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[Opende-svn] SF.net SVN: opende:[1917] trunk
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From: <ole...@us...> - 2012-12-25 22:45:38
|
Revision: 1917
http://opende.svn.sourceforge.net/opende/?rev=1917&view=rev
Author: oleh_derevenko
Date: 2012-12-25 22:45:30 +0000 (Tue, 25 Dec 2012)
Log Message:
-----------
Changed: Private definitions moved from public <ode/matrix.h> into internal header "matrix.h"
Modified Paths:
--------------
trunk/include/ode/matrix.h
trunk/include/ode/odeconfig.h
trunk/ode/src/Makefile.am
trunk/ode/src/box.cpp
trunk/ode/src/capsule.cpp
trunk/ode/src/collision_cylinder_box.cpp
trunk/ode/src/collision_cylinder_plane.cpp
trunk/ode/src/collision_cylinder_sphere.cpp
trunk/ode/src/collision_cylinder_trimesh.cpp
trunk/ode/src/collision_kernel.cpp
trunk/ode/src/collision_quadtreespace.cpp
trunk/ode/src/collision_sapspace.cpp
trunk/ode/src/collision_space.cpp
trunk/ode/src/collision_transform.cpp
trunk/ode/src/collision_trimesh_box.cpp
trunk/ode/src/collision_trimesh_ccylinder.cpp
trunk/ode/src/collision_trimesh_disabled.cpp
trunk/ode/src/collision_trimesh_gimpact.cpp
trunk/ode/src/collision_trimesh_opcode.cpp
trunk/ode/src/collision_trimesh_plane.cpp
trunk/ode/src/collision_trimesh_ray.cpp
trunk/ode/src/collision_trimesh_sphere.cpp
trunk/ode/src/collision_trimesh_trimesh.cpp
trunk/ode/src/collision_trimesh_trimesh_new.cpp
trunk/ode/src/convex.cpp
trunk/ode/src/cylinder.cpp
trunk/ode/src/heightfield.cpp
trunk/ode/src/joints/joint.cpp
trunk/ode/src/joints/joint_internal.h
trunk/ode/src/lcp.cpp
trunk/ode/src/mass.cpp
trunk/ode/src/mat.cpp
trunk/ode/src/matrix.cpp
trunk/ode/src/misc.cpp
trunk/ode/src/objects.cpp
trunk/ode/src/ode.cpp
trunk/ode/src/plane.cpp
trunk/ode/src/quickstep.cpp
trunk/ode/src/ray.cpp
trunk/ode/src/sphere.cpp
trunk/ode/src/step.cpp
Added Paths:
-----------
trunk/ode/src/matrix.h
Modified: trunk/include/ode/matrix.h
===================================================================
--- trunk/include/ode/matrix.h 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/include/ode/matrix.h 2012-12-25 22:45:30 UTC (rev 1917)
@@ -186,113 +186,9 @@
*/
ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r);
-
-#if defined(__ODE__)
-
-ODE_PURE_INLINE
-void _dSetZero (dReal *a, size_t n)
-{
- dReal *acurr = a;
- dReal *const aend = a + n;
- while (acurr != aend) {
- *(acurr++) = 0;
- }
-}
-
-ODE_PURE_INLINE
-void _dSetValue (dReal *a, size_t n, dReal value)
-{
- dReal *acurr = a;
- dReal *const aend = a + n;
- while (acurr != aend) {
- *(acurr++) = value;
- }
-}
-
-dReal _dDot (const dReal *a, const dReal *b, int n);
-void _dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-void _dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-void _dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
-int _dFactorCholesky (dReal *A, int n, void *tmpbuf);
-void _dSolveCholesky (const dReal *L, dReal *b, int n, void *tmpbuf);
-int _dInvertPDMatrix (const dReal *A, dReal *Ainv, int n, void *tmpbuf);
-int _dIsPositiveDefinite (const dReal *A, int n, void *tmpbuf);
-void _dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
-void _dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
-void _dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
-void _dVectorScale (dReal *a, const dReal *d, int n);
-void _dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
-void _dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip, void *tmpbuf);
-void _dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, int n1, int n2, int r, int nskip, void *tmpbuf);
-void _dRemoveRowCol (dReal *A, int n, int nskip, int r);
-
-ODE_PURE_INLINE size_t _dEstimateFactorCholeskyTmpbufSize(int n)
-{
- return dPAD(n) * sizeof(dReal);
-}
-
-ODE_PURE_INLINE size_t _dEstimateSolveCholeskyTmpbufSize(int n)
-{
- return dPAD(n) * sizeof(dReal);
-}
-
-ODE_PURE_INLINE size_t _dEstimateInvertPDMatrixTmpbufSize(int n)
-{
- size_t FactorCholesky_size = _dEstimateFactorCholeskyTmpbufSize(n);
- size_t SolveCholesky_size = _dEstimateSolveCholeskyTmpbufSize(n);
- size_t MaxCholesky_size = FactorCholesky_size > SolveCholesky_size ? FactorCholesky_size : SolveCholesky_size;
- return dPAD(n) * (n + 1) * sizeof(dReal) + MaxCholesky_size;
-}
-
-ODE_PURE_INLINE size_t _dEstimateIsPositiveDefiniteTmpbufSize(int n)
-{
- return dPAD(n) * n * sizeof(dReal) + _dEstimateFactorCholeskyTmpbufSize(n);
-}
-
-ODE_PURE_INLINE size_t _dEstimateLDLTAddTLTmpbufSize(int nskip)
-{
- return nskip * 2 * sizeof(dReal);
-}
-
-ODE_PURE_INLINE size_t _dEstimateLDLTRemoveTmpbufSize(int n2, int nskip)
-{
- return n2 * sizeof(dReal) + _dEstimateLDLTAddTLTmpbufSize(nskip);
-}
-
-/* For internal use */
-#define dSetZero(a, n) _dSetZero(a, n)
-#define dSetValue(a, n, value) _dSetValue(a, n, value)
-#define dDot(a, b, n) _dDot(a, b, n)
-#define dMultiply0(A, B, C, p, q, r) _dMultiply0(A, B, C, p, q, r)
-#define dMultiply1(A, B, C, p, q, r) _dMultiply1(A, B, C, p, q, r)
-#define dMultiply2(A, B, C, p, q, r) _dMultiply2(A, B, C, p, q, r)
-#define dFactorCholesky(A, n, tmpbuf) _dFactorCholesky(A, n, tmpbuf)
-#define dSolveCholesky(L, b, n, tmpbuf) _dSolveCholesky(L, b, n, tmpbuf)
-#define dInvertPDMatrix(A, Ainv, n, tmpbuf) _dInvertPDMatrix(A, Ainv, n, tmpbuf)
-#define dIsPositiveDefinite(A, n, tmpbuf) _dIsPositiveDefinite(A, n, tmpbuf)
-#define dFactorLDLT(A, d, n, nskip) _dFactorLDLT(A, d, n, nskip)
-#define dSolveL1(L, b, n, nskip) _dSolveL1(L, b, n, nskip)
-#define dSolveL1T(L, b, n, nskip) _dSolveL1T(L, b, n, nskip)
-#define dVectorScale(a, d, n) _dVectorScale(a, d, n)
-#define dSolveLDLT(L, d, b, n, nskip) _dSolveLDLT(L, d, b, n, nskip)
-#define dLDLTAddTL(L, d, a, n, nskip, tmpbuf) _dLDLTAddTL(L, d, a, n, nskip, tmpbuf)
-#define dLDLTRemove(A, p, L, d, n1, n2, r, nskip, tmpbuf) _dLDLTRemove(A, p, L, d, n1, n2, r, nskip, tmpbuf)
-#define dRemoveRowCol(A, n, nskip, r) _dRemoveRowCol(A, n, nskip, r)
-
-
-#define dEstimateFactorCholeskyTmpbufSize(n) _dEstimateFactorCholeskyTmpbufSize(n)
-#define dEstimateSolveCholeskyTmpbufSize(n) _dEstimateSolveCholeskyTmpbufSize(n)
-#define dEstimateInvertPDMatrixTmpbufSize(n) _dEstimateInvertPDMatrixTmpbufSize(n)
-#define dEstimateIsPositiveDefiniteTmpbufSize(n) _dEstimateIsPositiveDefiniteTmpbufSize(n)
-#define dEstimateLDLTAddTLTmpbufSize(nskip) _dEstimateLDLTAddTLTmpbufSize(nskip)
-#define dEstimateLDLTRemoveTmpbufSize(n2, nskip) _dEstimateLDLTRemoveTmpbufSize(n2, nskip)
-
-
-#endif /* defined(__ODE__) */
-
-
#ifdef __cplusplus
}
#endif
+
#endif
Modified: trunk/include/ode/odeconfig.h
===================================================================
--- trunk/include/ode/odeconfig.h 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/include/ode/odeconfig.h 2012-12-25 22:45:30 UTC (rev 1917)
@@ -60,6 +60,7 @@
#endif
#define ODE_PURE_INLINE static __inline
+#define ODE_INLINE __inline
#if defined(__cplusplus)
#define ODE_EXTERN_C extern "C"
Modified: trunk/ode/src/Makefile.am
===================================================================
--- trunk/ode/src/Makefile.am 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/Makefile.am 2012-12-25 22:45:30 UTC (rev 1917)
@@ -43,7 +43,7 @@
lcp.cpp lcp.h \
mass.cpp \
mat.cpp mat.h \
- matrix.cpp \
+ matrix.cpp matrix.h \
memory.cpp \
misc.cpp \
objects.cpp objects.h \
Modified: trunk/ode/src/box.cpp
===================================================================
--- trunk/ode/src/box.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/box.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,9 +31,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/capsule.cpp
===================================================================
--- trunk/ode/src/capsule.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/capsule.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,9 +31,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/collision_cylinder_box.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_box.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_cylinder_box.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -26,9 +26,9 @@
*/
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_util.h"
Modified: trunk/ode/src/collision_cylinder_plane.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_plane.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_cylinder_plane.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -30,10 +30,10 @@
*/
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/objects.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h" // for dxGeom
#include "collision_util.h"
Modified: trunk/ode/src/collision_cylinder_sphere.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_sphere.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_cylinder_sphere.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -41,10 +41,10 @@
*******************************************************************/
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/objects.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h" // for dxGeom
#include "collision_util.h"
Modified: trunk/ode/src/collision_cylinder_trimesh.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_trimesh.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_cylinder_trimesh.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -27,9 +27,9 @@
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_util.h"
#include "collision_trimesh_internal.h"
Modified: trunk/ode/src/collision_kernel.cpp
===================================================================
--- trunk/ode/src/collision_kernel.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_kernel.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -28,10 +28,10 @@
*/
#include <ode/common.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/objects.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_util.h"
Modified: trunk/ode/src/collision_quadtreespace.cpp
===================================================================
--- trunk/ode/src/collision_quadtreespace.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_quadtreespace.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -24,10 +24,10 @@
// With math corrections by Oleh Derevenko. ;)
#include <ode/common.h>
-#include <ode/matrix.h>
#include <ode/collision_space.h>
#include <ode/collision.h>
#include "config.h"
+#include "matrix.h"
#include "collision_kernel.h"
#include "collision_space_internal.h"
Modified: trunk/ode/src/collision_sapspace.cpp
===================================================================
--- trunk/ode/src/collision_sapspace.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_sapspace.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -34,11 +34,11 @@
*/
#include <ode/common.h>
-#include <ode/matrix.h>
#include <ode/collision_space.h>
#include <ode/collision.h>
#include "config.h"
+#include "matrix.h"
#include "collision_kernel.h"
#include "collision_space_internal.h"
Modified: trunk/ode/src/collision_space.cpp
===================================================================
--- trunk/ode/src/collision_space.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_space.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -27,10 +27,10 @@
*/
#include <ode/common.h>
-#include <ode/matrix.h>
#include <ode/collision_space.h>
#include <ode/collision.h>
#include "config.h"
+#include "matrix.h"
#include "collision_kernel.h"
#include "collision_space_internal.h"
#include "util.h"
Modified: trunk/ode/src/collision_transform.cpp
===================================================================
--- trunk/ode/src/collision_transform.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_transform.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -27,9 +27,9 @@
*/
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_transform.h"
#include "collision_util.h"
Modified: trunk/ode/src/collision_trimesh_box.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_box.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_box.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -30,9 +30,9 @@
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_util.h"
#include "collision_trimesh_internal.h"
Modified: trunk/ode/src/collision_trimesh_ccylinder.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_ccylinder.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_ccylinder.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -51,9 +51,9 @@
//problem we are looking forward to address soon.
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_util.h"
#include "collision_trimesh_internal.h"
Modified: trunk/ode/src/collision_trimesh_disabled.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_disabled.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_disabled.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -21,8 +21,8 @@
*************************************************************************/
#include <ode/collision.h>
-#include <ode/matrix.h>
#include "config.h"
+#include "matrix.h"
#if !dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_gimpact.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_gimpact.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_gimpact.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -21,9 +21,9 @@
*************************************************************************/
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#if dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_opcode.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_opcode.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_opcode.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -23,9 +23,9 @@
// TriMesh code by Erwin de Vries.
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_util.h"
#include "collision_trimesh_internal.h"
Modified: trunk/ode/src/collision_trimesh_plane.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_plane.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_plane.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -23,9 +23,9 @@
// TriMesh - Plane collider by David Walters, July 2006
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#if dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_ray.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_ray.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_ray.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -23,9 +23,9 @@
// TriMesh code by Erwin de Vries.
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#if dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_sphere.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_sphere.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_sphere.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -23,9 +23,9 @@
// TriMesh code by Erwin de Vries.
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_util.h"
Modified: trunk/ode/src/collision_trimesh_trimesh.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_trimesh.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_trimesh.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -27,9 +27,9 @@
#endif
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
Modified: trunk/ode/src/collision_trimesh_trimesh_new.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_trimesh_new.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/collision_trimesh_trimesh_new.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -28,9 +28,9 @@
#endif
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
Modified: trunk/ode/src/convex.cpp
===================================================================
--- trunk/ode/src/convex.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/convex.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -25,9 +25,9 @@
*/
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/cylinder.cpp
===================================================================
--- trunk/ode/src/cylinder.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/cylinder.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,9 +31,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/heightfield.cpp
===================================================================
--- trunk/ode/src/heightfield.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/heightfield.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -30,9 +30,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/joints/joint.cpp
===================================================================
--- trunk/ode/src/joints/joint.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/joints/joint.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,8 +31,8 @@
#include <ode/ode.h>
#include <ode/rotation.h>
-#include <ode/matrix.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "joint.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/joint_internal.h
===================================================================
--- trunk/ode/src/joints/joint_internal.h 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/joints/joint_internal.h 2012-12-25 22:45:30 UTC (rev 1917)
@@ -25,9 +25,9 @@
#define _ODE_JOINT_INTERNAL_H_
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/objects.h>
+#include "matrix.h"
#include "odemath.h"
Modified: trunk/ode/src/lcp.cpp
===================================================================
--- trunk/ode/src/lcp.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/lcp.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -109,10 +109,10 @@
*/
#include <ode/common.h>
-#include <ode/matrix.h>
#include <ode/misc.h>
#include <ode/timer.h> // for testing
#include "config.h"
+#include "matrix.h"
#include "lcp.h"
#include "mat.h" // for testing
#include "util.h"
Modified: trunk/ode/src/mass.cpp
===================================================================
--- trunk/ode/src/mass.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/mass.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -22,8 +22,8 @@
#include <ode/odeconfig.h>
#include <ode/mass.h>
-#include <ode/matrix.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
// Local dependencies
Modified: trunk/ode/src/mat.cpp
===================================================================
--- trunk/ode/src/mat.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/mat.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -22,10 +22,10 @@
#include <ode/odeconfig.h>
#include <ode/misc.h>
-#include <ode/matrix.h>
#include <ode/error.h>
#include <ode/memory.h>
#include "config.h"
+#include "matrix.h"
#include "mat.h"
Modified: trunk/ode/src/matrix.cpp
===================================================================
--- trunk/ode/src/matrix.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/matrix.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -21,8 +21,8 @@
*************************************************************************/
#include <ode/common.h>
-#include <ode/matrix.h>
#include "config.h"
+#include "matrix.h"
#include "util.h"
// misc defines
Added: trunk/ode/src/matrix.h
===================================================================
--- trunk/ode/src/matrix.h (rev 0)
+++ trunk/ode/src/matrix.h 2012-12-25 22:45:30 UTC (rev 1917)
@@ -0,0 +1,174 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: ru...@q1... 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. *
+ * *
+ *************************************************************************/
+
+/*
+ * optimized and unoptimized vector and matrix functions
+ * (inlined private versions)
+ */
+
+#ifndef _ODE__PRIVATE_MATRIX_H_
+#define _ODE__PRIVATE_MATRIX_H_
+
+
+#include <ode/matrix.h>
+
+
+#ifdef __cplusplus
+
+template <typename element_type>
+ODE_INLINE
+void _dSetZero (element_type *a, size_t n)
+{
+ element_type *acurr = a;
+ element_type *const aend = a + n;
+ while (acurr != aend) {
+ *(acurr++) = 0;
+ }
+}
+
+template <typename element_type>
+ODE_INLINE
+void _dSetValue (element_type *a, size_t n, element_type value)
+{
+ element_type *acurr = a;
+ element_type *const aend = a + n;
+ while (acurr != aend) {
+ *(acurr++) = value;
+ }
+}
+
+
+#else // #ifndef __cplusplus
+
+ODE_PURE_INLINE
+void _dSetZero (dReal *a, size_t n)
+{
+ dReal *acurr = a;
+ dReal *const aend = a + n;
+ while (acurr != aend) {
+ *(acurr++) = 0;
+ }
+}
+
+ODE_PURE_INLINE
+void _dSetValue (dReal *a, size_t n, dReal value)
+{
+ dReal *acurr = a;
+ dReal *const aend = a + n;
+ while (acurr != aend) {
+ *(acurr++) = value;
+ }
+}
+
+
+#endif // #ifdef __cplusplus
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+dReal _dDot (const dReal *a, const dReal *b, int n);
+void _dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+void _dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+void _dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+int _dFactorCholesky (dReal *A, int n, void *tmpbuf);
+void _dSolveCholesky (const dReal *L, dReal *b, int n, void *tmpbuf);
+int _dInvertPDMatrix (const dReal *A, dReal *Ainv, int n, void *tmpbuf);
+int _dIsPositiveDefinite (const dReal *A, int n, void *tmpbuf);
+void _dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
+void _dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
+void _dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
+void _dVectorScale (dReal *a, const dReal *d, int n);
+void _dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
+void _dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip, void *tmpbuf);
+void _dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, int n1, int n2, int r, int nskip, void *tmpbuf);
+void _dRemoveRowCol (dReal *A, int n, int nskip, int r);
+
+ODE_PURE_INLINE size_t _dEstimateFactorCholeskyTmpbufSize(int n)
+{
+ return dPAD(n) * sizeof(dReal);
+}
+
+ODE_PURE_INLINE size_t _dEstimateSolveCholeskyTmpbufSize(int n)
+{
+ return dPAD(n) * sizeof(dReal);
+}
+
+ODE_PURE_INLINE size_t _dEstimateInvertPDMatrixTmpbufSize(int n)
+{
+ size_t FactorCholesky_size = _dEstimateFactorCholeskyTmpbufSize(n);
+ size_t SolveCholesky_size = _dEstimateSolveCholeskyTmpbufSize(n);
+ size_t MaxCholesky_size = FactorCholesky_size > SolveCholesky_size ? FactorCholesky_size : SolveCholesky_size;
+ return dPAD(n) * (n + 1) * sizeof(dReal) + MaxCholesky_size;
+}
+
+ODE_PURE_INLINE size_t _dEstimateIsPositiveDefiniteTmpbufSize(int n)
+{
+ return dPAD(n) * n * sizeof(dReal) + _dEstimateFactorCholeskyTmpbufSize(n);
+}
+
+ODE_PURE_INLINE size_t _dEstimateLDLTAddTLTmpbufSize(int nskip)
+{
+ return nskip * 2 * sizeof(dReal);
+}
+
+ODE_PURE_INLINE size_t _dEstimateLDLTRemoveTmpbufSize(int n2, int nskip)
+{
+ return n2 * sizeof(dReal) + _dEstimateLDLTAddTLTmpbufSize(nskip);
+}
+
+/* For internal use */
+#define dSetZero(a, n) _dSetZero(a, n)
+#define dSetValue(a, n, value) _dSetValue(a, n, value)
+#define dDot(a, b, n) _dDot(a, b, n)
+#define dMultiply0(A, B, C, p, q, r) _dMultiply0(A, B, C, p, q, r)
+#define dMultiply1(A, B, C, p, q, r) _dMultiply1(A, B, C, p, q, r)
+#define dMultiply2(A, B, C, p, q, r) _dMultiply2(A, B, C, p, q, r)
+#define dFactorCholesky(A, n, tmpbuf) _dFactorCholesky(A, n, tmpbuf)
+#define dSolveCholesky(L, b, n, tmpbuf) _dSolveCholesky(L, b, n, tmpbuf)
+#define dInvertPDMatrix(A, Ainv, n, tmpbuf) _dInvertPDMatrix(A, Ainv, n, tmpbuf)
+#define dIsPositiveDefinite(A, n, tmpbuf) _dIsPositiveDefinite(A, n, tmpbuf)
+#define dFactorLDLT(A, d, n, nskip) _dFactorLDLT(A, d, n, nskip)
+#define dSolveL1(L, b, n, nskip) _dSolveL1(L, b, n, nskip)
+#define dSolveL1T(L, b, n, nskip) _dSolveL1T(L, b, n, nskip)
+#define dVectorScale(a, d, n) _dVectorScale(a, d, n)
+#define dSolveLDLT(L, d, b, n, nskip) _dSolveLDLT(L, d, b, n, nskip)
+#define dLDLTAddTL(L, d, a, n, nskip, tmpbuf) _dLDLTAddTL(L, d, a, n, nskip, tmpbuf)
+#define dLDLTRemove(A, p, L, d, n1, n2, r, nskip, tmpbuf) _dLDLTRemove(A, p, L, d, n1, n2, r, nskip, tmpbuf)
+#define dRemoveRowCol(A, n, nskip, r) _dRemoveRowCol(A, n, nskip, r)
+
+
+#define dEstimateFactorCholeskyTmpbufSize(n) _dEstimateFactorCholeskyTmpbufSize(n)
+#define dEstimateSolveCholeskyTmpbufSize(n) _dEstimateSolveCholeskyTmpbufSize(n)
+#define dEstimateInvertPDMatrixTmpbufSize(n) _dEstimateInvertPDMatrixTmpbufSize(n)
+#define dEstimateIsPositiveDefiniteTmpbufSize(n) _dEstimateIsPositiveDefiniteTmpbufSize(n)
+#define dEstimateLDLTAddTLTmpbufSize(nskip) _dEstimateLDLTAddTLTmpbufSize(nskip)
+#define dEstimateLDLTRemoveTmpbufSize(n2, nskip) _dEstimateLDLTRemoveTmpbufSize(n2, nskip)
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // #ifndef _ODE__PRIVATE_MATRIX_H_
Modified: trunk/ode/src/misc.cpp
===================================================================
--- trunk/ode/src/misc.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/misc.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -22,8 +22,8 @@
#include <ode/odeconfig.h>
#include <ode/misc.h>
-#include <ode/matrix.h>
#include "config.h"
+#include "matrix.h"
//****************************************************************************
// random numbers
Modified: trunk/ode/src/objects.cpp
===================================================================
--- trunk/ode/src/objects.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/objects.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -26,9 +26,8 @@
#include <ode/common.h>
#include <ode/threading_impl.h>
#include <ode/objects.h>
-#include <ode/matrix.h>
#include "config.h"
-
+#include "matrix.h"
#include "objects.h"
#include "util.h"
#include "threading_impl.h"
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/ode.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -28,10 +28,10 @@
// numerics.
#include <ode/ode.h>
-#include <ode/matrix.h>
#include <ode/memory.h>
#include <ode/error.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "objects.h"
#include "joints/joints.h"
Modified: trunk/ode/src/plane.cpp
===================================================================
--- trunk/ode/src/plane.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/plane.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,9 +31,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/quickstep.cpp
===================================================================
--- trunk/ode/src/quickstep.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/quickstep.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -24,9 +24,9 @@
#include <ode/rotation.h>
#include <ode/timer.h>
#include <ode/error.h>
-#include <ode/matrix.h>
#include <ode/misc.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "objects.h"
#include "joints/joint.h"
Modified: trunk/ode/src/ray.cpp
===================================================================
--- trunk/ode/src/ray.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/ray.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,9 +31,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/sphere.cpp
===================================================================
--- trunk/ode/src/sphere.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/sphere.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -31,9 +31,9 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/matrix.h>
#include <ode/rotation.h>
#include "config.h"
+#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
Modified: trunk/ode/src/step.cpp
===================================================================
--- trunk/ode/src/step.cpp 2012-12-18 22:34:05 UTC (rev 1916)
+++ trunk/ode/src/step.cpp 2012-12-25 22:45:30 UTC (rev 1917)
@@ -24,9 +24,9 @@
#include <ode/rotation.h>
#include <ode/timer.h>
#include <ode/error.h>
-#include <ode/matrix.h>
#include "config.h"
#include "odemath.h"
+#include "matrix.h"
#include "objects.h"
#include "joints/joint.h"
#include "lcp.h"
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