of quadratic function of two variables. + // The solution from is taken only if s is between 0 and 1, t is + // between 0 and 1 and t + s < 1, otherwise distance from segment is + // computed. + + ccd_vec3_t d1, d2, a; + ccd_real_t u, v, w, p, q, r; + ccd_real_t s, t, dist, dist2; + ccd_vec3_t witness2; + + ccdVec3Sub2(&d1, B, x0); + ccdVec3Sub2(&d2, C, x0); + ccdVec3Sub2(&a, x0, P); + + u = ccdVec3Dot(&a, &a); + v = ccdVec3Dot(&d1, &d1); + w = ccdVec3Dot(&d2, &d2); + p = ccdVec3Dot(&a, &d1); + q = ccdVec3Dot(&a, &d2); + r = ccdVec3Dot(&d1, &d2); + + s = (q * r - w * p) / (w * v - r * r); + t = (-s * r - q) / w; + + if ((ccdIsZero(s) || s > CCD_ZERO) + && (ccdEq(s, CCD_ONE) || s < CCD_ONE) + && (ccdIsZero(t) || t > CCD_ZERO) + && (ccdEq(t, CCD_ONE) || t < CCD_ONE) + && (ccdEq(t + s, CCD_ONE) || t + s < CCD_ONE)){ + + if (witness){ + ccdVec3Scale(&d1, s); + ccdVec3Scale(&d2, t); + ccdVec3Copy(witness, x0); + ccdVec3Add(witness, &d1); + ccdVec3Add(witness, &d2); + + dist = ccdVec3Dist2(witness, P); + }else{ + dist = s * s * v; + dist += t * t * w; + dist += CCD_REAL(2.) * s * t * r; + dist += CCD_REAL(2.) * s * p; + dist += CCD_REAL(2.) * t * q; + dist += u; + } + }else{ + dist = __ccdVec3PointSegmentDist2(P, x0, B, witness); + + dist2 = __ccdVec3PointSegmentDist2(P, x0, C, &witness2); + if (dist2 < dist){ + dist = dist2; + if (witness) + ccdVec3Copy(witness, &witness2); + } + + dist2 = __ccdVec3PointSegmentDist2(P, B, C, &witness2); + if (dist2 < dist){ + dist = dist2; + if (witness) + ccdVec3Copy(witness, &witness2); + } + } + + return dist; +} diff -Nru ode-0.11.1/LICENSE-BSD.TXT ode-0.14/LICENSE-BSD.TXT --- ode-0.11.1/LICENSE-BSD.TXT 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/LICENSE-BSD.TXT 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,34 @@ + +This is the BSD-style license for the Open Dynamics Engine +---------------------------------------------------------- + +Open Dynamics Engine +Copyright (c) 2001-2007, Russell L. 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If not, a copy -# can be downloaded from http://www.gnu.org/licenses/gpl.html, -# or obtained by writing to the Free Software Foundation, Inc., -# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. - -# Usage: $progname [OPTION]... [MODE-ARG]... -# -# Provide generalized library-building support services. -# -# --config show all configuration variables -# --debug enable verbose shell tracing -# -n, --dry-run display commands without modifying any files -# --features display basic configuration information and exit -# --mode=MODE use operation mode MODE -# --preserve-dup-deps don't remove duplicate dependency libraries -# --quiet, --silent don't print informational messages -# --tag=TAG use configuration variables from tag TAG -# -v, --verbose print informational messages (default) -# --version print version information -# -h, --help print short or long help message -# -# MODE must be one of the following: -# -# clean remove files from the build directory -# compile compile a source file into a libtool object -# execute automatically set library path, then run a program -# finish complete the installation of libtool libraries -# install install libraries or executables -# link create a library or an executable -# uninstall remove libraries from an installed directory -# -# MODE-ARGS vary depending on the MODE. -# Try `$progname --help --mode=MODE' for a more detailed description of MODE. -# -# When reporting a bug, please describe a test case to reproduce it and -# include the following information: -# -# host-triplet: $host -# shell: $SHELL -# compiler: $LTCC -# compiler flags: $LTCFLAGS -# linker: $LD (gnu? $with_gnu_ld) -# $progname: (GNU libtool) 2.2.6 -# automake: $automake_version -# autoconf: $autoconf_version -# -# Report bugs to . - -PROGRAM=ltmain.sh -PACKAGE=libtool -VERSION=2.2.6 -TIMESTAMP="" -package_revision=1.3012 - -# define SED for historic ltconfig's generated by Libtool 1.3 -test -z "$SED" && SED=sed - -# Be Bourne compatible -if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then - emulate sh - NULLCMD=: - # Zsh 3.x and 4.x performs word splitting on ${1+"$@"}, which - # is contrary to our usage. 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then - case "$current_libdirs " in - *" $libdir "*) ;; - *) current_libdirs="$current_libdirs $libdir" ;; - esac - else - # Note the libdir as a future libdir. - case "$future_libdirs " in - *" $libdir "*) ;; - *) future_libdirs="$future_libdirs $libdir" ;; - esac - fi - - func_dirname "$file" "/" "" - dir="$func_dirname_result" - dir="$dir$objdir" - - if test -n "$relink_command"; then - # Determine the prefix the user has applied to our future dir. - inst_prefix_dir=`$ECHO "X$destdir" | $Xsed -e "s%$libdir\$%%"` - - # Don't allow the user to place us outside of our expected - # location b/c this prevents finding dependent libraries that - # are installed to the same prefix. - # At present, this check doesn't affect windows .dll's that - # are installed into $libdir/../bin (currently, that works fine) - # but it's something to keep an eye on. - test "$inst_prefix_dir" = "$destdir" && \ - func_fatal_error "error: cannot install \`$file' to a directory not ending in $libdir" - - if test -n "$inst_prefix_dir"; then - # Stick the inst_prefix_dir data into the link command. - relink_command=`$ECHO "X$relink_command" | $Xsed -e "s%@inst_prefix_dir@%-inst-prefix-dir $inst_prefix_dir%"` - else - relink_command=`$ECHO "X$relink_command" | $Xsed -e "s%@inst_prefix_dir@%%"` - fi - - func_warning "relinking \`$file'" - func_show_eval "$relink_command" \ - 'func_fatal_error "error: relink \`$file'\'' with the above command before installing it"' - fi - - # See the names of the shared library. - set dummy $library_names; shift - if test -n "$1"; then - realname="$1" - shift - - srcname="$realname" - test -n "$relink_command" && srcname="$realname"T - - # Install the shared library and build the symlinks. - func_show_eval "$install_prog $dir/$srcname $destdir/$realname" \ - 'exit $?' - tstripme="$stripme" - case $host_os in - cygwin* | mingw* | pw32* | cegcc*) - case $realname in - *.dll.a) - tstripme="" - ;; - esac - ;; - esac - if test -n "$tstripme" && test -n "$striplib"; then - func_show_eval "$striplib $destdir/$realname" 'exit $?' - fi - - if test "$#" -gt 0; then - # Delete the old symlinks, and create new ones. - # Try `ln -sf' first, because the `ln' binary might depend on - # the symlink we replace! Solaris /bin/ln does not understand -f, - # so we also need to try rm && ln -s. - for linkname - do - test "$linkname" != "$realname" \ - && func_show_eval "(cd $destdir && { $LN_S -f $realname $linkname || { $RM $linkname && $LN_S $realname $linkname; }; })" - done - fi - - # Do each command in the postinstall commands. - lib="$destdir/$realname" - func_execute_cmds "$postinstall_cmds" 'exit $?' - fi - - # Install the pseudo-library for information purposes. - func_basename "$file" - name="$func_basename_result" - instname="$dir/$name"i - func_show_eval "$install_prog $instname $destdir/$name" 'exit $?' - - # Maybe install the static library, too. - test -n "$old_library" && staticlibs="$staticlibs $dir/$old_library" - ;; - - *.lo) - # Install (i.e. copy) a libtool object. - - # Figure out destination file name, if it wasn't already specified. - if test -n "$destname"; then - destfile="$destdir/$destname" - else - func_basename "$file" - destfile="$func_basename_result" - destfile="$destdir/$destfile" - fi - - # Deduce the name of the destination old-style object file. - case $destfile in - *.lo) - func_lo2o "$destfile" - staticdest=$func_lo2o_result - ;; - *.$objext) - staticdest="$destfile" - destfile= - ;; - *) - func_fatal_help "cannot copy a libtool object to \`$destfile'" - ;; - esac - - # Install the libtool object if requested. - test -n "$destfile" && \ - func_show_eval "$install_prog $file $destfile" 'exit $?' - - # Install the old object if enabled. - if test "$build_old_libs" = yes; then - # Deduce the name of the old-style object file. - func_lo2o "$file" - staticobj=$func_lo2o_result - func_show_eval "$install_prog \$staticobj \$staticdest" 'exit $?' - fi - exit $EXIT_SUCCESS - ;; - - *) - # Figure out destination file name, if it wasn't already specified. - if test -n "$destname"; then - destfile="$destdir/$destname" - else - func_basename "$file" - destfile="$func_basename_result" - destfile="$destdir/$destfile" - fi - - # If the file is missing, and there is a .exe on the end, strip it - # because it is most likely a libtool script we actually want to - # install - stripped_ext="" - case $file in - *.exe) - if test ! -f "$file"; then - func_stripname '' '.exe' "$file" - file=$func_stripname_result - stripped_ext=".exe" - fi - ;; - esac - - # Do a test to see if this is really a libtool program. - case $host in - *cygwin* | *mingw*) - if func_ltwrapper_executable_p "$file"; then - func_ltwrapper_scriptname "$file" - wrapper=$func_ltwrapper_scriptname_result - else - func_stripname '' '.exe' "$file" - wrapper=$func_stripname_result - fi - ;; - *) - wrapper=$file - ;; - esac - if func_ltwrapper_script_p "$wrapper"; then - notinst_deplibs= - relink_command= - - func_source "$wrapper" - - # Check the variables that should have been set. - test -z "$generated_by_libtool_version" && \ - func_fatal_error "invalid libtool wrapper script \`$wrapper'" - - finalize=yes - for lib in $notinst_deplibs; do - # Check to see that each library is installed. - libdir= - if test -f "$lib"; then - func_source "$lib" - fi - libfile="$libdir/"`$ECHO "X$lib" | $Xsed -e 's%^.*/%%g'` ### testsuite: skip nested quoting test - if test -n "$libdir" && test ! -f "$libfile"; then - func_warning "\`$lib' has not been installed in \`$libdir'" - finalize=no - fi - done - - relink_command= - func_source "$wrapper" - - outputname= - if test "$fast_install" = no && test -n "$relink_command"; then - $opt_dry_run || { - if test "$finalize" = yes; then - tmpdir=`func_mktempdir` - func_basename "$file$stripped_ext" - file="$func_basename_result" - outputname="$tmpdir/$file" - # Replace the output file specification. - relink_command=`$ECHO "X$relink_command" | $Xsed -e 's%@OUTPUT@%'"$outputname"'%g'` - - $opt_silent || { - func_quote_for_expand "$relink_command" - eval "func_echo $func_quote_for_expand_result" - } - if eval "$relink_command"; then : - else - func_error "error: relink \`$file' with the above command before installing it" - $opt_dry_run || ${RM}r "$tmpdir" - continue - fi - file="$outputname" - else - func_warning "cannot relink \`$file'" - fi - } - else - # Install the binary that we compiled earlier. - file=`$ECHO "X$file$stripped_ext" | $Xsed -e "s%\([^/]*\)$%$objdir/\1%"` - fi - fi - - # remove .exe since cygwin /usr/bin/install will append another - # one anyway - case $install_prog,$host in - */usr/bin/install*,*cygwin*) - case $file:$destfile in - *.exe:*.exe) - # this is ok - ;; - *.exe:*) - destfile=$destfile.exe - ;; - *:*.exe) - func_stripname '' '.exe' "$destfile" - destfile=$func_stripname_result - ;; - esac - ;; - esac - func_show_eval "$install_prog\$stripme \$file \$destfile" 'exit $?' - $opt_dry_run || if test -n "$outputname"; then - ${RM}r "$tmpdir" - fi - ;; - esac - done - - for file in $staticlibs; do - func_basename "$file" - name="$func_basename_result" - - # Set up the ranlib parameters. - oldlib="$destdir/$name" - - func_show_eval "$install_prog \$file \$oldlib" 'exit $?' - - if test -n "$stripme" && test -n "$old_striplib"; then - func_show_eval "$old_striplib $oldlib" 'exit $?' - fi - - # Do each command in the postinstall commands. - func_execute_cmds "$old_postinstall_cmds" 'exit $?' - done - - test -n "$future_libdirs" && \ - func_warning "remember to run \`$progname --finish$future_libdirs'" - - if test -n "$current_libdirs"; then - # Maybe just do a dry run. - $opt_dry_run && current_libdirs=" -n$current_libdirs" - exec_cmd='$SHELL $progpath $preserve_args --finish$current_libdirs' - else - exit $EXIT_SUCCESS - fi -} - -test "$mode" = install && func_mode_install ${1+"$@"} - - -# func_generate_dlsyms outputname originator pic_p -# Extract symbols from dlprefiles and create ${outputname}S.o with -# a dlpreopen symbol table. -func_generate_dlsyms () -{ - $opt_debug - my_outputname="$1" - my_originator="$2" - my_pic_p="${3-no}" - my_prefix=`$ECHO "$my_originator" | sed 's%[^a-zA-Z0-9]%_%g'` - my_dlsyms= - - if test -n "$dlfiles$dlprefiles" || test "$dlself" != no; then - if test -n "$NM" && test -n "$global_symbol_pipe"; then - my_dlsyms="${my_outputname}S.c" - else - func_error "not configured to extract global symbols from dlpreopened files" - fi - fi - - if test -n "$my_dlsyms"; then - case $my_dlsyms in - "") ;; - *.c) - # Discover the nlist of each of the dlfiles. - nlist="$output_objdir/${my_outputname}.nm" - - func_show_eval "$RM $nlist ${nlist}S ${nlist}T" - - # Parse the name list into a source file. - func_verbose "creating $output_objdir/$my_dlsyms" - - $opt_dry_run || $ECHO > "$output_objdir/$my_dlsyms" "\ -/* $my_dlsyms - symbol resolution table for \`$my_outputname' dlsym emulation. */ -/* Generated by $PROGRAM (GNU $PACKAGE$TIMESTAMP) $VERSION */ - -#ifdef __cplusplus -extern \"C\" { -#endif - -/* External symbol declarations for the compiler. */\ -" - - if test "$dlself" = yes; then - func_verbose "generating symbol list for \`$output'" - - $opt_dry_run || echo ': @PROGRAM@ ' > "$nlist" - - # Add our own program objects to the symbol list. - progfiles=`$ECHO "X$objs$old_deplibs" | $SP2NL | $Xsed -e "$lo2o" | $NL2SP` - for progfile in $progfiles; do - func_verbose "extracting global C symbols from \`$progfile'" - $opt_dry_run || eval "$NM $progfile | $global_symbol_pipe >> '$nlist'" - done - - if test -n "$exclude_expsyms"; then - $opt_dry_run || { - eval '$EGREP -v " ($exclude_expsyms)$" "$nlist" > "$nlist"T' - eval '$MV "$nlist"T "$nlist"' - } - fi - - if test -n "$export_symbols_regex"; then - $opt_dry_run || { - eval '$EGREP -e "$export_symbols_regex" "$nlist" > "$nlist"T' - eval '$MV "$nlist"T "$nlist"' - } - fi - - # Prepare the list of exported symbols - if test -z "$export_symbols"; then - export_symbols="$output_objdir/$outputname.exp" - $opt_dry_run || { - $RM $export_symbols - eval "${SED} -n -e '/^: @PROGRAM@ $/d' -e 's/^.* \(.*\)$/\1/p' "'< "$nlist" > "$export_symbols"' - case $host in - *cygwin* | *mingw* | *cegcc* ) - eval "echo EXPORTS "'> "$output_objdir/$outputname.def"' - eval 'cat "$export_symbols" >> "$output_objdir/$outputname.def"' - ;; - esac - } - else - $opt_dry_run || { - eval "${SED} -e 's/\([].[*^$]\)/\\\\\1/g' -e 's/^/ /' -e 's/$/$/'"' < "$export_symbols" > "$output_objdir/$outputname.exp"' - eval '$GREP -f "$output_objdir/$outputname.exp" < "$nlist" > "$nlist"T' - eval '$MV "$nlist"T "$nlist"' - case $host in - *cygwin | *mingw* | *cegcc* ) - eval "echo EXPORTS "'> "$output_objdir/$outputname.def"' - eval 'cat "$nlist" >> "$output_objdir/$outputname.def"' - ;; - esac - } - fi - fi - - for dlprefile in $dlprefiles; do - func_verbose "extracting global C symbols from \`$dlprefile'" - func_basename "$dlprefile" - name="$func_basename_result" - $opt_dry_run || { - eval '$ECHO ": $name " >> "$nlist"' - eval "$NM $dlprefile 2>/dev/null | $global_symbol_pipe >> '$nlist'" - } - done - - $opt_dry_run || { - # Make sure we have at least an empty file. - test -f "$nlist" || : > "$nlist" - - if test -n "$exclude_expsyms"; then - $EGREP -v " ($exclude_expsyms)$" "$nlist" > "$nlist"T - $MV "$nlist"T "$nlist" - fi - - # Try sorting and uniquifying the output. - if $GREP -v "^: " < "$nlist" | - if sort -k 3 /dev/null 2>&1; then - sort -k 3 - else - sort +2 - fi | - uniq > "$nlist"S; then - : - else - $GREP -v "^: " < "$nlist" > "$nlist"S - fi - - if test -f "$nlist"S; then - eval "$global_symbol_to_cdecl"' < "$nlist"S >> "$output_objdir/$my_dlsyms"' - else - $ECHO '/* NONE */' >> "$output_objdir/$my_dlsyms" - fi - - $ECHO >> "$output_objdir/$my_dlsyms" "\ - -/* The mapping between symbol names and symbols. */ -typedef struct { - const char *name; - void *address; -} lt_dlsymlist; -" - case $host in - *cygwin* | *mingw* | *cegcc* ) - $ECHO >> "$output_objdir/$my_dlsyms" "\ -/* DATA imports from DLLs on WIN32 con't be const, because - runtime relocations are performed -- see ld's documentation - on pseudo-relocs. */" - lt_dlsym_const= ;; - *osf5*) - echo >> "$output_objdir/$my_dlsyms" "\ -/* This system does not cope well with relocations in const data */" - lt_dlsym_const= ;; - *) - lt_dlsym_const=const ;; - esac - - $ECHO >> "$output_objdir/$my_dlsyms" "\ -extern $lt_dlsym_const lt_dlsymlist -lt_${my_prefix}_LTX_preloaded_symbols[]; -$lt_dlsym_const lt_dlsymlist -lt_${my_prefix}_LTX_preloaded_symbols[] = -{\ - { \"$my_originator\", (void *) 0 }," - - case $need_lib_prefix in - no) - eval "$global_symbol_to_c_name_address" < "$nlist" >> "$output_objdir/$my_dlsyms" - ;; - *) - eval "$global_symbol_to_c_name_address_lib_prefix" < "$nlist" >> "$output_objdir/$my_dlsyms" - ;; - esac - $ECHO >> "$output_objdir/$my_dlsyms" "\ - {0, (void *) 0} -}; - -/* This works around a problem in FreeBSD linker */ -#ifdef FREEBSD_WORKAROUND -static const void *lt_preloaded_setup() { - return lt_${my_prefix}_LTX_preloaded_symbols; -} -#endif - -#ifdef __cplusplus -} -#endif\ -" - } # !$opt_dry_run - - pic_flag_for_symtable= - case "$compile_command " in - *" -static "*) ;; - *) - case $host in - # compiling the symbol table file with pic_flag works around - # a FreeBSD bug that causes programs to crash when -lm is - # linked before any other PIC object. But we must not use - # pic_flag when linking with -static. The problem exists in - # FreeBSD 2.2.6 and is fixed in FreeBSD 3.1. - *-*-freebsd2*|*-*-freebsd3.0*|*-*-freebsdelf3.0*) - pic_flag_for_symtable=" $pic_flag -DFREEBSD_WORKAROUND" ;; - *-*-hpux*) - pic_flag_for_symtable=" $pic_flag" ;; - *) - if test "X$my_pic_p" != Xno; then - pic_flag_for_symtable=" $pic_flag" - fi - ;; - esac - ;; - esac - symtab_cflags= - for arg in $LTCFLAGS; do - case $arg in - -pie | -fpie | -fPIE) ;; - *) symtab_cflags="$symtab_cflags $arg" ;; - esac - done - - # Now compile the dynamic symbol file. - func_show_eval '(cd $output_objdir && $LTCC$symtab_cflags -c$no_builtin_flag$pic_flag_for_symtable "$my_dlsyms")' 'exit $?' - - # Clean up the generated files. - func_show_eval '$RM "$output_objdir/$my_dlsyms" "$nlist" "${nlist}S" "${nlist}T"' - - # Transform the symbol file into the correct name. - symfileobj="$output_objdir/${my_outputname}S.$objext" - case $host in - *cygwin* | *mingw* | *cegcc* ) - if test -f "$output_objdir/$my_outputname.def"; then - compile_command=`$ECHO "X$compile_command" | $Xsed -e "s%@SYMFILE@%$output_objdir/$my_outputname.def $symfileobj%"` - finalize_command=`$ECHO "X$finalize_command" | $Xsed -e "s%@SYMFILE@%$output_objdir/$my_outputname.def $symfileobj%"` - else - compile_command=`$ECHO "X$compile_command" | $Xsed -e "s%@SYMFILE@%$symfileobj%"` - finalize_command=`$ECHO "X$finalize_command" | $Xsed -e "s%@SYMFILE@%$symfileobj%"` - fi - ;; - *) - compile_command=`$ECHO "X$compile_command" | $Xsed -e "s%@SYMFILE@%$symfileobj%"` - finalize_command=`$ECHO "X$finalize_command" | $Xsed -e "s%@SYMFILE@%$symfileobj%"` - ;; - esac - ;; - *) - func_fatal_error "unknown suffix for \`$my_dlsyms'" - ;; - esac - else - # We keep going just in case the user didn't refer to - # lt_preloaded_symbols. The linker will fail if global_symbol_pipe - # really was required. - - # Nullify the symbol file. - compile_command=`$ECHO "X$compile_command" | $Xsed -e "s% @SYMFILE@%%"` - finalize_command=`$ECHO "X$finalize_command" | $Xsed -e "s% @SYMFILE@%%"` - fi -} - -# func_win32_libid arg -# return the library type of file 'arg' -# -# Need a lot of goo to handle *both* DLLs and import libs -# Has to be a shell function in order to 'eat' the argument -# that is supplied when $file_magic_command is called. -func_win32_libid () -{ - $opt_debug - win32_libid_type="unknown" - win32_fileres=`file -L $1 2>/dev/null` - case $win32_fileres in - *ar\ archive\ import\ library*) # definitely import - win32_libid_type="x86 archive import" - ;; - *ar\ archive*) # could be an import, or static - if eval $OBJDUMP -f $1 | $SED -e '10q' 2>/dev/null | - $EGREP 'file format pe-i386(.*architecture: i386)?' >/dev/null ; then - win32_nmres=`eval $NM -f posix -A $1 | - $SED -n -e ' - 1,100{ - / I /{ - s,.*,import, - p - q - } - }'` - case $win32_nmres in - import*) win32_libid_type="x86 archive import";; - *) win32_libid_type="x86 archive static";; - esac - fi - ;; - *DLL*) - win32_libid_type="x86 DLL" - ;; - *executable*) # but shell scripts are "executable" too... - case $win32_fileres in - *MS\ Windows\ PE\ Intel*) - win32_libid_type="x86 DLL" - ;; - esac - ;; - esac - $ECHO "$win32_libid_type" -} - - - -# func_extract_an_archive dir oldlib -func_extract_an_archive () -{ - $opt_debug - f_ex_an_ar_dir="$1"; shift - f_ex_an_ar_oldlib="$1" - func_show_eval "(cd \$f_ex_an_ar_dir && $AR x \"\$f_ex_an_ar_oldlib\")" 'exit $?' - if ($AR t "$f_ex_an_ar_oldlib" | sort | sort -uc >/dev/null 2>&1); then - : - else - func_fatal_error "object name conflicts in archive: $f_ex_an_ar_dir/$f_ex_an_ar_oldlib" - fi -} - - -# func_extract_archives gentop oldlib ... -func_extract_archives () -{ - $opt_debug - my_gentop="$1"; shift - my_oldlibs=${1+"$@"} - my_oldobjs="" - my_xlib="" - my_xabs="" - my_xdir="" - - for my_xlib in $my_oldlibs; do - # Extract the objects. - case $my_xlib in - [\\/]* | [A-Za-z]:[\\/]*) my_xabs="$my_xlib" ;; - *) my_xabs=`pwd`"/$my_xlib" ;; - esac - func_basename "$my_xlib" - my_xlib="$func_basename_result" - my_xlib_u=$my_xlib - while :; do - case " $extracted_archives " in - *" $my_xlib_u "*) - func_arith $extracted_serial + 1 - extracted_serial=$func_arith_result - my_xlib_u=lt$extracted_serial-$my_xlib ;; - *) break ;; - esac - done - extracted_archives="$extracted_archives $my_xlib_u" - my_xdir="$my_gentop/$my_xlib_u" - - func_mkdir_p "$my_xdir" - - case $host in - *-darwin*) - func_verbose "Extracting $my_xabs" - # Do not bother doing anything if just a dry run - $opt_dry_run || { - darwin_orig_dir=`pwd` - cd $my_xdir || exit $? - darwin_archive=$my_xabs - darwin_curdir=`pwd` - darwin_base_archive=`basename "$darwin_archive"` - darwin_arches=`$LIPO -info "$darwin_archive" 2>/dev/null | $GREP Architectures 2>/dev/null || true` - if test -n "$darwin_arches"; then - darwin_arches=`$ECHO "$darwin_arches" | $SED -e 's/.*are://'` - darwin_arch= - func_verbose "$darwin_base_archive has multiple architectures $darwin_arches" - for darwin_arch in $darwin_arches ; do - func_mkdir_p "unfat-$$/${darwin_base_archive}-${darwin_arch}" - $LIPO -thin $darwin_arch -output "unfat-$$/${darwin_base_archive}-${darwin_arch}/${darwin_base_archive}" "${darwin_archive}" - cd "unfat-$$/${darwin_base_archive}-${darwin_arch}" - func_extract_an_archive "`pwd`" "${darwin_base_archive}" - cd "$darwin_curdir" - $RM "unfat-$$/${darwin_base_archive}-${darwin_arch}/${darwin_base_archive}" - done # $darwin_arches - ## Okay now we've a bunch of thin objects, gotta fatten them up :) - darwin_filelist=`find unfat-$$ -type f -name \*.o -print -o -name \*.lo -print | $SED -e "$basename" | sort -u` - darwin_file= - darwin_files= - for darwin_file in $darwin_filelist; do - darwin_files=`find unfat-$$ -name $darwin_file -print | $NL2SP` - $LIPO -create -output "$darwin_file" $darwin_files - done # $darwin_filelist - $RM -rf unfat-$$ - cd "$darwin_orig_dir" - else - cd $darwin_orig_dir - func_extract_an_archive "$my_xdir" "$my_xabs" - fi # $darwin_arches - } # !$opt_dry_run - ;; - *) - func_extract_an_archive "$my_xdir" "$my_xabs" - ;; - esac - my_oldobjs="$my_oldobjs "`find $my_xdir -name \*.$objext -print -o -name \*.lo -print | $NL2SP` - done - - func_extract_archives_result="$my_oldobjs" -} - - - -# func_emit_wrapper_part1 [arg=no] -# -# Emit the first part of a libtool wrapper script on stdout. -# For more information, see the description associated with -# func_emit_wrapper(), below. -func_emit_wrapper_part1 () -{ - func_emit_wrapper_part1_arg1=no - if test -n "$1" ; then - func_emit_wrapper_part1_arg1=$1 - fi - - $ECHO "\ -#! $SHELL - -# $output - temporary wrapper script for $objdir/$outputname -# Generated by $PROGRAM (GNU $PACKAGE$TIMESTAMP) $VERSION -# -# The $output program cannot be directly executed until all the libtool -# libraries that it depends on are installed. -# -# This wrapper script should never be moved out of the build directory. -# If it is, it will not operate correctly. - -# Sed substitution that helps us do robust quoting. It backslashifies -# metacharacters that are still active within double-quoted strings. -Xsed='${SED} -e 1s/^X//' -sed_quote_subst='$sed_quote_subst' - -# Be Bourne compatible -if test -n \"\${ZSH_VERSION+set}\" && (emulate sh) >/dev/null 2>&1; then - emulate sh - NULLCMD=: - # Zsh 3.x and 4.x performs word splitting on \${1+\"\$@\"}, which - # is contrary to our usage. Disable this feature. - alias -g '\${1+\"\$@\"}'='\"\$@\"' - setopt NO_GLOB_SUBST -else - case \`(set -o) 2>/dev/null\` in *posix*) set -o posix;; esac -fi -BIN_SH=xpg4; export BIN_SH # for Tru64 -DUALCASE=1; export DUALCASE # for MKS sh - -# The HP-UX ksh and POSIX shell print the target directory to stdout -# if CDPATH is set. -(unset CDPATH) >/dev/null 2>&1 && unset CDPATH - -relink_command=\"$relink_command\" - -# This environment variable determines our operation mode. -if test \"\$libtool_install_magic\" = \"$magic\"; then - # install mode needs the following variables: - generated_by_libtool_version='$macro_version' - notinst_deplibs='$notinst_deplibs' -else - # When we are sourced in execute mode, \$file and \$ECHO are already set. - if test \"\$libtool_execute_magic\" != \"$magic\"; then - ECHO=\"$qecho\" - file=\"\$0\" - # Make sure echo works. - if test \"X\$1\" = X--no-reexec; then - # Discard the --no-reexec flag, and continue. - shift - elif test \"X\`{ \$ECHO '\t'; } 2>/dev/null\`\" = 'X\t'; then - # Yippee, \$ECHO works! - : - else - # Restart under the correct shell, and then maybe \$ECHO will work. - exec $SHELL \"\$0\" --no-reexec \${1+\"\$@\"} - fi - fi\ -" - $ECHO "\ - - # Find the directory that this script lives in. - thisdir=\`\$ECHO \"X\$file\" | \$Xsed -e 's%/[^/]*$%%'\` - test \"x\$thisdir\" = \"x\$file\" && thisdir=. - - # Follow symbolic links until we get to the real thisdir. - file=\`ls -ld \"\$file\" | ${SED} -n 's/.*-> //p'\` - while test -n \"\$file\"; do - destdir=\`\$ECHO \"X\$file\" | \$Xsed -e 's%/[^/]*\$%%'\` - - # If there was a directory component, then change thisdir. - if test \"x\$destdir\" != \"x\$file\"; then - case \"\$destdir\" in - [\\\\/]* | [A-Za-z]:[\\\\/]*) thisdir=\"\$destdir\" ;; - *) thisdir=\"\$thisdir/\$destdir\" ;; - esac - fi - - file=\`\$ECHO \"X\$file\" | \$Xsed -e 's%^.*/%%'\` - file=\`ls -ld \"\$thisdir/\$file\" | ${SED} -n 's/.*-> //p'\` - done -" -} -# end: func_emit_wrapper_part1 - -# func_emit_wrapper_part2 [arg=no] -# -# Emit the second part of a libtool wrapper script on stdout. -# For more information, see the description associated with -# func_emit_wrapper(), below. -func_emit_wrapper_part2 () -{ - func_emit_wrapper_part2_arg1=no - if test -n "$1" ; then - func_emit_wrapper_part2_arg1=$1 - fi - - $ECHO "\ - - # Usually 'no', except on cygwin/mingw when embedded into - # the cwrapper. - WRAPPER_SCRIPT_BELONGS_IN_OBJDIR=$func_emit_wrapper_part2_arg1 - if test \"\$WRAPPER_SCRIPT_BELONGS_IN_OBJDIR\" = \"yes\"; then - # special case for '.' - if test \"\$thisdir\" = \".\"; then - thisdir=\`pwd\` - fi - # remove .libs from thisdir - case \"\$thisdir\" in - *[\\\\/]$objdir ) thisdir=\`\$ECHO \"X\$thisdir\" | \$Xsed -e 's%[\\\\/][^\\\\/]*$%%'\` ;; - $objdir ) thisdir=. ;; - esac - fi - - # Try to get the absolute directory name. - absdir=\`cd \"\$thisdir\" && pwd\` - test -n \"\$absdir\" && thisdir=\"\$absdir\" -" - - if test "$fast_install" = yes; then - $ECHO "\ - program=lt-'$outputname'$exeext - progdir=\"\$thisdir/$objdir\" - - if test ! -f \"\$progdir/\$program\" || - { file=\`ls -1dt \"\$progdir/\$program\" \"\$progdir/../\$program\" 2>/dev/null | ${SED} 1q\`; \\ - test \"X\$file\" != \"X\$progdir/\$program\"; }; then - - file=\"\$\$-\$program\" - - if test ! -d \"\$progdir\"; then - $MKDIR \"\$progdir\" - else - $RM \"\$progdir/\$file\" - fi" - - $ECHO "\ - - # relink executable if necessary - if test -n \"\$relink_command\"; then - if relink_command_output=\`eval \$relink_command 2>&1\`; then : - else - $ECHO \"\$relink_command_output\" >&2 - $RM \"\$progdir/\$file\" - exit 1 - fi - fi - - $MV \"\$progdir/\$file\" \"\$progdir/\$program\" 2>/dev/null || - { $RM \"\$progdir/\$program\"; - $MV \"\$progdir/\$file\" \"\$progdir/\$program\"; } - $RM \"\$progdir/\$file\" - fi" - else - $ECHO "\ - program='$outputname' - progdir=\"\$thisdir/$objdir\" -" - fi - - $ECHO "\ - - if test -f \"\$progdir/\$program\"; then" - - # Export our shlibpath_var if we have one. - if test "$shlibpath_overrides_runpath" = yes && test -n "$shlibpath_var" && test -n "$temp_rpath"; then - $ECHO "\ - # Add our own library path to $shlibpath_var - $shlibpath_var=\"$temp_rpath\$$shlibpath_var\" - - # Some systems cannot cope with colon-terminated $shlibpath_var - # The second colon is a workaround for a bug in BeOS R4 sed - $shlibpath_var=\`\$ECHO \"X\$$shlibpath_var\" | \$Xsed -e 's/::*\$//'\` - - export $shlibpath_var -" - fi - - # fixup the dll searchpath if we need to. - if test -n "$dllsearchpath"; then - $ECHO "\ - # Add the dll search path components to the executable PATH - PATH=$dllsearchpath:\$PATH -" - fi - - $ECHO "\ - if test \"\$libtool_execute_magic\" != \"$magic\"; then - # Run the actual program with our arguments. -" - case $host in - # Backslashes separate directories on plain windows - *-*-mingw | *-*-os2* | *-cegcc*) - $ECHO "\ - exec \"\$progdir\\\\\$program\" \${1+\"\$@\"} -" - ;; - - *) - $ECHO "\ - exec \"\$progdir/\$program\" \${1+\"\$@\"} -" - ;; - esac - $ECHO "\ - \$ECHO \"\$0: cannot exec \$program \$*\" 1>&2 - exit 1 - fi - else - # The program doesn't exist. - \$ECHO \"\$0: error: \\\`\$progdir/\$program' does not exist\" 1>&2 - \$ECHO \"This script is just a wrapper for \$program.\" 1>&2 - $ECHO \"See the $PACKAGE documentation for more information.\" 1>&2 - exit 1 - fi -fi\ -" -} -# end: func_emit_wrapper_part2 - - -# func_emit_wrapper [arg=no] -# -# Emit a libtool wrapper script on stdout. -# Don't directly open a file because we may want to -# incorporate the script contents within a cygwin/mingw -# wrapper executable. Must ONLY be called from within -# func_mode_link because it depends on a number of variables -# set therein. -# -# ARG is the value that the WRAPPER_SCRIPT_BELONGS_IN_OBJDIR -# variable will take. If 'yes', then the emitted script -# will assume that the directory in which it is stored is -# the $objdir directory. This is a cygwin/mingw-specific -# behavior. -func_emit_wrapper () -{ - func_emit_wrapper_arg1=no - if test -n "$1" ; then - func_emit_wrapper_arg1=$1 - fi - - # split this up so that func_emit_cwrapperexe_src - # can call each part independently. - func_emit_wrapper_part1 "${func_emit_wrapper_arg1}" - func_emit_wrapper_part2 "${func_emit_wrapper_arg1}" -} - - -# func_to_host_path arg -# -# Convert paths to host format when used with build tools. -# Intended for use with "native" mingw (where libtool itself -# is running under the msys shell), or in the following cross- -# build environments: -# $build $host -# mingw (msys) mingw [e.g. native] -# cygwin mingw -# *nix + wine mingw -# where wine is equipped with the `winepath' executable. -# In the native mingw case, the (msys) shell automatically -# converts paths for any non-msys applications it launches, -# but that facility isn't available from inside the cwrapper. -# Similar accommodations are necessary for $host mingw and -# $build cygwin. Calling this function does no harm for other -# $host/$build combinations not listed above. -# -# ARG is the path (on $build) that should be converted to -# the proper representation for $host. The result is stored -# in $func_to_host_path_result. -func_to_host_path () -{ - func_to_host_path_result="$1" - if test -n "$1" ; then - case $host in - *mingw* ) - lt_sed_naive_backslashify='s|\\\\*|\\|g;s|/|\\|g;s|\\|\\\\|g' - case $build in - *mingw* ) # actually, msys - # awkward: cmd appends spaces to result - lt_sed_strip_trailing_spaces="s/[ ]*\$//" - func_to_host_path_tmp1=`( cmd //c echo "$1" |\ - $SED -e "$lt_sed_strip_trailing_spaces" ) 2>/dev/null || echo ""` - func_to_host_path_result=`echo "$func_to_host_path_tmp1" |\ - $SED -e "$lt_sed_naive_backslashify"` - ;; - *cygwin* ) - func_to_host_path_tmp1=`cygpath -w "$1"` - func_to_host_path_result=`echo "$func_to_host_path_tmp1" |\ - $SED -e "$lt_sed_naive_backslashify"` - ;; - * ) - # Unfortunately, winepath does not exit with a non-zero - # error code, so we are forced to check the contents of - # stdout. On the other hand, if the command is not - # found, the shell will set an exit code of 127 and print - # *an error message* to stdout. So we must check for both - # error code of zero AND non-empty stdout, which explains - # the odd construction: - func_to_host_path_tmp1=`winepath -w "$1" 2>/dev/null` - if test "$?" -eq 0 && test -n "${func_to_host_path_tmp1}"; then - func_to_host_path_result=`echo "$func_to_host_path_tmp1" |\ - $SED -e "$lt_sed_naive_backslashify"` - else - # Allow warning below. - func_to_host_path_result="" - fi - ;; - esac - if test -z "$func_to_host_path_result" ; then - func_error "Could not determine host path corresponding to" - func_error " '$1'" - func_error "Continuing, but uninstalled executables may not work." - # Fallback: - func_to_host_path_result="$1" - fi - ;; - esac - fi -} -# end: func_to_host_path - -# func_to_host_pathlist arg -# -# Convert pathlists to host format when used with build tools. -# See func_to_host_path(), above. This function supports the -# following $build/$host combinations (but does no harm for -# combinations not listed here): -# $build $host -# mingw (msys) mingw [e.g. native] -# cygwin mingw -# *nix + wine mingw -# -# Path separators are also converted from $build format to -# $host format. If ARG begins or ends with a path separator -# character, it is preserved (but converted to $host format) -# on output. -# -# ARG is a pathlist (on $build) that should be converted to -# the proper representation on $host. The result is stored -# in $func_to_host_pathlist_result. -func_to_host_pathlist () -{ - func_to_host_pathlist_result="$1" - if test -n "$1" ; then - case $host in - *mingw* ) - lt_sed_naive_backslashify='s|\\\\*|\\|g;s|/|\\|g;s|\\|\\\\|g' - # Remove leading and trailing path separator characters from - # ARG. msys behavior is inconsistent here, cygpath turns them - # into '.;' and ';.', and winepath ignores them completely. - func_to_host_pathlist_tmp2="$1" - # Once set for this call, this variable should not be - # reassigned. It is used in tha fallback case. - func_to_host_pathlist_tmp1=`echo "$func_to_host_pathlist_tmp2" |\ - $SED -e 's|^:*||' -e 's|:*$||'` - case $build in - *mingw* ) # Actually, msys. - # Awkward: cmd appends spaces to result. - lt_sed_strip_trailing_spaces="s/[ ]*\$//" - func_to_host_pathlist_tmp2=`( cmd //c echo "$func_to_host_pathlist_tmp1" |\ - $SED -e "$lt_sed_strip_trailing_spaces" ) 2>/dev/null || echo ""` - func_to_host_pathlist_result=`echo "$func_to_host_pathlist_tmp2" |\ - $SED -e "$lt_sed_naive_backslashify"` - ;; - *cygwin* ) - func_to_host_pathlist_tmp2=`cygpath -w -p "$func_to_host_pathlist_tmp1"` - func_to_host_pathlist_result=`echo "$func_to_host_pathlist_tmp2" |\ - $SED -e "$lt_sed_naive_backslashify"` - ;; - * ) - # unfortunately, winepath doesn't convert pathlists - func_to_host_pathlist_result="" - func_to_host_pathlist_oldIFS=$IFS - IFS=: - for func_to_host_pathlist_f in $func_to_host_pathlist_tmp1 ; do - IFS=$func_to_host_pathlist_oldIFS - if test -n "$func_to_host_pathlist_f" ; then - func_to_host_path "$func_to_host_pathlist_f" - if test -n "$func_to_host_path_result" ; then - if test -z "$func_to_host_pathlist_result" ; then - func_to_host_pathlist_result="$func_to_host_path_result" - else - func_to_host_pathlist_result="$func_to_host_pathlist_result;$func_to_host_path_result" - fi - fi - fi - IFS=: - done - IFS=$func_to_host_pathlist_oldIFS - ;; - esac - if test -z "$func_to_host_pathlist_result" ; then - func_error "Could not determine the host path(s) corresponding to" - func_error " '$1'" - func_error "Continuing, but uninstalled executables may not work." - # Fallback. This may break if $1 contains DOS-style drive - # specifications. The fix is not to complicate the expression - # below, but for the user to provide a working wine installation - # with winepath so that path translation in the cross-to-mingw - # case works properly. - lt_replace_pathsep_nix_to_dos="s|:|;|g" - func_to_host_pathlist_result=`echo "$func_to_host_pathlist_tmp1" |\ - $SED -e "$lt_replace_pathsep_nix_to_dos"` - fi - # Now, add the leading and trailing path separators back - case "$1" in - :* ) func_to_host_pathlist_result=";$func_to_host_pathlist_result" - ;; - esac - case "$1" in - *: ) func_to_host_pathlist_result="$func_to_host_pathlist_result;" - ;; - esac - ;; - esac - fi -} -# end: func_to_host_pathlist - -# func_emit_cwrapperexe_src -# emit the source code for a wrapper executable on stdout -# Must ONLY be called from within func_mode_link because -# it depends on a number of variable set therein. -func_emit_cwrapperexe_src () -{ - cat < -#include -#ifdef _MSC_VER -# include -# include -# include -# define setmode _setmode -#else -# include -# include -# ifdef __CYGWIN__ -# include -# define HAVE_SETENV -# ifdef __STRICT_ANSI__ -char *realpath (const char *, char *); -int putenv (char *); -int setenv (const char *, const char *, int); -# endif -# endif -#endif -#include -#include -#include -#include -#include -#include -#include -#include - -#if defined(PATH_MAX) -# define LT_PATHMAX PATH_MAX -#elif defined(MAXPATHLEN) -# define LT_PATHMAX MAXPATHLEN -#else -# define LT_PATHMAX 1024 -#endif - -#ifndef S_IXOTH -# define S_IXOTH 0 -#endif -#ifndef S_IXGRP -# define S_IXGRP 0 -#endif - -#ifdef _MSC_VER -# define S_IXUSR _S_IEXEC -# define stat _stat -# ifndef _INTPTR_T_DEFINED -# define intptr_t int -# endif -#endif - -#ifndef DIR_SEPARATOR -# define DIR_SEPARATOR '/' -# define PATH_SEPARATOR ':' -#endif - -#if defined (_WIN32) || defined (__MSDOS__) || defined (__DJGPP__) || \ - defined (__OS2__) -# define HAVE_DOS_BASED_FILE_SYSTEM -# define FOPEN_WB "wb" -# ifndef DIR_SEPARATOR_2 -# define DIR_SEPARATOR_2 '\\' -# endif -# ifndef PATH_SEPARATOR_2 -# define PATH_SEPARATOR_2 ';' -# endif -#endif - -#ifndef DIR_SEPARATOR_2 -# define IS_DIR_SEPARATOR(ch) ((ch) == DIR_SEPARATOR) -#else /* DIR_SEPARATOR_2 */ -# define IS_DIR_SEPARATOR(ch) \ - (((ch) == DIR_SEPARATOR) || ((ch) == DIR_SEPARATOR_2)) -#endif /* DIR_SEPARATOR_2 */ - -#ifndef PATH_SEPARATOR_2 -# define IS_PATH_SEPARATOR(ch) ((ch) == PATH_SEPARATOR) -#else /* PATH_SEPARATOR_2 */ -# define IS_PATH_SEPARATOR(ch) ((ch) == PATH_SEPARATOR_2) -#endif /* PATH_SEPARATOR_2 */ - -#ifdef __CYGWIN__ -# define FOPEN_WB "wb" -#endif - -#ifndef FOPEN_WB -# define FOPEN_WB "w" -#endif -#ifndef _O_BINARY -# define _O_BINARY 0 -#endif - -#define XMALLOC(type, num) ((type *) xmalloc ((num) * sizeof(type))) -#define XFREE(stale) do { \ - if (stale) { free ((void *) stale); stale = 0; } \ -} while (0) - -#undef LTWRAPPER_DEBUGPRINTF -#if defined DEBUGWRAPPER -# define LTWRAPPER_DEBUGPRINTF(args) ltwrapper_debugprintf args -static void -ltwrapper_debugprintf (const char *fmt, ...) -{ - va_list args; - va_start (args, fmt); - (void) vfprintf (stderr, fmt, args); - va_end (args); -} -#else -# define LTWRAPPER_DEBUGPRINTF(args) -#endif - -const char *program_name = NULL; - -void *xmalloc (size_t num); -char *xstrdup (const char *string); -const char *base_name (const char *name); -char *find_executable (const char *wrapper); -char *chase_symlinks (const char *pathspec); -int make_executable (const char *path); -int check_executable (const char *path); -char *strendzap (char *str, const char *pat); -void lt_fatal (const char *message, ...); -void lt_setenv (const char *name, const char *value); -char *lt_extend_str (const char *orig_value, const char *add, int to_end); -void lt_opt_process_env_set (const char *arg); -void lt_opt_process_env_prepend (const char *arg); -void lt_opt_process_env_append (const char *arg); -int lt_split_name_value (const char *arg, char** name, char** value); -void lt_update_exe_path (const char *name, const char *value); -void lt_update_lib_path (const char *name, const char *value); - -static const char *script_text_part1 = -EOF - - func_emit_wrapper_part1 yes | - $SED -e 's/\([\\"]\)/\\\1/g' \ - -e 's/^/ "/' -e 's/$/\\n"/' - echo ";" - cat <"))); - for (i = 0; i < newargc; i++) - { - LTWRAPPER_DEBUGPRINTF (("(main) newargz[%d] : %s\n", i, (newargz[i] ? newargz[i] : ""))); - } - -EOF - - case $host_os in - mingw*) - cat <<"EOF" - /* execv doesn't actually work on mingw as expected on unix */ - rval = _spawnv (_P_WAIT, lt_argv_zero, (const char * const *) newargz); - if (rval == -1) - { - /* failed to start process */ - LTWRAPPER_DEBUGPRINTF (("(main) failed to launch target \"%s\": errno = %d\n", lt_argv_zero, errno)); - return 127; - } - return rval; -EOF - ;; - *) - cat <<"EOF" - execv (lt_argv_zero, newargz); - return rval; /* =127, but avoids unused variable warning */ -EOF - ;; - esac - - cat <<"EOF" -} - -void * -xmalloc (size_t num) -{ - void *p = (void *) malloc (num); - if (!p) - lt_fatal ("Memory exhausted"); - - return p; -} - -char * -xstrdup (const char *string) -{ - return string ? strcpy ((char *) xmalloc (strlen (string) + 1), - string) : NULL; -} - -const char * -base_name (const char *name) -{ - const char *base; - -#if defined (HAVE_DOS_BASED_FILE_SYSTEM) - /* Skip over the disk name in MSDOS pathnames. */ - if (isalpha ((unsigned char) name[0]) && name[1] == ':') - name += 2; -#endif - - for (base = name; *name; name++) - if (IS_DIR_SEPARATOR (*name)) - base = name + 1; - return base; -} - -int -check_executable (const char *path) -{ - struct stat st; - - LTWRAPPER_DEBUGPRINTF (("(check_executable) : %s\n", - path ? (*path ? path : "EMPTY!") : "NULL!")); - if ((!path) || (!*path)) - return 0; - - if ((stat (path, &st) >= 0) - && (st.st_mode & (S_IXUSR | S_IXGRP | S_IXOTH))) - return 1; - else - return 0; -} - -int -make_executable (const char *path) -{ - int rval = 0; - struct stat st; - - LTWRAPPER_DEBUGPRINTF (("(make_executable) : %s\n", - path ? (*path ? path : "EMPTY!") : "NULL!")); - if ((!path) || (!*path)) - return 0; - - if (stat (path, &st) >= 0) - { - rval = chmod (path, st.st_mode | S_IXOTH | S_IXGRP | S_IXUSR); - } - return rval; -} - -/* Searches for the full path of the wrapper. Returns - newly allocated full path name if found, NULL otherwise - Does not chase symlinks, even on platforms that support them. -*/ -char * -find_executable (const char *wrapper) -{ - int has_slash = 0; - const char *p; - const char *p_next; - /* static buffer for getcwd */ - char tmp[LT_PATHMAX + 1]; - int tmp_len; - char *concat_name; - - LTWRAPPER_DEBUGPRINTF (("(find_executable) : %s\n", - wrapper ? (*wrapper ? wrapper : "EMPTY!") : "NULL!")); - - if ((wrapper == NULL) || (*wrapper == '\0')) - return NULL; - - /* Absolute path? */ -#if defined (HAVE_DOS_BASED_FILE_SYSTEM) - if (isalpha ((unsigned char) wrapper[0]) && wrapper[1] == ':') - { - concat_name = xstrdup (wrapper); - if (check_executable (concat_name)) - return concat_name; - XFREE (concat_name); - } - else - { -#endif - if (IS_DIR_SEPARATOR (wrapper[0])) - { - concat_name = xstrdup (wrapper); - if (check_executable (concat_name)) - return concat_name; - XFREE (concat_name); - } -#if defined (HAVE_DOS_BASED_FILE_SYSTEM) - } -#endif - - for (p = wrapper; *p; p++) - if (*p == '/') - { - has_slash = 1; - break; - } - if (!has_slash) - { - /* no slashes; search PATH */ - const char *path = getenv ("PATH"); - if (path != NULL) - { - for (p = path; *p; p = p_next) - { - const char *q; - size_t p_len; - for (q = p; *q; q++) - if (IS_PATH_SEPARATOR (*q)) - break; - p_len = q - p; - p_next = (*q == '\0' ? q : q + 1); - if (p_len == 0) - { - /* empty path: current directory */ - if (getcwd (tmp, LT_PATHMAX) == NULL) - lt_fatal ("getcwd failed"); - tmp_len = strlen (tmp); - concat_name = - XMALLOC (char, tmp_len + 1 + strlen (wrapper) + 1); - memcpy (concat_name, tmp, tmp_len); - concat_name[tmp_len] = '/'; - strcpy (concat_name + tmp_len + 1, wrapper); - } - else - { - concat_name = - XMALLOC (char, p_len + 1 + strlen (wrapper) + 1); - memcpy (concat_name, p, p_len); - concat_name[p_len] = '/'; - strcpy (concat_name + p_len + 1, wrapper); - } - if (check_executable (concat_name)) - return concat_name; - XFREE (concat_name); - } - } - /* not found in PATH; assume curdir */ - } - /* Relative path | not found in path: prepend cwd */ - if (getcwd (tmp, LT_PATHMAX) == NULL) - lt_fatal ("getcwd failed"); - tmp_len = strlen (tmp); - concat_name = XMALLOC (char, tmp_len + 1 + strlen (wrapper) + 1); - memcpy (concat_name, tmp, tmp_len); - concat_name[tmp_len] = '/'; - strcpy (concat_name + tmp_len + 1, wrapper); - - if (check_executable (concat_name)) - return concat_name; - XFREE (concat_name); - return NULL; -} - -char * -chase_symlinks (const char *pathspec) -{ -#ifndef S_ISLNK - return xstrdup (pathspec); -#else - char buf[LT_PATHMAX]; - struct stat s; - char *tmp_pathspec = xstrdup (pathspec); - char *p; - int has_symlinks = 0; - while (strlen (tmp_pathspec) && !has_symlinks) - { - LTWRAPPER_DEBUGPRINTF (("checking path component for symlinks: %s\n", - tmp_pathspec)); - if (lstat (tmp_pathspec, &s) == 0) - { - if (S_ISLNK (s.st_mode) != 0) - { - has_symlinks = 1; - break; - } - - /* search backwards for last DIR_SEPARATOR */ - p = tmp_pathspec + strlen (tmp_pathspec) - 1; - while ((p > tmp_pathspec) && (!IS_DIR_SEPARATOR (*p))) - p--; - if ((p == tmp_pathspec) && (!IS_DIR_SEPARATOR (*p))) - { - /* no more DIR_SEPARATORS left */ - break; - } - *p = '\0'; - } - else - { - char *errstr = strerror (errno); - lt_fatal ("Error accessing file %s (%s)", tmp_pathspec, errstr); - } - } - XFREE (tmp_pathspec); - - if (!has_symlinks) - { - return xstrdup (pathspec); - } - - tmp_pathspec = realpath (pathspec, buf); - if (tmp_pathspec == 0) - { - lt_fatal ("Could not follow symlinks for %s", pathspec); - } - return xstrdup (tmp_pathspec); -#endif -} - -char * -strendzap (char *str, const char *pat) -{ - size_t len, patlen; - - assert (str != NULL); - assert (pat != NULL); - - len = strlen (str); - patlen = strlen (pat); - - if (patlen <= len) - { - str += len - patlen; - if (strcmp (str, pat) == 0) - *str = '\0'; - } - return str; -} - -static void -lt_error_core (int exit_status, const char *mode, - const char *message, va_list ap) -{ - fprintf (stderr, "%s: %s: ", program_name, mode); - vfprintf (stderr, message, ap); - fprintf (stderr, ".\n"); - - if (exit_status >= 0) - exit (exit_status); -} - -void -lt_fatal (const char *message, ...) -{ - va_list ap; - va_start (ap, message); - lt_error_core (EXIT_FAILURE, "FATAL", message, ap); - va_end (ap); -} - -void -lt_setenv (const char *name, const char *value) -{ - LTWRAPPER_DEBUGPRINTF (("(lt_setenv) setting '%s' to '%s'\n", - (name ? name : ""), - (value ? value : ""))); - { -#ifdef HAVE_SETENV - /* always make a copy, for consistency with !HAVE_SETENV */ - char *str = xstrdup (value); - setenv (name, str, 1); -#else - int len = strlen (name) + 1 + strlen (value) + 1; - char *str = XMALLOC (char, len); - sprintf (str, "%s=%s", name, value); - if (putenv (str) != EXIT_SUCCESS) - { - XFREE (str); - } -#endif - } -} - -char * -lt_extend_str (const char *orig_value, const char *add, int to_end) -{ - char *new_value; - if (orig_value && *orig_value) - { - int orig_value_len = strlen (orig_value); - int add_len = strlen (add); - new_value = XMALLOC (char, add_len + orig_value_len + 1); - if (to_end) - { - strcpy (new_value, orig_value); - strcpy (new_value + orig_value_len, add); - } - else - { - strcpy (new_value, add); - strcpy (new_value + add_len, orig_value); - } - } - else - { - new_value = xstrdup (add); - } - return new_value; -} - -int -lt_split_name_value (const char *arg, char** name, char** value) -{ - const char *p; - int len; - if (!arg || !*arg) - return 1; - - p = strchr (arg, (int)'='); - - if (!p) - return 1; - - *value = xstrdup (++p); - - len = strlen (arg) - strlen (*value); - *name = XMALLOC (char, len); - strncpy (*name, arg, len-1); - (*name)[len - 1] = '\0'; - - return 0; -} - -void -lt_opt_process_env_set (const char *arg) -{ - char *name = NULL; - char *value = NULL; - - if (lt_split_name_value (arg, &name, &value) != 0) - { - XFREE (name); - XFREE (value); - lt_fatal ("bad argument for %s: '%s'", env_set_opt, arg); - } - - lt_setenv (name, value); - XFREE (name); - XFREE (value); -} - -void -lt_opt_process_env_prepend (const char *arg) -{ - char *name = NULL; - char *value = NULL; - char *new_value = NULL; - - if (lt_split_name_value (arg, &name, &value) != 0) - { - XFREE (name); - XFREE (value); - lt_fatal ("bad argument for %s: '%s'", env_prepend_opt, arg); - } - - new_value = lt_extend_str (getenv (name), value, 0); - lt_setenv (name, new_value); - XFREE (new_value); - XFREE (name); - XFREE (value); -} - -void -lt_opt_process_env_append (const char *arg) -{ - char *name = NULL; - char *value = NULL; - char *new_value = NULL; - - if (lt_split_name_value (arg, &name, &value) != 0) - { - XFREE (name); - XFREE (value); - lt_fatal ("bad argument for %s: '%s'", env_append_opt, arg); - } - - new_value = lt_extend_str (getenv (name), value, 1); - lt_setenv (name, new_value); - XFREE (new_value); - XFREE (name); - XFREE (value); -} - -void -lt_update_exe_path (const char *name, const char *value) -{ - LTWRAPPER_DEBUGPRINTF (("(lt_update_exe_path) modifying '%s' by prepending '%s'\n", - (name ? name : ""), - (value ? value : ""))); - - if (name && *name && value && *value) - { - char *new_value = lt_extend_str (getenv (name), value, 0); - /* some systems can't cope with a ':'-terminated path #' */ - int len = strlen (new_value); - while (((len = strlen (new_value)) > 0) && IS_PATH_SEPARATOR (new_value[len-1])) - { - new_value[len-1] = '\0'; - } - lt_setenv (name, new_value); - XFREE (new_value); - } -} - -void -lt_update_lib_path (const char *name, const char *value) -{ - LTWRAPPER_DEBUGPRINTF (("(lt_update_lib_path) modifying '%s' by prepending '%s'\n", - (name ? name : ""), - (value ? value : ""))); - - if (name && *name && value && *value) - { - char *new_value = lt_extend_str (getenv (name), value, 0); - lt_setenv (name, new_value); - XFREE (new_value); - } -} - - -EOF -} -# end: func_emit_cwrapperexe_src - -# func_mode_link arg... -func_mode_link () -{ - $opt_debug - case $host in - *-*-cygwin* | *-*-mingw* | *-*-pw32* | *-*-os2* | *-cegcc*) - # It is impossible to link a dll without this setting, and - # we shouldn't force the makefile maintainer to figure out - # which system we are compiling for in order to pass an extra - # flag for every libtool invocation. - # allow_undefined=no - - # FIXME: Unfortunately, there are problems with the above when trying - # to make a dll which has undefined symbols, in which case not - # even a static library is built. For now, we need to specify - # -no-undefined on the libtool link line when we can be certain - # that all symbols are satisfied, otherwise we get a static library. - allow_undefined=yes - ;; - *) - allow_undefined=yes - ;; - esac - libtool_args=$nonopt - base_compile="$nonopt $@" - compile_command=$nonopt - finalize_command=$nonopt - - compile_rpath= - finalize_rpath= - compile_shlibpath= - finalize_shlibpath= - convenience= - old_convenience= - deplibs= - old_deplibs= - compiler_flags= - linker_flags= - dllsearchpath= - lib_search_path=`pwd` - inst_prefix_dir= - new_inherited_linker_flags= - - avoid_version=no - dlfiles= - dlprefiles= - dlself=no - export_dynamic=no - export_symbols= - export_symbols_regex= - generated= - libobjs= - ltlibs= - module=no - no_install=no - objs= - non_pic_objects= - precious_files_regex= - prefer_static_libs=no - preload=no - prev= - prevarg= - release= - rpath= - xrpath= - perm_rpath= - temp_rpath= - thread_safe=no - vinfo= - vinfo_number=no - weak_libs= - single_module="${wl}-single_module" - func_infer_tag $base_compile - - # We need to know -static, to get the right output filenames. - for arg - do - case $arg in - -shared) - test "$build_libtool_libs" != yes && \ - func_fatal_configuration "can not build a shared library" - build_old_libs=no - break - ;; - -all-static | -static | -static-libtool-libs) - case $arg in - -all-static) - if test "$build_libtool_libs" = yes && test -z "$link_static_flag"; then - func_warning "complete static linking is impossible in this configuration" - fi - if test -n "$link_static_flag"; then - dlopen_self=$dlopen_self_static - fi - prefer_static_libs=yes - ;; - -static) - if test -z "$pic_flag" && test -n "$link_static_flag"; then - dlopen_self=$dlopen_self_static - fi - prefer_static_libs=built - ;; - -static-libtool-libs) - if test -z "$pic_flag" && test -n "$link_static_flag"; then - dlopen_self=$dlopen_self_static - fi - prefer_static_libs=yes - ;; - esac - build_libtool_libs=no - build_old_libs=yes - break - ;; - esac - done - - # See if our shared archives depend on static archives. - test -n "$old_archive_from_new_cmds" && build_old_libs=yes - - # Go through the arguments, transforming them on the way. - while test "$#" -gt 0; do - arg="$1" - shift - func_quote_for_eval "$arg" - qarg=$func_quote_for_eval_unquoted_result - func_append libtool_args " $func_quote_for_eval_result" - - # If the previous option needs an argument, assign it. - if test -n "$prev"; then - case $prev in - output) - func_append compile_command " @OUTPUT@" - func_append finalize_command " @OUTPUT@" - ;; - esac - - case $prev in - dlfiles|dlprefiles) - if test "$preload" = no; then - # Add the symbol object into the linking commands. - func_append compile_command " @SYMFILE@" - func_append finalize_command " @SYMFILE@" - preload=yes - fi - case $arg in - *.la | *.lo) ;; # We handle these cases below. - force) - if test "$dlself" = no; then - dlself=needless - export_dynamic=yes - fi - prev= - continue - ;; - self) - if test "$prev" = dlprefiles; then - dlself=yes - elif test "$prev" = dlfiles && test "$dlopen_self" != yes; then - dlself=yes - else - dlself=needless - export_dynamic=yes - fi - prev= - continue - ;; - *) - if test "$prev" = dlfiles; then - dlfiles="$dlfiles $arg" - else - dlprefiles="$dlprefiles $arg" - fi - prev= - continue - ;; - esac - ;; - expsyms) - export_symbols="$arg" - test -f "$arg" \ - || func_fatal_error "symbol file \`$arg' does not exist" - prev= - continue - ;; - expsyms_regex) - export_symbols_regex="$arg" - prev= - continue - ;; - framework) - case $host in - *-*-darwin*) - case "$deplibs " in - *" $qarg.ltframework "*) ;; - *) deplibs="$deplibs $qarg.ltframework" # this is fixed later - ;; - esac - ;; - esac - prev= - continue - ;; - inst_prefix) - inst_prefix_dir="$arg" - prev= - continue - ;; - objectlist) - if test -f "$arg"; then - save_arg=$arg - moreargs= - for fil in `cat "$save_arg"` - do -# moreargs="$moreargs $fil" - arg=$fil - # A libtool-controlled object. - - # Check to see that this really is a libtool object. - if func_lalib_unsafe_p "$arg"; then - pic_object= - non_pic_object= - - # Read the .lo file - func_source "$arg" - - if test -z "$pic_object" || - test -z "$non_pic_object" || - test "$pic_object" = none && - test "$non_pic_object" = none; then - func_fatal_error "cannot find name of object for \`$arg'" - fi - - # Extract subdirectory from the argument. - func_dirname "$arg" "/" "" - xdir="$func_dirname_result" - - if test "$pic_object" != none; then - # Prepend the subdirectory the object is found in. - pic_object="$xdir$pic_object" - - if test "$prev" = dlfiles; then - if test "$build_libtool_libs" = yes && test "$dlopen_support" = yes; then - dlfiles="$dlfiles $pic_object" - prev= - continue - else - # If libtool objects are unsupported, then we need to preload. - prev=dlprefiles - fi - fi - - # CHECK ME: I think I busted this. -Ossama - if test "$prev" = dlprefiles; then - # Preload the old-style object. - dlprefiles="$dlprefiles $pic_object" - prev= - fi - - # A PIC object. - func_append libobjs " $pic_object" - arg="$pic_object" - fi - - # Non-PIC object. - if test "$non_pic_object" != none; then - # Prepend the subdirectory the object is found in. - non_pic_object="$xdir$non_pic_object" - - # A standard non-PIC object - func_append non_pic_objects " $non_pic_object" - if test -z "$pic_object" || test "$pic_object" = none ; then - arg="$non_pic_object" - fi - else - # If the PIC object exists, use it instead. - # $xdir was prepended to $pic_object above. - non_pic_object="$pic_object" - func_append non_pic_objects " $non_pic_object" - fi - else - # Only an error if not doing a dry-run. - if $opt_dry_run; then - # Extract subdirectory from the argument. - func_dirname "$arg" "/" "" - xdir="$func_dirname_result" - - func_lo2o "$arg" - pic_object=$xdir$objdir/$func_lo2o_result - non_pic_object=$xdir$func_lo2o_result - func_append libobjs " $pic_object" - func_append non_pic_objects " $non_pic_object" - else - func_fatal_error "\`$arg' is not a valid libtool object" - fi - fi - done - else - func_fatal_error "link input file \`$arg' does not exist" - fi - arg=$save_arg - prev= - continue - ;; - precious_regex) - precious_files_regex="$arg" - prev= - continue - ;; - release) - release="-$arg" - prev= - continue - ;; - rpath | xrpath) - # We need an absolute path. - case $arg in - [\\/]* | [A-Za-z]:[\\/]*) ;; - *) - func_fatal_error "only absolute run-paths are allowed" - ;; - esac - if test "$prev" = rpath; then - case "$rpath " in - *" $arg "*) ;; - *) rpath="$rpath $arg" ;; - esac - else - case "$xrpath " in - *" $arg "*) ;; - *) xrpath="$xrpath $arg" ;; - esac - fi - prev= - continue - ;; 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- *) lib_linked=no ;; - esac - - if test "$lib_linked" != yes; then - func_fatal_configuration "unsupported hardcode properties" - fi - - if test -n "$add_shlibpath"; then - case :$compile_shlibpath: in - *":$add_shlibpath:"*) ;; - *) compile_shlibpath="$compile_shlibpath$add_shlibpath:" ;; - esac - fi - if test "$linkmode" = prog; then - test -n "$add_dir" && compile_deplibs="$add_dir $compile_deplibs" - test -n "$add" && compile_deplibs="$add $compile_deplibs" - else - test -n "$add_dir" && deplibs="$add_dir $deplibs" - test -n "$add" && deplibs="$add $deplibs" - if test "$hardcode_direct" != yes && - test "$hardcode_minus_L" != yes && - test "$hardcode_shlibpath_var" = yes; then - case :$finalize_shlibpath: in - *":$libdir:"*) ;; - *) finalize_shlibpath="$finalize_shlibpath$libdir:" ;; - esac - fi - fi - fi - - if test "$linkmode" = prog || test "$mode" = relink; then - add_shlibpath= - add_dir= - add= - # Finalize command for both is simple: just hardcode it. - if test "$hardcode_direct" = yes && - test "$hardcode_direct_absolute" = no; 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then - # Here we assume that one of hardcode_direct or hardcode_minus_L - # is not unsupported. 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then - : - else - # the above command should be used before it gets too long - oldobjs=$objlist - if test "$obj" = "$last_oldobj" ; then - RANLIB=$save_RANLIB - fi - test -z "$concat_cmds" || concat_cmds=$concat_cmds~ - eval concat_cmds=\"\${concat_cmds}$old_archive_cmds\" - objlist= - len=$len0 - fi - done - RANLIB=$save_RANLIB - oldobjs=$objlist - if test "X$oldobjs" = "X" ; then - eval cmds=\"\$concat_cmds\" - else - eval cmds=\"\$concat_cmds~\$old_archive_cmds\" - fi - fi - fi - func_execute_cmds "$cmds" 'exit $?' - done - - test -n "$generated" && \ - func_show_eval "${RM}r$generated" - - # Now create the libtool archive. - case $output in - *.la) - old_library= - test "$build_old_libs" = yes && old_library="$libname.$libext" - func_verbose "creating $output" - - # Preserve any variables that may affect compiler behavior - for var in $variables_saved_for_relink; do - if eval test -z \"\${$var+set}\"; then - relink_command="{ test -z \"\${$var+set}\" || $lt_unset $var || { $var=; export $var; 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- *) newdependency_libs="$newdependency_libs $deplib" ;; - esac - done - dependency_libs="$newdependency_libs" - newdlfiles= - - for lib in $dlfiles; do - case $lib in - *.la) - func_basename "$lib" - name="$func_basename_result" - eval libdir=`${SED} -n -e 's/^libdir=\(.*\)$/\1/p' $lib` - test -z "$libdir" && \ - func_fatal_error "\`$lib' is not a valid libtool archive" - newdlfiles="$newdlfiles $libdir/$name" - ;; - *) newdlfiles="$newdlfiles $lib" ;; - esac - done - dlfiles="$newdlfiles" - newdlprefiles= - for lib in $dlprefiles; do - case $lib in - *.la) - # Only pass preopened files to the pseudo-archive (for - # eventual linking with the app. that links it) if we - # didn't already link the preopened objects directly into - # the library: - func_basename "$lib" - name="$func_basename_result" - eval libdir=`${SED} -n -e 's/^libdir=\(.*\)$/\1/p' $lib` - test -z "$libdir" && \ - func_fatal_error "\`$lib' is not a valid libtool archive" - newdlprefiles="$newdlprefiles $libdir/$name" - ;; - esac - done - dlprefiles="$newdlprefiles" - else - newdlfiles= - for lib in $dlfiles; do - case $lib in - [\\/]* | [A-Za-z]:[\\/]*) abs="$lib" ;; - *) abs=`pwd`"/$lib" ;; - esac - newdlfiles="$newdlfiles $abs" - done - dlfiles="$newdlfiles" - newdlprefiles= - for lib in $dlprefiles; do - case $lib in - [\\/]* | [A-Za-z]:[\\/]*) abs="$lib" ;; - *) abs=`pwd`"/$lib" ;; - esac - newdlprefiles="$newdlprefiles $abs" - done - dlprefiles="$newdlprefiles" - fi - $RM $output - # place dlname in correct position for cygwin - tdlname=$dlname - case $host,$output,$installed,$module,$dlname in - *cygwin*,*lai,yes,no,*.dll | *mingw*,*lai,yes,no,*.dll | *cegcc*,*lai,yes,no,*.dll) tdlname=../bin/$dlname ;; - esac - $ECHO > $output "\ -# $outputname - a libtool library file -# Generated by $PROGRAM (GNU $PACKAGE$TIMESTAMP) $VERSION -# -# Please DO NOT delete this file! -# It is necessary for linking the library. - -# The name that we can dlopen(3). -dlname='$tdlname' - -# Names of this library. -library_names='$library_names' - -# The name of the static archive. -old_library='$old_library' - -# Linker flags that can not go in dependency_libs. -inherited_linker_flags='$new_inherited_linker_flags' - -# Libraries that this one depends upon. -dependency_libs='$dependency_libs' - -# Names of additional weak libraries provided by this library -weak_library_names='$weak_libs' - -# Version information for $libname. -current=$current -age=$age -revision=$revision - -# Is this an already installed library? -installed=$installed - -# Should we warn about portability when linking against -modules? -shouldnotlink=$module - -# Files to dlopen/dlpreopen -dlopen='$dlfiles' -dlpreopen='$dlprefiles' - -# Directory that this library needs to be installed in: -libdir='$install_libdir'" - if test "$installed" = no && test "$need_relink" = yes; then - $ECHO >> $output "\ -relink_command=\"$relink_command\"" - fi - done - } - - # Do a symbolic link so that the libtool archive can be found in - # LD_LIBRARY_PATH before the program is installed. - func_show_eval '( cd "$output_objdir" && $RM "$outputname" && $LN_S "../$outputname" "$outputname" )' 'exit $?' - ;; - esac - exit $EXIT_SUCCESS -} - -{ test "$mode" = link || test "$mode" = relink; } && - func_mode_link ${1+"$@"} - - -# func_mode_uninstall arg... -func_mode_uninstall () -{ - $opt_debug - RM="$nonopt" - files= - rmforce= - exit_status=0 - - # This variable tells wrapper scripts just to set variables rather - # than running their programs. - libtool_install_magic="$magic" - - for arg - do - case $arg in - -f) RM="$RM $arg"; rmforce=yes ;; - -*) RM="$RM $arg" ;; - *) files="$files $arg" ;; - esac - done - - test -z "$RM" && \ - func_fatal_help "you must specify an RM program" - - rmdirs= - - origobjdir="$objdir" - for file in $files; do - func_dirname "$file" "" "." - dir="$func_dirname_result" - if test "X$dir" = X.; then - objdir="$origobjdir" - else - objdir="$dir/$origobjdir" - fi - func_basename "$file" - name="$func_basename_result" - test "$mode" = uninstall && objdir="$dir" - - # Remember objdir for removal later, being careful to avoid duplicates - if test "$mode" = clean; then - case " $rmdirs " in - *" $objdir "*) ;; - *) rmdirs="$rmdirs $objdir" ;; - esac - fi - - # Don't error if the file doesn't exist and rm -f was used. - if { test -L "$file"; } >/dev/null 2>&1 || - { test -h "$file"; } >/dev/null 2>&1 || - test -f "$file"; then - : - elif test -d "$file"; then - exit_status=1 - continue - elif test "$rmforce" = yes; then - continue - fi - - rmfiles="$file" - - case $name in - *.la) - # Possibly a libtool archive, so verify it. - if func_lalib_p "$file"; then - func_source $dir/$name - - # Delete the libtool libraries and symlinks. - for n in $library_names; do - rmfiles="$rmfiles $objdir/$n" - done - test -n "$old_library" && rmfiles="$rmfiles $objdir/$old_library" - - case "$mode" in - clean) - case " $library_names " in - # " " in the beginning catches empty $dlname - *" $dlname "*) ;; - *) rmfiles="$rmfiles $objdir/$dlname" ;; - esac - test -n "$libdir" && rmfiles="$rmfiles $objdir/$name $objdir/${name}i" - ;; - uninstall) - if test -n "$library_names"; then - # Do each command in the postuninstall commands. - func_execute_cmds "$postuninstall_cmds" 'test "$rmforce" = yes || exit_status=1' - fi - - if test -n "$old_library"; then - # Do each command in the old_postuninstall commands. - func_execute_cmds "$old_postuninstall_cmds" 'test "$rmforce" = yes || exit_status=1' - fi - # FIXME: should reinstall the best remaining shared library. - ;; - esac - fi - ;; - - *.lo) - # Possibly a libtool object, so verify it. - if func_lalib_p "$file"; then - - # Read the .lo file - func_source $dir/$name - - # Add PIC object to the list of files to remove. - if test -n "$pic_object" && - test "$pic_object" != none; then - rmfiles="$rmfiles $dir/$pic_object" - fi - - # Add non-PIC object to the list of files to remove. - if test -n "$non_pic_object" && - test "$non_pic_object" != none; then - rmfiles="$rmfiles $dir/$non_pic_object" - fi - fi - ;; - - *) - if test "$mode" = clean ; then - noexename=$name - case $file in - *.exe) - func_stripname '' '.exe' "$file" - file=$func_stripname_result - func_stripname '' '.exe' "$name" - noexename=$func_stripname_result - # $file with .exe has already been added to rmfiles, - # add $file without .exe - rmfiles="$rmfiles $file" - ;; - esac - # Do a test to see if this is a libtool program. - if func_ltwrapper_p "$file"; then - if func_ltwrapper_executable_p "$file"; then - func_ltwrapper_scriptname "$file" - relink_command= - func_source $func_ltwrapper_scriptname_result - rmfiles="$rmfiles $func_ltwrapper_scriptname_result" - else - relink_command= - func_source $dir/$noexename - fi - - # note $name still contains .exe if it was in $file originally - # as does the version of $file that was added into $rmfiles - rmfiles="$rmfiles $objdir/$name $objdir/${name}S.${objext}" - if test "$fast_install" = yes && test -n "$relink_command"; then - rmfiles="$rmfiles $objdir/lt-$name" - fi - if test "X$noexename" != "X$name" ; then - rmfiles="$rmfiles $objdir/lt-${noexename}.c" - fi - fi - fi - ;; - esac - func_show_eval "$RM $rmfiles" 'exit_status=1' - done - objdir="$origobjdir" - - # Try to remove the ${objdir}s in the directories where we deleted files - for dir in $rmdirs; do - if test -d "$dir"; then - func_show_eval "rmdir $dir >/dev/null 2>&1" - fi - done - - exit $exit_status -} - -{ test "$mode" = uninstall || test "$mode" = clean; } && - func_mode_uninstall ${1+"$@"} - -test -z "$mode" && { - help="$generic_help" - func_fatal_help "you must specify a MODE" -} - -test -z "$exec_cmd" && \ - func_fatal_help "invalid operation mode \`$mode'" - -if test -n "$exec_cmd"; then - eval exec "$exec_cmd" - exit $EXIT_FAILURE -fi - -exit $exit_status - - -# The TAGs below are defined such that we never get into a situation -# in which we disable both kinds of libraries. Given conflicting -# choices, we go for a static library, that is the most portable, -# since we can't tell whether shared libraries were disabled because -# the user asked for that or because the platform doesn't support -# them. This is particularly important on AIX, because we don't -# support having both static and shared libraries enabled at the same -# time on that platform, so we default to a shared-only configuration. -# If a disable-shared tag is given, we'll fallback to a static-only -# configuration. But we'll never go from static-only to shared-only. - -# ### BEGIN LIBTOOL TAG CONFIG: disable-shared -build_libtool_libs=no -build_old_libs=yes -# ### END LIBTOOL TAG CONFIG: disable-shared - -# ### BEGIN LIBTOOL TAG CONFIG: disable-static -build_old_libs=`case $build_libtool_libs in yes) echo no;; *) echo yes;; esac` -# ### END LIBTOOL TAG CONFIG: disable-static - -# Local Variables: -# mode:shell-script -# sh-indentation:2 -# End: -# vi:sw=2 - diff -Nru ode-0.11.1/m4/pkg.m4 ode-0.14/m4/pkg.m4 --- ode-0.11.1/m4/pkg.m4 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/m4/pkg.m4 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,157 @@ +# pkg.m4 - Macros to locate and utilise pkg-config. -*- Autoconf -*- +# serial 1 (pkg-config-0.24) +# +# Copyright © 2004 Scott James Remnant . +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, but +# WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# As a special exception to the GNU General Public License, if you +# distribute this file as part of a program that contains a +# configuration script generated by Autoconf, you may include it under +# the same distribution terms that you use for the rest of that program. + +# PKG_PROG_PKG_CONFIG([MIN-VERSION]) +# ---------------------------------- +AC_DEFUN([PKG_PROG_PKG_CONFIG], +[m4_pattern_forbid([^_?PKG_[A-Z_]+$]) +m4_pattern_allow([^PKG_CONFIG(_PATH)?$]) +AC_ARG_VAR([PKG_CONFIG], [path to pkg-config utility]) +AC_ARG_VAR([PKG_CONFIG_PATH], [directories to add to pkg-config's search path]) +AC_ARG_VAR([PKG_CONFIG_LIBDIR], [path overriding pkg-config's built-in search path]) + +if test "x$ac_cv_env_PKG_CONFIG_set" != "xset"; then + AC_PATH_TOOL([PKG_CONFIG], [pkg-config]) +fi +if test -n "$PKG_CONFIG"; then + _pkg_min_version=m4_default([$1], [0.9.0]) + AC_MSG_CHECKING([pkg-config is at least version $_pkg_min_version]) + if $PKG_CONFIG --atleast-pkgconfig-version $_pkg_min_version; then + AC_MSG_RESULT([yes]) + else + AC_MSG_RESULT([no]) + PKG_CONFIG="" + fi +fi[]dnl +])# PKG_PROG_PKG_CONFIG + +# PKG_CHECK_EXISTS(MODULES, [ACTION-IF-FOUND], [ACTION-IF-NOT-FOUND]) +# +# Check to see whether a particular set of modules exists. Similar +# to PKG_CHECK_MODULES(), but does not set variables or print errors. +# +# Please remember that m4 expands AC_REQUIRE([PKG_PROG_PKG_CONFIG]) +# only at the first occurence in configure.ac, so if the first place +# it's called might be skipped (such as if it is within an "if", you +# have to call PKG_CHECK_EXISTS manually +# -------------------------------------------------------------- +AC_DEFUN([PKG_CHECK_EXISTS], +[AC_REQUIRE([PKG_PROG_PKG_CONFIG])dnl +if test -n "$PKG_CONFIG" && \ + AC_RUN_LOG([$PKG_CONFIG --exists --print-errors "$1"]); then + m4_default([$2], [:]) +m4_ifvaln([$3], [else + $3])dnl +fi]) + +# _PKG_CONFIG([VARIABLE], [COMMAND], [MODULES]) +# --------------------------------------------- +m4_define([_PKG_CONFIG], +[if test -n "$$1"; then + pkg_cv_[]$1="$$1" + elif test -n "$PKG_CONFIG"; then + PKG_CHECK_EXISTS([$3], + [pkg_cv_[]$1=`$PKG_CONFIG --[]$2 "$3" 2>/dev/null`], + [pkg_failed=yes]) + else + pkg_failed=untried +fi[]dnl +])# _PKG_CONFIG + +# _PKG_SHORT_ERRORS_SUPPORTED +# ----------------------------- +AC_DEFUN([_PKG_SHORT_ERRORS_SUPPORTED], +[AC_REQUIRE([PKG_PROG_PKG_CONFIG]) +if $PKG_CONFIG --atleast-pkgconfig-version 0.20; then + _pkg_short_errors_supported=yes +else + _pkg_short_errors_supported=no +fi[]dnl +])# _PKG_SHORT_ERRORS_SUPPORTED + + +# PKG_CHECK_MODULES(VARIABLE-PREFIX, MODULES, [ACTION-IF-FOUND], +# [ACTION-IF-NOT-FOUND]) +# +# +# Note that if there is a possibility the first call to +# PKG_CHECK_MODULES might not happen, you should be sure to include an +# explicit call to PKG_PROG_PKG_CONFIG in your configure.ac +# +# +# -------------------------------------------------------------- +AC_DEFUN([PKG_CHECK_MODULES], +[AC_REQUIRE([PKG_PROG_PKG_CONFIG])dnl +AC_ARG_VAR([$1][_CFLAGS], [C compiler flags for $1, overriding pkg-config])dnl +AC_ARG_VAR([$1][_LIBS], [linker flags for $1, overriding pkg-config])dnl + +pkg_failed=no +AC_MSG_CHECKING([for $1]) + +_PKG_CONFIG([$1][_CFLAGS], [cflags], [$2]) +_PKG_CONFIG([$1][_LIBS], [libs], [$2]) + +m4_define([_PKG_TEXT], [Alternatively, you may set the environment variables $1[]_CFLAGS +and $1[]_LIBS to avoid the need to call pkg-config. +See the pkg-config man page for more details.]) + +if test $pkg_failed = yes; then + AC_MSG_RESULT([no]) + _PKG_SHORT_ERRORS_SUPPORTED + if test $_pkg_short_errors_supported = yes; then + $1[]_PKG_ERRORS=`$PKG_CONFIG --short-errors --print-errors "$2" 2>&1` + else + $1[]_PKG_ERRORS=`$PKG_CONFIG --print-errors "$2" 2>&1` + fi + # Put the nasty error message in config.log where it belongs + echo "$$1[]_PKG_ERRORS" >&AS_MESSAGE_LOG_FD + + m4_default([$4], [AC_MSG_ERROR( +[Package requirements ($2) were not met: + +$$1_PKG_ERRORS + +Consider adjusting the PKG_CONFIG_PATH environment variable if you +installed software in a non-standard prefix. + +_PKG_TEXT]) + ]) +elif test $pkg_failed = untried; then + AC_MSG_RESULT([no]) + m4_default([$4], [AC_MSG_FAILURE( +[The pkg-config script could not be found or is too old. Make sure it +is in your PATH or set the PKG_CONFIG environment variable to the full +path to pkg-config. + +_PKG_TEXT + +To get pkg-config, see .]) + ]) +else + $1[]_CFLAGS=$pkg_cv_[]$1[]_CFLAGS + $1[]_LIBS=$pkg_cv_[]$1[]_LIBS + AC_MSG_RESULT([yes]) + $3 +fi[]dnl +])# PKG_CHECK_MODULES diff -Nru ode-0.11.1/Makefile.am ode-0.14/Makefile.am --- ode-0.11.1/Makefile.am 2008-08-23 00:31:01.000000000 +0000 +++ ode-0.14/Makefile.am 2015-12-18 14:09:27.000000000 +0000 @@ -1,7 +1,16 @@ +AUTOMAKE_OPTIONS = foreign +ACLOCAL_AMFLAGS = -I m4 --install + if ENABLE_OU OU_DIR = ou endif +if LIBCCD +if LIBCCD_INTERNAL +LIBCCD_DIR = libccd +endif +endif + if ENABLE_DEMOS DRAWSTUFF_DIR = drawstuff endif @@ -19,6 +28,7 @@ $(GIMPACT_DIR) \ $(OPCODE_DIR) \ $(OU_DIR) \ + $(LIBCCD_DIR) \ ode \ tests @@ -28,8 +38,9 @@ release: dist-gzip dist-bzip2 @echo Created release packages for ${PACKAGE}-${VERSION}. -EXTRA_DIST = autogen.sh build tools \ - CHANGELOG.txt INSTALL.txt README.txt LICENSE.TXT +EXTRA_DIST = bootstrap build tools \ + CHANGELOG.txt COPYING INSTALL.txt README.md LICENSE.TXT \ + bindings pkgconfigdir = $(libdir)/pkgconfig pkgconfig_DATA = ode.pc diff -Nru ode-0.11.1/Makefile.in ode-0.14/Makefile.in --- ode-0.11.1/Makefile.in 2009-05-24 22:15:39.000000000 +0000 +++ ode-0.14/Makefile.in 1970-01-01 00:00:00.000000000 +0000 @@ -1,723 +0,0 @@ -# Makefile.in generated by automake 1.10.2 from Makefile.am. -# @configure_input@ - -# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, -# 2003, 2004, 2005, 2006, 2007, 2008 Free Software Foundation, Inc. -# This Makefile.in is free software; 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Check the \`README' file, - it often tells you about the needed prerequisites for installing - this package. You may also peek at any GNU archive site, in case - some other package would contain this missing \`$1' program." - exit 1 - ;; -esac - -exit 0 - -# Local variables: -# eval: (add-hook 'write-file-hooks 'time-stamp) -# time-stamp-start: "scriptversion=" -# time-stamp-format: "%:y-%02m-%02d.%02H" -# time-stamp-end: "$" -# End: diff -Nru ode-0.11.1/ode/demo/demo_basket.cpp ode-0.14/ode/demo/demo_basket.cpp --- ode-0.11.1/ode/demo/demo_basket.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_basket.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -1,280 +1,276 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -// Basket ball demo. -// Serves as a test for the sphere vs trimesh collider -// By Bram Stolk. -// Press the spacebar to reset the position of the ball. - -#include -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" -#include "basket_geom.h" // this is our world mesh - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -// some constants - -#define RADIUS 0.14 - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; - -static dBodyID sphbody; -static dGeomID sphgeom; - -static dJointGroupID contactgroup; -static dGeomID world_mesh; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - -// fprintf(stderr,"testing geoms %p %p\n", o1, o2); - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i +#ifdef HAVE_UNISTD_H +#include +#endif +#include +#include +#include "texturepath.h" +#include "basket_geom.h" // this is our world mesh + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// some constants + +#define RADIUS 0.14 + +// dynamics and collision objects (chassis, 3 wheels, environment) + +static dWorldID world; +static dSpaceID space; + +static dBodyID sphbody; +static dGeomID sphgeom; + +static dJointGroupID contactgroup; +static dGeomID world_mesh; + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + assert(o1); + assert(o2); + + if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) + { + fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2); + // colliding a space with something + dSpaceCollide2(o1,o2,data,&nearCallback); + // Note we do not want to test intersections within a space, + // only between spaces. + return; + } + +// fprintf(stderr,"testing geoms %p %p\n", o1, o2); + + const int N = 32; + dContact contact[N]; + int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); + if (n > 0) + { + for (int i=0; ibody && o2->body) return; + int i; + // if (o1->body && o2->body) return; - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); else return c; @@ -209,286 +210,247 @@ // called when a key pressed -static void command (int cmd) +static void command(int cmd) { - size_t i; - int j,k; - dReal sides[3]; - dMass m; - int setBody; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') - { - setBody = 0; - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } + size_t i; + int j,k; + dReal sides[3]; + dMass m; + bool setBody = false; + + cmd = locase(cmd); + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') { + if (num < NUM) { + // new object to be created + i = num; + num++; + } else { + // recycle existing object + i = nextobj++; + nextobj %= num; // wrap-around if needed + + // destroy the body and geoms for slot i + dBodyDestroy (obj[i].body); + obj[i].body = 0; + + for (k=0; k < GPB; k++) + if (obj[i].geom[k]) { + dGeomDestroy(obj[i].geom[k]); + obj[i].geom[k] = 0; + } + } - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; + obj[i].body = dBodyCreate(world); - dMatrix3 R; - if (random_pos) - { - dBodySetPosition (obj[i].body, - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else - { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRSetIdentity (R); - //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*) i); - - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - //<---- Convex Object - else if (cmd == 'v') - { - dMassSetBox (&m,DENSITY,0.25,0.25,0.25); + for (k=0; k<3; k++) + sides[k] = dRandReal()*0.5+0.1; + + dMatrix3 R; + if (random_pos) { + dBodySetPosition(obj[i].body, + dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); + dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + } else { + // higher than highest body position + dReal maxheight = 0; + for (k=0; k maxheight) + maxheight = pos[2]; + } + dBodySetPosition(obj[i].body, 0,0,maxheight+1); + dRSetIdentity(R); + //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); + } + + dBodySetRotation(obj[i].body,R); + + if (cmd == 'b') { + + dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]); + obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]); + + } else if (cmd == 'c') { + + sides[0] *= 0.5; + dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); + + } else if (cmd == 'v') { + + dMassSetBox(&m,DENSITY,0.25,0.25,0.25); #if 0 - obj[i].geom[0] = dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); + obj[i].geom[0] = dCreateConvex(space, + planes, + planecount, + points, + pointcount, + polygons); #else - obj[i].geom[0] = dCreateConvex (space, - Sphere_planes, - Sphere_planecount, - Sphere_points, - Sphere_pointcount, - Sphere_polygons); + obj[i].geom[0] = dCreateConvex(space, + Sphere_planes, + Sphere_planecount, + Sphere_points, + Sphere_pointcount, + Sphere_polygons); #endif - } - //----> Convex Object - else if (cmd == 'y') { - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'x' && USE_GEOM_OFFSET) { - setBody = 1; - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - dMatrix3 drot[GPB]; + } else if (cmd == 'y') { + + dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]); + + } else if (cmd == 's') { + + sides[0] *= 0.5; + dMassSetSphere (&m,DENSITY,sides[0]); + obj[i].geom[0] = dCreateSphere (space,sides[0]); + + } else if (cmd == 'x') { + + setBody = true; + // start accumulating masses for the composite geometries + dMass m2; + dMassSetZero (&m); + + dReal dpos[GPB][3]; // delta-positions for composite geometries + dMatrix3 drot[GPB]; - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == '1') { - write_world = 1; - } - else if (cmd == 'p'&& selected >= 0) - { - const dReal* pos = dGeomGetPosition(obj[selected].geom[0]); - const dReal* rot = dGeomGetRotation(obj[selected].geom[0]); - printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]); - printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n", - rot[0],rot[1],rot[2],rot[3], - rot[4],rot[5],rot[6],rot[7], - rot[8],rot[9],rot[10],rot[11]); - } - else if (cmd == 'f' && selected >= 0 && selected < num) { - if (dBodyIsEnabled(obj[selected].body)) + if (cmd == ' ') { + + selected++; + if (selected >= num) + selected = 0; + if (selected == -1) + selected = 0; + + } else if (cmd == 'd' && selected >= 0 && selected < num) { + + dBodyDisable(obj[selected].body); + + } else if (cmd == 'e' && selected >= 0 && selected < num) { + + dBodyEnable(obj[selected].body); + + } else if (cmd == 'a') { + + show_aabb = !show_aabb; + + } else if (cmd == 't') { + + show_contacts = !show_contacts; + + } else if (cmd == 'r') { + + random_pos = !random_pos; + } else if (cmd == '1') { + + write_world = 1; + + } else if (cmd == 'p'&& selected >= 0) { + + const dReal* pos = dGeomGetPosition(obj[selected].geom[0]); + const dReal* rot = dGeomGetRotation(obj[selected].geom[0]); + printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]); + printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n", + rot[0],rot[1],rot[2],rot[3], + rot[4],rot[5],rot[6],rot[7], + rot[8],rot[9],rot[10],rot[11]); + + } else if (cmd == 'f' && selected >= 0 && selected < num) { + + if (dBodyIsEnabled(obj[selected].body)) doFeedback = 1; - } + + } } // draw a geom -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) +void drawGeom(dGeomID g, const dReal *pos, const dReal *R, int show_aabb) { - int i; + int i; - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - //<---- Convex Object - else if (type == dConvexClass) - { + if (!g) + return; + if (!pos) + pos = dGeomGetPosition(g); + if (!R) + R = dGeomGetRotation(g); + + int type = dGeomGetClass(g); + if (type == dBoxClass) { + + dVector3 sides; + dGeomBoxGetLengths (g,sides); + dsDrawBox(pos,R,sides); + + } else if (type == dSphereClass) { + + dsDrawSphere(pos,R,dGeomSphereGetRadius(g)); + + } else if (type == dCapsuleClass) { + + dReal radius,length; + dGeomCapsuleGetParams(g,&radius,&length); + dsDrawCapsule(pos,R,length,radius); + + } else if (type == dConvexClass) { + #if 0 dsDrawConvex(pos,R,planes, planecount, @@ -497,163 +459,161 @@ polygons); #else dsDrawConvex(pos,R, - Sphere_planes, + Sphere_planes, Sphere_planecount, Sphere_points, Sphere_pointcount, Sphere_polygons); #endif + + } else if (type == dCylinderClass) { + + dReal radius,length; + dGeomCylinderGetParams(g,&radius,&length); + dsDrawCylinder(pos,R,length,radius); + } - //----> Convex Object - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - if (show_body) { - dBodyID body = dGeomGetBody(g); - if (body) { - const dReal *bodypos = dBodyGetPosition (body); - const dReal *bodyr = dBodyGetRotation (body); - dReal bodySides[3] = { 0.1, 0.1, 0.1 }; - dsSetColorAlpha(0,1,0,1); - dsDrawBox(bodypos,bodyr,bodySides); + + if (show_body) { + dBodyID body = dGeomGetBody(g); + if (body) { + const dReal *bodypos = dBodyGetPosition(body); + const dReal *bodyr = dBodyGetRotation(body); + dReal bodySides[3] = { 0.1, 0.1, 0.1 }; + dsSetColorAlpha(0,1,0,1); + dsDrawBox(bodypos,bodyr,bodySides); + } + } + + if (show_aabb) { + // draw the bounding box for this geom + dReal aabb[6]; + dGeomGetAABB(g,aabb); + dVector3 bbpos; + for (i=0; i<3; i++) + bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + dVector3 bbsides; + for (i=0; i<3; i++) + bbsides[i] = aabb[i*2+1] - aabb[i*2]; + dMatrix3 RI; + dRSetIdentity (RI); + dsSetColorAlpha(1,0,0,0.5); + dsDrawBox(bbpos,RI,bbsides); } - } - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } } // simulation loop -static void simLoop (int pause) +static void simLoop(int pause) { - dsSetColor (0,0,2); - dSpaceCollide (space,0,&nearCallback); - if (!pause) dWorldQuickStep (world,0.02); - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (world,f,"X"); - fclose (f); + dSpaceCollide(space, 0, &nearCallback); + + if (!pause) + dWorldQuickStep(world, 0.02); + + if (write_world) { + FILE *f = fopen("state.dif","wt"); + if (f) { + dWorldExportDIF(world,f,"X"); + fclose (f); + } + write_world = 0; } - write_world = 0; - } - if (doFeedback) - { - if (fbnum>MAX_FEEDBACKNUM) - printf("joint feedback buffer overflow!\n"); - else - { - dVector3 sum = {0, 0, 0}; - printf("\n"); - for (int i=0; iMAX_FEEDBACKNUM) + printf("joint feedback buffer overflow!\n"); + else { + dVector3 sum = {0, 0, 0}; + printf("\n"); + for (int i=0; i #include #include @@ -119,7 +141,7 @@ puts(" = - one more level"); } -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { // exit without doing anything if the two bodies are connected by a joint dBodyID b1 = dGeomGetBody(o1); @@ -208,6 +230,7 @@ dJointGroupDestroy(contactgroup); dWorldDestroy(world); + dGeomDestroy(ground); dSpaceDestroy(space); dCloseODE(); diff -Nru ode-0.11.1/ode/demo/demo_chain1.c ode-0.14/ode/demo/demo_chain1.c --- ode-0.11.1/ode/demo/demo_chain1.c 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_chain1.c 2015-12-18 14:09:27.000000000 +0000 @@ -28,7 +28,7 @@ #include "texturepath.h" #ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#pragma warning(disable:4244 4305) /* for VC++, no precision loss complaints */ #endif /* select correct drawing functions */ @@ -68,6 +68,7 @@ /* exit without doing anything if the two bodies are connected by a joint */ dBodyID b1,b2; dContact contact; + (void)data; b1 = dGeomGetBody(o1); b2 = dGeomGetBody(o2); diff -Nru ode-0.11.1/ode/demo/demo_chain2.cpp ode-0.14/ode/demo/demo_chain2.cpp --- ode-0.11.1/ode/demo/demo_chain2.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_chain2.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -62,7 +62,7 @@ // this is called by space.collide when two objects in space are // potentially colliding. -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { // exit without doing anything if the two bodies are connected by a joint dBodyID b1 = dGeomGetBody(o1); diff -Nru ode-0.11.1/ode/demo/demo_collision.cpp ode-0.14/ode/demo/demo_collision.cpp --- ode-0.11.1/ode/demo/demo_collision.cpp 2008-06-04 23:47:13.000000000 +0000 +++ ode-0.14/ode/demo/demo_collision.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -44,6 +44,7 @@ #define dsDrawBox dsDrawBoxD #define dsDrawLine dsDrawLineD #define dsDrawCapsule dsDrawCapsuleD +#define dsDrawCylinder dsDrawCylinderD #endif //**************************************************************************** @@ -102,7 +103,7 @@ //**************************************************************************** // draw all objects in a space, and draw all the collision contact points -void nearCallback (void *data, dGeomID o1, dGeomID o2) +void nearCallback (void *, dGeomID o1, dGeomID o2) { int i,j,n; const int N = 100; @@ -190,6 +191,13 @@ dsDrawCapsule (pos,dGeomGetRotation(g),length,radius); break; } + case dCylinderClass: { + dsSetColorAlpha (0,1,0,0.8); + dReal radius,length; + dGeomCylinderGetParams (g,&radius,&length); + dsDrawCylinder (pos,dGeomGetRotation(g),length,radius); + break; + } case dPlaneClass: { dVector4 n; @@ -372,7 +380,7 @@ for (j=0; j<3; j++) a[j] = dRandReal()-0.5; dNormalize3 (a); - if (dDOT14(a,R+2) > 0) { + if (dCalcVectorDot3_14(a,R+2) > 0) { for (j=0; j<3; j++) a[j] = p[j] + a[j]*r + l*0.5*R[j*4+2]; } else { @@ -404,7 +412,7 @@ d = (dRandReal()*2-1) * r; for (j=0; j<3; j++) a[j] = dRandReal()-0.5; dNormalize3 (a); - if (dDOT14(a,R+2) > 0) { + if (dCalcVectorDot3_14(a,R+2) > 0) { for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) + l*0.5*R[j*4+2]; } else { @@ -527,7 +535,7 @@ for (j=0; j<3; j++) n[j] = q2[j] - q[j]; dNormalize3 (n); dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,dDISTANCE (q,q2)); + dGeomRaySetLength (ray,dCalcPointsDistance3(q,q2)); if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); // ********** test finite length ray totally outside the sphere @@ -538,7 +546,7 @@ dMakeRandomVector (n,3,1.0); dNormalize3 (n); } - while (dDOT(n,q) < 0); // make sure normal goes away from sphere + while (dCalcVectorDot3(n,q) < 0); // make sure normal goes away from sphere for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j]; dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); dGeomRaySetLength (ray,100); @@ -559,7 +567,7 @@ dGeomRaySetLength (ray,1.01*r); if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); for (j=0; j<3; j++) q2[j] = r * q[j] + p[j]; - if (dDISTANCE (contact.pos,q2) > tol) FAILED(); + if (dCalcPointsDistance3 (contact.pos,q2) > tol) FAILED(); // ********** test contact point distance for random rays @@ -572,10 +580,10 @@ dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]); dGeomRaySetLength (ray,100); if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom))) { - k = dDISTANCE (contact.pos,dGeomGetPosition(sphere)); + k = dCalcPointsDistance3 (contact.pos,dGeomGetPosition(sphere)); if (dFabs(k - r) > tol) FAILED(); // also check normal signs - if (dDOT (n,contact.normal) > 0) FAILED(); + if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED(); // also check depth of contact point if (dFabs (dGeomSpherePointDepth (sphere,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) @@ -673,7 +681,7 @@ for (j=0; j<3; j++) n[j] = q4[j] - q2[j]; dNormalize3 (n); dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]); - dGeomRaySetLength (ray,dDISTANCE(q2,q4)); + dGeomRaySetLength (ray,dCalcPointsDistance3(q2,q4)); if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED(); // ********** test finite length ray totally outside the box @@ -729,7 +737,7 @@ FAILED(); } // also check normal signs - if (dDOT (q3,contact.normal) > 0) FAILED(); + if (dCalcVectorDot3 (q3,contact.normal) > 0) FAILED(); draw_all_objects (space); } @@ -773,7 +781,7 @@ dNormalize3 (b); k = (dRandReal()-0.5)*l; for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2]; - dGeomRaySetLength (ray,dDISTANCE(a,b)); + dGeomRaySetLength (ray,dCalcPointsDistance3(a,b)); for (j=0; j<3; j++) b[j] -= a[j]; dNormalize3 (b); dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]); @@ -804,7 +812,7 @@ for (j=0; j<3; j++) a[j] = dRandReal()-0.5; dNormalize3 (a); - if (dDOT14(a,R+2) < 0) { + if (dCalcVectorDot3_14(a,R+2) < 0) { for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2]; } else { @@ -838,7 +846,7 @@ FAILED(); // check normal signs - if (dDOT (n,contact.normal) > 0) FAILED(); + if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED(); draw_all_objects (space); } @@ -846,6 +854,60 @@ PASSED(); } +/* + Test rays within the cylinder + -completely inside + -exiting through side + -exiting through cap + -exiting through corner + Test rays outside the cylinder +*/ +int test_ray_and_cylinder() +{ + dVector3 a,b; + + dSimpleSpace space(0); + dGeomID ray = dCreateRay(space,4); + + // The first thing that happens is the ray is + // rotated into cylinder coordinates. We'll trust that's + // done right. The major axis is in the z-dir. + + + // Random tests + /*b[0]=4*dRandReal()-2; + b[1]=4*dRandReal()-2; + b[2]=4*dRandReal()-2; + a[0]=2*dRandReal()-1; + a[1]=2*dRandReal()-1; + a[2]=2*dRandReal()-1;*/ + + // Inside out + b[0]=dRandReal()-0.5; + b[1]=dRandReal()-0.5; + b[2]=dRandReal()-0.5; + a[0]=2*dRandReal()-1; + a[1]=2*dRandReal()-1; + a[2]=2*dRandReal()-1; + + // Outside in + /*b[0]=4*dRandReal()-2; + b[1]=4*dRandReal()-2; + b[2]=4*dRandReal()-2; + a[0]=-b[0]; + a[1]=-b[1]; + a[2]=-b[2];*/ + + + dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]); + // This is just for visual inspection right now. + //if (dCollide (ray,cyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED(); + + draw_all_objects (space); + + PASSED(); +} + int test_ray_and_plane() { @@ -912,9 +974,9 @@ dGeomRaySetLength (ray,10); if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom))) { // test that contact is on plane surface - if (dFabs (dDOT(contact.pos,n) - d) > tol) FAILED(); + if (dFabs (dCalcVectorDot3(contact.pos,n) - d) > tol) FAILED(); // also check normal signs - if (dDOT (h,contact.normal) > 0) FAILED(); + if (dCalcVectorDot3 (h,contact.normal) > 0) FAILED(); // also check contact point depth if (dFabs (dGeomPlanePointDepth (plane,contact.pos[0],contact.pos[1],contact.pos[2])) > tol) @@ -969,25 +1031,25 @@ dVector3 u1,u2,n,tmp; for (k=0; k<3; k++) u1[k] = p3[k]-p1[k]; for (k=0; k<3; k++) u2[k] = p2[k]-p1[k]; - dReal d1 = dSqrt(dDOT(u1,u1)); - dReal d2 = dSqrt(dDOT(u2,u2)); + dReal d1 = dSqrt(dCalcVectorDot3(u1,u1)); + dReal d2 = dSqrt(dCalcVectorDot3(u2,u2)); dNormalize3 (u1); dNormalize3 (u2); - if (dFabs(dDOT(u1,u2)) > 1e-6) dDebug (0,"bad u1/u2"); - dCROSS (n,=,u1,u2); + if (dFabs(dCalcVectorDot3(u1,u2)) > 1e-6) dDebug (0,"bad u1/u2"); + dCalcVectorCross3(n,u1,u2); for (k=0; k<3; k++) tmp[k] = v2[k]-v1[k]; - dReal d = -dDOT(n,p1); - if (dFabs(dDOT(n,p1)+d) > 1e-8) dDebug (0,"bad n wrt p1"); - if (dFabs(dDOT(n,p2)+d) > 1e-8) dDebug (0,"bad n wrt p2"); - if (dFabs(dDOT(n,p3)+d) > 1e-8) dDebug (0,"bad n wrt p3"); - dReal alpha = -(d+dDOT(n,v1))/dDOT(n,tmp); + dReal d = -dCalcVectorDot3(n,p1); + if (dFabs(dCalcVectorDot3(n,p1)+d) > 1e-8) dDebug (0,"bad n wrt p1"); + if (dFabs(dCalcVectorDot3(n,p2)+d) > 1e-8) dDebug (0,"bad n wrt p2"); + if (dFabs(dCalcVectorDot3(n,p3)+d) > 1e-8) dDebug (0,"bad n wrt p3"); + dReal alpha = -(d+dCalcVectorDot3(n,v1))/dCalcVectorDot3(n,tmp); for (k=0; k<3; k++) tmp[k] = v1[k]+alpha*(v2[k]-v1[k]); - if (dFabs(dDOT(n,tmp)+d) > 1e-6) dDebug (0,"bad tmp"); + if (dFabs(dCalcVectorDot3(n,tmp)+d) > 1e-6) dDebug (0,"bad tmp"); if (alpha < 0) return 0; if (alpha > 1) return 0; for (k=0; k<3; k++) tmp[k] -= p1[k]; - dReal a1 = dDOT(u1,tmp); - dReal a2 = dDOT(u2,tmp); + dReal a1 = dCalcVectorDot3(u1,tmp); + dReal a2 = dCalcVectorDot3(u2,tmp); if (a1<0 || a2<0 || a1>d1 || a2>d2) return 0; return 1; } @@ -1006,12 +1068,12 @@ v[0] = i*0.5*side1[0]; v[1] = j*0.5*side1[1]; v[2] = k*0.5*side1[2]; - dMULTIPLY0_331 (vv,R1,v); + dMultiply0_331 (vv,R1,v); vv[0] += p1[0] - p2[0]; vv[1] += p1[1] - p2[1]; vv[2] += p1[2] - p2[2]; for (int axis=0; axis < 3; axis++) { - dReal z = dDOT14(vv,R2+axis); + dReal z = dCalcVectorDot3_14(vv,R2+axis); if (z < (-side2[axis]*0.5) || z > (side2[axis]*0.5)) return 0; } } @@ -1050,7 +1112,7 @@ } for (j=0; j<4; j++) { for (k=0; k<3; k++) fp[j][k] *= 0.5*side2[k]; - dMULTIPLY0_331 (tmp,R2,fp[j]); + dMultiply0_331 (tmp,R2,fp[j]); for (k=0; k<3; k++) fp[j][k] = tmp[k] + p2[k]; } @@ -1067,8 +1129,8 @@ for (k=0; k<3; k++) vv1[k] = v1[k] * 0.5*side1[k]; for (k=0; k<3; k++) vv2[k] = (v1[k] + (k==ei)*2)*0.5*side1[k]; dVector3 vertex1,vertex2; - dMULTIPLY0_331 (vertex1,R1,vv1); - dMULTIPLY0_331 (vertex2,R1,vv2); + dMultiply0_331 (vertex1,R1,vv1); + dMultiply0_331 (vertex2,R1,vv2); for (k=0; k<3; k++) vertex1[k] += p1[k]; for (k=0; k<3; k++) vertex2[k] += p1[k]; @@ -1245,7 +1307,7 @@ // simulation loop -static void simLoop (int pause) +static void simLoop (int) { do { draw_all_objects_called = 0; @@ -1364,6 +1426,7 @@ MAKE_TEST(11,test_ray_and_box); MAKE_TEST(12,test_ray_and_ccylinder); MAKE_TEST(13,test_ray_and_plane); + MAKE_TEST(14,test_ray_and_cylinder); MAKE_TEST(100,test_dBoxTouchesBox); MAKE_TEST(101,test_dBoxBox); diff -Nru ode-0.11.1/ode/demo/demo_convex_cd.cpp ode-0.14/ode/demo/demo_convex_cd.cpp --- ode-0.11.1/ode/demo/demo_convex_cd.cpp 2008-10-02 20:59:35.000000000 +0000 +++ ode-0.14/ode/demo/demo_convex_cd.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,395 +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. * - * * - *************************************************************************/ - -#include -#include -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -#ifndef M_PI -#define M_PI (3.14159265358979323846) -#endif - -//<---- Convex Object -dReal planes[]= // planes for a cube - { - 1.0f ,0.0f ,0.0f ,0.25f, - 0.0f ,1.0f ,0.0f ,0.25f, - 0.0f ,0.0f ,1.0f ,0.25f, - -1.0f,0.0f ,0.0f ,0.25f, - 0.0f ,-1.0f,0.0f ,0.25f, - 0.0f ,0.0f ,-1.0f,0.25f - /* - 1.0f ,0.0f ,0.0f ,2.0f, - 0.0f ,1.0f ,0.0f ,1.0f, - 0.0f ,0.0f ,1.0f ,1.0f, - 0.0f ,0.0f ,-1.0f,1.0f, - 0.0f ,-1.0f,0.0f ,1.0f, - -1.0f,0.0f ,0.0f ,0.0f - */ - }; -const unsigned int planecount=6; - -dReal points[]= // points for a cube - { - 0.25f,0.25f,0.25f, // point 0 - -0.25f,0.25f,0.25f, // point 1 - - 0.25f,-0.25f,0.25f, // point 2 - -0.25f,-0.25f,0.25f,// point 3 - - 0.25f,0.25f,-0.25f, // point 4 - -0.25f,0.25f,-0.25f,// point 5 - - 0.25f,-0.25f,-0.25f,// point 6 - -0.25f,-0.25f,-0.25f,// point 7 - }; -const unsigned int pointcount=8; -unsigned int polygons[] = //Polygons for a cube (6 squares) - { - 4,0,2,6,4, // positive X Side 0 - 4,1,0,4,5, // positive Y Side 1 - 4,0,1,3,2, // positive Z Side 2 - 4,3,1,5,7, // negative X Side 3 - 4,2,3,7,6, // negative Y Side 4 - 4,5,4,6,7, // negative Z Side 5 - }; -//----> Convex Object - -#ifdef dDOUBLE -#define dsDrawConvex dsDrawConvexD -#define dsDrawBox dsDrawBoxD -#endif - -dGeomID* geoms; -dGeomID boxes[2]; -dGeomID convex[2]; -dSpaceID space; -dWorldID world; -dJointGroupID contactgroup; -/* -glRotate Matrix: -( xx(1-c)+c xy(1-c)-zs xz(1-c)+ys 0 ) -| | -| yx(1-c)+zs yy(1-c)+c yz(1-c)-xs 0 | -| xz(1-c)-ys yz(1-c)+xs zz(1-c)+c 0 | -| | -( 0 0 0 1 ) -Where c = cos(angle), s = sine(angle), and ||( x,y,z )|| = 1 - (if not, the GL will normalize this vector). -*/ - -dVector3 geom1pos={0.0,0.250,0.50}; -dQuaternion geom1quat={1,0,0,0}; -dQuaternion geom0quat={0.7071,0,0.7071,0}; - -bool DumpInfo=true; -int drawmode = DS_WIREFRAME; - -#if 0 -const dReal fixed_pos_0[]={0.703704,-0.748281,0.249495}; -const dReal fixed_rot_0[]={0.996994,-0.001009,-0.077468,0.000000, - -0.077468,-0.000117,-0.996995,0.000000, - 0.000996, 1.000000,-0.000195,0.000000}; - -const dReal fixed_pos_1[]={0.894169,-0.372081,0.249432}; -const dReal fixed_rot_1[]={-0.999461, 0.032777,0.001829,0.000000, - -0.032777,-0.999463,0.000033,0.000000, - 0.001829,-0.000027,0.999998,0.000000}; - -#else -// for EDGE-EDGE test -const dReal fixed_pos_0[]={0.0,0.0,0.25}; -const dReal fixed_rot_0[]={ 1,0,0,0,0,1,0,0,0,0,1,0 }; -const dReal fixed_pos_1[]={0.000000,0.450000,0.600000}; -const dReal fixed_rot_1[]={0.708311,-0.705472,-0.000000,0.000000, - 0.516939,0.519297,-0.679785,0.000000, - 0.480067,0.481293,0.733034,0.000000}; -#endif -void start() -{ - // adjust the starting viewpoint a bit - float xyz[3],hpr[3]; - dsGetViewpoint (xyz,hpr); - hpr[0] += 7; - dsSetViewpoint (xyz,hpr); - convex[0]=dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - convex[1]=dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - boxes[0]=dCreateBox(space,0.5,0.5,0.5); - boxes[1]=dCreateBox(space,0.5,0.5,0.5); - geoms=convex; - - dMatrix3 m1 = { 1,0,0,0,0,1,0,0,0,0,1,0 }; - dMatrix3 m2 = { 1,0,0,0,0,1,0,0,0,0,1,0 }; -#if 0 - dGeomSetPosition (convex[0], - 0.0, - 0.0, - 0.25); - dGeomSetPosition (convex[1], - geom1pos[0], - geom1pos[1], - geom1pos[2]); - dQtoR (geom0quat, m1); - dGeomSetRotation (convex[0],m1); - dQtoR (geom1quat, m2); - dGeomSetRotation (convex[1],m2); - - dGeomSetPosition (boxes[0], - 0.0, - 0.0, - 0.25); - dGeomSetPosition (boxes[1], - geom1pos[0], - geom1pos[1], - geom1pos[2]); - dQtoR (geom0quat, m1); - dGeomSetRotation (boxes[0],m1); - dQtoR (geom1quat, m2); - dGeomSetRotation (boxes[1],m2); -#else - dGeomSetPosition (convex[0], - fixed_pos_0[0], - fixed_pos_0[1], - fixed_pos_0[2]); - dGeomSetPosition (convex[1], - fixed_pos_1[0], - fixed_pos_1[1], - fixed_pos_1[2]); - dGeomSetRotation (convex[0],fixed_rot_0); - dGeomSetRotation (convex[1],fixed_rot_1); - dGeomSetPosition (boxes[0], - fixed_pos_0[0], - fixed_pos_0[1], - fixed_pos_0[2]); - dGeomSetPosition (boxes[1], - fixed_pos_1[0], - fixed_pos_1[1], - fixed_pos_1[2]); - dGeomSetRotation (boxes[0],fixed_rot_0); - dGeomSetRotation (boxes[1],fixed_rot_1); -#endif - -} - -int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip); -int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, - dContactGeom *contact, int skip); - -void simLoop (int pause) -{ - int contactcount; - const dReal ss[3] = {0.02,0.02,0.02}; - dContactGeom contacts[8]; -if(geoms==convex) - contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); -else - contactcount = dCollideBoxBox(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom)); - - //fprintf(stdout,"Contact Count %d\n",contactcount); - const dReal* pos; - const dReal* R; - dsSetTexture (DS_WOOD); - pos = dGeomGetPosition (geoms[0]); - R = dGeomGetRotation (geoms[0]); - dsSetColor (0.6f,0.6f,1); - dsSetDrawMode(drawmode); - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - dsSetDrawMode(DS_POLYFILL); - pos = dGeomGetPosition (geoms[1]); - R = dGeomGetRotation (geoms[1]); - dsSetColor (0.4f,1,1); - dsSetDrawMode(drawmode); - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - dsSetDrawMode(DS_POLYFILL); - /*if (show_contacts) */ - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColor (1.0f,0,0); - for(int i=0;i\n"); - } - else - { - printf("BOX--------------------------------------------------------->\n"); - } - break; - default: - dsPrint ("received command %d (`%c')\n",cmd,cmd); - } -#if 0 - dGeomSetPosition (geoms[1], - geom1pos[0], - geom1pos[1], - geom1pos[2]); - dQtoR (geom1quat, m); - dGeomSetRotation(geoms[1],m); - if(changed) - { - - printf("POS: %f,%f,%f\n",geom1pos[0],geom1pos[1],geom1pos[2]); - printf("ROT:\n%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f\n", - m[0],m[1],m[2],m[3], - m[4],m[5],m[6],m[7], - m[8],m[9],m[10],m[11]); - } -#endif - DumpInfo=true; -} - - -int main (int argc, char **argv) -{ - // setup pointers to callback functions - dsFunctions fn; - fn.version = DS_VERSION; - fn.start = &start; - fn.step = &simLoop; - fn.command = command; - fn.stop = 0; - fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; // uses default - world = dWorldCreate(); - space = dHashSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - - // run simulation - dsSimulationLoop (argc,argv,400,400,&fn); - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - - return 0; -} diff -Nru ode-0.11.1/ode/demo/demo_crash.cpp ode-0.14/ode/demo/demo_crash.cpp --- ode-0.11.1/ode/demo/demo_crash.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_crash.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -23,6 +23,7 @@ // This is a demo of the QuickStep and StepFast methods, // originally by David Whittaker. + #include #include #include "texturepath.h" @@ -41,10 +42,6 @@ #endif -// select the method you want to test here (only uncomment *one* line) -#define QUICKSTEP 1 -//#define STEPFAST 1 - // some constants #define LENGTH 3.5 // chassis length @@ -84,6 +81,8 @@ static dWorldID world; static dSpaceID space; +static dThreadingImplementationID threading; +static dThreadingThreadPoolID pool; static dBodyID body[10000]; static int bodies; static dJointID joint[100000]; @@ -115,7 +114,7 @@ // this is called by dSpaceCollide when two objects in space are // potentially colliding. -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { int i,n; @@ -165,8 +164,6 @@ "\t'2' to lower the cannon.\n" "\t'x' to shoot from the cannon.\n" "\t'f' to toggle fast step mode.\n" - "\t'+' to increase AutoEnableDepth.\n" - "\t'-' to decrease AutoEnableDepth.\n" "\t'r' to reset simulation.\n"); } @@ -234,19 +231,29 @@ sphereI += 4; } +static +void shutdownSimulation() +{ + // destroy world if it exists + if (bodies) + { + dThreadingImplementationShutdownProcessing(threading); + dThreadingFreeThreadPool(pool); + dWorldSetStepThreadingImplementation(world, NULL, NULL); + dThreadingFreeImplementation(threading); + + dJointGroupDestroy (contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); -void resetSimulation() + bodies = 0; + } +} + +static +void setupSimulation() { int i; - i = 0; - // destroy world if it exists - if (bodies) - { - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - } - for (i = 0; i < 1000; i++) wb_stepsdis[i] = 0; @@ -263,6 +270,14 @@ dWorldSetCFM (world, 1e-5); dWorldSetERP (world, 0.8); dWorldSetQuickStepNumIterations (world,ITERS); + + threading = dThreadingAllocateMultiThreadedImplementation(); + pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL); + dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading); + // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1); + dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading); + + ground = dCreatePlane (space,0,0,1,0); bodies = 0; @@ -451,14 +466,9 @@ case 'f': case 'F': doFast = !doFast; break; - case '+': - dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) + 1); - break; - case '-': - dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) - 1); - break; case 'r': case 'R': - resetSimulation(); + shutdownSimulation(); + setupSimulation(); break; case '[': cannon_angle += 0.1; @@ -515,11 +525,7 @@ if (doFast) { dSpaceCollide (space,0,&nearCallback); -#if defined(QUICKSTEP) dWorldQuickStep (world,0.05); -#elif defined(STEPFAST) - dWorldStepFast1 (world,0.05,ITERS); -#endif dJointGroupEmpty (contactgroup); } else @@ -625,14 +631,12 @@ boxes = 0; spheres = 0; - resetSimulation(); + setupSimulation(); // run simulation dsSimulationLoop (argc,argv,352,288,&fn); - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); + shutdownSimulation(); dCloseODE(); return 0; } diff -Nru ode-0.11.1/ode/demo/demo_cyl.cpp ode-0.14/ode/demo/demo_cyl.cpp --- ode-0.11.1/ode/demo/demo_cyl.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_cyl.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -74,7 +74,7 @@ if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) { - fprintf(stderr,"testing space %p %p\n", o1,o2); + fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2); // colliding a space with something dSpaceCollide2(o1,o2,data,&nearCallback); // Note we do not want to test intersections within a space, diff -Nru ode-0.11.1/ode/demo/demo_cylvssphere.cpp ode-0.14/ode/demo/demo_cylvssphere.cpp --- ode-0.11.1/ode/demo/demo_cylvssphere.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_cylvssphere.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -1,240 +1,240 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -// Test for cylinder vs sphere, by Bram Stolk - -#include -#include -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; - -static dBodyID cylbody; -static dGeomID cylgeom; - -static dBodyID sphbody; -static dGeomID sphgeom; - -static dJointGroupID contactgroup; - -static bool show_contacts = true; - -#define CYLRADIUS 0.6 -#define CYLLENGTH 2.0 -#define SPHERERADIUS 0.5 - - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawLine dsDrawLineD -#endif - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i +#include +#ifdef HAVE_UNISTD_H +#include +#endif +#include +#include +#include "texturepath.h" + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + + +// dynamics and collision objects (chassis, 3 wheels, environment) + +static dWorldID world; +static dSpaceID space; + +static dBodyID cylbody; +static dGeomID cylgeom; + +static dBodyID sphbody; +static dGeomID sphgeom; + +static dJointGroupID contactgroup; + +static bool show_contacts = true; + +#define CYLRADIUS 0.6 +#define CYLLENGTH 2.0 +#define SPHERERADIUS 0.5 + + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawLine dsDrawLineD +#endif + + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + assert(o1); + assert(o2); + + if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) + { + fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2); + // colliding a space with something + dSpaceCollide2(o1,o2,data,&nearCallback); + // Note we do not want to test intersections within a space, + // only between spaces. + return; + } + + const int N = 32; + dContact contact[N]; + int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); + if (n > 0) + { + for (int i=0; i +#include +#include "texturepath.h" + +#ifdef dDOUBLE +#define dsDrawSphere dsDrawSphereD +#define dsDrawBox dsDrawBoxD +#define dsDrawLine dsDrawLineD +#endif + + +dWorldID world; +dSpaceID space; +dBodyID body1; +dBodyID body2; +dJointID joint1, joint2; + +void start() +{ + world = dWorldCreate(); + dWorldSetGravity (world,0,0,-9.8); + + dWorldSetDamping(world, 1e-4, 1e-5); +// dWorldSetERP(world, 1); + + space = dSimpleSpaceCreate (0); + + body1 = dBodyCreate(world); + body2 = dBodyCreate(world); + + dBodySetPosition(body1, 0, 0, 3); + dBodySetPosition(body2, 0, 0, 1); + + + dGeomID g; + dMass mass; + + g = dCreateBox(space, 0.2, 0.2, 1); + dGeomSetBody(g, body1); + dMassSetBox(&mass, 1, 0.2, 0.2, 1); + dBodySetMass(body1, &mass); + + g = dCreateBox(space, 0.2, 0.2, 1); + dGeomSetBody(g, body2); + dMassSetBox(&mass, 1, 0.2, 0.2, 1); + dBodySetMass(body2, &mass); + + joint1 = dJointCreateDBall(world, 0); + dJointAttach(joint1, body1, 0); + dJointSetDBallAnchor1(joint1, 0, 0, 3.5); + dJointSetDBallAnchor2(joint1, 0, 0, 4.5); + + joint2 = dJointCreateDBall(world, 0); + dJointAttach(joint2, body1, body2); + dJointSetDBallAnchor1(joint2, 0, 0, 2.5); + dJointSetDBallAnchor2(joint2, 0, 0, 1.5); + + + // initial camera position + static float xyz[3] = {3.8966, -2.0614, 4.0300}; + static float hpr[3] = {153.5, -16.5, 0}; + dsSetViewpoint (xyz,hpr); +} + +void stop() +{ + dSpaceDestroy(space); + + dWorldDestroy(world); +} + + +void drawGeom(dGeomID g) +{ + int gclass = dGeomGetClass(g); + const dReal *pos = dGeomGetPosition(g); + const dReal *rot = dGeomGetRotation(g); + + switch (gclass) { + case dSphereClass: + dsSetColorAlpha(0, 0.75, 0.5, 1); + dsSetTexture (DS_CHECKERED); + dsDrawSphere(pos, rot, dGeomSphereGetRadius(g)); + break; + case dBoxClass: + { + dVector3 lengths; + dsSetColorAlpha(1, 1, 0, 1); + dsSetTexture (DS_WOOD); + dGeomBoxGetLengths(g, lengths); + dsDrawBox(pos, rot, lengths); + break; + } + + default: + {} + } +} + +void simLoop(int pause) +{ + if (!pause) { + + static dReal t = 0; + + const dReal step = 0.005; + const unsigned nsteps = 4; + + for (unsigned i=0; i +#include +#include "texturepath.h" + +#ifdef dDOUBLE +#define dsDrawSphere dsDrawSphereD +#define dsDrawBox dsDrawBoxD +#define dsDrawLine dsDrawLineD +#endif + + +dWorldID world; +dSpaceID space; +dBodyID body1; +dBodyID body2; +dJointID joint1, joint2; +bool applyForce = false; + +void start() +{ + world = dWorldCreate(); + dWorldSetGravity (world,0,0,-9.8); + + dWorldSetDamping(world, 1e-4, 1e-5); +// dWorldSetERP(world, 1); + + space = dSimpleSpaceCreate (0); + + body1 = dBodyCreate(world); + body2 = dBodyCreate(world); + + dBodySetPosition(body1, 0, 0, 3); + dBodySetPosition(body2, 0, 0, 1); + + + dGeomID g; + dMass mass; + + g = dCreateBox(space, 0.2, 0.2, 1); + dGeomSetBody(g, body1); + dMassSetBox(&mass, 1, 0.2, 0.2, 1); + dBodySetMass(body1, &mass); + + g = dCreateBox(space, 0.2, 0.2, 1); + dGeomSetBody(g, body2); + dMassSetBox(&mass, 1, 0.2, 0.2, 1); + dBodySetMass(body2, &mass); + +#if 1 + joint1 = dJointCreateDHinge(world, 0); + dJointAttach(joint1, body1, 0); + dJointSetDHingeAxis(joint1, 0, 1, 0); + dJointSetDHingeAnchor1(joint1, 0, 0, 3.5); + dJointSetDHingeAnchor2(joint1, 0, 0, 4.5); +#endif + +#if 1 + joint2 = dJointCreateDHinge(world, 0); + dJointAttach(joint2, body1, body2); + dJointSetDHingeAxis(joint2, 1, 0, 0); + dJointSetDHingeAnchor1(joint2, 0, 0, 2.5); + dJointSetDHingeAnchor2(joint2, 0, 0, 1.5); +#else + joint2 = dJointCreateDBall(world, 0); + dJointAttach(joint2, body1, body2); + dJointSetDBallAnchor1(joint2, 0, 0, 2.5); + dJointSetDBallAnchor2(joint2, 0, 0, 1.5); +#endif + + //dBodyAddForce(body1, 20, 0, 0); + + + // initial camera position + static float xyz[3] = {3.8966, -2.0614, 4.0300}; + static float hpr[3] = {153.5, -16.5, 0}; + dsSetViewpoint (xyz,hpr); +} + +void stop() +{ + dSpaceDestroy(space); + + dWorldDestroy(world); +} + + +void drawGeom(dGeomID g) +{ + int gclass = dGeomGetClass(g); + const dReal *pos = dGeomGetPosition(g); + const dReal *rot = dGeomGetRotation(g); + + switch (gclass) { + case dBoxClass: + { + dVector3 lengths; + if (applyForce) + dsSetColor(1, .5, 0); + else + dsSetColor(1, 1, 0); + dsSetTexture (DS_WOOD); + dGeomBoxGetLengths(g, lengths); + dsDrawBox(pos, rot, lengths); + break; + } + + default: + {} + } +} + + +void simLoop(int pause) +{ + if (!pause) { + + static dReal t = 0; + + const dReal step = 0.005; + const unsigned nsteps = 2; + + for (unsigned i=0; i 2.; + + if (applyForce) { + dReal f = 0.3 * sin(t*1.2); + dBodyAddForceAtRelPos(body1, + f, 0, 0, + 0, 0, -0.5); // at the lower end + + dReal g = 0.3 * sin(t*0.7); + dBodyAddForceAtRelPos(body2, + 0, g, 0, + 0, 0, -0.5); // at the lower end + } + + t += step; + if (t > 20.) + t = 0.; + + dWorldQuickStep(world, step); + } + } + + // now we draw everything + unsigned ngeoms = dSpaceGetNumGeoms(space); + for (unsigned i=0; i -#include -#ifdef HAVE_UNISTD_H -#include -#endif -#include -#include -#include "texturepath.h" - - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawCylinder dsDrawCylinderD -#endif - - -// dynamics and collision objects (chassis, 3 wheels, environment) - -static dWorldID world; -static dSpaceID space; - -static const int STACKCNT=10; // nr of weights on bridge -static const int SEGMCNT=16; // nr of segments in bridge -static const float SEGMDIM[3] = { 0.9, 4, 0.1 }; - -static dGeomID groundgeom; -static dBodyID segbodies[SEGMCNT]; -static dGeomID seggeoms[SEGMCNT]; -static dBodyID stackbodies[STACKCNT]; -static dGeomID stackgeoms[STACKCNT]; -static dJointID hinges[SEGMCNT-1]; -static dJointID sliders[2]; -static dJointFeedback jfeedbacks[SEGMCNT-1]; -static dReal colours[SEGMCNT]; -static int stress[SEGMCNT-1]; - -static dJointGroupID contactgroup; - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - assert(o1); - assert(o2); - - if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) - { - fprintf(stderr,"testing space %p %p\n", o1,o2); - // colliding a space with something - dSpaceCollide2(o1,o2,data,&nearCallback); - // Note we do not want to test intersections within a space, - // only between spaces. - return; - } - - const int N = 32; - dContact contact[N]; - int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); - if (n > 0) - { - for (int i=0; i forcelimit || l1 > forcelimit) - stress[i]++; - else - stress[i]=0; - if (stress[i]>4) - { - // Low-pass filter the noisy feedback data. - // Only after 4 consecutive timesteps with excessive load, snap. - fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i); - dJointAttach (hinges[i], 0, 0); - } - } - } -} - - -// simulation loop - -static void simLoop (int pause) -{ - int i; - - double simstep = 0.002; // 2ms simulation steps - double dt = dsElapsedTime(); - int nrofsteps = (int) ceilf(dt/simstep); - for (i=0; i1.0) v=1.0; - if (v<0.5) - { - r=2*v; - g=1.0; - } - else - { - r=1.0; - g=2*(1.0-v); - } - dsSetColor (r,g,b); - drawGeom(seggeoms[i]); - } - dsSetColor (1,1,1); - for (i=0; i +#include +#ifdef HAVE_UNISTD_H +#include +#endif +#include +#include +#include "texturepath.h" + + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawCylinder dsDrawCylinderD +#endif + + +// dynamics and collision objects (chassis, 3 wheels, environment) + +static dWorldID world; +static dSpaceID space; + +static const int STACKCNT=10; // nr of weights on bridge +static const int SEGMCNT=16; // nr of segments in bridge +static const float SEGMDIM[3] = { 0.9, 4, 0.1 }; + +static dGeomID groundgeom; +static dBodyID segbodies[SEGMCNT]; +static dGeomID seggeoms[SEGMCNT]; +static dBodyID stackbodies[STACKCNT]; +static dGeomID stackgeoms[STACKCNT]; +static dJointID hinges[SEGMCNT-1]; +static dJointID sliders[2]; +static dJointFeedback jfeedbacks[SEGMCNT-1]; +static dReal colours[SEGMCNT]; +static int stress[SEGMCNT-1]; + +static dJointGroupID contactgroup; + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *data, dGeomID o1, dGeomID o2) +{ + assert(o1); + assert(o2); + + if (dGeomIsSpace(o1) || dGeomIsSpace(o2)) + { + fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2); + // colliding a space with something + dSpaceCollide2(o1,o2,data,&nearCallback); + // Note we do not want to test intersections within a space, + // only between spaces. + return; + } + + const int N = 32; + dContact contact[N]; + int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact)); + if (n > 0) + { + for (int i=0; i forcelimit || l1 > forcelimit) + stress[i]++; + else + stress[i]=0; + if (stress[i]>4) + { + // Low-pass filter the noisy feedback data. + // Only after 4 consecutive timesteps with excessive load, snap. + fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i); + dJointAttach (hinges[i], 0, 0); + } + } + } +} + + +// simulation loop + +static void simLoop (int pause) +{ + int i; + + double simstep = 0.002; // 2ms simulation steps + double dt = dsElapsedTime(); + int nrofsteps = (int) ceilf(dt/simstep); + for (i=0; i1.0) v=1.0; + if (v<0.5) + { + r=2*v; + g=1.0; + } + else + { + r=1.0; + g=2*(1.0-v); + } + dsSetColor (r,g,b); + drawGeom(seggeoms[i]); + } + dsSetColor (1,1,1); + for (i=0; i +#include +#include "texturepath.h" + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// select correct drawing functions +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCapsule dsDrawCapsuleD +#endif + +// dynamics and collision objects +static dWorldID world = 0; + +static const dReal dt = 1/REAL(60.0); // 60 fps +// Water density if units are meters and kg +static const dReal density = 1000; + +// A long skinny thing +static dVector3 sides = {2,.5,.25}; +// Initial angular velocity +static dVector3 omega = {5,1,2}; +static dVector3 torque = {0,10,0}; +static dBodyID noGyroBody; +static dBodyID expGyroBody; +static dBodyID impGyroBody; + +// start simulation - set viewpoint + +static void start() +{ + dAllocateODEDataForThread(dAllocateMaskAll); + + static float xyz[3] = {0,-4.0f,3.0f}; + static float hpr[3] = {90.0000,-15.0000,0.0000}; + dsSetViewpoint (xyz,hpr); + printf ("Press:\n" + "\t'a' to apply a torque\n" + "\t'r' to reset simulation.\n"); +} + +/** + Delete the bodies, etc. +*/ +static void clear() +{ + if (world) dWorldDestroy (world); + world = 0; +} + + + +/** + Cleanup if necessary and rebuild the + world. +*/ +static void reset() +{ + clear(); + + // create world + world = dWorldCreate(); + + // Calculate mass for a box; + dMass boxMass; + dMassSetBox(&boxMass,density,sides[0],sides[1],sides[2]); + + noGyroBody = dBodyCreate(world);// Conservation of ang-velocity + expGyroBody = dBodyCreate(world);// Explicit conservation of ang-momentum + impGyroBody = dBodyCreate(world);// Implicit conservation of ang-momentum + + dBodySetMass( noGyroBody , &boxMass ); + dBodySetMass( expGyroBody, &boxMass ); + dBodySetMass( impGyroBody, &boxMass ); + + // Try to avoid collisions. + dReal sep = dCalcVectorLength3(sides); + dBodySetPosition( noGyroBody , -sep, 0, sep); + dBodySetPosition( expGyroBody, 0, 0, sep); + dBodySetPosition( impGyroBody, sep, 0, sep); + + // Set the initial angular velocity + dBodySetAngularVel( noGyroBody , omega[0], omega[1], omega[2]); + dBodySetAngularVel( expGyroBody, omega[0], omega[1], omega[2]); + dBodySetAngularVel( impGyroBody, omega[0], omega[1], omega[2]); + + dBodySetGyroscopicMode( noGyroBody, 0); + // We compute this ourselves using the math + // that was in the old stepper. + dBodySetGyroscopicMode(expGyroBody, 0); + // Keep things from crashing by limiting + // the angular speed of the explicit body. + // Note that this isn't necessary for + // the other two bodies. + dBodySetMaxAngularSpeed( expGyroBody, 40 ); +} + +static void command (int cmd) +{ + switch (cmd) { + case 'a': case 'A': + dBodyAddTorque( noGyroBody, torque[0], torque[1], torque[2]); + dBodyAddTorque(expGyroBody, torque[0], torque[1], torque[2]); + dBodyAddTorque(impGyroBody, torque[0], torque[1], torque[2]); + break; + case 'r': case 'R': + reset(); + break; + } + +} + +/** + This is the explicit computation of + gyroscopic forces. +*/ +static void expStep(dBodyID body) +{ + // Explicit computation + dMatrix3 I,tmp; + dMass m; + dBodyGetMass(body,&m); + const dReal* R = dBodyGetRotation(body); + // compute inertia tensor in global frame + dMultiply2_333 (tmp,m.I,R); + dMultiply0_333 (I,R,tmp); + // compute explicit rotational force + // we treat 'tmp'like a vector, but that's okay. + const dReal* w = dBodyGetAngularVel(body); + dMultiply0_331 (tmp,I,w); + dVector3 tau; + dCalcVectorCross3(tau,tmp,w); + dBodyAddTorque(body,tau[0],tau[1],tau[2]); +} + + +// simulation loop +static void simLoop (int pause) +{ + if (!pause) { + expStep(expGyroBody); + dWorldStep (world,dt); + } + + dsSetTexture (DS_WOOD); + dsSetColor(1,0,0); + dsDrawBox(dBodyGetPosition(noGyroBody ),dBodyGetRotation(noGyroBody ),sides); + dsSetColor(1,1,0); + dsDrawBox(dBodyGetPosition(expGyroBody),dBodyGetRotation(expGyroBody),sides); + dsSetColor(0,1,0); + dsDrawBox(dBodyGetPosition(impGyroBody),dBodyGetRotation(impGyroBody),sides); +} + + +int main (int argc, char **argv) +{ + // setup pointers to drawstuff callback functions + dsFunctions fn; + fn.version = DS_VERSION; + fn.start = &start; + fn.step = &simLoop; + fn.command = &command; + fn.stop = 0; + fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; + + dInitODE2(0); + reset(); + + // run simulation + dsSimulationLoop (argc,argv,352,288,&fn); + + clear(); + dCloseODE(); + return 0; +} diff -Nru ode-0.11.1/ode/demo/demo_gyroscopic.cpp ode-0.14/ode/demo/demo_gyroscopic.cpp --- ode-0.11.1/ode/demo/demo_gyroscopic.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_gyroscopic.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -1,3 +1,25 @@ +/************************************************************************* + * * + * 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 #include #include "texturepath.h" @@ -31,7 +53,7 @@ #define MAX_CONTACTS 4 -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { // for drawing the contact points dMatrix3 RI; @@ -66,6 +88,9 @@ static float xyz[3] = {4.777f, -2.084f, 2.18f}; static float hpr[3] = {153.0f, -14.5f, 0.0f}; dsSetViewpoint (xyz,hpr); + printf ("Orange top approximates conservation of angular momentum\n"); + printf ("Green top uses conservation of angular velocity\n"); + printf ("---\n"); printf ("SPACE to reset\n"); printf ("A to tilt the tops.\n"); printf ("T to toggle showing the contact points.\n"); @@ -156,8 +181,8 @@ top1->setPosition(0.8f, -2, 2); top2->setPosition(0.8f, 2, 2); - top1->setAngularVel(0,0,5); - top2->setAngularVel(0,0,5); + top1->setAngularVel(1,0,7); + top2->setAngularVel(1,0,7); top1->setLinearVel(0,0.2f,0); top2->setLinearVel(0,0.2f,0); diff -Nru ode-0.11.1/ode/demo/demo_heightfield.cpp ode-0.14/ode/demo/demo_heightfield.cpp --- ode-0.11.1/ode/demo/demo_heightfield.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_heightfield.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -1,761 +1,713 @@ -/************************************************************************* - * * - * 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 -#include -#include "texturepath.h" -#include "bunny_geom.h" - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif - - -#define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians - -int g_allow_trimesh; - -// Our heightfield geom -dGeomID gheight; - - - -// Heightfield dimensions - -#define HFIELD_WSTEP 15 // Vertex count along edge >= 2 -#define HFIELD_DSTEP 31 - -#define HFIELD_WIDTH REAL( 4.0 ) -#define HFIELD_DEPTH REAL( 8.0 ) - -#define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) ) -#define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) ) - - - -//<---- Convex Object -dReal planes[]= // planes for a cube - { - 1.0f ,0.0f ,0.0f ,0.25f, - 0.0f ,1.0f ,0.0f ,0.25f, - 0.0f ,0.0f ,1.0f ,0.25f, - 0.0f ,0.0f ,-1.0f,0.25f, - 0.0f ,-1.0f,0.0f ,0.25f, - -1.0f,0.0f ,0.0f ,0.25f - /* - 1.0f ,0.0f ,0.0f ,2.0f, - 0.0f ,1.0f ,0.0f ,1.0f, - 0.0f ,0.0f ,1.0f ,1.0f, - 0.0f ,0.0f ,-1.0f,1.0f, - 0.0f ,-1.0f,0.0f ,1.0f, - -1.0f,0.0f ,0.0f ,0.0f - */ - }; -const unsigned int planecount=6; - -dReal points[]= // points for a cube - { - 0.25f,0.25f,0.25f, // point 0 - -0.25f,0.25f,0.25f, // point 1 - - 0.25f,-0.25f,0.25f, // point 2 - -0.25f,-0.25f,0.25f,// point 3 - - 0.25f,0.25f,-0.25f, // point 4 - -0.25f,0.25f,-0.25f,// point 5 - - 0.25f,-0.25f,-0.25f,// point 6 - -0.25f,-0.25f,-0.25f,// point 7 - }; -const unsigned int pointcount=8; -unsigned int polygons[] = //Polygons for a cube (6 squares) - { - 4,0,2,6,4, // positive X - 4,1,0,4,5, // positive Y - 4,0,1,3,2, // positive Z - 4,3,1,5,7, // negative X - 4,2,3,7,6, // negative Y - 4,5,4,6,7, // negative Z - }; -//----> Convex Object - -// select correct drawing functions - -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#define dsDrawSphere dsDrawSphereD -#define dsDrawCylinder dsDrawCylinderD -#define dsDrawCapsule dsDrawCapsuleD -#define dsDrawConvex dsDrawConvexD -#define dsDrawTriangle dsDrawTriangleD -#endif - - -// some constants - -#define NUM 100 // max number of objects -#define DENSITY (5.0) // density of all objects -#define GPB 3 // maximum number of geometries per body -#define MAX_CONTACTS 64 // maximum number of contact points per body - - -// dynamics and collision objects - -struct MyObject { - dBodyID body; // the body - dGeomID geom[GPB]; // geometries representing this body - - // Trimesh only - double buffered matrices for 'last transform' setup - dReal matrix_dblbuff[ 16 * 2 ]; - int last_matrix_index; -}; - -static int num=0; // number of objects in simulation -static int nextobj=0; // next object to recycle if num==NUM -static dWorldID world; -static dSpaceID space; -static MyObject obj[NUM]; -static dJointGroupID contactgroup; -static int selected = -1; // selected object -static int show_aabb = 0; // show geom AABBs? -static int show_contacts = 0; // show contact points? -static int random_pos = 1; // drop objects from random position? -static int write_world = 0; - - - - -//============================ - -dGeomID TriMesh1; -dGeomID TriMesh2; -//static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data - -//============================ - - -dReal heightfield_callback( void* pUserData, int x, int z ) -{ - dIASSERT( x < HFIELD_WSTEP ); - dIASSERT( z < HFIELD_DSTEP ); - - dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 ); - dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 ); - - // Create an interesting 'hump' shape - dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) ); - - return h; -} - - - - -// this is called by dSpaceCollide when two objects in space are -// potentially colliding. - -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i; - // if (o1->body && o2->body) return; - - // exit without doing anything if the two bodies are connected by a joint - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - - dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box - for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; -} - - -// called when a key pressed - -static void command (int cmd) -{ - size_t i; - int j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - - - // - // Geom Creation - // - - if ( cmd == 'b' || cmd == 's' || cmd == 'c' || ( cmd == 'm' && g_allow_trimesh ) || - cmd == 'x' || cmd == 'y' || cmd == 'v' ) - { - if ( num < NUM ) - { - i = num; - num++; - } - else - { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) - { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - (dRandReal()-0.5)*HFIELD_WIDTH*0.75, - (dRandReal()-0.5)*HFIELD_DEPTH*0.75, - dRandReal() + 2 ); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,maxheight+1,0); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*) i); - - if (cmd == 'b') - { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') - { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - //<---- Convex Object - else if (cmd == 'v') - { - dMassSetBox (&m,DENSITY,0.25,0.25,0.25); - obj[i].geom[0] = dCreateConvex (space, - planes, - planecount, - points, - pointcount, - polygons); - } - //----> Convex Object - else if (cmd == 'y') - { - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } - else if (cmd == 's') - { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'm' && g_allow_trimesh) - { - dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); - dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, - &Indices[0], IndexCount, 3 * sizeof(dTriIndex)); - - obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); - - dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); - printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); - dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); - dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); - } - else if (cmd == 'x') - { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } - else if (cmd == '1') { - write_world = 1; - } -} - - -// draw a geom - -void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) -{ - int i; - - if (!g) return; - if (!pos) pos = dGeomGetPosition (g); - if (!R) R = dGeomGetRotation (g); - - int type = dGeomGetClass (g); - if (type == dBoxClass) { - dVector3 sides; - dGeomBoxGetLengths (g,sides); - dsDrawBox (pos,R,sides); - } - else if (type == dSphereClass) { - dsDrawSphere (pos,R,dGeomSphereGetRadius (g)); - } - else if (type == dCapsuleClass) { - dReal radius,length; - dGeomCapsuleGetParams (g,&radius,&length); - dsDrawCapsule (pos,R,length,radius); - } - //<---- Convex Object - else if (type == dConvexClass) - { - //dVector3 sides={0.50,0.50,0.50}; - dsDrawConvex(pos,R,planes, - planecount, - points, - pointcount, - polygons); - } - //----> Convex Object - else if (type == dCylinderClass) { - dReal radius,length; - dGeomCylinderGetParams (g,&radius,&length); - dsDrawCylinder (pos,R,length,radius); - } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } - - if (show_aabb) { - // draw the bounding box for this geom - dReal aabb[6]; - dGeomGetAABB (g,aabb); - dVector3 bbpos; - for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); - dVector3 bbsides; - for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2]; - dMatrix3 RI; - dRSetIdentity (RI); - dsSetColorAlpha (1,0,0,0.5); - dsDrawBox (bbpos,RI,bbsides); - } - -} - -// simulation loop - -static void simLoop (int pause) -{ - int i,j; - - dsSetColor (0,0,2); - - dSpaceCollide (space,0,&nearCallback); - - //if (!pause) dWorldStep (world,0.05); - //if (!pause) dWorldQuickStep (world,0.05); - if (!pause) dWorldStepFast1 (world,0.05, 5); - - - if (write_world) { - FILE *f = fopen ("state.dif","wt"); - if (f) { - dWorldExportDIF (world,f,"X"); - fclose (f); - } - write_world = 0; - } - - // remove all contact joints - dJointGroupEmpty (contactgroup); - - - - const dReal* pReal = dGeomGetPosition( gheight ); - - const dReal* RReal = dGeomGetRotation( gheight ); - - // - // Draw Heightfield - // - - // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode. - int ox = (int) ( -HFIELD_WIDTH/2 ); - int oz = (int) ( -HFIELD_DEPTH/2 ); - -// for ( int tx = -1; tx < 2; ++tx ) -// for ( int tz = -1; tz < 2; ++tz ) - { - dsSetColorAlpha (0.5,1,0.5,0.5); - dsSetTexture( DS_WOOD ); - - for ( int i = 0; i < HFIELD_WSTEP - 1; ++i ) - for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) - { - dReal a[3], b[3], c[3], d[3]; - - a[ 0 ] = ox + ( i ) * HFIELD_WSAMP; - a[ 1 ] = heightfield_callback( NULL, i, j ); - a[ 2 ] = oz + ( j ) * HFIELD_DSAMP; - - b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; - b[ 1 ] = heightfield_callback( NULL, i + 1, j ); - b[ 2 ] = oz + ( j ) * HFIELD_DSAMP; - - c[ 0 ] = ox + ( i ) * HFIELD_WSAMP; - c[ 1 ] = heightfield_callback( NULL, i, j + 1 ); - c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; - - d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; - d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 ); - d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; - - dsDrawTriangle( pReal, RReal, a, c, b, 1 ); - dsDrawTriangle( pReal, RReal, b, c, d, 1 ); - } - } - - - - - - dsSetColor (1,1,0); - dsSetTexture (DS_WOOD); - for (i=0; i +#include +#include "texturepath.h" +#include "bunny_geom.h" + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + + +#define DEGTORAD 0.01745329251994329577f //!< PI / 180.0, convert degrees to radians + +int g_allow_trimesh; + +// Our heightfield geom +dGeomID gheight; + + + +// Heightfield dimensions + +#define HFIELD_WSTEP 15 // Vertex count along edge >= 2 +#define HFIELD_DSTEP 31 + +#define HFIELD_WIDTH REAL( 4.0 ) +#define HFIELD_DEPTH REAL( 8.0 ) + +#define HFIELD_WSAMP ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) ) +#define HFIELD_DSAMP ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) ) + + + +//<---- Convex Object +dReal planes[]= // planes for a cube + { + 1.0f ,0.0f ,0.0f ,0.25f, + 0.0f ,1.0f ,0.0f ,0.25f, + 0.0f ,0.0f ,1.0f ,0.25f, + 0.0f ,0.0f ,-1.0f,0.25f, + 0.0f ,-1.0f,0.0f ,0.25f, + -1.0f,0.0f ,0.0f ,0.25f + /* + 1.0f ,0.0f ,0.0f ,2.0f, + 0.0f ,1.0f ,0.0f ,1.0f, + 0.0f ,0.0f ,1.0f ,1.0f, + 0.0f ,0.0f ,-1.0f,1.0f, + 0.0f ,-1.0f,0.0f ,1.0f, + -1.0f,0.0f ,0.0f ,0.0f + */ + }; +const unsigned int planecount=6; + +dReal points[]= // points for a cube + { + 0.25f,0.25f,0.25f, // point 0 + -0.25f,0.25f,0.25f, // point 1 + + 0.25f,-0.25f,0.25f, // point 2 + -0.25f,-0.25f,0.25f,// point 3 + + 0.25f,0.25f,-0.25f, // point 4 + -0.25f,0.25f,-0.25f,// point 5 + + 0.25f,-0.25f,-0.25f,// point 6 + -0.25f,-0.25f,-0.25f,// point 7 + }; +const unsigned int pointcount=8; +unsigned int polygons[] = //Polygons for a cube (6 squares) + { + 4,0,2,6,4, // positive X + 4,1,0,4,5, // positive Y + 4,0,1,3,2, // positive Z + 4,3,1,5,7, // negative X + 4,2,3,7,6, // negative Y + 4,5,4,6,7, // negative Z + }; +//----> Convex Object + +// select correct drawing functions + +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCapsule dsDrawCapsuleD +#define dsDrawConvex dsDrawConvexD +#define dsDrawTriangle dsDrawTriangleD +#endif + + +// some constants + +#define NUM 100 // max number of objects +#define DENSITY (5.0) // density of all objects +#define GPB 3 // maximum number of geometries per body +#define MAX_CONTACTS 64 // maximum number of contact points per body + + +// dynamics and collision objects + +struct MyObject { + dBodyID body; // the body + dGeomID geom[GPB]; // geometries representing this body + + // Trimesh only - double buffered matrices for 'last transform' setup + dReal matrix_dblbuff[ 16 * 2 ]; + int last_matrix_index; +}; + +static int num=0; // number of objects in simulation +static int nextobj=0; // next object to recycle if num==NUM +static dWorldID world; +static dSpaceID space; +static MyObject obj[NUM]; +static dJointGroupID contactgroup; +static int selected = -1; // selected object +static int show_aabb = 0; // show geom AABBs? +static int show_contacts = 0; // show contact points? +static int random_pos = 1; // drop objects from random position? +static int write_world = 0; + + + + +//============================ + +dGeomID TriMesh1; +dGeomID TriMesh2; +//static dTriMeshDataID TriData1, TriData2; // reusable static trimesh data + +//============================ + + +dReal heightfield_callback( void*, int x, int z ) +{ + dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 ); + dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 ); + + // Create an interesting 'hump' shape + dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) ); + + return h; +} + + + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *, dGeomID o1, dGeomID o2) +{ + int i; + // if (o1->body && o2->body) return; + + // exit without doing anything if the two bodies are connected by a joint + dBodyID b1 = dGeomGetBody(o1); + dBodyID b2 = dGeomGetBody(o2); + if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact)) + return; + + dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box + for (i=0; i= 'A' && c <= 'Z') return c - ('a'-'A'); + else return c; +} + + +// called when a key pressed + +static void command(int cmd) +{ + size_t i; + int j,k; + dReal sides[3]; + dMass m; + bool setBody = false; + + cmd = locase (cmd); + + + // + // Geom Creation + // + + if ( cmd == 'b' || cmd == 's' || cmd == 'c' || ( cmd == 'm' && g_allow_trimesh ) || + cmd == 'x' || cmd == 'y' || cmd == 'v' ) { + + if ( num < NUM ) { + i = num; + num++; + } else { + i = nextobj++; + nextobj %= num; + + // destroy the body and geoms for slot i + dBodyDestroy(obj[i].body); + obj[i].body = 0; + + for (k=0; k < GPB; k++) + if (obj[i].geom[k]) { + dGeomDestroy(obj[i].geom[k]); + obj[i].geom[k] = 0; + } + } + + obj[i].body = dBodyCreate(world); + for (k=0; k<3; k++) + sides[k] = dRandReal()*0.5+0.1; + + dMatrix3 R; + if (random_pos) { + dBodySetPosition(obj[i].body, + (dRandReal()-0.5)*HFIELD_WIDTH*0.75, + (dRandReal()-0.5)*HFIELD_DEPTH*0.75, + dRandReal() + 2 ); + dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + } else { + dReal maxheight = 0; + for (k=0; k maxheight) + maxheight = pos[2]; + } + dBodySetPosition(obj[i].body, 0,maxheight+1,0); + dRFromAxisAndAngle(R,0,0,1,dRandReal()*10.0-5.0); + } + + dBodySetRotation(obj[i].body,R); + + if (cmd == 'b') { + + dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]); + obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]); + + } else if (cmd == 'c') { + + sides[0] *= 0.5; + dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCapsule(space,sides[0],sides[1]); + + } else if (cmd == 'v') { + + dMassSetBox (&m,DENSITY,0.25,0.25,0.25); + obj[i].geom[0] = dCreateConvex(space, + planes, + planecount, + points, + pointcount, + polygons); + + } else if (cmd == 'y') { + + dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]); + + } else if (cmd == 's') { + + sides[0] *= 0.5; + dMassSetSphere(&m,DENSITY,sides[0]); + obj[i].geom[0] = dCreateSphere(space,sides[0]); + + } else if (cmd == 'm' && g_allow_trimesh) { + + dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); + dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, + &Indices[0], IndexCount, 3 * sizeof(dTriIndex)); + + obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); + + dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); + printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); + dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); + dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); + + } else if (cmd == 'x') { + + setBody = 1; + // start accumulating masses for the composite geometries + dMass m2; + dMassSetZero (&m); + + dReal dpos[GPB][3]; // delta-positions for composite geometries + dMatrix3 drot[GPB]; + + // set random delta positions + for (j=0; j= num) + selected = 0; + if (selected < -1) + selected = 0; + + } else if (cmd == 'd' && selected >= 0 && selected < num) { + + dBodyDisable(obj[selected].body); + + } else if (cmd == 'e' && selected >= 0 && selected < num) { + + dBodyEnable(obj[selected].body); + + } else if (cmd == 'a') { + + show_aabb = !show_aabb; + + } else if (cmd == 't') { + + show_contacts = !show_contacts; + + } else if (cmd == 'r') { + + random_pos = !random_pos; + + } else if (cmd == '1') { + + write_world = 1; + + } +} + + +// draw a geom + +void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb) +{ + if (!g) + return; + if (!pos) + pos = dGeomGetPosition(g); + if (!R) + R = dGeomGetRotation(g); + + int type = dGeomGetClass(g); + if (type == dBoxClass) { + + dVector3 sides; + dGeomBoxGetLengths(g,sides); + dsDrawBox(pos,R,sides); + + } else if (type == dSphereClass) { + + dsDrawSphere(pos,R,dGeomSphereGetRadius(g)); + + } else if (type == dCapsuleClass) { + + dReal radius,length; + dGeomCapsuleGetParams(g,&radius,&length); + dsDrawCapsule(pos,R,length,radius); + + } else if (type == dConvexClass) { + + //dVector3 sides={0.50,0.50,0.50}; + dsDrawConvex(pos,R,planes, + planecount, + points, + pointcount, + polygons); + + } else if (type == dCylinderClass) { + + dReal radius,length; + dGeomCylinderGetParams(g,&radius,&length); + dsDrawCylinder(pos,R,length,radius); + + } else if (type == dTriMeshClass) { + + dTriIndex* Indices = (dTriIndex*)::Indices; + + // assume all trimeshes are drawn as bunnies + for (int ii = 0; ii < IndexCount / 3; ii++) { + const dReal v[9] = { // explicit conversion from float to dReal + Vertices[Indices[ii * 3 + 0] * 3 + 0], + Vertices[Indices[ii * 3 + 0] * 3 + 1], + Vertices[Indices[ii * 3 + 0] * 3 + 2], + Vertices[Indices[ii * 3 + 1] * 3 + 0], + Vertices[Indices[ii * 3 + 1] * 3 + 1], + Vertices[Indices[ii * 3 + 1] * 3 + 2], + Vertices[Indices[ii * 3 + 2] * 3 + 0], + Vertices[Indices[ii * 3 + 2] * 3 + 1], + Vertices[Indices[ii * 3 + 2] * 3 + 2] + }; + dsDrawTriangle(pos, R, &v[0], &v[3], &v[6], 1); + } + + } else if (type == dHeightfieldClass) { + + // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode. + int ox = (int) ( -HFIELD_WIDTH/2 ); + int oz = (int) ( -HFIELD_DEPTH/2 ); + + // for ( int tx = -1; tx < 2; ++tx ) + // for ( int tz = -1; tz < 2; ++tz ) + dsSetColorAlpha (0.5,1,0.5,0.5); + dsSetTexture( DS_WOOD ); + + for ( int i = 0; i < HFIELD_WSTEP - 1; ++i ) + for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) { + dReal a[3], b[3], c[3], d[3]; + + a[ 0 ] = ox + ( i ) * HFIELD_WSAMP; + a[ 1 ] = heightfield_callback( NULL, i, j ); + a[ 2 ] = oz + ( j ) * HFIELD_DSAMP; + + b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; + b[ 1 ] = heightfield_callback( NULL, i + 1, j ); + b[ 2 ] = oz + ( j ) * HFIELD_DSAMP; + + c[ 0 ] = ox + ( i ) * HFIELD_WSAMP; + c[ 1 ] = heightfield_callback( NULL, i, j + 1 ); + c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; + + d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP; + d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 ); + d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP; + + dsDrawTriangle( pos, R, a, c, b, 1 ); + dsDrawTriangle( pos, R, b, c, d, 1 ); + } + + } + + if (show_aabb) { + // draw the bounding box for this geom + dReal aabb[6]; + dGeomGetAABB(g,aabb); + dVector3 bbpos; + for (int i=0; i<3; i++) + bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]); + dVector3 bbsides; + for (int i=0; i<3; i++) + bbsides[i] = aabb[i*2+1] - aabb[i*2]; + dMatrix3 RI; + dRSetIdentity(RI); + dsSetColorAlpha(1,0,0,0.5); + dsDrawBox(bbpos,RI,bbsides); + } + +} + +// simulation loop + +static void simLoop (int pause) +{ + int i,j; + + dSpaceCollide(space,0,&nearCallback); + + if (!pause) + dWorldQuickStep(world,0.05); + + + if (write_world) { + FILE *f = fopen ("state.dif","wt"); + if (f) { + dWorldExportDIF(world,f,"X"); + fclose (f); + } + write_world = 0; + } + + // remove all contact joints + dJointGroupEmpty(contactgroup); + + + + // + // Draw Heightfield + // + + drawGeom(gheight, 0, 0, 0); + + + + dsSetColor (1,1,0); + dsSetTexture (DS_WOOD); + for (i=0; i -#include -#include -#include -#include "texturepath.h" - - -#ifdef _MSC_VER -#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints -#endif -// select correct drawing functions -#ifdef dDOUBLE -#define dsDrawBox dsDrawBoxD -#endif - - -// physics parameters -#define BOX1_LENGTH 2 // Size along the X axis -#define BOX1_WIDTH 1 // Size along the Y axis -#define BOX1_HEIGHT 0.4 // Size along the Z axis (up) since gravity is (0,0,-10) -#define BOX2_LENGTH 0.2 -#define BOX2_WIDTH 0.1 -#define BOX2_HEIGHT 0.4 -#define Mass1 10 -#define Mass2 0.1 - - -#define PRISMATIC_ONLY 1 -#define ROTOIDE_ONLY 2 -int flag = 0; - - -//camera view -static float xyz[3] = {2.0f,-3.5f,2.0000f}; -static float hpr[3] = {90.000f,-25.5000f,0.0000f}; -//world,space,body & geom -static dWorldID world; -static dSpaceID space; -static dSpaceID box1_space; -static dBodyID box1_body[1]; -static dBodyID box2_body[1]; -static dJointID joint[1]; -static dJointGroupID contactgroup; -static dGeomID ground; -static dGeomID box1[1]; -static dGeomID box2[1]; - - -//collision detection -static void nearCallback (void *data, dGeomID o1, dGeomID o2) -{ - int i,n; - - dBodyID b1 = dGeomGetBody(o1); - dBodyID b2 = dGeomGetBody(o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; - const int N = 10; - dContact contact[N]; - n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); - if (n > 0) - { - for (i=0; i= 2 ) - { - for (int i=1; i < argc; ++i) - { - if ( 0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) ) - Help(argv); - - if (!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) ) - flag = PRISMATIC_ONLY; - - if (!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) ) - flag = ROTOIDE_ONLY; - - if (0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i])) - { - int j = i+1; - if ( j+1 > argc || // Check if we have enough arguments - argv[j] == '\0' || // We should have a path here - argv[j][0] == '-' ) // We should have a path not a command line - Help(argv); - else - fn.path_to_textures = argv[++i]; // Increase i since we use this argument - } - } - } - - dInitODE2(0); - - // create world - world = dWorldCreate(); - space = dHashSpaceCreate (0); - contactgroup = dJointGroupCreate (0); - dWorldSetGravity (world,0,0,-10); - ground = dCreatePlane (space,0,0,1,0); - - //create two boxes - dMass m; - box1_body[0] = dBodyCreate (world); - dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); - dMassAdjust (&m,Mass1); - dBodySetMass (box1_body[0],&m); - box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); - dGeomSetBody (box1[0],box1_body[0]); - - box2_body[0] = dBodyCreate (world); - dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); - dMassAdjust (&m,Mass2); - dBodySetMass (box2_body[0],&m); - box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); - dGeomSetBody (box2[0],box2_body[0]); - - //set the initial positions of body1 and body2 - dMatrix3 R; - dRSetIdentity(R); - dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0); - dBodySetRotation (box1_body[0], R); - - dBodySetPosition (box2_body[0], - 2.1, - 0.0, - BOX2_HEIGHT/2.0); - dBodySetRotation (box2_body[0], R); - - - //set PR joint - joint[0] = dJointCreatePR(world,0); - dJointAttach (joint[0],box1_body[0],box2_body[0]); - switch (flag) - { - case PRISMATIC_ONLY: - dJointSetPRAnchor (joint[0], - 2.1, - 0.0, - BOX2_HEIGHT/2.0); - dJointSetPRParam (joint[0],dParamLoStop, -0.5); - dJointSetPRParam (joint[0],dParamHiStop, 1.5); - break; - - case ROTOIDE_ONLY: - dJointSetPRAnchor (joint[0], - 0.0, - 0.0, - BOX2_HEIGHT/2.0); - dJointSetPRParam (joint[0],dParamLoStop, 0.0); - dJointSetPRParam (joint[0],dParamHiStop, 0.0); - break; - - default: - dJointSetPRAnchor (joint[0], - 1.1, - 0.0, - BOX2_HEIGHT/2.0); - dJointSetPRParam (joint[0],dParamLoStop, -0.5); - dJointSetPRParam (joint[0],dParamHiStop, 1.5); - break; - } - - dJointSetPRAxis1(joint[0],1,0,0); - dJointSetPRAxis2(joint[0],0,0,1); -// We position the 2 body -// The position of the rotoide joint is on the second body so it can rotate on itself -// and move along the X axis. -// With this anchor -// - A force in X will move only the body 2 inside the low and hi limit -// of the prismatic -// - A force in Y will make the 2 bodies to rotate around on the plane - - box1_space = dSimpleSpaceCreate (space); - dSpaceSetCleanup (box1_space,0); - dSpaceAdd(box1_space,box1[0]); - - // run simulation - dsSimulationLoop (argc,argv,400,300,&fn); - dJointGroupDestroy (contactgroup); - dSpaceDestroy (space); - dWorldDestroy (world); - dCloseODE(); - return 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. * + * * + *************************************************************************/ + +/* + +This file try to demonstrate how the PR joint is working. + +The axisP is draw in red and the axisR is in green + +*/ + + +#include +#include +#include +#include +#include "texturepath.h" + + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif +// select correct drawing functions +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#endif + + +// physics parameters +#define BOX1_LENGTH 2 // Size along the X axis +#define BOX1_WIDTH 1 // Size along the Y axis +#define BOX1_HEIGHT 0.4 // Size along the Z axis (up) since gravity is (0,0,-10) +#define BOX2_LENGTH 0.2 +#define BOX2_WIDTH 0.1 +#define BOX2_HEIGHT 0.4 +#define Mass1 10 +#define Mass2 0.1 + + +#define PRISMATIC_ONLY 1 +#define ROTOIDE_ONLY 2 +int flag = 0; + + +//camera view +static float xyz[3] = {2.0f,-3.5f,2.0000f}; +static float hpr[3] = {90.000f,-25.5000f,0.0000f}; +//world,space,body & geom +static dWorldID world; +static dSpaceID space; +static dSpaceID box1_space; +static dBodyID box1_body[1]; +static dBodyID box2_body[1]; +static dJointID joint[1]; +static dJointGroupID contactgroup; +static dGeomID ground; +static dGeomID box1[1]; +static dGeomID box2[1]; + + +//collision detection +static void nearCallback (void *, dGeomID o1, dGeomID o2) +{ + int i,n; + + dBodyID b1 = dGeomGetBody(o1); + dBodyID b2 = dGeomGetBody(o2); + if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return; + const int N = 10; + dContact contact[N]; + n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact)); + if (n > 0) + { + for (i=0; i= 2 ) + { + for (int i=1; i < argc; ++i) + { + if ( 0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) ) + Help(argv); + + if (!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) ) + flag = PRISMATIC_ONLY; + + if (!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) ) + flag = ROTOIDE_ONLY; + + if (0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i])) + { + int j = i+1; + if ( j+1 > argc || // Check if we have enough arguments + argv[j] == '\0' || // We should have a path here + argv[j][0] == '-' ) // We should have a path not a command line + Help(argv); + else + fn.path_to_textures = argv[++i]; // Increase i since we use this argument + } + } + } + + dInitODE2(0); + + // create world + world = dWorldCreate(); + space = dHashSpaceCreate (0); + contactgroup = dJointGroupCreate (0); + dWorldSetGravity (world,0,0,-10); + ground = dCreatePlane (space,0,0,1,0); + + //create two boxes + dMass m; + box1_body[0] = dBodyCreate (world); + dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); + dMassAdjust (&m,Mass1); + dBodySetMass (box1_body[0],&m); + box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT); + dGeomSetBody (box1[0],box1_body[0]); + + box2_body[0] = dBodyCreate (world); + dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); + dMassAdjust (&m,Mass2); + dBodySetMass (box2_body[0],&m); + box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT); + dGeomSetBody (box2[0],box2_body[0]); + + //set the initial positions of body1 and body2 + dMatrix3 R; + dRSetIdentity(R); + dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0); + dBodySetRotation (box1_body[0], R); + + dBodySetPosition (box2_body[0], + 2.1, + 0.0, + BOX2_HEIGHT/2.0); + dBodySetRotation (box2_body[0], R); + + + //set PR joint + joint[0] = dJointCreatePR(world,0); + dJointAttach (joint[0],box1_body[0],box2_body[0]); + switch (flag) + { + case PRISMATIC_ONLY: + dJointSetPRAnchor (joint[0], + 2.1, + 0.0, + BOX2_HEIGHT/2.0); + dJointSetPRParam (joint[0],dParamLoStop, -0.5); + dJointSetPRParam (joint[0],dParamHiStop, 1.5); + break; + + case ROTOIDE_ONLY: + dJointSetPRAnchor (joint[0], + 0.0, + 0.0, + BOX2_HEIGHT/2.0); + dJointSetPRParam (joint[0],dParamLoStop, 0.0); + dJointSetPRParam (joint[0],dParamHiStop, 0.0); + break; + + default: + dJointSetPRAnchor (joint[0], + 1.1, + 0.0, + BOX2_HEIGHT/2.0); + dJointSetPRParam (joint[0],dParamLoStop, -0.5); + dJointSetPRParam (joint[0],dParamHiStop, 1.5); + break; + } + + dJointSetPRAxis1(joint[0],1,0,0); + dJointSetPRAxis2(joint[0],0,0,1); +// We position the 2 body +// The position of the rotoide joint is on the second body so it can rotate on itself +// and move along the X axis. +// With this anchor +// - A force in X will move only the body 2 inside the low and hi limit +// of the prismatic +// - A force in Y will make the 2 bodies to rotate around on the plane + + box1_space = dSimpleSpaceCreate (space); + dSpaceSetCleanup (box1_space,0); + dSpaceAdd(box1_space,box1[0]); + + // run simulation + dsSimulationLoop (argc,argv,400,300,&fn); + dJointGroupDestroy (contactgroup); + dSpaceDestroy (space); + dWorldDestroy (world); + dCloseODE(); + return 0; +} + diff -Nru ode-0.11.1/ode/demo/demo_jointPU.cpp ode-0.14/ode/demo/demo_jointPU.cpp --- ode-0.11.1/ode/demo/demo_jointPU.cpp 2009-04-07 14:08:09.000000000 +0000 +++ ode-0.14/ode/demo/demo_jointPU.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -139,13 +139,10 @@ //collision detection -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { int i,n; - dBodyID b1 = dGeomGetBody (o1); - dBodyID b2 = dGeomGetBody (o2); - if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact) ) return; const int N = 10; dContact contact[N]; n = dCollide (o1,o2,N,&contact[0].geom,sizeof (dContact) ); @@ -286,6 +283,7 @@ case ',': case '<' : { dReal vel = joint->getParam (dParamVel3) - VEL_INC; joint->setParam (dParamVel3, vel); + joint->setParam (dParamFMax3, 2); std::cout<<"Velocity = "<' : { dReal vel = joint->getParam (dParamVel3) + VEL_INC; joint->setParam (dParamVel3, vel); + joint->setParam (dParamFMax3, 2); std::cout<<"Velocity = "< #include #include @@ -33,7 +55,7 @@ geom(*space, 0.2, 0.2, 0.2) { dMass mass; - mass.setBox(1, 0.2, 0.2, 0.2); + mass.setBox(10, 0.2, 0.2, 0.2); body.setMass(mass); geom.setData(this); geom.setBody(body); @@ -57,7 +79,7 @@ dReal px = (rand() / float(RAND_MAX)) * 2 - 1; dReal py = (rand() / float(RAND_MAX)) * 2 - 1; - dReal pz = 3; + dReal pz = 2.5; box->body.setPosition(px, py, pz); boxes.insert(box); @@ -80,7 +102,7 @@ } -void nearCallback(void *data, dGeomID g1, dGeomID g2) +void nearCallback(void *, dGeomID g1, dGeomID g2) { if (g1 == ground->id()) { queueRemoval(g2); @@ -113,19 +135,19 @@ simLoop(int pause) { if (!pause) { - const dReal timestep = 0.005; + const dReal timestep = 0.04; // this does a hard-coded circular motion animation static float t=0; t += timestep/4; if (t > 2*M_PI) t = 0; - dReal px = cos(t); - dReal py = sin(t); - dReal vx = -sin(t)/4; - dReal vy = cos(t)/4; - kbody->setPosition(px, py, .5); - kbody->setLinearVel(vx, vy, 0); + dVector3 next_pos = { dCos(t), dSin(t), REAL(0.5)}; + dVector3 vel; + // vel = (next_pos - cur_pos) / timestep + dSubtractVectors3(vel, next_pos, kbody->getPosition()); + dScaleVector3(vel, 1/timestep); + kbody->setLinearVel(vel); // end of hard-coded animation space->collide(0, nearCallback); diff -Nru ode-0.11.1/ode/demo/demo_motion.cpp ode-0.14/ode/demo/demo_motion.cpp --- ode-0.11.1/ode/demo/demo_motion.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_motion.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -1,3 +1,25 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + /* This demo shows how to use dContactMotionN in a lifting platform. */ @@ -113,9 +135,9 @@ geom's velocity against the contact normal and fdir1, fdir2 (obtained with dPlaneSpace()). Assuming moving geom=g2 (so the contact joint is in the moving geom's reference frame): - motion1 = dDOT(fdir1, vel); - motion2 = dDOT(fdir2, vel); - motionN = dDOT(normal, vel); + motion1 = dCalcVectorDot3(fdir1, vel); + motion2 = dCalcVectorDot3(fdir2, vel); + motionN = dCalcVectorDot3(normal, vel); For geom=g1 just negate motionN and motion2. fdir1 is an arbitrary vector, so there's no need to negate motion1. @@ -138,9 +160,9 @@ if (contact.geom.g1 == platform) inv = -1; - contact.surface.motion1 = dDOT(mov2_vel, motiondir1); - contact.surface.motion2 = inv * dDOT(mov2_vel, motiondir2); - contact.surface.motionN = inv * dDOT(mov2_vel, contact.geom.normal); + contact.surface.motion1 = dCalcVectorDot3(mov2_vel, motiondir1); + contact.surface.motion2 = inv * dCalcVectorDot3(mov2_vel, motiondir2); + contact.surface.motionN = inv * dCalcVectorDot3(mov2_vel, contact.geom.normal); } @@ -148,7 +170,7 @@ -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { dMatrix3 RI; static const dReal ss[3] = {0.02,0.02,0.02}; @@ -241,9 +263,13 @@ if (nextobj >= num) nextobj = 0; // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); + if (obj[i].body) { + dBodyDestroy (obj[i].body); + } for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); + if (obj[i].geom[k]) { + dGeomDestroy (obj[i].geom[k]); + } } memset (&obj[i],0,sizeof(obj[i])); } @@ -293,7 +319,9 @@ if (!setBody) for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body); + if (obj[i].geom[k]) { + dGeomSetBody (obj[i].geom[k],obj[i].body); + } } dBodySetMass (obj[i].body,&m); @@ -349,19 +377,7 @@ dGeomCylinderGetParams (g,&radius,&length); dsDrawCylinder (pos,R,length,radius); } - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); - } + if (show_body) { dBodyID body = dGeomGetBody(g); if (body) { @@ -462,9 +478,17 @@ // create world dInitODE(); world = dWorldCreate(); - //space = dHashSpaceCreate (0); + +#if 1 + space = dHashSpaceCreate (0); +#elif 0 dVector3 center = {0,0,0}, extents = { 100, 100, 100}; space = dQuadTreeSpaceCreate(0, center, extents, 5); +#elif 0 + space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ); +#else + space = dSimpleSpaceCreate(0); +#endif contactgroup = dJointGroupCreate (0); dWorldSetGravity (world,0,0,-0.5); @@ -476,6 +500,7 @@ dWorldSetContactSurfaceLayer (world,0.001); ground = dCreatePlane (space,0,0,1,0); + memset (obj,0,sizeof(obj)); // create lift platform diff -Nru ode-0.11.1/ode/demo/demo_motor.cpp ode-0.14/ode/demo/demo_motor.cpp --- ode-0.11.1/ode/demo/demo_motor.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_motor.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -97,7 +97,7 @@ -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { // exit without doing anything if the two bodies are connected by a joint dBodyID b1 = dGeomGetBody(o1); diff -Nru ode-0.11.1/ode/demo/demo_moving_convex.cpp ode-0.14/ode/demo/demo_moving_convex.cpp --- ode-0.11.1/ode/demo/demo_moving_convex.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_moving_convex.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -75,7 +75,7 @@ // this is called by dSpaceCollide when two objects in space are // potentially colliding. -static void nearCallback( void *data, dGeomID o1, dGeomID o2 ) +static void nearCallback( void *, dGeomID o1, dGeomID o2 ) { int i; // if (o1->body && o2->body) return; @@ -144,12 +144,12 @@ // called when a key pressed static void command( int cmd ) { - int i,j,k; + int i,k; dReal sides[3]; dMass m; cmd = locase( cmd ); - if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' ) + if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' || cmd == 'y') { if ( num < NUM ) { @@ -207,6 +207,10 @@ dMassSetCapsule( &m,DENSITY,3,sides[0],sides[1] ); obj[i].geom[0] = dCreateCapsule( space,sides[0],sides[1] ); } + else if (cmd == 'y') { + dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); + } else if ( cmd == 's' ) { sides[0] *= 0.5; @@ -293,6 +297,11 @@ { dsDrawSphere( pos,R,dGeomSphereGetRadius( g ) ); } + else if (type == dCylinderClass) { + dReal radius,length; + dGeomCylinderGetParams (g,&radius,&length); + dsDrawCylinder (pos,R,length,radius); + } else if ( type == dCapsuleClass ) { dReal radius,length; @@ -332,7 +341,7 @@ dsSetColor( 0,0,2 ); dSpaceCollide( space,0,&nearCallback ); - if ( !pause ) dWorldStepFast1( world,0.05, 5 ); + if ( !pause ) dWorldQuickStep( world,0.05 ); for ( int j = 0; j < dSpaceGetNumGeoms( space ); j++ ) { diff -Nru ode-0.11.1/ode/demo/demo_moving_trimesh.cpp ode-0.14/ode/demo/demo_moving_trimesh.cpp --- ode-0.11.1/ode/demo/demo_moving_trimesh.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_moving_trimesh.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -29,6 +29,84 @@ #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints #endif +//<---- Convex Object +static const dReal planes[] = // planes for a cube +{ + 1.0f ,0.0f ,0.0f ,0.25f, + 0.0f ,1.0f ,0.0f ,0.25f, + 0.0f ,0.0f ,1.0f ,0.25f, + 0.0f ,0.0f ,-1.0f,0.25f, + 0.0f ,-1.0f,0.0f ,0.25f, + -1.0f,0.0f ,0.0f ,0.25f + /* + 1.0f ,0.0f ,0.0f ,2.0f, + 0.0f ,1.0f ,0.0f ,1.0f, + 0.0f ,0.0f ,1.0f ,1.0f, + 0.0f ,0.0f ,-1.0f,1.0f, + 0.0f ,-1.0f,0.0f ,1.0f, + -1.0f,0.0f ,0.0f ,0.0f + */ +}; +static const unsigned int planecount=6; + +static const dReal points[] = // points for a cube +{ + 0.25f,0.25f,0.25f, + -0.25f,0.25f,0.25f, + + 0.25f,-0.25f,0.25f, + -0.25f,-0.25f,0.25f, + + 0.25f,0.25f,-0.25f, + -0.25f,0.25f,-0.25f, + + 0.25f,-0.25f,-0.25f, + -0.25f,-0.25f,-0.25f, +}; +static const unsigned int pointcount=8; + +static const unsigned int polygons[] = //Polygons for a cube (6 squares) + { + 4,0,2,6,4, // positive X + 4,1,0,4,5, // positive Y + 4,0,1,3,2, // positive Z + 4,3,1,5,7, // negative X + 4,2,3,7,6, // negative Y + 4,5,4,6,7, // negative Z + }; +//----> Convex Object + +int tmTriangles[] = +{ + 0,2,6, + 0,6,4, + 1,0,4, + 1,4,5, + 0,1,3, + 0,3,2, + 3,1,5, + 3,5,7, + 2,3,7, + 2,7,6, + 5,4,6, + 5,6,7 +}; + +float tmVertices[] = +{ + 0.25f,0.25f,0.25f, // point 0 + -0.25f,0.25f,0.25f, // point 1 + + 0.25f,-0.25f,0.25f, // point 2 + -0.25f,-0.25f,0.25f,// point 3 + + 0.25f,0.25f,-0.25f, // point 4 + -0.25f,0.25f,-0.25f,// point 5 + + 0.25f,-0.25f,-0.25f,// point 6 + -0.25f,-0.25f,-0.25f,// point 7 +}; + // select correct drawing functions #ifdef dDOUBLE @@ -38,6 +116,7 @@ #define dsDrawCapsule dsDrawCapsuleD #define dsDrawLine dsDrawLineD #define dsDrawTriangle dsDrawTriangleD +#define dsDrawConvex dsDrawConvexD #endif @@ -80,7 +159,7 @@ // this is called by dSpaceCollide when two objects in space are // potentially colliding. -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { int i; // if (o1->body && o2->body) return; @@ -128,6 +207,7 @@ printf (" y for cylinder.\n"); printf (" c for capsule.\n"); printf (" x for a composite object.\n"); + printf (" v for a convex object.\n"); printf (" m for a trimesh.\n"); printf ("To select an object, press space.\n"); printf ("To disable the selected object, press d.\n"); @@ -149,168 +229,177 @@ static void command (int cmd) { - int i,j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' ) { - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } + int i,j,k; + dReal sides[3]; + dMass m; + bool setBody = false; + + cmd = locase (cmd); + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' || cmd == 'v') { + if (num < NUM) { + i = num; + num++; + } + else { + i = nextobj; + nextobj++; + if (nextobj >= num) nextobj = 0; + + // destroy the body and geoms for slot i + dBodyDestroy (obj[i].body); + for (k=0; k < GPB; k++) { + if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); + } + memset (&obj[i],0,sizeof(obj[i])); + } - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; + obj[i].body = dBodyCreate (world); + for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; - dMatrix3 R; - if (random_pos) { - dBodySetPosition (obj[i].body, - dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); - dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, - dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); - } - else { - dReal maxheight = 0; - for (k=0; k maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*)(size_t)i); + dMatrix3 R; + if (random_pos) { + dBodySetPosition (obj[i].body, + dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3); + dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + } + else { + dReal maxheight = 0; + for (k=0; k maxheight) maxheight = pos[2]; + } + dBodySetPosition (obj[i].body, 0,0,maxheight+1); + dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); + } + dBodySetRotation (obj[i].body,R); + dBodySetData (obj[i].body,(void*)(size_t)i); - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } - else if (cmd == 'y') { - sides[1] *= 0.5; - dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } + if (cmd == 'b') { + dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); + obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); + } + else if (cmd == 'c') { + sides[0] *= 0.5; + dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); + } else if (cmd == 'v') { + + dMassSetBox (&m,DENSITY,0.25,0.25,0.25); + obj[i].geom[0] = dCreateConvex(space, + planes, + planecount, + points, + pointcount, + polygons); + } + else if (cmd == 'y') { + sides[1] *= 0.5; + dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); + } else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'm') { - dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate(); - dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, - (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex)); - - obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0); - - // remember the mesh's dTriMeshDataID on its userdata for convenience. - dGeomSetData(obj[i].geom[0], new_tmdata); - - dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] ); - printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]); - dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]); - dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]); - } - else if (cmd == 'x') { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j= num) selected = 0; - if (selected < 0) selected = 0; - } - else if (cmd == 'd' && selected >= 0 && selected < num) { - dBodyDisable (obj[selected].body); - } - else if (cmd == 'e' && selected >= 0 && selected < num) { - dBodyEnable (obj[selected].body); - } - else if (cmd == 'a') { - show_aabb ^= 1; - } - else if (cmd == 't') { - show_contacts ^= 1; - } - else if (cmd == 'r') { - random_pos ^= 1; - } + if (cmd == ' ') { + selected++; + if (selected >= num) selected = 0; + if (selected < 0) selected = 0; + } + else if (cmd == 'd' && selected >= 0 && selected < num) { + dBodyDisable (obj[selected].body); + } + else if (cmd == 'e' && selected >= 0 && selected < num) { + dBodyEnable (obj[selected].body); + } + else if (cmd == 'a') { + show_aabb ^= 1; + } + else if (cmd == 't') { + show_contacts ^= 1; + } + else if (cmd == 'r') { + random_pos ^= 1; + } } @@ -340,20 +429,13 @@ dReal radius,length; dGeomCylinderGetParams (g,&radius,&length); dsDrawCylinder (pos,R,length,radius); - } - - else if (type == dGeomTransformClass) { - dGeomID g2 = dGeomTransformGetGeom (g); - const dReal *pos2 = dGeomGetPosition (g2); - const dReal *R2 = dGeomGetRotation (g2); - dVector3 actual_pos; - dMatrix3 actual_R; - dMULTIPLY0_331 (actual_pos,R,pos2); - actual_pos[0] += pos[0]; - actual_pos[1] += pos[1]; - actual_pos[2] += pos[2]; - dMULTIPLY0_333 (actual_R,R,R2); - drawGeom (g2,actual_pos,actual_R,0); + } else if (type == dConvexClass) { + //dVector3 sides={0.50,0.50,0.50}; + dsDrawConvex(pos,R,planes, + planecount, + points, + pointcount, + polygons); } if (show_aabb) { @@ -415,7 +497,7 @@ #endif //if (!pause) dWorldStep (world,0.05); - if (!pause) dWorldStepFast1 (world,0.05, 5); + if (!pause) dWorldQuickStep (world,0.05); for (int j = 0; j < dSpaceGetNumGeoms(space); j++){ dSpaceGetGeom(space, j); @@ -568,9 +650,20 @@ dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2); dGeomSetRotation(TriMesh2, Rotation);} + dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation(); + dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL); + dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading); + // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1); + dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading); + // run simulation dsSimulationLoop (argc,argv,352,288,&fn); + dThreadingImplementationShutdownProcessing(threading); + dThreadingFreeThreadPool(pool); + dWorldSetStepThreadingImplementation(world, NULL, NULL); + dThreadingFreeImplementation(threading); + dJointGroupDestroy (contactgroup); dSpaceDestroy (space); dWorldDestroy (world); diff -Nru ode-0.11.1/ode/demo/demo_ode.cpp ode-0.14/ode/demo/demo_ode.cpp --- ode-0.11.1/ode/demo/demo_ode.cpp 2009-01-28 03:43:22.000000000 +0000 +++ ode-0.14/ode/demo/demo_ode.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -155,10 +155,10 @@ dMakeRandomVector (b,3,1.0); dMakeRandomVector (c,3,1.0); - dCROSS (a1,=,b,c); + dCalcVectorCross3(a1,b,c); dSetZero (B,12); - dCROSSMAT (B,b,4,+,-); + dSetCrossMatrixPlus(B,b,4); dMultiply0 (a2,B,c,3,3,1); dReal diff = dMaxDifference(a1,a2,3,1); @@ -189,11 +189,11 @@ dMakeRandomVector (n1,3,1.0); for (j=0; j<3; j++) n2[j]=n1[j]; dNormalize3 (n2); - if (dFabs(dDOT(n2,n2) - 1.0) > tol) bad |= 1; + if (dFabs(dCalcVectorDot3(n2,n2) - 1.0) > tol) bad |= 1; if (dFabs(n2[0]/n1[0] - n2[1]/n1[1]) > tol) bad |= 2; if (dFabs(n2[0]/n1[0] - n2[2]/n1[2]) > tol) bad |= 4; if (dFabs(n2[1]/n1[1] - n2[2]/n1[2]) > tol) bad |= 8; - if (dFabs(dDOT(n2,n1) - dSqrt(dDOT(n1,n1))) > tol) bad |= 16; + if (dFabs(dCalcVectorDot3(n2,n1) - dSqrt(dCalcVectorDot3(n1,n1))) > tol) bad |= 16; if (bad) { printf ("\tFAILED (code=%x)\n",bad); return; @@ -225,11 +225,11 @@ dMakeRandomVector (n,3,1.0); dNormalize3 (n); dPlaneSpace (n,p,q); - if (fabs(dDOT(n,p)) > tol) bad = 1; - if (fabs(dDOT(n,q)) > tol) bad = 1; - if (fabs(dDOT(p,q)) > tol) bad = 1; - if (fabs(dDOT(p,p)-1) > tol) bad = 1; - if (fabs(dDOT(q,q)-1) > tol) bad = 1; + if (fabs(dCalcVectorDot3(n,p)) > tol) bad = 1; + if (fabs(dCalcVectorDot3(n,q)) > tol) bad = 1; + if (fabs(dCalcVectorDot3(p,q)) > tol) bad = 1; + if (fabs(dCalcVectorDot3(p,p)-1) > tol) bad = 1; + if (fabs(dCalcVectorDot3(q,q)-1) > tol) bad = 1; } printf ("\t%s\n", bad ? "FAILED" : "passed"); } @@ -285,38 +285,38 @@ dMakeRandomMatrix (C,3,3,1.0); dMakeRandomMatrix (x,3,1,1.0); - // dMULTIPLY0_331() - dMULTIPLY0_331 (a,B,x); + // dMultiply0_331() + dMultiply0_331 (a,B,x); dMultiply0 (a2,B,x,3,3,1); printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : "passed"); - // dMULTIPLY1_331() - dMULTIPLY1_331 (a,B,x); + // dMultiply1_331() + dMultiply1_331 (a,B,x); dMultiply1 (a2,B,x,3,3,1); printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" : "passed"); - // dMULTIPLY0_133 - dMULTIPLY0_133 (a,x,B); + // dMultiply0_133 + dMultiply0_133 (a,x,B); dMultiply0 (a2,x,B,1,3,3); printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" : "passed"); - // dMULTIPLY0_333() - dMULTIPLY0_333 (A,B,C); + // dMultiply0_333() + dMultiply0_333 (A,B,C); dMultiply0 (A2,B,C,3,3,3); printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : "passed"); - // dMULTIPLY1_333() - dMULTIPLY1_333 (A,B,C); + // dMultiply1_333() + dMultiply1_333 (A,B,C); dMultiply1 (A2,B,C,3,3,3); printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : "passed"); - // dMULTIPLY2_333() - dMULTIPLY2_333 (A,B,C); + // dMultiply2_333() + dMultiply2_333 (A,B,C); dMultiply2 (A2,B,C,3,3,3); printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" : "passed"); @@ -733,12 +733,12 @@ dMakeRandomVector (u1,3,1.0); dNormalize3 (u1); dMakeRandomVector (u2,3,1.0); - dReal d = dDOT(u1,u2); + dReal d = dCalcVectorDot3(u1,u2); u2[0] -= d*u1[0]; u2[1] -= d*u1[1]; u2[2] -= d*u1[2]; - dNormalize3 (u2); - dCROSS (u3,=,u1,u2); + dNormalize3(u2); + dCalcVectorCross3(u3,u1,u2); } @@ -846,14 +846,46 @@ //**************************************************************************** -#include "../src/array.h" -#include "../src/array.cpp" +#include + +template +class simplevector +{ +private: + int n; + int max; + T* data; + +public: + simplevector() { initialize(); } + ~simplevector() { finalize(); } + T& operator[](int i) { assert(i>=0 && i=0 && i mat; + simplevector mat; int afterfirst,index; public: @@ -919,9 +951,10 @@ va_list ap; va_start (ap,name); vsprintf (mi->name,name,ap); + va_end (ap); if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long"); - mat.push (mi); + mat.push_back(mi); return 0; } else { @@ -935,6 +968,7 @@ va_list ap; va_start (ap,name); vsprintf (mi.name,name,ap); + va_end (ap); if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long"); if (strcmp(mp->name,mi.name) != 0) @@ -973,7 +1007,7 @@ dFree (mat[i]->data,mat[i]->size); dFree (mat[i],sizeof(dMatInfo)); } - mat.setSize (0); + mat.clear(); afterfirst = 0; index = 0; } @@ -992,7 +1026,7 @@ // static jmp_buf jump_buffer; -static void myDebug (int num, const char *msg, va_list ap) +static void myDebug (int /*num*/, const char */*msg*/, va_list /*ap*/) { // printf ("(Error %d: ",num); // vprintf (msg,ap); @@ -1093,7 +1127,7 @@ // internal unit tests extern "C" void dTestDataStructures(); extern "C" void dTestMatrixComparison(); -extern "C" void dTestSolveLCP(); +extern "C" int dTestSolveLCP(); int main() diff -Nru ode-0.11.1/ode/demo/demo_piston.cpp ode-0.14/ode/demo/demo_piston.cpp --- ode-0.11.1/ode/demo/demo_piston.cpp 2009-01-06 17:45:09.000000000 +0000 +++ ode-0.14/ode/demo/demo_piston.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -132,7 +132,7 @@ //collision detection -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { int i,n; diff -Nru ode-0.11.1/ode/demo/demo_plane2d.cpp ode-0.14/ode/demo/demo_plane2d.cpp --- ode-0.11.1/ode/demo/demo_plane2d.cpp 2008-10-15 21:19:01.000000000 +0000 +++ ode-0.14/ode/demo/demo_plane2d.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -1,273 +1,304 @@ -// Test my Plane2D constraint. -// Uses ode-0.35 collision API. - -# include -# include -# include -# include -# include -#include "texturepath.h" - - -# define drand48() ((double) (((double) rand()) / ((double) RAND_MAX))) - -# define N_BODIES 40 -# define STAGE_SIZE 8.0 // in m - -# define TIME_STEP 0.01 -# define K_SPRING 10.0 -# define K_DAMP 10.0 - -//using namespace ode; - -static dWorld dyn_world; -static dBody dyn_bodies[N_BODIES]; -static dReal bodies_sides[N_BODIES][3]; - -static dSpaceID coll_space_id; -static dJointID plane2d_joint_ids[N_BODIES]; -static dJointGroup - coll_contacts; - - - -static void cb_start () -/*************************/ -{ - dAllocateODEDataForThread(dAllocateMaskAll); - - static float xyz[3] = { 0.5f*STAGE_SIZE, 0.5f*STAGE_SIZE, 0.65f*STAGE_SIZE}; - static float hpr[3] = { 90.0f, -90.0f, 0 }; - - dsSetViewpoint (xyz, hpr); -} - - - -static void cb_near_collision (void *data, dGeomID o1, dGeomID o2) -/********************************************************************/ -{ - dBodyID b1 = dGeomGetBody (o1); - dBodyID b2 = dGeomGetBody (o2); - dContact contact; - - - // exit without doing anything if the two bodies are static - if (b1 == 0 && b2 == 0) - return; - - // exit without doing anything if the two bodies are connected by a joint - if (b1 && b2 && dAreConnected (b1, b2)) - { - /* MTRAP; */ - return; - } - - contact.surface.mode = 0; - contact.surface.mu = 0; // frictionless - - if (dCollide (o1, o2, 1, &contact.geom, sizeof (dContactGeom))) - { - dJointID c = dJointCreateContact (dyn_world.id(), - coll_contacts.id (), &contact); - dJointAttach (c, b1, b2); - } -} - - -static void track_to_pos (dBody &body, dJointID joint_id, - dReal target_x, dReal target_y) -/************************************************************************/ -{ - dReal curr_x = body.getPosition()[0]; - dReal curr_y = body.getPosition()[1]; - - dJointSetPlane2DXParam (joint_id, dParamVel, 1 * (target_x - curr_x)); - dJointSetPlane2DYParam (joint_id, dParamVel, 1 * (target_y - curr_y)); -} - - - -static void cb_sim_step (int pause) -/*************************************/ -{ - if (! pause) - { - static dReal angle = 0; - - angle += REAL( 0.01 ); - - track_to_pos (dyn_bodies[0], plane2d_joint_ids[0], - dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * cos (angle) ), - dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * sin (angle) )); - - /* double f0 = 0.001; */ - /* for (int b = 0; b < N_BODIES; b ++) */ - /* { */ - /* double p = 1 + b / (double) N_BODIES; */ - /* double q = 2 - b / (double) N_BODIES; */ - /* dyn_bodies[b].addForce (f0 * cos (p*angle), f0 * sin (q*angle), 0); */ - /* } */ - /* dyn_bodies[0].addTorque (0, 0, 0.1); */ - - const int n = 10; - for (int i = 0; i < n; i ++) - { - dSpaceCollide (coll_space_id, 0, &cb_near_collision); - dyn_world.step (dReal(TIME_STEP/n)); - coll_contacts.empty (); - } - } - -# if 1 /* [ */ - { - // @@@ hack Plane2D constraint error reduction here: - for (int b = 0; b < N_BODIES; b ++) - { - const dReal *rot = dBodyGetAngularVel (dyn_bodies[b].id()); - const dReal *quat_ptr; - dReal quat[4], - quat_len; - - - quat_ptr = dBodyGetQuaternion (dyn_bodies[b].id()); - quat[0] = quat_ptr[0]; - quat[1] = 0; - quat[2] = 0; - quat[3] = quat_ptr[3]; - quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]); - quat[0] /= quat_len; - quat[3] /= quat_len; - dBodySetQuaternion (dyn_bodies[b].id(), quat); - dBodySetAngularVel (dyn_bodies[b].id(), 0, 0, rot[2]); - } - } -# endif /* ] */ - - -# if 0 /* [ */ - { - // @@@ friction - for (int b = 0; b < N_BODIES; b ++) - { - const dReal *vel = dBodyGetLinearVel (dyn_bodies[b].id()), - *rot = dBodyGetAngularVel (dyn_bodies[b].id()); - dReal s = 1.00; - dReal t = 0.99; - - dBodySetLinearVel (dyn_bodies[b].id(), s*vel[0],s*vel[1],s*vel[2]); - dBodySetAngularVel (dyn_bodies[b].id(),t*rot[0],t*rot[1],t*rot[2]); - } - } -# endif /* ] */ - - - { - // ode drawstuff - - dsSetTexture (DS_WOOD); - for (int b = 0; b < N_BODIES; b ++) - { - if (b == 0) - dsSetColor (1.0, 0.5, 1.0); - else - dsSetColor (0, 0.5, 1.0); -#ifdef dDOUBLE - dsDrawBoxD (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]); -#else - dsDrawBox (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]); -#endif - } - } -} - - - -extern int main -/******************/ -( - int argc, - char **argv -) -{ - int b; - dsFunctions drawstuff_functions; - - - dInitODE2(0); - - // dynamic world - - dReal cf_mixing;// = 1 / TIME_STEP * K_SPRING + K_DAMP; - dReal err_reduct;// = TIME_STEP * K_SPRING * cf_mixing; - err_reduct = REAL( 0.5 ); - cf_mixing = REAL( 0.001 ); - dWorldSetERP (dyn_world.id (), err_reduct); - dWorldSetCFM (dyn_world.id (), cf_mixing); - dyn_world.setGravity (0, 0.0, -1.0); - - coll_space_id = dSimpleSpaceCreate (0); - - // dynamic bodies - for (b = 0; b < N_BODIES; b ++) - { - int l = (int) (1 + sqrt ((double) N_BODIES)); - dReal x = dReal( (0.5 + (b / l)) / l * STAGE_SIZE ); - dReal y = dReal( (0.5 + (b % l)) / l * STAGE_SIZE ); - dReal z = REAL( 1.0 ) + REAL( 0.1 ) * (dReal)drand48(); - - bodies_sides[b][0] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); - bodies_sides[b][1] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); - bodies_sides[b][2] = z; - - dyn_bodies[b].create (dyn_world); - dyn_bodies[b].setPosition (x, y, z/2); - dyn_bodies[b].setData ((void*) (size_t)b); - dBodySetLinearVel (dyn_bodies[b].id (), - dReal( 3 * (drand48 () - 0.5) ), - dReal( 3 * (drand48 () - 0.5) ), 0); - - dMass m; - m.setBox (1, bodies_sides[b][0],bodies_sides[b][1],bodies_sides[b][2]); - m.adjust (REAL(0.1) * bodies_sides[b][0] * bodies_sides[b][1]); - dyn_bodies[b].setMass (&m); - - plane2d_joint_ids[b] = dJointCreatePlane2D (dyn_world.id (), 0); - dJointAttach (plane2d_joint_ids[b], dyn_bodies[b].id (), 0); - } - - dJointSetPlane2DXParam (plane2d_joint_ids[0], dParamFMax, 10); - dJointSetPlane2DYParam (plane2d_joint_ids[0], dParamFMax, 10); - - - // collision geoms and joints - dCreatePlane (coll_space_id, 1, 0, 0, 0); - dCreatePlane (coll_space_id, -1, 0, 0, -STAGE_SIZE); - dCreatePlane (coll_space_id, 0, 1, 0, 0); - dCreatePlane (coll_space_id, 0, -1, 0, -STAGE_SIZE); - - for (b = 0; b < N_BODIES; b ++) - { - dGeomID coll_box_id; - coll_box_id = dCreateBox (coll_space_id, - bodies_sides[b][0], bodies_sides[b][1], bodies_sides[b][2]); - dGeomSetBody (coll_box_id, dyn_bodies[b].id ()); - } - - coll_contacts.create (); - - { - // simulation loop (by drawstuff lib) - drawstuff_functions.version = DS_VERSION; - drawstuff_functions.start = &cb_start; - drawstuff_functions.step = &cb_sim_step; - drawstuff_functions.command = 0; - drawstuff_functions.stop = 0; - drawstuff_functions.path_to_textures = DRAWSTUFF_TEXTURE_PATH; - - dsSimulationLoop (argc, argv, 352,288,&drawstuff_functions); - } - - dCloseODE(); - return 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. * + * * + *************************************************************************/ + +// Test my Plane2D constraint. +// Uses ode-0.35 collision API. + +# include +# include +# include +# include +# include +#include "texturepath.h" + + +# define drand48() ((double) (((double) rand()) / ((double) RAND_MAX))) + +# define N_BODIES 40 +# define STAGE_SIZE 8.0 // in m + +# define TIME_STEP 0.01 +# define K_SPRING 10.0 +# define K_DAMP 10.0 + +//using namespace ode; + +struct GlobalVars +{ + dWorld dyn_world; + dBody dyn_bodies[N_BODIES]; + dReal bodies_sides[N_BODIES][3]; + + dSpaceID coll_space_id; + dJointID plane2d_joint_ids[N_BODIES]; + dJointGroup coll_contacts; +}; + +static GlobalVars *g_globals_ptr = NULL; + + + +static void cb_start () +/*************************/ +{ + dAllocateODEDataForThread(dAllocateMaskAll); + + static float xyz[3] = { 0.5f*STAGE_SIZE, 0.5f*STAGE_SIZE, 0.65f*STAGE_SIZE}; + static float hpr[3] = { 90.0f, -90.0f, 0 }; + + dsSetViewpoint (xyz, hpr); +} + + + +static void cb_near_collision (void *, dGeomID o1, dGeomID o2) +/********************************************************************/ +{ + dBodyID b1 = dGeomGetBody (o1); + dBodyID b2 = dGeomGetBody (o2); + dContact contact; + + + // exit without doing anything if the two bodies are static + if (b1 == 0 && b2 == 0) + return; + + // exit without doing anything if the two bodies are connected by a joint + if (b1 && b2 && dAreConnected (b1, b2)) + { + /* MTRAP; */ + return; + } + + contact.surface.mode = 0; + contact.surface.mu = 0; // frictionless + + if (dCollide (o1, o2, 1, &contact.geom, sizeof (dContactGeom))) + { + dJointID c = dJointCreateContact (g_globals_ptr->dyn_world.id(), + g_globals_ptr->coll_contacts.id (), &contact); + dJointAttach (c, b1, b2); + } +} + + +static void track_to_pos (dBody &body, dJointID joint_id, + dReal target_x, dReal target_y) +/************************************************************************/ +{ + dReal curr_x = body.getPosition()[0]; + dReal curr_y = body.getPosition()[1]; + + dJointSetPlane2DXParam (joint_id, dParamVel, 1 * (target_x - curr_x)); + dJointSetPlane2DYParam (joint_id, dParamVel, 1 * (target_y - curr_y)); +} + + + +static void cb_sim_step (int pause) +/*************************************/ +{ + if (! pause) + { + static dReal angle = 0; + + angle += REAL( 0.01 ); + + track_to_pos (g_globals_ptr->dyn_bodies[0], g_globals_ptr->plane2d_joint_ids[0], + dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * cos (angle) ), + dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * sin (angle) )); + + /* double f0 = 0.001; */ + /* for (int b = 0; b < N_BODIES; b ++) */ + /* { */ + /* double p = 1 + b / (double) N_BODIES; */ + /* double q = 2 - b / (double) N_BODIES; */ + /* g_globals_ptr->dyn_bodies[b].addForce (f0 * cos (p*angle), f0 * sin (q*angle), 0); */ + /* } */ + /* g_globals_ptr->dyn_bodies[0].addTorque (0, 0, 0.1); */ + + const int n = 10; + for (int i = 0; i < n; i ++) + { + dSpaceCollide (g_globals_ptr->coll_space_id, 0, &cb_near_collision); + g_globals_ptr->dyn_world.step (dReal(TIME_STEP/n)); + g_globals_ptr->coll_contacts.empty (); + } + } + +# if 1 /* [ */ + { + // @@@ hack Plane2D constraint error reduction here: + for (int b = 0; b < N_BODIES; b ++) + { + const dReal *rot = dBodyGetAngularVel (g_globals_ptr->dyn_bodies[b].id()); + const dReal *quat_ptr; + dReal quat[4], + quat_len; + + + quat_ptr = dBodyGetQuaternion (g_globals_ptr->dyn_bodies[b].id()); + quat[0] = quat_ptr[0]; + quat[1] = 0; + quat[2] = 0; + quat[3] = quat_ptr[3]; + quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]); + quat[0] /= quat_len; + quat[3] /= quat_len; + dBodySetQuaternion (g_globals_ptr->dyn_bodies[b].id(), quat); + dBodySetAngularVel (g_globals_ptr->dyn_bodies[b].id(), 0, 0, rot[2]); + } + } +# endif /* ] */ + + +# if 0 /* [ */ + { + // @@@ friction + for (int b = 0; b < N_BODIES; b ++) + { + const dReal *vel = dBodyGetLinearVel (g_globals_ptr->dyn_bodies[b].id()), + *rot = dBodyGetAngularVel (g_globals_ptr->dyn_bodies[b].id()); + dReal s = 1.00; + dReal t = 0.99; + + dBodySetLinearVel (g_globals_ptr->dyn_bodies[b].id(), s*vel[0],s*vel[1],s*vel[2]); + dBodySetAngularVel (g_globals_ptr->dyn_bodies[b].id(),t*rot[0],t*rot[1],t*rot[2]); + } + } +# endif /* ] */ + + + { + // ode drawstuff + + dsSetTexture (DS_WOOD); + for (int b = 0; b < N_BODIES; b ++) + { + if (b == 0) + dsSetColor (1.0, 0.5, 1.0); + else + dsSetColor (0, 0.5, 1.0); +#ifdef dDOUBLE + dsDrawBoxD (g_globals_ptr->dyn_bodies[b].getPosition(), g_globals_ptr->dyn_bodies[b].getRotation(), g_globals_ptr->bodies_sides[b]); +#else + dsDrawBox (g_globals_ptr->dyn_bodies[b].getPosition(), g_globals_ptr->dyn_bodies[b].getRotation(), g_globals_ptr->bodies_sides[b]); +#endif + } + } +} + + + +extern int main +/******************/ +( + int argc, + char **argv +) +{ + int b; + dsFunctions drawstuff_functions; + + + dInitODE2(0); + + g_globals_ptr = new GlobalVars(); + + // dynamic world + + dReal cf_mixing;// = 1 / TIME_STEP * K_SPRING + K_DAMP; + dReal err_reduct;// = TIME_STEP * K_SPRING * cf_mixing; + err_reduct = REAL( 0.5 ); + cf_mixing = REAL( 0.001 ); + dWorldSetERP (g_globals_ptr->dyn_world.id (), err_reduct); + dWorldSetCFM (g_globals_ptr->dyn_world.id (), cf_mixing); + g_globals_ptr->dyn_world.setGravity (0, 0.0, -1.0); + + g_globals_ptr->coll_space_id = dSimpleSpaceCreate (0); + + // dynamic bodies + for (b = 0; b < N_BODIES; b ++) + { + int l = (int) (1 + sqrt ((double) N_BODIES)); + dReal x = dReal( (0.5 + (b / l)) / l * STAGE_SIZE ); + dReal y = dReal( (0.5 + (b % l)) / l * STAGE_SIZE ); + dReal z = REAL( 1.0 ) + REAL( 0.1 ) * (dReal)drand48(); + + g_globals_ptr->bodies_sides[b][0] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); + g_globals_ptr->bodies_sides[b][1] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) ); + g_globals_ptr->bodies_sides[b][2] = z; + + g_globals_ptr->dyn_bodies[b].create (g_globals_ptr->dyn_world); + g_globals_ptr->dyn_bodies[b].setPosition (x, y, z/2); + g_globals_ptr->dyn_bodies[b].setData ((void*) (size_t)b); + dBodySetLinearVel (g_globals_ptr->dyn_bodies[b].id (), + dReal( 3 * (drand48 () - 0.5) ), + dReal( 3 * (drand48 () - 0.5) ), 0); + + dMass m; + m.setBox (1, g_globals_ptr->bodies_sides[b][0],g_globals_ptr->bodies_sides[b][1],g_globals_ptr->bodies_sides[b][2]); + m.adjust (REAL(0.1) * g_globals_ptr->bodies_sides[b][0] * g_globals_ptr->bodies_sides[b][1]); + g_globals_ptr->dyn_bodies[b].setMass (&m); + + g_globals_ptr->plane2d_joint_ids[b] = dJointCreatePlane2D (g_globals_ptr->dyn_world.id (), 0); + dJointAttach (g_globals_ptr->plane2d_joint_ids[b], g_globals_ptr->dyn_bodies[b].id (), 0); + } + + dJointSetPlane2DXParam (g_globals_ptr->plane2d_joint_ids[0], dParamFMax, 10); + dJointSetPlane2DYParam (g_globals_ptr->plane2d_joint_ids[0], dParamFMax, 10); + + + // collision geoms and joints + dCreatePlane (g_globals_ptr->coll_space_id, 1, 0, 0, 0); + dCreatePlane (g_globals_ptr->coll_space_id, -1, 0, 0, -STAGE_SIZE); + dCreatePlane (g_globals_ptr->coll_space_id, 0, 1, 0, 0); + dCreatePlane (g_globals_ptr->coll_space_id, 0, -1, 0, -STAGE_SIZE); + + for (b = 0; b < N_BODIES; b ++) + { + dGeomID coll_box_id; + coll_box_id = dCreateBox (g_globals_ptr->coll_space_id, + g_globals_ptr->bodies_sides[b][0], g_globals_ptr->bodies_sides[b][1], g_globals_ptr->bodies_sides[b][2]); + dGeomSetBody (coll_box_id, g_globals_ptr->dyn_bodies[b].id ()); + } + + g_globals_ptr->coll_contacts.create (); + + { + // simulation loop (by drawstuff lib) + drawstuff_functions.version = DS_VERSION; + drawstuff_functions.start = &cb_start; + drawstuff_functions.step = &cb_sim_step; + drawstuff_functions.command = 0; + drawstuff_functions.stop = 0; + drawstuff_functions.path_to_textures = DRAWSTUFF_TEXTURE_PATH; + + dsSimulationLoop (argc, argv, 352,288,&drawstuff_functions); + } + + delete g_globals_ptr; + g_globals_ptr = NULL; + + dCloseODE(); + return 0; +} diff -Nru ode-0.11.1/ode/demo/demo_rfriction.cpp ode-0.14/ode/demo/demo_rfriction.cpp --- ode-0.11.1/ode/demo/demo_rfriction.cpp 1970-01-01 00:00:00.000000000 +0000 +++ ode-0.14/ode/demo/demo_rfriction.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -0,0 +1,258 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* +Angular friction demo: + +A bunch of ramps of different pitch. +A bunch of spheres with rolling friction. +*/ + + +#include +#include +#include "texturepath.h" + +#ifdef _MSC_VER +#pragma warning(disable:4244 4305) // for VC++, no precision loss complaints +#endif + +// select correct drawing functions +#ifdef dDOUBLE +#define dsDrawBox dsDrawBoxD +#define dsDrawSphere dsDrawSphereD +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawCapsule dsDrawCapsuleD +#endif + + +// some constants +#define GRAVITY 10 // the global gravity to use +#define RAMP_COUNT 8 + +static const dReal rampX = 6.0f; +static const dReal rampY = 0.5f; +static const dReal rampZ = 0.25f; +static const dReal sphereRadius = 0.25f; +static const dReal maxRamp = M_PI/4.0f; // Needs to be less than pi/2 +static const dReal rampInc = maxRamp/RAMP_COUNT; + +// dynamics and collision objects +static dWorldID world = 0; +static dSpaceID space = 0; +static dJointGroupID contactgroup = 0; +static dGeomID ground; + +static dReal mu = REAL(0.37); // the global mu to use +static dReal rho = REAL(0.1); // the global rho to use +static dReal omega = REAL(25.0); + +static dGeomID rampGeom[RAMP_COUNT]; +static dBodyID sphereBody[RAMP_COUNT]; +static dGeomID sphereGeom[RAMP_COUNT]; + + +// this is called by dSpaceCollide when two objects in space are +// potentially colliding. + +static void nearCallback (void *, dGeomID o1, dGeomID o2) +{ + int i; + + dBodyID b1 = dGeomGetBody(o1); + dBodyID b2 = dGeomGetBody(o2); + + if (b1==0 && b2==0) return; + + dContact contact[3]; + for (int ii=0; ii<3; ii++) { + contact[ii].surface.mode = dContactApprox1 | dContactRolling; + contact[ii].surface.mu = mu; + contact[ii].surface.rho = rho; + } + if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) { + for (i=0; i1) rho=1; + break; + case 'n': case 'N': + mu-=0.02; + if (mu<0) mu=0; + break; + case 'm': case 'M': + mu+=0.02; + if (mu>1) mu=1; + break; + case 'r': case 'R': + reset(); + break; + case ']': + omega+=1; + break; + case '[': + omega-=1; + break; + } +} + +// simulation loop + +static void simLoop (int pause) +{ + if (!pause) { + dSpaceCollide (space,0,&nearCallback); + dWorldStep (world,0.017); // 60 fps + // remove all contact joints + dJointGroupEmpty (contactgroup); + } + + // Render ramps and spheres + dsSetTexture (DS_WOOD); + for (int ii=0;ii + #include #include #include "texturepath.h" @@ -44,7 +46,8 @@ #define DENSITY (5.0) // density of all objects #define GPB 3 // maximum number of geometries per body #define MAX_CONTACTS 4 // maximum number of contact points per body -#define WORLD_SIZE 100 +#define WORLD_SIZE 20 +#define WORLD_HEIGHT 20 // dynamics and collision objects @@ -57,7 +60,7 @@ static int num=0; // number of objects in simulation static int nextobj=0; // next object to recycle if num==NUM static dWorldID world; -static dSpaceID space; +static dSpaceID space = NULL; static MyObject obj[NUM]; static dJointGroupID contactgroup; static int selected = -1; // selected object @@ -70,7 +73,7 @@ // this is called by dSpaceCollide when two objects in space are // potentially colliding. -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { int i; // if (o1->body && o2->body) return; @@ -109,7 +112,7 @@ { dAllocateODEDataForThread(dAllocateMaskAll); - static float xyz[3] = {2.1640f,-1.3079f,1.7600f}; + static float xyz[3] = {2.1640f,-1.3079f,3.7600f}; static float hpr[3] = {125.5000f,-17.0000f,0.0000f}; dsSetViewpoint (xyz,hpr); printf ("To drop another object, press:\n"); @@ -118,6 +121,7 @@ printf (" s for sphere.\n"); printf (" c for cylinder.\n"); printf (" x for a composite object.\n"); + printf (" y for cylinder.\n"); printf ("To select an object, press space.\n"); printf ("To disable the selected object, press d.\n"); printf ("To enable the selected object, press e.\n"); @@ -127,10 +131,10 @@ } -char locase (char c) +char locase(char c) { - if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); - else return c; + if (c >= 'A' && c <= 'Z') return c - ('a'-'A'); + else return c; } @@ -138,136 +142,143 @@ static void command (int cmd) { - int i,j,k; - dReal sides[3]; - dMass m; - - cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' - /* || cmd == 'l' */) { - if (num < NUM) { - i = num; - num++; - } - else { - i = nextobj; - nextobj++; - if (nextobj >= num) nextobj = 0; - - // destroy the body and geoms for slot i - dBodyDestroy (obj[i].body); - for (k=0; k < GPB; k++) { - if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]); - } - memset (&obj[i],0,sizeof(obj[i])); - } - - obj[i].body = dBodyCreate (world); - for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1; + int i,j,k; + dReal sides[3]; + dMass m; + bool setBody = false; + + cmd = locase(cmd); + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y') { + if (num < NUM) { + // new object to be created + i = num; + num++; + } else { + // recycle existing object + i = nextobj++; + nextobj %= num; // wrap-around if needed + + // destroy the body and geoms for slot i + dBodyDestroy (obj[i].body); + obj[i].body = 0; + + for (k=0; k < GPB; k++) + if (obj[i].geom[k]) { + dGeomDestroy(obj[i].geom[k]); + obj[i].geom[k] = 0; + } + } + + obj[i].body = dBodyCreate(world); + + for (k=0; k<3; k++) + sides[k] = dRandReal()*0.5+0.1; + + dMatrix3 R; + if (random_pos) { + dBodySetPosition(obj[i].body, + dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2); + dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0, + dRandReal()*2.0-1.0,dRandReal()*10.0-5.0); + } else { + // higher than highest body position + dReal maxheight = 0; + for (k=0; k maxheight) + maxheight = pos[2]; + } + dBodySetPosition(obj[i].body, 0,0,maxheight+1); + dRSetIdentity(R); + //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0); + } + + dBodySetRotation(obj[i].body,R); + + if (cmd == 'b') { + + dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]); + obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]); + + } else if (cmd == 'c') { + + sides[0] *= 0.5; + dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); + + } else if (cmd == 'y') { + + dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]); + obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]); + + } else if (cmd == 's') { + + sides[0] *= 0.5; + dMassSetSphere (&m,DENSITY,sides[0]); + obj[i].geom[0] = dCreateSphere (space,sides[0]); + + } else if (cmd == 'x') { + + setBody = true; + // start accumulating masses for the composite geometries + dMass m2; + dMassSetZero (&m); + + dReal dpos[GPB][3]; // delta-positions for composite geometries + dMatrix3 drot[GPB]; + + // set random delta positions + for (j=0; j maxheight) maxheight = pos[2]; - } - dBodySetPosition (obj[i].body, 0,0,maxheight+1); - dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0); - } - dBodySetRotation (obj[i].body,R); - dBodySetData (obj[i].body,(void*)(size_t)i); - if (cmd == 'b') { - dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]); - obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]); - } - else if (cmd == 'c') { - sides[0] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]); - } -/* - // cylinder option not yet implemented - else if (cmd == 'l') { - sides[1] *= 0.5; - dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]); - obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]); - } -*/ - else if (cmd == 's') { - sides[0] *= 0.5; - dMassSetSphere (&m,DENSITY,sides[0]); - obj[i].geom[0] = dCreateSphere (space,sides[0]); - } - else if (cmd == 'x') { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j +#include +#include +#include "texturepath.h" + +#ifdef dDOUBLE +#define dsDrawSphere dsDrawSphereD +#define dsDrawBox dsDrawBoxD +#define dsDrawTriangle dsDrawTriangleD +#define dsDrawLine dsDrawLineD +#endif + + + +const dReal ball_radius = 0.4; +const dReal balls_sep = 2; // separation between the balls + +/* Choose one test case + */ +#define TEST_CASE 0 + +#if TEST_CASE == 0 +const dReal track_len = 10; +const dReal track_height = 1; +const dReal track_width = 0.1; +const dReal track_gauge = 1; +const dReal track_elevation = 2; +const dReal track_angle = 80 * M_PI/180.; +const dReal track_incl = 10 * M_PI/180.; +#elif TEST_CASE == 1 +const dReal track_len = 10; +const dReal track_height = 1; +const dReal track_width = 0.1; +const dReal track_gauge = 1.9*ball_radius; +const dReal track_elevation = 2; +const dReal track_angle = 0 * M_PI/180.; +const dReal track_incl = 10 * M_PI/180.; +#elif TEST_CASE == 2 +const dReal track_len = 10; +const dReal track_height = 1; +const dReal track_width = 0.1; +const dReal track_gauge = 1.9*ball_radius; +const dReal track_elevation = 2; +const dReal track_angle = 15 * M_PI/180.; +const dReal track_incl = 10 * M_PI/180.; +#elif TEST_CASE == 3 +const dReal track_len = 10; +const dReal track_height = .7; +const dReal track_width = 0.1; +const dReal track_gauge = track_height*1.1; +const dReal track_elevation = 2; +const dReal track_angle = 90 * M_PI/180.; +const dReal track_incl = 10 * M_PI/180.; +#else +#error "TEST_CAST to a valid value!" +#endif + + + +dWorldID world; +dSpaceID space; +dJointGroupID contact_group; +dGeomID ground; +dGeomID ball1_geom, ball2_geom; +dTriMeshDataID mesh_data; +dGeomID mesh_geom; + +dBodyID ball1_body, ball2_body; + +const unsigned n_box_verts = 8; +dVector3 box_verts[n_box_verts] = { + {-track_len/2, -track_width/2, track_height/2}, // 0 + { track_len/2, -track_width/2, track_height/2}, // 1 + { track_len/2, track_width/2, track_height/2}, // 2 + {-track_len/2, track_width/2, track_height/2}, // 3 + { track_len/2, -track_width/2, -track_height/2}, // 4 + {-track_len/2, -track_width/2, -track_height/2}, // 5 + {-track_len/2, track_width/2, -track_height/2}, // 6 + { track_len/2, track_width/2, -track_height/2} // 7 +}; + +const unsigned n_box_faces = 12; +dTriIndex box_faces[n_box_faces * 3] = { + 0, 1, 2, + 0, 2, 3, + 1, 4, 7, + 1, 7, 2, + 4, 5, 6, + 4, 6, 7, + 5, 0, 3, + 5, 3, 6, + 3, 2, 7, + 3, 7, 6, + 0, 5, 4, + 0, 4, 1 +}; + + +const unsigned n_track_verts = n_box_verts * 2; +const unsigned n_track_faces = n_box_faces * 2; + +dVector3 track_verts[n_track_verts]; +dTriIndex track_faces[n_track_faces * 3]; + + + +void resetBall(dBodyID b, unsigned idx) +{ + dBodySetPosition(b, + 0.5*track_len*cos(track_incl) // Z + - 0.5*track_height*sin(track_incl) + - ball_radius, // X + balls_sep*idx, // Y + track_elevation + ball_radius// Z + + 0.5*track_len*sin(track_incl) + + 0.5*track_height*cos(track_incl)); + dMatrix3 r = {1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0}; + dBodySetRotation(b, r); + dBodySetLinearVel(b, 0, 0, 0); + dBodySetAngularVel(b, 0, 0, 0); + +} + + +void resetSim() +{ + resetBall(ball1_body, 0); + resetBall(ball2_body, 1); +} + + +void start() +{ + dAllocateODEDataForThread(dAllocateMaskAll); + + world = dWorldCreate(); + dWorldSetGravity (world,0,0,-9.8); + + contact_group = dJointGroupCreate(0); + + space = dSimpleSpaceCreate (0); + + + // first, the ground plane + // it has to coincide with the plane we have in drawstuff + ground = dCreatePlane(space, 0, 0, 1, 0); + + + // now a ball + dMass m; + dMassSetSphere(&m, 0.1, ball_radius); + + ball1_geom = dCreateSphere(space, ball_radius); + ball1_body = dBodyCreate(world); + dGeomSetBody(ball1_geom, ball1_body); + dBodySetMass(ball1_body, &m); + + ball2_geom = dCreateSphere(space, ball_radius); + ball2_body = dBodyCreate(world); + dGeomSetBody(ball2_geom, ball2_body); + dBodySetMass(ball2_body, &m); + + + + + // tracks made out of boxes + dGeomID trk; + dMatrix3 r1, r2, r3; + dVector3 ro = {0, -(0.5*track_gauge + 0.5*track_width), track_elevation}; + dMatrix3 s1, s2, s3; + dVector3 so = {0, 0.5*track_gauge + 0.5*track_width, track_elevation}; + + dRFromAxisAndAngle(r1, 1, 0, 0, track_angle); + dRFromAxisAndAngle(r2, 0, 1, 0, -track_incl); + dMultiply0_333(r3, r2, r1); + + dRFromAxisAndAngle(s1, 1, 0, 0, -track_angle); + dRFromAxisAndAngle(s2, 0, 1, 0, -track_incl); + dMultiply0_333(s3, s2, s1); + + trk = dCreateBox(space, track_len, track_width, track_height); + dGeomSetPosition(trk, ro[0], ro[1] + balls_sep, ro[2]); + dGeomSetRotation(trk, r3); + + trk = dCreateBox(space, track_len, track_width, track_height); + dGeomSetPosition(trk, so[0], so[1] + balls_sep, so[2]); + dGeomSetRotation(trk, s3); + + + + + + // tracks made out of trimesh + for (unsigned i=0; i 0.99 // about 8 degrees of difference + && + dCalcPointsDistance3(contacts[i].geom.pos, contacts[j].geom.pos) < epsilon) { + // they are too close + closest_point = j; + //clog << "found close points: " << j << " and " << i << endl; + break; + } + } + + if (closest_point != i) { + // we discard one of the points + if (contacts[i].geom.depth > contacts[closest_point].geom.depth) + // the new point is deeper, copy it over closest_point + contacts[closest_point] = contacts[i]; + } else + contacts[new_n++] = contacts[i]; // the point is preserved + } + //clog << "reduced from " << n << " to " << new_n << endl; + n = new_n; + + for (int i=0; i +#include +#include "texturepath.h" + +#ifdef dDOUBLE +#define dsDrawCylinder dsDrawCylinderD +#define dsDrawLine dsDrawLineD +#define dsDrawSphere dsDrawSphereD +#endif + +dReal theta = M_PI / 4; +dReal ratio = 1, speed = 5, rho_1 = 1, rho_2 = 1, backlash = 0.1; +int mode = 0; + +dWorldID world; +dSpaceID space; +dBodyID body1, body2; +dGeomID geom1, geom2; +dJointID hinge1, hinge2, transmission; +dJointFeedback feedback; + +void setup() { + dMatrix3 R; + + switch (mode) { + case 0: + // Parallel axes. + + dBodySetPosition(body1, 1, 0, 1); + dBodySetPosition(body2, -1, 0, 1); + + dRSetIdentity (R); + dBodySetRotation (body1, R); + dBodySetRotation (body2, R); + + dJointSetHingeAnchor(hinge2, -1, 0, 1); + dJointSetHingeAxis(hinge2, 0, 0, 1); + + dJointSetHingeAnchor(hinge1, 1, 0, 1); + dJointSetHingeAxis(hinge1, 0, 0, 1); + + dJointSetTransmissionMode(transmission, dTransmissionParallelAxes); + dJointSetTransmissionRatio(transmission, ratio); + dJointSetTransmissionAnchor1(transmission, 1, 0, 1); + dJointSetTransmissionAnchor2(transmission, -1, 0, 1); + dJointSetTransmissionAxis(transmission, 0, 0, 1); + + break; + case 1: + // Intersecting axes. + + dBodySetPosition(body1, 1, 0, 1); + dBodySetPosition(body2, -1, 0, 2); + + dRSetIdentity (R); + dBodySetRotation (body1, R); + + dRFromZAxis (R, cos(theta), 0, sin(theta)); + dBodySetRotation (body2, R); + + dJointSetHingeAnchor(hinge2, -1, 0, 2); + dJointSetHingeAxis(hinge2, cos(theta), 0, sin(theta)); + + dJointSetHingeAnchor(hinge1, 1, 0, 1); + dJointSetHingeAxis(hinge1, 0, 0, 1); + + dJointSetTransmissionMode(transmission, dTransmissionIntersectingAxes); + dJointSetTransmissionAnchor1(transmission, 1, 0, 1); + dJointSetTransmissionAnchor2(transmission, -1, 0, 2); + dJointSetTransmissionAxis1(transmission, 0, 0, -1); + dJointSetTransmissionAxis2(transmission, cos(theta), 0, sin(theta)); + + break; + case 2: + // Chain. + + dBodySetPosition(body1, 2, 0, 1); + dBodySetPosition(body2, -2, 0, 1); + + dRSetIdentity (R); + dBodySetRotation (body1, R); + dBodySetRotation (body2, R); + + dJointSetHingeAnchor(hinge2, -2, 0, 1); + dJointSetHingeAxis(hinge2, 0, 0, 1); + + dJointSetHingeAnchor(hinge1, 2, 0, 1); + dJointSetHingeAxis(hinge1, 0, 0, 1); + + dJointSetTransmissionMode(transmission, dTransmissionChainDrive); + dJointSetTransmissionAnchor1(transmission, 2, 0, 1); + dJointSetTransmissionAnchor2(transmission, -2, 0, 1); + dJointSetTransmissionRadius1(transmission, rho_1); + dJointSetTransmissionRadius2(transmission, rho_2); + dJointSetTransmissionAxis(transmission, 0, 0, 1); + + break; + } + + dJointSetTransmissionBacklash(transmission, backlash); + + dJointSetHingeParam(hinge2, dParamVel, speed); + dJointSetHingeParam(hinge2, dParamFMax, 50); + + dJointSetHingeParam(hinge1, dParamVel, 0); + dJointSetHingeParam(hinge1, dParamFMax, 2); + + dBodySetLinearVel(body1, 0, 0, 0); + dBodySetLinearVel(body2, 0, 0, 0); + dBodySetAngularVel(body1, 0, 0, 0); + dBodySetAngularVel(body2, 0, 0, 0); +} + +void start() +{ + dMass mass; + + world = dWorldCreate(); + dWorldSetGravity (world,0,0,-9.8); + + dWorldSetERP(world, 0.2); + + space = dSimpleSpaceCreate (0); + + body1 = dBodyCreate(world); + body2 = dBodyCreate(world); + + dBodySetFiniteRotationMode(body1, 1); + dBodySetFiniteRotationMode(body2, 1); + + geom1 = dCreateCylinder(space, 0.2, 0.5); + dGeomSetBody(geom1, body1); + dMassSetCylinder(&mass, 100, 3, 0.2, 0.5); + dBodySetMass(body1, &mass); + + geom2 = dCreateCylinder(space, 0.2, 0.5); + dGeomSetBody(geom2, body2); + dMassSetCylinder(&mass, 100, 3, 0.2, 0.5); + dBodySetMass(body2, &mass); + + hinge1 = dJointCreateHinge(world, 0); + dJointAttach(hinge1, body1, 0); + + hinge2 = dJointCreateHinge(world, 0); + dJointAttach(hinge2, body2, 0); + + transmission = dJointCreateTransmission(world, 0); + dJointAttach(transmission, body1, body2); + dJointSetFeedback(transmission, &feedback); + + setup(); + + // initial camera position + static float xyz[3] = {1.15,-2.78,4.1}; + static float hpr[3] = {105,-45.5,0}; + dsSetViewpoint (xyz,hpr); + + fprintf (stderr, + "The green wheel is driving the red one. To control it use the following:\n" + " '[' : decrease wheel ratio\n" + " ']' : increase wheel ratio\n" + " ',' : decrease driving wheel speed\n" + " '.' : increase driving wheel speed\n" + " '-' : decrease backlash\n" + " '=' : increase backlash\n" + " '1' : switch to parallel axes gears mode\n" + " '2' : switch to intersecting axes gears mode\n" + " '3' : switch to chain (or belt) mode\n" +); +} + +void stop() +{ + dSpaceDestroy(space); + + dWorldDestroy(world); +} + +void drawGeom(dGeomID g) +{ + int gclass = dGeomGetClass(g); + const dReal *pos = dGeomGetPosition(g); + const dReal *rot = dGeomGetRotation(g); + + switch (gclass) { + case dCylinderClass: + { + dReal length, radius; + + if (g == geom1) { + dsSetColorAlpha(1, 0, 0, 1); + } else { + dsSetColorAlpha(0, 1, 0, 1); + } + + dsSetTexture (DS_WOOD); + dGeomCylinderGetParams(g, &radius, &length); + dsDrawCylinder(pos, rot, length, radius); + break; + } + + default: + { + abort(); + } + } +} + +void simLoop(int pause) +{ + if (!pause) { + + const dReal step = 0.003; + const unsigned nsteps = 4; + + for (unsigned i=0; i 0.125) { + ratio *= 0.5; + + fprintf (stderr, "Gear ratio set to %.3f.\n", ratio); + } + break; + case dTransmissionIntersectingAxes: + if (theta > 0.1) { + theta -= 0.1; + + fprintf (stderr, "Gear angle set to %.3f deg.\n", + theta / M_PI * 180); + } + break; + case dTransmissionChainDrive: + if (rho_2 > 0.125) { + rho_2 /= 2; + + fprintf (stderr, "Sprocket ratio set to %.3f.\n", rho_2 / rho_1); + } + break; + } + + setup(); + } else if (cmd == ']') { + switch(mode) { + case dTransmissionParallelAxes: + if (ratio < 8) { + ratio *= 2; + + fprintf (stderr, "Gear ratio set to %.3f.\n", ratio); + } + break; + case dTransmissionIntersectingAxes: + if (theta < 0.9) { + theta += 0.1; + + fprintf (stderr, "Gear angle set to %.3f deg.\n", + theta / M_PI * 180); + } + break; + case dTransmissionChainDrive: + if (rho_2 < 2) { + rho_2 *= 2; + + fprintf (stderr, "Sprocket ratio set to %.3f.\n", rho_2 / rho_1); + } + break; + } + + setup(); + } else if (cmd == '.') { + speed += 5; + + fprintf (stderr, "Driving wheel speed set to %g rad/s.\n", speed); + + dJointSetHingeParam(hinge2, dParamVel, speed); + } else if (cmd == ',') { + speed -= 5; + + fprintf (stderr, "Driving wheel speed set to %g rad/s.\n", speed); + + dJointSetHingeParam(hinge2, dParamVel, speed); + } else if (cmd == '/') { + if (dJointGetHingeParam(hinge2, dParamFMax) > 0) { + dJointSetHingeParam(hinge2, dParamFMax, 0); + } else { + dJointSetHingeParam(hinge2, dParamFMax, 50); + } + + } else if (cmd == '-') { + backlash -= 0.1; + + fprintf (stderr, "Backlash set to %g m.\n", backlash); + + dJointSetTransmissionBacklash(transmission, backlash); + } else if (cmd == '=') { + backlash += 0.1; + + fprintf (stderr, "Backlash set to %g m.\n", backlash); + + dJointSetTransmissionBacklash(transmission, backlash); + } else if (cmd == '1') { + mode = dTransmissionParallelAxes; + setup(); + } else if (cmd == '2') { + mode = dTransmissionIntersectingAxes; + setup(); + } else if (cmd == '3') { + mode = dTransmissionChainDrive; + setup(); + } +} + +int main(int argc, char **argv) +{ + // setup pointers to drawstuff callback functions + dsFunctions fn; + fn.version = DS_VERSION; + fn.start = &start; + fn.step = &simLoop; + fn.command = &command; + fn.stop = stop; + fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH; + + // create world + dInitODE(); + + // run demo + dsSimulationLoop (argc, argv, 800, 600, &fn); + + dCloseODE(); + return 0; +} diff -Nru ode-0.11.1/ode/demo/demo_trimesh.cpp ode-0.14/ode/demo/demo_trimesh.cpp --- ode-0.11.1/ode/demo/demo_trimesh.cpp 2009-05-24 22:03:58.000000000 +0000 +++ ode-0.14/ode/demo/demo_trimesh.cpp 2015-12-18 14:09:27.000000000 +0000 @@ -30,6 +30,53 @@ #pragma warning(disable:4244 4305) // for VC++, no precision loss complaints #endif +//<---- Convex Object +static const dReal planes[] = // planes for a cube +{ + 1.0f ,0.0f ,0.0f ,0.25f, + 0.0f ,1.0f ,0.0f ,0.25f, + 0.0f ,0.0f ,1.0f ,0.25f, + 0.0f ,0.0f ,-1.0f,0.25f, + 0.0f ,-1.0f,0.0f ,0.25f, + -1.0f,0.0f ,0.0f ,0.25f + /* + 1.0f ,0.0f ,0.0f ,2.0f, + 0.0f ,1.0f ,0.0f ,1.0f, + 0.0f ,0.0f ,1.0f ,1.0f, + 0.0f ,0.0f ,-1.0f,1.0f, + 0.0f ,-1.0f,0.0f ,1.0f, + -1.0f,0.0f ,0.0f ,0.0f + */ +}; +static const unsigned int planecount=6; + +static const dReal points[] = // points for a cube +{ + 0.25f,0.25f,0.25f, + -0.25f,0.25f,0.25f, + + 0.25f,-0.25f,0.25f, + -0.25f,-0.25f,0.25f, + + 0.25f,0.25f,-0.25f, + -0.25f,0.25f,-0.25f, + + 0.25f,-0.25f,-0.25f, + -0.25f,-0.25f,-0.25f, +}; +static const unsigned int pointcount=8; + +static const unsigned int polygons[] = //Polygons for a cube (6 squares) + { + 4,0,2,6,4, // positive X + 4,1,0,4,5, // positive Y + 4,0,1,3,2, // positive Z + 4,3,1,5,7, // negative X + 4,2,3,7,6, // negative Y + 4,5,4,6,7, // negative Z + }; +//----> Convex Object + // select correct drawing functions #ifdef dDOUBLE @@ -39,6 +86,7 @@ #define dsDrawCapsule dsDrawCapsuleD #define dsDrawLine dsDrawLineD #define dsDrawTriangle dsDrawTriangleD +#define dsDrawConvex dsDrawConvexD #endif @@ -82,7 +130,7 @@ // this is called by dSpaceCollide when two objects in space are // potentially colliding. -static void nearCallback (void *data, dGeomID o1, dGeomID o2) +static void nearCallback (void *, dGeomID o1, dGeomID o2) { int i; // if (o1->body && o2->body) return; @@ -143,6 +191,7 @@ printf (" b for box.\n"); printf (" s for sphere.\n"); printf (" c for cylinder.\n"); + printf( " v for a convex.\n" ); printf (" x for a composite object.\n"); printf ("To select an object, press space.\n"); printf ("To disable the selected object, press d.\n"); @@ -167,9 +216,10 @@ int i,j,k; dReal sides[3]; dMass m; + bool setBody = false; cmd = locase (cmd); - if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' + if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'v' /* || cmd == 'l' */) { if (num < NUM) { i = num; @@ -233,66 +283,75 @@ obj[i].geom[0] = dCreateSphere (space,sides[0]); } else if (cmd == 'x') { - dGeomID g2[GPB]; // encapsulated geometries - dReal dpos[GPB][3]; // delta-positions for encapsulated geometries - - // start accumulating masses for the encapsulated geometries - dMass m2; - dMassSetZero (&m); - - // set random delta positions - for (j=0; j