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From: <ole...@us...> - 2012-08-19 17:37:58
|
Revision: 1904
http://opende.svn.sourceforge.net/opende/?rev=1904&view=rev
Author: oleh_derevenko
Date: 2012-08-19 17:37:50 +0000 (Sun, 19 Aug 2012)
Log Message:
-----------
Changed: First stage of dxStepIsland/dxQuickStepIsland changed to be executed in threaded manner
Modified Paths:
--------------
trunk/ode/src/ode.cpp
trunk/ode/src/odeou.h
trunk/ode/src/quickstep.cpp
trunk/ode/src/quickstep.h
trunk/ode/src/step.cpp
trunk/ode/src/step.h
trunk/ode/src/util.cpp
trunk/ode/src/util.h
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/ode.cpp 2012-08-19 17:37:50 UTC (rev 1904)
@@ -1800,7 +1800,7 @@
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateStepMemoryRequirements))
{
- if (dxProcessIslands (w, islandsinfo, stepsize, &dxStepIsland))
+ if (dxProcessIslands (w, islandsinfo, stepsize, &dxStepIsland, &dxEstimateStepMaxCallCount))
{
result = true;
}
@@ -1819,7 +1819,7 @@
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateQuickStepMemoryRequirements))
{
- if (dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepIsland))
+ if (dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepIsland, &dxEstimateQuickStepMaxCallCount))
{
result = true;
}
Modified: trunk/ode/src/odeou.h
===================================================================
--- trunk/ode/src/odeou.h 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/odeou.h 2012-08-19 17:37:50 UTC (rev 1904)
@@ -72,6 +72,44 @@
};
+#if dATOMICS_ENABLED
+
+static inline
+unsigned int AtomicIncrementIntUpToLimit(volatile unsigned int *storagePointer, unsigned int limitValue)
+{
+ unsigned int resultValue;
+ while (true) {
+ resultValue = *storagePointer;
+ if (resultValue == limitValue) {
+ break;
+ }
+ if (AtomicCompareExchange((volatile atomicord32 *)storagePointer, (atomicord32)resultValue, (atomicord32)(resultValue + 1))) {
+ break;
+ }
+ }
+ return resultValue;
+}
+
+static inline
+size_t AtomicIncrementSizeUpToLimit(volatile size_t *storagePointer, size_t limitValue)
+{
+ size_t resultValue;
+ while (true) {
+ resultValue = *storagePointer;
+ if (resultValue == limitValue) {
+ break;
+ }
+ if (AtomicCompareExchangePointer((volatile atomicptr *)storagePointer, (atomicptr)resultValue, (atomicptr)(resultValue + 1))) {
+ break;
+ }
+ }
+ return resultValue;
+}
+
+
+#endif // #if dATOMICS_ENABLED
+
+
#endif // dOU_ENABLED
Modified: trunk/ode/src/quickstep.cpp
===================================================================
--- trunk/ode/src/quickstep.cpp 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/quickstep.cpp 2012-08-19 17:37:50 UTC (rev 1904)
@@ -32,7 +32,15 @@
#include "joints/joint.h"
#include "lcp.h"
#include "util.h"
+#include "odeou.h"
+#include <new>
+
+
+#define dMIN(A,B) ((A)>(B) ? (B) : (A))
+#define dMAX(A,B) ((B)>(A) ? (B) : (A))
+
+
typedef const dReal *dRealPtr;
typedef dReal *dRealMutablePtr;
@@ -109,6 +117,70 @@
#define IFTIMING(x) ((void)0)
#endif
+
+struct dJointWithInfo1
+{
+ dxJoint *joint;
+ dxJoint::Info1 info;
+};
+
+struct dxQuickStepperStage0Outputs
+{
+ size_t nj;
+ unsigned int m;
+ unsigned int mfb;
+};
+
+struct dxQuickStepperStage1CallContext
+{
+ dxQuickStepperStage1CallContext(dxStepperProcessingCallContext *stepperCallContext, void *stageMemArenaState, dReal *invI, dJointWithInfo1 *jointinfos):
+ m_stepperCallContext(stepperCallContext), m_stageMemArenaState(stageMemArenaState),
+ m_invI(invI), m_jointinfos(jointinfos)
+ {
+ }
+
+ dxStepperProcessingCallContext *m_stepperCallContext;
+ void *m_stageMemArenaState;
+ dReal *m_invI;
+ dJointWithInfo1 *m_jointinfos;
+ dxQuickStepperStage0Outputs m_stage0Outputs;
+};
+
+struct dxQuickStepperStage0BodiesCallContext
+{
+ dxQuickStepperStage0BodiesCallContext(dxStepperProcessingCallContext *stepperCallContext, dReal *invI):
+ m_stepperCallContext(stepperCallContext), m_invI(invI),
+ m_tagsTaken(0), m_gravityTaken(0), m_inertiaBodyIndex(0)
+ {
+ }
+
+ dxStepperProcessingCallContext *m_stepperCallContext;
+ dReal *m_invI;
+ atomicord32 m_tagsTaken;
+ atomicord32 m_gravityTaken;
+ unsigned int volatile m_inertiaBodyIndex;
+};
+
+struct dxQuickStepperStage0JointsCallContext
+{
+ dxQuickStepperStage0JointsCallContext(dxStepperProcessingCallContext *stepperCallContext, dJointWithInfo1 *jointinfos, dxQuickStepperStage0Outputs *stage0Outputs):
+ m_stepperCallContext(stepperCallContext), m_jointinfos(jointinfos), m_stage0Outputs(stage0Outputs)
+ {
+ }
+
+ dxStepperProcessingCallContext *m_stepperCallContext;
+ dJointWithInfo1 *m_jointinfos;
+ dxQuickStepperStage0Outputs *m_stage0Outputs;
+};
+
+static int dxQuickStepIsland_Stage0_Bodies_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
+static int dxQuickStepIsland_Stage0_Joints_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
+static int dxQuickStepIsland_Stage1_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
+
+static void dxQuickStepIsland_Stage0_Bodies(dxQuickStepperStage0BodiesCallContext *callContext);
+static void dxQuickStepIsland_Stage0_Joints(dxQuickStepperStage0JointsCallContext *callContext);
+static void dxQuickStepIsland_Stage1(dxQuickStepperStage1CallContext *callContext);
+
//***************************************************************************
// various common computations involving the matrix J
@@ -583,58 +655,79 @@
}
}
-struct dJointWithInfo1
-{
- dxJoint *joint;
- dxJoint::Info1 info;
-};
-
+/*extern */
void dxQuickStepIsland(dxStepperProcessingCallContext *callContext)
{
IFTIMING(dTimerStart("preprocessing"));
dxWorldProcessMemArena *memarena = callContext->m_stepperArena;
dxWorld *world = callContext->m_world;
- dxBody * const *body = callContext->m_islandBodiesStart;
unsigned int nb = callContext->m_islandBodiesCount;
- dxJoint * const *_joint = callContext->m_islandJointsStart;
unsigned int _nj = callContext->m_islandJointsCount;
- dReal stepsize = callContext->m_stepSize;
+ dReal *invI = memarena->AllocateArray<dReal> (3*4*(size_t)nb);
+ dJointWithInfo1 *const jointinfos = memarena->AllocateArray<dJointWithInfo1> (_nj);
+
+ const unsigned allowedThreads = callContext->m_stepperAllowedThreads;
+ dIASSERT(allowedThreads != 0);
+
+ void *stagesMemArenaState = memarena->SaveState();
+
+ dxQuickStepperStage1CallContext *stage1CallContext = (dxQuickStepperStage1CallContext *)memarena->AllocateBlock(sizeof(dxQuickStepperStage1CallContext));
+ new(stage1CallContext) dxQuickStepperStage1CallContext(callContext, stagesMemArenaState, invI, jointinfos);
+
+ dxQuickStepperStage0BodiesCallContext *stage0BodiesCallContext = (dxQuickStepperStage0BodiesCallContext *)memarena->AllocateBlock(sizeof(dxQuickStepperStage0BodiesCallContext));
+ new(stage0BodiesCallContext) dxQuickStepperStage0BodiesCallContext(callContext, invI);
+
+ dxQuickStepperStage0JointsCallContext *stage0JointsCallContext = (dxQuickStepperStage0JointsCallContext *)memarena->AllocateBlock(sizeof(dxQuickStepperStage0JointsCallContext));
+ new(stage0JointsCallContext) dxQuickStepperStage0JointsCallContext(callContext, jointinfos, &stage1CallContext->m_stage0Outputs);
+
+ if (allowedThreads == 1)
{
- // number all bodies in the body list - set their tag values
- for (unsigned int i=0; i<nb; i++) body[i]->tag = i;
+ dxQuickStepIsland_Stage0_Bodies(stage0BodiesCallContext);
+ dxQuickStepIsland_Stage0_Joints(stage0JointsCallContext);
+ dxQuickStepIsland_Stage1(stage1CallContext);
}
+ else
+ {
+ unsigned bodyThreads = allowedThreads;
+ unsigned jointThreads = 1;
- // 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 a vertical stack of 3x4 matrices, one per body.
- dReal *invI = memarena->AllocateArray<dReal> (3*4*(size_t)nb);
+ dCallReleaseeID stage1CallReleasee;
+ world->PostThreadedCallForUnawareReleasee(NULL, &stage1CallReleasee, bodyThreads + jointThreads, callContext->m_finalReleasee,
+ NULL, &dxQuickStepIsland_Stage1_Callback, stage1CallContext, 0, "QuickStepIsland Stage1");
- {
- dReal *invIrow = invI;
- dxBody *const *const bodyend = body + nb;
- for (dxBody *const *bodycurr = body; bodycurr != bodyend; invIrow += 12, bodycurr++) {
- dMatrix3 tmp;
- dxBody *b = *bodycurr;
+ world->PostThreadedCallsGroup(NULL, bodyThreads, stage1CallReleasee, &dxQuickStepIsland_Stage0_Bodies_Callback, stage0BodiesCallContext, "QuickStepIsland Stage0-Bodies");
- // compute inverse inertia tensor in global frame
- dMultiply2_333 (tmp,b->invI,b->posr.R);
- dMultiply0_333 (invIrow,b->posr.R,tmp);
+ world->PostThreadedCall(NULL, NULL, 0, stage1CallReleasee, NULL, &dxQuickStepIsland_Stage0_Joints_Callback, stage0JointsCallContext, 0, "QuickStepIsland Stage0-Joints");
+ dIASSERT(jointThreads == 1);
+ }
+}
- if ((b->flags & dxBodyGyroscopic) != 0) {
- dMatrix3 I;
- // compute inertia tensor in global frame
- dMultiply2_333 (tmp,b->mass.I,b->posr.R);
- dMultiply0_333 (I,b->posr.R,tmp);
- // compute rotational force
- dMultiply0_331 (tmp,I,b->avel);
- dSubtractVectorCross3(b->tacc,b->avel,tmp);
- }
- }
+static
+int dxQuickStepIsland_Stage0_Bodies_Callback(void *_callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
+{
+ dxQuickStepperStage0BodiesCallContext *callContext = (dxQuickStepperStage0BodiesCallContext *)_callContext;
+ dxQuickStepIsland_Stage0_Bodies(callContext);
+ return 1;
+}
+
+static
+void dxQuickStepIsland_Stage0_Bodies(dxQuickStepperStage0BodiesCallContext *callContext)
+{
+ dxBody * const *body = callContext->m_stepperCallContext->m_islandBodiesStart;
+ unsigned int nb = callContext->m_stepperCallContext->m_islandBodiesCount;
+
+ if (AtomicExchange(&callContext->m_tagsTaken, 1) == 0)
+ {
+ // number all bodies in the body list - set their tag values
+ for (unsigned int i=0; i<nb; i++) body[i]->tag = i;
}
+ if (AtomicExchange(&callContext->m_gravityTaken, 1) == 0)
{
+ dxWorld *world = callContext->m_stepperCallContext->m_world;
+
// add the gravity force to all bodies
// since gravity does normally have only one component it's more efficient
// to run three loops for each individual component
@@ -668,17 +761,58 @@
}
}
+ // 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 a vertical stack of 3x4 matrices, one per body.
+ {
+ dReal *invIrow = callContext->m_invI;
+ unsigned int bodyIndex = AtomicIncrementIntUpToLimit(&callContext->m_inertiaBodyIndex, nb);
+
+ for (unsigned int i = 0; i != nb; invIrow += 12, ++i) {
+ if (i == bodyIndex) {
+ dMatrix3 tmp;
+ dxBody *b = body[i];
+
+ // compute inverse inertia tensor in global frame
+ dMultiply2_333 (tmp,b->invI,b->posr.R);
+ dMultiply0_333 (invIrow,b->posr.R,tmp);
+
+ if ((b->flags & dxBodyGyroscopic) != 0) {
+ dMatrix3 I;
+ // compute inertia tensor in global frame
+ dMultiply2_333 (tmp,b->mass.I,b->posr.R);
+ dMultiply0_333 (I,b->posr.R,tmp);
+ // compute rotational force
+ dMultiply0_331 (tmp,I,b->avel);
+ dSubtractVectorCross3(b->tacc,b->avel,tmp);
+ }
+
+ bodyIndex = AtomicIncrementIntUpToLimit(&callContext->m_inertiaBodyIndex, nb);
+ }
+ }
+ }
+}
+
+static
+int dxQuickStepIsland_Stage0_Joints_Callback(void *_callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
+{
+ dxQuickStepperStage0JointsCallContext *callContext = (dxQuickStepperStage0JointsCallContext *)_callContext;
+ dxQuickStepIsland_Stage0_Joints(callContext);
+ return 1;
+}
+
+static
+void dxQuickStepIsland_Stage0_Joints(dxQuickStepperStage0JointsCallContext *callContext)
+{
+ dxJoint * const *_joint = callContext->m_stepperCallContext->m_islandJointsStart;
+ unsigned int _nj = callContext->m_stepperCallContext->m_islandJointsCount;
+
// get joint information (m = total constraint dimension, nub = number of unbounded variables).
// joints with m=0 are inactive and are removed from the joints array
// entirely, so that the code that follows does not consider them.
- dJointWithInfo1 *const jointiinfos = memarena->AllocateArray<dJointWithInfo1> (_nj);
- size_t nj;
- unsigned int m;
- unsigned int mfb; // number of rows of Jacobian we will have to save for joint feedback
-
{
unsigned int mcurr = 0, mfbcurr = 0;
- dJointWithInfo1 *jicurr = jointiinfos;
+ dJointWithInfo1 *jicurr = callContext->m_jointinfos;
dxJoint *const *const _jend = _joint + _nj;
for (dxJoint *const *_jcurr = _joint; _jcurr != _jend; _jcurr++) { // jicurr=dest, _jcurr=src
dxJoint *j = *_jcurr;
@@ -695,13 +829,52 @@
jicurr++;
}
}
- nj = jicurr - jointiinfos;
- m = mcurr;
- mfb = mfbcurr;
+ callContext->m_stage0Outputs->nj = jicurr - callContext->m_jointinfos;
+ callContext->m_stage0Outputs->m = mcurr;
+ callContext->m_stage0Outputs->mfb = mfbcurr;
}
+}
- memarena->ShrinkArray<dJointWithInfo1>(jointiinfos, _nj, nj);
+static
+int dxQuickStepIsland_Stage1_Callback(void *_stage1CallContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
+{
+ dxQuickStepperStage1CallContext *stage1CallContext = (dxQuickStepperStage1CallContext *)_stage1CallContext;
+ dxQuickStepIsland_Stage1(stage1CallContext);
+ return 1;
+}
+static
+void dxQuickStepIsland_Stage1(dxQuickStepperStage1CallContext *stage1CallContext)
+{
+ dxStepperProcessingCallContext *callContext;
+ dReal *invI;
+ dJointWithInfo1 *jointinfos;
+ size_t nj;
+ unsigned int m;
+ unsigned int mfb;
+ {
+ callContext = stage1CallContext->m_stepperCallContext;
+ invI = stage1CallContext->m_invI;
+ jointinfos = stage1CallContext->m_jointinfos;
+ nj = stage1CallContext->m_stage0Outputs.nj;
+ m = stage1CallContext->m_stage0Outputs.m;
+ mfb = stage1CallContext->m_stage0Outputs.mfb;
+ }
+
+ dxWorldProcessMemArena *memarena = callContext->m_stepperArena;
+ {
+ memarena->RestoreState(stage1CallContext->m_stageMemArenaState);
+ stage1CallContext = NULL; // WARNING! _stage1CallContext is not valid after this point!
+ dIVERIFY(stage1CallContext == NULL); // To suppress unused variable assignment warnings
+
+ unsigned int _nj = callContext->m_islandJointsCount;
+ memarena->ShrinkArray<dJointWithInfo1>(jointinfos, _nj, nj);
+ }
+
+ dxWorld *world = callContext->m_world;
+ dxBody * const *body = callContext->m_islandBodiesStart;
+ unsigned int nb = callContext->m_islandBodiesCount;
+
// if there are constraints, compute the constraint force
dReal *J = NULL;
int *jb = NULL;
@@ -743,7 +916,7 @@
dReal *c = memarena->AllocateArray<dReal> (m);
dSetZero (c, m);
- const dReal stepsizeRecip = dRecip(stepsize);
+ const dReal stepsizeRecip = dRecip(callContext->m_stepSize);
{
IFTIMING (dTimerNow ("create J"));
@@ -767,7 +940,7 @@
dReal *Jcopyrow = Jcopy;
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; jicurr++) {
dReal *const Jrow = J + (size_t)ofsi * 12;
@@ -811,7 +984,7 @@
{
// create an array of body numbers for each joint row
int *jb_ptr = jb;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; jicurr++) {
dxJoint *joint = jicurr->joint;
@@ -863,7 +1036,7 @@
#ifdef WARM_STARTING
{
dReal *lambdscurr = lambda;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; jicurr++) {
unsigned int infom = jicurr->info.m;
@@ -888,7 +1061,7 @@
//@@@ note that this doesn't work for contact joints yet, as they are
// recreated every iteration
const dReal *lambdacurr = lambda;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; jicurr++) {
unsigned int infom = jicurr->info.m;
@@ -902,6 +1075,7 @@
// they should not be used again.
{
+ dReal stepsize = callContext->m_stepSize;
// add stepsize * cforce to the body velocity
const dReal *cforcecurr = cforce;
dxBody *const *const bodyend = body + nb;
@@ -921,7 +1095,7 @@
dReal data[6];
const dReal *lambdacurr = lambda;
const dReal *Jcopyrow = Jcopy;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; jicurr++) {
dxJoint *joint = jicurr->joint;
@@ -958,6 +1132,7 @@
{
IFTIMING (dTimerNow ("compute velocity update"));
+ dReal stepsize = callContext->m_stepSize;
// compute the velocity update:
// add stepsize * invM * fe to the body velocity
const dReal *invIrow = invI;
@@ -998,6 +1173,7 @@
#endif
{
+ dReal stepsize = callContext->m_stepSize;
// update the position and orientation from the new linear/angular velocity
// (over the given timestep)
IFTIMING (dTimerNow ("update position"));
@@ -1043,6 +1219,7 @@
return res;
}
+/*extern */
size_t dxEstimateQuickStepMemoryRequirements (
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj)
{
@@ -1073,9 +1250,9 @@
res += dEFFICIENT_SIZE(sizeof(dReal) * 3 * 4 * (size_t)nb); // for invI
{
- size_t sub1_res1 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * (size_t)_nj); // for initial jointiinfos
+ size_t sub1_res1 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * (size_t)_nj); // for initial jointinfos
- size_t sub1_res2 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * (size_t)nj); // for shrunk jointiinfos
+ size_t sub1_res2 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * (size_t)nj); // for shrunk jointinfos
if (m > 0) {
sub1_res2 += dEFFICIENT_SIZE(sizeof(dReal) * 12 * (size_t)m); // for J
sub1_res2 += dEFFICIENT_SIZE(sizeof(int) * 12 * (size_t)m); // for jb
@@ -1089,7 +1266,7 @@
size_t sub3_res2 = 0;
- sub2_res1 += (sub3_res1 >= sub3_res2) ? sub3_res1 : sub3_res2;
+ sub2_res1 += dMAX(sub3_res1, sub3_res2);
}
size_t sub2_res2 = dEFFICIENT_SIZE(sizeof(dReal) * (size_t)m); // for lambda
@@ -1105,20 +1282,33 @@
size_t sub4_res2 = 0;
- sub3_res2 += (sub4_res1 >= sub4_res2) ? sub4_res1 : sub4_res2;
+ sub3_res2 += dMAX(sub4_res1, sub4_res2);
}
#endif
- sub2_res2 += (sub3_res1 >= sub3_res2) ? sub3_res1 : sub3_res2;
+ sub2_res2 += dMAX(sub3_res1, sub3_res2);
}
- sub1_res2 += (sub2_res1 >= sub2_res2) ? sub2_res1 : sub2_res2;
+ sub1_res2 += dMAX(sub2_res1, sub2_res2);
}
}
- res += (sub1_res1 >= sub1_res2) ? sub1_res1 : sub1_res2;
+ size_t sub1_res12_max = dMAX(sub1_res1, sub1_res2);
+ size_t stage01_contexts = dEFFICIENT_SIZE(sizeof(dxQuickStepperStage0BodiesCallContext))
+ + dEFFICIENT_SIZE(sizeof(dxQuickStepperStage0JointsCallContext))
+ + dEFFICIENT_SIZE(sizeof(dxQuickStepperStage1CallContext));
+ res += dMAX(sub1_res12_max, stage01_contexts);
}
return res;
}
+/*extern */
+unsigned dxEstimateQuickStepMaxCallCount(
+ unsigned activeThreadCount, unsigned allowedThreadCount)
+{
+ unsigned result = 1 // dxQuickStepIsland itself
+ + (allowedThreadCount + 1) // allowedThreadCount * dxQuickStepIsland_Stage0_Bodies + dxQuickStepIsland_Stage0_Joints
+ + 1; // dxQuickStepIsland_Stage1
+ return result;
+}
Modified: trunk/ode/src/quickstep.h
===================================================================
--- trunk/ode/src/quickstep.h 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/quickstep.h 2012-08-19 17:37:50 UTC (rev 1904)
@@ -30,6 +30,8 @@
size_t dxEstimateQuickStepMemoryRequirements(
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj);
+unsigned dxEstimateQuickStepMaxCallCount(
+ unsigned activeThreadCount, unsigned allowedThreadCount);
void dxQuickStepIsland(dxStepperProcessingCallContext *callContext);
Modified: trunk/ode/src/step.cpp
===================================================================
--- trunk/ode/src/step.cpp 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/step.cpp 2012-08-19 17:37:50 UTC (rev 1904)
@@ -31,7 +31,15 @@
#include "joints/joint.h"
#include "lcp.h"
#include "util.h"
+#include "odeou.h"
+#include <new>
+
+
+#define dMIN(A,B) ((A)>(B) ? (B) : (A))
+#define dMAX(A,B) ((B)>(A) ? (B) : (A))
+
+
//****************************************************************************
// misc defines
@@ -44,6 +52,72 @@
#define IFTIMING(x) ((void)0)
#endif
+
+struct dJointWithInfo1
+{
+ dxJoint *joint;
+ dxJoint::Info1 info;
+};
+
+struct dxStepperStage0Outputs
+{
+ size_t ji_start;
+ size_t ji_end;
+ unsigned int m;
+ unsigned int nub;
+};
+
+struct dxStepperStage1CallContext
+{
+ dxStepperStage1CallContext(dxStepperProcessingCallContext *stepperCallContext, void *stageMemArenaState, dReal *invI, dJointWithInfo1 *jointinfos):
+ m_stepperCallContext(stepperCallContext), m_stageMemArenaState(stageMemArenaState),
+ m_invI(invI), m_jointinfos(jointinfos)
+ {
+ }
+
+ dxStepperProcessingCallContext *m_stepperCallContext;
+ void *m_stageMemArenaState;
+ dReal *m_invI;
+ dJointWithInfo1 *m_jointinfos;
+ dxStepperStage0Outputs m_stage0Outputs;
+};
+
+struct dxStepperStage0BodiesCallContext
+{
+ dxStepperStage0BodiesCallContext(dxStepperProcessingCallContext *stepperCallContext, dReal *invI):
+ m_stepperCallContext(stepperCallContext), m_invI(invI),
+ m_tagsTaken(0), m_gravityTaken(0), m_inertiaBodyIndex(0)
+ {
+ }
+
+ dxStepperProcessingCallContext *m_stepperCallContext;
+ dReal *m_invI;
+ atomicord32 m_tagsTaken;
+ atomicord32 m_gravityTaken;
+ unsigned int volatile m_inertiaBodyIndex;
+};
+
+struct dxStepperStage0JointsCallContext
+{
+ dxStepperStage0JointsCallContext(dxStepperProcessingCallContext *stepperCallContext, dJointWithInfo1 *jointinfos, dxStepperStage0Outputs *stage0Outputs):
+ m_stepperCallContext(stepperCallContext), m_jointinfos(jointinfos), m_stage0Outputs(stage0Outputs)
+ {
+ }
+
+ dxStepperProcessingCallContext *m_stepperCallContext;
+ dJointWithInfo1 *m_jointinfos;
+ dxStepperStage0Outputs *m_stage0Outputs;
+};
+
+static int dxStepIsland_Stage0_Bodies_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
+static int dxStepIsland_Stage0_Joints_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
+static int dxStepIsland_Stage1_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
+
+static void dxStepIsland_Stage0_Bodies(dxStepperStage0BodiesCallContext *callContext);
+static void dxStepIsland_Stage0_Joints(dxStepperStage0JointsCallContext *callContext);
+static void dxStepIsland_Stage1(dxStepperStage1CallContext *callContext);
+
+
//****************************************************************************
// special matrix multipliers
@@ -176,14 +250,7 @@
}
//****************************************************************************
-// an optimized version of dInternalStepIsland1()
-struct dJointWithInfo1
-{
- dxJoint *joint;
- dxJoint::Info1 info;
-};
-
/*extern */
void dxStepIsland(dxStepperProcessingCallContext *callContext)
{
@@ -191,48 +258,75 @@
dxWorldProcessMemArena *memarena = callContext->m_stepperArena;
dxWorld *world = callContext->m_world;
- dxBody * const *body = callContext->m_islandBodiesStart;
unsigned int nb = callContext->m_islandBodiesCount;
- dxJoint * const *_joint = callContext->m_islandJointsStart;
unsigned int _nj = callContext->m_islandJointsCount;
- dReal stepsize = callContext->m_stepSize;
+ dReal *invI = memarena->AllocateArray<dReal> (3*4*(size_t)nb);
+ // Reserve twice as much memory and start from the middle so that regardless of
+ // what direction the array grows to there would be sufficient room available.
+ const size_t ji_reserve_count = 2 * (size_t)_nj;
+ dJointWithInfo1 *const jointinfos = memarena->AllocateArray<dJointWithInfo1> (ji_reserve_count);
+
+ const unsigned allowedThreads = callContext->m_stepperAllowedThreads;
+ dIASSERT(allowedThreads != 0);
+
+ void *stagesMemArenaState = memarena->SaveState();
+
+ dxStepperStage1CallContext *stage1CallContext = (dxStepperStage1CallContext *)memarena->AllocateBlock(sizeof(dxStepperStage1CallContext));
+ new(stage1CallContext) dxStepperStage1CallContext(callContext, stagesMemArenaState, invI, jointinfos);
+
+ dxStepperStage0BodiesCallContext *stage0BodiesCallContext = (dxStepperStage0BodiesCallContext *)memarena->AllocateBlock(sizeof(dxStepperStage0BodiesCallContext));
+ new(stage0BodiesCallContext) dxStepperStage0BodiesCallContext(callContext, invI);
+
+ dxStepperStage0JointsCallContext *stage0JointsCallContext = (dxStepperStage0JointsCallContext *)memarena->AllocateBlock(sizeof(dxStepperStage0JointsCallContext));
+ new(stage0JointsCallContext) dxStepperStage0JointsCallContext(callContext, jointinfos, &stage1CallContext->m_stage0Outputs);
+
+ if (allowedThreads == 1)
{
- // number all bodies in the body list - set their tag values
- for (unsigned int i=0; i<nb; ++i) body[i]->tag = i;
+ dxStepIsland_Stage0_Bodies(stage0BodiesCallContext);
+ dxStepIsland_Stage0_Joints(stage0JointsCallContext);
+ dxStepIsland_Stage1(stage1CallContext);
}
+ else
+ {
+ unsigned bodyThreads = allowedThreads;
+ unsigned jointThreads = 1;
- // 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. invI are vertically stacked 3x4 matrices, one per body.
- // @@@ check computation of rotational force.
+ dCallReleaseeID stage1CallReleasee;
+ world->PostThreadedCallForUnawareReleasee(NULL, &stage1CallReleasee, bodyThreads + jointThreads, callContext->m_finalReleasee,
+ NULL, &dxStepIsland_Stage1_Callback, stage1CallContext, 0, "StepIsland Stage1");
- dReal *invI = memarena->AllocateArray<dReal> (3*4*(size_t)nb);
+ world->PostThreadedCallsGroup(NULL, bodyThreads, stage1CallReleasee, &dxStepIsland_Stage0_Bodies_Callback, stage0BodiesCallContext, "StepIsland Stage0-Bodies");
- { // Identical to QuickStep
- dReal *invIrow = invI;
- dxBody *const *const bodyend = body + nb;
- for (dxBody *const *bodycurr = body; bodycurr != bodyend; invIrow += 12, ++bodycurr) {
- dMatrix3 tmp;
- dxBody *b = *bodycurr;
+ world->PostThreadedCall(NULL, NULL, 0, stage1CallReleasee, NULL, &dxStepIsland_Stage0_Joints_Callback, stage0JointsCallContext, 0, "StepIsland Stage0-Joints");
+ dIASSERT(jointThreads == 1);
+ }
+}
- // compute inverse inertia tensor in global frame
- dMultiply2_333 (tmp,b->invI,b->posr.R);
- dMultiply0_333 (invIrow,b->posr.R,tmp);
+static
+int dxStepIsland_Stage0_Bodies_Callback(void *_callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
+{
+ dxStepperStage0BodiesCallContext *callContext = (dxStepperStage0BodiesCallContext *)_callContext;
+ dxStepIsland_Stage0_Bodies(callContext);
+ return 1;
+}
- if ((b->flags & dxBodyGyroscopic) != 0) {
- dMatrix3 I;
- // compute inertia tensor in global frame
- dMultiply2_333 (tmp,b->mass.I,b->posr.R);
- dMultiply0_333 (I,b->posr.R,tmp);
- // compute rotational force
- dMultiply0_331 (tmp,I,b->avel);
- dSubtractVectorCross3 (b->tacc,b->avel,tmp);
- }
- }
+static
+void dxStepIsland_Stage0_Bodies(dxStepperStage0BodiesCallContext *callContext)
+{
+ dxBody * const *body = callContext->m_stepperCallContext->m_islandBodiesStart;
+ unsigned int nb = callContext->m_stepperCallContext->m_islandBodiesCount;
+
+ if (AtomicExchange(&callContext->m_tagsTaken, 1) == 0)
+ {
+ // number all bodies in the body list - set their tag values
+ for (unsigned int i=0; i<nb; i++) body[i]->tag = i;
}
- { // Identical to QuickStep
+ if (AtomicExchange(&callContext->m_gravityTaken, 1) == 0)
+ {
+ dxWorld *world = callContext->m_stepperCallContext->m_world;
+
// add the gravity force to all bodies
// since gravity does normally have only one component it's more efficient
// to run three loops for each individual component
@@ -266,6 +360,53 @@
}
}
+ // 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 a vertical stack of 3x4 matrices, one per body.
+ {
+ dReal *invIrow = callContext->m_invI;
+ unsigned int bodyIndex = AtomicIncrementIntUpToLimit(&callContext->m_inertiaBodyIndex, nb);
+
+ for (unsigned int i = 0; i != nb; invIrow += 12, ++i) {
+ if (i == bodyIndex) {
+ dMatrix3 tmp;
+ dxBody *b = body[i];
+
+ // compute inverse inertia tensor in global frame
+ dMultiply2_333 (tmp,b->invI,b->posr.R);
+ dMultiply0_333 (invIrow,b->posr.R,tmp);
+
+ if ((b->flags & dxBodyGyroscopic) != 0) {
+ dMatrix3 I;
+ // compute inertia tensor in global frame
+ dMultiply2_333 (tmp,b->mass.I,b->posr.R);
+ dMultiply0_333 (I,b->posr.R,tmp);
+ // compute rotational force
+ dMultiply0_331 (tmp,I,b->avel);
+ dSubtractVectorCross3(b->tacc,b->avel,tmp);
+ }
+
+ bodyIndex = AtomicIncrementIntUpToLimit(&callContext->m_inertiaBodyIndex, nb);
+ }
+ }
+ }
+}
+
+static
+int dxStepIsland_Stage0_Joints_Callback(void *_callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
+{
+ dxStepperStage0JointsCallContext *callContext = (dxStepperStage0JointsCallContext *)_callContext;
+ dxStepIsland_Stage0_Joints(callContext);
+ return 1;
+}
+
+static
+void dxStepIsland_Stage0_Joints(dxStepperStage0JointsCallContext *callContext)
+{
+ dxJoint * const *_joint = callContext->m_stepperCallContext->m_islandJointsStart;
+ dJointWithInfo1 *jointinfos = callContext->m_jointinfos;
+ unsigned int _nj = callContext->m_stepperCallContext->m_islandJointsCount;
+
// 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
@@ -278,20 +419,13 @@
// also number all active joints in the joint list (set their tag values).
// inactive joints receive a tag value of -1.
- // Reserve twice as much memory and start from the middle so that regardless of
- // what direction the array grows to there would be sufficient room available.
- const size_t ji_reserve_count = 2 * (size_t)_nj;
- dJointWithInfo1 *jointiinfos = memarena->AllocateArray<dJointWithInfo1> (ji_reserve_count);
- unsigned int nub;
size_t ji_start, ji_end;
- unsigned int m = 0;
-
{
unsigned int mcurr = 0;
size_t unb_start, mix_start, mix_end, lcp_end;
unb_start = mix_start = mix_end = lcp_end = _nj;
- dJointWithInfo1 *jicurr = jointiinfos + lcp_end;
+ dJointWithInfo1 *jicurr = jointinfos + lcp_end;
dxJoint *const *const _jend = _joint + _nj;
dxJoint *const *_jcurr = _joint;
while (true) {
@@ -299,10 +433,10 @@
// Switch to growing array forward
{
bool fwd_end_reached = false;
- dJointWithInfo1 *jimixend = jointiinfos + mix_end;
+ dJointWithInfo1 *jimixend = jointinfos + mix_end;
while (true) { // jicurr=dest, _jcurr=src
if (_jcurr == _jend) {
- lcp_end = jicurr - jointiinfos;
+ lcp_end = jicurr - jointinfos;
fwd_end_reached = true;
break;
}
@@ -317,7 +451,7 @@
} else if (jicurr->info.nub < jicurr->info.m) { // A mixed case
if (unb_start == mix_start) { // no unbounded infos yet - just move to opposite side of mixed-s
unb_start = mix_start = mix_start - 1;
- dJointWithInfo1 *jimixstart = jointiinfos + mix_start;
+ dJointWithInfo1 *jimixstart = jointinfos + mix_start;
jimixstart->info = jicurr->info;
jimixstart->joint = j;
} else if (jimixend != jicurr) { // have to swap to the tail of mixed-s
@@ -332,11 +466,11 @@
}
} else { // A purely unbounded case -- break out and proceed growing in opposite direction
unb_start = unb_start - 1;
- dJointWithInfo1 *jiunbstart = jointiinfos + unb_start;
+ dJointWithInfo1 *jiunbstart = jointinfos + unb_start;
jiunbstart->info = jicurr->info;
jiunbstart->joint = j;
- lcp_end = jicurr - jointiinfos;
- mix_end = jimixend - jointiinfos;
+ lcp_end = jicurr - jointinfos;
+ mix_end = jimixend - jointinfos;
jicurr = jiunbstart - 1;
break;
}
@@ -352,11 +486,11 @@
// Switch to growing array backward
{
bool bkw_end_reached = false;
- dJointWithInfo1 *jimixstart = jointiinfos + mix_start - 1;
+ dJointWithInfo1 *jimixstart = jointinfos + mix_start - 1;
while (true) { // jicurr=dest, _jcurr=src
if (_jcurr == _jend) {
- unb_start = (jicurr + 1) - jointiinfos;
- mix_start = (jimixstart + 1) - jointiinfos;
+ unb_start = (jicurr + 1) - jointinfos;
+ mix_start = (jimixstart + 1) - jointinfos;
bkw_end_reached = true;
break;
}
@@ -370,7 +504,7 @@
--jicurr;
} else if (jicurr->info.nub != 0) { // A mixed case
if (mix_end == lcp_end) { // no lcp infos yet - just move to opposite side of mixed-s
- dJointWithInfo1 *jimixend = jointiinfos + mix_end;
+ dJointWithInfo1 *jimixend = jointinfos + mix_end;
lcp_end = mix_end = mix_end + 1;
jimixend->info = jicurr->info;
jimixend->joint = j;
@@ -385,12 +519,12 @@
jimixstart = jicurr = jicurr - 1;
}
} else { // A purely lcp case -- break out and proceed growing in opposite direction
- dJointWithInfo1 *jilcpend = jointiinfos + lcp_end;
+ dJointWithInfo1 *jilcpend = jointinfos + lcp_end;
lcp_end = lcp_end + 1;
jilcpend->info = jicurr->info;
jilcpend->joint = j;
- unb_start = (jicurr + 1) - jointiinfos;
- mix_start = (jimixstart + 1) - jointiinfos;
+ unb_start = (jicurr + 1) - jointinfos;
+ mix_start = (jimixstart + 1) - jointinfos;
jicurr = jilcpend + 1;
break;
}
@@ -404,26 +538,70 @@
}
}
- nub = (unsigned)(mix_start - unb_start);
+ callContext->m_stage0Outputs->m = mcurr;
+ callContext->m_stage0Outputs->nub = (unsigned)(mix_start - unb_start);
dIASSERT((size_t)(mix_start - unb_start) <= (size_t)UINT_MAX);
ji_start = unb_start;
ji_end = lcp_end;
- m = mcurr;
}
- memarena->ShrinkArray<dJointWithInfo1>(jointiinfos, ji_reserve_count, ji_end);
- jointiinfos += ji_start;
- unsigned int nj = (unsigned int)(ji_end - ji_start);
- dIASSERT((size_t)(ji_end - ji_start) <= (size_t)UINT_MAX);
-
{
- const dJointWithInfo1 *jicurr = jointiinfos;
- const dJointWithInfo1 *const jiend = jicurr + nj;
+ const dJointWithInfo1 *jicurr = jointinfos + ji_start;
+ const dJointWithInfo1 *const jiend = jointinfos + ji_end;
for (unsigned int i = 0; jicurr != jiend; i++, ++jicurr) {
jicurr->joint->tag = i;
}
}
+ callContext->m_stage0Outputs->ji_start = ji_start;
+ callContext->m_stage0Outputs->ji_end = ji_end;
+}
+
+static
+int dxStepIsland_Stage1_Callback(void *_stage1CallContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
+{
+ dxStepperStage1CallContext *stage1CallContext = (dxStepperStage1CallContext *)_stage1CallContext;
+ dxStepIsland_Stage1(stage1CallContext);
+ return 1;
+}
+
+static
+void dxStepIsland_Stage1(dxStepperStage1CallContext *stage1CallContext)
+{
+ dxStepperProcessingCallContext *callContext;
+ dJointWithInfo1 *_jointinfos;
+ dReal *invI;
+ size_t ji_start, ji_end;
+ unsigned int m;
+ unsigned int nub;
+ {
+ callContext = stage1CallContext->m_stepperCallContext;
+ _jointinfos = stage1CallContext->m_jointinfos;
+ invI = stage1CallContext->m_invI;
+ ji_start = stage1CallContext->m_stage0Outputs.ji_start;
+ ji_end = stage1CallContext->m_stage0Outputs.ji_end;
+ m = stage1CallContext->m_stage0Outputs.m;
+ nub = stage1CallContext->m_stage0Outputs.nub;
+ }
+
+ dxWorldProcessMemArena *memarena = callContext->m_stepperArena;
+ {
+ memarena->RestoreState(stage1CallContext->m_stageMemArenaState);
+ stage1CallContext = NULL; // WARNING! _stage1CallContext is not valid after this point!
+ dIVERIFY(stage1CallContext == NULL); // To suppress compiler warnings about unused variable assignment
+
+ unsigned int _nj = callContext->m_islandJointsCount;
+ const size_t ji_reserve_count = 2 * (size_t)_nj;
+ memarena->ShrinkArray<dJointWithInfo1>(_jointinfos, ji_reserve_count, ji_end);
+ }
+
+ dxWorld *world = callContext->m_world;
+ dxBody * const *body = callContext->m_islandBodiesStart;
+ unsigned int nb = callContext->m_islandBodiesCount;
+ dJointWithInfo1 *jointinfos = _jointinfos + ji_start;
+ unsigned int nj = (unsigned int)(ji_end - ji_start);
+ dIASSERT((size_t)(ji_end - ji_start) <= (size_t)UINT_MAX);
+
// this will be set to the force due to the constraints
dReal *cforce = memarena->AllocateArray<dReal> ((size_t)nb*8);
dSetZero (cforce,(size_t)nb*8);
@@ -466,7 +644,7 @@
dReal *cfm = memarena->AllocateArray<dReal> (m);
dSetValue (cfm,m,world->global_cfm);
- const dReal stepsizeRecip = dRecip(stepsize);
+ const dReal stepsizeRecip = dRecip(callContext->m_stepSize);
dReal *JinvM = memarena->AllocateArray<dReal> (2*8*(size_t)m);
dSetZero (JinvM,2*8*(size_t)m);
@@ -497,7 +675,7 @@
Jinfo.erp = world->global_erp;
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; ++jicurr) {
const unsigned int infom = jicurr->info.m;
@@ -535,7 +713,7 @@
// format as J so we just go through the constraints in J multiplying by
// the appropriate scalars and matrices.
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; ++jicurr) {
const unsigned int infom = jicurr->info.m;
@@ -580,7 +758,7 @@
const unsigned int mskip = dPAD(m);
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (unsigned int i = 0; jicurr != jiend; i++, ++jicurr) {
const unsigned int infom = jicurr->info.m;
@@ -595,7 +773,7 @@
// joint that should not be considered
int j0 = n0->joint->tag;
if (j0 != -1 && (unsigned)j0 < i) {
- const dJointWithInfo1 *jiother = jointiinfos + j0;
+ const dJointWithInfo1 *jiother = jointinfos + j0;
size_t ofsother = (jiother->joint->node[1].body == jb0) ? 8*(size_t)jiother->info.m : 0;
// set block of A
MultiplyAdd2_p8r (Arow + ofs[j0], JinvMrow,
@@ -612,7 +790,7 @@
// joint that should not be considered
int j1 = n1->joint->tag;
if (j1 != -1 && (unsigned)j1 < i) {
- const dJointWithInfo1 *jiother = jointiinfos + j1;
+ const dJointWithInfo1 *jiother = jointinfos + j1;
size_t ofsother = (jiother->joint->node[1].body == jb1) ? 8*(size_t)jiother->info.m : 0;
// set block of A
MultiplyAdd2_p8r (Arow + ofs[j1], JinvMrow + 8*(size_t)infom,
@@ -633,7 +811,7 @@
const unsigned int mskip = dPAD(m);
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; ++jicurr) {
const unsigned int infom = jicurr->info.m;
@@ -666,7 +844,7 @@
// compute the right hand side `rhs'
IFTIMING(dTimerNow ("compute rhs"));
- const dReal stepsizeRecip = dRecip(stepsize);
+ const dReal stepsizeRecip = dRecip(callContext->m_stepSize);
dReal *tmp1 = memarena->AllocateArray<dReal> ((size_t)nb*8);
//dSetZero (tmp1,nb*8);
@@ -694,7 +872,7 @@
{
// put J*tmp1 into rhs
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; ++jicurr) {
const unsigned int infom = jicurr->info.m;
@@ -729,7 +907,7 @@
// compute the constraint force `cforce'
// compute cforce = J'*lambda
unsigned ofsi = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
+ const dJointWithInfo1 *jicurr = jointinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (; jicurr != jiend; ++jicurr) {
const unsigned int infom = jicurr->info.m;
@@ -792,6 +970,8 @@
// compute the velocity update
IFTIMING(dTimerNow ("compute velocity update"));
+ const dReal stepsize = callContext->m_stepSize;
+
// add fe to cforce and multiply cforce by stepsize
dReal data[4];
const dReal *invIrow = invI;
@@ -812,10 +992,13 @@
// update the position and orientation from the new linear/angular velocity
// (over the given timestep)
IFTIMING(dTimerNow ("update position"));
+
+ const dReal stepsize = callContext->m_stepSize;
+
dxBody *const *const bodyend = body + nb;
for (dxBody *const *bodycurr = body; bodycurr != bodyend; ++bodycurr) {
dxBody *b = *bodycurr;
- dxStepBody (b,stepsize);
+ dxStepBody (b, stepsize);
}
}
@@ -839,11 +1022,11 @@
IFTIMING(dTimerEnd());
if (m > 0) IFTIMING(dTimerReport (stdout,1));
-
}
//****************************************************************************
+/*extern */
size_t dxEstimateStepMemoryRequirements (dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj)
{
unsigned int nj, m;
@@ -871,10 +1054,10 @@
res += dEFFICIENT_SIZE(sizeof(dReal) * 3 * 4 * (size_t)nb); // for invI
{
- size_t sub1_res1 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * 2 * (size_t)_nj); // for initial jointiinfos
+ size_t sub1_res1 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * 2 * (size_t)_nj); // for initial jointinfos
// The array can't grow right more than by nj
- size_t sub1_res2 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * ((size_t)_nj + (size_t)nj)); // for shrunk jointiinfos
+ size_t sub1_res2 = dEFFICIENT_SIZE(sizeof(dJointWithInfo1) * ((size_t)_nj + (size_t)nj)); // for shrunk jointinfos
sub1_res2 += dEFFICIENT_SIZE(sizeof(dReal) * 8 * (size_t)nb); // for cforce
if (m > 0) {
sub1_res2 += dEFFICIENT_SIZE(sizeof(dReal) * 2 * 8 * (size_t)m); // for J
@@ -890,7 +1073,7 @@
size_t sub3_res2 = 0;
- sub2_res1 += (sub3_res1 >= sub3_res2) ? sub3_res1 : sub3_res2;
+ sub2_res1 += dMAX(sub3_res1, sub3_res2);
}
size_t sub2_res2 = 0;
@@ -901,7 +1084,7 @@
size_t sub4_res2 = 0;
- sub3_res1 += (sub4_res1 >= sub4_res2) ? sub4_res1 : sub4_res2;
+ sub3_res1 += dMAX(sub4_res1, sub4_res2);
}
size_t sub3_res2 = dEFFICIENT_SIZE(sizeof(dReal) * (size_t)m); // for lambda
@@ -910,20 +1093,33 @@
size_t sub4_res2 = 0;
- sub3_res2 += (sub4_res1 >= sub4_res2) ? sub4_res1 : sub4_res2;
+ sub3_res2 += dMAX(sub4_res1, sub4_res2);
}
- sub2_res2 += (sub3_res1 >= sub3_res2) ? sub3_res1 : sub3_res2;
+ sub2_res2 += dMAX(sub3_res1, sub3_res2);
}
- sub1_res2 += (sub2_res1 >= sub2_res2) ? sub2_res1 : sub2_res2;
+ sub1_res2 += dMAX(sub2_res1, sub2_res2);
}
}
- res += (sub1_res1 >= sub1_res2) ? sub1_res1 : sub1_res2;
+ size_t sub1_res12_max = dMAX(sub1_res1, sub1_res2);
+ size_t stage01_contexts = dEFFICIENT_SIZE(sizeof(dxStepperStage0BodiesCallContext))
+ + dEFFICIENT_SIZE(sizeof(dxStepperStage0JointsCallContext))
+ + dEFFICIENT_SIZE(sizeof(dxStepperStage1CallContext));
+ res += dMAX(sub1_res12_max, stage01_contexts);
}
return res;
}
+/*extern */
+unsigned dxEstimateStepMaxCallCount(
+ unsigned activeThreadCount, unsigned allowedThreadCount)
+{
+ unsigned result = 1 // dxStepIsland itself
+ + (allowedThreadCount + 1) // allowedThreadCount * dxStepIsland_Stage0_Bodies + dxStepIsland_Stage0_Joints
+ + 1; // dxStepIsland_Stage1
+ return result;
+}
Modified: trunk/ode/src/step.h
===================================================================
--- trunk/ode/src/step.h 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/step.h 2012-08-19 17:37:50 UTC (rev 1904)
@@ -30,6 +30,8 @@
size_t dxEstimateStepMemoryRequirements(
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj);
+unsigned dxEstimateStepMaxCallCount(
+ unsigned activeThreadCount, unsigned allowedThreadCount);
void dxStepIsland(dxStepperProcessingCallContext *callContext);
Modified: trunk/ode/src/util.cpp
===================================================================
--- trunk/ode/src/util.cpp 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/util.cpp 2012-08-19 17:37:50 UTC (rev 1904)
@@ -26,10 +26,12 @@
#include "joints/joint.h"
#include "util.h"
#include "odeou.h"
+
#include <new>
#define dMIN(A,B) ((A)>(B) ? (B) : (A))
+#define dMAX(A,B) ((B)>(A) ? (B) : (A))
//****************************************************************************
@@ -331,11 +333,12 @@
{
dxIslandsProcessingCallContext(dxWorld *world, const dxWorldProcessIslandsInfo &islandsInfo, dReal stepSize, dstepper_fn_t stepper):
m_world(world), m_islandsInfo(islandsInfo), m_stepSize(stepSize), m_stepper(stepper),
- m_groupReleasee(NULL), m_islandToProcessStorage(0)
+ m_groupReleasee(NULL), m_islandToProcessStorage(0), m_stepperAllowedThreads(0)
{
}
void AssignGroupReleasee(dCallReleaseeID groupReleasee) { m_groupReleasee = groupReleasee; }
+ void SetStepperAllowedThreads(unsigned allowedThreadsLimit) { m_stepperAllowedThreads = allowedThreadsLimit; }
static int ThreadedProcessGroup_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
bool ThreadedProcessGroup();
@@ -352,11 +355,12 @@
size_t ObtainNextIslandToBeProcessed(size_t islandsCount);
dxWorld *const m_world;
- dxWorldProcessIslandsInfo const &m_islandsInfo;
+ dxWorldProcessIslandsInfo const &m_islandsInfo;
dReal const m_stepSize;
dstepper_fn_t const m_stepper;
dCallReleaseeID m_groupReleasee;
size_t volatile m_islandToProcessStorage;
+ unsigned m_stepperAllowedThreads;
};
@@ -367,7 +371,7 @@
dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart):
m_islandsProcessingContext(islandsProcessingContext), m_islandIndex(0),
m_stepperArena(stepperArena), m_arenaInitialState(arenaInitialState),
- m_stepperCallContext(islandsProcessingContext->m_world, islandsProcessingContext->m_stepSize, stepperArena, islandBodiesStart, islandJointsStart)
+ m_stepperCallContext(islandsProcessingContext->m_world, islandsProcessingContext->m_stepSize, islandsProcessingContext->m_stepperAllowedThreads, stepperArena, islandBodiesStart, islandJointsStart)
{
}
@@ -841,12 +845,16 @@
return maxreq;
}
-static unsigned EstimateIslandProcessingSimultaneousCallsMaximumCount(unsigned allowedThreadCount, unsigned activeThreadCount)
+static unsigned EstimateIslandProcessingSimultaneousCallsMaximumCount(unsigned activeThreadCount, unsigned islandsAllowedThreadCount,
+ unsigned stepperAllowedThreadCount, dmaxcallcountestimate_fn_t maxCallCountEstimator)
{
+ unsigned stepperCallsMaximum = maxCallCountEstimator(activeThreadCount, stepperAllowedThreadCount);
+ unsigned islandsIntermediateCallsMaximum = (1 + 2); // ThreadedProcessIslandSearch_Callback + (ThreadedProcessIslandStepper_Callback && ThreadedProcessIslandSearch_Callback)
+
unsigned result =
1 // ThreadedProcessGroup_Callback
- + allowedThreadCount * (1 + 2) // ThreadedProcessIslandSearch_Callback + (ThreadedProcessIslandStepper_Callback && ThreadedProcessIslandSearch_Callback)
- + dMIN(allowedThreadCount, (unsigned)(activeThreadCount - allowedThreadCount)) // ThreadedProcessJobStart_Callback
+ + islandsAllowedThreadCount * dMAX(stepperCallsMaximum, islandsIntermediateCallsMaximum)
+ + dMIN(islandsAllowedThreadCount, (unsigned)(activeThreadCount - islandsAllowedThreadCount)) // ThreadedProcessJobStart_Callback
/*...the end*/;
return result;
}
@@ -862,7 +870,7 @@
// bodies will not be included in the simulation. disabled bodies are
// re-enabled if they are found to be part of an active island.
bool dxProcessIslands (dxWorld *world, const dxWorldProcessIslandsInfo &islandsInfo,
- dReal stepSize, dstepper_fn_t stepper)
+ dReal stepSize, dstepper_fn_t stepper, dmaxcallcountestimate_fn_t maxCallCountEstimator)
{
bool result = false;
@@ -878,24 +886,27 @@
int summaryFault = 0;
unsigned activeThreadCount;
- const unsigned allowedThreadCount = world->GetThreadingIslandsMaxThreadsCount(&activeThreadCount);
- dIASSERT(allowedThreadCount != 0);
- dIASSERT(activeThreadCount >= allowedThreadCount);
+ const unsigned islandsAllowedThreadCount = world->GetThreadingIslandsMaxThreadsCount(&activeThreadCount);
+ dIASSERT(islandsAllowedThreadCount != 0);
+ dIASSERT(activeThreadCount >= islandsAllowedThreadCount);
- unsigned simultaneousCallsCount = EstimateIslandProcessingSimultaneousCallsMaximumCount(allowedThreadCount, activeThreadCount);
+ unsigned stepperAllowedThreadCount = islandsAllowedThreadCount; // For now, set stepper allowed threads equal to island stepping threads
+
+ unsigned simultaneousCallsCount = EstimateIslandProcessingSimultaneousCallsMaximumCount(activeThreadCount, islandsAllowedThreadCount, stepperAllowedThreadCount, maxCallCountEstimator);
if (!world->PreallocateResourcesForThreadedCalls(simultaneousCallsCount)) {
break;
}
dCallReleaseeID groupReleasee;
// First post a group call with dependency count set to number of expected threads
- world->PostThreadedCall(&summaryFault, &groupReleasee, allowedThreadCount, NULL, pcwGroupCallWait,
+ world->PostThreadedCall(&summaryFault, &groupReleasee, islandsAllowedThreadCount, NULL, pcwGroupCallWait,
&dxIslandsProcessingCallContext::ThreadedProcessGroup_Callback, (void *)&callContext, 0, "World Islands Stepping Group");
callContext.AssignGroupReleasee(groupReleasee);
+ callContext.SetStepperAllowedThreads(stepperAllowedThreadCount);
// Summary fault flag may be omitted as any failures will automatically propagate to dependent releasee (i.e. to groupReleasee)
- world->PostThreadedCallsGroup(NULL, allowedThreadCount, groupReleasee,
+ world->PostThreadedCallsGroup(NULL, islandsAllowedThreadCount, groupReleasee,
&dxIslandsProcessingCallContext::ThreadedProcessJobStart_Callback, (void *)&callContext, "World Islands Stepping Start");
// Wait until group completes (since jobs were the dependencies of the group the group is going to complete only after all the jobs end)
@@ -1034,23 +1045,7 @@
size_t dxIslandsProcessingCallContext::ObtainNextIslandToBeProcessed(size_t islandsCount)
{
- size_t islandToProcess;
-
- while (true)
- {
- islandToProcess = m_islandToProcessStorage;
- if (islandToProcess == islandsCount)
- {
- break;
- }
-
- if (AtomicCompareExchangePointer((volatile atomicptr *)&m_islandToProcessStorage, (atomicptr)islandToProcess, (atomicptr)(islandToProcess + 1)))
- {
- break;
- }
- }
-
- return islandToProcess;
+ return AtomicIncrementSizeUpToLimit(&m_islandToProcessStorage, islandsCount);
}
Modified: trunk/ode/src/util.h
===================================================================
--- trunk/ode/src/util.h 2012-07-30 08:29:46 UTC (rev 1903)
+++ trunk/ode/src/util.h 2012-08-19 17:37:50 UTC (rev 1904)
@@ -283,17 +283,18 @@
private:
size_t m_IslandCount;
- unsigned int const *m_pIslandSizes;
- dxBody *const *m_pBodies;
- dxJoint *const *m_pJoints;
+ unsigned int const *m_pIslandSizes;
+ dxBody *const *m_pBodies;
+ dxJoint *const *m_pJoints;
};
struct dxStepperProcessingCallContext
{
- dxStepperProcessingCallContext(dxWorld *world, dReal stepSize, dxWorldProcessMemArena *stepperArena,
- dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart):
+ dxStepperProcessingCallContext(dxWorld *world, dReal stepSize, unsigned stepperAllowedThreads,
+ dxWorldProcessMemArena *stepperArena, dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart):
m_world(world), m_stepSize(stepSize), m_stepperArena(stepperArena), m_finalReleasee(NULL),
- m_islandBodiesStart(islandBodiesStart), m_islandJoints...
[truncated message content] |
|
From: <ole...@us...> - 2012-07-30 08:29:53
|
Revision: 1903
http://opende.svn.sourceforge.net/opende/?rev=1903&view=rev
Author: oleh_derevenko
Date: 2012-07-30 08:29:46 +0000 (Mon, 30 Jul 2012)
Log Message:
-----------
Changed: demo_convex_cd.cpp has been removed from project
Modified Paths:
--------------
trunk/build/premake4.lua
trunk/ode/demo/Makefile.am
Removed Paths:
-------------
trunk/ode/demo/demo_convex_cd.cpp
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2012-07-29 12:47:22 UTC (rev 1902)
+++ trunk/build/premake4.lua 2012-07-30 08:29:46 UTC (rev 1903)
@@ -16,7 +16,6 @@
"chain1",
"chain2",
"collision",
- "convex",
"crash",
"cylvssphere",
"dball",
Modified: trunk/ode/demo/Makefile.am
===================================================================
--- trunk/ode/demo/Makefile.am 2012-07-29 12:47:22 UTC (rev 1902)
+++ trunk/ode/demo/Makefile.am 2012-07-30 08:29:46 UTC (rev 1903)
@@ -20,7 +20,6 @@
demo_chain1 \
demo_chain2 \
demo_collision \
- demo_convex_cd \
demo_crash \
demo_cylvssphere \
demo_dball \
Deleted: trunk/ode/demo/demo_convex_cd.cpp
===================================================================
--- trunk/ode/demo/demo_convex_cd.cpp 2012-07-29 12:47:22 UTC (rev 1902)
+++ trunk/ode/demo/demo_convex_cd.cpp 2012-07-30 08:29:46 UTC (rev 1903)
@@ -1,395 +0,0 @@
-/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
-
-#include <stdio.h>
-#include <math.h>
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-#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;
-
-#if 0
- 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 };
- 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<contactcount;++i)
- {
- if(DumpInfo)
- {
- //DumpInfo=false;
- fprintf(stdout,"Contact %d Normal %f,%f,%f Depth %f Pos %f %f %f ",
- i,
- contacts[i].normal[0],
- contacts[i].normal[1],
- contacts[i].normal[2],
- contacts[i].depth,
- contacts[i].pos[0],
- contacts[i].pos[1],
- contacts[i].pos[2]);
- if(contacts[i].g1==geoms[0])
- {
- fprintf(stdout,"Geoms 1 2\n");
- }
- else
- {
- fprintf(stdout,"Geoms 2 1\n");
- }
- }
- dsDrawBox (contacts[i].pos,RI,ss);
- }
- if(DumpInfo)
- DumpInfo=false;
-
-}
-
-
-void command (int cmd)
-{
- // note: 0.0174532925 radians = 1 degree
- dQuaternion q;
- //dMatrix3 m;
- bool changed = false;
- switch(cmd)
- {
- case 'w':
- geom1pos[0]+=0.05;
- changed = true;
- break;
- case 'a':
- geom1pos[1]-=0.05;
- changed = true;
- break;
- case 's':
- geom1pos[0]-=0.05;
- changed = true;
- break;
- case 'd':
- geom1pos[1]+=0.05;
- changed = true;
- break;
- case 'e':
- geom1pos[2]-=0.05;
- changed = true;
- break;
- case 'q':
- geom1pos[2]+=0.05;
- changed = true;
- break;
- case 'i':
- dQFromAxisAndAngle (q, 0, 0, 1,0.0174532925);
- dQMultiply0(geom1quat,geom1quat,q);
- changed = true;
- break;
- case 'j':
- dQFromAxisAndAngle (q, 1, 0, 0,0.0174532925);
- dQMultiply0(geom1quat,geom1quat,q);
- changed = true;
- break;
- case 'k':
- dQFromAxisAndAngle (q, 0, 0, 1,-0.0174532925);
- dQMultiply0(geom1quat,geom1quat,q);
- changed = true;
- break;
- case 'l':
- dQFromAxisAndAngle (q, 1, 0, 0,-0.0174532925);
- dQMultiply0(geom1quat,geom1quat,q);
- changed = true;
- break;
- case 'm':
- (drawmode!=DS_POLYFILL)? drawmode=DS_POLYFILL:drawmode=DS_WIREFRAME;
- break;
- case 'n':
- (geoms!=convex)? geoms=convex:geoms=boxes;
- if(geoms==convex)
- {
- printf("CONVEX------------------------------------------------------>\n");
- }
- else
- {
- printf("BOX--------------------------------------------------------->\n");
- }
- break;
- default:
- dsPrint ("received command %d (`%c')\n",cmd,cmd);
- }
- (void)changed;
-#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;
-}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-07-29 12:47:29
|
Revision: 1902
http://opende.svn.sourceforge.net/opende/?rev=1902&view=rev
Author: oleh_derevenko
Date: 2012-07-29 12:47:22 +0000 (Sun, 29 Jul 2012)
Log Message:
-----------
Cosmetic: Cosmetic code changes towards threading the stepper functions
Modified Paths:
--------------
trunk/include/ode/collision.h
trunk/ode/src/joints/joint.h
trunk/ode/src/ode.cpp
trunk/ode/src/quickstep.cpp
trunk/ode/src/quickstep.h
trunk/ode/src/step.cpp
trunk/ode/src/step.h
trunk/ode/src/util.cpp
trunk/ode/src/util.h
Modified: trunk/include/ode/collision.h
===================================================================
--- trunk/include/ode/collision.h 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/include/ode/collision.h 2012-07-29 12:47:22 UTC (rev 1902)
@@ -421,7 +421,7 @@
enum
{
- dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/
+ dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/
dGeomColliderMergeContactsValue_None = 1,
dGeomColliderMergeContactsValue_Normals = 2,
dGeomColliderMergeContactsValue_Full = 3
Modified: trunk/ode/src/joints/joint.h
===================================================================
--- trunk/ode/src/joints/joint.h 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/joints/joint.h 2012-07-29 12:47:22 UTC (rev 1902)
@@ -77,7 +77,7 @@
{
// Structure size should not exceed sizeof(pointer) bytes to have
// to have good memory pattern in dxQuickStepper()
- int8 m, nub;
+ uint8 m, nub;
};
// info returned by getInfo2 function
@@ -127,7 +127,7 @@
// will be smaller, it can save a bit of memory from being reserved
// for calculations if that smaller value is returned.
- int8 max_m; // Estimate of maximal `m' in Info1
+ uint8 max_m; // Estimate of maximal `m' in Info1
};
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/ode.cpp 2012-07-29 12:47:22 UTC (rev 1902)
@@ -1800,7 +1800,7 @@
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateStepMemoryRequirements))
{
- if (dxProcessIslands (w, islandsinfo, stepsize, &dInternalStepIsland))
+ if (dxProcessIslands (w, islandsinfo, stepsize, &dxStepIsland))
{
result = true;
}
@@ -1819,7 +1819,7 @@
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateQuickStepMemoryRequirements))
{
- if (dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepper))
+ if (dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepIsland))
{
result = true;
}
Modified: trunk/ode/src/quickstep.cpp
===================================================================
--- trunk/ode/src/quickstep.cpp 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/quickstep.cpp 2012-07-29 12:47:22 UTC (rev 1902)
@@ -589,13 +589,17 @@
dxJoint::Info1 info;
};
-void dxQuickStepper (dxWorldProcessMemArena *memarena,
- dxWorld *world, dxBody * const *body, unsigned int nb,
- dxJoint * const *_joint, unsigned int _nj, dReal stepsize)
+void dxQuickStepIsland(dxStepperProcessingCallContext *callContext)
{
IFTIMING(dTimerStart("preprocessing"));
- const dReal stepsize1 = dRecip(stepsize);
+ dxWorldProcessMemArena *memarena = callContext->m_stepperArena;
+ dxWorld *world = callContext->m_world;
+ dxBody * const *body = callContext->m_islandBodiesStart;
+ unsigned int nb = callContext->m_islandBodiesCount;
+ dxJoint * const *_joint = callContext->m_islandJointsStart;
+ unsigned int _nj = callContext->m_islandJointsCount;
+ dReal stepsize = callContext->m_stepSize;
{
// number all bodies in the body list - set their tag values
@@ -618,7 +622,7 @@
dMultiply2_333 (tmp,b->invI,b->posr.R);
dMultiply0_333 (invIrow,b->posr.R,tmp);
- if (b->flags & dxBodyGyroscopic) {
+ if ((b->flags & dxBodyGyroscopic) != 0) {
dMatrix3 I;
// compute inertia tensor in global frame
dMultiply2_333 (tmp,b->mass.I,b->posr.R);
@@ -639,7 +643,7 @@
if (gravity_x) {
for (dxBody *const *bodycurr = body; bodycurr != bodyend; bodycurr++) {
dxBody *b = *bodycurr;
- if ((b->flags & dxBodyNoGravity)==0) {
+ if ((b->flags & dxBodyNoGravity) == 0) {
b->facc[0] += b->mass.mass * gravity_x;
}
}
@@ -648,7 +652,7 @@
if (gravity_y) {
for (dxBody *const *bodycurr = body; bodycurr != bodyend; bodycurr++) {
dxBody *b = *bodycurr;
- if ((b->flags & dxBodyNoGravity)==0) {
+ if ((b->flags & dxBodyNoGravity) == 0) {
b->facc[1] += b->mass.mass * gravity_y;
}
}
@@ -657,7 +661,7 @@
if (gravity_z) {
for (dxBody *const *bodycurr = body; bodycurr != bodyend; bodycurr++) {
dxBody *b = *bodycurr;
- if ((b->flags & dxBodyNoGravity)==0) {
+ if ((b->flags & dxBodyNoGravity) == 0) {
b->facc[2] += b->mass.mass * gravity_z;
}
}
@@ -669,42 +673,35 @@
// entirely, so that the code that follows does not consider them.
dJointWithInfo1 *const jointiinfos = memarena->AllocateArray<dJointWithInfo1> (_nj);
size_t nj;
+ unsigned int m;
+ unsigned int mfb; // number of rows of Jacobian we will have to save for joint feedback
{
+ unsigned int mcurr = 0, mfbcurr = 0;
dJointWithInfo1 *jicurr = jointiinfos;
dxJoint *const *const _jend = _joint + _nj;
for (dxJoint *const *_jcurr = _joint; _jcurr != _jend; _jcurr++) { // jicurr=dest, _jcurr=src
dxJoint *j = *_jcurr;
j->getInfo1 (&jicurr->info);
- dIASSERT (jicurr->info.m >= 0 && jicurr->info.m <= 6 && jicurr->info.nub >= 0 && jicurr->info.nub <= jicurr->info.m);
- if (jicurr->info.m > 0) {
+ dIASSERT (/*jicurr->info.m >= 0 && */jicurr->info.m <= 6 && /*jicurr->info.nub >= 0 && */jicurr->info.nub <= jicurr->info.m);
+
+ unsigned int jm = jicurr->info.m;
+ if (jm != 0) {
+ mcurr += jm;
+ if (j->feedback != NULL) {
+ mfbcurr += jm;
+ }
jicurr->joint = j;
jicurr++;
}
}
nj = jicurr - jointiinfos;
- }
-
- memarena->ShrinkArray<dJointWithInfo1>(jointiinfos, _nj, nj);
-
- unsigned int m;
- unsigned int mfb; // number of rows of Jacobian we will have to save for joint feedback
-
- {
- unsigned int mcurr = 0, mfbcurr = 0;
- const dJointWithInfo1 *jicurr = jointiinfos;
- const dJointWithInfo1 *const jiend = jicurr + nj;
- for (; jicurr != jiend; jicurr++) {
- unsigned int jm = jicurr->info.m;
- mcurr += jm;
- if (jicurr->joint->feedback)
- mfbcurr += jm;
- }
-
m = mcurr;
mfb = mfbcurr;
}
+ memarena->ShrinkArray<dJointWithInfo1>(jointiinfos, _nj, nj);
+
// if there are constraints, compute the constraint force
dReal *J = NULL;
int *jb = NULL;
@@ -746,6 +743,8 @@
dReal *c = memarena->AllocateArray<dReal> (m);
dSetZero (c, m);
+ const dReal stepsizeRecip = dRecip(stepsize);
+
{
IFTIMING (dTimerNow ("create J"));
// get jacobian data from constraints. an m*12 matrix will be created
@@ -763,7 +762,7 @@
//
dxJoint::Info2 Jinfo;
Jinfo.rowskip = 12;
- Jinfo.fps = stepsize1;
+ Jinfo.fps = stepsizeRecip;
Jinfo.erp = world->global_erp;
dReal *Jcopyrow = Jcopy;
@@ -840,9 +839,9 @@
for (dxBody *const *bodycurr = body; bodycurr != bodyend; tmp1curr+=6, invIrow+=12, bodycurr++) {
dxBody *b = *bodycurr;
dReal body_invMass = b->invMass;
- for (unsigned int j=0; j<3; j++) tmp1curr[j] = b->facc[j] * body_invMass + b->lvel[j] * stepsize1;
+ for (unsigned int j=0; j<3; j++) tmp1curr[j] = b->facc[j] * body_invMass + b->lvel[j] * stepsizeRecip;
dMultiply0_331 (tmp1curr + 3,invIrow,b->tacc);
- for (unsigned int k=0; k<3; k++) tmp1curr[3+k] += b->avel[k] * stepsize1;
+ for (unsigned int k=0; k<3; k++) tmp1curr[3+k] += b->avel[k] * stepsizeRecip;
}
// put J*tmp1 into rhs
@@ -851,10 +850,10 @@
} END_STATE_SAVE(memarena, tmp1state);
// complete rhs
- for (unsigned int i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
+ for (unsigned int i=0; i<m; i++) rhs[i] = c[i]*stepsizeRecip - rhs[i];
// scale CFM
- for (unsigned int j=0; j<m; j++) cfm[j] *= stepsize1;
+ for (unsigned int j=0; j<m; j++) cfm[j] *= stepsizeRecip;
} END_STATE_SAVE(memarena, cstate);
Modified: trunk/ode/src/quickstep.h
===================================================================
--- trunk/ode/src/quickstep.h 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/quickstep.h 2012-07-29 12:47:22 UTC (rev 1902)
@@ -25,16 +25,13 @@
#include <ode/common.h>
-class dxWorldProcessMemArena;
+struct dxStepperProcessingCallContext;
-size_t dxEstimateQuickStepMemoryRequirements (
+size_t dxEstimateQuickStepMemoryRequirements(
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj);
-void dxQuickStepper (
- dxWorldProcessMemArena *memarena, dxWorld *world,
- dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj,
- dReal stepsize);
+void dxQuickStepIsland(dxStepperProcessingCallContext *callContext);
#endif
Modified: trunk/ode/src/step.cpp
===================================================================
--- trunk/ode/src/step.cpp 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/step.cpp 2012-07-29 12:47:22 UTC (rev 1902)
@@ -184,18 +184,22 @@
dxJoint::Info1 info;
};
-static void dInternalStepIsland_x2 (dxWorldProcessMemArena *memarena,
- dxWorld *world, dxBody * const *body, unsigned int nb,
- dxJoint * const *_joint, unsigned int _nj, dReal stepsize)
+/*extern */
+void dxStepIsland(dxStepperProcessingCallContext *callContext)
{
IFTIMING(dTimerStart("preprocessing"));
- const dReal stepsizeRecip = dRecip(stepsize);
+ dxWorldProcessMemArena *memarena = callContext->m_stepperArena;
+ dxWorld *world = callContext->m_world;
+ dxBody * const *body = callContext->m_islandBodiesStart;
+ unsigned int nb = callContext->m_islandBodiesCount;
+ dxJoint * const *_joint = callContext->m_islandJointsStart;
+ unsigned int _nj = callContext->m_islandJointsCount;
+ dReal stepsize = callContext->m_stepSize;
{
// number all bodies in the body list - set their tag values
- unsigned int i;
- for (i=0; i<nb; ++i) body[i]->tag = i;
+ for (unsigned int i=0; i<nb; ++i) body[i]->tag = i;
}
// for all bodies, compute the inertia tensor and its inverse in the global
@@ -216,7 +220,7 @@
dMultiply2_333 (tmp,b->invI,b->posr.R);
dMultiply0_333 (invIrow,b->posr.R,tmp);
- if (b->flags & dxBodyGyroscopic) {
+ if ((b->flags & dxBodyGyroscopic) != 0) {
dMatrix3 I;
// compute inertia tensor in global frame
dMultiply2_333 (tmp,b->mass.I,b->posr.R);
@@ -237,7 +241,7 @@
if (gravity_x) {
for (dxBody *const *bodycurr = body; bodycurr != bodyend; ++bodycurr) {
dxBody *b = *bodycurr;
- if ((b->flags & dxBodyNoGravity)==0) {
+ if ((b->flags & dxBodyNoGravity) == 0) {
b->facc[0] += b->mass.mass * gravity_x;
}
}
@@ -246,7 +250,7 @@
if (gravity_y) {
for (dxBody *const *bodycurr = body; bodycurr != bodyend; ++bodycurr) {
dxBody *b = *bodycurr;
- if ((b->flags & dxBodyNoGravity)==0) {
+ if ((b->flags & dxBodyNoGravity) == 0) {
b->facc[1] += b->mass.mass * gravity_y;
}
}
@@ -255,7 +259,7 @@
if (gravity_z) {
for (dxBody *const *bodycurr = body; bodycurr != bodyend; ++bodycurr) {
dxBody *b = *bodycurr;
- if ((b->flags & dxBodyNoGravity)==0) {
+ if ((b->flags & dxBodyNoGravity) == 0) {
b->facc[2] += b->mass.mass * gravity_z;
}
}
@@ -280,8 +284,10 @@
dJointWithInfo1 *jointiinfos = memarena->AllocateArray<dJointWithInfo1> (ji_reserve_count);
unsigned int nub;
size_t ji_start, ji_end;
+ unsigned int m = 0;
{
+ unsigned int mcurr = 0;
size_t unb_start, mix_start, mix_end, lcp_end;
unb_start = mix_start = mix_end = lcp_end = _nj;
@@ -302,8 +308,9 @@
}
dxJoint *j = *_jcurr++;
j->getInfo1 (&jicurr->info);
- dIASSERT (jicurr->info.m >= 0 && jicurr->info.m <= 6 && jicurr->info.nub >= 0 && jicurr->info.nub <= jicurr->info.m);
- if (jicurr->info.m > 0) {
+ dIASSERT (/*jicurr->info.m >= 0 && */jicurr->info.m <= 6 && /*jicurr->info.nub >= 0 && */jicurr->info.nub <= jicurr->info.m);
+ if (jicurr->info.m != 0) {
+ mcurr += jicurr->info.m;
if (jicurr->info.nub == 0) { // A lcp info - a correct guess!!!
jicurr->joint = j;
++jicurr;
@@ -355,12 +362,13 @@
}
dxJoint *j = *_jcurr++;
j->getInfo1 (&jicurr->info);
- dIASSERT (jicurr->info.m >= 0 && jicurr->info.m <= 6 && jicurr->info.nub >= 0 && jicurr->info.nub <= jicurr->info.m);
- if (jicurr->info.m > 0) {
+ dIASSERT (/*jicurr->info.m >= 0 && */jicurr->info.m <= 6 && /*jicurr->info.nub >= 0 && */jicurr->info.nub <= jicurr->info.m);
+ if (jicurr->info.m != 0) {
+ mcurr += jicurr->info.m;
if (jicurr->info.nub == jicurr->info.m) { // An unbounded info - a correct guess!!!
jicurr->joint = j;
--jicurr;
- } else if (jicurr->info.nub > 0) { // A mixed case
+ } else if (jicurr->info.nub != 0) { // A mixed case
if (mix_end == lcp_end) { // no lcp infos yet - just move to opposite side of mixed-s
dJointWithInfo1 *jimixend = jointiinfos + mix_end;
lcp_end = mix_end = mix_end + 1;
@@ -400,6 +408,7 @@
dIASSERT((size_t)(mix_start - unb_start) <= (size_t)UINT_MAX);
ji_start = unb_start;
ji_end = lcp_end;
+ m = mcurr;
}
memarena->ShrinkArray<dJointWithInfo1>(jointiinfos, ji_reserve_count, ji_end);
@@ -407,19 +416,12 @@
unsigned int nj = (unsigned int)(ji_end - ji_start);
dIASSERT((size_t)(ji_end - ji_start) <= (size_t)UINT_MAX);
- unsigned int m = 0;
-
{
- unsigned int mcurr = 0;
const dJointWithInfo1 *jicurr = jointiinfos;
const dJointWithInfo1 *const jiend = jicurr + nj;
for (unsigned int i = 0; jicurr != jiend; i++, ++jicurr) {
jicurr->joint->tag = i;
- unsigned int jm = jicurr->info.m;
- mcurr += jm;
}
-
- m = mcurr;
}
// this will be set to the force due to the constraints
@@ -464,6 +466,8 @@
dReal *cfm = memarena->AllocateArray<dReal> (m);
dSetValue (cfm,m,world->global_cfm);
+ const dReal stepsizeRecip = dRecip(stepsize);
+
dReal *JinvM = memarena->AllocateArray<dReal> (2*8*(size_t)m);
dSetZero (JinvM,2*8*(size_t)m);
@@ -662,6 +666,8 @@
// compute the right hand side `rhs'
IFTIMING(dTimerNow ("compute rhs"));
+ const dReal stepsizeRecip = dRecip(stepsize);
+
dReal *tmp1 = memarena->AllocateArray<dReal> ((size_t)nb*8);
//dSetZero (tmp1,nb*8);
@@ -838,13 +844,6 @@
//****************************************************************************
-void dInternalStepIsland (dxWorldProcessMemArena *memarena,
- dxWorld *world, dxBody * const *body, unsigned int nb,
- dxJoint * const *joint, unsigned int nj, dReal stepsize)
-{
- dInternalStepIsland_x2 (memarena,world,body,nb,joint,nj,stepsize);
-}
-
size_t dxEstimateStepMemoryRequirements (dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj)
{
unsigned int nj, m;
Modified: trunk/ode/src/step.h
===================================================================
--- trunk/ode/src/step.h 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/step.h 2012-07-29 12:47:22 UTC (rev 1902)
@@ -25,16 +25,13 @@
#include <ode/common.h>
-class dxWorldProcessMemArena;
+struct dxStepperProcessingCallContext;
-size_t dxEstimateStepMemoryRequirements (
+size_t dxEstimateStepMemoryRequirements(
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj);
-void dInternalStepIsland (
- dxWorldProcessMemArena *memarena, dxWorld *world,
- dxBody * const *body, unsigned int nb, dxJoint * const *joint, unsigned int nj,
- dReal stepsize);
+void dxStepIsland(dxStepperProcessingCallContext *callContext);
Modified: trunk/ode/src/util.cpp
===================================================================
--- trunk/ode/src/util.cpp 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/util.cpp 2012-07-29 12:47:22 UTC (rev 1902)
@@ -325,7 +325,7 @@
//****************************************************************************
// Threading call contexts
-struct dxStepperCallContext;
+struct dxSingleIslandCallContext;
struct dxIslandsProcessingCallContext
{
@@ -344,28 +344,30 @@
void ThreadedProcessJobStart();
static int ThreadedProcessIslandSearch_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
- void ThreadedProcessIslandSearch(dxStepperCallContext *stepperCallContext);
+ void ThreadedProcessIslandSearch(dxSingleIslandCallContext *stepperCallContext);
static int ThreadedProcessIslandStepper_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee);
- void ThreadedProcessIslandStepper(dxStepperCallContext *stepperCallContext);
+ void ThreadedProcessIslandStepper(dxSingleIslandCallContext *stepperCallContext);
size_t ObtainNextIslandToBeProcessed(size_t islandsCount);
- dxWorld *const m_world;
- const dxWorldProcessIslandsInfo &m_islandsInfo;
- dReal const m_stepSize;
- dstepper_fn_t const m_stepper;
- dCallReleaseeID m_groupReleasee;
- volatile size_t m_islandToProcessStorage;
+ dxWorld *const m_world;
+ dxWorldProcessIslandsInfo const &m_islandsInfo;
+ dReal const m_stepSize;
+ dstepper_fn_t const m_stepper;
+ dCallReleaseeID m_groupReleasee;
+ size_t volatile m_islandToProcessStorage;
};
-struct dxStepperCallContext
+
+struct dxSingleIslandCallContext
{
- dxStepperCallContext(dxIslandsProcessingCallContext *islandsProcessingContext, dxWorldProcessMemArena *stepperArena,
- size_t islandIndex, dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart):
- m_islandsProcessingContext(islandsProcessingContext), m_stepperArena(stepperArena),
- m_islandIndex(islandIndex), m_islandBodiesStart(islandBodiesStart), m_islandJointsStart(islandJointsStart),
- m_islandBodiesCount(0), m_islandJointsCount(0)
+ dxSingleIslandCallContext(dxIslandsProcessingCallContext *islandsProcessingContext,
+ dxWorldProcessMemArena *stepperArena, void *arenaInitialState,
+ dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart):
+ m_islandsProcessingContext(islandsProcessingContext), m_islandIndex(0),
+ m_stepperArena(stepperArena), m_arenaInitialState(arenaInitialState),
+ m_stepperCallContext(islandsProcessingContext->m_world, islandsProcessingContext->m_stepSize, stepperArena, islandBodiesStart, islandJointsStart)
{
}
@@ -374,25 +376,33 @@
m_islandIndex = islandIndex;
}
- void AssignIslandSelection(dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart, unsigned islandBodiesCount, unsigned islandJointsCount)
+ void AssignIslandSelection(dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart,
+ unsigned islandBodiesCount, unsigned islandJointsCount)
{
- m_islandBodiesStart = islandBodiesStart;
- m_islandJointsStart = islandJointsStart;
- m_islandBodiesCount = islandBodiesCount;
- m_islandJointsCount = islandJointsCount;
+ m_stepperCallContext.AssignIslandSelection(islandBodiesStart, islandJointsStart, islandBodiesCount, islandJointsCount);
}
+ dxBody *const *GetSelectedIslandBodiesEnd() const { return m_stepperCallContext.GetSelectedIslandBodiesEnd(); }
+ dxJoint *const *GetSelectedIslandJointsEnd() const { return m_stepperCallContext.GetSelectedIslandJointsEnd(); }
+
+ void RestoreSavedMemArenaStateForStepper()
+ {
+ m_stepperArena->RestoreState(m_arenaInitialState);
+ }
+
+ void AssignStepperCallFinalReleasee(dCallReleaseeID finalReleasee)
+ {
+ m_stepperCallContext.AssignStepperCallFinalReleasee(finalReleasee);
+ }
+
dxIslandsProcessingCallContext *m_islandsProcessingContext;
+ size_t m_islandIndex;
dxWorldProcessMemArena *m_stepperArena;
- size_t m_islandIndex;
- dxBody *const *m_islandBodiesStart;
- dxJoint *const *m_islandJointsStart;
- unsigned m_islandBodiesCount;
- unsigned m_islandJointsCount;
+ void *m_arenaInitialState;
+ dxStepperProcessingCallContext m_stepperCallContext;
};
-
//****************************************************************************
// Auto disabling
@@ -931,11 +941,11 @@
dxBody *const *islandBodiesStart = islandsInfo.GetBodiesArray();
dxJoint *const *islandJointsStart = islandsInfo.GetJointsArray();
- size_t islandIndex = 0;
+ dxSingleIslandCallContext *stepperCallContext = (dxSingleIslandCallContext *)stepperArena->AllocateBlock(sizeof(dxSingleIslandCallContext));
+ // Save area state after context allocation to be restored for the stepper
+ void *arenaState = stepperArena->SaveState();
+ new(stepperCallContext) dxSingleIslandCallContext(this, stepperArena, arenaState, islandBodiesStart, islandJointsStart);
- dxStepperCallContext *stepperCallContext = (dxStepperCallContext *)stepperArena->AllocateBlock(sizeof(dxStepperCallContext));
- new(stepperCallContext) dxStepperCallContext(this, stepperArena, islandIndex, islandBodiesStart, islandJointsStart);
-
// Summary fault flag may be omitted as any failures will automatically propagate to dependent releasee (i.e. to m_groupReleasee)
m_world->PostThreadedCallForUnawareReleasee(NULL, NULL, 0, m_groupReleasee, NULL,
&dxIslandsProcessingCallContext::ThreadedProcessIslandSearch_Callback, (void *)stepperCallContext, 0, "World Islands Stepping Selection");
@@ -943,12 +953,12 @@
int dxIslandsProcessingCallContext::ThreadedProcessIslandSearch_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
{
- dxStepperCallContext *stepperCallContext = static_cast<dxStepperCallContext *>(callContext);
+ dxSingleIslandCallContext *stepperCallContext = static_cast<dxSingleIslandCallContext *>(callContext);
stepperCallContext->m_islandsProcessingContext->ThreadedProcessIslandSearch(stepperCallContext);
return true;
}
-void dxIslandsProcessingCallContext::ThreadedProcessIslandSearch(dxStepperCallContext *stepperCallContext)
+void dxIslandsProcessingCallContext::ThreadedProcessIslandSearch(dxSingleIslandCallContext *stepperCallContext)
{
bool finalizeJob = false;
@@ -960,8 +970,8 @@
if (islandToProcess != islandsCount) {
// First time, the counts are zeros and on next passes, adding counts will skip island that has just been processed by stepper
- dxBody *const *islandBodiesStart = stepperCallContext->m_islandBodiesStart + stepperCallContext->m_islandBodiesCount;
- dxJoint *const *islandJointsStart = stepperCallContext->m_islandJointsStart + stepperCallContext->m_islandJointsCount;
+ dxBody *const *islandBodiesStart = stepperCallContext->GetSelectedIslandBodiesEnd();
+ dxJoint *const *islandJointsStart = stepperCallContext->GetSelectedIslandJointsEnd();
size_t islandIndex = stepperCallContext->m_islandIndex;
for (; ; ++islandIndex) {
@@ -976,12 +986,17 @@
++islandIndex;
stepperCallContext->AssignIslandSearchProgress(islandIndex);
+ // Restore saved stepper memory arena position
+ stepperCallContext->RestoreSavedMemArenaStateForStepper();
+
dCallReleaseeID nextSearchReleasee;
// Summary fault flag may be omitted as any failures will automatically propagate to dependent releasee (i.e. to m_groupReleasee)
m_world->PostThreadedCallForUnawareReleasee(NULL, &nextSearchReleasee, 1, m_groupReleasee, NULL,
&dxIslandsProcessingCallContext::ThreadedProcessIslandSearch_Callback, (void *)stepperCallContext, 0, "World Islands Stepping Selection");
+ stepperCallContext->AssignStepperCallFinalReleasee(nextSearchReleasee);
+
m_world->PostThreadedCall(NULL, NULL, 0, nextSearchReleasee, NULL,
&dxIslandsProcessingCallContext::ThreadedProcessIslandStepper_Callback, (void *)stepperCallContext, 0, "Island Stepping Job Start");
@@ -998,7 +1013,7 @@
if (finalizeJob) {
dxWorldProcessMemArena *stepperArena = stepperCallContext->m_stepperArena;
- stepperCallContext->dxStepperCallContext::~dxStepperCallContext();
+ stepperCallContext->dxSingleIslandCallContext::~dxSingleIslandCallContext();
dxWorldProcessContext *context = m_world->UnsafeGetWorldProcessingContext();
context->ReturnStepperMemArena(stepperArena);
@@ -1007,22 +1022,14 @@
int dxIslandsProcessingCallContext::ThreadedProcessIslandStepper_Callback(void *callContext, dcallindex_t callInstanceIndex, dCallReleaseeID callThisReleasee)
{
- dxStepperCallContext *stepperCallContext = static_cast<dxStepperCallContext *>(callContext);
+ dxSingleIslandCallContext *stepperCallContext = static_cast<dxSingleIslandCallContext *>(callContext);
stepperCallContext->m_islandsProcessingContext->ThreadedProcessIslandStepper(stepperCallContext);
return true;
}
-void dxIslandsProcessingCallContext::ThreadedProcessIslandStepper(dxStepperCallContext *stepperCallContext)
+void dxIslandsProcessingCallContext::ThreadedProcessIslandStepper(dxSingleIslandCallContext *stepperCallContext)
{
- dxBody *const *islandBodiesStart = stepperCallContext->m_islandBodiesStart;
- dxJoint *const *islandJointsStart = stepperCallContext->m_islandJointsStart;
- unsigned islandBodiesCount = stepperCallContext->m_islandBodiesCount;
- unsigned islandJointsCount = stepperCallContext->m_islandJointsCount;
-
- dxWorldProcessMemArena *stepperArena = stepperCallContext->m_stepperArena;
- BEGIN_STATE_SAVE(stepperArena, stepperState) {
- m_stepper(stepperArena, m_world, islandBodiesStart, islandBodiesCount, islandJointsStart, islandJointsCount, m_stepSize);
- } END_STATE_SAVE(stepperArena, stepperState);
+ m_stepper(&stepperCallContext->m_stepperCallContext);
}
size_t dxIslandsProcessingCallContext::ObtainNextIslandToBeProcessed(size_t islandsCount)
@@ -1175,7 +1182,7 @@
size_t stepperReq = BuildIslandsAndEstimateStepperMemoryRequirements(islandsInfo, islandsArena, world, stepSize, stepperEstimate);
dIASSERT(stepperReq == dEFFICIENT_SIZE(stepperReq));
- size_t stepperReqWithCallContext = stepperReq + dEFFICIENT_SIZE(sizeof(dxStepperCallContext));
+ size_t stepperReqWithCallContext = stepperReq + dEFFICIENT_SIZE(sizeof(dxSingleIslandCallContext));
unsigned islandThreadsCount = world->GetThreadingIslandsMaxThreadsCount();
if (!context->ReallocateStepperMemArenas(world, islandThreadsCount, stepperReqWithCallContext,
Modified: trunk/ode/src/util.h
===================================================================
--- trunk/ode/src/util.h 2012-07-23 09:49:48 UTC (rev 1901)
+++ trunk/ode/src/util.h 2012-07-29 12:47:22 UTC (rev 1902)
@@ -282,19 +282,52 @@
dxJoint *const *GetJointsArray() const { return m_pJoints; }
private:
- size_t m_IslandCount;
- unsigned int const *m_pIslandSizes;
- dxBody *const *m_pBodies;
- dxJoint *const *m_pJoints;
+ size_t m_IslandCount;
+ unsigned int const *m_pIslandSizes;
+ dxBody *const *m_pBodies;
+ dxJoint *const *m_pJoints;
};
+struct dxStepperProcessingCallContext
+{
+ dxStepperProcessingCallContext(dxWorld *world, dReal stepSize, dxWorldProcessMemArena *stepperArena,
+ dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart):
+ m_world(world), m_stepSize(stepSize), m_stepperArena(stepperArena), m_finalReleasee(NULL),
+ m_islandBodiesStart(islandBodiesStart), m_islandJointsStart(islandJointsStart), m_islandBodiesCount(0), m_islandJointsCount(0)
+ {
+ }
+ void AssignIslandSelection(dxBody *const *islandBodiesStart, dxJoint *const *islandJointsStart,
+ unsigned islandBodiesCount, unsigned islandJointsCount)
+ {
+ m_islandBodiesStart = islandBodiesStart;
+ m_islandJointsStart = islandJointsStart;
+ m_islandBodiesCount = islandBodiesCount;
+ m_islandJointsCount = islandJointsCount;
+ }
+
+ dxBody *const *GetSelectedIslandBodiesEnd() const { return m_islandBodiesStart + m_islandBodiesCount; }
+ dxJoint *const *GetSelectedIslandJointsEnd() const { return m_islandJointsStart + m_islandJointsCount; }
+
+ void AssignStepperCallFinalReleasee(dCallReleaseeID finalReleasee)
+ {
+ m_finalReleasee = finalReleasee;
+ }
+
+ dxWorld *const m_world;
+ dReal const m_stepSize;
+ dxWorldProcessMemArena *m_stepperArena;
+ dCallReleaseeID m_finalReleasee;
+ dxBody *const *m_islandBodiesStart;
+ dxJoint *const *m_islandJointsStart;
+ unsigned m_islandBodiesCount;
+ unsigned m_islandJointsCount;
+};
+
#define BEGIN_STATE_SAVE(memarena, state) void *state = memarena->SaveState();
#define END_STATE_SAVE(memarena, state) memarena->RestoreState(state)
-typedef void (*dstepper_fn_t) (dxWorldProcessMemArena *memarena,
- dxWorld *world, dxBody * const *body, unsigned int nb,
- dxJoint * const *_joint, unsigned int _nj, dReal stepsize);
+typedef void (*dstepper_fn_t) (dxStepperProcessingCallContext *callContext);
bool dxProcessIslands (dxWorld *world, const dxWorldProcessIslandsInfo &islandsInfo, dReal stepSize, dstepper_fn_t stepper);
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|
|
From: <ole...@us...> - 2012-07-23 09:49:57
|
Revision: 1901
http://opende.svn.sourceforge.net/opende/?rev=1901&view=rev
Author: oleh_derevenko
Date: 2012-07-23 09:49:48 +0000 (Mon, 23 Jul 2012)
Log Message:
-----------
Internal: Changed: Got rid of dynamic_cast in joints.
Modified Paths:
--------------
trunk/ode/src/joints/dball.cpp
trunk/ode/src/joints/dhinge.cpp
Modified: trunk/ode/src/joints/dball.cpp
===================================================================
--- trunk/ode/src/joints/dball.cpp 2012-07-23 09:39:44 UTC (rev 1900)
+++ trunk/ode/src/joints/dball.cpp 2012-07-23 09:49:48 UTC (rev 1901)
@@ -151,7 +151,7 @@
void dJointSetDBallAnchor1( dJointID j, dReal x, dReal y, dReal z )
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
if ( joint->flags & dJOINT_REVERSE ) {
@@ -178,7 +178,7 @@
void dJointSetDBallAnchor2( dJointID j, dReal x, dReal y, dReal z )
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
@@ -205,7 +205,7 @@
dReal dJointGetDBallDistance(dJointID j)
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
return joint->targetDistance;
@@ -214,7 +214,7 @@
void dJointGetDBallAnchor1( dJointID j, dVector3 result )
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
dUASSERT( result, "bad result argument" );
@@ -234,7 +234,7 @@
void dJointGetDBallAnchor2( dJointID j, dVector3 result )
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
dUASSERT( result, "bad result argument" );
@@ -254,7 +254,7 @@
void dJointSetDBallParam( dJointID j, int parameter, dReal value )
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
switch ( parameter ) {
@@ -270,7 +270,7 @@
dReal dJointGetDBallParam( dJointID j, int parameter )
{
- dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dxJointDBall* joint = static_cast<dxJointDBall*>(j);
dUASSERT( joint, "bad joint argument" );
switch ( parameter ) {
Modified: trunk/ode/src/joints/dhinge.cpp
===================================================================
--- trunk/ode/src/joints/dhinge.cpp 2012-07-23 09:39:44 UTC (rev 1900)
+++ trunk/ode/src/joints/dhinge.cpp 2012-07-23 09:49:48 UTC (rev 1901)
@@ -156,7 +156,7 @@
void dJointSetDHingeAxis( dJointID j, dReal x, dReal y, dReal z )
{
- dxJointDHinge* joint = dynamic_cast<dxJointDHinge*>(j);
+ dxJointDHinge* joint = static_cast<dxJointDHinge*>(j);
dUASSERT( joint, "bad joint argument" );
dBodyVectorFromWorld(joint->node[0].body, x, y, z, joint->axis1);
@@ -173,7 +173,7 @@
void dJointGetDHingeAxis( dJointID j, dVector3 result )
{
- dxJointDHinge* joint = dynamic_cast<dxJointDHinge*>(j);
+ dxJointDHinge* joint = static_cast<dxJointDHinge*>(j);
dUASSERT( joint, "bad joint argument" );
dBodyVectorToWorld(joint->node[0].body, joint->axis1[0], joint->axis1[1], joint->axis1[2], result);
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|
|
From: <ole...@us...> - 2012-07-23 09:39:51
|
Revision: 1900
http://opende.svn.sourceforge.net/opende/?rev=1900&view=rev
Author: oleh_derevenko
Date: 2012-07-23 09:39:44 +0000 (Mon, 23 Jul 2012)
Log Message:
-----------
Fixed: Fixed precision substitution on Windows to maintain compatibility with *NIX scripts
Modified Paths:
--------------
trunk/build/premake4.lua
trunk/include/ode/precision.h.in
trunk/libccd/src/ccd/precision.h.in
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2012-07-21 12:18:41 UTC (rev 1899)
+++ trunk/build/premake4.lua 2012-07-23 09:39:44 UTC (rev 1900)
@@ -421,17 +421,17 @@
outfile:close()
end
- function generate(directive, precstr)
- generateheader("../include/ode/precision.h", "@ODE_PRECISION_DEF@", directive .. " d" .. precstr)
- generateheader("../libccd/src/ccd/precision.h", "@CCD_PRECISION_DEF@", directive .. " CCD_" .. precstr)
+ 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("define", "SINGLE")
+ generate("SINGLE")
elseif _OPTIONS["only-double"] then
- generate("define", "DOUBLE")
+ generate("DOUBLE")
else
- generate("error", "<PRECISION> is undefined")
+ generate("UNDEFINEDPRECISION")
end
----------------------------------------------------------------------
Modified: trunk/include/ode/precision.h.in
===================================================================
--- trunk/include/ode/precision.h.in 2012-07-21 12:18:41 UTC (rev 1899)
+++ trunk/include/ode/precision.h.in 2012-07-23 09:39:44 UTC (rev 1900)
@@ -10,7 +10,7 @@
#elif defined(dIDEDOUBLE)
#define dDOUBLE
#else
-#@ODE_PRECISION_DEF@
+#define @ODE_PRECISION@
#endif
#endif
Modified: trunk/libccd/src/ccd/precision.h.in
===================================================================
--- trunk/libccd/src/ccd/precision.h.in 2012-07-21 12:18:41 UTC (rev 1899)
+++ trunk/libccd/src/ccd/precision.h.in 2012-07-23 09:39:44 UTC (rev 1900)
@@ -8,7 +8,7 @@
#elif defined(CCD_IDEDOUBLE)
#define CCD_DOUBLE
#else
-#@CCD_PRECISION_DEF@
+#define @CCD_PRECISION@
#endif
#endif
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|
|
From: <ole...@us...> - 2012-07-21 12:18:47
|
Revision: 1899
http://opende.svn.sourceforge.net/opende/?rev=1899&view=rev
Author: oleh_derevenko
Date: 2012-07-21 12:18:41 +0000 (Sat, 21 Jul 2012)
Log Message:
-----------
Changed: Unnecessary dependency on inttypes.h removed (was causing problems with MSVC on Windows)
Modified Paths:
--------------
trunk/ode/src/threading_impl_templates.h
Modified: trunk/ode/src/threading_impl_templates.h
===================================================================
--- trunk/ode/src/threading_impl_templates.h 2012-07-21 12:17:09 UTC (rev 1898)
+++ trunk/ode/src/threading_impl_templates.h 2012-07-21 12:18:41 UTC (rev 1899)
@@ -43,9 +43,7 @@
#include <new>
-#include <inttypes.h>
-
#define dMAKE_JOBINSTANCE_RELEASEE(job_instance) ((dCallReleaseeID)(job_instance))
#define dMAKE_RELEASEE_JOBINSTANCE(releasee) ((dxThreadedJobInfo *)(releasee))
@@ -74,7 +72,7 @@
union
{
dmutexindex_t m_mutex_count;
- uint64_t m_reserved_for_allignment;
+ unsigned long m_reserved_for_allignment[2];
} m_un;
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|
|
From: <ole...@us...> - 2012-07-21 12:17:16
|
Revision: 1898
http://opende.svn.sourceforge.net/opende/?rev=1898&view=rev
Author: oleh_derevenko
Date: 2012-07-21 12:17:09 +0000 (Sat, 21 Jul 2012)
Log Message:
-----------
Changed: Generation of precision.h fixed in Premake scripts on Windows
Modified Paths:
--------------
trunk/build/premake4.lua
trunk/include/ode/odeconfig.h
trunk/include/ode/precision.h.in
trunk/libccd/src/ccd/precision.h.in
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2012-07-18 10:32:26 UTC (rev 1897)
+++ trunk/build/premake4.lua 2012-07-21 12:17:09 UTC (rev 1898)
@@ -155,7 +155,7 @@
end
-- special validation for Xcode
- if _ACTION == "xcode3" and (not _OPTIONS["only-single"] and not _OPTIONS["only-double"]) then
+ 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)
@@ -212,11 +212,11 @@
configuration { "Release*" }
flags { "OptimizeSpeed", "NoFramePointer" }
--- configuration { "only-single or *Single*" }
--- defines { "dSINGLE", "CCD_SINGLE" }
+ configuration { "*Single*" }
+ defines { "dIDESINGLE", "CCD_IDESINGLE" }
--- configuration { "only-double or *Double*" }
--- defines { "dDOUBLE", "CCD_DOUBLE" }
+ configuration { "*Double*" }
+ defines { "dIDEDOUBLE", "CCD_IDEDOUBLE" }
configuration { "Windows" }
defines { "WIN32" }
@@ -421,17 +421,18 @@
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)
+ function generate(directive, precstr)
+ generateheader("../include/ode/precision.h", "@ODE_PRECISION_DEF@", directive .. " d" .. precstr)
+ generateheader("../libccd/src/ccd/precision.h", "@CCD_PRECISION_DEF@", directive .. " CCD_" .. precstr)
end
if _OPTIONS["only-single"] then
- generate("SINGLE")
+ generate("define", "SINGLE")
+ elseif _OPTIONS["only-double"] then
+ generate("define", "DOUBLE")
+ else
+ generate("error", "<PRECISION> is undefined")
end
- if _OPTIONS["only-double"] then
- generate("DOUBLE")
- end
----------------------------------------------------------------------
-- The DrawStuff library project
Modified: trunk/include/ode/odeconfig.h
===================================================================
--- trunk/include/ode/odeconfig.h 2012-07-18 10:32:26 UTC (rev 1897)
+++ trunk/include/ode/odeconfig.h 2012-07-21 12:17:09 UTC (rev 1898)
@@ -114,7 +114,7 @@
#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) && dSINGLE
+ #if !defined(_WIN64) && defined(dSINGLE)
#define _ODE__NEXTAFTERF_REQUIRED
ODE_EXTERN_C float _nextafterf(float x, float y);
#endif
Modified: trunk/include/ode/precision.h.in
===================================================================
--- trunk/include/ode/precision.h.in 2012-07-18 10:32:26 UTC (rev 1897)
+++ trunk/include/ode/precision.h.in 2012-07-21 12:17:09 UTC (rev 1898)
@@ -5,6 +5,12 @@
* but never both!
*/
-#define @ODE_PRECISION@
+#if defined(dIDESINGLE)
+#define dSINGLE
+#elif defined(dIDEDOUBLE)
+#define dDOUBLE
+#else
+#@ODE_PRECISION_DEF@
+#endif
#endif
Modified: trunk/libccd/src/ccd/precision.h.in
===================================================================
--- trunk/libccd/src/ccd/precision.h.in 2012-07-18 10:32:26 UTC (rev 1897)
+++ trunk/libccd/src/ccd/precision.h.in 2012-07-21 12:17:09 UTC (rev 1898)
@@ -3,6 +3,12 @@
/* define either CCD_SINGLE or CCD_DOUBLE */
-#define @CCD_PRECISION@
+#if defined(CCD_IDESINGLE)
+#define CCD_SINGLE
+#elif defined(CCD_IDEDOUBLE)
+#define CCD_DOUBLE
+#else
+#@CCD_PRECISION_DEF@
+#endif
#endif
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|
|
From: <ole...@us...> - 2012-07-18 10:32:32
|
Revision: 1897
http://opende.svn.sourceforge.net/opende/?rev=1897&view=rev
Author: oleh_derevenko
Date: 2012-07-18 10:32:26 +0000 (Wed, 18 Jul 2012)
Log Message:
-----------
Changed: <time.h> included in threading.h to support environments that do not have time_t defined by default
Modified Paths:
--------------
trunk/include/ode/threading.h
Modified: trunk/include/ode/threading.h
===================================================================
--- trunk/include/ode/threading.h 2012-07-18 10:17:44 UTC (rev 1896)
+++ trunk/include/ode/threading.h 2012-07-18 10:32:26 UTC (rev 1897)
@@ -33,6 +33,8 @@
#define _ODE_THREADING_H_
#include <ode/odeconfig.h>
+// Include <time.h> since time_t is used and it is not available by default in some OSes
+#include <time.h>
#ifdef __cplusplus
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|
|
From: <ole...@us...> - 2012-07-18 10:17:53
|
Revision: 1896
http://opende.svn.sourceforge.net/opende/?rev=1896&view=rev
Author: oleh_derevenko
Date: 2012-07-18 10:17:44 +0000 (Wed, 18 Jul 2012)
Log Message:
-----------
Cosmetic: A warning fixed in LLVM compiler
Modified Paths:
--------------
trunk/ode/src/odeou.cpp
Modified: trunk/ode/src/odeou.cpp
===================================================================
--- trunk/ode/src/odeou.cpp 2012-07-17 19:04:43 UTC (rev 1895)
+++ trunk/ode/src/odeou.cpp 2012-07-18 10:17:44 UTC (rev 1896)
@@ -41,12 +41,15 @@
#if dOU_ENABLED
+BEGIN_NAMESPACE_OU();
template<>
const char *const CEnumUnsortedElementArray<EASSERTIONFAILURESEVERITY, AFS__MAX, const char *>::m_aetElementArray[] =
{
"assert", // AFS_ASSERT,
"check", // AFS_CHECK,
};
+END_NAMESPACE_OU();
+
static const CEnumUnsortedElementArray<EASSERTIONFAILURESEVERITY, AFS__MAX, const char *> g_aszAssertionFailureSeverityNames;
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|
|
From: <br...@us...> - 2012-07-17 19:04:49
|
Revision: 1895
http://opende.svn.sourceforge.net/opende/?rev=1895&view=rev
Author: bram
Date: 2012-07-17 19:04:43 +0000 (Tue, 17 Jul 2012)
Log Message:
-----------
format strings should be const
Modified Paths:
--------------
trunk/include/ode/misc.h
trunk/ode/src/mat.cpp
trunk/ode/src/mat.h
Modified: trunk/include/ode/misc.h
===================================================================
--- trunk/include/ode/misc.h 2012-06-09 18:15:15 UTC (rev 1894)
+++ trunk/include/ode/misc.h 2012-07-17 19:04:43 UTC (rev 1895)
@@ -55,10 +55,10 @@
/* print out a matrix */
#ifdef __cplusplus
-ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt = "%10.4f ",
FILE *f=stdout);
#else
-ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, const char *fmt, FILE *f);
#endif
/* make a random vector with entries between +/- range. A has n elements. */
Modified: trunk/ode/src/mat.cpp
===================================================================
--- trunk/ode/src/mat.cpp 2012-06-09 18:15:15 UTC (rev 1894)
+++ trunk/ode/src/mat.cpp 2012-07-17 19:04:43 UTC (rev 1895)
@@ -208,7 +208,7 @@
}
-void dMatrix::print (char *fmt, FILE *f)
+void dMatrix::print (const char *fmt, FILE *f)
{
for (int i=0; i<n; i++) {
for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
Modified: trunk/ode/src/mat.h
===================================================================
--- trunk/ode/src/mat.h 2012-06-09 18:15:15 UTC (rev 1894)
+++ trunk/ode/src/mat.h 2012-07-17 19:04:43 UTC (rev 1895)
@@ -63,7 +63,7 @@
void clearUpperTriangle();
void clearLowerTriangle();
void makeRandom (dReal range);
- void print (char *fmt = "%10.4f ", FILE *f=stdout);
+ void print (const char *fmt = "%10.4f ", FILE *f=stdout);
dReal maxDifference (const dMatrix &);
};
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|
|
From: <dan...@us...> - 2012-06-09 18:15:21
|
Revision: 1894
http://opende.svn.sourceforge.net/opende/?rev=1894&view=rev
Author: danielosmari
Date: 2012-06-09 18:15:15 +0000 (Sat, 09 Jun 2012)
Log Message:
-----------
added missing header templates
Added Paths:
-----------
trunk/include/ode/precision.h.in
trunk/libccd/src/ccd/precision.h.in
Added: trunk/include/ode/precision.h.in
===================================================================
--- trunk/include/ode/precision.h.in (rev 0)
+++ trunk/include/ode/precision.h.in 2012-06-09 18:15:15 UTC (rev 1894)
@@ -0,0 +1,10 @@
+#ifndef _ODE_PRECISION_H_
+#define _ODE_PRECISION_H_
+
+/* Define dSINGLE for single precision, dDOUBLE for double precision,
+ * but never both!
+ */
+
+#define @ODE_PRECISION@
+
+#endif
Added: trunk/libccd/src/ccd/precision.h.in
===================================================================
--- trunk/libccd/src/ccd/precision.h.in (rev 0)
+++ trunk/libccd/src/ccd/precision.h.in 2012-06-09 18:15:15 UTC (rev 1894)
@@ -0,0 +1,8 @@
+#ifndef __CCD_PRECISION_H__
+#define __CCD_PRECISION_H__
+
+/* define either CCD_SINGLE or CCD_DOUBLE */
+
+#define @CCD_PRECISION@
+
+#endif
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|
|
From: <dan...@us...> - 2012-06-09 03:21:50
|
Revision: 1893
http://opende.svn.sourceforge.net/opende/?rev=1893&view=rev
Author: danielosmari
Date: 2012-06-09 03:21:44 +0000 (Sat, 09 Jun 2012)
Log Message:
-----------
update the premake script to generate precision.h headers for ODE and libccd
Modified Paths:
--------------
trunk/build/premake4.lua
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2012-06-08 22:29:43 UTC (rev 1892)
+++ trunk/build/premake4.lua 2012-06-09 03:21:44 UTC (rev 1893)
@@ -150,6 +150,8 @@
os.rmdir(action.trigger)
end
os.remove("../ode/src/config.h")
+ os.remove("../include/ode/precision.h")
+ os.remove("../libccd/src/ccd/precision.h")
end
-- special validation for Xcode
@@ -173,6 +175,7 @@
configs = newconfigs
end
+
if not _OPTIONS["only-single"] and not _OPTIONS["only-double"] then
addconfigs("Single", "Double")
end
@@ -209,11 +212,11 @@
configuration { "Release*" }
flags { "OptimizeSpeed", "NoFramePointer" }
- configuration { "only-single or *Single*" }
- defines { "dSINGLE", "CCD_SINGLE" }
+-- configuration { "only-single or *Single*" }
+-- defines { "dSINGLE", "CCD_SINGLE" }
- configuration { "only-double or *Double*" }
- defines { "dDOUBLE", "CCD_DOUBLE" }
+-- configuration { "only-double or *Double*" }
+-- defines { "dDOUBLE", "CCD_DOUBLE" }
configuration { "Windows" }
defines { "WIN32" }
@@ -372,8 +375,8 @@
----------------------------------------------------------------------
if _ACTION and _ACTION ~= "clean" then
- io.input("config-default.h")
- local text = io.read("*a")
+ 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 */")
@@ -398,11 +401,37 @@
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
+----------------------------
+
+ 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")
+ end
+ if _OPTIONS["only-double"] then
+ generate("DOUBLE")
+ end
----------------------------------------------------------------------
-- The DrawStuff library project
@@ -445,7 +474,6 @@
links { "X11", "GL", "GLU" }
end
-
----------------------------------------------------------------------
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|
|
From: <dan...@us...> - 2012-06-08 23:17:17
|
Revision: 1892
http://opende.svn.sourceforge.net/opende/?rev=1892&view=rev
Author: danielosmari
Date: 2012-06-08 22:29:43 +0000 (Fri, 08 Jun 2012)
Log Message:
-----------
generate include/ode/precision.h to set the precision instead of command-line defines; general code cleanup to get rid of GCC warnings
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/GIMPACT/include/GIMPACT/gim_memory.h
trunk/GIMPACT/src/gim_boxpruning.cpp
trunk/GIMPACT/src/gim_memory.cpp
trunk/INSTALL.txt
trunk/Makefile.am
trunk/OPCODE/Ice/Makefile.am
trunk/OPCODE/Makefile.am
trunk/OPCODE/OPC_LSSAABBOverlap.h
trunk/README.txt
trunk/drawstuff/src/Makefile.am
trunk/include/drawstuff/Makefile.am
trunk/include/drawstuff/drawstuff.h
trunk/include/ode/Makefile.am
trunk/include/ode/collision.h
trunk/include/ode/collision_space.h
trunk/include/ode/collision_trimesh.h
trunk/include/ode/common.h
trunk/include/ode/contact.h
trunk/include/ode/mass.h
trunk/include/ode/matrix.h
trunk/include/ode/objects.h
trunk/include/ode/ode.h
trunk/include/ode/odeinit.h
trunk/include/ode/odemath.h
trunk/include/ode/odemath_legacy.h
trunk/include/ode/threading.h
trunk/include/ode/threading_impl.h
trunk/libccd/configure.ac
trunk/libccd/src/Makefile.am
trunk/libccd/src/alloc.c
trunk/libccd/src/ccd/ccd.h
trunk/libccd/src/ccd/compiler.h
trunk/libccd/src/ccd/simplex.h
trunk/libccd/src/ccd/support.h
trunk/libccd/src/ccd/vec3.h
trunk/libccd/src/ccd.c
trunk/libccd/src/mpr.c
trunk/libccd/src/polytope.c
trunk/libccd/src/support.c
trunk/libccd/src/vec3.c
trunk/ode/demo/Makefile.am
trunk/ode/demo/demo_basket.cpp
trunk/ode/demo/demo_chain1.c
trunk/ode/demo/demo_convex_cd.cpp
trunk/ode/demo/demo_cyl.cpp
trunk/ode/demo/demo_cylvssphere.cpp
trunk/ode/demo/demo_feedback.cpp
trunk/ode/demo/demo_heightfield.cpp
trunk/ode/demo/demo_jointPR.cpp
trunk/ode/demo/demo_jointPU.cpp
trunk/ode/demo/demo_plane2d.cpp
trunk/ode/demo/texturepath.h
trunk/ode/src/Makefile.am
trunk/ode/src/collision_cylinder_trimesh.cpp
trunk/ode/src/collision_kernel.h
trunk/ode/src/collision_sapspace.cpp
trunk/ode/src/collision_trimesh_internal.h
trunk/ode/src/collision_trimesh_trimesh_new.cpp
trunk/ode/src/fastltsolve.c
trunk/ode/src/heightfield.h
trunk/ode/src/joints/Makefile.am
trunk/ode/src/joints/plane2d.cpp
trunk/ode/src/nextafterf.c
trunk/ode/src/objects.h
trunk/ode/src/odeinit.cpp
trunk/ode/src/threading_impl_templates.h
trunk/ode/src/util.cpp
trunk/ode/src/util.h
trunk/ode-config.in
trunk/ode.pc.in
Added Paths:
-----------
trunk/bootstrap
trunk/configure.ac
Removed Paths:
-------------
trunk/autogen.sh
trunk/configure.in
Property Changed:
----------------
trunk/ode/demo/demo_basket.cpp
trunk/ode/demo/demo_convex_cd.cpp
trunk/ode/demo/demo_cylvssphere.cpp
trunk/ode/demo/demo_feedback.cpp
trunk/ode/demo/demo_heightfield.cpp
trunk/ode/demo/demo_jointPR.cpp
trunk/ode/demo/demo_moving_convex.cpp
trunk/ode/demo/demo_plane2d.cpp
trunk/ode/demo/texturepath.h
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/CHANGELOG.txt 2012-06-08 22:29:43 UTC (rev 1892)
@@ -8,6 +8,11 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+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.
Modified: trunk/GIMPACT/include/GIMPACT/gim_memory.h
===================================================================
--- trunk/GIMPACT/include/GIMPACT/gim_memory.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/GIMPACT/include/GIMPACT/gim_memory.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -408,7 +408,7 @@
G_BUFFER_MANAGER_SYSTEM,
G_BUFFER_MANAGER_SHARED,
- G_BUFFER_MANAGER__MAX,
+ G_BUFFER_MANAGER__MAX
};
//! @}
Modified: trunk/GIMPACT/src/gim_boxpruning.cpp
===================================================================
--- trunk/GIMPACT/src/gim_boxpruning.cpp 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/GIMPACT/src/gim_boxpruning.cpp 2012-06-08 22:29:43 UTC (rev 1892)
@@ -515,4 +515,5 @@
GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);
}
}
+ (void)tparam;
}
Modified: trunk/GIMPACT/src/gim_memory.cpp
===================================================================
--- trunk/GIMPACT/src/gim_memory.cpp 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/GIMPACT/src/gim_memory.cpp 2012-06-08 22:29:43 UTC (rev 1892)
@@ -254,10 +254,12 @@
return (GPTR)pdata;
}
+#if 0
static GPTR _shared_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)
{
return 0;
}
+#endif
static void _shared_buffer_free_function(GPTR buffer_handle,GUINT32 size)
{
Modified: trunk/INSTALL.txt
===================================================================
--- trunk/INSTALL.txt 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/INSTALL.txt 2012-06-08 22:29:43 UTC (rev 1892)
@@ -6,8 +6,11 @@
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.
@@ -24,13 +27,20 @@
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, 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
@@ -42,25 +52,31 @@
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 <filename.tar.gz>) 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 CFLAGS and CXXFLAGS enviroment variables, or as arguments
@@ -82,7 +98,11 @@
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
@@ -95,17 +115,17 @@
$ 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 `codeblocks`.
-
-
-
Modified: trunk/Makefile.am
===================================================================
--- trunk/Makefile.am 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/Makefile.am 2012-06-08 22:29:43 UTC (rev 1892)
@@ -36,7 +36,7 @@
release: dist-gzip dist-bzip2
@echo Created release packages for ${PACKAGE}-${VERSION}.
-EXTRA_DIST = autogen.sh build tools \
+EXTRA_DIST = bootstrap build tools \
CHANGELOG.txt INSTALL.txt README.txt LICENSE.TXT \
bindings
Modified: trunk/OPCODE/Ice/Makefile.am
===================================================================
--- trunk/OPCODE/Ice/Makefile.am 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/OPCODE/Ice/Makefile.am 2012-06-08 22:29:43 UTC (rev 1892)
@@ -1,4 +1,6 @@
-AM_CPPFLAGS = -I $(top_srcdir)/OPCODE -I $(top_srcdir)/include
+AM_CPPFLAGS = -I$(top_srcdir)/OPCODE \
+ -I$(top_srcdir)/include \
+ -I$(top_builddir)/include
noinst_LTLIBRARIES = libIce.la
libIce_la_SOURCES = \
Modified: trunk/OPCODE/Makefile.am
===================================================================
--- trunk/OPCODE/Makefile.am 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/OPCODE/Makefile.am 2012-06-08 22:29:43 UTC (rev 1892)
@@ -1,7 +1,8 @@
SUBDIRS = Ice
noinst_LTLIBRARIES = libOPCODE.la
-AM_CPPFLAGS= -fno-strict-aliasing -I$(top_srcdir)/include
+AM_CPPFLAGS= -I$(top_srcdir)/include \
+ -I$(top_builddir)/include
libOPCODE_la_SOURCES = OPC_AABBCollider.cpp OPC_AABBCollider.h \
OPC_AABBTree.cpp OPC_AABBTree.h \
Modified: trunk/OPCODE/OPC_LSSAABBOverlap.h
===================================================================
--- trunk/OPCODE/OPC_LSSAABBOverlap.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/OPCODE/OPC_LSSAABBOverlap.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -448,6 +448,7 @@
Point kPnt = kDiff;
Point kDir = rkLine.mDir;
+#if 0
// Apply reflections so that direction vector has nonnegative components.
bool bReflect[3];
for(int i=0;i<3;i++)
@@ -463,6 +464,7 @@
bReflect[i] = false;
}
}
+#endif
float fSqrDistance = 0.0f;
Modified: trunk/README.txt
===================================================================
--- trunk/README.txt 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/README.txt 2012-06-08 22:29:43 UTC (rev 1892)
@@ -22,7 +22,7 @@
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
LICENSE.TXT and LICENSE-BSD.TXT for more details.
- * Installation instructions are in the INSTALL file
+ * Installation instructions are in the INSTALL.txt file
* The ODE web pages are at http://ode.org/
Deleted: trunk/autogen.sh
===================================================================
--- trunk/autogen.sh 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/autogen.sh 2012-06-08 22:29:43 UTC (rev 1892)
@@ -1,58 +0,0 @@
-#!/bin/sh
-
-# The version nr detection is not working.
-# It fails if there is a '-' char in the version nr e.g.
-# We should not use it until fixed. - Bram
-
-## The reason this uses sed instead of "grep --only-matches"
-## is because MinGW's grep is an old version and does not contain that flag.
-#automake_version=`automake --version | grep --regexp='[+0-9].[+0-9].[+0-9]' | sed -n 's/[* ()A-Za-z]//g;p'`
-#automake_mayor=${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 1.11 or later"
-echo "On OSX, install latest libtool, as the OS provided glibtoolize will not work"
-echo "Warnings about underquoted definitions are harmless"
-
-echo "Running aclocal"
-aclocal -I m4 --install || exit 1
-# on Mac libtoolize is called glibtoolize
-LIBTOOLIZE=libtoolize
-#if [ `uname -s` = Darwin ]; then
-# LIBTOOLIZE=glibtoolize
-#fi
-echo "Running $LIBTOOLIZE"
-$LIBTOOLIZE --copy --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 $*
-
-if [ -d libccd ]; then
- echo "Running bootstrap in libccd directory"
- (cd libccd && ./bootstrap)
-fi;
-
-echo "Now you are ready to run ./configure"
Copied: trunk/bootstrap (from rev 1891, trunk/autogen.sh)
===================================================================
--- trunk/bootstrap (rev 0)
+++ trunk/bootstrap 2012-06-08 22:29:43 UTC (rev 1892)
@@ -0,0 +1,33 @@
+#!/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
+# on Mac libtoolize is called glibtoolize
+LIBTOOLIZE=libtoolize
+#if [ `uname -s` = Darwin ]; then
+# LIBTOOLIZE=glibtoolize
+#fi
+echo "Running $LIBTOOLIZE"
+$LIBTOOLIZE --copy --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)
+
+if [ -d libccd ]; then
+ echo "Running bootstrap in libccd directory"
+ (cd libccd && ./bootstrap)
+fi;
+
+echo "Now you are ready to run ./configure"
Copied: trunk/configure.ac (from rev 1891, trunk/configure.in)
===================================================================
--- trunk/configure.ac (rev 0)
+++ trunk/configure.ac 2012-06-08 22:29:43 UTC (rev 1892)
@@ -0,0 +1,545 @@
+dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram
+AC_INIT([ODE],[0.12],[od...@od...])
+ODE_VERSION=0.12
+AC_SUBST(ODE_VERSION)
+
+# 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=3
+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:$AGE"
+else
+ ODE_VERSION_INFO="-avoid-version"
+fi
+AC_SUBST(ODE_VERSION_INFO)
+
+
+AC_CONFIG_SRCDIR([ode/src/ode.cpp])
+AC_CONFIG_MACRO_DIR([m4])
+
+AC_CANONICAL_HOST
+
+AM_INIT_AUTOMAKE(1.10 foreign)
+AC_CONFIG_HEADERS([ode/src/config.h])
+
+dnl This is needed because we have subdirectories
+AC_PROG_MAKE_SET
+AC_PROG_CXX
+AC_PROG_CC
+AM_PROG_CC_C_O
+AC_PROG_CPP
+AC_PROG_AWK
+AC_PROG_INSTALL
+AC_PROG_LN_S
+AC_PROG_MKDIR_P
+AC_DISABLE_SHARED
+LT_INIT([disable-shared win32-dll])
+AC_CHECK_TOOLS([WINDRES], [windres])
+
+AC_C_BIGENDIAN
+AC_C_INLINE
+AC_C_VOLATILE
+PKG_PROG_PKG_CONFIG
+
+
+dnl this may NOT be the machine on which the code is going to run in,
+dnl so allow users to compile programs for their target machine.
+pentium=no
+cpu64=no
+case "$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$drawstuff" != "xnone"; then
+ have_gl_headers=yes
+ AC_CHECK_HEADERS(GL/gl.h GL/glu.h GL/glext.h, ,
+ [have_gl_headers=no],
+ [[#ifdef WIN32
+ #include <windows.h>
+ #endif
+ #if HAVE_GL_GL_H
+ #include <GL/gl.h>
+ #endif
+ #if HAVE_GL_GLU_H
+ #include <GL/glu.h>
+ #endif
+ ]])
+ have_gl=no
+ have_glu=no
+ TEMP_LDFLAGS="$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])
+AC_FUNC_ALLOCA
+
+use_ou="yes"
+AC_ARG_ENABLE([ou],
+ AS_HELP_STRING([--enable-ou],
+ [use TLS for global caches (allows threaded collision checks for separated spaces)]
+ ),
+ use_ou_tls=$enableval,use_ou_tls=no)
+if test x$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])
+ 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)
+
+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
+
+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
+
+
+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
+ 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
+ libccd=yes
+fi
+
+AC_CONFIG_SUBDIRS([libccd])
+
+AM_CONDITIONAL(LIBCCD, test x$libccd != xno)
+AM_CONDITIONAL(LIBCCD_BOX_CYL, test x$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 <alloca.h>
+#endif
+#ifdef HAVE_MALLOC_H
+#include <malloc.h>
+#endif
+#ifdef HAVE_STDINT_H
+#include <stdint.h>
+#endif
+#ifdef HAVE_INTTYPES_H
+#include <inttypes.h>
+#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
+
+
+#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/precision.h
+ ode/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/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 " 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 " 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 $BUILDDIR"
+
Deleted: trunk/configure.in
===================================================================
--- trunk/configure.in 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/configure.in 2012-06-08 22:29:43 UTC (rev 1892)
@@ -1,547 +0,0 @@
-dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram
-AC_INIT([ODE],[0.12],[od...@od...])
-ODE_RELEASE=0.12
-AC_SUBST(ODE_RELEASE)
-
-# Those are instructions from the Libtool manual:
-# 1. Start with version information of `0:0:0' for each libtool library.
-#
-# 2. Update the version information only immediately before a public
-# release of your software. More frequent updates are unnecessary,
-# and only guarantee that the current interface number gets larger
-# faster.
-#
-# 3. If the library source code has changed at all since the last
-# update, then increment REVISION (`C:R:A' becomes `C:r+1:A').
-#
-# 4. If any interfaces have been added, removed, or changed since the
-# last update, increment CURRENT, and set REVISION to 0.
-#
-# 5. If any interfaces have been added since the last public release,
-# then increment AGE.
-#
-# 6. If any interfaces have been removed since the last public release,
-# then set AGE to 0.
-CURRENT=3
-REVISION=0
-AGE=0
-
-AC_ARG_ENABLE(version-info,
- AS_HELP_STRING([--disable-version-info],
- [don't encode version information in the generated library]),
- version_info=$enableval,
- version_info=yes)
-if test x$version_info = xyes
-then
- ODE_VERSION_INFO="-version-info $CURRENT:$REVISION:$AGE"
-else
- ODE_VERSION_INFO="-avoid-version"
-fi
-AC_SUBST(ODE_VERSION_INFO)
-
-
-AC_CONFIG_SRCDIR([ode/src/ode.cpp])
-AC_CONFIG_MACRO_DIR([m4])
-
-AC_CANONICAL_HOST
-
-AM_INIT_AUTOMAKE(1.10 foreign)
-AC_CONFIG_HEADERS([ode/src/config.h])
-
-dnl This is needed because we have subdirectories
-AC_PROG_MAKE_SET
-AC_PROG_CXX
-AC_PROG_CC
-AM_PROG_CC_C_O
-AC_PROG_CPP
-AC_PROG_AWK
-AC_PROG_INSTALL
-AC_PROG_LN_S
-AC_PROG_MKDIR_P
-AC_DISABLE_SHARED
-LT_INIT([disable-shared win32-dll])
-AC_CHECK_TOOLS([WINDRES], [windres])
-
-AC_C_BIGENDIAN
-AC_C_INLINE
-AC_C_VOLATILE
-PKG_PROG_PKG_CONFIG
-
-
-dnl this may NOT be the machine on which the code is going to run in,
-dnl so allow users to compile programs for their target machine.
-pentium=no
-cpu64=no
-case "$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 $gimpact = yes)
-
-
-AC_MSG_CHECKING(if double precision is requested)
-AC_ARG_ENABLE(double-precision,
- AS_HELP_STRING([--enable-double-precision],
- [Configure ODE to work with double precision, if not specified, single precision is used]
- ),
- precision=$enableval,precision=no)
-AC_MSG_RESULT([$precision])
-if test "$precision" = yes;
-then
- ODE_PRECISION=-DdDOUBLE
-else
- ODE_PRECISION=-DdSINGLE
-fi
-
-CPPFLAGS="$CPPFLAGS $ODE_PRECISION"
-AC_SUBST(ODE_PRECISION)
-
-
-AC_ARG_WITH([drawstuff],
- AS_HELP_STRING([--with-drawstuff=X11|Win32|OSX|none],
- [force a particular drawstuff implementation or disable it.[default=autodetect]]),
- [drawstuff=$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 <windows.h>
- #endif
- #if HAVE_GL_GL_H
- #include <GL/gl.h>
- #endif
- #if HAVE_GL_GLU_H
- #include <GL/glu.h>
- #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])
-AC_FUNC_ALLOCA
-
-use_ou="yes"
-AC_ARG_ENABLE([ou],
- AS_HELP_STRING([--enable-ou],
- [use TLS for global caches (allows threaded collision checks for separated spaces)]
- ),
- use_ou_tls=$enableval,use_ou_tls=no)
-if test x$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])
- 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)
-
-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
-
-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
-
-
-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
- 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
- libccd=yes
-fi
-
-AC_CONFIG_SUBDIRS([libccd])
-
-AM_CONDITIONAL(LIBCCD, test x$libccd != xno)
-AM_CONDITIONAL(LIBCCD_BOX_CYL, test x$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 <alloca.h>
-#endif
-#ifdef HAVE_MALLOC_H
-#include <malloc.h>
-#endif
-#ifdef HAVE_STDINT_H
-#include <stdint.h>
-#endif
-#ifdef HAVE_INTTYPES_H
-#include <inttypes.h>
-#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
-
-
-#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 " 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 " 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 $BUILDDIR"
-
Modified: trunk/drawstuff/src/Makefile.am
===================================================================
--- trunk/drawstuff/src/Makefile.am 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/drawstuff/src/Makefile.am 2012-06-08 22:29:43 UTC (rev 1892)
@@ -4,6 +4,7 @@
noinst_LTLIBRARIES = libdrawstuff.la
libdrawstuff_la_SOURCES = drawstuff.cpp internal.h
AM_CPPFLAGS = -I$(top_srcdir)/include \
+ -I$(top_builddir)/include \
-DDEFAULT_PATH_TO_TEXTURES='"$(top_srcdir)/drawstuff/textures/"' \
$(X11_CFLAGS)
Modified: trunk/include/drawstuff/Makefile.am
===================================================================
--- trunk/include/drawstuff/Makefile.am 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/drawstuff/Makefile.am 2012-06-08 22:29:43 UTC (rev 1892)
@@ -1,3 +1,2 @@
-
noinst_HEADERS = drawstuff.h version.h
Modified: trunk/include/drawstuff/drawstuff.h
===================================================================
--- trunk/include/drawstuff/drawstuff.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/drawstuff/drawstuff.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -69,7 +69,7 @@
DS_WOOD,
DS_CHECKERED,
DS_GROUND,
- DS_SKY,
+ DS_SKY
};
/* draw modes */
@@ -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
Modified: trunk/include/ode/Makefile.am
===================================================================
--- trunk/include/ode/Makefile.am 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/Makefile.am 2012-06-08 22:29:43 UTC (rev 1892)
@@ -24,4 +24,8 @@
threading_impl.h \
odeconfig.h
-EXTRA_DIST = README
+EXTRA_DIST = README precision.h.in
+
+dist_libode_la_include_HEADERS = precision.h
+
+
Modified: trunk/include/ode/collision.h
===================================================================
--- trunk/include/ode/collision.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/collision.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -26,9 +26,6 @@
#include <ode/common.h>
#include <ode/collision_space.h>
#include <ode/contact.h>
-// Include odeinit.h for backward compatibility as some of initialization APIs
-// were initally declared in current header.
-#include <ode/odeinit.h>
#ifdef __cplusplus
extern "C" {
@@ -424,7 +421,7 @@
enum
{
- dGeomColliderMergeContactsValue__Default = 0, // Used with Set... to restore default value
+ dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/
dGeomColliderMergeContactsValue_None = 1,
dGeomColliderMergeContactsValue_Normals = 2,
dGeomColliderMergeContactsValue_Full = 3
@@ -892,7 +889,7 @@
dFirstSpaceClass,
dSimpleSpaceClass = dFirstSpaceClass,
dHashSpaceClass,
- dSweepAndPruneSpaceClass, // SAP
+ dSweepAndPruneSpaceClass, /* SAP */
dQuadTreeSpaceClass,
dLastSpaceClass = dQuadTreeSpaceClass,
@@ -964,7 +961,7 @@
ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
-//--> Convex Functions
+/*--> Convex Functions*/
ODE_API dGeomID dCreateConvex (dSpaceID space,
dReal *_planes,
unsigned int _planecount,
@@ -976,7 +973,7 @@
unsigned int _count,
dReal *_points,
unsigned int _pointcount,unsigned int *_polygons);
-//<-- Convex Functions
+/*<-- Convex Functions*/
/**
* @defgroup collide_box Box Class
@@ -1053,7 +1050,7 @@
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
@@ -1096,7 +1093,7 @@
/* heightfield functions */
-// Data storage for heightfield data.
+/* Data storage for heightfield data.*/
struct dxHeightfieldData;
typedef struct dxHeightfieldData* dHeightfieldDataID;
@@ -1471,7 +1468,7 @@
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,
Modified: trunk/include/ode/collision_space.h
===================================================================
--- trunk/include/ode/collision_space.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/collision_space.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -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))
Modified: trunk/include/ode/collision_trimesh.h
===================================================================
--- trunk/include/ode/collision_trimesh.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/collision_trimesh.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -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);
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/common.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -23,6 +23,8 @@
#ifndef _ODE_COMMON_H_
#define _ODE_COMMON_H_
+#include <ode/precision.h>
+
#include <ode/odeconfig.h>
#include <ode/error.h>
@@ -54,31 +56,33 @@
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
+#else /* dTRIMESH_GIMPACT */
typedef uint16 dTriIndex;
-#endif // dTRIMESH_GIMPACT
-#else // dTRIMESH_16BIT_INDICES
+#endif /* dTRIMESH_GIMPACT */
+#else /* dTRIMESH_16BIT_INDICES */
typedef uint32 dTriIndex;
-#endif // dTRIMESH_16BIT_INDICES
+#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)
@@ -209,7 +213,7 @@
dJointTypePU,
dJointTypePiston,
dJointTypeDBall,
- dJointTypeDHinge,
+ dJointTypeDHinge
} dJointType;
@@ -262,14 +266,14 @@
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 */ \
@@ -289,7 +293,7 @@
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)
Modified: trunk/include/ode/contact.h
===================================================================
--- trunk/include/ode/contact.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/contact.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -80,11 +80,11 @@
* @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;
Modified: trunk/include/ode/mass.h
===================================================================
--- trunk/include/ode/mass.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/mass.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -80,7 +80,7 @@
ODE_API void dMassAdd (dMass *a, const dMass *b);
-// 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);
Modified: trunk/include/ode/matrix.h
===================================================================
--- trunk/include/ode/matrix.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/matrix.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -241,7 +241,7 @@
return n2 * sizeof(dReal) + _dEstimateLDLTAddTLTmpbufSize(nskip);
}
-// For internal use
+/* 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)
@@ -270,7 +270,7 @@
#define dEstimateLDLTRemoveTmpbufSize(n2, nskip) _dEstimateLDLTRemoveTmpbufSize(n2, nskip)
-#endif // defined(__ODE__)
+#endif /* defined(__ODE__) */
#ifdef __cplusplus
Modified: trunk/include/ode/objects.h
===================================================================
--- trunk/include/ode/objects.h 2012-05-31 02:33:23 UTC (rev 1891)
+++ trunk/include/ode/objects.h 2012-06-08 22:29:43 UTC (rev 1892)
@@ -243,7 +243,7 @@
typedef struct
{
unsigned struct_size;
- float reserve_factor; // Use float as precision does not matter here
+ float reserve_factor; /* U...
[truncated message content] |
|
From: <dan...@us...> - 2012-05-31 02:33:30
|
Revision: 1891
http://opende.svn.sourceforge.net/opende/?rev=1891&view=rev
Author: danielosmari
Date: 2012-05-31 02:33:23 +0000 (Thu, 31 May 2012)
Log Message:
-----------
* Drawstuff now shows shadows for lines.
* Fixed dhinge constraint (reported by Dimitris Papavasiliou)
* Updated some libtool scripts
* Removed 'force' option from bootstrap/autogen.sh scripts.
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/autogen.sh
trunk/drawstuff/src/drawstuff.cpp
trunk/libccd/bootstrap
trunk/m4/libtool.m4
trunk/m4/ltoptions.m4
trunk/m4/ltversion.m4
trunk/ode/demo/demo_dhinge.cpp
trunk/ode/src/joints/dhinge.cpp
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/CHANGELOG.txt 2012-05-31 02:33:23 UTC (rev 1891)
@@ -8,6 +8,10 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+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.
Modified: trunk/autogen.sh
===================================================================
--- trunk/autogen.sh 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/autogen.sh 2012-05-31 02:33:23 UTC (rev 1891)
@@ -37,7 +37,7 @@
# LIBTOOLIZE=glibtoolize
#fi
echo "Running $LIBTOOLIZE"
-$LIBTOOLIZE --copy --force --automake || exit 1
+$LIBTOOLIZE --copy --automake || exit 1
echo "Running autoheader"
autoheader || exit 1
echo "Running automake"
Modified: trunk/drawstuff/src/drawstuff.cpp
===================================================================
--- trunk/drawstuff/src/drawstuff.cpp 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/drawstuff/src/drawstuff.cpp 2012-05-31 02:33:23 UTC (rev 1891)
@@ -1495,10 +1495,8 @@
}
-void dsDrawLine (const float pos1[3], const float pos2[3])
+static void drawLine(const float pos1[3], const float pos2[3])
{
- setupDrawingMode();
- glColor3f (color[0],color[1],color[2]);
glDisable (GL_LIGHTING);
glLineWidth (2);
glShadeModel (GL_FLAT);
@@ -1509,9 +1507,27 @@
}
-void dsDrawBoxD (const double pos[3], const double R[12],
- const double sides[3])
+extern "C" void dsDrawLine (const float pos1[3], const float pos2[3])
{
+ setupDrawingMode();
+ glColor4f(color[0], color[1], color[2], color[3]);
+ drawLine(pos1, pos2);
+
+ if (use_shadows) {
+ setShadowDrawingMode();
+ setShadowTransform();
+
+ drawLine(pos1, pos2);
+
+ glPopMatrix();
+ glDepthRange (0,1);
+ }
+}
+
+
+extern "C" void dsDrawBoxD (const double pos[3], const double R[12],
+ const double sides[3])
+{
int i;
float pos2[3],R2[12],fsides[3];
for (i=0; i<3; i++) pos2[i]=(float)pos[i];
Modified: trunk/libccd/bootstrap
===================================================================
--- trunk/libccd/bootstrap 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/libccd/bootstrap 2012-05-31 02:33:23 UTC (rev 1891)
@@ -5,8 +5,8 @@
if [ `uname -s` = Darwin ]; then
LIBTOOLIZE=glibtoolize
fi
-$LIBTOOLIZE -f -c --automake
+$LIBTOOLIZE -c --automake
aclocal
-autoheader -f
+autoheader
autoconf
-automake -a --foreign -f -c
+automake -a --foreign -c
Modified: trunk/m4/libtool.m4
===================================================================
--- trunk/m4/libtool.m4 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/m4/libtool.m4 2012-05-31 02:33:23 UTC (rev 1891)
@@ -1,8 +1,8 @@
# libtool.m4 - Configure libtool for the host system. -*-Autoconf-*-
#
# Copyright (C) 1996, 1997, 1998, 1999, 2000, 2001, 2003, 2004, 2005,
-# 2006, 2007, 2008, 2009, 2010 Free Software Foundation,
-# Inc.
+# 2006, 2007, 2008, 2009, 2010, 2011 Free Software
+# Foundation, Inc.
# Written by Gordon Matzigkeit, 1996
#
# This file is free software; the Free Software Foundation gives
@@ -11,8 +11,8 @@
m4_define([_LT_COPYING], [dnl
# Copyright (C) 1996, 1997, 1998, 1999, 2000, 2001, 2003, 2004, 2005,
-# 2006, 2007, 2008, 2009, 2010 Free Software Foundation,
-# Inc.
+# 2006, 2007, 2008, 2009, 2010, 2011 Free Software
+# Foundation, Inc.
# Written by Gordon Matzigkeit, 1996
#
# This file is part of GNU Libtool.
@@ -146,6 +146,8 @@
AC_REQUIRE([_LT_PREPARE_SED_QUOTE_VARS])dnl
AC_REQUIRE([_LT_PROG_ECHO_BACKSLASH])dnl
+_LT_DECL([], [PATH_SEPARATOR], [1], [The PATH separator for the build system])dnl
+dnl
_LT_DECL([], [host_alias], [0], [The host system])dnl
_LT_DECL([], [host], [0])dnl
_LT_DECL([], [host_os], [0])dnl
@@ -637,7 +639,7 @@
m4_ifset([AC_PACKAGE_VERSION], [ AC_PACKAGE_VERSION])
configured by $[0], generated by m4_PACKAGE_STRING.
-Copyright (C) 2010 Free Software Foundation, Inc.
+Copyright (C) 2011 Free Software Foundation, Inc.
This config.lt script is free software; the Free Software Foundation
gives unlimited permision to copy, distribute and modify it."
@@ -801,6 +803,7 @@
m4_case([$1],
[C], [_LT_LANG(C)],
[C++], [_LT_LANG(CXX)],
+ [Go], [_LT_LANG(GO)],
[Java], [_LT_LANG(GCJ)],
[Fortran 77], [_LT_LANG(F77)],
[Fortran], [_LT_LANG(FC)],
@@ -822,6 +825,31 @@
])# _LT_LANG
+m4_ifndef([AC_PROG_GO], [
+############################################################
+# NOTE: This macro has been submitted for inclusion into #
+# GNU Autoconf as AC_PROG_GO. When it is available in #
+# a released version of Autoconf we should remove this #
+# macro and use it instead. #
+############################################################
+m4_defun([AC_PROG_GO],
+[AC_LANG_PUSH(Go)dnl
+AC_ARG_VAR([GOC], [Go compiler command])dnl
+AC_ARG_VAR([GOFLAGS], [Go compiler flags])dnl
+_AC_ARG_VAR_LDFLAGS()dnl
+AC_CHECK_TOOL(GOC, gccgo)
+if test -z "$GOC"; then
+ if test -n "$ac_tool_prefix"; then
+ AC_CHECK_PROG(GOC, [${ac_tool_prefix}gccgo], [${ac_tool_prefix}gccgo])
+ fi
+fi
+if test -z "$GOC"; then
+ AC_CHECK_PROG(GOC, gccgo, gccgo, false)
+fi
+])#m4_defun
+])#m4_ifndef
+
+
# _LT_LANG_DEFAULT_CONFIG
# -----------------------
m4_defun([_LT_LANG_DEFAULT_CONFIG],
@@ -852,6 +880,10 @@
m4_ifdef([LT_PROG_GCJ],
[m4_define([LT_PROG_GCJ], defn([LT_PROG_GCJ])[LT_LANG(GCJ)])])])])])
+AC_PROVIDE_IFELSE([AC_PROG_GO],
+ [LT_LANG(GO)],
+ [m4_define([AC_PROG_GO], defn([AC_PROG_GO])[LT_LANG(GO)])])
+
AC_PROVIDE_IFELSE([LT_PROG_RC],
[LT_LANG(RC)],
[m4_define([LT_PROG_RC], defn([LT_PROG_RC])[LT_LANG(RC)])])
@@ -954,7 +986,13 @@
$LTCC $LTCFLAGS $LDFLAGS -o libconftest.dylib \
-dynamiclib -Wl,-single_module conftest.c 2>conftest.err
_lt_result=$?
- if test -f libconftest.dylib && test ! -s conftest.err && test $_lt_result = 0; then
+ # If there is a non-empty error log, and "single_module"
+ # appears in it, assume the flag caused a linker warning
+ if test -s conftest.err && $GREP single_module conftest.err; then
+ cat conftest.err >&AS_MESSAGE_LOG_FD
+ # Otherwise, if the output was created with a 0 exit code from
+ # the compiler, it worked.
+ elif test -f libconftest.dylib && test $_lt_result -eq 0; then
lt_cv_apple_cc_single_mod=yes
else
cat conftest.err >&AS_MESSAGE_LOG_FD
@@ -962,6 +1000,7 @@
rm -rf libconftest.dylib*
rm -f conftest.*
fi])
+
AC_CACHE_CHECK([for -exported_symbols_list linker flag],
[lt_cv_ld_exported_symbols_list],
[lt_cv_ld_exported_symbols_list=no
@@ -973,6 +1012,7 @@
[lt_cv_ld_exported_symbols_list=no])
LDFLAGS="$save_LDFLAGS"
])
+
AC_CACHE_CHECK([for -force_load linker flag],[lt_cv_ld_force_load],
[lt_cv_ld_force_load=no
cat > conftest.c << _LT_EOF
@@ -990,7 +1030,9 @@
echo "$LTCC $LTCFLAGS $LDFLAGS -o conftest conftest.c -Wl,-force_load,./libconftest.a" >&AS_MESSAGE_LOG_FD
$LTCC $LTCFLAGS $LDFLAGS -o conftest conftest.c -Wl,-force_load,./libconftest.a 2>conftest.err
_lt_result=$?
- if test -f conftest && test ! -s conftest.err && test $_lt_result = 0 && $GREP forced_load conftest 2>&1 >/dev/null; then
+ if test -s conftest.err && $GREP force_load conftest.err; then
+ cat conftest.err >&AS_MESSAGE_LOG_FD
+ elif test -f conftest && test $_lt_result -eq 0 && $GREP forced_load conftest >/dev/null 2>&1 ; then
lt_cv_ld_force_load=yes
else
cat conftest.err >&AS_MESSAGE_LOG_FD
@@ -1035,8 +1077,8 @@
])
-# _LT_DARWIN_LINKER_FEATURES
-# --------------------------
+# _LT_DARWIN_LINKER_FEATURES([TAG])
+# ---------------------------------
# Checks for linker and compiler features on darwin
m4_defun([_LT_DARWIN_LINKER_FEATURES],
[
@@ -1047,6 +1089,8 @@
_LT_TAGVAR(hardcode_shlibpath_var, $1)=unsupported
if test "$lt_cv_ld_force_load" = "yes"; then
_LT_TAGVAR(whole_archive_flag_spec, $1)='`for conv in $convenience\"\"; do test -n \"$conv\" && new_convenience=\"$new_convenience ${wl}-force_load,$conv\"; done; func_echo_all \"$new_convenience\"`'
+ m4_case([$1], [F77], [_LT_TAGVAR(compiler_needs_object, $1)=yes],
+ [FC], [_LT_TAGVAR(compiler_needs_object, $1)=yes])
else
_LT_TAGVAR(whole_archive_flag_spec, $1)=''
fi
@@ -1330,14 +1374,27 @@
CFLAGS="$SAVE_CFLAGS"
fi
;;
-sparc*-*solaris*)
+*-*solaris*)
# Find out which ABI we are using.
echo 'int i;' > conftest.$ac_ext
if AC_TRY_EVAL(ac_compile); then
case `/usr/bin/file conftest.o` in
*64-bit*)
case $lt_cv_prog_gnu_ld in
- yes*) LD="${LD-ld} -m elf64_sparc" ;;
+ yes*)
+ case $host in
+ i?86-*-solaris*)
+ LD="${LD-ld} -m elf_x86_64"
+ ;;
+ sparc*-*-solaris*)
+ LD="${LD-ld} -m elf64_sparc"
+ ;;
+ esac
+ # GNU ld 2.21 introduced _sol2 emulations. Use them if available.
+ if ${LD-ld} -V | grep _sol2 >/dev/null 2>&1; then
+ LD="${LD-ld}_sol2"
+ fi
+ ;;
*)
if ${LD-ld} -64 -r -o conftest2.o conftest.o >/dev/null 2>&1; then
LD="${LD-ld} -64"
@@ -1414,13 +1471,13 @@
if test -n "$RANLIB"; then
case $host_os in
openbsd*)
- old_postinstall_cmds="$old_postinstall_cmds~\$RANLIB -t \$oldlib"
+ old_postinstall_cmds="$old_postinstall_cmds~\$RANLIB -t \$tool_oldlib"
;;
*)
- old_postinstall_cmds="$old_postinstall_cmds~\$RANLIB \$oldlib"
+ old_postinstall_cmds="$old_postinstall_cmds~\$RANLIB \$tool_oldlib"
;;
esac
- old_archive_cmds="$old_archive_cmds~\$RANLIB \$oldlib"
+ old_archive_cmds="$old_archive_cmds~\$RANLIB \$tool_oldlib"
fi
case $host_os in
@@ -1600,6 +1657,11 @@
lt_cv_sys_max_cmd_len=196608
;;
+ os2*)
+ # The test takes a long time on OS/2.
+ lt_cv_sys_max_cmd_len=8192
+ ;;
+
osf*)
# Dr. Hans Ekkehard Plesser reports seeing a kernel panic running configure
# due to this test when exec_disable_arg_limit is 1 on Tru64. It is not
@@ -1639,7 +1701,7 @@
# If test is not a shell built-in, we'll probably end up computing a
# maximum length that is only half of the actual maximum length, but
# we can't tell.
- while { test "X"`func_fallback_echo "$teststring$teststring" 2>/dev/null` \
+ while { test "X"`env echo "$teststring$teststring" 2>/dev/null` \
= "X$teststring$teststring"; } >/dev/null 2>&1 &&
test $i != 17 # 1/2 MB should be enough
do
@@ -2185,7 +2247,7 @@
case $host_os in
aix3*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
library_names_spec='${libname}${release}${shared_ext}$versuffix $libname.a'
shlibpath_var=LIBPATH
@@ -2194,7 +2256,7 @@
;;
aix[[4-9]]*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
hardcode_into_libs=yes
@@ -2259,7 +2321,7 @@
;;
bsdi[[45]]*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
soname_spec='${libname}${release}${shared_ext}$major'
@@ -2398,7 +2460,7 @@
;;
dgux*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname$shared_ext'
@@ -2406,10 +2468,6 @@
shlibpath_var=LD_LIBRARY_PATH
;;
-freebsd1*)
- dynamic_linker=no
- ;;
-
freebsd* | dragonfly*)
# DragonFly does not have aout. When/if they implement a new
# versioning mechanism, adjust this.
@@ -2417,7 +2475,7 @@
objformat=`/usr/bin/objformat`
else
case $host_os in
- freebsd[[123]]*) objformat=aout ;;
+ freebsd[[23]].*) objformat=aout ;;
*) objformat=elf ;;
esac
fi
@@ -2435,7 +2493,7 @@
esac
shlibpath_var=LD_LIBRARY_PATH
case $host_os in
- freebsd2*)
+ freebsd2.*)
shlibpath_overrides_runpath=yes
;;
freebsd3.[[01]]* | freebsdelf3.[[01]]*)
@@ -2455,17 +2513,18 @@
;;
gnu*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}${major} ${libname}${shared_ext}'
soname_spec='${libname}${release}${shared_ext}$major'
shlibpath_var=LD_LIBRARY_PATH
+ shlibpath_overrides_runpath=no
hardcode_into_libs=yes
;;
haiku*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
dynamic_linker="$host_os runtime_loader"
@@ -2526,7 +2585,7 @@
;;
interix[[3-9]]*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major ${libname}${shared_ext}'
@@ -2542,7 +2601,7 @@
nonstopux*) version_type=nonstopux ;;
*)
if test "$lt_cv_prog_gnu_ld" = yes; then
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
else
version_type=irix
fi ;;
@@ -2579,9 +2638,9 @@
dynamic_linker=no
;;
-# This must be Linux ELF.
+# This must be glibc/ELF.
linux* | k*bsd*-gnu | kopensolaris*-gnu)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
@@ -2662,7 +2721,7 @@
;;
newsos6)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
shlibpath_var=LD_LIBRARY_PATH
shlibpath_overrides_runpath=yes
@@ -2731,7 +2790,7 @@
;;
solaris*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
@@ -2756,7 +2815,7 @@
;;
sysv4 | sysv4.3*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
soname_spec='${libname}${release}${shared_ext}$major'
shlibpath_var=LD_LIBRARY_PATH
@@ -2780,7 +2839,7 @@
sysv4*MP*)
if test -d /usr/nec ;then
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
library_names_spec='$libname${shared_ext}.$versuffix $libname${shared_ext}.$major $libname${shared_ext}'
soname_spec='$libname${shared_ext}.$major'
shlibpath_var=LD_LIBRARY_PATH
@@ -2811,7 +2870,7 @@
tpf*)
# TPF is a cross-target only. Preferred cross-host = GNU/Linux.
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
need_lib_prefix=no
need_version=no
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
@@ -2821,7 +2880,7 @@
;;
uts4*)
- version_type=linux
+ version_type=linux # correct to gnu/linux during the next big refactor
library_names_spec='${libname}${release}${shared_ext}$versuffix ${libname}${release}${shared_ext}$major $libname${shared_ext}'
soname_spec='${libname}${release}${shared_ext}$major'
shlibpath_var=LD_LIBRARY_PATH
@@ -3243,7 +3302,7 @@
lt_cv_deplibs_check_method=pass_all
;;
-# This must be Linux ELF.
+# This must be glibc/ELF.
linux* | k*bsd*-gnu | kopensolaris*-gnu)
lt_cv_deplibs_check_method=pass_all
;;
@@ -3663,6 +3722,7 @@
# which start with @ or ?.
lt_cv_sys_global_symbol_pipe="$AWK ['"\
" {last_section=section; section=\$ 3};"\
+" /^COFF SYMBOL TABLE/{for(i in hide) delete hide[i]};"\
" /Section length .*#relocs.*(pick any)/{hide[last_section]=1};"\
" \$ 0!~/External *\|/{next};"\
" / 0+ UNDEF /{next}; / UNDEF \([^|]\)*()/{next};"\
@@ -4247,7 +4307,9 @@
case $cc_basename in
nvcc*) # Cuda Compiler Driver 2.2
_LT_TAGVAR(lt_prog_compiler_wl, $1)='-Xlinker '
- _LT_TAGVAR(lt_prog_compiler_pic, $1)='-Xcompiler -fPIC'
+ if test -n "$_LT_TAGVAR(lt_prog_compiler_pic, $1)"; then
+ _LT_TAGVAR(lt_prog_compiler_pic, $1)="-Xcompiler $_LT_TAGVAR(lt_prog_compiler_pic, $1)"
+ fi
;;
esac
else
@@ -4339,18 +4401,33 @@
;;
*)
case `$CC -V 2>&1 | sed 5q` in
- *Sun\ F* | *Sun*Fortran*)
+ *Sun\ Ceres\ Fortran* | *Sun*Fortran*\ [[1-7]].* | *Sun*Fortran*\ 8.[[0-3]]*)
# Sun Fortran 8.3 passes all unrecognized flags to the linker
_LT_TAGVAR(lt_prog_compiler_pic, $1)='-KPIC'
_LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic'
_LT_TAGVAR(lt_prog_compiler_wl, $1)=''
;;
+ *Sun\ F* | *Sun*Fortran*)
+ _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 '
+ ;;
*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)='-Wl,'
;;
+ *Intel*\ [[CF]]*Compiler*)
+ _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,'
+ _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fPIC'
+ _LT_TAGVAR(lt_prog_compiler_static, $1)='-static'
+ ;;
+ *Portland\ Group*)
+ _LT_TAGVAR(lt_prog_compiler_wl, $1)='-Wl,'
+ _LT_TAGVAR(lt_prog_compiler_pic, $1)='-fpic'
+ _LT_TAGVAR(lt_prog_compiler_static, $1)='-Bstatic'
+ ;;
esac
;;
esac
@@ -4510,7 +4587,9 @@
;;
cygwin* | mingw* | cegcc*)
case $cc_basename in
- cl*) ;;
+ cl*)
+ _LT_TAGVAR(exclude_expsyms, $1)='_NULL_IMPORT_DESCRIPTOR|_IMPORT_DESCRIPTOR_.*'
+ ;;
*)
_LT_TAGVAR(export_symbols_cmds, $1)='$NM $libobjs $convenience | $global_symbol_pipe | $SED -e '\''/^[[BCDGRS]][[ ]]/s/.*[[ ]]\([[^ ]]*\)/\1 DATA/;s/^.*[[ ]]__nm__\([[^ ]]*\)[[ ]][[^ ]]*/\1 DATA/;/^I[[ ]]/d;/^[[AITW]][[ ]]/s/.* //'\'' | sort | uniq > $export_symbols'
_LT_TAGVAR(exclude_expsyms, $1)=['[_]+GLOBAL_OFFSET_TABLE_|[_]+GLOBAL__[FID]_.*|[_]+head_[A-Za-z0-9_]+_dll|[A-Za-z0-9_]+_dll_iname']
@@ -4538,7 +4617,6 @@
_LT_TAGVAR(hardcode_direct, $1)=no
_LT_TAGVAR(hardcode_direct_absolute, $1)=no
_LT_TAGVAR(hardcode_libdir_flag_spec, $1)=
- _LT_TAGVAR(hardcode_libdir_flag_spec_ld, $1)=
_LT_TAGVAR(hardcode_libdir_separator, $1)=
_LT_TAGVAR(hardcode_minus_L, $1)=no
_LT_TAGVAR(hardcode_shlibpath_var, $1)=unsupported
@@ -4789,8 +4867,7 @@
xlf* | bgf* | bgxlf* | mpixlf*)
# IBM XL Fortran 10.1 on PPC cannot create shared libs itself
_LT_TAGVAR(whole_archive_flag_spec, $1)='--whole-archive$convenience --no-whole-archive'
- _LT_TAGVAR(hardcode_libdir_flag_spec, $1)=
- _LT_TAGVAR(hardcode_libdir_flag_spec_ld, $1)='-rpath $libdir'
+ _LT_TAGVAR(hardcode_libdir_flag_spec, $1)='${wl}-rpath ${wl}$libdir'
_LT_TAGVAR(archive_cmds, $1)='$LD -shared $libobjs $deplibs $linker_flags -soname $soname -o $lib'
if test "x$supports_anon_versioning" = xyes; then
_LT_TAGVAR(archive_expsym_cmds, $1)='echo "{ global:" > $output_objdir/$libname.ver~
@@ -5086,6 +5163,7 @@
# The linker will not automatically build a static lib if we build a DLL.
# _LT_TAGVAR(old_archive_from_new_cmds, $1)='true'
_LT_TAGVAR(enable_shared_with_static_runtimes, $1)=yes
+ _LT_TAGVAR(exclude_expsyms, $1)='_NULL_IMPORT_DESCRIPTOR|_IMPORT_DESCRIPTOR_.*'
_LT_TAGVAR(export_symbols_cmds, $1)='$NM $libobjs $convenience | $global_symbol_pipe | $SED -e '\''/^[[BCDGRS]][[ ]]/s/.*[[ ]]\([[^ ]]*\)/\1,DATA/'\'' | $SED -e '\''/^[[AITW]][[ ]]/s/.*[[ ]]//'\'' | sort | uniq > $export_symbols'
# Don't use ranlib
_LT_TAGVAR(old_postinstall_cmds, $1)='chmod 644 $oldlib'
@@ -5132,10 +5210,6 @@
_LT_TAGVAR(hardcode_shlibpath_var, $1)=no
;;
- freebsd1*)
- _LT_TAGVAR(ld_shlibs, $1)=no
- ;;
-
# FreeBSD 2.2.[012] allows us to include c++rt0.o to get C++ constructor
# support. Future versions do this automatically, but an explicit c++rt0.o
# does not break anything, and helps significantly (at the cost of a little
@@ -5148,7 +5222,7 @@
;;
# Unfortunately, older versions of FreeBSD 2 do not have this feature.
- freebsd2*)
+ freebsd2.*)
_LT_TAGVAR(archive_cmds, $1)='$LD -Bshareable -o $lib $libobjs $deplibs $linker_flags'
_LT_TAGVAR(hardcode_direct, $1)=yes
_LT_TAGVAR(hardcode_minus_L, $1)=yes
@@ -5187,7 +5261,6 @@
fi
if test "$with_gnu_ld" = no; then
_LT_TAGVAR(hardcode_libdir_flag_spec, $1)='${wl}+b ${wl}$libdir'
- _LT_TAGVAR(hardcode_libdir_flag_spec_ld, $1)='+b $libdir'
_LT_TAGVAR(hardcode_libdir_separator, $1)=:
_LT_TAGVAR(hardcode_direct, $1)=yes
_LT_TAGVAR(hardcode_direct_absolute, $1)=yes
@@ -5629,9 +5702,6 @@
_LT_TAGDECL([], [hardcode_libdir_flag_spec], [1],
[Flag to hardcode $libdir into a binary during linking.
This must work even if $libdir does not exist])
-_LT_TAGDECL([], [hardcode_libdir_flag_spec_ld], [1],
- [[If ld is used when linking, flag to hardcode $libdir into a binary
- during linking. This must work even if $libdir does not exist]])
_LT_TAGDECL([], [hardcode_libdir_separator], [1],
[Whether we need a single "-rpath" flag with a separated argument])
_LT_TAGDECL([], [hardcode_direct], [0],
@@ -5789,7 +5859,6 @@
_LT_TAGVAR(hardcode_direct, $1)=no
_LT_TAGVAR(hardcode_direct_absolute, $1)=no
_LT_TAGVAR(hardcode_libdir_flag_spec, $1)=
-_LT_TAGVAR(hardcode_libdir_flag_spec_ld, $1)=
_LT_TAGVAR(hardcode_libdir_separator, $1)=
_LT_TAGVAR(hardcode_minus_L, $1)=no
_LT_TAGVAR(hardcode_shlibpath_var, $1)=unsupported
@@ -6160,7 +6229,7 @@
esac
;;
- freebsd[[12]]*)
+ freebsd2.*)
# C++ shared libraries reported to be fairly broken before
# switch to ELF
_LT_TAGVAR(ld_shlibs, $1)=no
@@ -6921,12 +6990,18 @@
}
};
_LT_EOF
+], [$1], [GO], [cat > conftest.$ac_ext <<_LT_EOF
+package foo
+func foo() {
+}
+_LT_EOF
])
_lt_libdeps_save_CFLAGS=$CFLAGS
case "$CC $CFLAGS " in #(
*\ -flto*\ *) CFLAGS="$CFLAGS -fno-lto" ;;
*\ -fwhopr*\ *) CFLAGS="$CFLAGS -fno-whopr" ;;
+*\ -fuse-linker-plugin*\ *) CFLAGS="$CFLAGS -fno-use-linker-plugin" ;;
esac
dnl Parse the compiler output and extract the necessary
@@ -7123,7 +7198,6 @@
_LT_TAGVAR(hardcode_direct, $1)=no
_LT_TAGVAR(hardcode_direct_absolute, $1)=no
_LT_TAGVAR(hardcode_libdir_flag_spec, $1)=
-_LT_TAGVAR(hardcode_libdir_flag_spec_ld, $1)=
_LT_TAGVAR(hardcode_libdir_separator, $1)=
_LT_TAGVAR(hardcode_minus_L, $1)=no
_LT_TAGVAR(hardcode_automatic, $1)=no
@@ -7256,7 +7330,6 @@
_LT_TAGVAR(hardcode_direct, $1)=no
_LT_TAGVAR(hardcode_direct_absolute, $1)=no
_LT_TAGVAR(hardcode_libdir_flag_spec, $1)=
-_LT_TAGVAR(hardcode_libdir_flag_spec_ld, $1)=
_LT_TAGVAR(hardcode_libdir_separator, $1)=
_LT_TAGVAR(hardcode_minus_L, $1)=no
_LT_TAGVAR(hardcode_automatic, $1)=no
@@ -7446,6 +7519,77 @@
])# _LT_LANG_GCJ_CONFIG
+# _LT_LANG_GO_CONFIG([TAG])
+# --------------------------
+# Ensure that the configuration variables for the GNU Go compiler
+# are suitably defined. These variables are subsequently used by _LT_CONFIG
+# to write the compiler configuration to `libtool'.
+m4_defun([_LT_LANG_GO_CONFIG],
+[AC_REQUIRE([LT_PROG_GO])dnl
+AC_LANG_SAVE
+
+# Source file extension for Go test sources.
+ac_ext=go
+
+# Object file extension for compiled Go test sources.
+objext=o
+_LT_TAGVAR(objext, $1)=$objext
+
+# Code to be used in simple compile tests
+lt_simple_compile_test_code="package main; func main() { }"
+
+# Code to be used in simple link tests
+lt_simple_link_test_code='package main; func main() { }'
+
+# ltmain only uses $CC for tagged configurations so make sure $CC is set.
+_LT_TAG_COMPILER
+
+# save warnings/boilerplate of simple test code
+_LT_COMPILER_BOILERPLATE
+_LT_LINKER_BOILERPLATE
+
+# Allow CC to be a program name with arguments.
+lt_save_CC=$CC
+lt_save_CFLAGS=$CFLAGS
+lt_save_GCC=$GCC
+GCC=yes
+CC=${GOC-"gccgo"}
+CFLAGS=$GOFLAGS
+compiler=$CC
+_LT_TAGVAR(compiler, $1)=$CC
+_LT_TAGVAR(LD, $1)="$LD"
+_LT_CC_BASENAME([$compiler])
+
+# Go did not exist at the time GCC didn't implicitly link libc in.
+_LT_TAGVAR(archive_cmds_need_lc, $1)=no
+
+_LT_TAGVAR(old_archive_cmds, $1)=$old_archive_cmds
+_LT_TAGVAR(reload_flag, $1)=$reload_flag
+_LT_TAGVAR(reload_cmds, $1)=$reload_cmds
+
+## CAVEAT EMPTOR:
+## There is no encapsulation within the following macros, do not change
+## the running order or otherwise move them around unless you know exactly
+## what you are doing...
+if test -n "$compiler"; then
+ _LT_COMPILER_NO_RTTI($1)
+ _LT_COMPILER_PIC($1)
+ _LT_COMPILER_C_O($1)
+ _LT_COMPILER_FILE_LOCKS($1)
+ _LT_LINKER_SHLIBS($1)
+ _LT_LINKER_HARDCODE_LIBPATH($1)
+
+ _LT_CONFIG($1)
+fi
+
+AC_LANG_RESTORE
+
+GCC=$lt_save_GCC
+CC=$lt_save_CC
+CFLAGS=$lt_save_CFLAGS
+])# _LT_LANG_GO_CONFIG
+
+
# _LT_LANG_RC_CONFIG([TAG])
# -------------------------
# Ensure that the configuration variables for the Windows resource compiler
@@ -7515,6 +7659,13 @@
dnl AC_DEFUN([LT_AC_PROG_GCJ], [])
+# LT_PROG_GO
+# ----------
+AC_DEFUN([LT_PROG_GO],
+[AC_CHECK_TOOL(GOC, gccgo,)
+])
+
+
# LT_PROG_RC
# ----------
AC_DEFUN([LT_PROG_RC],
Modified: trunk/m4/ltoptions.m4
===================================================================
--- trunk/m4/ltoptions.m4 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/m4/ltoptions.m4 2012-05-31 02:33:23 UTC (rev 1891)
@@ -326,9 +326,24 @@
# MODE is either `yes' or `no'. If omitted, it defaults to `both'.
m4_define([_LT_WITH_PIC],
[AC_ARG_WITH([pic],
- [AS_HELP_STRING([--with-pic],
+ [AS_HELP_STRING([--with-pic@<:@=PKGS@:>@],
[try to use only PIC/non-PIC objects @<:@default=use both@:>@])],
- [pic_mode="$withval"],
+ [lt_p=${PACKAGE-default}
+ case $withval in
+ yes|no) pic_mode=$withval ;;
+ *)
+ pic_mode=default
+ # Look at the argument we got. We use all the common list separators.
+ lt_save_ifs="$IFS"; IFS="${IFS}$PATH_SEPARATOR,"
+ for lt_pkg in $withval; do
+ IFS="$lt_save_ifs"
+ if test "X$lt_pkg" = "X$lt_p"; then
+ pic_mode=yes
+ fi
+ done
+ IFS="$lt_save_ifs"
+ ;;
+ esac],
[pic_mode=default])
test -z "$pic_mode" && pic_mode=m4_default([$1], [default])
Modified: trunk/m4/ltversion.m4
===================================================================
--- trunk/m4/ltversion.m4 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/m4/ltversion.m4 2012-05-31 02:33:23 UTC (rev 1891)
@@ -9,15 +9,15 @@
# @configure_input@
-# serial 3293 ltversion.m4
+# serial 3337 ltversion.m4
# This file is part of GNU Libtool
-m4_define([LT_PACKAGE_VERSION], [2.4])
-m4_define([LT_PACKAGE_REVISION], [1.3293])
+m4_define([LT_PACKAGE_VERSION], [2.4.2])
+m4_define([LT_PACKAGE_REVISION], [1.3337])
AC_DEFUN([LTVERSION_VERSION],
-[macro_version='2.4'
-macro_revision='1.3293'
+[macro_version='2.4.2'
+macro_revision='1.3337'
_LT_DECL(, macro_version, 0, [Which release of libtool.m4 was used?])
_LT_DECL(, macro_revision, 0)
])
Modified: trunk/ode/demo/demo_dhinge.cpp
===================================================================
--- trunk/ode/demo/demo_dhinge.cpp 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/ode/demo/demo_dhinge.cpp 2012-05-31 02:33:23 UTC (rev 1891)
@@ -36,6 +36,7 @@
dBodyID body1;
dBodyID body2;
dJointID joint1, joint2;
+bool applyForce = false;
void start()
{
@@ -67,19 +68,30 @@
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};
@@ -101,15 +113,13 @@
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);
+ if (applyForce)
+ dsSetColor(1, .5, 0);
+ else
+ dsSetColor(1, 1, 0);
dsSetTexture (DS_WOOD);
dGeomBoxGetLengths(g, lengths);
dsDrawBox(pos, rot, lengths);
@@ -121,6 +131,7 @@
}
}
+
void simLoop(int pause)
{
if (!pause) {
@@ -128,21 +139,27 @@
static dReal t = 0;
const dReal step = 0.005;
- const unsigned nsteps = 4;
+ const unsigned nsteps = 2;
for (unsigned i=0; i<nsteps; ++i) {
- dReal f = sin(t*1.2)*0.8;
- dBodyAddForceAtRelPos(body1,
- f, 0, 0,
- 0, 0, -0.5); // at the lower end
+ applyForce = fmodf(t, 3.) > 2.;
- dReal g = sin(t*0.7)*0.8;
- dBodyAddForceAtRelPos(body2,
- 0, g, 0,
- 0, 0, -0.5); // at the lower end
-
+ 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);
}
@@ -156,15 +173,16 @@
drawGeom(g);
}
-
+#if 1
dVector3 a11, a12;
dJointGetDHingeAnchor1(joint1, a11);
dJointGetDHingeAnchor2(joint1, a12);
dsSetColor(1, 0, 0);
dsDrawLine(a11, a12);
-
//printf("Error 1: %f\n", fabs(dJointGetDHingeDistance(joint1) - dCalcPointsDistance3(a11, a12)));
+#endif
+#if 1
dVector3 a21, a22;
dJointGetDHingeAnchor1(joint2, a21);
dJointGetDHingeAnchor2(joint2, a22);
@@ -172,6 +190,7 @@
dsDrawLine(a21, a22);
//printf("Error 2: %f\n", fabs(dJointGetDHingeDistance(joint2) - dCalcPointsDistance3(a21, a22)));
+#endif
}
Modified: trunk/ode/src/joints/dhinge.cpp
===================================================================
--- trunk/ode/src/joints/dhinge.cpp 2012-05-28 23:30:46 UTC (rev 1890)
+++ trunk/ode/src/joints/dhinge.cpp 2012-05-31 02:33:23 UTC (rev 1891)
@@ -100,16 +100,48 @@
info->c[2] = k * dCalcVectorDot3( u, q );
- // linear constraint, along the axis
+
+
+ /*
+ * Constraint along the axis: translation along it should couple angular movement.
+ * This is just the ball-and-socket derivation, projected onto the hinge axis,
+ * producing a single constraint at the end.
+ *
+ * The choice of "ball" position can be arbitrary; we could place it at the center
+ * of one of the bodies, canceling out its rotational jacobian; or we could make
+ * everything symmetrical by just placing at the midpoint between the centers.
+ *
+ * I like symmetry, so I'll use the second approach here. I'll call the midpoint h.
+ *
+ * Of course, if the second body is NULL, the first body is pretty much locked
+ * along this axis, and the linear constraint is enough.
+ */
+
info->J1l[row3+0] = globalAxis1[0];
info->J1l[row3+1] = globalAxis1[1];
info->J1l[row3+2] = globalAxis1[2];
+
if ( node[1].body ) {
+
+ dVector3 h;
+ dAddScaledVectors3(h, node[0].body->posr.pos, node[1].body->posr.pos, -0.5, 0.5);
+
+ dVector3 omega;
+ dCalcVectorCross3(omega, h, globalAxis1);
+ info->J1a[row3+0] = omega[0];
+ info->J1a[row3+1] = omega[1];
+ info->J1a[row3+2] = omega[2];
+
info->J2l[row3+0] = -globalAxis1[0];
info->J2l[row3+1] = -globalAxis1[1];
info->J2l[row3+2] = -globalAxis1[2];
+
+ info->J2a[row3+0] = omega[0];
+ info->J2a[row3+1] = omega[1];
+ info->J2a[row3+2] = omega[2];
}
+ // error correction: both anchors should lie on the same plane perpendicular to the axis
dVector3 globalA1, globalA2;
dBodyGetRelPointPos(node[0].body, anchor1[0], anchor1[1], anchor1[2], globalA1);
if ( node[1].body )
@@ -118,7 +150,7 @@
dCopyVector3(globalA2, anchor2);
dVector3 d;
- dSubtractVectors3(d, globalA1, globalA2);
+ dSubtractVectors3(d, globalA1, globalA2); // displacement error
info->c[3] = -k * dCalcVectorDot3(globalAxis1, d);
}
@@ -144,7 +176,7 @@
dxJointDHinge* joint = dynamic_cast<dxJointDHinge*>(j);
dUASSERT( joint, "bad joint argument" );
- dBodyVectorFromWorld(joint->node[0].body, joint->axis1[0], joint->axis1[1], joint->axis1[2], result);
+ dBodyVectorToWorld(joint->node[0].body, joint->axis1[0], joint->axis1[1], joint->axis1[2], result);
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-05-28 23:30:53
|
Revision: 1890
http://opende.svn.sourceforge.net/opende/?rev=1890&view=rev
Author: danielosmari
Date: 2012-05-28 23:30:46 +0000 (Mon, 28 May 2012)
Log Message:
-----------
fixed distribution of bootstrap for libccd, added new demos to premake script
Modified Paths:
--------------
trunk/build/premake4.lua
trunk/libccd/Makefile.am
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2012-05-28 23:23:39 UTC (rev 1889)
+++ trunk/build/premake4.lua 2012-05-28 23:30:46 UTC (rev 1890)
@@ -16,8 +16,11 @@
"chain1",
"chain2",
"collision",
+ "convex",
"crash",
"cylvssphere",
+ "dball",
+ "dhinge",
"feedback",
"friction",
"gyroscopic",
@@ -42,9 +45,10 @@
local trimesh_demos = {
"basket",
"cyl",
+ "moving_convex",
"moving_trimesh",
- "trimesh",
- "tracks"
+ "tracks",
+ "trimesh"
}
if not _OPTIONS["no-trimesh"] then
Modified: trunk/libccd/Makefile.am
===================================================================
--- trunk/libccd/Makefile.am 2012-05-28 23:23:39 UTC (rev 1889)
+++ trunk/libccd/Makefile.am 2012-05-28 23:30:46 UTC (rev 1890)
@@ -1,5 +1,6 @@
SUBDIRS = src
EXTRA_DIST = \
- BSD-LICENSE \
- README
+ bootstrap \
+ BSD-LICENSE \
+ README
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-05-28 23:23:45
|
Revision: 1889
http://opende.svn.sourceforge.net/opende/?rev=1889&view=rev
Author: danielosmari
Date: 2012-05-28 23:23:39 +0000 (Mon, 28 May 2012)
Log Message:
-----------
added bootstrap to extra dist files
Modified Paths:
--------------
tags/0.12/libccd/Makefile.am
Modified: tags/0.12/libccd/Makefile.am
===================================================================
--- tags/0.12/libccd/Makefile.am 2012-05-03 14:27:45 UTC (rev 1888)
+++ tags/0.12/libccd/Makefile.am 2012-05-28 23:23:39 UTC (rev 1889)
@@ -1,5 +1,6 @@
SUBDIRS = src
EXTRA_DIST = \
- BSD-LICENSE \
- README
+ bootstrap \
+ BSD-LICENSE \
+ README
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-05-03 14:27:57
|
Revision: 1888
http://opende.svn.sourceforge.net/opende/?rev=1888&view=rev
Author: danielosmari
Date: 2012-05-03 14:27:45 +0000 (Thu, 03 May 2012)
Log Message:
-----------
added two new joints: Double Ball (DBall) and Double Hinge (DHinge)
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/include/ode/common.h
trunk/include/ode/objects.h
trunk/ode/demo/Makefile.am
trunk/ode/src/joints/Makefile.am
trunk/ode/src/joints/joints.h
trunk/ode/src/ode.cpp
Added Paths:
-----------
trunk/ode/demo/demo_dball.cpp
trunk/ode/demo/demo_dhinge.cpp
trunk/ode/src/joints/dball.cpp
trunk/ode/src/joints/dball.h
trunk/ode/src/joints/dhinge.cpp
trunk/ode/src/joints/dhinge.h
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/CHANGELOG.txt 2012-05-03 14:27:45 UTC (rev 1888)
@@ -8,6 +8,9 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+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)
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/include/ode/common.h 2012-05-03 14:27:45 UTC (rev 1888)
@@ -207,7 +207,9 @@
dJointTypePlane2D,
dJointTypePR,
dJointTypePU,
- dJointTypePiston
+ dJointTypePiston,
+ dJointTypeDBall,
+ dJointTypeDHinge,
} dJointType;
Modified: trunk/include/ode/objects.h
===================================================================
--- trunk/include/ode/objects.h 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/include/ode/objects.h 2012-05-03 14:27:45 UTC (rev 1888)
@@ -1695,6 +1695,23 @@
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 Destroy a joint.
* @ingroup joints
*
@@ -2993,8 +3010,107 @@
/**
+ * @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 set distance from double ball joint
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetDBallDistance(dJointID);
+
+/**
+ * @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);
/**
Modified: trunk/ode/demo/Makefile.am
===================================================================
--- trunk/ode/demo/Makefile.am 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/ode/demo/Makefile.am 2012-05-03 14:27:45 UTC (rev 1888)
@@ -22,6 +22,8 @@
demo_convex_cd \
demo_crash \
demo_cylvssphere \
+ demo_dball \
+ demo_dhinge \
demo_feedback \
demo_friction \
demo_gyroscopic \
@@ -54,6 +56,8 @@
demo_convex_cd_DEPENDENCIES = $(top_builddir)/ode/src/libode.la
demo_crash_SOURCES = demo_crash.cpp
demo_cylvssphere_SOURCES = demo_cylvssphere.cpp
+demo_dball_SOURCES = demo_dball.cpp
+demo_dhinge_SOURCES = demo_dhinge.cpp
demo_feedback_SOURCES = demo_feedback.cpp
demo_friction_SOURCES = demo_friction.cpp
demo_gyroscopic_SOURCES = demo_gyroscopic.cpp
Added: trunk/ode/demo/demo_dball.cpp
===================================================================
--- trunk/ode/demo/demo_dball.cpp (rev 0)
+++ trunk/ode/demo/demo_dball.cpp 2012-05-03 14:27:45 UTC (rev 1888)
@@ -0,0 +1,194 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#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<nsteps; ++i) {
+
+ dReal f = sin(t*1.2)*0.8;
+ dBodyAddForceAtRelPos(body1,
+ f, 0, 0,
+ 0, 0, -0.5); // at the lower end
+
+ dReal g = sin(t*0.7)*0.8;
+ dBodyAddForceAtRelPos(body2,
+ 0, g, 0,
+ 0, 0, -0.5); // at the lower end
+ t += step;
+
+ dWorldQuickStep(world, step);
+ }
+ }
+
+ // now we draw everything
+ unsigned ngeoms = dSpaceGetNumGeoms(space);
+ for (unsigned i=0; i<ngeoms; ++i) {
+ dGeomID g = dSpaceGetGeom(space, i);
+
+ drawGeom(g);
+ }
+
+ dVector3 a11, a12;
+ dJointGetDBallAnchor1(joint1, a11);
+ dJointGetDBallAnchor2(joint1, a12);
+ dsSetColor(1, 0, 0);
+ dsDrawLine(a11, a12);
+
+ //printf("Error 1: %f\n", fabs(dJointGetDBallDistance(joint1) - dCalcPointsDistance3(a11, a12)));
+
+ dVector3 a21, a22;
+ dJointGetDBallAnchor1(joint2, a21);
+ dJointGetDBallAnchor2(joint2, a22);
+ dsSetColor(0, 1, 0);
+ dsDrawLine(a21, a22);
+
+ //printf("Error 2: %f\n", fabs(dJointGetDBallDistance(joint2) - dCalcPointsDistance3(a21, a22)));
+}
+
+
+
+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 = 0;
+ fn.stop = stop;
+ fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+ // create world
+ dInitODE();
+
+ // run demo
+ dsSimulationLoop (argc, argv, 800, 600, &fn);
+
+ dCloseODE();
+ return 0;
+}
Property changes on: trunk/ode/demo/demo_dball.cpp
___________________________________________________________________
Added: svn:eol-style
+ native
Added: trunk/ode/demo/demo_dhinge.cpp
===================================================================
--- trunk/ode/demo/demo_dhinge.cpp (rev 0)
+++ trunk/ode/demo/demo_dhinge.cpp 2012-05-03 14:27:45 UTC (rev 1888)
@@ -0,0 +1,198 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#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 = dJointCreateDHinge(world, 0);
+ dJointAttach(joint1, body1, 0);
+ dJointSetDHingeAxis(joint1, 0, 1, 0);
+ dJointSetDHingeAnchor1(joint1, 0, 0, 3.5);
+ dJointSetDHingeAnchor2(joint1, 0, 0, 4.5);
+
+ 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);
+
+
+ // 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<nsteps; ++i) {
+
+ dReal f = sin(t*1.2)*0.8;
+ dBodyAddForceAtRelPos(body1,
+ f, 0, 0,
+ 0, 0, -0.5); // at the lower end
+
+ dReal g = sin(t*0.7)*0.8;
+ dBodyAddForceAtRelPos(body2,
+ 0, g, 0,
+ 0, 0, -0.5); // at the lower end
+
+ t += step;
+
+ dWorldQuickStep(world, step);
+ }
+ }
+
+ // now we draw everything
+ unsigned ngeoms = dSpaceGetNumGeoms(space);
+ for (unsigned i=0; i<ngeoms; ++i) {
+ dGeomID g = dSpaceGetGeom(space, i);
+
+ drawGeom(g);
+ }
+
+
+ dVector3 a11, a12;
+ dJointGetDHingeAnchor1(joint1, a11);
+ dJointGetDHingeAnchor2(joint1, a12);
+ dsSetColor(1, 0, 0);
+ dsDrawLine(a11, a12);
+
+ //printf("Error 1: %f\n", fabs(dJointGetDHingeDistance(joint1) - dCalcPointsDistance3(a11, a12)));
+
+ dVector3 a21, a22;
+ dJointGetDHingeAnchor1(joint2, a21);
+ dJointGetDHingeAnchor2(joint2, a22);
+ dsSetColor(0, 1, 0);
+ dsDrawLine(a21, a22);
+
+ //printf("Error 2: %f\n", fabs(dJointGetDHingeDistance(joint2) - dCalcPointsDistance3(a21, a22)));
+}
+
+
+
+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 = 0;
+ fn.stop = stop;
+ fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+ // create world
+ dInitODE();
+
+ // run demo
+ dsSimulationLoop (argc, argv, 800, 600, &fn);
+
+ dCloseODE();
+ return 0;
+}
Property changes on: trunk/ode/demo/demo_dhinge.cpp
___________________________________________________________________
Added: svn:eol-style
+ native
Modified: trunk/ode/src/joints/Makefile.am
===================================================================
--- trunk/ode/src/joints/Makefile.am 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/ode/src/joints/Makefile.am 2012-05-03 14:27:45 UTC (rev 1888)
@@ -6,6 +6,8 @@
joint.h joint.cpp \
joint_internal.h \
ball.h ball.cpp \
+ dball.h dball.cpp \
+ dhinge.h dhinge.cpp \
hinge.h hinge.cpp \
slider.h slider.cpp \
contact.h contact.cpp \
Added: trunk/ode/src/joints/dball.cpp
===================================================================
--- trunk/ode/src/joints/dball.cpp (rev 0)
+++ trunk/ode/src/joints/dball.cpp 2012-05-03 14:27:45 UTC (rev 1888)
@@ -0,0 +1,306 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+
+#include <ode/odeconfig.h>
+#include "config.h"
+#include "dball.h"
+#include "joint_internal.h"
+
+/*
+ * Double Ball joint: tries to maintain a fixed distance between two anchor
+ * points.
+ */
+
+dxJointDBall::dxJointDBall(dxWorld *w) :
+ dxJoint(w)
+{
+ dSetZero(anchor1, 3);
+ dSetZero(anchor2, 3);
+ targetDistance = 0;
+ erp = world->global_erp;
+ cfm = world->global_cfm;
+}
+
+void
+dxJointDBall::getSureMaxInfo( SureMaxInfo* info )
+{
+ info->max_m = 1;
+}
+void
+dxJointDBall::getInfo1( dxJoint::Info1 *info )
+{
+ info->m = 1;
+ info->nub = 1;
+}
+
+void
+dxJointDBall::getInfo2( dxJoint::Info2 *info )
+{
+ info->erp = erp;
+ info->cfm[0] = cfm;
+
+ dVector3 globalA1, globalA2;
+ dBodyGetRelPointPos(node[0].body, anchor1[0], anchor1[1], anchor1[2], globalA1);
+ if (node[1].body)
+ dBodyGetRelPointPos(node[1].body, anchor2[0], anchor2[1], anchor2[2], globalA2);
+ else
+ dCopyVector3(globalA2, anchor2);
+
+ dVector3 q;
+ dSubtractVectors3(q, globalA1, globalA2);
+
+#ifdef dSINGLE
+ const dReal MIN_LENGTH = REAL(1e-7);
+#else
+ const dReal MIN_LENGTH = REAL(1e-12);
+#endif
+
+ if (dCalcVectorLength3(q) < MIN_LENGTH) {
+ // too small, let's choose an arbitrary direction
+ // heuristic: difference in velocities at anchors
+ dVector3 v1, v2;
+ dBodyGetPointVel(node[0].body, globalA1[0], globalA1[1], globalA1[2], v1);
+ if (node[1].body)
+ dBodyGetPointVel(node[1].body, globalA2[0], globalA2[1], globalA2[2], v2);
+ else
+ dSetZero(v2, 3);
+ dSubtractVectors3(q, v1, v2);
+
+ if (dCalcVectorLength3(q) < MIN_LENGTH) {
+ // this direction is as good as any
+ q[0] = 1;
+ q[1] = 0;
+ q[2] = 0;
+ }
+ }
+ dNormalize3(q);
+
+ info->J1l[0] = q[0];
+ info->J1l[1] = q[1];
+ info->J1l[2] = q[2];
+
+ dVector3 relA1;
+ dBodyVectorToWorld(node[0].body,
+ anchor1[0], anchor1[1], anchor1[2],
+ relA1);
+
+ dMatrix3 a1m;
+ dSetZero(a1m, 12);
+ dSetCrossMatrixMinus(a1m, relA1, 4);
+
+ dMultiply1_331(info->J1a, a1m, q);
+
+ if (node[1].body) {
+ info->J2l[0] = -q[0];
+ info->J2l[1] = -q[1];
+ info->J2l[2] = -q[2];
+
+ dVector3 relA2;
+ dBodyVectorToWorld(node[1].body,
+ anchor2[0], anchor2[1], anchor2[2],
+ relA2);
+ dMatrix3 a2m;
+ dSetZero(a2m, 12);
+ dSetCrossMatrixPlus(a2m, relA2, 4);
+ dMultiply1_331(info->J2a, a2m, q);
+ }
+
+ const dReal k = info->fps * info->erp;
+ info->c[0] = k * (targetDistance - dCalcPointsDistance3(globalA1, globalA2));
+
+}
+
+
+void
+dxJointDBall::updateTargetDistance()
+{
+ dVector3 p1, p2;
+
+ if (node[0].body)
+ dBodyGetRelPointPos(node[0].body, anchor1[0], anchor1[1], anchor1[2], p1);
+ else
+ dCopyVector3(p1, anchor1);
+ if (node[1].body)
+ dBodyGetRelPointPos(node[1].body, anchor2[0], anchor2[1], anchor2[2], p2);
+ else
+ dCopyVector3(p2, anchor2);
+
+ targetDistance = dCalcPointsDistance3(p1, p2);
+}
+
+
+void dJointSetDBallAnchor1( dJointID j, dReal x, dReal y, dReal z )
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+ if ( joint->flags & dJOINT_REVERSE ) {
+ if (joint->node[1].body)
+ dBodyGetPosRelPoint(joint->node[1].body, x, y, z, joint->anchor2);
+ else {
+ joint->anchor2[0] = x;
+ joint->anchor2[1] = y;
+ joint->anchor2[2] = z;
+ }
+ } else {
+ if (joint->node[0].body)
+ dBodyGetPosRelPoint(joint->node[0].body, x, y, z, joint->anchor1);
+ else {
+ joint->anchor1[0] = x;
+ joint->anchor1[1] = y;
+ joint->anchor1[2] = z;
+ }
+ }
+
+ joint->updateTargetDistance();
+}
+
+
+void dJointSetDBallAnchor2( dJointID j, dReal x, dReal y, dReal z )
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+
+ if ( joint->flags & dJOINT_REVERSE ) {
+ if (joint->node[0].body)
+ dBodyGetPosRelPoint(joint->node[0].body, x, y, z, joint->anchor1);
+ else {
+ joint->anchor1[0] = x;
+ joint->anchor1[1] = y;
+ joint->anchor1[2] = z;
+ }
+ } else {
+ if (joint->node[1].body)
+ dBodyGetPosRelPoint(joint->node[1].body, x, y, z, joint->anchor2);
+ else {
+ joint->anchor2[0] = x;
+ joint->anchor2[1] = y;
+ joint->anchor2[2] = z;
+ }
+ }
+
+ joint->updateTargetDistance();
+}
+
+dReal dJointGetDBallDistance(dJointID j)
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+ return joint->targetDistance;
+}
+
+
+void dJointGetDBallAnchor1( dJointID j, dVector3 result )
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+ dUASSERT( result, "bad result argument" );
+
+ if ( joint->flags & dJOINT_REVERSE ) {
+ if (joint->node[1].body)
+ dBodyGetRelPointPos(joint->node[1].body, joint->anchor2[0], joint->anchor2[1], joint->anchor2[2], result);
+ else
+ dCopyVector3(result, joint->anchor2);
+ } else {
+ if (joint->node[0].body)
+ dBodyGetRelPointPos(joint->node[0].body, joint->anchor1[0], joint->anchor1[1], joint->anchor1[2], result);
+ else
+ dCopyVector3(result, joint->anchor1);
+ }
+}
+
+
+void dJointGetDBallAnchor2( dJointID j, dVector3 result )
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+ dUASSERT( result, "bad result argument" );
+
+ if ( joint->flags & dJOINT_REVERSE ) {
+ if (joint->node[0].body)
+ dBodyGetRelPointPos(joint->node[0].body, joint->anchor1[0], joint->anchor1[1], joint->anchor1[2], result);
+ else
+ dCopyVector3(result, joint->anchor1);
+ } else {
+ if (joint->node[1].body)
+ dBodyGetRelPointPos(joint->node[1].body, joint->anchor2[0], joint->anchor2[1], joint->anchor2[2], result);
+ else
+ dCopyVector3(result, joint->anchor2);
+ }
+}
+
+
+void dJointSetDBallParam( dJointID j, int parameter, dReal value )
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+ switch ( parameter ) {
+ case dParamCFM:
+ joint->cfm = value;
+ break;
+ case dParamERP:
+ joint->erp = value;
+ break;
+ }
+}
+
+
+dReal dJointGetDBallParam( dJointID j, int parameter )
+{
+ dxJointDBall* joint = dynamic_cast<dxJointDBall*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+ switch ( parameter ) {
+ case dParamCFM:
+ return joint->cfm;
+ case dParamERP:
+ return joint->erp;
+ default:
+ return 0;
+ }
+}
+
+
+dJointType
+dxJointDBall::type() const
+{
+ return dJointTypeDBall;
+}
+
+size_t
+dxJointDBall::size() const
+{
+ return sizeof( *this );
+}
+
+void
+dxJointDBall::setRelativeValues()
+{
+ updateTargetDistance();
+}
+
+
+
Property changes on: trunk/ode/src/joints/dball.cpp
___________________________________________________________________
Added: svn:eol-style
+ native
Added: trunk/ode/src/joints/dball.h
===================================================================
--- trunk/ode/src/joints/dball.h (rev 0)
+++ trunk/ode/src/joints/dball.h 2012-05-03 14:27:45 UTC (rev 1888)
@@ -0,0 +1,55 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_JOINT_DBALL_H_
+#define _ODE_JOINT_DBALL_H_
+
+#include "joint.h"
+
+// ball and socket
+
+struct dxJointDBall : public dxJoint
+{
+ dVector3 anchor1; // anchor w.r.t first body
+ dVector3 anchor2; // anchor w.r.t second body
+ dReal erp; // error reduction
+ dReal cfm; // constraint force mix in
+ dReal targetDistance;
+
+ void set( int num, dReal value );
+ dReal get( int num );
+
+ void updateTargetDistance();
+
+ dxJointDBall( dxWorld *w );
+ virtual void getSureMaxInfo( SureMaxInfo* info );
+ virtual void getInfo1( Info1* info );
+ virtual void getInfo2( Info2* info );
+ virtual dJointType type() const;
+ virtual size_t size() const;
+
+ virtual void setRelativeValues();
+};
+
+
+#endif
+
Property changes on: trunk/ode/src/joints/dball.h
___________________________________________________________________
Added: svn:eol-style
+ native
Added: trunk/ode/src/joints/dhinge.cpp
===================================================================
--- trunk/ode/src/joints/dhinge.cpp (rev 0)
+++ trunk/ode/src/joints/dhinge.cpp 2012-05-03 14:27:45 UTC (rev 1888)
@@ -0,0 +1,201 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+
+#include <ode/odeconfig.h>
+#include "config.h"
+#include "dhinge.h"
+#include "joint_internal.h"
+
+/*
+ * Double Hinge joint
+ */
+
+dxJointDHinge::dxJointDHinge(dxWorld* w) :
+ dxJointDBall(w)
+{
+ dSetZero(axis1, 3);
+ dSetZero(axis2, 3);
+}
+
+
+void
+dxJointDHinge::getSureMaxInfo( SureMaxInfo* info )
+{
+ info->max_m = 4;
+}
+
+
+void
+dxJointDHinge::getInfo1( dxJoint::Info1* info )
+{
+ info->m = 4;
+ info->nub = 4;
+}
+
+
+void
+dxJointDHinge::getInfo2( dxJoint::Info2* info )
+{
+ dxJointDBall::getInfo2( info ); // sets row0
+
+ const int skip = info->rowskip;
+ const int row1 = skip;
+ const int row2 = 2*skip;
+ const int row3 = 3*skip;
+
+ dVector3 globalAxis1;
+ dBodyVectorToWorld(node[0].body, axis1[0], axis1[1], axis1[2], globalAxis1);
+
+ // angular constraints, perpendicular to axis
+ dVector3 p, q;
+ dPlaneSpace(globalAxis1, p, q);
+ info->J1a[row1+0] = p[0];
+ info->J1a[row1+1] = p[1];
+ info->J1a[row1+2] = p[2];
+ info->J1a[row2+0] = q[0];
+ info->J1a[row2+1] = q[1];
+ info->J1a[row2+2] = q[2];
+
+ if ( node[1].body ) {
+ info->J2a[row1+0] = -p[0];
+ info->J2a[row1+1] = -p[1];
+ info->J2a[row1+2] = -p[2];
+ info->J2a[row2+0] = -q[0];
+ info->J2a[row2+1] = -q[1];
+ info->J2a[row2+2] = -q[2];
+ }
+
+ dVector3 globalAxis2;
+ if ( node[1].body )
+ dBodyVectorToWorld(node[1].body, axis2[0], axis2[1], axis2[2], globalAxis2);
+ else
+ dCopyVector3(globalAxis2, axis2);
+
+ // similar to the hinge joint
+ dVector3 u;
+ dCalcVectorCross3(u, globalAxis1, globalAxis2);
+ const dReal k = info->fps * info->erp;
+
+ info->c[1] = k * dCalcVectorDot3( u, p );
+ info->c[2] = k * dCalcVectorDot3( u, q );
+
+
+ // linear constraint, along the axis
+ info->J1l[row3+0] = globalAxis1[0];
+ info->J1l[row3+1] = globalAxis1[1];
+ info->J1l[row3+2] = globalAxis1[2];
+ if ( node[1].body ) {
+ info->J2l[row3+0] = -globalAxis1[0];
+ info->J2l[row3+1] = -globalAxis1[1];
+ info->J2l[row3+2] = -globalAxis1[2];
+ }
+
+ dVector3 globalA1, globalA2;
+ dBodyGetRelPointPos(node[0].body, anchor1[0], anchor1[1], anchor1[2], globalA1);
+ if ( node[1].body )
+ dBodyGetRelPointPos(node[1].body, anchor2[0], anchor2[1], anchor2[2], globalA2);
+ else
+ dCopyVector3(globalA2, anchor2);
+
+ dVector3 d;
+ dSubtractVectors3(d, globalA1, globalA2);
+ info->c[3] = -k * dCalcVectorDot3(globalAxis1, d);
+}
+
+void dJointSetDHingeAxis( dJointID j, dReal x, dReal y, dReal z )
+{
+ dxJointDHinge* joint = dynamic_cast<dxJointDHinge*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+ dBodyVectorFromWorld(joint->node[0].body, x, y, z, joint->axis1);
+ if (joint->node[1].body)
+ dBodyVectorFromWorld(joint->node[1].body, x, y, z, joint->axis2);
+ else {
+ joint->axis2[0] = x;
+ joint->axis2[1] = y;
+ joint->axis2[2] = z;
+ }
+ dNormalize3(joint->axis1);
+ dNormalize3(joint->axis2);
+}
+
+void dJointGetDHingeAxis( dJointID j, dVector3 result )
+{
+ dxJointDHinge* joint = dynamic_cast<dxJointDHinge*>(j);
+ dUASSERT( joint, "bad joint argument" );
+
+ dBodyVectorFromWorld(joint->node[0].body, joint->axis1[0], joint->axis1[1], joint->axis1[2], result);
+}
+
+
+void dJointSetDHingeAnchor1( dJointID j, dReal x, dReal y, dReal z )
+{
+ dJointSetDBallAnchor1(j, x, y, z);
+}
+
+
+void dJointSetDHingeAnchor2( dJointID j, dReal x, dReal y, dReal z )
+{
+ dJointSetDBallAnchor2(j, x, y, z);
+}
+
+dReal dJointGetDHingeDistance(dJointID j)
+{
+ return dJointGetDBallDistance(j);
+}
+
+
+void dJointGetDHingeAnchor1( dJointID j, dVector3 result )
+{
+ dJointGetDBallAnchor1(j, result);
+}
+
+
+void dJointGetDHingeAnchor2( dJointID j, dVector3 result )
+{
+ dJointGetDBallAnchor2(j, result);
+}
+
+
+void dJointSetDHingeParam( dJointID j, int parameter, dReal value )
+{
+ dJointSetDBallParam(j, parameter, value);
+}
+
+
+dReal dJointGetDHingeParam( dJointID j, int parameter )
+{
+ return dJointGetDBallParam(j, parameter);
+}
+
+dJointType
+dxJointDHinge::type() const
+{
+ return dJointTypeDHinge;
+}
+
+size_t
+dxJointDHinge::size() const
+{
+ return sizeof( *this );
+}
Property changes on: trunk/ode/src/joints/dhinge.cpp
___________________________________________________________________
Added: svn:eol-style
+ native
Added: trunk/ode/src/joints/dhinge.h
===================================================================
--- trunk/ode/src/joints/dhinge.h (rev 0)
+++ trunk/ode/src/joints/dhinge.h 2012-05-03 14:27:45 UTC (rev 1888)
@@ -0,0 +1,43 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE_JOINT_DHINGE_
+#define _ODE_JOINT_DHINGE_
+
+#include "dball.h"
+
+struct dxJointDHinge : public dxJointDBall
+{
+ dVector3 axis1, axis2;
+
+ dxJointDHinge(dxWorld *w);
+
+ virtual void getSureMaxInfo( SureMaxInfo* info );
+ virtual void getInfo1( Info1* info );
+ virtual void getInfo2( Info2* info );
+ virtual dJointType type() const;
+ virtual size_t size() const;
+
+};
+
+
+#endif
Property changes on: trunk/ode/src/joints/dhinge.h
___________________________________________________________________
Added: svn:eol-style
+ native
Modified: trunk/ode/src/joints/joints.h
===================================================================
--- trunk/ode/src/joints/joints.h 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/ode/src/joints/joints.h 2012-05-03 14:27:45 UTC (rev 1888)
@@ -28,6 +28,8 @@
#include "joint.h"
#include "ball.h"
+#include "dball.h"
+#include "dhinge.h"
#include "hinge.h"
#include "slider.h"
#include "contact.h"
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-04-22 07:06:35 UTC (rev 1887)
+++ trunk/ode/src/ode.cpp 2012-05-03 14:27:45 UTC (rev 1888)
@@ -1257,6 +1257,19 @@
return createJoint<dxJointPlane2D> (w,group);
}
+dxJoint * dJointCreateDBall (dWorldID w, dJointGroupID group)
+{
+ dAASSERT (w);
+ return createJoint<dxJointDBall> (w,group);
+}
+
+dxJoint * dJointCreateDHinge (dWorldID w, dJointGroupID group)
+{
+ dAASSERT (w);
+ return createJoint<dxJointDHinge> (w,group);
+}
+
+
static void FinalizeAndDestroyJointInstance(dxJoint *j, bool delete_it)
{
// if any group joints have their world pointer set to 0, their world was
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-04-22 07:06:42
|
Revision: 1887
http://opende.svn.sourceforge.net/opende/?rev=1887&view=rev
Author: danielosmari
Date: 2012-04-22 07:06:35 +0000 (Sun, 22 Apr 2012)
Log Message:
-----------
fixed uninitialized variable bug in plane2d, fixed autoconf build broken on last commit
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/ode/src/joints/Makefile.am
trunk/ode/src/joints/plane2d.cpp
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-04-14 16:56:37 UTC (rev 1886)
+++ trunk/CHANGELOG.txt 2012-04-22 07:06:35 UTC (rev 1887)
@@ -8,6 +8,10 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+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.
Modified: trunk/ode/src/joints/Makefile.am
===================================================================
--- trunk/ode/src/joints/Makefile.am 2012-04-14 16:56:37 UTC (rev 1886)
+++ trunk/ode/src/joints/Makefile.am 2012-04-22 07:06:35 UTC (rev 1887)
@@ -1,4 +1,4 @@
-AM_CPPFLAGS = -I$(top_srcdir)/include
+AM_CPPFLAGS = -I$(top_srcdir)/include -I$(top_srcdir)/ode/src
noinst_LTLIBRARIES = libjoints.la
Modified: trunk/ode/src/joints/plane2d.cpp
===================================================================
--- trunk/ode/src/joints/plane2d.cpp 2012-04-14 16:56:37 UTC (rev 1886)
+++ trunk/ode/src/joints/plane2d.cpp 2012-04-22 07:06:35 UTC (rev 1887)
@@ -75,11 +75,19 @@
info->m = 3;
if ( motor_x.fmax > 0 )
- row_motor_x = info->m ++;
+ row_motor_x = info->m++;
+ else
+ row_motor_x = 0;
+
if ( motor_y.fmax > 0 )
- row_motor_y = info->m ++;
+ row_motor_y = info->m++;
+ else
+ row_motor_y = 0;
+
if ( motor_angle.fmax > 0 )
- row_motor_angle = info->m ++;
+ row_motor_angle = info->m++;
+ else
+ row_motor_angle = 0;
}
@@ -90,14 +98,14 @@
int r0 = 0;
int r1 = info->rowskip;
int r2 = 2 * r1;
- dReal eps = info->fps * info->erp;
+ dReal eps = info->fps * info->erp;
/*
v = v1, w = omega1
(v2, omega2 not important (== static environment))
constraint equations:
- xz = 0
+ vz = 0
wx = 0
wy = 0
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-04-14 16:56:45
|
Revision: 1886
http://opende.svn.sourceforge.net/opende/?rev=1886&view=rev
Author: oleh_derevenko
Date: 2012-04-14 16:56:37 +0000 (Sat, 14 Apr 2012)
Log Message:
-----------
Assertion checking macros moved into library private headers
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/include/ode/error.h
trunk/include/ode/odemath.h
trunk/ode/demo/demo_heightfield.cpp
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_libccd.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_distance.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/collision_util.cpp
trunk/ode/src/collision_util.h
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/mass.cpp
trunk/ode/src/objects.h
trunk/ode/src/ode.cpp
trunk/ode/src/odeinit.cpp
trunk/ode/src/odemath.cpp
trunk/ode/src/odetls.cpp
trunk/ode/src/plane.cpp
trunk/ode/src/quickstep.cpp
trunk/ode/src/ray.cpp
trunk/ode/src/rotation.cpp
trunk/ode/src/sphere.cpp
trunk/ode/src/step.cpp
trunk/ode/src/threading_base.cpp
Added Paths:
-----------
trunk/ode/src/error.h
trunk/ode/src/odemath.h
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/CHANGELOG.txt 2012-04-14 16:56:37 UTC (rev 1886)
@@ -8,6 +8,9 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+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.
Modified: trunk/include/ode/error.h
===================================================================
--- trunk/include/ode/error.h 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/include/ode/error.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -56,57 +56,6 @@
ODE_API void dMessage (int num, const char *msg, ...);
-
-
-/* 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
- */
-
-# if defined(__STDC__) && __STDC_VERSION__ >= 199901L
-# define __FUNCTION__ __func__
-# endif
-#ifndef dNODEBUG
-# ifdef __GNUC__
-# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); } }
-# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
- msg " in %s()", __FUNCTION__); } }
-# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
- msg " in %s() [%s:%u]", __FUNCTION__,__FILE__,__LINE__); }
-# else // not __GNUC__
-# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); } }
-# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
- msg " (%s:%u)", __FILE__,__LINE__); } }
-# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
- msg " (%s:%u)", __FILE__,__LINE__); }
-# endif
-# define dIVERIFY(a) dIASSERT(a)
-#else
-# define dIASSERT(a) ((void)0)
-# define dUASSERT(a,msg) ((void)0)
-# define dDEBUGMSG(msg) ((void)0)
-# define dIVERIFY(a) ((void)(a))
-#endif
-
-# ifdef __GNUC__
-# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); *(int *)0 = 0; } }
-# else // not __GNUC__
-# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
- "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); *(int *)0 = 0; } }
-# endif
-
-// Argument assert is a special case of user assert
-#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
-
-
#ifdef __cplusplus
}
#endif
Modified: trunk/include/ode/odemath.h
===================================================================
--- trunk/include/ode/odemath.h 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/include/ode/odemath.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -426,31 +426,6 @@
ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec
ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec
-#if defined(__ODE__)
-
-int _dSafeNormalize3 (dVector3 a);
-int _dSafeNormalize4 (dVector4 a);
-
-ODE_PURE_INLINE void _dNormalize3(dVector3 a)
-{
- int bNormalizationResult = _dSafeNormalize3(a);
- dIVERIFY(bNormalizationResult);
-}
-
-ODE_PURE_INLINE void _dNormalize4(dVector4 a)
-{
- int bNormalizationResult = _dSafeNormalize4(a);
- dIVERIFY(bNormalizationResult);
-}
-
-// For internal use
-#define dSafeNormalize3(a) _dSafeNormalize3(a)
-#define dSafeNormalize4(a) _dSafeNormalize4(a)
-#define dNormalize3(a) _dNormalize3(a)
-#define dNormalize4(a) _dNormalize4(a)
-
-#endif // defined(__ODE__)
-
/*
* given a unit length "normal" vector n, generate vectors p and q vectors
* that are an orthonormal basis for the plane space perpendicular to n.
Modified: trunk/ode/demo/demo_heightfield.cpp
===================================================================
--- trunk/ode/demo/demo_heightfield.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/demo/demo_heightfield.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -155,9 +155,6 @@
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 );
Modified: trunk/ode/src/Makefile.am
===================================================================
--- trunk/ode/src/Makefile.am 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/Makefile.am 2012-04-14 16:56:37 UTC (rev 1886)
@@ -35,7 +35,7 @@
collision_util.cpp collision_util.h \
convex.cpp \
cylinder.cpp \
- error.cpp \
+ error.cpp error.h \
export-dif.cpp \
heightfield.cpp heightfield.h \
lcp.cpp lcp.h \
@@ -48,7 +48,7 @@
obstack.cpp obstack.h \
ode.cpp \
odeinit.cpp \
- odemath.cpp \
+ odemath.cpp odemath.h \
odeou.h \
odetls.h \
plane.cpp \
Modified: trunk/ode/src/box.cpp
===================================================================
--- trunk/ode/src/box.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/box.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -33,8 +33,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/capsule.cpp
===================================================================
--- trunk/ode/src/capsule.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/capsule.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -33,8 +33,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/collision_cylinder_box.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_box.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_cylinder_box.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -28,8 +28,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_util.h"
static const int MAX_CYLBOX_CLIP_POINTS = 16;
Modified: trunk/ode/src/collision_cylinder_plane.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_plane.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_cylinder_plane.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -32,10 +32,9 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include <ode/objects.h>
-
#include "config.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 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_cylinder_sphere.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -43,10 +43,9 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include <ode/objects.h>
-
#include "config.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 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_cylinder_trimesh.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -29,8 +29,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_util.h"
#include "collision_trimesh_internal.h"
#include "util.h"
Modified: trunk/ode/src/collision_kernel.cpp
===================================================================
--- trunk/ode/src/collision_kernel.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_kernel.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -31,8 +31,8 @@
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/objects.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_util.h"
#include "collision_std.h"
Modified: trunk/ode/src/collision_libccd.cpp
===================================================================
--- trunk/ode/src/collision_libccd.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_libccd.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -21,12 +21,14 @@
*************************************************************************/
#include <ode/collision.h>
-#include <ode/odemath.h>
#include <ccd/ccd.h>
#include <ccd/quat.h>
+#include "config.h"
+#include "odemath.h"
#include "collision_libccd.h"
#include "collision_std.h"
+
struct _ccd_obj_t {
ccd_vec3_t pos;
ccd_quat_t rot, rot_inv;
Modified: trunk/ode/src/collision_transform.cpp
===================================================================
--- trunk/ode/src/collision_transform.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_transform.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -29,8 +29,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.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 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_box.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -32,8 +32,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.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 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_ccylinder.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -53,8 +53,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_util.h"
#include "collision_trimesh_internal.h"
#include "util.h"
Modified: trunk/ode/src/collision_trimesh_distance.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_distance.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_distance.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -25,9 +25,9 @@
// that can be found at http://www.magic-software.com/License/free.pdf
#include <ode/common.h>
-#include <ode/odemath.h>
#include <ode/collision.h>
#include "config.h"
+#include "odemath.h"
#include "collision_trimesh_internal.h"
//------------------------------------------------------------------------------
Modified: trunk/ode/src/collision_trimesh_gimpact.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_gimpact.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_gimpact.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -23,8 +23,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#if dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_opcode.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_opcode.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_opcode.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -25,8 +25,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.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 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_plane.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -25,8 +25,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#if dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_ray.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_ray.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_ray.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -25,8 +25,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#if dTRIMESH_ENABLED
Modified: trunk/ode/src/collision_trimesh_sphere.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_sphere.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_sphere.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -25,8 +25,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_util.h"
#ifdef HAVE_CONFIG_H
Modified: trunk/ode/src/collision_trimesh_trimesh.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_trimesh.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_trimesh.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -29,8 +29,10 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
+
+
// Classic Implementation
#if dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER
Modified: trunk/ode/src/collision_trimesh_trimesh_new.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_trimesh_new.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_trimesh_trimesh_new.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -30,9 +30,10 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
+
// New Implementation
#if !dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER
Modified: trunk/ode/src/collision_util.cpp
===================================================================
--- trunk/ode/src/collision_util.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_util.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -29,8 +29,8 @@
#include <ode/common.h>
#include <ode/collision.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_util.h"
//****************************************************************************
Modified: trunk/ode/src/collision_util.h
===================================================================
--- trunk/ode/src/collision_util.h 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/collision_util.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -31,8 +31,8 @@
#include <ode/common.h>
#include <ode/contact.h>
-#include <ode/odemath.h>
#include <ode/rotation.h>
+#include "odemath.h"
// given a pointer `p' to a dContactGeom, return the dContactGeom at
Modified: trunk/ode/src/convex.cpp
===================================================================
--- trunk/ode/src/convex.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/convex.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -27,8 +27,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/cylinder.cpp
===================================================================
--- trunk/ode/src/cylinder.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/cylinder.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -33,8 +33,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Added: trunk/ode/src/error.h
===================================================================
--- trunk/ode/src/error.h (rev 0)
+++ trunk/ode/src/error.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -0,0 +1,81 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+/* Library private error handling functions and macros */
+
+#ifndef _ODE__PRIVATE_ERROR_H_
+#define _ODE__PRIVATE_ERROR_H_
+
+#include <ode/error.h>
+
+
+
+/* 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
+ */
+
+# if defined(__STDC__) && __STDC_VERSION__ >= 199901L
+# define __FUNCTION__ __func__
+# endif
+#ifndef dNODEBUG
+# ifdef __GNUC__
+# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); } }
+# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
+ msg " in %s()", __FUNCTION__); } }
+# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
+ msg " in %s() [%s:%u]", __FUNCTION__,__FILE__,__LINE__); }
+# else // not __GNUC__
+# define dIASSERT(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); } }
+# define dUASSERT(a,msg) { if (!(a)) { dDebug (d_ERR_UASSERT, \
+ msg " (%s:%u)", __FILE__,__LINE__); } }
+# define dDEBUGMSG(msg) { dMessage (d_ERR_UASSERT, \
+ msg " (%s:%u)", __FILE__,__LINE__); }
+# endif
+# define dIVERIFY(a) dIASSERT(a)
+#else
+# define dIASSERT(a) ((void)0)
+# define dUASSERT(a,msg) ((void)0)
+# define dDEBUGMSG(msg) ((void)0)
+# define dIVERIFY(a) ((void)(a))
+#endif
+
+# ifdef __GNUC__
+# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s() [%s:%u]",__FUNCTION__,__FILE__,__LINE__); *(int *)0 = 0; } }
+# else // not __GNUC__
+# define dICHECK(a) { if (!(a)) { dDebug (d_ERR_IASSERT, \
+ "assertion \"" #a "\" failed in %s:%u",__FILE__,__LINE__); *(int *)0 = 0; } }
+# endif
+
+// Argument assert is a special case of user assert
+#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
+
+
+#endif
Property changes on: trunk/ode/src/error.h
___________________________________________________________________
Added: svn:mime-type
+ text/cpp
Added: svn:eol-style
+ native
Modified: trunk/ode/src/heightfield.cpp
===================================================================
--- trunk/ode/src/heightfield.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/heightfield.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -32,8 +32,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/joints/joint.cpp
===================================================================
--- trunk/ode/src/joints/joint.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/joints/joint.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -30,10 +30,10 @@
*/
#include <ode/ode.h>
-#include <ode/odemath.h>
#include <ode/rotation.h>
#include <ode/matrix.h>
#include "config.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 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/joints/joint_internal.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -26,10 +26,11 @@
#include <ode/matrix.h>
-#include <ode/odemath.h>
#include <ode/rotation.h>
#include <ode/objects.h>
+#include "odemath.h"
+
#define checktype(j,t) dUASSERT(j->type() == dJointType##t, \
"joint type is not " #t)
Modified: trunk/ode/src/mass.cpp
===================================================================
--- trunk/ode/src/mass.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/mass.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -22,9 +22,9 @@
#include <ode/odeconfig.h>
#include <ode/mass.h>
-#include <ode/odemath.h>
#include <ode/matrix.h>
#include "config.h"
+#include "odemath.h"
// Local dependencies
#include "collision_kernel.h"
Modified: trunk/ode/src/objects.h
===================================================================
--- trunk/ode/src/objects.h 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/objects.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -29,6 +29,7 @@
#include <ode/common.h>
#include <ode/memory.h>
#include <ode/mass.h>
+#include "error.h"
#include "array.h"
#include "threading_base.h"
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/ode.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -28,11 +28,11 @@
// numerics.
#include <ode/ode.h>
-#include <ode/odemath.h>
#include <ode/matrix.h>
#include <ode/memory.h>
#include <ode/error.h>
#include "config.h"
+#include "odemath.h"
#include "objects.h"
#include "joints/joints.h"
#include "step.h"
Modified: trunk/ode/src/odeinit.cpp
===================================================================
--- trunk/ode/src/odeinit.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/odeinit.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -27,11 +27,11 @@
*/
#include <ode/common.h>
-#include <ode/odemath.h>
#include <ode/odeinit.h>
// <ode/objects.h> included for dWorldQuickStepCleanup()
#include <ode/objects.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_trimesh_internal.h"
#include "odetls.h"
Modified: trunk/ode/src/odemath.cpp
===================================================================
--- trunk/ode/src/odemath.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/odemath.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -21,8 +21,8 @@
*************************************************************************/
#include <ode/common.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#undef dSafeNormalize3
Added: trunk/ode/src/odemath.h
===================================================================
--- trunk/ode/src/odemath.h (rev 0)
+++ trunk/ode/src/odemath.h 2012-04-14 16:56:37 UTC (rev 1886)
@@ -0,0 +1,52 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+#ifndef _ODE__PRIVATE_ODEMATH_H_
+#define _ODE__PRIVATE_ODEMATH_H_
+
+#include <ode/odemath.h>
+#include "error.h"
+
+
+int _dSafeNormalize3 (dVector3 a);
+int _dSafeNormalize4 (dVector4 a);
+
+ODE_PURE_INLINE void _dNormalize3(dVector3 a)
+{
+ int bNormalizationResult = _dSafeNormalize3(a);
+ dIVERIFY(bNormalizationResult);
+}
+
+ODE_PURE_INLINE void _dNormalize4(dVector4 a)
+{
+ int bNormalizationResult = _dSafeNormalize4(a);
+ dIVERIFY(bNormalizationResult);
+}
+
+// For internal use
+#define dSafeNormalize3(a) _dSafeNormalize3(a)
+#define dSafeNormalize4(a) _dSafeNormalize4(a)
+#define dNormalize3(a) _dNormalize3(a)
+#define dNormalize4(a) _dNormalize4(a)
+
+
+#endif
Property changes on: trunk/ode/src/odemath.h
___________________________________________________________________
Added: svn:mime-type
+ text/cpp
Added: svn:eol-style
+ native
Modified: trunk/ode/src/odetls.cpp
===================================================================
--- trunk/ode/src/odetls.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/odetls.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -32,8 +32,8 @@
*/
#include <ode/common.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "odetls.h"
#include "collision_trimesh_internal.h"
#include "util.h"
Modified: trunk/ode/src/plane.cpp
===================================================================
--- trunk/ode/src/plane.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/plane.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -33,8 +33,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/quickstep.cpp
===================================================================
--- trunk/ode/src/quickstep.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/quickstep.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -21,13 +21,13 @@
*************************************************************************/
#include <ode/common.h>
-#include <ode/odemath.h>
#include <ode/rotation.h>
#include <ode/timer.h>
#include <ode/error.h>
#include <ode/matrix.h>
#include <ode/misc.h>
#include "config.h"
+#include "odemath.h"
#include "objects.h"
#include "joints/joint.h"
#include "lcp.h"
Modified: trunk/ode/src/ray.cpp
===================================================================
--- trunk/ode/src/ray.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/ray.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -33,8 +33,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/rotation.cpp
===================================================================
--- trunk/ode/src/rotation.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/rotation.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -28,8 +28,8 @@
*/
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#define _R(i,j) R[(i)*4+(j)]
Modified: trunk/ode/src/sphere.cpp
===================================================================
--- trunk/ode/src/sphere.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/sphere.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -33,8 +33,8 @@
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
-#include <ode/odemath.h>
#include "config.h"
+#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
Modified: trunk/ode/src/step.cpp
===================================================================
--- trunk/ode/src/step.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/step.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -21,12 +21,12 @@
*************************************************************************/
#include <ode/odeconfig.h>
-#include <ode/odemath.h>
#include <ode/rotation.h>
#include <ode/timer.h>
#include <ode/error.h>
#include <ode/matrix.h>
#include "config.h"
+#include "odemath.h"
#include "objects.h"
#include "joints/joint.h"
#include "lcp.h"
Modified: trunk/ode/src/threading_base.cpp
===================================================================
--- trunk/ode/src/threading_base.cpp 2012-04-14 08:40:31 UTC (rev 1885)
+++ trunk/ode/src/threading_base.cpp 2012-04-14 16:56:37 UTC (rev 1886)
@@ -32,6 +32,7 @@
#include <ode/common.h>
#include "config.h"
+#include "error.h"
#include "threading_base.h"
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-04-14 08:40:38
|
Revision: 1885
http://opende.svn.sourceforge.net/opende/?rev=1885&view=rev
Author: oleh_derevenko
Date: 2012-04-14 08:40:31 +0000 (Sat, 14 Apr 2012)
Log Message:
-----------
Indentation corrected in new code.
MSVC compilation error fixed.
Modified Paths:
--------------
trunk/include/ode/common.h
trunk/ode/src/capsule.cpp
trunk/ode/src/joints/contact.cpp
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-04-13 22:47:13 UTC (rev 1884)
+++ trunk/include/ode/common.h 2012-04-14 08:40:31 UTC (rev 1885)
@@ -98,7 +98,7 @@
#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 */
Modified: trunk/ode/src/capsule.cpp
===================================================================
--- trunk/ode/src/capsule.cpp 2012-04-13 22:47:13 UTC (rev 1884)
+++ trunk/ode/src/capsule.cpp 2012-04-14 08:40:31 UTC (rev 1885)
@@ -197,40 +197,41 @@
dVector3 pl,pb;
dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
- // if the capsule is penetrated further than radius
- // then pl and pb are equal (up to mindist) -> unknown normal
- // use normal vector of closest box surface
+ // if the capsule is penetrated further than radius
+ // then pl and pb are equal (up to mindist) -> unknown normal
+ // use normal vector of closest box surface
#ifdef dSINGLE
- dReal mindist = REAL(1e-6);
+ dReal mindist = REAL(1e-6);
#else
- dReal mindist = REAL(1e-15);
+ dReal mindist = REAL(1e-15);
#endif
- if (dCalcPointsDistance3(pl, pb)<mindist) {
- dVector3 normal;
- dReal depth;
- int code;
- // consider capsule as box
- dReal rad2 = radius*REAL(2.0);
- const dVector3 capboxside = {rad2, rad2, cyl->lz + rad2};
- int num = dBoxBox (c, R, side,
- o1->final_posr->pos, o1->final_posr->R, capboxside,
- normal, &depth, &code, flags, contact, skip);
+ if (dCalcPointsDistance3(pl, pb)<mindist) {
+ // consider capsule as box
+ dVector3 normal;
+ dReal depth;
+ int code;
+ // WARNING! rad2 is declared as #define in Microsoft headers (as well as psh2, chx2, grp2, frm2, rct2, ico2, stc2, lst2, cmb2, edt2, scr2). Avoid abbreviations!
+ /* dReal rad2 = radius*REAL(2.0); */ dReal radiusMul2 = radius * REAL(2.0);
+ const dVector3 capboxside = {radiusMul2, radiusMul2, cyl->lz + radiusMul2};
+ int num = dBoxBox (c, R, side,
+ o1->final_posr->pos, o1->final_posr->R, capboxside,
+ normal, &depth, &code, flags, contact, skip);
- for (int i=0; i<num; i++) {
- dContactGeom *currContact = CONTACT(contact,i*skip);
- currContact->normal[0] = normal[0];
- currContact->normal[1] = normal[1];
- currContact->normal[2] = normal[2];
- currContact->g1 = o1;
- currContact->g2 = o2;
- currContact->side1 = -1;
- currContact->side2 = -1;
+ for (int i=0; i<num; i++) {
+ dContactGeom *currContact = CONTACT(contact,i*skip);
+ currContact->normal[0] = normal[0];
+ currContact->normal[1] = normal[1];
+ currContact->normal[2] = normal[2];
+ currContact->g1 = o1;
+ currContact->g2 = o2;
+ currContact->side1 = -1;
+ currContact->side2 = -1;
+ }
+ return num;
+ } else {
+ // generate contact point
+ return dCollideSpheres (pl,radius,pb,0,contact);
}
- return num;
- } else {
- // generate contact point
- return dCollideSpheres (pl,radius,pb,0,contact);
- }
}
Modified: trunk/ode/src/joints/contact.cpp
===================================================================
--- trunk/ode/src/joints/contact.cpp 2012-04-13 22:47:13 UTC (rev 1884)
+++ trunk/ode/src/joints/contact.cpp 2012-04-14 08:40:31 UTC (rev 1885)
@@ -196,19 +196,19 @@
info->J1l[s+2] = t1[2];
dCalcVectorCross3( info->J1a + s, c1, t1 );
if ( node[1].body )
- {
- info->J2l[s+0] = -t1[0];
- info->J2l[s+1] = -t1[1];
- info->J2l[s+2] = -t1[2];
- dReal *J2a_plus_s = info->J2a + s;
- dCalcVectorCross3( J2a_plus_s, c2, t1 );
- dNegateVector3( J2a_plus_s );
- }
+ {
+ info->J2l[s+0] = -t1[0];
+ info->J2l[s+1] = -t1[1];
+ info->J2l[s+2] = -t1[2];
+ dReal *J2a_plus_s = info->J2a + s;
+ dCalcVectorCross3( J2a_plus_s, c2, t1 );
+ dNegateVector3( J2a_plus_s );
+ }
// set right hand side
if ( contact.surface.mode & dContactMotion1 )
- {
- info->c[rowFriction1] = contact.surface.motion1;
- }
+ {
+ info->c[rowFriction1] = contact.surface.motion1;
+ }
// set LCP bounds and friction index. this depends on the approximation
// mode
info->lo[rowFriction1] = -contact.surface.mu;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-04-13 22:47:20
|
Revision: 1884
http://opende.svn.sourceforge.net/opende/?rev=1884&view=rev
Author: danielosmari
Date: 2012-04-13 22:47:13 +0000 (Fri, 13 Apr 2012)
Log Message:
-----------
fixed bug with contacts with zero mu and non-zero mu2; now either mu or mu2 can be set to zero
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/ode/src/joints/contact.cpp
trunk/tests/Makefile.am
trunk/tests/collision.cpp
trunk/tests/main.cpp
Added Paths:
-----------
trunk/tests/friction.cpp
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-04-13 20:40:19 UTC (rev 1883)
+++ trunk/CHANGELOG.txt 2012-04-13 22:47:13 UTC (rev 1884)
@@ -11,7 +11,7 @@
04/13/12 Daniel K. O.
* Applied patch from bug #3431829 - better handling of capsule-box with
deep penetrations.
- * Applied patch from Jon Watte - better handling of zero mu with mu2.
+ * 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
Modified: trunk/ode/src/joints/contact.cpp
===================================================================
--- trunk/ode/src/joints/contact.cpp 2012-04-13 20:40:19 UTC (rev 1883)
+++ trunk/ode/src/joints/contact.cpp 2012-04-13 22:47:13 UTC (rev 1884)
@@ -54,7 +54,7 @@
if ( contact.surface.mode & dContactMu2 )
{
if ( contact.surface.mu2 < 0 ) contact.surface.mu2 = 0;
- if ( ( contact.surface.mu > 0 ) || ( contact.surface.mu2 > 0 ) ) m++;
+ if ( contact.surface.mu > 0 ) m++;
if ( contact.surface.mu2 > 0 ) m++;
if ( contact.surface.mu == dInfinity ) nub ++;
if ( contact.surface.mu2 == dInfinity ) nub ++;
@@ -76,6 +76,9 @@
{
int s = info->rowskip;
int s2 = 2 * s;
+ const int rowNormal = 0;
+ const int rowFriction1 = 1;
+ int rowFriction2 = 2; // we might decrease it to 1, so no const
// get normal, with sign adjusted for body1/body2 polarity
dVector3 normal;
@@ -125,7 +128,7 @@
if ( depth < 0 ) depth = 0;
if ( contact.surface.mode & dContactSoftCFM )
- info->cfm[0] = contact.surface.soft_cfm;
+ info->cfm[rowNormal] = contact.surface.soft_cfm;
dReal motionN = 0;
@@ -133,12 +136,12 @@
motionN = contact.surface.motionN;
const dReal pushout = k * depth + motionN;
- info->c[0] = pushout;
+ info->c[rowNormal] = pushout;
// note: this cap should not limit bounce velocity
const dReal maxvel = world->contactp.max_vel;
- if ( info->c[0] > maxvel )
- info->c[0] = maxvel;
+ if ( info->c[rowNormal] > maxvel )
+ info->c[rowNormal] = maxvel;
// deal with bounce
if ( contact.surface.mode & dContactBounce )
@@ -153,12 +156,12 @@
}
outgoing -= motionN;
// only apply bounce if the outgoing velocity is greater than the
- // threshold, and if the resulting c[0] exceeds what we already have.
+ // threshold, and if the resulting c[rowNormal] exceeds what we already have.
if ( contact.surface.bounce_vel >= 0 &&
( -outgoing ) > contact.surface.bounce_vel )
{
- dReal newc = - contact.surface.bounce * outgoing + motionN;
- if ( newc > info->c[0] ) info->c[0] = newc;
+ const dReal newc = - contact.surface.bounce * outgoing + motionN;
+ if ( newc > info->c[rowNormal] ) info->c[rowNormal] = newc;
}
}
@@ -166,55 +169,67 @@
info->lo[0] = 0;
info->hi[0] = dInfinity;
+ if ( the_m == 1 ) // no friction, there is nothing else to do
+ return;
+
// now do jacobian for tangential forces
dVector3 t1, t2; // two vectors tangential to normal
+ if ( contact.surface.mode & dContactFDir1 ) // use fdir1 ?
+ {
+ t1[0] = contact.fdir1[0];
+ t1[1] = contact.fdir1[1];
+ t1[2] = contact.fdir1[2];
+ dCalcVectorCross3( t2, normal, t1 );
+ }
+ else
+ {
+ dPlaneSpace( normal, t1, t2 );
+ }
+
// first friction direction
- if ( the_m >= 2 )
+
+ if ( contact.surface.mu > 0 )
{
- if ( contact.surface.mode & dContactFDir1 ) // use fdir1 ?
- {
- t1[0] = contact.fdir1[0];
- t1[1] = contact.fdir1[1];
- t1[2] = contact.fdir1[2];
- dCalcVectorCross3( 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];
dCalcVectorCross3( info->J1a + s, c1, t1 );
if ( node[1].body )
- {
- info->J2l[s+0] = -t1[0];
- info->J2l[s+1] = -t1[1];
- info->J2l[s+2] = -t1[2];
- dReal *J2a_plus_s = info->J2a + s;
- dCalcVectorCross3( J2a_plus_s, c2, t1 );
- dNegateVector3( J2a_plus_s );
- }
+ {
+ info->J2l[s+0] = -t1[0];
+ info->J2l[s+1] = -t1[1];
+ info->J2l[s+2] = -t1[2];
+ dReal *J2a_plus_s = info->J2a + s;
+ dCalcVectorCross3( J2a_plus_s, c2, t1 );
+ dNegateVector3( J2a_plus_s );
+ }
// set right hand side
if ( contact.surface.mode & dContactMotion1 )
- {
- info->c[1] = contact.surface.motion1;
- }
+ {
+ info->c[rowFriction1] = contact.surface.motion1;
+ }
// set LCP bounds and friction index. this depends on the approximation
// mode
- info->lo[1] = -contact.surface.mu;
- info->hi[1] = contact.surface.mu;
+ info->lo[rowFriction1] = -contact.surface.mu;
+ info->hi[rowFriction1] = contact.surface.mu;
if ( contact.surface.mode & dContactApprox1_1 )
- info->findex[1] = 0;
+ info->findex[rowFriction1] = 0;
// set slip (constraint force mixing)
if ( contact.surface.mode & dContactSlip1 )
- info->cfm[1] = contact.surface.slip1;
+ info->cfm[rowFriction1] = contact.surface.slip1;
+ } else {
+ // there was no friction for direction 1, so the second friction constraint
+ // has to be on this line instead
+ s2 = s;
+ rowFriction2 = rowFriction1;
}
+ const dReal mu2 = contact.surface.mode & dContactMu2 ? contact.surface.mu2 : contact.surface.mu;
+
// second friction direction
- if ( the_m >= 3 )
+ if ( mu2 > 0 )
{
info->J1l[s2+0] = t2[0];
info->J1l[s2+1] = t2[1];
@@ -232,26 +247,19 @@
// set right hand side
if ( contact.surface.mode & dContactMotion2 )
{
- info->c[2] = contact.surface.motion2;
+ info->c[rowFriction2] = contact.surface.motion2;
}
// set LCP bounds and friction index. this depends on the approximation
// mode
- if ( contact.surface.mode & dContactMu2 )
- {
- info->lo[2] = -contact.surface.mu2;
- info->hi[2] = contact.surface.mu2;
- }
- else
- {
- info->lo[2] = -contact.surface.mu;
- info->hi[2] = contact.surface.mu;
- }
+ info->lo[rowFriction2] = -mu2;
+ info->hi[rowFriction2] = mu2;
+
if ( contact.surface.mode & dContactApprox1_2 )
- info->findex[2] = 0;
+ info->findex[rowFriction2] = 0;
// set slip (constraint force mixing)
if ( contact.surface.mode & dContactSlip2 )
- info->cfm[2] = contact.surface.slip2;
+ info->cfm[rowFriction2] = contact.surface.slip2;
}
}
Modified: trunk/tests/Makefile.am
===================================================================
--- trunk/tests/Makefile.am 2012-04-13 20:40:19 UTC (rev 1883)
+++ trunk/tests/Makefile.am 2012-04-13 22:47:13 UTC (rev 1884)
@@ -18,7 +18,12 @@
TESTS = tests
-tests_SOURCES = main.cpp joint.cpp odemath.cpp collision.cpp \
+tests_SOURCES = \
+ collision.cpp \
+ friction.cpp \
+ joint.cpp \
+ main.cpp \
+ odemath.cpp \
joints/ball.cpp \
joints/fixed.cpp \
joints/hinge.cpp \
Modified: trunk/tests/collision.cpp
===================================================================
--- trunk/tests/collision.cpp 2012-04-13 20:40:19 UTC (rev 1883)
+++ trunk/tests/collision.cpp 2012-04-13 22:47:13 UTC (rev 1884)
@@ -16,8 +16,6 @@
return;
#endif
- dInitODE();
-
{
const int VertexCount = 4;
const int IndexCount = 2*3;
@@ -95,7 +93,6 @@
CHECK_ARRAY_EQUAL(rtrinormal, cg[i].normal, 3);
}
}
- dCloseODE();
}
@@ -106,7 +103,6 @@
* This test demonstrated a bug in the AABB handling of the
* heightfield.
*/
- dInitODE();
{
// Create quick heightfield with dummy data
dHeightfieldDataID heightfieldData = dGeomHeightfieldDataCreate();
@@ -127,6 +123,5 @@
dGeomDestroy(ray);
dGeomHeightfieldDataDestroy(heightfieldData);
}
- dCloseODE();
}
Added: trunk/tests/friction.cpp
===================================================================
--- trunk/tests/friction.cpp (rev 0)
+++ trunk/tests/friction.cpp 2012-04-13 22:47:13 UTC (rev 1884)
@@ -0,0 +1,186 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+//234567890123456789012345678901234567890123456789012345678901234567890123456789
+// 1 2 3 4 5 6 7
+
+////////////////////////////////////////////////////////////////////////////////
+// This file create unit test for some of the functions found in:
+// ode/src/joint.cpp
+//
+//
+////////////////////////////////////////////////////////////////////////////////
+#include <algorithm>
+#include <UnitTest++.h>
+#include <ode/ode.h>
+#include "../ode/src/joints/joints.h"
+
+
+/*
+ * Tests for contact friction
+ */
+
+SUITE(JointContact)
+{
+ struct ContactSetup
+ {
+ dWorldID world;
+ dBodyID body1;
+ dBodyID body2;
+ dJointID joint;
+
+ ContactSetup()
+ {
+ world = dWorldCreate();
+ body1 = dBodyCreate(world);
+ body2 = dBodyCreate(world);
+
+ dBodySetPosition(body1, -1, 0, 0);
+ dBodySetPosition(body2, 1, 0, 0);
+ }
+
+ ~ContactSetup()
+ {
+ dBodyDestroy(body1);
+ dBodyDestroy(body2);
+ dWorldDestroy(world);
+ }
+ };
+
+ TEST_FIXTURE(ContactSetup,
+ test_ZeroMu)
+ {
+ dxJoint::Info1 info1;
+ dxJoint::Info2 info2;
+ dReal dummy_J[3][12] = {{0}};
+ dReal dummy_c[3];
+ dReal dummy_cfm[3];
+ dReal dummy_lo[3];
+ dReal dummy_hi[3];
+ int dummy_findex[3];
+
+ info2.fps = 100;
+ info2.erp = 0;
+ info2.J1l = dummy_J[0];
+ info2.J1a = dummy_J[0] + 3;
+ info2.J2l = dummy_J[0] + 6;
+ info2.J2a = dummy_J[0] + 9;
+ info2.rowskip = 12;
+ info2.c = dummy_c;
+ info2.cfm = dummy_cfm;
+ info2.lo = dummy_lo;
+ info2.hi = dummy_hi;
+ info2.findex = dummy_findex;
+
+#define ZERO_ALL do { \
+ memset(dummy_J, 0, sizeof dummy_J); \
+ memset(dummy_c, 0, sizeof dummy_c); \
+ memset(dummy_cfm, 0, sizeof dummy_cfm); \
+ memset(dummy_lo, 0, sizeof dummy_lo); \
+ memset(dummy_hi, 0, sizeof dummy_hi); \
+ std::fill(dummy_findex, dummy_findex+3, -1);; \
+ } \
+ while (0)
+
+ dContact contact;
+ contact.surface.mode = dContactMu2 | dContactFDir1 | dContactApprox1;
+
+ contact.geom.pos[0] = 0;
+ contact.geom.pos[1] = 0;
+ contact.geom.pos[2] = 0;
+
+ // normal points into body1
+ contact.geom.normal[0] = -1;
+ contact.geom.normal[1] = 0;
+ contact.geom.normal[2] = 0;
+
+ contact.geom.depth = 0;
+
+ contact.geom.g1 = 0;
+ contact.geom.g2 = 0;
+
+ // we ask for fdir1 = +Y, so fdir2 = normal x fdir1 = -Z
+ contact.fdir1[0] = 0;
+ contact.fdir1[1] = 1;
+ contact.fdir1[2] = 0;
+
+ /*
+ * First, test with mu = 0, mu2 = 1
+ * Because there is no friction on the first direction (+Y) the body
+ * is allowed to translate in the Y axis and rotate around the Z axis.
+ *
+ * That is, the only constraint will be for the second dir (-Z):
+ * so J[1] = [ 0 0 -1 0 1 0 0 0 1 0 1 0 ]
+ */
+ contact.surface.mu = 0;
+ contact.surface.mu2 = 1;
+ joint = dJointCreateContact(world, 0, &contact);
+ dJointAttach(joint, body1, body2);
+ joint->getInfo1(&info1);
+ CHECK_EQUAL(2, (int)info1.m);
+ ZERO_ALL;
+ joint->getInfo2(&info2);
+ CHECK_CLOSE(0, dummy_J[1][0], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][1], 1e-6);
+ CHECK_CLOSE(-1, dummy_J[1][2], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][3], 1e-6);
+ CHECK_CLOSE(1, dummy_J[1][4], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][5], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][6], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][7], 1e-6);
+ CHECK_CLOSE(1, dummy_J[1][8], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][9], 1e-6);
+ CHECK_CLOSE(1, dummy_J[1][10], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][11], 1e-6);
+ CHECK_EQUAL(0, dummy_findex[1]); // because of dContactApprox1
+ dJointDestroy(joint);
+
+
+ /*
+ * Now try with no frictino in the second direction. The Jacobian should look like:
+ * J[1] = [ 0 1 0 0 0 1 0 -1 0 0 0 1 ]
+ */
+ // try again, with zero mu2
+ contact.surface.mu = 1;
+ contact.surface.mu2 = 0;
+ joint = dJointCreateContact(world, 0, &contact);
+ dJointAttach(joint, body1, body2);
+ joint->getInfo1(&info1);
+ CHECK_EQUAL(2, (int)info1.m);
+ ZERO_ALL;
+ joint->getInfo2(&info2);
+ CHECK_CLOSE(0, dummy_J[1][0], 1e-6);
+ CHECK_CLOSE(1, dummy_J[1][1], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][2], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][3], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][4], 1e-6);
+ CHECK_CLOSE(1, dummy_J[1][5], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][6], 1e-6);
+ CHECK_CLOSE(-1, dummy_J[1][7], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][8], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][9], 1e-6);
+ CHECK_CLOSE(0, dummy_J[1][10], 1e-6);
+ CHECK_CLOSE(1, dummy_J[1][11], 1e-6);
+ CHECK_EQUAL(0, dummy_findex[1]); // because of dContactApprox1
+ dJointDestroy(joint);
+ }
+
+}
Property changes on: trunk/tests/friction.cpp
___________________________________________________________________
Added: svn:eol-style
+ native
Modified: trunk/tests/main.cpp
===================================================================
--- trunk/tests/main.cpp 2012-04-13 20:40:19 UTC (rev 1883)
+++ trunk/tests/main.cpp 2012-04-13 22:47:13 UTC (rev 1884)
@@ -2,8 +2,12 @@
//
#include <UnitTest++.h>
+#include <ode/ode.h>
int main()
{
- return UnitTest::RunAllTests();
+ dInitODE();
+ int res = UnitTest::RunAllTests();
+ dCloseODE();
+ return res;
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-04-13 20:40:26
|
Revision: 1883
http://opende.svn.sourceforge.net/opende/?rev=1883&view=rev
Author: danielosmari
Date: 2012-04-13 20:40:19 +0000 (Fri, 13 Apr 2012)
Log Message:
-----------
- applied patch from bug #3431829 - deep capsule-box collisions
- applied patch from Jon Watte: handle mu=0, mu2>0
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/ode/src/capsule.cpp
trunk/ode/src/joints/contact.cpp
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-04-07 17:36:51 UTC (rev 1882)
+++ trunk/CHANGELOG.txt 2012-04-13 20:40:19 UTC (rev 1883)
@@ -8,6 +8,11 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+04/13/12 Daniel K. O.
+ * Applied patch from bug #3431829 - better handling of capsule-box with
+ deep penetrations.
+ * Applied patch from Jon Watte - better handling of zero mu with mu2.
+
03/17/12 Oleh Derevenko
* Threaded execution support interface added. Optional built-in threading
implementation added.
Modified: trunk/ode/src/capsule.cpp
===================================================================
--- trunk/ode/src/capsule.cpp 2012-04-07 17:36:51 UTC (rev 1882)
+++ trunk/ode/src/capsule.cpp 2012-04-13 20:40:19 UTC (rev 1883)
@@ -160,21 +160,6 @@
return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact);
}
-// use this instead of dCollideSpheres if the spheres are at the same point,
-// but the normal is known (e.g. in capsule-box collision)
-int dCollideSpheresZeroDist (dVector3 p1, dReal r1, dVector3 p2, dReal r2,
- dVector3 normal, dContactGeom *c)
-{
- c->normal[0] = normal[0];
- c->normal[1] = normal[1];
- c->normal[2] = normal[2];
- c->depth = r1 + r2;
- dReal k = REAL(0.5) * (r2 - r1);
- c->pos[0] = p1[0] + c->normal[0]*k;
- c->pos[1] = p1[1] + c->normal[1]*k;
- c->pos[2] = p1[2] + c->normal[2]*k;
- return 1;
-}
int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
dContactGeom *contact, int skip)
@@ -212,23 +197,40 @@
dVector3 pl,pb;
dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
- // if the capsule is penetrated further than radius
- // than pl and pb are equal -> unknown normal
- // use vector to center of box as normal
+ // if the capsule is penetrated further than radius
+ // then pl and pb are equal (up to mindist) -> unknown normal
+ // use normal vector of closest box surface
#ifdef dSINGLE
- dReal mindist = REAL(1e-9);
+ dReal mindist = REAL(1e-6);
#else
- dReal mindist = REAL(1e-18);
+ dReal mindist = REAL(1e-15);
#endif
- if (dCalcPointsDistance3(pl, pb)<mindist) {
- dVector3 normal; // pb-c (vector from center of box to pb)
- for (int i=0; i<3; i++) normal[i] = pb[i]-c[i];
- dSafeNormalize3(normal);
- return dCollideSpheresZeroDist (pl,radius,pb,0,normal,contact);
- } else {
- // generate contact point
- return dCollideSpheres (pl,radius,pb,0,contact);
+ if (dCalcPointsDistance3(pl, pb)<mindist) {
+ dVector3 normal;
+ dReal depth;
+ int code;
+ // consider capsule as box
+ dReal rad2 = radius*REAL(2.0);
+ const dVector3 capboxside = {rad2, rad2, cyl->lz + rad2};
+ int num = dBoxBox (c, R, side,
+ o1->final_posr->pos, o1->final_posr->R, capboxside,
+ normal, &depth, &code, flags, contact, skip);
+
+ for (int i=0; i<num; i++) {
+ dContactGeom *currContact = CONTACT(contact,i*skip);
+ currContact->normal[0] = normal[0];
+ currContact->normal[1] = normal[1];
+ currContact->normal[2] = normal[2];
+ currContact->g1 = o1;
+ currContact->g2 = o2;
+ currContact->side1 = -1;
+ currContact->side2 = -1;
}
+ return num;
+ } else {
+ // generate contact point
+ return dCollideSpheres (pl,radius,pb,0,contact);
+ }
}
Modified: trunk/ode/src/joints/contact.cpp
===================================================================
--- trunk/ode/src/joints/contact.cpp 2012-04-07 17:36:51 UTC (rev 1882)
+++ trunk/ode/src/joints/contact.cpp 2012-04-13 20:40:19 UTC (rev 1883)
@@ -53,8 +53,8 @@
if ( contact.surface.mu < 0 ) contact.surface.mu = 0;
if ( contact.surface.mode & dContactMu2 )
{
- if ( contact.surface.mu > 0 ) m++;
if ( contact.surface.mu2 < 0 ) contact.surface.mu2 = 0;
+ if ( ( contact.surface.mu > 0 ) || ( contact.surface.mu2 > 0 ) ) m++;
if ( contact.surface.mu2 > 0 ) m++;
if ( contact.surface.mu == dInfinity ) nub ++;
if ( contact.surface.mu2 == dInfinity ) nub ++;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-04-07 17:37:01
|
Revision: 1882
http://opende.svn.sourceforge.net/opende/?rev=1882&view=rev
Author: oleh_derevenko
Date: 2012-04-07 17:36:51 +0000 (Sat, 07 Apr 2012)
Log Message:
-----------
Indentation changed to four spaces in main sources
Modified Paths:
--------------
trunk/ode/src/array.cpp
trunk/ode/src/array.h
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_kernel.h
trunk/ode/src/collision_libccd.cpp
trunk/ode/src/collision_libccd.h
trunk/ode/src/collision_quadtreespace.cpp
trunk/ode/src/collision_sapspace.cpp
trunk/ode/src/collision_space.cpp
trunk/ode/src/collision_space_internal.h
trunk/ode/src/collision_std.h
trunk/ode/src/collision_transform.cpp
trunk/ode/src/collision_transform.h
trunk/ode/src/collision_trimesh_box.cpp
trunk/ode/src/collision_trimesh_ccylinder.cpp
trunk/ode/src/collision_trimesh_colliders.h
trunk/ode/src/collision_trimesh_disabled.cpp
trunk/ode/src/collision_trimesh_distance.cpp
trunk/ode/src/collision_trimesh_gimpact.cpp
trunk/ode/src/collision_trimesh_internal.h
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/collision_util.cpp
trunk/ode/src/collision_util.h
trunk/ode/src/convex.cpp
trunk/ode/src/cylinder.cpp
trunk/ode/src/error.cpp
trunk/ode/src/export-dif.cpp
trunk/ode/src/fastdot.c
trunk/ode/src/fastldlt.c
trunk/ode/src/fastlsolve.c
trunk/ode/src/fastltsolve.c
trunk/ode/src/heightfield.cpp
trunk/ode/src/heightfield.h
trunk/ode/src/joints/amotor.cpp
trunk/ode/src/joints/ball.cpp
trunk/ode/src/joints/contact.cpp
trunk/ode/src/joints/fixed.cpp
trunk/ode/src/joints/hinge.cpp
trunk/ode/src/joints/hinge2.cpp
trunk/ode/src/joints/hinge2.h
trunk/ode/src/joints/joint.cpp
trunk/ode/src/joints/joint.h
trunk/ode/src/joints/joint_internal.h
trunk/ode/src/joints/lmotor.cpp
trunk/ode/src/joints/null.cpp
trunk/ode/src/joints/piston.cpp
trunk/ode/src/joints/plane2d.cpp
trunk/ode/src/joints/pr.cpp
trunk/ode/src/joints/pu.cpp
trunk/ode/src/joints/slider.cpp
trunk/ode/src/joints/universal.cpp
trunk/ode/src/lcp.cpp
trunk/ode/src/lcp.h
trunk/ode/src/mass.cpp
trunk/ode/src/mat.cpp
trunk/ode/src/mat.h
trunk/ode/src/matrix.cpp
trunk/ode/src/memory.cpp
trunk/ode/src/misc.cpp
trunk/ode/src/nextafterf.c
trunk/ode/src/objects.cpp
trunk/ode/src/objects.h
trunk/ode/src/obstack.cpp
trunk/ode/src/obstack.h
trunk/ode/src/ode.cpp
trunk/ode/src/odeinit.cpp
trunk/ode/src/odemath.cpp
trunk/ode/src/odeou.cpp
trunk/ode/src/odeou.h
trunk/ode/src/odetls.cpp
trunk/ode/src/odetls.h
trunk/ode/src/plane.cpp
trunk/ode/src/quickstep.cpp
trunk/ode/src/quickstep.h
trunk/ode/src/ray.cpp
trunk/ode/src/rotation.cpp
trunk/ode/src/sphere.cpp
trunk/ode/src/step.cpp
trunk/ode/src/step.h
trunk/ode/src/threading_atomics_provs.h
trunk/ode/src/threading_base.cpp
trunk/ode/src/threading_base.h
trunk/ode/src/threading_fake_sync.h
trunk/ode/src/threading_impl.cpp
trunk/ode/src/threading_impl_posix.h
trunk/ode/src/threading_impl_templates.h
trunk/ode/src/threading_impl_win.h
trunk/ode/src/threading_pool_posix.cpp
trunk/ode/src/threading_pool_win.cpp
trunk/ode/src/timer.cpp
trunk/ode/src/util.cpp
trunk/ode/src/util.h
Modified: trunk/ode/src/array.cpp
===================================================================
--- trunk/ode/src/array.cpp 2012-03-29 08:47:56 UTC (rev 1881)
+++ trunk/ode/src/array.cpp 2012-04-07 17:36:51 UTC (rev 1882)
@@ -29,53 +29,53 @@
static inline int roundUpToPowerOfTwo (int x)
{
- int i = 1;
- while (i < x) i <<= 1;
- return i;
+ int i = 1;
+ while (i < x) i <<= 1;
+ return i;
}
void dArrayBase::_freeAll (int sizeofT)
{
- if (_data) {
- if (_data == this+1) return; // if constructLocalArray() was called
- dFree (_data,_anum * sizeofT);
- }
+ if (_data) {
+ if (_data == this+1) return; // if constructLocalArray() was called
+ dFree (_data,_anum * sizeofT);
+ }
}
void dArrayBase::_setSize (int newsize, int sizeofT)
{
- if (newsize < 0) return;
- if (newsize > _anum) {
- if (_data == this+1) {
- // this is a no-no, because constructLocalArray() was called
- dDebug (0,"setSize() out of space in LOCAL array");
+ if (newsize < 0) return;
+ if (newsize > _anum) {
+ if (_data == this+1) {
+ // this is a no-no, because constructLocalArray() was called
+ dDebug (0,"setSize() out of space in LOCAL array");
+ }
+ int newanum = roundUpToPowerOfTwo (newsize);
+ if (_data) _data = dRealloc (_data, _anum*sizeofT, newanum*sizeofT);
+ else _data = dAlloc (newanum*sizeofT);
+ _anum = newanum;
}
- int newanum = roundUpToPowerOfTwo (newsize);
- if (_data) _data = dRealloc (_data, _anum*sizeofT, newanum*sizeofT);
- else _data = dAlloc (newanum*sizeofT);
- _anum = newanum;
- }
- _size = newsize;
+ _size = newsize;
}
void * dArrayBase::operator new (size_t size)
{
- return dAlloc (size);
+ return dAlloc (size);
}
void dArrayBase::operator delete (void *ptr, size_t size)
{
- dFree (ptr,size);
+ dFree (ptr,size);
}
void dArrayBase::constructLocalArray (int __anum)
{
- _size = 0;
- _anum = __anum;
- _data = this+1;
+ _size = 0;
+ _anum = __anum;
+ _data = this+1;
}
Modified: trunk/ode/src/array.h
===================================================================
--- trunk/ode/src/array.h 2012-03-29 08:47:56 UTC (rev 1881)
+++ trunk/ode/src/array.h 2012-04-07 17:36:51 UTC (rev 1882)
@@ -46,89 +46,89 @@
class dArrayBase {
protected:
- int _size; // number of elements in `data'
- int _anum; // allocated number of elements in `data'
- void *_data; // array data
+ int _size; // number of elements in `data'
+ int _anum; // allocated number of elements in `data'
+ void *_data; // array data
- void _freeAll (int sizeofT);
- void _setSize (int newsize, int sizeofT);
- // set the array size to `newsize', allocating more memory if necessary.
- // if newsize>_anum and is a power of two then this is guaranteed to
- // set _size and _anum to newsize.
+ void _freeAll (int sizeofT);
+ void _setSize (int newsize, int sizeofT);
+ // set the array size to `newsize', allocating more memory if necessary.
+ // if newsize>_anum and is a power of two then this is guaranteed to
+ // set _size and _anum to newsize.
public:
- // not: dArrayBase () { _size=0; _anum=0; _data=0; }
+ // not: dArrayBase () { _size=0; _anum=0; _data=0; }
- int size() const { return _size; }
- int allocatedSize() const { return _anum; }
- void * operator new (size_t size);
- void operator delete (void *ptr, size_t size);
+ int size() const { return _size; }
+ int allocatedSize() const { return _anum; }
+ void * operator new (size_t size);
+ void operator delete (void *ptr, size_t size);
- void constructor() { _size=0; _anum=0; _data=0; }
- // if this structure is allocated with malloc() instead of new, you can
- // call this to set it up.
+ void constructor() { _size=0; _anum=0; _data=0; }
+ // if this structure is allocated with malloc() instead of new, you can
+ // call this to set it up.
- void constructLocalArray (int __anum);
- // this helper function allows non-reallocating arrays to be constructed
- // on the stack (or in the heap if necessary). this is something of a
- // kludge and should be used with extreme care. this function acts like
- // a constructor - it is called on uninitialized memory that will hold the
- // Array structure and the data. __anum is the number of elements that
- // are allocated. the memory MUST be allocated with size:
- // sizeof(ArrayBase) + __anum*sizeof(T)
- // arrays allocated this way will never try to reallocate or free the
- // memory - that's your job.
+ void constructLocalArray (int __anum);
+ // this helper function allows non-reallocating arrays to be constructed
+ // on the stack (or in the heap if necessary). this is something of a
+ // kludge and should be used with extreme care. this function acts like
+ // a constructor - it is called on uninitialized memory that will hold the
+ // Array structure and the data. __anum is the number of elements that
+ // are allocated. the memory MUST be allocated with size:
+ // sizeof(ArrayBase) + __anum*sizeof(T)
+ // arrays allocated this way will never try to reallocate or free the
+ // memory - that's your job.
};
template <class T> class dArray : public dArrayBase {
public:
- void equals (const dArray<T> &x) {
- setSize (x.size());
- memcpy (_data,x._data,x._size * sizeof(T));
- }
+ void equals (const dArray<T> &x) {
+ setSize (x.size());
+ memcpy (_data,x._data,x._size * sizeof(T));
+ }
- dArray () { constructor(); }
- dArray (const dArray<T> &x) { constructor(); equals (x); }
- ~dArray () { _freeAll(sizeof(T)); }
- void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
- T *data() const { return (T*) _data; }
- T & operator[] (int i) const { return ((T*)_data)[i]; }
- void operator = (const dArray<T> &x) { equals (x); }
+ dArray () { constructor(); }
+ dArray (const dArray<T> &x) { constructor(); equals (x); }
+ ~dArray () { _freeAll(sizeof(T)); }
+ void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
+ T *data() const { return (T*) _data; }
+ T & operator[] (int i) const { return ((T*)_data)[i]; }
+ void operator = (const dArray<T> &x) { equals (x); }
- void push (const T item) {
- if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
- memcpy (&(((T*)_data)[_size-1]), &item, sizeof(T));
- }
+ void push (const T item) {
+ if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
+ memcpy (&(((T*)_data)[_size-1]), &item, sizeof(T));
+ }
- void swap (dArray<T> &x) {
- int tmp1;
- void *tmp2;
- tmp1=_size; _size=x._size; x._size=tmp1;
- tmp1=_anum; _anum=x._anum; x._anum=tmp1;
- tmp2=_data; _data=x._data; x._data=tmp2;
- }
+ void swap (dArray<T> &x) {
+ int tmp1;
+ void *tmp2;
+ tmp1=_size; _size=x._size; x._size=tmp1;
+ tmp1=_anum; _anum=x._anum; x._anum=tmp1;
+ tmp2=_data; _data=x._data; x._data=tmp2;
+ }
- // insert the item at the position `i'. if i<0 then add the item to the
- // start, if i >= size then add the item to the end of the array.
- void insert (int i, const T item) {
- if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
- if (i >= (_size-1)) i = _size-1; // add to end
- else {
- if (i < 0) i=0; // add to start
- int n = _size-1-i;
- if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
+ // insert the item at the position `i'. if i<0 then add the item to the
+ // start, if i >= size then add the item to the end of the array.
+ void insert (int i, const T item) {
+ if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
+ if (i >= (_size-1)) i = _size-1; // add to end
+ else {
+ if (i < 0) i=0; // add to start
+ int n = _size-1-i;
+ if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
+ }
+ ((T*)_data)[i] = item;
}
- ((T*)_data)[i] = item;
- }
- void remove (int i) {
- if (i >= 0 && i < _size) { // passing this test guarantees size>0
- int n = _size-1-i;
- if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
- _size--;
+ void remove (int i) {
+ if (i >= 0 && i < _size) { // passing this test guarantees size>0
+ int n = _size-1-i;
+ if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
+ _size--;
+ }
}
- }
};
Modified: trunk/ode/src/box.cpp
===================================================================
--- trunk/ode/src/box.cpp 2012-03-29 08:47:56 UTC (rev 1881)
+++ trunk/ode/src/box.cpp 2012-04-07 17:36:51 UTC (rev 1882)
@@ -22,10 +22,10 @@
/*
-standard ODE geometry primitives: public API and pairwise collision functions.
+ standard ODE geometry primitives: public API and pairwise collision functions.
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
+ the rule is that only the low level primitive collision functions should set
+ dContactGeom::g1 and dContactGeom::g2.
*/
@@ -48,128 +48,128 @@
dxBox::dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz) : dxGeom (space,1)
{
- dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
- type = dBoxClass;
- side[0] = lx;
- side[1] = ly;
- side[2] = lz;
- updateZeroSizedFlag(!lx || !ly || !lz);
+ dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
+ type = dBoxClass;
+ side[0] = lx;
+ side[1] = ly;
+ side[2] = lz;
+ updateZeroSizedFlag(!lx || !ly || !lz);
}
void dxBox::computeAABB()
{
- const dMatrix3& R = final_posr->R;
- const dVector3& pos = final_posr->pos;
-
- dReal xrange = REAL(0.5) * (dFabs (R[0] * side[0]) +
- dFabs (R[1] * side[1]) + dFabs (R[2] * side[2]));
- dReal yrange = REAL(0.5) * (dFabs (R[4] * side[0]) +
- dFabs (R[5] * side[1]) + dFabs (R[6] * side[2]));
- dReal zrange = REAL(0.5) * (dFabs (R[8] * side[0]) +
- dFabs (R[9] * side[1]) + dFabs (R[10] * side[2]));
- 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;
+ const dMatrix3& R = final_posr->R;
+ const dVector3& pos = final_posr->pos;
+
+ dReal xrange = REAL(0.5) * (dFabs (R[0] * side[0]) +
+ dFabs (R[1] * side[1]) + dFabs (R[2] * side[2]));
+ dReal yrange = REAL(0.5) * (dFabs (R[4] * side[0]) +
+ dFabs (R[5] * side[1]) + dFabs (R[6] * side[2]));
+ dReal zrange = REAL(0.5) * (dFabs (R[8] * side[0]) +
+ dFabs (R[9] * side[1]) + dFabs (R[10] * side[2]));
+ 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 dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
{
- return new dxBox (space,lx,ly,lz);
+ return new dxBox (space,lx,ly,lz);
}
void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz)
{
- dUASSERT (g && g->type == dBoxClass,"argument not a box");
- dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
- dxBox *b = (dxBox*) g;
- b->side[0] = lx;
- b->side[1] = ly;
- b->side[2] = lz;
- b->updateZeroSizedFlag(!lx || !ly || !lz);
- dGeomMoved (g);
+ dUASSERT (g && g->type == dBoxClass,"argument not a box");
+ dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
+ dxBox *b = (dxBox*) g;
+ b->side[0] = lx;
+ b->side[1] = ly;
+ b->side[2] = lz;
+ b->updateZeroSizedFlag(!lx || !ly || !lz);
+ dGeomMoved (g);
}
void dGeomBoxGetLengths (dGeomID g, dVector3 result)
{
- dUASSERT (g && g->type == dBoxClass,"argument not a box");
- dxBox *b = (dxBox*) g;
- result[0] = b->side[0];
- result[1] = b->side[1];
- result[2] = b->side[2];
+ dUASSERT (g && g->type == dBoxClass,"argument not a box");
+ dxBox *b = (dxBox*) g;
+ result[0] = b->side[0];
+ result[1] = b->side[1];
+ result[2] = b->side[2];
}
dReal dGeomBoxPointDepth (dGeomID g, dReal x, dReal y, dReal z)
{
- dUASSERT (g && g->type == dBoxClass,"argument not a box");
- g->recomputePosr();
- dxBox *b = (dxBox*) g;
+ dUASSERT (g && g->type == dBoxClass,"argument not a box");
+ g->recomputePosr();
+ dxBox *b = (dxBox*) g;
- // Set p = (x,y,z) relative to box center
- //
- // This will be (0,0,0) if the point is at (side[0]/2,side[1]/2,side[2]/2)
+ // Set p = (x,y,z) relative to box center
+ //
+ // This will be (0,0,0) if the point is at (side[0]/2,side[1]/2,side[2]/2)
- dVector3 p,q;
+ dVector3 p,q;
- p[0] = x - b->final_posr->pos[0];
- p[1] = y - b->final_posr->pos[1];
- p[2] = z - b->final_posr->pos[2];
+ p[0] = x - b->final_posr->pos[0];
+ p[1] = y - b->final_posr->pos[1];
+ p[2] = z - b->final_posr->pos[2];
- // Rotate p into box's coordinate frame, so we can
- // treat the OBB as an AABB
+ // Rotate p into box's coordinate frame, so we can
+ // treat the OBB as an AABB
- dMultiply1_331 (q,b->final_posr->R,p);
+ dMultiply1_331 (q,b->final_posr->R,p);
- // Record distance from point to each successive box side, and see
- // if the point is inside all six sides
+ // Record distance from point to each successive box side, and see
+ // if the point is inside all six sides
- dReal dist[6];
- int i;
+ dReal dist[6];
+ int i;
- bool inside = true;
+ bool inside = true;
- for (i=0; i < 3; i++) {
- dReal side = b->side[i] * REAL(0.5);
+ for (i=0; i < 3; i++) {
+ dReal side = b->side[i] * REAL(0.5);
- dist[i ] = side - q[i];
- dist[i+3] = side + q[i];
+ dist[i ] = side - q[i];
+ dist[i+3] = side + q[i];
- if ((dist[i] < 0) || (dist[i+3] < 0)) {
- inside = false;
+ if ((dist[i] < 0) || (dist[i+3] < 0)) {
+ inside = false;
+ }
}
- }
- // If point is inside the box, the depth is the smallest positive distance
- // to any side
+ // If point is inside the box, the depth is the smallest positive distance
+ // to any side
- if (inside) {
- dReal smallest_dist = (dReal) (unsigned) -1;
+ if (inside) {
+ dReal smallest_dist = (dReal) (unsigned) -1;
- for (i=0; i < 6; i++) {
- if (dist[i] < smallest_dist) smallest_dist = dist[i];
+ for (i=0; i < 6; i++) {
+ if (dist[i] < smallest_dist) smallest_dist = dist[i];
+ }
+
+ return smallest_dist;
}
- return smallest_dist;
- }
+ // Otherwise, if point is outside the box, the depth is the largest
+ // distance to any side. This is an approximation to the 'proper'
+ // solution (the proper solution may be larger in some cases).
- // Otherwise, if point is outside the box, the depth is the largest
- // distance to any side. This is an approximation to the 'proper'
- // solution (the proper solution may be larger in some cases).
+ dReal largest_dist = 0;
- dReal largest_dist = 0;
+ for (i=0; i < 6; i++) {
+ if (dist[i] > largest_dist) largest_dist = dist[i];
+ }
- for (i=0; i < 6; i++) {
- if (dist[i] > largest_dist) largest_dist = dist[i];
- }
-
- return -largest_dist;
+ return -largest_dist;
}
//****************************************************************************
@@ -186,55 +186,55 @@
static int intersectRectQuad (dReal h[2], dReal p[8], dReal ret[16])
{
- // q (and r) contain nq (and nr) coordinate points for the current (and
- // chopped) polygons
- int nq=4,nr;
- dReal buffer[16];
- dReal *q = p;
- dReal *r = ret;
- for (int dir=0; dir <= 1; dir++) {
- // direction notation: xy[0] = x axis, xy[1] = y axis
- for (int sign=-1; sign <= 1; sign += 2) {
- // chop q along the line xy[dir] = sign*h[dir]
- dReal *pq = q;
- dReal *pr = r;
- nr = 0;
- for (int i=nq; i > 0; i--) {
- // go through all points in q and all lines between adjacent points
- if (sign*pq[dir] < h[dir]) {
- // this point is inside the chopping line
- pr[0] = pq[0];
- pr[1] = pq[1];
- pr += 2;
- nr++;
- if (nr & 8) {
- q = r;
- goto done;
- }
- }
- dReal *nextq = (i > 1) ? pq+2 : q;
- if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
- // this line crosses the chopping line
- pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
- (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
- pr[dir] = sign*h[dir];
- pr += 2;
- nr++;
- if (nr & 8) {
- q = r;
- goto done;
- }
- }
- pq += 2;
- }
- q = r;
- r = (q==ret) ? buffer : ret;
- nq = nr;
+ // q (and r) contain nq (and nr) coordinate points for the current (and
+ // chopped) polygons
+ int nq=4,nr;
+ dReal buffer[16];
+ dReal *q = p;
+ dReal *r = ret;
+ for (int dir=0; dir <= 1; dir++) {
+ // direction notation: xy[0] = x axis, xy[1] = y axis
+ for (int sign=-1; sign <= 1; sign += 2) {
+ // chop q along the line xy[dir] = sign*h[dir]
+ dReal *pq = q;
+ dReal *pr = r;
+ nr = 0;
+ for (int i=nq; i > 0; i--) {
+ // go through all points in q and all lines between adjacent points
+ if (sign*pq[dir] < h[dir]) {
+ // this point is inside the chopping line
+ pr[0] = pq[0];
+ pr[1] = pq[1];
+ pr += 2;
+ nr++;
+ if (nr & 8) {
+ q = r;
+ goto done;
+ }
+ }
+ dReal *nextq = (i > 1) ? pq+2 : q;
+ if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
+ // this line crosses the chopping line
+ pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
+ (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
+ pr[dir] = sign*h[dir];
+ pr += 2;
+ nr++;
+ if (nr & 8) {
+ q = r;
+ goto done;
+ }
+ }
+ pq += 2;
+ }
+ q = r;
+ r = (q==ret) ? buffer : ret;
+ nq = nr;
+ }
}
- }
- done:
- if (q != ret) memcpy (ret,q,nr*2*sizeof(dReal));
- return nr;
+done:
+ if (q != ret) memcpy (ret,q,nr*2*sizeof(dReal));
+ return nr;
}
@@ -248,66 +248,66 @@
void cullPoints (int n, dReal p[], int m, int i0, int iret[])
{
- // compute the centroid of the polygon in cx,cy
- int i,j;
- dReal a,cx,cy,q;
- if (n==1) {
- cx = p[0];
- cy = p[1];
- }
- else if (n==2) {
- cx = REAL(0.5)*(p[0] + p[2]);
- cy = REAL(0.5)*(p[1] + p[3]);
- }
- else {
- a = 0;
- cx = 0;
- cy = 0;
- for (i=0; i<(n-1); i++) {
- q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
- a += q;
- cx += q*(p[i*2]+p[i*2+2]);
- cy += q*(p[i*2+1]+p[i*2+3]);
+ // compute the centroid of the polygon in cx,cy
+ int i,j;
+ dReal a,cx,cy,q;
+ if (n==1) {
+ cx = p[0];
+ cy = p[1];
}
- q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
- a = dRecip(REAL(3.0)*(a+q));
- cx = a*(cx + q*(p[n*2-2]+p[0]));
- cy = a*(cy + q*(p[n*2-1]+p[1]));
- }
+ else if (n==2) {
+ cx = REAL(0.5)*(p[0] + p[2]);
+ cy = REAL(0.5)*(p[1] + p[3]);
+ }
+ else {
+ a = 0;
+ cx = 0;
+ cy = 0;
+ for (i=0; i<(n-1); i++) {
+ q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
+ a += q;
+ cx += q*(p[i*2]+p[i*2+2]);
+ cy += q*(p[i*2+1]+p[i*2+3]);
+ }
+ q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
+ a = dRecip(REAL(3.0)*(a+q));
+ cx = a*(cx + q*(p[n*2-2]+p[0]));
+ cy = a*(cy + q*(p[n*2-1]+p[1]));
+ }
- // compute the angle of each point w.r.t. the centroid
- dReal A[8];
- for (i=0; i<n; i++) A[i] = dAtan2(p[i*2+1]-cy,p[i*2]-cx);
+ // compute the angle of each point w.r.t. the centroid
+ dReal A[8];
+ for (i=0; i<n; i++) A[i] = dAtan2(p[i*2+1]-cy,p[i*2]-cx);
- // search for points that have angles closest to A[i0] + i*(2*pi/m).
- int avail[8];
- for (i=0; i<n; i++) avail[i] = 1;
- avail[i0] = 0;
- iret[0] = i0;
- iret++;
- for (j=1; j<m; j++) {
- a = (dReal)(dReal(j)*(2*M_PI/m) + A[i0]);
- if (a > M_PI) a -= (dReal)(2*M_PI);
- dReal maxdiff=1e9,diff;
+ // search for points that have angles closest to A[i0] + i*(2*pi/m).
+ int avail[8];
+ for (i=0; i<n; i++) avail[i] = 1;
+ avail[i0] = 0;
+ iret[0] = i0;
+ iret++;
+ for (j=1; j<m; j++) {
+ a = (dReal)(dReal(j)*(2*M_PI/m) + A[i0]);
+ if (a > M_PI) a -= (dReal)(2*M_PI);
+ dReal maxdiff=1e9,diff;
#ifndef dNODEBUG
- *iret = i0; // iret is not allowed to keep this value
+ *iret = i0; // iret is not allowed to keep this value
#endif
- for (i=0; i<n; i++) {
- if (avail[i]) {
- diff = dFabs (A[i]-a);
- if (diff > M_PI) diff = (dReal) (2*M_PI - diff);
- if (diff < maxdiff) {
- maxdiff = diff;
- *iret = i;
- }
- }
- }
+ for (i=0; i<n; i++) {
+ if (avail[i]) {
+ diff = dFabs (A[i]-a);
+ if (diff > M_PI) diff = (dReal) (2*M_PI - diff);
+ if (diff < maxdiff) {
+ maxdiff = diff;
+ *iret = i;
+ }
+ }
+ }
#ifndef dNODEBUG
- dIASSERT (*iret != i0); // ensure iret got set
+ dIASSERT (*iret != i0); // ensure iret got set
#endif
- avail[*iret] = 0;
- iret++;
- }
+ avail[*iret] = 0;
+ iret++;
+ }
}
@@ -329,80 +329,80 @@
int dBoxBox (const dVector3 p1, const dMatrix3 R1,
- const dVector3 side1, const dVector3 p2,
- const dMatrix3 R2, const dVector3 side2,
- dVector3 normal, dReal *depth, int *return_code,
- int flags, dContactGeom *contact, int skip)
+ const dVector3 side1, const dVector3 p2,
+ const dMatrix3 R2, const dVector3 side2,
+ dVector3 normal, dReal *depth, int *return_code,
+ int flags, dContactGeom *contact, int skip)
{
- const dReal fudge_factor = REAL(1.05);
- dVector3 p,pp,normalC={0,0,0};
- const dReal *normalR = 0;
- dReal A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
- Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l,expr1_val;
- int i,j,invert_normal,code;
+ const dReal fudge_factor = REAL(1.05);
+ dVector3 p,pp,normalC={0,0,0};
+ const dReal *normalR = 0;
+ dReal A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
+ Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l,expr1_val;
+ int i,j,invert_normal,code;
- // 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 (pp,R1,p); // get pp = p relative to body 1
+ // 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 (pp,R1,p); // get pp = p relative to body 1
- // get side lengths / 2
- A[0] = side1[0]*REAL(0.5);
- A[1] = side1[1]*REAL(0.5);
- A[2] = side1[2]*REAL(0.5);
- B[0] = side2[0]*REAL(0.5);
- B[1] = side2[1]*REAL(0.5);
- B[2] = side2[2]*REAL(0.5);
+ // get side lengths / 2
+ A[0] = side1[0]*REAL(0.5);
+ A[1] = side1[1]*REAL(0.5);
+ A[2] = side1[2]*REAL(0.5);
+ B[0] = side2[0]*REAL(0.5);
+ B[1] = side2[1]*REAL(0.5);
+ B[2] = side2[2]*REAL(0.5);
- // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
- R11 = dCalcVectorDot3_44(R1+0,R2+0); R12 = dCalcVectorDot3_44(R1+0,R2+1); R13 = dCalcVectorDot3_44(R1+0,R2+2);
- R21 = dCalcVectorDot3_44(R1+1,R2+0); R22 = dCalcVectorDot3_44(R1+1,R2+1); R23 = dCalcVectorDot3_44(R1+1,R2+2);
- R31 = dCalcVectorDot3_44(R1+2,R2+0); R32 = dCalcVectorDot3_44(R1+2,R2+1); R33 = dCalcVectorDot3_44(R1+2,R2+2);
+ // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
+ R11 = dCalcVectorDot3_44(R1+0,R2+0); R12 = dCalcVectorDot3_44(R1+0,R2+1); R13 = dCalcVectorDot3_44(R1+0,R2+2);
+ R21 = dCalcVectorDot3_44(R1+1,R2+0); R22 = dCalcVectorDot3_44(R1+1,R2+1); R23 = dCalcVectorDot3_44(R1+1,R2+2);
+ R31 = dCalcVectorDot3_44(R1+2,R2+0); R32 = dCalcVectorDot3_44(R1+2,R2+1); R33 = dCalcVectorDot3_44(R1+2,R2+2);
- Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
- Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
- Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
+ Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
+ Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
+ Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
- // for all 15 possible separating axes:
- // * see if the axis separates the boxes. if so, return 0.
- // * find the depth of the penetration along the separating axis (s2)
- // * if this is the largest depth so far, record it.
- // the normal vector will be set to the separating axis with the smallest
- // depth. note: normalR is set to point to a column of R1 or R2 if that is
- // the smallest depth normal so far. otherwise normalR is 0 and normalC is
- // set to a vector relative to body 1. invert_normal is 1 if the sign of
- // the normal should be flipped.
+ // for all 15 possible separating axes:
+ // * see if the axis separates the boxes. if so, return 0.
+ // * find the depth of the penetration along the separating axis (s2)
+ // * if this is the largest depth so far, record it.
+ // the normal vector will be set to the separating axis with the smallest
+ // depth. note: normalR is set to point to a column of R1 or R2 if that is
+ // the smallest depth normal so far. otherwise normalR is 0 and normalC is
+ // set to a vector relative to body 1. invert_normal is 1 if the sign of
+ // the normal should be flipped.
- do {
+ do {
#define TST(expr1,expr2,norm,cc) \
expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \
s2 = dFabs(expr1_val) - (expr2); \
if (s2 > 0) return 0; \
if (s2 > s) { \
- s = s2; \
- normalR = norm; \
- invert_normal = ((expr1_val) < 0); \
- code = (cc); \
- if (flags & CONTACTS_UNIMPORTANT) break; \
- }
+ s = s2; \
+ normalR = norm; \
+ invert_normal = ((expr1_val) < 0); \
+ code = (cc); \
+ if (flags & CONTACTS_UNIMPORTANT) break; \
+ }
- s = -dInfinity;
- invert_normal = 0;
- code = 0;
+ s = -dInfinity;
+ invert_normal = 0;
+ code = 0;
- // separating axis = u1,u2,u3
- TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
- TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
- TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
+ // separating axis = u1,u2,u3
+ TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
+ TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
+ TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
- // separating axis = v1,v2,v3
- TST (dCalcVectorDot3_41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
- TST (dCalcVectorDot3_41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
- TST (dCalcVectorDot3_41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
+ // separating axis = v1,v2,v3
+ TST (dCalcVectorDot3_41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
+ TST (dCalcVectorDot3_41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
+ TST (dCalcVectorDot3_41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
- // note: cross product axes need to be scaled when s is computed.
- // normal (n1,n2,n3) is relative to box 1.
+ // note: cross product axes need to be scaled when s is computed.
+ // normal (n1,n2,n3) is relative to box 1.
#undef TST
#define TST(expr1,expr2,n1,n2,n3,cc) \
expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \
@@ -410,469 +410,469 @@
if (s2 > 0) return 0; \
l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
if (l > 0) { \
- s2 /= l; \
- if (s2*fudge_factor > s) { \
- s = s2; \
- normalR = 0; \
- normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
- invert_normal = ((expr1_val) < 0); \
- code = (cc); \
- if (flags & CONTACTS_UNIMPORTANT) break; \
- } \
- }
+ s2 /= l; \
+ if (s2*fudge_factor > s) { \
+ s = s2; \
+ normalR = 0; \
+ normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
+ invert_normal = ((expr1_val) < 0); \
+ code = (cc); \
+ if (flags & CONTACTS_UNIMPORTANT) break; \
+ } \
+ }
- // We only need to check 3 edges per box
- // since parallel edges are equivalent.
+ // We only need to check 3 edges per box
+ // since parallel edges are equivalent.
- // separating axis = u1 x (v1,v2,v3)
- TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
- TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
- TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
+ // separating axis = u1 x (v1,v2,v3)
+ TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
+ TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
+ TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
- // separating axis = u2 x (v1,v2,v3)
- TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
- TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
- TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
+ // separating axis = u2 x (v1,v2,v3)
+ TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
+ TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
+ TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
- // separating axis = u3 x (v1,v2,v3)
- TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
- TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
- TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
+ // separating axis = u3 x (v1,v2,v3)
+ TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
+ TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
+ TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
#undef TST
- } while (0);
+ } while (0);
- if (!code) return 0;
+ if (!code) return 0;
- // 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 {
- dMultiply0_331 (normal,R1,normalC);
- }
- if (invert_normal) {
- normal[0] = -normal[0];
- normal[1] = -normal[1];
- normal[2] = -normal[2];
- }
- *depth = -s;
+ // 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 {
+ dMultiply0_331 (normal,R1,normalC);
+ }
+ if (invert_normal) {
+ normal[0] = -normal[0];
+ normal[1] = -normal[1];
+ normal[2] = -normal[2];
+ }
+ *depth = -s;
- // compute contact point(s)
+ // compute contact point(s)
- if (code > 6) {
- // An edge from box 1 touches an edge from box 2.
- // find a point pa on the intersecting edge of box 1
- dVector3 pa;
- dReal sign;
- // Copy p1 into pa
- for (i=0; i<3; i++) pa[i] = p1[i]; // why no memcpy?
- // Get world position of p2 into pa
- for (j=0; j<3; j++) {
- sign = (dCalcVectorDot3_14(normal,R1+j) > 0) ? REAL(1.0) : REAL(-1.0);
- for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
+ if (code > 6) {
+ // An edge from box 1 touches an edge from box 2.
+ // find a point pa on the intersecting edge of box 1
+ dVector3 pa;
+ dReal sign;
+ // Copy p1 into pa
+ for (i=0; i<3; i++) pa[i] = p1[i]; // why no memcpy?
+ // Get world position of p2 into pa
+ for (j=0; j<3; j++) {
+ sign = (dCalcVectorDot3_14(normal,R1+j) > 0) ? REAL(1.0) : REAL(-1.0);
+ for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
+ }
+
+ // find a point pb on the intersecting edge of box 2
+ dVector3 pb;
+ // Copy p2 into pb
+ for (i=0; i<3; i++) pb[i] = p2[i]; // why no memcpy?
+ // Get world position of p2 into pb
+ for (j=0; j<3; j++) {
+ sign = (dCalcVectorDot3_14(normal,R2+j) > 0) ? REAL(-1.0) : REAL(1.0);
+ for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
+ }
+
+ dReal alpha,beta;
+ dVector3 ua,ub;
+ // Get direction of first edge
+ for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
+ // Get direction of second edge
+ for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
+ // Get closest points between edges (one at each)
+ dLineClosestApproach (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;
+ // Set the contact point as halfway between the 2 closest points
+ for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
+ contact[0].depth = *depth;
+ *return_code = code;
+ return 1;
}
- // find a point pb on the intersecting edge of box 2
- dVector3 pb;
- // Copy p2 into pb
- for (i=0; i<3; i++) pb[i] = p2[i]; // why no memcpy?
- // Get world position of p2 into pb
- for (j=0; j<3; j++) {
- sign = (dCalcVectorDot3_14(normal,R2+j) > 0) ? REAL(-1.0) : REAL(1.0);
- for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
+ // okay, we have a face-something intersection (because the separating
+ // axis is perpendicular to a face). define face 'a' to be the reference
+ // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
+ // the incident face (the closest face of the other box).
+ // Note: Unmodified parameter values are being used here
+ const dReal *Ra,*Rb,*pa,*pb,*Sa,*Sb;
+ if (code <= 3) { // One of the faces of box 1 is the reference face
+ Ra = R1; // Rotation of 'a'
+ Rb = R2; // Rotation of 'b'
+ pa = p1; // Center (location) of 'a'
+ pb = p2; // Center (location) of 'b'
+ Sa = A; // Side Lenght of 'a'
+ Sb = B; // Side Lenght of 'b'
}
-
- dReal alpha,beta;
- dVector3 ua,ub;
- // Get direction of first edge
- for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
- // Get direction of second edge
- for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
- // Get closest points between edges (one at each)
- dLineClosestApproach (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;
- // Set the contact point as halfway between the 2 closest points
- for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
- contact[0].depth = *depth;
- *return_code = code;
- return 1;
- }
+ else { // One of the faces of box 2 is the reference face
+ Ra = R2; // Rotation of 'a'
+ Rb = R1; // Rotation of 'b'
+ pa = p2; // Center (location) of 'a'
+ pb = p1; // Center (location) of 'b'
+ Sa = B; // Side Lenght of 'a'
+ Sb = A; // Side Lenght of 'b'
+ }
- // okay, we have a face-something intersection (because the separating
- // axis is perpendicular to a face). define face 'a' to be the reference
- // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
- // the incident face (the closest face of the other box).
- // Note: Unmodified parameter values are being used here
- const dReal *Ra,*Rb,*pa,*pb,*Sa,*Sb;
- if (code <= 3) { // One of the faces of box 1 is the reference face
- Ra = R1; // Rotation of 'a'
- Rb = R2; // Rotation of 'b'
- pa = p1; // Center (location) of 'a'
- pb = p2; // Center (location) of 'b'
- Sa = A; // Side Lenght of 'a'
- Sb = B; // Side Lenght of 'b'
- }
- else { // One of the faces of box 2 is the reference face
- Ra = R2; // Rotation of 'a'
- Rb = R1; // Rotation of 'b'
- pa = p2; // Center (location) of 'a'
- pb = p1; // Center (location) of 'b'
- Sa = B; // Side Lenght of 'a'
- Sb = A; // Side Lenght of 'b'
- }
+ // nr = normal vector of reference face dotted with axes of incident box.
+ // anr = absolute values of nr.
+ /*
+ The normal is flipped if necessary so it always points outward from box 'a',
+ box 'b' is thus always the incident box
+ */
+ dVector3 normal2,nr,anr;
+ if (code <= 3) {
+ normal2[0] = normal[0];
+ normal2[1] = normal[1];
+ normal2[2] = normal[2];
+ }
+ else {
+ normal2[0] = -normal[0];
+ normal2[1] = -normal[1];
+ normal2[2] = -normal[2];
+ }
+ // Rotate normal2 in incident box opposite direction
+ dMultiply1_331 (nr,Rb,normal2);
+ anr[0] = dFabs (nr[0]);
+ anr[1] = dFabs (nr[1]);
+ anr[2] = dFabs (nr[2]);
- // nr = normal vector of reference face dotted with axes of incident box.
- // anr = absolute values of nr.
- /*
- The normal is flipped if necessary so it always points outward from box 'a',
- box 'b' is thus always the incident box
- */
- dVector3 normal2,nr,anr;
- if (code <= 3) {
- normal2[0] = normal[0];
- normal2[1] = normal[1];
- normal2[2] = normal[2];
- }
- else {
- normal2[0] = -normal[0];
- normal2[1] = -normal[1];
- normal2[2] = -normal[2];
- }
- // Rotate normal2 in incident box opposite direction
- dMultiply1_331 (nr,Rb,normal2);
- anr[0] = dFabs (nr[0]);
- anr[1] = dFabs (nr[1]);
- anr[2] = dFabs (nr[2]);
+ // find the largest compontent of anr: this corresponds to the normal
+ // for the incident face. the other axis numbers of the incident face
+ // are stored in a1,a2.
+ int lanr,a1,a2;
+ if (anr[1] > anr[0]) {
+ if (anr[1] > anr[2]) {
+ a1 = 0;
+ lanr = 1;
+ a2 = 2;
+ }
+ else {
+ a1 = 0;
+ a2 = 1;
+ lanr = 2;
+ }
+ }
+ else {
+ if (anr[0] > anr[2]) {
+ lanr = 0;
+ a1 = 1;
+ a2 = 2;
+ }
+ else {
+ a1 = 0;
+ a2 = 1;
+ lanr = 2;
+ }
+ }
- // find the largest compontent of anr: this corresponds to the normal
- // for the incident face. the other axis numbers of the incident face
- // are stored in a1,a2.
- int lanr,a1,a2;
- if (anr[1] > anr[0]) {
- if (anr[1] > anr[2]) {
- a1 = 0;
- lanr = 1;
- a2 = 2;
+ // compute center point of incident face, in reference-face coordinates
+ dVector3 center;
+ if (nr[lanr] < 0) {
+ for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
}
else {
- a1 = 0;
- a2 = 1;
- lanr = 2;
+ for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
}
- }
- else {
- if (anr[0] > anr[2]) {
- lanr = 0;
- a1 = 1;
- a2 = 2;
+
+ // find the normal and non-normal axis numbers of the reference box
+ int codeN,code1,code2;
+ if (code <= 3) codeN = code-1; else codeN = code-4;
+ if (codeN==0) {
+ code1 = 1;
+ code2 = 2;
}
+ else if (codeN==1) {
+ code1 = 0;
+ code2 = 2;
+ }
else {
- a1 = 0;
- a2 = 1;
- lanr = 2;
+ code1 = 0;
+ code2 = 1;
}
- }
- // compute center point of incident face, in reference-face coordinates
- dVector3 center;
- if (nr[lanr] < 0) {
- for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
- }
- else {
- for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
- }
+ // find the four corners of the incident face, in reference-face coordinates
+ dReal quad[8]; // 2D coordinate of incident face (x,y pairs)
+ dReal c1,c2,m11,m12,m21,m22;
+ c1 = dCalcVectorDot3_14 (center,Ra+code1);
+ c2 = dCalcVectorDot3_14 (center,Ra+code2);
+ // optimize this? - we have already computed this data above, but it is not
+ // stored in an easy-to-index format. for now it's quicker just to recompute
+ // the four dot products.
+ m11 = dCalcVectorDot3_44 (Ra+code1,Rb+a1);
+ m12 = dCalcVectorDot3_44 (Ra+code1,Rb+a2);
+ m21 = dCalcVectorDot3_44 (Ra+code2,Rb+a1);
+ m22 = dCalcVectorDot3_44 (Ra+code2,Rb+a2);
+ {
+ dReal k1 = m11*Sb[a1];
+ dReal k2 = m21*Sb[a1];
+ dReal k3 = m12*Sb[a2];
+ dReal k4 = m22*Sb[a2];
+ quad[0] = c1 - k1 - k3;
+ quad[1] = c2 - k2 - k4;
+ quad[2] = c1 - k1 + k3;
+ quad[3] = c2 - k2 + k4;
+ quad[4] = c1 + k1 + k3;
+ quad[5] = c2 + k2 + k4;
+ quad[6] = c1 + k1 - k3;
+ quad[7] = c2 + k2 - k4;
+ }
- // find the normal and non-normal axis numbers of the reference box
- int codeN,code1,code2;
- if (code <= 3) codeN = code-1; else codeN = code-4;
- if (codeN==0) {
- code1 = 1;
- code2 = 2;
- }
- else if (codeN==1) {
- code1 = 0;
- code2 = 2;
- }
- else {
- code1 = 0;
- code2 = 1;
- }
+ // find the size of the reference face
+ dReal rect[2];
+ rect[0] = Sa[code1];
+ rect[1] = Sa[code2];
- // find the four corners of the incident face, in reference-face coordinates
- dReal quad[8]; // 2D coordinate of incident face (x,y pairs)
- dReal c1,c2,m11,m12,m21,m22;
- c1 = dCalcVectorDot3_14 (center,Ra+code1);
- c2 = dCalcVectorDot3_14 (center,Ra+code2);
- // optimize this? - we have already computed this data above, but it is not
- // stored in an easy-to-index format. for now it's quicker just to recompute
- // the four dot products.
- m11 = dCalcVectorDot3_44 (Ra+code1,Rb+a1);
- m12 = dCalcVectorDot3_44 (Ra+code1,Rb+a2);
- m21 = dCalcVectorDot3_44 (Ra+code2,Rb+a1);
- m22 = dCalcVectorDot3_44 (Ra+code2,Rb+a2);
- {
- dReal k1 = m11*Sb[a1];
- dReal k2 = m21*Sb[a1];
- dReal k3 = m12*Sb[a2];
- dReal k4 = m22*Sb[a2];
- quad[0] = c1 - k1 - k3;
- quad[1] = c2 - k2 - k4;
- quad[2] = c1 - k1 + k3;
- quad[3] = c2 - k2 + k4;
- quad[4] = c1 + k1 + k3;
- quad[5] = c2 + k2 + k4;
- quad[6] = c1 + k1 - k3;
- quad[7] = c2 + k2 - k4;
- }
+ // intersect the incident and reference faces
+ dReal ret[16];
+ int n = intersectRectQuad (rect,quad,ret);
+ if (n < 1) return 0; // this should never happen
- // find the size of the reference face
- dReal rect[2];
- rect[0] = Sa[code1];
- rect[1] = Sa[code2];
-
- // intersect the incident and reference faces
- dReal ret[16];
- int n = intersectRectQuad (rect,quad,ret);
- if (n < 1) return 0; // this should never happen
-
- // convert the intersection points into reference-face coordinates,
- // and compute the contact position and depth for each point. only keep
- // those points that have a positive (penetrating) depth. delete points in
- // the 'ret' array as necessary so that 'point' and 'ret' correspond.
- dReal point[3*8]; // penetrating contact points
- dReal dep[8]; // depths for those points
- dReal det1 = dRecip(m11*m22 - m12*m21);
- m11 *= det1;
- m12 *= det1;
- m21 *= det1;
- m22 *= det1;
- int cnum = 0; // number of penetrating contact points found
- for (j=0; j < n; j++) {
- dReal k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
- dReal k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
- for (i=0; i<3; i++) point[cnum*3+i] =
- center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
- dep[cnum] = Sa[codeN] - dCalcVectorDot3(normal2,point+cnum*3);
- if (dep[cnum] >= 0) {
- ret[cnum*2] = ret[j*2];
- ret[cnum*2+1] = ret[j*2+1];
- cnum++;
- if ((cnum | CONTACTS_UNIMPORTANT) == (flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
- break;
- }
+ // convert the intersection points into reference-face coordinates,
+ // and compute the contact position and depth for each point. only keep
+ // those points that have a positive (penetrating) depth. delete points in
+ // the 'ret' array as necessary so that 'point' and 'ret' correspond.
+ dReal point[3*8]; // penetrating contact points
+ dReal dep[8]; // depths for those points
+ dReal det1 = dRecip(m11*m22 - m12*m21);
+ m11 *= det1;
+ m12 *= det1;
+ m21 *= det1;
+ m22 *= det1;
+ int cnum = 0; // number of penetrating contact points found
+ for (j=0; j < n; j++) {
+ dReal k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
+ dReal k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
+ for (i=0; i<3; i++) point[cnum*3+i] =
+ center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
+ dep[cnum] = Sa[codeN] - dCalcVectorDot3(normal2,point+cnum*3);
+ if (dep[cnum] >= 0) {
+ ret[cnum*2] = ret[j*2];
+ ret[cnum*2+1] = ret[j*2+1];
+ cnum++;
+ if ((cnum | CONTACTS_UNIMPORTANT) == (flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
+ break;
+ }
+ }
}
- }
- if (cnum < 1) {
- return 0; // this should not happen, yet does at times (demo_plane2d single precision).
- }
+ if (cnum < 1) {
+ return 0; // this should not happen, yet does at times (demo_plane2d single precision).
+ }
- // we can't generate more contacts than we actually have
- int maxc = flags & NUMC_MASK;
- if (maxc > cnum) maxc = cnum;
- if (maxc < 1) maxc = 1; // Even though max count must not be zero this check is kept for backward compatibility as this is a public function
+ // we can't generate more contacts than we actually have
+ int maxc = flags & NUMC_MASK;
+ if (maxc > cnum) maxc = cnum;
+ if (maxc < 1) maxc = 1; // Even though max count must not be zero this check is kept for backward compatibility as this is a public function
- if (cnum <= maxc) {
- // we have less contacts than we need, so we use them all
- for (j=0; j < cnum; j++) {
- dContactGeom *con = CONTACT(contact,skip*j);
- for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
- con->depth = dep[j];
+ if (cnum <= maxc) {
+ // we have less contacts than we need, so we use them all
+ for (j=0; j < cnum; j++) {
+ dContactGeom *con = CONTACT(contact,skip*j);
+ for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
+ con->depth = dep[j];
+ }
}
- }
- else {
- dIASSERT(!(flags & CONTACTS_UNIMPORTANT)); // cnum should be generated not greater than maxc so that "then" clause is executed
- // we have more contacts than are wanted, some of them must be culled.
- // find the deepest point, it is always the first contact.
- int i1 = 0;
- dReal maxdepth = dep[0];
- for (i=1; i<cnum; i++) {
- if (dep[i] > maxdepth) {
- maxdepth = dep[i];
- i1 = i;
- }
- }
+ else {
+ dIASSERT(!(flags & CONTACTS_UNIMPORTANT)); // cnum should be generated not greater than maxc so that "then" clause is executed
+ // we have more contacts than are wanted, some of them must be culled.
+ // find the deepest point, it is always the first contact.
+ int i1 = 0;
+ dReal maxdepth = dep[0];
+ for (i=1; i<cnum; i++) {
+ if (dep[i] > maxdepth) {
+ maxdepth = dep[i];
+ i1 = i;
+ }
+ }
- int iret[8];
- cullPoints (cnum,ret,maxc,i1,iret);
+ int iret[8];
+ cullPoints (cnum,ret,maxc,i1,iret);
- for (j=0; j < maxc; j++) {
- dContactGeom *con = CONTACT(contact,skip*j);
- for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
- con->depth = dep[iret[j]];
+ for (j=0; j < maxc; j++) {
+ dContactGeom *con = CONTACT(contact,skip*j);
+ for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
+ con->depth = dep[iret[j]];
+ }
+ cnum = maxc;
}
- cnum = maxc;
- }
- *return_code = code;
- return cnum;
+ *return_code = code;
+ return cnum;
}
int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
- dContactGeom *contact, int skip)
+ dContactGeom *contact, int skip)
{
- dIASSERT (skip >= (int)sizeof(dContactGeom));
- dIASSERT (o1->type == dBoxClass);
- dIASSERT (o2->type == dBoxClass);
- dIASSERT ((flags & NUMC_MASK) >= 1);
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dBoxClass);
+ dIASSERT (o2->type == dBoxClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
- dVector3 normal;
- dReal depth;
- int code;
- dxBox *b1 = (dxBox*) o1;
- dxBox *b2 = (dxBox*) o2;
- int num = dBoxBox (o1->final_posr->pos,o1->final_posr->R,b1->side, o2->final_posr->pos,o2->final_posr->R,b2->side,
- normal,&depth,&code,flags,contact,skip);
- for (int i=0; i<num; i++) {
- dContactGeom *currContact = CONTACT(contact,i*skip);
- currContact->normal[0] = -normal[0];
- currContact->normal[1] = -normal[1];
- currContact->normal[2] = -normal[2];
- currContact->g1 = o1;
- currContact->g2 = o2;
- currContact->side1 = -1;
- currContact->side2 = -1;
- }
- return num;
+ dVector3 normal;
+ dReal depth;
+ int code;
+ dxBox *b1 = (dxBox*) o1;
+ dxBox *b2 = (dxBox*) o2;
+ int num = dBoxBox (o1->final_posr->pos,o1->final_posr->R,b1->side, o2->final_posr->pos,o2->final_posr->R,b2->side,
+ normal,&depth,&code,flags,contact,skip);
+ for (int i=0; i<num; i++) {
+ dContactGeom *currContact = CONTACT(contact,i*skip);
+ currContact->normal[0] = -normal[0];
+ currContact->normal[1] = -normal[1];
+ currContact->normal[2] = -normal[2];
+ currContact->g1 = o1;
+ currContact->g2 = o2;
+ currContact->side1 = -1;
+ currContact->side2 = -1;
+ }
+ return num;
}
int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
- int flags, dContactGeom *contact, int skip)
+ int flags, dContactGeom *contact, int skip)
{
- dIASSERT (skip >= (int)sizeof(dContactGeom));
- dIASSERT (o1->type == dBoxClass);
- dIASSERT (o2->type == dPlaneClass);
- dIASSERT ((flags & NUMC_MASK) >= 1);
+ dIASSERT (skip >= (int)sizeof(dContactGeom));
+ dIASSERT (o1->type == dBoxClass);
+ dIASSERT (o2->type == dPlaneClass);
+ dIASSERT ((flags & NUMC_MASK) >= 1);
- dxBox *box = (dxBox*) o1;
- dxPlane *plane = (dxPlane*) o2;
+ dxBox *box = (dxBox*) o1;
+ dxPlane *plane = (dxPlane*) o2;
- contact->g1 = o1;
- contact->g2 = o2;
- contact->side1 = -1;
- contact->side2 = -1;
-
- int ret = 0;
+ contact->g1 = o1;
+ contact->g2 = o2;
+ contact->side1 = -1;
+ contact->side2 = -1;
- //@@@ problem: using 4-vector (plane->p) as 3-vector (normal).
- const dReal *R = o1->final_posr->R; // rotation of box
- const dReal *n = plane->p; // normal vector
+ int ret = 0;
- // project sides lengths along normal vector, get absolute values
- dReal Q1 = dCalcVectorDot3_14(n,R+0);
- dReal Q2 = dCalcVectorDot3_14(n,R+1);
- dReal Q3 = dCalcVectorDot3_14(n,R+2);
- dReal A1 = box->side[0] * Q1;
- dReal A2 = box->side[1] * Q2;
- dReal A3 = box->side[2] * Q3;
- dReal B1 = dFabs(A1);
- dReal B2 = dFabs(A2);
- dReal B3 = dFabs(A3);
+ //@@@ problem: using 4-vector (plane->p) as 3-vector (normal).
+ const dReal *R = o1->final_posr->R; // rotation of box
+ const dReal *n = plane->p; // normal vector
- // early exit test
- dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dCalcVectorDot3(n,o1->final_posr->pos);
- if (depth < 0) return 0;
+ // project sides lengths along normal vector, get absolute values
+ dReal Q1 = dCalcVectorDot3_14(n,R+0);
+ dReal Q2 = dCalcVectorDot3_14(n,R+1);
+ dReal Q3 = dCalcVectorDot3_14(n,R+2);
+ dReal A1 = box->side[0] * Q1;
+ dReal A2 = box->side[1] * Q2;
+ dReal A3 = box->side[2] * Q3;
+ dReal B1 = dFabs(A1);
+ dReal B2 = dFabs(A2);
+ dReal B3 = dFabs(A3);
- // find number of contacts requested
- int maxc = flags & NUMC_MASK;
- // if (maxc < 1) maxc = 1; // an assertion is made on entry
- if (maxc > 4) maxc = 4; // not more than 4 contacts per box allowed
+ // early exit test
+ dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dCalcVectorDot3(n,o1->final_posr->pos);
+ if (depth < 0) return 0;
- // find deepest point
- dVector3 p;
- p[0] = o1->final_posr->pos[0];
- p[1] = o1->final_posr->pos[1];
- p[2] = o1->final_posr->pos[2];
+ // find number of contacts requested
+ int maxc = flags & NUMC_MASK;
+ // if (maxc < 1) maxc = 1; // an assertion is made on entry
+ if (maxc > 4) maxc = 4; // not more than 4 contacts per box allowed
+
+ // find deepest point
+ dVector3 p;
+ p[0] = o1->final_posr->pos[0];
+ p[1] = o1->final_posr->pos[1];
+ p[2] = o1->final_posr->pos[2];
#define FOO(i,op) \
- p[0] op REAL(0.5)*box->side[i] * R[0+i]; \
- p[1] op REAL(0.5)*box->side[i] * R[4+i]; \
- p[2] op REAL(0.5)*box->side[i] * R[8+i];
+ p[0] op REAL(0.5)*box->side[i] * R[0+i]; \
+ p[1] op REAL(0.5)*box->side[i] * R[4+i]; \
+ p[2] op REAL(0.5)*box->side[i] * R[8+i];
#define BAR(i,iinc) if (A ## iinc > 0) { FOO(i,-=) } else { FOO(i,+=) }
- BAR(0,1);
- BAR(1,2);
- BAR(2,3);
+ BAR(0,1);
+ BAR(1,2);
+ BAR(2,3);
#undef FOO
#undef BAR
- // the deepest point is the first contact point
- contact->pos[0] = p[0];
- contact->pos[1] = p[1];
- contact->pos[2] = p[2];
- contact->depth = depth;
- ret = 1; // ret is number of contact points found so far
- if (maxc == 1) goto done;
+ // the deepest point is the first contact point
+ contact->pos[0] = p[0];
+ contact->pos[1] = p[1];
+ contact->pos[2] = p[2];
+ contact->depth = depth;
+ ret = 1; // ret is number of contact points found so far
+ if (maxc == 1) goto done;
- // get the second and third contact points by starting from `p' and going
- // along the two sides with the smallest projected length.
+ // get the second and third contact points by starting from `p' and going
+ // along the two sides with the smallest projected length.
#define FOO(i,j,op) \
- CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \
- CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \
- CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j];
+ CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \
+ CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \
+ CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j];
#define BAR(ctact,side,sideinc) \
- if (depth - B ## sideinc < 0) goto done; \
- if (A ## sideinc > 0) { FOO(ctact,side,+); } else { FOO(ctact,side,-); } \
- CONTACT(contact,ctact*skip)->depth = depth - B ## sideinc; \
- ret++;
+ if (depth - B ## sideinc < 0) goto done; \
+ if (A ## sideinc > 0) { FOO(ctact,side,+); } else { FOO(ctact,side,-); } \
+ CONTACT(contact,ctact*skip)->depth = depth - B ## sideinc; \
+ ret++;
- if (B1 < B2) {
- if (B3 < B1) goto use_side_3; else {
- BAR(1,0,1); // use side 1
- if (maxc == 2) goto done;
- if (B2 < B3) goto contact2_2; else goto contact2_3;
+ if (B1 < B2) {
+ if (B3 < B1) goto use_side_3; else {
+ BAR(1,0,1); // use side 1
+ if (maxc == 2) goto done;
+ if (B2 < B3) goto contact2_2; else goto contact2_3;
+ }
}
- }
- else {
- if (B3 < B2) {
- use_side_3: // use side 3
- BAR(1,2,3);
- if (maxc == 2) goto done;
- if (B1 < B2) goto contact2_1; else goto contact2_2;
- }
else {
- BAR(1,1,2); // use side 2
- if (maxc == 2) goto done;
- if (B1 < B3) goto contact2_1; else goto contact2_3;
+ if (B3 < B2) {
+use_side_3: // use side 3
+ BAR(1,2,3);
+ if (maxc == 2) goto done;
+ if (B1 < B2) goto contact2_1; else goto contact2_2;
+ }
+ else {
+ BAR(1,1,2); // use side 2
+ if (maxc == 2) goto done;
+ if (B1 < B3) goto...
[truncated message content] |
|
From: <ole...@us...> - 2012-03-29 08:48:06
|
Revision: 1881
http://opende.svn.sourceforge.net/opende/?rev=1881&view=rev
Author: oleh_derevenko
Date: 2012-03-29 08:47:56 +0000 (Thu, 29 Mar 2012)
Log Message:
-----------
Header name characters case fixed for compatibility with POSIX systems
Modified Paths:
--------------
trunk/ode/src/threading_impl_win.h
Modified: trunk/ode/src/threading_impl_win.h
===================================================================
--- trunk/ode/src/threading_impl_win.h 2012-03-29 04:43:42 UTC (rev 1880)
+++ trunk/ode/src/threading_impl_win.h 2012-03-29 08:47:56 UTC (rev 1881)
@@ -43,7 +43,7 @@
#if !defined(_WIN32_WINNT)
#define _WIN32_WINNT 0x0400
#endif
-#include <Windows.h>
+#include <windows.h>
#endif // #if dBUILTIN_THREADING_IMPL_ENABLED
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-03-29 04:43:48
|
Revision: 1880
http://opende.svn.sourceforge.net/opende/?rev=1880&view=rev
Author: danielosmari
Date: 2012-03-29 04:43:42 +0000 (Thu, 29 Mar 2012)
Log Message:
-----------
test removed as no alternative implementation is provided
Modified Paths:
--------------
trunk/libccd/configure.ac
Modified: trunk/libccd/configure.ac
===================================================================
--- trunk/libccd/configure.ac 2012-03-29 04:39:41 UTC (rev 1879)
+++ trunk/libccd/configure.ac 2012-03-29 04:43:42 UTC (rev 1880)
@@ -27,7 +27,6 @@
# Checks for library functions.
AC_FUNC_FORK
-AC_FUNC_REALLOC
AC_CHECK_FUNCS([clock_gettime])
use_double=no
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|