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From: <dan...@us...> - 2012-03-29 04:39:49
|
Revision: 1879
http://opende.svn.sourceforge.net/opende/?rev=1879&view=rev
Author: danielosmari
Date: 2012-03-29 04:39:41 +0000 (Thu, 29 Mar 2012)
Log Message:
-----------
removed function tests that we don't use nor provide alternatives
Modified Paths:
--------------
trunk/configure.in
Modified: trunk/configure.in
===================================================================
--- trunk/configure.in 2012-03-17 00:14:15 UTC (rev 1878)
+++ trunk/configure.in 2012-03-29 04:39:41 UTC (rev 1879)
@@ -284,13 +284,8 @@
dnl Check for autoscan sugested functions
AC_CHECK_LIB(m, [main])
AC_CHECK_LIB(sunmath, [main])
-AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf strchr strstr pthread_attr_setstacklazy])
+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
-AC_FUNC_MALLOC
-AC_FUNC_OBSTACK
-AC_FUNC_REALLOC
-AC_FUNC_SELECT_ARGTYPES
-AC_FUNC_VPRINTF
use_ou="yes"
AC_ARG_ENABLE([ou],
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-03-17 00:14:24
|
Revision: 1878
http://opende.svn.sourceforge.net/opende/?rev=1878&view=rev
Author: oleh_derevenko
Date: 2012-03-17 00:14:15 +0000 (Sat, 17 Mar 2012)
Log Message:
-----------
Threaded execution support interface added. Optional built-in threading implementation added.
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/build/config-default.h
trunk/build/premake4.lua
trunk/configure.in
trunk/include/ode/Makefile.am
trunk/include/ode/objects.h
trunk/include/ode/ode.h
trunk/ode/demo/demo_boxstack.cpp
trunk/ode/demo/demo_heightfield.cpp
trunk/ode/demo/demo_moving_trimesh.cpp
trunk/ode/demo/demo_trimesh.cpp
trunk/ode/src/Makefile.am
trunk/ode/src/objects.cpp
trunk/ode/src/objects.h
trunk/ode/src/ode.cpp
trunk/ode/src/odeinit.cpp
trunk/ode/src/util.cpp
trunk/ode/src/util.h
Added Paths:
-----------
trunk/include/ode/threading.h
trunk/include/ode/threading_impl.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.h
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
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/CHANGELOG.txt 2012-03-17 00:14:15 UTC (rev 1878)
@@ -8,6 +8,15 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+03/17/12 Oleh Derevenko
+ * Threaded execution support interface added. Optional built-in threading
+ implementation added.
+ Internal threading implementation is excluded by default and to be used,
+ it must be enabled with configure/premake.
+ At present, if threading interface is assigned to a world, island
+ selection and stepping is performed in multiple threads (one thread per
+ island).
+
03/12/12 Oleh Derevenko
* PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of
dNextAfter()/dCopySign() corrected to avoid creating conflicts with
Modified: trunk/build/config-default.h
===================================================================
--- trunk/build/config-default.h 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/build/config-default.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -18,18 +18,23 @@
* 32 bit indices. Use the dTriIndex type to
* detect the correct index size.
*
- * dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER (experimental)-
- * Use an alternative trimesh-trimesh collider
- * which should yield better results.
+ * dTRIMESH_OPCODE_USE_NEWOLD_TRIMESH_TRIMESH_COLLIDER
+ * Use old implementation of trimesh-trimesh collider
+ * (for backward compatibility only)
*
- * dOU_ENABLED (experimental)
- * dATOMICS_ENABLED (experimental)
- * dTLS_ENABLED (experimental)
+ * dOU_ENABLED - always enabled
+ * dATOMICS_ENABLED - always enabled
+ * dTLS_ENABLED
* Use generic features of OU library, atomic
* API and TLS API respectively. Using TLS for
* global variables allows calling ODE from
* multiple threads.
*
+ * dBUILTIN_THREADING_IMPL_ENABLED
+ * Include built-in multithreaded threading
+ * implementation (still must be created and assigned
+ * to be used).
+ *
******************************************************************/
#define dTRIMESH_ENABLED 1
@@ -38,11 +43,13 @@
#define dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER 0
-/* #define dOU_ENABLED 1 */
-/* #define dATOMICS_ENABLED 1 */
+#define dOU_ENABLED 1
+#define dATOMICS_ENABLED 1
/* #define dTLS_ENABLED 1 */
+/* #define dBUILTIN_THREADING_IMPL_ENABLED 1 */
+
/******************************************************************
* SYSTEM SETTINGS - you shouldn't need to change these. If you
* run into an issue with these settings, please report it to
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/build/premake4.lua 2012-03-17 00:14:15 UTC (rev 1878)
@@ -94,10 +94,15 @@
newoption {
trigger = "with-ou",
- description = "Use TLS for global caches (experimental)"
+ description = "Use TLS for global caches (allows threaded collision checks for separated spaces)"
}
newoption {
+ trigger = "with-builtin-threading-impl",
+ description = "Include built-in multithreaded threading implementation (still must be created and assigned to be used)."
+ }
+
+ newoption {
trigger = "16bit-indices",
description = "Use 16-bit indices for trimeshes (default is 32-bit)"
}
@@ -188,6 +193,8 @@
"../ode/src"
}
+ defines { "_MT" }
+
-- apply the configuration list built above
configurations (configs)
@@ -286,6 +293,11 @@
"../ode/src/collision_std.cpp",
}
+-- Include OU files by default to enable atomics
+-- configuration { "with-ou" }
+ files { "../ou/**.h", "../ou/**.cpp" }
+ defines { "_OU_NAMESPACE=odeou" }
+
configuration { "no-dif" }
excludes { "../ode/src/export-dif.cpp" }
@@ -311,10 +323,6 @@
configuration { "not no-trimesh", "not with-gimpact" }
files { "../OPCODE/**.h", "../OPCODE/**.cpp" }
- configuration { "with-ou" }
- files { "../ou/**.h", "../ou/**.cpp" }
- defines { "_OU_NAMESPACE=odeou" }
-
configuration { "with-libccd" }
files { "../libccd/src/ccd/*.h", "../libccd/src/*.c" }
defines { "dLIBCCD_ENABLED", "dLIBCCD_CYL_CYL" }
@@ -333,6 +341,9 @@
kind "SharedLib"
defines "ODE_DLL"
+ configuration { "*DLL" }
+ defines "_DLL"
+
configuration { "Debug" }
targetname "oded"
@@ -368,11 +379,13 @@
end
if _OPTIONS["with-ou"] then
- text = string.gsub(text, "/%* #define dOU_ENABLED 1 %*/", "#define dOU_ENABLED 1")
- text = string.gsub(text, "/%* #define dATOMICS_ENABLED 1 %*/", "#define dATOMICS_ENABLED 1")
text = string.gsub(text, "/%* #define dTLS_ENABLED 1 %*/", "#define dTLS_ENABLED 1")
end
+ if _OPTIONS["with-builtin-threading-impl"] then
+ text = string.gsub(text, "/%* #define dBUILTIN_THREADING_IMPL_ENABLED 1 %*/", "#define dBUILTIN_THREADING_IMPL_ENABLED 1")
+ end
+
if _OPTIONS["16bit-indices"] then
text = string.gsub(text, "#define dTRIMESH_16BIT_INDICES 0", "#define dTRIMESH_16BIT_INDICES 1")
end
Modified: trunk/configure.in
===================================================================
--- trunk/configure.in 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/configure.in 2012-03-17 00:14:15 UTC (rev 1878)
@@ -284,7 +284,7 @@
dnl Check for autoscan sugested functions
AC_CHECK_LIB(m, [main])
AC_CHECK_LIB(sunmath, [main])
-AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf strchr strstr])
+AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf strchr strstr pthread_attr_setstacklazy])
AC_FUNC_ALLOCA
AC_FUNC_MALLOC
AC_FUNC_OBSTACK
@@ -292,11 +292,12 @@
AC_FUNC_SELECT_ARGTYPES
AC_FUNC_VPRINTF
+use_ou="yes"
AC_ARG_ENABLE([ou],
AS_HELP_STRING([--enable-ou],
- [EXPERIMENTAL: use TLS for global variables to allow for running ODE in multiple threads simultaneously]
+ [use TLS for global caches (allows threaded collision checks for separated spaces)]
),
- use_ou=$enableval,use_ou=no)
+ use_ou_tls=$enableval,use_ou_tls=no)
if test x$use_ou = xyes
then
OU_NAMESPACE=odeou
@@ -304,7 +305,10 @@
AC_DEFINE([_OU_NAMESPACE],[odeou],[libou namespace for ODE])
AC_DEFINE([dOU_ENABLED],[1],[Generic OU features are enabled])
AC_DEFINE([dATOMICS_ENABLED],[1],[Atomic API of OU is enabled])
- AC_DEFINE([dTLS_ENABLED],[1],[Thread Local Storage API of OU is enabled])
+ if test x$use_ou_tls = xyes
+ then
+ AC_DEFINE([dTLS_ENABLED],[1],[Thread Local Storage API of OU is enabled])
+ fi
case "$host_os" in
cygwin* | mingw*)
@@ -346,6 +350,15 @@
AC_CONFIG_SUBDIRS([ou])
AM_CONDITIONAL(ENABLE_OU, test x$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
@@ -530,7 +543,8 @@
echo " Is target a Pentium: $pentium"
echo " Is target x86-64: $cpu64"
echo " Use old opcode trimesh collider: $old_trimesh"
-echo " TLS for global data: $use_ou"
+echo " 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"
Modified: trunk/include/ode/Makefile.am
===================================================================
--- trunk/include/ode/Makefile.am 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/include/ode/Makefile.am 2012-03-17 00:14:15 UTC (rev 1878)
@@ -20,6 +20,8 @@
export-dif.h \
ode.h \
timer.h \
+ threading.h \
+ threading_impl.h \
odeconfig.h
EXTRA_DIST = README
Modified: trunk/include/ode/objects.h
===================================================================
--- trunk/include/ode/objects.h 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/include/ode/objects.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -26,6 +26,7 @@
#include <ode/common.h>
#include <ode/mass.h>
#include <ode/contact.h>
+#include <ode/threading.h>
#ifdef __cplusplus
extern "C" {
@@ -116,7 +117,44 @@
ODE_API dReal dWorldGetCFM (dWorldID);
+#define dWORLDSTEP_THREADCOUNT_UNLIMITED 0U
+
/**
+ * @brief Set maximum threads to be used for island stepping
+ *
+ * The actual number of threads that is going to be used will be the minimum
+ * of this limit and number of threads in the threading pool. By default
+ * there is no limit (@c dWORLDSTEP_THREADCOUNT_UNLIMITED).
+ *
+ * @warning
+ * WARNING! Running island stepping in multiple threads requires allocating
+ * individual stepping memory buffer for each of those threads. The size of buffers
+ * allocated is the size needed to handle the largest island in the world.
+ *
+ * Note: Setting a limit for island stepping does not affect threading at lower
+ * levels in stepper functions. The sub-calls scheduled from them can be executed
+ * in as many threads as there are available in the pool.
+ *
+ * @param w The world affected
+ * @param count Thread count limit value for island stepping
+ * @ingroup world
+ * @see dWorldGetStepIslandsProcessingMaxThreadCount
+ */
+ODE_API void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count);
+/**
+ * @brief Get maximum threads that are allowed to be used for island stepping.
+ *
+ * Please read commentaries to @c dWorldSetStepIslandsProcessingMaxThreadCount for
+ * important information regarding the value returned.
+ *
+ * @param w The world queried
+ * @returns Current thread count limit value for island stepping
+ * @ingroup world
+ * @see dWorldSetStepIslandsProcessingMaxThreadCount
+ */
+ODE_API unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w);
+
+/**
* @brief Set the world to use shared working memory along with another world.
*
* The worlds allocate working memory internally for simulation stepping. This
@@ -141,6 +179,11 @@
* policy and memory manager. Thus, these parameters need to be customized for
* initial world to be used as sharing source only.
*
+ * If worlds share working memory they must also use compatible threading implementations
+ * (i.e. it is illegal for one world to perform stepping with self-threaded implementation
+ * when the other world is assigned a multi-threaded implementation).
+ * For more information read section about threading approaches in ODE.
+ *
* Failure result status means a memory allocation failure.
*
* @param w The world to use the shared memory with.
@@ -177,6 +220,7 @@
*/
ODE_API void dWorldCleanupWorkingMemory(dWorldID w);
+
#define dWORLDSTEP_RESERVEFACTOR_DEFAULT 1.2f
#define dWORLDSTEP_RESERVESIZE_DEFAULT 65536U
@@ -287,6 +331,22 @@
ODE_API int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs);
/**
+ * @brief Assign threading implementation to be used for [quick]stepping the world.
+ *
+ * @warning It is not recommended to assign the same threading implementation to
+ * different worlds if they are going to be called in parallel. In particular this
+ * makes resources preallocation for threaded calls to lose its sense.
+ * Built-in threading implementation is likely to crash if misused this way.
+ *
+ * @param w The world to change threading implementation for.
+ * @param functions_info Pointer to threading functions structure
+ * @param threading_impl ID of threading implementation object
+ *
+ * @ingroup world
+ */
+ODE_API void dWorldSetStepThreadingImplementation(dWorldID w, const dThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl);
+
+/**
* @brief Step the world.
*
* This uses a "big matrix" method that takes time on the order of m^3
Modified: trunk/include/ode/ode.h
===================================================================
--- trunk/include/ode/ode.h 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/include/ode/ode.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -42,6 +42,8 @@
#include <ode/odecpp.h>
#include <ode/collision_space.h>
#include <ode/collision.h>
+#include <ode/threading.h>
+#include <ode/threading_impl.h>
#include <ode/odecpp_collision.h>
#include <ode/export-dif.h>
Added: trunk/include/ode/threading.h
===================================================================
--- trunk/include/ode/threading.h (rev 0)
+++ trunk/include/ode/threading.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -0,0 +1,405 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: ru...@q1... Web: www.q12.org *
+ * *
+ * Threading support header file. *
+ * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. *
+ * e-mail: od...@el... (change all "a" to "e") *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+/*
+ * ODE threading support interfaces
+ */
+
+
+#ifndef _ODE_THREADING_H_
+#define _ODE_THREADING_H_
+
+#include <ode/odeconfig.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+struct dxThreadingImplementation;
+typedef struct dxThreadingImplementation *dThreadingImplementationID;
+
+typedef unsigned dmutexindex_t;
+struct dxMutexGroup;
+typedef struct dxMutexGroup *dMutexGroupID;
+
+/**
+ * @brief Allocates a group of muteces.
+ *
+ * The Mutex allocated do not need to support recursive locking.
+ *
+ * The Mutex names are provided to aid in debugging and thread state tracking.
+ *
+ * @param impl Threading implementation ID
+ * @param Mutex_count Number of Mutex to create
+ * @Mutex_names_ptr Pointer to optional Mutex names array to be associated with individual Mutex
+ * @returns MutexGroup ID or NULL if error occurred.
+ *
+ * @ingroup threading
+ * @see dMutexGroupFreeFunction
+ * @see dMutexGroupMutexLockFunction
+ * @see dMutexGroupMutexUnlockFunction
+ */
+typedef dMutexGroupID dMutexGroupAllocFunction (dThreadingImplementationID impl, dmutexindex_t Mutex_count, const char *const *Mutex_names_ptr/*=NULL*/);
+
+/**
+ * @brief Deletes a group of muteces.
+ *
+ * @param impl Threading implementation ID
+ * @param mutex_group Mutex group to deallocate
+ *
+ * @ingroup threading
+ * @see dMutexGroupAllocFunction
+ * @see dMutexGroupMutexLockFunction
+ * @see dMutexGroupMutexUnlockFunction
+ */
+typedef void dMutexGroupFreeFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group);
+
+/**
+ * @brief Locks a mutex in a group of muteces.
+ *
+ * The function is to block execution until requested mutex can be locked.
+ *
+ * Note: Mutex provided may not support recursive locking. Calling this function
+ * while mutex is already locked by current thread will result in unpredictable behavior.
+ *
+ * @param impl Threading implementation ID
+ * @param mutex_group Mutex group to use for locking
+ * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1)
+ *
+ * @ingroup threading
+ * @see dMutexGroupAllocFunction
+ * @see dMutexGroupFreeFunction
+ * @see dMutexGroupMutexUnlockFunction
+ */
+typedef void dMutexGroupMutexLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);
+
+/**
+ * @brief Attempts to lock a mutex in a group of muteces.
+ *
+ * The function is to lock the requested mutex if it is unoccupied or
+ * immediately return failure if mutex is already locked by other thread.
+ *
+ * Note: Mutex provided may not support recursive locking. Calling this function
+ * while mutex is already locked by current thread will result in unpredictable behavior.
+ *
+ * @param impl Threading implementation ID
+ * @param mutex_group Mutex group to use for locking
+ * @param mutex_index The index of mutex to be locked (0..Mutex_count - 1)
+ * @returns 1 for success (mutex is locked) and 0 for failure (mutex is not locked)
+ *
+ * @ingroup threading
+ * @see dMutexGroupAllocFunction
+ * @see dMutexGroupFreeFunction
+ * @see dMutexGroupMutexLockFunction
+ * @see dMutexGroupMutexUnlockFunction
+ */
+// typedef int dMutexGroupMutexTryLockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);
+
+/**
+ * @brief Unlocks a mutex in a group of muteces.
+ *
+ * The function is to unlock the given mutex provided it had been locked before.
+ *
+ * @param impl Threading implementation ID
+ * @param mutex_group Mutex group to use for unlocking
+ * @param mutex_index The index of mutex to be unlocked (0..Mutex_count - 1)
+ *
+ * @ingroup threading
+ * @see dMutexGroupAllocFunction
+ * @see dMutexGroupFreeFunction
+ * @see dMutexGroupMutexLockFunction
+ */
+typedef void dMutexGroupMutexUnlockFunction (dThreadingImplementationID impl, dMutexGroupID mutex_group, dmutexindex_t mutex_index);
+
+
+struct dxCallReleasee;
+typedef struct dxCallReleasee *dCallReleaseeID;
+
+struct dxCallWait;
+typedef struct dxCallWait *dCallWaitID;
+
+typedef size_t ddependencycount_t;
+typedef ptrdiff_t ddependencychange_t;
+typedef size_t dcallindex_t;
+typedef int dThreadedCallFunction(void *call_context, dcallindex_t instance_index,
+ dCallReleaseeID this_releasee);
+
+typedef struct dxThreadedWaitTime
+{
+ time_t wait_sec;
+ unsigned long wait_nsec;
+
+} dThreadedWaitTime;
+
+
+/**
+ * @brief Allocates a Wait ID that can be used to wait for a call.
+ *
+ * @param impl Threading implementation ID
+ * @returns Wait ID or NULL if error occurred
+ *
+ * @ingroup threading
+ * @see dThreadedCallWaitResetFunction
+ * @see dThreadedCallWaitFreeFunction
+ * @see dThreadedCallPostFunction
+ * @see dThreadedCallWaitFunction
+ */
+typedef dCallWaitID dThreadedCallWaitAllocFunction(dThreadingImplementationID impl);
+
+/**
+ * @brief Resets a Wait ID so that it could be used to wait for another call.
+ *
+ * @param impl Threading implementation ID
+ * @param call_wait Wait ID to reset
+ *
+ * @ingroup threading
+ * @see dThreadedCallWaitAllocFunction
+ * @see dThreadedCallWaitFreeFunction
+ * @see dThreadedCallPostFunction
+ * @see dThreadedCallWaitFunction
+ */
+typedef void dThreadedCallWaitResetFunction(dThreadingImplementationID impl, dCallWaitID call_wait);
+
+/**
+ * @brief Frees a Wait ID.
+ *
+ * @param impl Threading implementation ID
+ * @param call_wait Wait ID to delete
+ *
+ * @ingroup threading
+ * @see dThreadedCallWaitAllocFunction
+ * @see dThreadedCallPostFunction
+ * @see dThreadedCallWaitFunction
+ */
+typedef void dThreadedCallWaitFreeFunction(dThreadingImplementationID impl, dCallWaitID call_wait);
+
+
+/**
+ * @brief Post a function to be called in another thread.
+ *
+ * A call is scheduled to be executed asynchronously.
+ *
+ * A @a out_summary_fault variable can be provided for call to accumulate any
+ * possible faults from its execution and execution of any possible sub-calls.
+ * This variable gets result that @a call_func returns. Also, if dependent calls
+ * are executed after the call already exits, the variable is also going to be
+ * updated with results of all those calls before control is released to master.
+ *
+ * @a out_post_releasee parameter receives a value of @c dCallReleaseeID that can
+ * later be used for @a dependent_releasee while scheduling sub-calls to make
+ * current call depend on them. The value is only returned if @a dependencies_count
+ * is not zero (i.e. if any dependencies are expected at all). The call is not going
+ * to start until all its dependencies complete.
+ *
+ * In case if number of dependencies is unknown in advance 1 can be passed on call
+ * scheduling. Then @c dThreadedCallDependenciesCountAlterFunction can be used to
+ * add one more extra dependencies before scheduling each subcall. And then, after
+ * all sub-calls had been scheduled, @c dThreadedCallDependenciesCountAlterFunction
+ * can be used again to subtract initial extra dependency from total number.
+ * Adding one dependency in advance is necessary to obtain releasee ID and to make
+ * sure the call will not start and will not terminate before all sub-calls are scheduled.
+ *
+ * Extra dependencies can also be added from the call itself after it has already
+ * been started (with parameter received in @c dThreadedCallFunction).
+ * In that case those dependencies will start immediately or after call returns
+ * but the call's master will not be released/notified until all additional
+ * dependencies complete. This can be used to schedule sub-calls from a call and
+ * then pass own job to another sub-call dependent on those initial sub-calls.
+ *
+ * By using @ call_wait it is possible to assign a Wait ID that can later
+ * be passed into @c dThreadedCallWaitFunction to wait for call completion.
+ *
+ * If @a call_name is available (and it should!) the string must remain valid until
+ * after call completion. In most cases this should be a static string literal.
+ *
+ * Since the function is an analogue of normal method call it is not supposed to fail.
+ * Any complications with resource allocation on call scheduling should be
+ * anticipated, avoided and worked around by implementation.
+ *
+ * @param impl Threading implementation ID
+ * @param out_summary_fault Optional pointer to variable to be set to 1 if function
+ * call (or any sub-call) fails internally, or 0 if all calls return success
+ * @param out_post_releasee Optional pointer to variable to receive releasee ID
+ * associated with the call
+ * @param dependencies_count Number of dependencies that are going to reference
+ * this call as dependent releasee
+ * @param dependent_releasee Optional releasee ID to reference with this call
+ * @param call_wait Optional Wait ID that can later be used to wait for the call
+ * @param call_func Pointer to function to be called
+ * @param call_context Context parameter to be passed into the call
+ * @param instance_index Index parameter to be passed into the call
+ * @param call_name Optional name to be associated with the call (for debugging and state tracking)
+ *
+ * @ingroup threading
+ * @see dThreadedCallWaitFunction
+ * @see dThreadedCallDependenciesCountAlterFunction
+ * @see dThreadingImplResourcesForCallsPreallocateFunction
+ */
+typedef void dThreadedCallPostFunction(dThreadingImplementationID impl, int *out_summary_fault/*=NULL*/,
+ dCallReleaseeID *out_post_releasee/*=NULL*/, ddependencycount_t dependencies_count, dCallReleaseeID dependent_releasee/*=NULL*/,
+ dCallWaitID call_wait/*=NULL*/,
+ dThreadedCallFunction *call_func, void *call_context, dcallindex_t instance_index,
+ const char *call_name/*=NULL*/);
+
+/**
+ * @brief Add or remove extra dependencies from call that has been scheduled
+ * or is in process of execution.
+ *
+ * Extra dependencies can be added to a call if exact number of sub-calls is
+ * not known in advance at the moment the call is scheduled. Also, some dependencies
+ * can be removed if sub-calls were planned but then dropped.
+ *
+ * In case if total dependency count of a call reaches zero by result of invoking
+ * this function, the call is free to start executing immediately.
+ *
+ * After the call execution had been started, any additional dependencies can only
+ * be added from the call function itself!
+ *
+ * @param impl Threading implementation ID
+ * @param target_releasee ID of releasee to apply dependencies count change to
+ * @param dependencies_count_change Number of dependencies to add or remove
+ *
+ * @ingroup threading
+ * @see dThreadedCallPostFunction
+ */
+typedef void dThreadedCallDependenciesCountAlterFunction(dThreadingImplementationID impl, dCallReleaseeID target_releasee,
+ ddependencychange_t dependencies_count_change);
+
+/**
+ * @brief Wait for a posted call to complete.
+ *
+ * Function blocks until a call identified by @a call_wait completes or
+ * timeout elapses.
+ *
+ * IT IS ILLEGAL TO INVOKE THIS FUNCTION FROM WITHIN A THREADED CALL!
+ * This is because doing so will block a physical thread and will require
+ * increasing worker thread count to avoid starvation. Use call dependencies
+ * if it is necessary make sure sub-calls have been completed instead!
+ *
+ * If @a timeout_time_ptr is NULL, the function waits without time limit. If @a timeout_time_ptr
+ * points to zero value, the function only checks status and does not block.
+ *
+ * If @a wait_name is available (and it should!) the string must remain valid for
+ * the duration of wait. In most cases this should be a static string literal.
+ *
+ * Function is not expected to return failures caused by system call faults as
+ * those are hardly ever possible to be handled in this case anyway. In event of
+ * system call fault the function is supposed to terminate application.
+ *
+ * @param impl Threading implementation ID
+ * @param out_wait_status Optional pointer to variable to receive 1 if waiting succeeded
+ * or 0 in case of timeout
+ * @param call_wait Wait ID that had been passed to scheduling a call that needs to be waited for
+ * @param timeout_time_ptr Optional pointer to time specification the wait must not
+ * last longer than (pass NULL for infinite timeout)
+ * @param wait_name Optional name to be associated with the wait (for debugging and state tracking)
+ *
+ * @ingroup threading
+ * @see dThreadedCallPostFunction
+ */
+typedef void dThreadedCallWaitFunction(dThreadingImplementationID impl, int *out_wait_status/*=NULL*/,
+ dCallWaitID call_wait, const dThreadedWaitTime *timeout_time_ptr/*=NULL*/,
+ const char *wait_name/*=NULL*/);
+
+/**
+ * @brief Retrieve number of active threads that serve the implementation.
+ *
+ * @param impl Threading implementation ID
+ * @returns Number of active threads
+ *
+ * @ingroup threading
+ */
+typedef unsigned dThreadingImplThreadCountRetrieveFunction(dThreadingImplementationID impl);
+
+/**
+ * @brief Preallocate resources to handle posted calls.
+ *
+ * The function is intended to make sure enough resources is preallocated for the
+ * implementation to be able to handle posted calls. Then @c max_simultaneous_calls_estimate
+ * is an estimate of how many posted calls can potentially be active or scheduled
+ * at the same time. The value is usually derived from the way the calls are posted
+ * in library code and dependencies between them.
+ *
+ * @warning While working on an implementation be prepared that the estimate provided
+ * yet rarely but theoretically can be exceeded due to unpredictability of thread execution.
+ *
+ * This function is normally going to be invoked by library each time it is entered
+ * from outside to do the job but before any threaded calls are going to be posted.
+ *
+ * @param impl Threading implementation ID
+ * @param max_simultaneous_calls_estimate An estimated number of calls that can be posted simultaneously
+ * @returns 1 or 0 to indicate success or failure
+ *
+ * @ingroup threading
+ * @see dThreadedCallPostFunction
+ */
+typedef int dThreadingImplResourcesForCallsPreallocateFunction(dThreadingImplementationID impl,
+ ddependencycount_t max_simultaneous_calls_estimate);
+
+
+/**
+ * @brief An interface structure with function pointers to be provided by threading implementation.
+ */
+typedef struct dxThreadingFunctionsInfo
+{
+ unsigned struct_size;
+
+ dMutexGroupAllocFunction *alloc_mutex_group;
+ dMutexGroupFreeFunction *free_mutex_group;
+ dMutexGroupMutexLockFunction *lock_group_mutex;
+ dMutexGroupMutexUnlockFunction *unlock_group_mutex;
+
+ dThreadedCallWaitAllocFunction *alloc_call_wait;
+ dThreadedCallWaitResetFunction *reset_call_wait;
+ dThreadedCallWaitFreeFunction *free_call_wait;
+
+ dThreadedCallPostFunction *post_call;
+ dThreadedCallDependenciesCountAlterFunction *alter_call_dependencies_count;
+ dThreadedCallWaitFunction *wait_call;
+
+ dThreadingImplThreadCountRetrieveFunction *retrieve_thread_count;
+ dThreadingImplResourcesForCallsPreallocateFunction *preallocate_resources_for_calls;
+
+ /*
+ * Beware of Jon Watte's anger if you dare to uncomment this!
+ * May cryptic text below be you a warning!
+ * Стародавні легенди розказують, що кожного сміливця, хто наважиться порушити табу
+ * і відкрити заборонений код, спіткає страшне прокляття і він відразу почне робити
+ * одні лиш помилки.
+ *
+ * dMutexGroupMutexTryLockFunction *trylock_group_mutex;
+ */
+
+} dThreadingFunctionsInfo;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // #ifndef _ODE_THREADING_H_
Property changes on: trunk/include/ode/threading.h
___________________________________________________________________
Added: svn:mime-type
+ text/cpp
Added: svn:eol-style
+ native
Added: trunk/include/ode/threading_impl.h
===================================================================
--- trunk/include/ode/threading_impl.h (rev 0)
+++ trunk/include/ode/threading_impl.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -0,0 +1,264 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: ru...@q1... Web: www.q12.org *
+ * *
+ * Builtin ODE threading implementation header. *
+ * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. *
+ * e-mail: od...@el... (change all "a" to "e") *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+/*
+ * A threading implementation built into ODE for those who does not care to
+ * or can't implement an own one.
+ */
+
+#ifndef _ODE_THREADING_IMPL_H_
+#define _ODE_THREADING_IMPL_H_
+
+
+#include <ode/odeconfig.h>
+#include <ode/threading.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+struct dxThreadingThreadPool;
+typedef struct dxThreadingThreadPool *dThreadingThreadPoolID;
+
+
+/**
+ * @brief Allocates built-in multi-threaded threading implementation object.
+ *
+ * A multi-threaded implementation is a type of implementation that has to be
+ * served with a thread pool. The thread pool can be either the built-in ODE object
+ * or set of external threads that dedicate themselves to this purpose and stay
+ * in ODE until implementation releases them.
+ *
+ * @returns ID of object allocated or NULL on failure
+ *
+ * @ingroup threading
+ * @see dThreadingThreadPoolServeMultiThreadedImplementation
+ * @see dExternalThreadingServeMultiThreadedImplementation
+ * @see dThreadingFreeImplementation
+ */
+ODE_API dThreadingImplementationID dThreadingAllocateMultiThreadedImplementation();
+
+/**
+ * @brief Retrieves the functions record of a built-in threading implementation.
+ *
+ * The implementation can be the one allocated by ODE (from @c dThreadingAllocateMultiThreadedImplementation).
+ * Do not use this function with self-made custom implementations -
+ * they should be bundled with their own set of functions.
+ *
+ * @param impl Threading implementation ID
+ * @returns Pointer to associated functions structure
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateMultiThreadedImplementation
+ */
+ODE_API const dThreadingFunctionsInfo *dThreadingImplementationGetFunctions(dThreadingImplementationID impl);
+
+/**
+ * @brief Requests a built-in implementation to release threads serving it.
+ *
+ * The function unblocks threads employed in implementation serving and lets them
+ * return to from where they originate. It's the responsibility of external code
+ * to make sure all the calls to ODE that might be dependent on given threading
+ * implementation object had already returned before this call is made. If threading
+ * implementation is still processing some posted calls while this function is
+ * invoked the behavior is implementation dependent.
+ *
+ * This call is to be used to request the threads to be released before waiting
+ * for them in host pool or before waiting for them to exit. Implementation object
+ * must not be destroyed before it is known that all the serving threads have already
+ * returned from it. If implementation needs to be reused after this function is called
+ * and all the threads have exited from it a call to @c dThreadingImplementationCleanupForRestart
+ * must be made to restore internal state of the object.
+ *
+ * If this function is called for self-threaded built-in threading implementation
+ * the call has no effect.
+ *
+ * @param impl Threading implementation ID
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateMultiThreadedImplementation
+ * @see dThreadingImplementationCleanupForRestart
+ */
+ODE_API void dThreadingImplementationShutdownProcessing(dThreadingImplementationID impl);
+
+/**
+ * @brief Restores built-in implementation's state to let it be reused after shutdown.
+ *
+ * If a multi-threaded built-in implementation needs to be reused after a call
+ * to @c dThreadingImplementationShutdownProcessing this call is to be made to
+ * restore object's internal state. After that the implementation can be served again.
+ *
+ * If this function is called for self-threaded built-in threading implementation
+ * the call has no effect.
+ *
+ * @param impl Threading implementation ID
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateMultiThreadedImplementation
+ * @see dThreadingImplementationShutdownProcessing
+ */
+ODE_API void dThreadingImplementationCleanupForRestart(dThreadingImplementationID impl);
+
+/**
+ * @brief Deletes an instance of built-in threading implementation.
+ *
+ * @warning A care must be taken to make sure the implementation is unassigned
+ * from all the objects it was assigned to and that there are no more threads
+ * serving it before attempting to call this function.
+ *
+ * @param impl Threading implementation ID
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateMultiThreadedImplementation
+ */
+ODE_API void dThreadingFreeImplementation(dThreadingImplementationID impl);
+
+
+typedef void (dThreadReadyToServeCallback)(void *callback_context);
+
+/**
+ * @brief An entry point for external threads that would like to serve a built-in
+ * threading implementation object.
+ *
+ * A thread that calls this function remains blocked in ODE and serves implementation
+ * object @p impl until being released with @c dThreadingImplementationShutdownProcessing call.
+ * This function can be used to provide external threads instead of ODE's built-in
+ * thread pools.
+ *
+ * The optional callback @readiness_callback is called after the thread has reached
+ * and has registered within the implementation. The implementation should not
+ * be used until all dedicated threads register within it as otherwise it will not
+ * have accurate view of the execution resources available.
+ *
+ * @param impl Threading implementation ID
+ * @param readiness_callback Optional readiness callback to be called after thread enters the implementation
+ * @param callback_context A value to be passed as parameter to readiness callback
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateMultiThreadedImplementation
+ * @see dThreadingImplementationShutdownProcessing
+ */
+ODE_API void dExternalThreadingServeMultiThreadedImplementation(dThreadingImplementationID impl,
+ dThreadReadyToServeCallback *readiness_callback/*=NULL*/, void *callback_context/*=NULL*/);
+
+
+/**
+ * @brief Creates an instance of built-in thread pool object that can be used to serve
+ * multi-threaded threading implementations.
+ *
+ * The threads allocated inherit priority of caller thread. Their affinity is not
+ * explicitly adjusted and gets the value the system assigns by default. Threads
+ * have their stack memory fully committed immediately on start. On POSIX platforms
+ * threads are started with all the possible signals blocked. Threads execute
+ * calls to @c dAllocateODEDataForThread with @p ode_data_allocate_flags
+ * on initialization.
+ *
+ * On POSIX platforms this function must be called with signals masked
+ * or other measures must be taken to prevent reception of signals by calling thread
+ * for the duration of the call.
+ *
+ * @param thread_count Number of threads to start in pool
+ * @param stack_size Size of stack to be used for every thread or 0 for system default value
+ * @param ode_data_allocate_flags Flags to be passed to @c dAllocateODEDataForThread on behalf of each thread
+ * @returns ID of object allocated or NULL on failure
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateMultiThreadedImplementation
+ * @see dThreadingImplementationShutdownProcessing
+ * @see dThreadingFreeThreadPool
+ */
+ODE_API dThreadingThreadPoolID dThreadingAllocateThreadPool(unsigned thread_count,
+ size_t stack_size, unsigned int ode_data_allocate_flags, void *reserved/*=NULL*/);
+
+/**
+ * @brief Commands an instance of built-in thread pool to serve a built-in multi-threaded
+ * threading implementation.
+ *
+ * A pool can only serve one threading implementation at a time.
+ * Call @c dThreadingImplementationShutdownProcessing to release pool threads
+ * from implementation serving and make them idle. Pool threads must be released
+ * from any implementations before pool is attempted to be deleted.
+ *
+ * This function waits for threads to register within implementation before returning.
+ * So, after the function call exits the implementation can be used immediately.
+ *
+ * @param pool Thread pool ID to serve the implementation
+ * @param impl Implementation ID of implementation to be served
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateThreadPool
+ * @see dThreadingAllocateMultiThreadedImplementation
+ * @see dThreadingImplementationShutdownProcessing
+ */
+ODE_API void dThreadingThreadPoolServeMultiThreadedImplementation(dThreadingThreadPoolID pool, dThreadingImplementationID impl);
+
+/**
+ * @brief Waits until all pool threads are released from threading implementation
+ * they might be serving.
+ *
+ * The function can be used after a call to @c dThreadingImplementationShutdownProcessing
+ * to make sure all the threads have already been released by threading implementation
+ * and it can be deleted or it can be cleaned up for restart and served by another pool
+ * or this pool's threads can be used to serve another threading implementation.
+ *
+ * Note that is it not necessary to call this function before pool destruction
+ * since @c dThreadingFreeThreadPool performs similar wait operation implicitly on its own.
+ *
+ * It is OK to call this function even if pool was not serving any threading implementation
+ * in which case the call exits immediately with minimal delay.
+ *
+ * @param pool Thread pool ID to wait for
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateThreadPool
+ * @see dThreadingImplementationShutdownProcessing
+ * @see dThreadingFreeThreadPool
+ */
+ODE_API void dThreadingThreadPoolWaitIdleState(dThreadingThreadPoolID pool);
+
+/**
+ * @brief Deletes a built-in thread pool instance.
+ *
+ * The pool threads must be released from any implementations they might be serving
+ * before this function is called. Otherwise the call is going to block
+ * and wait until pool's threads return.
+ *
+ * @param pool Thread pool ID to delete
+ *
+ * @ingroup threading
+ * @see dThreadingAllocateThreadPool
+ * @see dThreadingImplementationShutdownProcessing
+ */
+ODE_API void dThreadingFreeThreadPool(dThreadingThreadPoolID pool);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // #ifndef _ODE_THREADING_IMPL_H_
Property changes on: trunk/include/ode/threading_impl.h
___________________________________________________________________
Added: svn:mime-type
+ text/cpp
Added: svn:eol-style
+ native
Modified: trunk/ode/demo/demo_boxstack.cpp
===================================================================
--- trunk/ode/demo/demo_boxstack.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/demo/demo_boxstack.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -648,9 +648,20 @@
dCreatePlane (space,0,0,1,0);
memset (obj,0,sizeof(obj));
+ dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+ dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+ dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+ // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+ dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
+ dThreadingImplementationShutdownProcessing(threading);
+ dThreadingFreeThreadPool(pool);
+ dWorldSetStepThreadingImplementation(world, NULL, NULL);
+ dThreadingFreeImplementation(threading);
+
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
Modified: trunk/ode/demo/demo_heightfield.cpp
===================================================================
--- trunk/ode/demo/demo_heightfield.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/demo/demo_heightfield.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -745,9 +745,20 @@
dGeomSetRotation( gheight, R );
dGeomSetPosition( gheight, pos[0], pos[1], pos[2] );
+ dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+ dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+ dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+ // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+ dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
+ dThreadingImplementationShutdownProcessing(threading);
+ dThreadingFreeThreadPool(pool);
+ dWorldSetStepThreadingImplementation(world, NULL, NULL);
+ dThreadingFreeImplementation(threading);
+
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
Modified: trunk/ode/demo/demo_moving_trimesh.cpp
===================================================================
--- trunk/ode/demo/demo_moving_trimesh.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/demo/demo_moving_trimesh.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -568,9 +568,20 @@
dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
dGeomSetRotation(TriMesh2, Rotation);}
+ dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+ dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+ dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+ // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+ dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
+ dThreadingImplementationShutdownProcessing(threading);
+ dThreadingFreeThreadPool(pool);
+ dWorldSetStepThreadingImplementation(world, NULL, NULL);
+ dThreadingFreeImplementation(threading);
+
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
Modified: trunk/ode/demo/demo_trimesh.cpp
===================================================================
--- trunk/ode/demo/demo_trimesh.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/demo/demo_trimesh.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -529,9 +529,20 @@
dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
+ dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+ dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+ dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+ // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+ dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
// run simulation
dsSimulationLoop (argc,argv,352,288,&fn);
+ dThreadingImplementationShutdownProcessing(threading);
+ dThreadingFreeThreadPool(pool);
+ dWorldSetStepThreadingImplementation(world, NULL, NULL);
+ dThreadingFreeImplementation(threading);
+
dJointGroupDestroy (contactgroup);
dSpaceDestroy (space);
dWorldDestroy (world);
Modified: trunk/ode/src/Makefile.am
===================================================================
--- trunk/ode/src/Makefile.am 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/src/Makefile.am 2012-03-17 00:14:15 UTC (rev 1878)
@@ -58,6 +58,15 @@
sphere.cpp \
step.cpp step.h \
timer.cpp \
+ threading_atomics_provs.h \
+ threading_fake_sync.h \
+ threading_impl_templates.h \
+ threading_impl_posix.h \
+ threading_impl_win.h \
+ threading_impl.cpp threading_impl.h \
+ threading_pool_posix.cpp \
+ threading_pool_win.cpp \
+ threading_base.cpp threading_base.h \
util.cpp util.h
Modified: trunk/ode/src/objects.cpp
===================================================================
--- trunk/ode/src/objects.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/src/objects.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -24,12 +24,14 @@
#include <ode/common.h>
+#include <ode/threading_impl.h>
#include <ode/objects.h>
#include <ode/matrix.h>
#include "config.h"
#include "objects.h"
#include "util.h"
+#include "threading_impl.h"
#define dWORLD_DEFAULT_GLOBAL_ERP REAL(0.2)
@@ -42,6 +44,8 @@
#error dSINGLE or dDOUBLE must be defined
#endif
+static dThreadingImplementationID g_world_default_threading_impl = NULL;
+static const dThreadingFunctionsInfo *g_world_default_threading_functions = NULL;
dObject::~dObject()
@@ -81,6 +85,7 @@
dxWorld::dxWorld():
dBase(),
+ dxThreadingBase(),
firstbody(NULL),
firstjoint(NULL),
nb(0),
@@ -89,12 +94,15 @@
global_cfm(dWORLD_DEFAULT_GLOBAL_CFM),
adis(NULL),
body_flags(0),
+ islands_max_threads(dWORLDSTEP_THREADCOUNT_UNLIMITED),
wmem(NULL),
qs(NULL),
contactp(NULL),
dampingp(NULL),
max_angular_speed(dInfinity)
{
+ dxThreadingBase::SetThreadingDefaultImplProvider(this);
+
dSetZero (gravity, 4);
}
@@ -102,8 +110,75 @@
{
if (wmem)
{
+ wmem->CleanupWorldReferences(this);
wmem->Release();
}
}
+bool dxWorld::InitializeDefaultThreading()
+{
+ dIASSERT(g_world_default_threading_impl == NULL);
+ bool init_result = false;
+
+ dThreadingImplementationID threading_impl = dThreadingAllocateSelfThreadedImplementation();
+
+ if (threading_impl != NULL)
+ {
+ g_world_default_threading_functions = dThreadingImplementationGetFunctions(threading_impl);
+ g_world_default_threading_impl = threading_impl;
+
+ init_result = true;
+ }
+
+ return init_result;
+}
+
+void dxWorld::FinalizeDefaultThreading()
+{
+ dThreadingImplementationID threading_impl = g_world_default_threading_impl;
+
+ if (threading_impl != NULL)
+ {
+ dThreadingFreeImplementation(threading_impl);
+
+ g_world_default_threading_functions = NULL;
+ g_world_default_threading_impl = NULL;
+ }
+}
+
+void dxWorld::AssignThreadingImpl(const dxThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl)
+{
+ if (wmem != NULL)
+ {
+ // Free objects allocated with old threading
+ wmem->CleanupWorldReferences(this);
+ }
+
+ dxThreadingBase::AssignThreadingImpl(functions_info, threading_impl);
+}
+
+unsigned dxWorld::GetThreadingIslandsMaxThreadsCount(unsigned *out_active_thread_count_ptr/*=NULL*/) const
+{
+ unsigned active_thread_count = RetrieveThreadingThreadCount();
+ if (out_active_thread_count_ptr != NULL)
+ {
+ *out_active_thread_count_ptr = active_thread_count;
+ }
+
+ return islands_max_threads == dWORLDSTEP_THREADCOUNT_UNLIMITED
+ ? active_thread_count
+ : (islands_max_threads < active_thread_count ? islands_max_threads : active_thread_count);
+}
+
+dxWorldProcessContext *dxWorld::UnsafeGetWorldProcessingContext() const
+{
+ return wmem->GetWorldProcessingContext();
+}
+
+const dxThreadingFunctionsInfo *dxWorld::RetrieveThreadingDefaultImpl(dThreadingImplementationID &out_default_impl)
+{
+ out_default_impl = g_world_default_threading_impl;
+ return g_world_default_threading_functions;
+}
+
Modified: trunk/ode/src/objects.h
===================================================================
--- trunk/ode/src/objects.h 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/src/objects.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -30,8 +30,11 @@
#include <ode/memory.h>
#include <ode/mass.h>
#include "array.h"
+#include "threading_base.h"
+
class dxStepWorkingMemory;
+class dxWorldProcessContext;
// some body flags
@@ -154,7 +157,7 @@
};
-struct dxWorld : public dBase {
+struct dxWorld : public dBase, public dxThreadingBase, private dxIThreadingDefaultImplProvider {
dxBody *firstbody; // body linked list
dxJoint *firstjoint; // joint linked list
int nb,nj; // number of bodies and joints in lists
@@ -163,6 +166,7 @@
dReal global_cfm; // global constraint force mixing parameter
dxAutoDisable adis; // auto-disable parameters
int body_flags; // flags for new bodies
+ unsigned islands_max_threads; // maximum threads to allocate for island processing
dxStepWorkingMemory *wmem; // Working memory object for dWorldStep/dWorldQuickStep
dxQuickStepParameters qs;
@@ -172,8 +176,18 @@
dxWorld();
- ~dxWorld();
+ virtual ~dxWorld(); // Compilers emit warnings if a class with virtual methods does not have a virtual destructor :(
+
+ static bool InitializeDefaultThreading();
+ static void FinalizeDefaultThreading();
+
+ void AssignThreadingImpl(const dxThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl);
+ unsigned GetThreadingIslandsMaxThreadsCount(unsigned *out_active_thread_count_ptr=NULL) const;
+ dxWorldProcessContext *UnsafeGetWorldProcessingContext() const;
+
+private: // dxIThreadingDefaultImplProvider
+ virtual const dxThreadingFunctionsInfo *RetrieveThreadingDefaultImpl(dThreadingImplementationID &out_default_impl);
};
-#endif
+#endif // #ifndef _ODE__PRIVATE_OBJECTS_H_
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/src/ode.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -1639,6 +1639,18 @@
}
+void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count)
+{
+ dAASSERT (w);
+ w->islands_max_threads = count;
+}
+
+unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w)
+{
+ dAASSERT (w);
+ return w->islands_max_threads;
+}
+
int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world)
{
dUASSERT (w,"bad world argument");
@@ -1728,7 +1740,7 @@
int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs)
{
dUASSERT (w,"bad world argument");
- dUASSERT (!memfuncs || memfuncs->struct_size >= sizeof(*memfuncs), "Bad functions info");
+ dUASSERT (!memfuncs || memfuncs->struct_size >= sizeof(*memfuncs), "Bad memory functions info");
bool result = false;
@@ -1755,7 +1767,16 @@
return result;
}
+void dWorldSetStepThreadingImplementation(dWorldID w,
+ const dxThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl)
+{
+ dUASSERT (w,"bad world argument");
+ dUASSERT (!functions_info || functions_info->struct_size >= sizeof(*functions_info), "Bad threading functions info");
+ w->AssignThreadingImpl(functions_info, threading_impl);
+}
+
+
int dWorldStep (dWorldID w, dReal stepsize)
{
dUASSERT (w,"bad world argument");
@@ -1766,13 +1787,12 @@
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateStepMemoryRequirements))
{
- dxProcessIslands (w, islandsinfo, stepsize, &dInternalStepIsland);
-
+ if (dxProcessIslands (w, islandsinfo, stepsize, &dInternalStepIsland))
+ {
result = true;
}
+ }
- dxCleanupWorldProcessContext (w);
-
return result;
}
@@ -1786,13 +1806,12 @@
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateQuickStepMemoryRequirements))
{
- dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepper);
-
+ if (dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepper))
+ {
result = true;
}
+ }
- dxCleanupWorldProcessContext (w);
-
return result;
}
@@ -2191,6 +2210,12 @@
REGISTER_EXTENSION( ODE_EXT_mt_collisions )
#endif // dTLS_ENABLED
+REGISTER_EXTENSION( ODE_EXT_threading )
+
+#if dBUILTIN_THREADING_IMPL_ENABLED
+REGISTER_EXTENSION( ODE_THR_builtin_impl )
+#endif // #if dBUILTIN_THREADING_IMPL_ENABLED
+
//**********************************
// EXTENSION LIST END
Modified: trunk/ode/src/odeinit.cpp
===================================================================
--- trunk/ode/src/odeinit.cpp 2012-03-13 08:19:03 UTC (rev 1877)
+++ trunk/ode/src/odeinit.cpp 2012-03-17 00:14:15 UTC (rev 1878)
@@ -36,6 +36,7 @@
#include "collision_trimesh_internal.h"
#include "odetls.h"
#include "odeou.h"
+#include "objects.h"
#include "util.h"
@@ -229,6 +230,8 @@
bool bTlsInitialized = false;
#endif
+ bool bWorldThreadingInitialized = false;
+
do
{
bool bAnyModeAlreadyInitialized = IsODEAnyModeInitialized();
@@ -265,6 +268,13 @@
if (!bAnyModeAlreadyInitialized)
{
+ if (!dxWorld::InitializeDefaultThreading())
+ {
+ break;
+ }
+
+ bWorldThreadingInitialized = true;
+
#if dTRIMESH_ENABLED && dTRIMESH_OPCODE
if (!Opcode::InitOpcode())
{
@@ -285,6 +295,11 @@
if (!bResult)
{
+ if (bWorldThreadingInitialized)
+ {
+ dxWorld::FinalizeDefaultThreading();
+ }
+
#if dTLS_ENABLED
if (bTlsInitialized)
{
@@ -371,6 +386,8 @@
Opcode::CloseOpcode();
#endif
+
+ dxWorld::FinalizeDefaultThreading();
}
#if dTLS_ENABLED
Added: trunk/ode/src/threading_atomics_provs.h
===================================================================
--- trunk/ode/src/threading_atomics_provs.h (rev 0)
+++ trunk/ode/src/threading_atomics_provs.h 2012-03-17 00:14:15 UTC (rev 1878)
@@ -0,0 +1,194 @@
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
+ * All rights reserved. Email: ru...@q1... Web: www.q12.org *
+ * *
+ * Threading atomics providers file. *
+ * Copyright (C) 2011-2012 Oleh Derevenko. All rights reserved. *
+ * e-mail: od...@el... (change all "a" to "e") *
+ * ...
[truncated message content] |
|
From: <ole...@us...> - 2012-03-13 08:19:12
|
Revision: 1877
http://opende.svn.sourceforge.net/opende/?rev=1877&view=rev
Author: oleh_derevenko
Date: 2012-03-13 08:19:03 +0000 (Tue, 13 Mar 2012)
Log Message:
-----------
Cosmetic: Copyright headers formatting corrected and some headers added for files where those were missing
Modified Paths:
--------------
trunk/include/ode/objects.h
trunk/include/ode/odeconfig.h
trunk/include/ode/odecpp.h
trunk/include/ode/odecpp_collision.h
trunk/include/ode/odeinit.h
trunk/ode/demo/demo_cards.cpp
trunk/ode/demo/demo_gyroscopic.cpp
trunk/ode/demo/demo_kinematic.cpp
trunk/ode/demo/demo_motion.cpp
trunk/ode/demo/demo_plane2d.cpp
trunk/ode/demo/demo_tracks.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_libccd.cpp
trunk/ode/src/collision_libccd.h
trunk/ode/src/collision_trimesh_ccylinder.cpp
trunk/ode/src/collision_trimesh_colliders.h
trunk/ode/src/collision_trimesh_distance.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/joint.h
trunk/ode/src/lcp.cpp
trunk/ode/src/nextafterf.c
trunk/ode/src/obstack.cpp
trunk/ode/src/ode.cpp
trunk/ode/src/odeinit.cpp
trunk/ode/src/odeou.cpp
trunk/ode/src/odeou.h
trunk/ode/src/odetls.cpp
trunk/ode/src/odetls.h
trunk/ode/src/quickstep.cpp
trunk/ode/src/step.cpp
trunk/ode/src/util.cpp
Modified: trunk/include/ode/objects.h
===================================================================
--- trunk/include/ode/objects.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/include/ode/objects.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,5 +1,3 @@
-
-
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
Modified: trunk/include/ode/odeconfig.h
===================================================================
--- trunk/include/ode/odeconfig.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/include/ode/odeconfig.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,6 +1,28 @@
-#ifndef ODECONFIG_H
-#define ODECONFIG_H
+/*************************************************************************
+ * *
+ * 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_ODECONFIG_H_
+#define _ODE_ODECONFIG_H_
+
/* Pull in the standard headers */
#include <stddef.h>
#include <limits.h>
Modified: trunk/include/ode/odecpp.h
===================================================================
--- trunk/include/ode/odecpp.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/include/ode/odecpp.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,23 +1,23 @@
/*************************************************************************
- * *
- * 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: *
+ * *
+ * 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. *
- * *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
*************************************************************************/
/* C++ interface for non-collision stuff */
Modified: trunk/include/ode/odecpp_collision.h
===================================================================
--- trunk/include/ode/odecpp_collision.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/include/ode/odecpp_collision.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,23 +1,23 @@
/*************************************************************************
- * *
- * 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: *
+ * *
+ * 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. *
- * *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
*************************************************************************/
/* C++ interface for new collision API */
Modified: trunk/include/ode/odeinit.h
===================================================================
--- trunk/include/ode/odeinit.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/include/ode/odeinit.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* 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. *
-* *
-*************************************************************************/
+ * *
+ * 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 initialization/finalization functions. */
Modified: trunk/ode/demo/demo_cards.cpp
===================================================================
--- trunk/ode/demo/demo_cards.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/demo/demo_cards.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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 <vector>
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
Modified: trunk/ode/demo/demo_gyroscopic.cpp
===================================================================
--- trunk/ode/demo/demo_gyroscopic.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/demo/demo_gyroscopic.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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"
Modified: trunk/ode/demo/demo_kinematic.cpp
===================================================================
--- trunk/ode/demo/demo_kinematic.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/demo/demo_kinematic.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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 <iostream>
#include <set>
#include <algorithm>
Modified: trunk/ode/demo/demo_motion.cpp
===================================================================
--- trunk/ode/demo/demo_motion.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/demo/demo_motion.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
/*
This demo shows how to use dContactMotionN in a lifting platform.
*/
Modified: trunk/ode/demo/demo_plane2d.cpp
===================================================================
--- trunk/ode/demo/demo_plane2d.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/demo/demo_plane2d.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
// Test my Plane2D constraint.
// Uses ode-0.35 collision API.
Modified: trunk/ode/demo/demo_tracks.cpp
===================================================================
--- trunk/ode/demo/demo_tracks.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/demo/demo_tracks.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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 <iostream>
#include <ode/ode.h>
#include <drawstuff/drawstuff.h>
Modified: trunk/ode/src/collision_cylinder_box.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_box.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_cylinder_box.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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. *
-* *
-*************************************************************************/
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
/*
* Cylinder-box collider by Alen Ladavac
Modified: trunk/ode/src/collision_cylinder_plane.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_plane.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_cylinder_plane.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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. *
-* *
-*************************************************************************/
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
/*
Modified: trunk/ode/src/collision_cylinder_sphere.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_sphere.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_cylinder_sphere.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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. *
-* *
-*************************************************************************/
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
/*******************************************************************
Modified: trunk/ode/src/collision_cylinder_trimesh.cpp
===================================================================
--- trunk/ode/src/collision_cylinder_trimesh.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_cylinder_trimesh.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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. *
-* *
-*************************************************************************/
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
/*
* Cylinder-trimesh collider by Alen Ladavac
Modified: trunk/ode/src/collision_libccd.cpp
===================================================================
--- trunk/ode/src/collision_libccd.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_libccd.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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/collision.h>
#include <ode/odemath.h>
#include <ccd/ccd.h>
Modified: trunk/ode/src/collision_libccd.h
===================================================================
--- trunk/ode/src/collision_libccd.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_libccd.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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 _LIBCCD_COLLISION_H_
#define _LIBCCD_COLLISION_H_
Modified: trunk/ode/src/collision_trimesh_ccylinder.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_ccylinder.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_trimesh_ccylinder.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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. *
-* *
-*************************************************************************/
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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. *
+ * *
+ *************************************************************************/
/*
* Triangle-Capsule(Capsule) collider by Alen Ladavac
Modified: trunk/ode/src/collision_trimesh_colliders.h
===================================================================
--- trunk/ode/src/collision_trimesh_colliders.h 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_trimesh_colliders.h 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,24 +1,24 @@
/*************************************************************************
-* *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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. *
-* *
-*************************************************************************/
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 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_COLLISION_TRIMESH_COLLIDERS_H_
#define _ODE_COLLISION_TRIMESH_COLLIDERS_H_
Modified: trunk/ode/src/collision_trimesh_distance.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_distance.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/collision_trimesh_distance.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
// This file contains some code based on the code from Magic Software.
// That code is available under a Free Source License Agreement
// that can be found at http://www.magic-software.com/License/free.pdf
Modified: trunk/ode/src/fastdot.c
===================================================================
--- trunk/ode/src/fastdot.c 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/fastdot.c 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,6 +1,29 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
/* generated code, do not edit. */
#include "ode/matrix.h"
+#include "config.h"
dReal _dDot (const dReal *a, const dReal *b, int n)
Modified: trunk/ode/src/fastldlt.c
===================================================================
--- trunk/ode/src/fastldlt.c 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/fastldlt.c 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,6 +1,29 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
/* generated code, do not edit. */
#include "ode/matrix.h"
+#include "config.h"
/* solve L*X=B, with B containing 1 right hand sides.
* L is an n*n lower triangular matrix with ones on the diagonal.
Modified: trunk/ode/src/fastlsolve.c
===================================================================
--- trunk/ode/src/fastlsolve.c 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/fastlsolve.c 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,6 +1,29 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
/* generated code, do not edit. */
#include "ode/matrix.h"
+#include "config.h"
/* solve L*X=B, with B containing 1 right hand sides.
* L is an n*n lower triangular matrix with ones on the diagonal.
Modified: trunk/ode/src/fastltsolve.c
===================================================================
--- trunk/ode/src/fastltsolve.c 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/fastltsolve.c 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,6 +1,29 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
/* generated code, do not edit. */
#include "ode/matrix.h"
+#include "config.h"
/* solve L^T * x=b, with b containing 1 right hand side.
* L is an n*n lower triangular matrix with ones on the diagonal.
Modified: trunk/ode/src/heightfield.cpp
===================================================================
--- trunk/ode/src/heightfield.cpp 2012-03-12 23:27:07 UTC (rev 1876)
+++ trunk/ode/src/heightfield.cpp 2012-03-13 08:19:03 UTC (rev 1877)
@@ -1,3 +1,25 @@
+/*************************************************************************
+ * *
+ * 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: ...
[truncated message content] |
|
From: <ole...@us...> - 2012-03-12 23:27:13
|
Revision: 1876
http://opende.svn.sourceforge.net/opende/?rev=1876&view=rev
Author: oleh_derevenko
Date: 2012-03-12 23:27:07 +0000 (Mon, 12 Mar 2012)
Log Message:
-----------
Changes to dCopySign() and dNextAfter() partially reverted and changed to make them fully functional in public headers and at the same time avoid creating conflicts with other libraries
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/build/config-default.h
trunk/include/ode/common.h
trunk/include/ode/odeconfig.h
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-03-12 16:23:59 UTC (rev 1875)
+++ trunk/CHANGELOG.txt 2012-03-12 23:27:07 UTC (rev 1876)
@@ -9,13 +9,12 @@
------------------------------------------------------------------------------
03/12/12 Oleh Derevenko
- * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of nextafter()/copysign()
- moved into private header. It's now a responsibility of client code to
- make sure nextafter()/nextafterf()/copysign()/copysignf() are available
- if dNextAfter()/dCopySign() are used.
+ * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of
+ dNextAfter()/dCopySign() corrected to avoid creating conflicts with
+ other libraries.
02/03/12 Oleh Derevenko
- * Assertion checking macros moved from common.h to error.h
+ * Assertion checking macros moved from common.h to error.h
12/18/11 Oleh Derevenko
* dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
Modified: trunk/build/config-default.h
===================================================================
--- trunk/build/config-default.h 2012-03-12 16:23:59 UTC (rev 1875)
+++ trunk/build/config-default.h 2012-03-12 23:27:07 UTC (rev 1876)
@@ -88,26 +88,8 @@
#include <alloca.h>
#endif
-/* Visual C does not define these functions */
-#if defined(_MSC_VER)
- #define copysignf(x, y) ((float)_copysign(x, y))
- #define copysign(x, y) _copysign(x, y)
- #define nextafterf(x, y) _nextafterf(x, y)
- #define nextafter(x, y) _nextafter(x, y)
- #if !defined(_WIN64)
- #define _ODE__NEXTAFTERF_REQUIRED
- #endif
-#endif
#ifdef dSINGLE
- #if defined(_ODE__NEXTAFTERF_REQUIRED)
- ODE_EXTERN_C float _nextafterf(float x, float y);
- #endif
-#else
- #undef _ODE__NEXTAFTERF_REQUIRED
-#endif
-
-#ifdef dSINGLE
#define dEpsilon FLT_EPSILON
#else
#define dEpsilon DBL_EPSILON
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-03-12 16:23:59 UTC (rev 1875)
+++ trunk/include/ode/common.h 2012-03-12 23:27:07 UTC (rev 1876)
@@ -109,8 +109,8 @@
#define dFMod(a,b) (fmodf(a,b)) /* modulo */
#define dFloor(x) floorf(x) /* floor */
#define dCeil(x) ceilf(x) /* ceil */
-#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
-#define dNextAfter(x, y) nextafterf(x, y) /* next value after */
+#define dCopySign(a,b) _ode_copysignf(a, b) /* copy value sign */
+#define dNextAfter(x, y) _ode_nextafterf(x, y) /* next value after */
#ifdef HAVE___ISNANF
#define dIsNan(x) (__isnanf(x))
@@ -144,8 +144,8 @@
#define dFMod(a,b) (fmod((a),(b)))
#define dFloor(x) floor(x)
#define dCeil(x) ceil(x)
-#define dCopySign(a,b) (copysign((a),(b)))
-#define dNextAfter(x, y) nextafter(x, y)
+#define dCopySign(a,b) _ode_copysign(a, b)
+#define dNextAfter(x, y) _ode_nextafter(x, y)
#ifdef HAVE___ISNAN
#define dIsNan(x) (__isnan(x))
Modified: trunk/include/ode/odeconfig.h
===================================================================
--- trunk/include/ode/odeconfig.h 2012-03-12 16:23:59 UTC (rev 1875)
+++ trunk/include/ode/odeconfig.h 2012-03-12 23:27:07 UTC (rev 1876)
@@ -86,4 +86,22 @@
#endif
+ /* Visual C does not define these functions */
+#if defined(_MSC_VER)
+ #define _ode_copysignf(x, y) ((float)_copysign(x, y))
+ #define _ode_copysign(x, y) _copysign(x, y)
+ #define _ode_nextafterf(x, y) _nextafterf(x, y)
+ #define _ode_nextafter(x, y) _nextafter(x, y)
+ #if !defined(_WIN64) && dSINGLE
+ #define _ODE__NEXTAFTERF_REQUIRED
+ ODE_EXTERN_C float _nextafterf(float x, float y);
+ #endif
+#else
+ #define _ode_copysignf(x, y) copysignf(x, y)
+ #define _ode_copysign(x, y) copysign(x, y)
+ #define _ode_nextafterf(x, y) nextafterf(x, y)
+ #define _ode_nextafter(x, y) nextafter(x, y)
#endif
+
+
+#endif
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-03-12 16:24:09
|
Revision: 1875
http://opende.svn.sourceforge.net/opende/?rev=1875&view=rev
Author: oleh_derevenko
Date: 2012-03-12 16:23:59 +0000 (Mon, 12 Mar 2012)
Log Message:
-----------
Cosmetic: Changelog text corrected
Modified Paths:
--------------
trunk/CHANGELOG.txt
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-03-12 16:17:18 UTC (rev 1874)
+++ trunk/CHANGELOG.txt 2012-03-12 16:23:59 UTC (rev 1875)
@@ -9,9 +9,10 @@
------------------------------------------------------------------------------
03/12/12 Oleh Derevenko
- * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of nextafter()
- moved into private headed. It's now a responsibility of client code to
- make sure nextafter()/nextafterf() are available if dNextAfter() is used.
+ * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of nextafter()/copysign()
+ moved into private header. It's now a responsibility of client code to
+ make sure nextafter()/nextafterf()/copysign()/copysignf() are available
+ if dNextAfter()/dCopySign() are used.
02/03/12 Oleh Derevenko
* Assertion checking macros moved from common.h to error.h
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-03-12 16:17:29
|
Revision: 1874
http://opende.svn.sourceforge.net/opende/?rev=1874&view=rev
Author: oleh_derevenko
Date: 2012-03-12 16:17:18 +0000 (Mon, 12 Mar 2012)
Log Message:
-----------
Definition of nextafter() removed from public header as it led to conflicts in client code. PURE_INLINE renamed to ODE_PURE_INLINE to make identifier more ODE-bound
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/build/config-default.h
trunk/include/ode/common.h
trunk/include/ode/matrix.h
trunk/include/ode/odeconfig.h
trunk/include/ode/odemath.h
trunk/ode/src/collision_trimesh_colliders.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/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/nextafterf.c
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/CHANGELOG.txt 2012-03-12 16:17:18 UTC (rev 1874)
@@ -8,8 +8,14 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+03/12/12 Oleh Derevenko
+ * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of nextafter()
+ moved into private headed. It's now a responsibility of client code to
+ make sure nextafter()/nextafterf() are available if dNextAfter() is used.
+
02/03/12 Oleh Derevenko
* Assertion checking macros moved from common.h to error.h
+
12/18/11 Oleh Derevenko
* dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
expression in release mode) to be used to assert variable value
Modified: trunk/build/config-default.h
===================================================================
--- trunk/build/config-default.h 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/build/config-default.h 2012-03-12 16:17:18 UTC (rev 1874)
@@ -88,8 +88,26 @@
#include <alloca.h>
#endif
+/* Visual C does not define these functions */
+#if defined(_MSC_VER)
+ #define copysignf(x, y) ((float)_copysign(x, y))
+ #define copysign(x, y) _copysign(x, y)
+ #define nextafterf(x, y) _nextafterf(x, y)
+ #define nextafter(x, y) _nextafter(x, y)
+ #if !defined(_WIN64)
+ #define _ODE__NEXTAFTERF_REQUIRED
+ #endif
+#endif
#ifdef dSINGLE
+ #if defined(_ODE__NEXTAFTERF_REQUIRED)
+ ODE_EXTERN_C float _nextafterf(float x, float y);
+ #endif
+#else
+ #undef _ODE__NEXTAFTERF_REQUIRED
+#endif
+
+#ifdef dSINGLE
#define dEpsilon FLT_EPSILON
#else
#define dEpsilon DBL_EPSILON
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/include/ode/common.h 2012-03-12 16:17:18 UTC (rev 1874)
@@ -32,9 +32,6 @@
#endif
-#define PURE_INLINE static __inline
-
-
/* configuration stuff */
/* constants */
@@ -115,10 +112,6 @@
#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
#define dNextAfter(x, y) nextafterf(x, y) /* next value after */
-#if defined(_ODE__NEXTAFTERF_REQUIRED)
-float _nextafterf(float x, float y);
-#endif
-
#ifdef HAVE___ISNANF
#define dIsNan(x) (__isnanf(x))
#elif defined(HAVE__ISNANF)
@@ -154,8 +147,6 @@
#define dCopySign(a,b) (copysign((a),(b)))
#define dNextAfter(x, y) nextafter(x, y)
-#undef _ODE__NEXTAFTERF_REQUIRED
-
#ifdef HAVE___ISNAN
#define dIsNan(x) (__isnan(x))
#elif defined(HAVE__ISNAN)
Modified: trunk/include/ode/matrix.h
===================================================================
--- trunk/include/ode/matrix.h 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/include/ode/matrix.h 2012-03-12 16:17:18 UTC (rev 1874)
@@ -208,17 +208,17 @@
void _dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d, int n1, int n2, int r, int nskip, void *tmpbuf);
void _dRemoveRowCol (dReal *A, int n, int nskip, int r);
-PURE_INLINE size_t _dEstimateFactorCholeskyTmpbufSize(int n)
+ODE_PURE_INLINE size_t _dEstimateFactorCholeskyTmpbufSize(int n)
{
return dPAD(n) * sizeof(dReal);
}
-PURE_INLINE size_t _dEstimateSolveCholeskyTmpbufSize(int n)
+ODE_PURE_INLINE size_t _dEstimateSolveCholeskyTmpbufSize(int n)
{
return dPAD(n) * sizeof(dReal);
}
-PURE_INLINE size_t _dEstimateInvertPDMatrixTmpbufSize(int n)
+ODE_PURE_INLINE size_t _dEstimateInvertPDMatrixTmpbufSize(int n)
{
size_t FactorCholesky_size = _dEstimateFactorCholeskyTmpbufSize(n);
size_t SolveCholesky_size = _dEstimateSolveCholeskyTmpbufSize(n);
@@ -226,17 +226,17 @@
return dPAD(n) * (n + 1) * sizeof(dReal) + MaxCholesky_size;
}
-PURE_INLINE size_t _dEstimateIsPositiveDefiniteTmpbufSize(int n)
+ODE_PURE_INLINE size_t _dEstimateIsPositiveDefiniteTmpbufSize(int n)
{
return dPAD(n) * n * sizeof(dReal) + _dEstimateFactorCholeskyTmpbufSize(n);
}
-PURE_INLINE size_t _dEstimateLDLTAddTLTmpbufSize(int nskip)
+ODE_PURE_INLINE size_t _dEstimateLDLTAddTLTmpbufSize(int nskip)
{
return nskip * 2 * sizeof(dReal);
}
-PURE_INLINE size_t _dEstimateLDLTRemoveTmpbufSize(int n2, int nskip)
+ODE_PURE_INLINE size_t _dEstimateLDLTRemoveTmpbufSize(int n2, int nskip)
{
return n2 * sizeof(dReal) + _dEstimateLDLTAddTLTmpbufSize(nskip);
}
Modified: trunk/include/ode/odeconfig.h
===================================================================
--- trunk/include/ode/odeconfig.h 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/include/ode/odeconfig.h 2012-03-12 16:17:18 UTC (rev 1874)
@@ -37,6 +37,14 @@
# define ODE_API_DEPRECATED
#endif
+#define ODE_PURE_INLINE static __inline
+
+#if defined(__cplusplus)
+ #define ODE_EXTERN_C extern "C"
+#else
+ #define ODE_EXTERN_C
+#endif
+
/* Well-defined common data types...need to define for 64 bit systems */
#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
#define X86_64_SYSTEM 1
@@ -55,19 +63,7 @@
typedef unsigned char uint8;
#endif
-/* Visual C does not define these functions */
-#if defined(_MSC_VER)
- #define copysignf(x, y) ((float)_copysign(x, y))
- #define copysign(x, y) _copysign(x, y)
- #define nextafterf(x, y) _nextafterf(x, y)
- #define nextafter(x, y) _nextafter(x, y)
- #if !defined(_WIN64)
- #define _ODE__NEXTAFTERF_REQUIRED
- #endif
-#endif
-
-
/* Define the dInfinity macro */
#ifdef INFINITY
#define dInfinity INFINITY
Modified: trunk/include/ode/odemath.h
===================================================================
--- trunk/include/ode/odemath.h 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/include/ode/odemath.h 2012-03-12 16:17:18 UTC (rev 1874)
@@ -42,7 +42,7 @@
// Some vector math
-PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dAddVectors3(dReal *res, const dReal *a, const dReal *b)
{
dReal res_0, res_1, res_2;
res_0 = a[0] + b[0];
@@ -52,7 +52,7 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dSubtractVectors3(dReal *res, const dReal *a, const dReal *b)
{
dReal res_0, res_1, res_2;
res_0 = a[0] - b[0];
@@ -62,7 +62,7 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale)
+ODE_PURE_INLINE void dAddScaledVectors3(dReal *res, const dReal *a, const dReal *b, dReal a_scale, dReal b_scale)
{
dReal res_0, res_1, res_2;
res_0 = a_scale * a[0] + b_scale * b[0];
@@ -72,21 +72,21 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dScaleVector3(dReal *res, dReal nScale)
+ODE_PURE_INLINE void dScaleVector3(dReal *res, dReal nScale)
{
res[0] *= nScale ;
res[1] *= nScale ;
res[2] *= nScale ;
}
-PURE_INLINE void dNegateVector3(dReal *res)
+ODE_PURE_INLINE void dNegateVector3(dReal *res)
{
res[0] = -res[0];
res[1] = -res[1];
res[2] = -res[2];
}
-PURE_INLINE void dCopyVector3(dReal *res, const dReal *a)
+ODE_PURE_INLINE void dCopyVector3(dReal *res, const dReal *a)
{
dReal res_0, res_1, res_2;
res_0 = a[0];
@@ -96,7 +96,7 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale)
+ODE_PURE_INLINE void dCopyScaledVector3(dReal *res, const dReal *a, dReal nScale)
{
dReal res_0, res_1, res_2;
res_0 = a[0] * nScale;
@@ -106,7 +106,7 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a)
+ODE_PURE_INLINE void dCopyNegatedVector3(dReal *res, const dReal *a)
{
dReal res_0, res_1, res_2;
res_0 = -a[0];
@@ -116,7 +116,7 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dCopyVector4(dReal *res, const dReal *a)
+ODE_PURE_INLINE void dCopyVector4(dReal *res, const dReal *a)
{
dReal res_0, res_1, res_2, res_3;
res_0 = a[0];
@@ -127,21 +127,21 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2; res[3] = res_3;
}
-PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a)
+ODE_PURE_INLINE void dCopyMatrix4x4(dReal *res, const dReal *a)
{
dCopyVector4(res + 0, a + 0);
dCopyVector4(res + 4, a + 4);
dCopyVector4(res + 8, a + 8);
}
-PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a)
+ODE_PURE_INLINE void dCopyMatrix4x3(dReal *res, const dReal *a)
{
dCopyVector3(res + 0, a + 0);
dCopyVector3(res + 4, a + 4);
dCopyVector3(res + 8, a + 8);
}
-PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n)
+ODE_PURE_INLINE void dGetMatrixColumn3(dReal *res, const dReal *a, unsigned n)
{
dReal res_0, res_1, res_2;
res_0 = a[n + 0];
@@ -151,17 +151,17 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE dReal dCalcVectorLength3(const dReal *a)
+ODE_PURE_INLINE dReal dCalcVectorLength3(const dReal *a)
{
return dSqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
}
-PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a)
+ODE_PURE_INLINE dReal dCalcVectorLengthSquare3(const dReal *a)
{
return (a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
}
-PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n)
+ODE_PURE_INLINE dReal dCalcPointDepth3(const dReal *test_p, const dReal *plane_p, const dReal *plane_n)
{
return (plane_p[0] - test_p[0]) * plane_n[0] + (plane_p[1] - test_p[1]) * plane_n[1] + (plane_p[2] - test_p[2]) * plane_n[2];
}
@@ -172,19 +172,19 @@
* step_a and step_b indexes apart respectively. dCalcVectorDot3() means dDot311.
*/
-PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b)
+ODE_PURE_INLINE dReal _dCalcVectorDot3(const dReal *a, const dReal *b, unsigned step_a, unsigned step_b)
{
return a[0] * b[0] + a[step_a] * b[step_b] + a[2 * step_a] * b[2 * step_b];
}
-PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); }
-PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); }
-PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); }
-PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); }
-PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); }
-PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); }
-PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); }
+ODE_PURE_INLINE dReal dCalcVectorDot3 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,1); }
+ODE_PURE_INLINE dReal dCalcVectorDot3_13 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,3); }
+ODE_PURE_INLINE dReal dCalcVectorDot3_31 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,1); }
+ODE_PURE_INLINE dReal dCalcVectorDot3_33 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,3,3); }
+ODE_PURE_INLINE dReal dCalcVectorDot3_14 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,1,4); }
+ODE_PURE_INLINE dReal dCalcVectorDot3_41 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,1); }
+ODE_PURE_INLINE dReal dCalcVectorDot3_44 (const dReal *a, const dReal *b) { return _dCalcVectorDot3(a,b,4,4); }
/*
@@ -193,7 +193,7 @@
* dCalcVectorCross3() means dCross3111.
*/
-PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b)
+ODE_PURE_INLINE void _dCalcVectorCross3(dReal *res, const dReal *a, const dReal *b, unsigned step_res, unsigned step_a, unsigned step_b)
{
dReal res_0, res_1, res_2;
res_0 = a[ step_a]*b[2*step_b] - a[2*step_a]*b[ step_b];
@@ -205,23 +205,23 @@
res[2*step_res] = res_2;
}
-PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); }
-PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); }
-PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); }
-PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); }
-PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); }
-PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); }
-PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); }
-PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); }
+ODE_PURE_INLINE void dCalcVectorCross3 (dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 1); }
+ODE_PURE_INLINE void dCalcVectorCross3_114(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 1, 4); }
+ODE_PURE_INLINE void dCalcVectorCross3_141(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 1); }
+ODE_PURE_INLINE void dCalcVectorCross3_144(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 1, 4, 4); }
+ODE_PURE_INLINE void dCalcVectorCross3_411(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 1); }
+ODE_PURE_INLINE void dCalcVectorCross3_414(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 1, 4); }
+ODE_PURE_INLINE void dCalcVectorCross3_441(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 1); }
+ODE_PURE_INLINE void dCalcVectorCross3_444(dReal *res, const dReal *a, const dReal *b) { _dCalcVectorCross3(res, a, b, 4, 4, 4); }
-PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dAddVectorCross3(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dCalcVectorCross3(tmp, a, b);
dAddVectors3(res, res, tmp);
}
-PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dSubtractVectorCross3(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dCalcVectorCross3(tmp, a, b);
@@ -237,7 +237,7 @@
* if (plus,minus) is (-,+) then a negative version will be written.
*/
-PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip)
+ODE_PURE_INLINE void dSetCrossMatrixPlus(dReal *res, const dReal *a, unsigned skip)
{
const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2];
res[1] = -a_2;
@@ -248,7 +248,7 @@
res[2*skip+1] = +a_0;
}
-PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip)
+ODE_PURE_INLINE void dSetCrossMatrixMinus(dReal *res, const dReal *a, unsigned skip)
{
const dReal a_0 = a[0], a_1 = a[1], a_2 = a[2];
res[1] = +a_2;
@@ -264,7 +264,7 @@
* compute the distance between two 3D-vectors
*/
-PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b)
+ODE_PURE_INLINE dReal dCalcPointsDistance3(const dReal *a, const dReal *b)
{
dReal res;
dReal tmp[3];
@@ -277,7 +277,7 @@
* special case matrix multiplication, with operator selection
*/
-PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyHelper0_331(dReal *res, const dReal *a, const dReal *b)
{
dReal res_0, res_1, res_2;
res_0 = dCalcVectorDot3(a, b);
@@ -287,7 +287,7 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyHelper1_331(dReal *res, const dReal *a, const dReal *b)
{
dReal res_0, res_1, res_2;
res_0 = dCalcVectorDot3_41(a, b);
@@ -297,12 +297,12 @@
res[0] = res_0; res[1] = res_1; res[2] = res_2;
}
-PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyHelper0_133(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper1_331(res, b, a);
}
-PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyHelper1_133(dReal *res, const dReal *a, const dReal *b)
{
dReal res_0, res_1, res_2;
res_0 = dCalcVectorDot3_44(a, b);
@@ -317,64 +317,64 @@
it is not equivalent to A*=B.
*/
-PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiply0_331(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper0_331(res, a, b);
}
-PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiply1_331(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper1_331(res, a, b);
}
-PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiply0_133(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper0_133(res, a, b);
}
-PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiply0_333(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper0_133(res + 0, a + 0, b);
dMultiplyHelper0_133(res + 4, a + 4, b);
dMultiplyHelper0_133(res + 8, a + 8, b);
}
-PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiply1_333(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper1_133(res + 0, b, a + 0);
dMultiplyHelper1_133(res + 4, b, a + 1);
dMultiplyHelper1_133(res + 8, b, a + 2);
}
-PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiply2_333(dReal *res, const dReal *a, const dReal *b)
{
dMultiplyHelper0_331(res + 0, b, a + 0);
dMultiplyHelper0_331(res + 4, b, a + 4);
dMultiplyHelper0_331(res + 8, b, a + 8);
}
-PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyAdd0_331(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dMultiplyHelper0_331(tmp, a, b);
dAddVectors3(res, res, tmp);
}
-PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyAdd1_331(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dMultiplyHelper1_331(tmp, a, b);
dAddVectors3(res, res, tmp);
}
-PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyAdd0_133(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dMultiplyHelper0_133(tmp, a, b);
dAddVectors3(res, res, tmp);
}
-PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyAdd0_333(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dMultiplyHelper0_133(tmp, a + 0, b);
@@ -385,7 +385,7 @@
dAddVectors3(res + 8, res + 8, tmp);
}
-PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyAdd1_333(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dMultiplyHelper1_133(tmp, b, a + 0);
@@ -396,7 +396,7 @@
dAddVectors3(res + 8, res + 8, tmp);
}
-PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b)
+ODE_PURE_INLINE void dMultiplyAdd2_333(dReal *res, const dReal *a, const dReal *b)
{
dReal tmp[3];
dMultiplyHelper0_331(tmp, b, a + 0);
@@ -431,13 +431,13 @@
int _dSafeNormalize3 (dVector3 a);
int _dSafeNormalize4 (dVector4 a);
-PURE_INLINE void _dNormalize3(dVector3 a)
+ODE_PURE_INLINE void _dNormalize3(dVector3 a)
{
int bNormalizationResult = _dSafeNormalize3(a);
dIVERIFY(bNormalizationResult);
}
-PURE_INLINE void _dNormalize4(dVector4 a)
+ODE_PURE_INLINE void _dNormalize4(dVector4 a)
{
int bNormalizationResult = _dSafeNormalize4(a);
dIVERIFY(bNormalizationResult);
Modified: trunk/ode/src/collision_trimesh_colliders.h
===================================================================
--- trunk/ode/src/collision_trimesh_colliders.h 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/collision_trimesh_colliders.h 2012-03-12 16:17:18 UTC (rev 1874)
@@ -33,7 +33,7 @@
int dCollideTTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-PURE_INLINE int dCollideRayTrimesh( dxGeom *ray, dxGeom *trimesh, int flags,
+ODE_PURE_INLINE int dCollideRayTrimesh( dxGeom *ray, dxGeom *trimesh, int flags,
dContactGeom *contact, int skip )
{
// Swapped case, for code that needs it (heightfield initially)
Modified: trunk/ode/src/joints/amotor.cpp
===================================================================
--- trunk/ode/src/joints/amotor.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/amotor.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "amotor.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/ball.cpp
===================================================================
--- trunk/ode/src/joints/ball.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/ball.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "ball.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/contact.cpp
===================================================================
--- trunk/ode/src/joints/contact.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/contact.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "contact.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/fixed.cpp
===================================================================
--- trunk/ode/src/joints/fixed.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/fixed.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "fixed.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/hinge.cpp
===================================================================
--- trunk/ode/src/joints/hinge.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/hinge.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "hinge.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/hinge2.cpp
===================================================================
--- trunk/ode/src/joints/hinge2.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/hinge2.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "hinge2.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/lmotor.cpp
===================================================================
--- trunk/ode/src/joints/lmotor.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/lmotor.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "lmotor.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/null.cpp
===================================================================
--- trunk/ode/src/joints/null.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/null.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "null.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/piston.cpp
===================================================================
--- trunk/ode/src/joints/piston.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/piston.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "piston.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/plane2d.cpp
===================================================================
--- trunk/ode/src/joints/plane2d.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/plane2d.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "plane2d.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/pr.cpp
===================================================================
--- trunk/ode/src/joints/pr.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/pr.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "pr.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/pu.cpp
===================================================================
--- trunk/ode/src/joints/pu.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/pu.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "pu.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/slider.cpp
===================================================================
--- trunk/ode/src/joints/slider.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/slider.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "slider.h"
#include "joint_internal.h"
Modified: trunk/ode/src/joints/universal.cpp
===================================================================
--- trunk/ode/src/joints/universal.cpp 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/joints/universal.cpp 2012-03-12 16:17:18 UTC (rev 1874)
@@ -21,6 +21,7 @@
*************************************************************************/
+#include <ode/odeconfig.h>
#include "config.h"
#include "universal.h"
#include "joint_internal.h"
Modified: trunk/ode/src/nextafterf.c
===================================================================
--- trunk/ode/src/nextafterf.c 2012-03-11 19:13:36 UTC (rev 1873)
+++ trunk/ode/src/nextafterf.c 2012-03-12 16:17:18 UTC (rev 1874)
@@ -1,7 +1,9 @@
/* _nextafterf() implementation for MSVC */
#include <ode/common.h>
+#include "config.h"
+
#if defined(_ODE__NEXTAFTERF_REQUIRED)
/*
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|
|
From: <ole...@us...> - 2012-03-11 19:13:42
|
Revision: 1873
http://opende.svn.sourceforge.net/opende/?rev=1873&view=rev
Author: oleh_derevenko
Date: 2012-03-11 19:13:36 +0000 (Sun, 11 Mar 2012)
Log Message:
-----------
Cosmetic: Whitespace corrected
Modified Paths:
--------------
trunk/ode/src/odeinit.cpp
Modified: trunk/ode/src/odeinit.cpp
===================================================================
--- trunk/ode/src/odeinit.cpp 2012-03-10 18:30:47 UTC (rev 1872)
+++ trunk/ode/src/odeinit.cpp 2012-03-11 19:13:36 UTC (rev 1873)
@@ -477,13 +477,13 @@
}
int dInitODE2(unsigned int uiInitFlags/*=0*/)
- {
+{
bool bResult = false;
-
+
bool bODEInitialized = false;
do
- {
+ {
if (!InternalInitODE(uiInitFlags))
{
break;
@@ -495,17 +495,17 @@
{
break;
}
-
+
bResult = true;
}
while (false);
-
+
if (!bResult)
{
if (bODEInitialized)
{
InternalCloseODE();
-}
+ }
}
return bResult;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-03-10 18:30:53
|
Revision: 1872
http://opende.svn.sourceforge.net/opende/?rev=1872&view=rev
Author: oleh_derevenko
Date: 2012-03-10 18:30:47 +0000 (Sat, 10 Mar 2012)
Log Message:
-----------
Cosmetic: Constructor/destructor of dObject moved into proper places
Modified Paths:
--------------
trunk/ode/src/objects.cpp
trunk/ode/src/objects.h
trunk/ode/src/ode.cpp
Modified: trunk/ode/src/objects.cpp
===================================================================
--- trunk/ode/src/objects.cpp 2012-03-05 21:34:40 UTC (rev 1871)
+++ trunk/ode/src/objects.cpp 2012-03-10 18:30:47 UTC (rev 1872)
@@ -44,6 +44,12 @@
+dObject::~dObject()
+{
+ // Do nothing - a virtual destructor
+}
+
+
dxAutoDisable::dxAutoDisable(void *):
idle_time(REAL(0.0)),
idle_steps(10),
Modified: trunk/ode/src/objects.h
===================================================================
--- trunk/ode/src/objects.h 2012-03-05 21:34:40 UTC (rev 1871)
+++ trunk/ode/src/objects.h 2012-03-10 18:30:47 UTC (rev 1872)
@@ -23,8 +23,8 @@
// object, body, and world structs.
-#ifndef _ODE_OBJECT_H_
-#define _ODE_OBJECT_H_
+#ifndef _ODE__PRIVATE_OBJECTS_H_
+#define _ODE__PRIVATE_OBJECTS_H_
#include <ode/common.h>
#include <ode/memory.h>
@@ -67,8 +67,9 @@
dObject **tome; // pointer to previous object's next ptr
int tag; // used by dynamics algorithms
void *userdata; // user settable data
- dObject(dxWorld *w);
- virtual ~dObject() { }
+
+ explicit dObject(dxWorld *w): world(w), next(NULL), tome(NULL), tag(0), userdata(NULL) {}
+ virtual ~dObject();
};
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-03-05 21:34:40 UTC (rev 1871)
+++ trunk/ode/src/ode.cpp 2012-03-10 18:30:47 UTC (rev 1872)
@@ -47,16 +47,6 @@
// utility
-dObject::dObject(dxWorld *w)
-{
- world = w;
- next = 0;
- tome = 0;
- userdata = 0;
- tag = 0;
-}
-
-
// add an object `obj' to the list who's head pointer is pointed to by `first'.
void addObjectToList (dObject *obj, dObject **first)
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|
|
From: <klo...@us...> - 2012-03-05 21:34:46
|
Revision: 1871
http://opende.svn.sourceforge.net/opende/?rev=1871&view=rev
Author: klompjeg
Date: 2012-03-05 21:34:40 +0000 (Mon, 05 Mar 2012)
Log Message:
-----------
Added Python binding for 'dGeomClearOffset' through Python geom object method 'clearOffset()'.
Modified Paths:
--------------
trunk/bindings/python/ode.pxd
trunk/bindings/python/ode.pyx
Modified: trunk/bindings/python/ode.pxd
===================================================================
--- trunk/bindings/python/ode.pxd 2012-03-02 22:13:00 UTC (rev 1870)
+++ trunk/bindings/python/ode.pxd 2012-03-05 21:34:40 UTC (rev 1871)
@@ -414,6 +414,7 @@
void dGeomGetQuaternion (dGeomID, dQuaternion result)
void dGeomSetOffsetPosition (dGeomID, dReal x, dReal y, dReal z)
void dGeomSetOffsetRotation (dGeomID, dMatrix3 R)
+ void dGeomClearOffset (dGeomID)
dReal * dGeomGetOffsetPosition (dGeomID)
dReal * dGeomGetOffsetRotation (dGeomID)
void dGeomDestroy (dGeomID)
Modified: trunk/bindings/python/ode.pyx
===================================================================
--- trunk/bindings/python/ode.pyx 2012-03-02 22:13:00 UTC (rev 1870)
+++ trunk/bindings/python/ode.pyx 2012-03-05 21:34:40 UTC (rev 1871)
@@ -3177,6 +3177,13 @@
m = <dReal*>dGeomGetOffsetRotation(self.gid)
return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
+ def clearOffset(self):
+ """clearOffset()
+
+ Disable the offset transform of the geom.
+ """
+ dGeomClearOffset(self.gid)
+
def getAABB(self):
"""getAABB() -> 6-tuple
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-03-02 22:13:08
|
Revision: 1870
http://opende.svn.sourceforge.net/opende/?rev=1870&view=rev
Author: oleh_derevenko
Date: 2012-03-02 22:13:00 +0000 (Fri, 02 Mar 2012)
Log Message:
-----------
Some code style improvements and cleanup
Modified Paths:
--------------
trunk/ode/src/Makefile.am
trunk/ode/src/joints/joint.cpp
trunk/ode/src/joints/joint.h
trunk/ode/src/objects.h
trunk/ode/src/obstack.cpp
trunk/ode/src/obstack.h
trunk/ode/src/ode.cpp
Added Paths:
-----------
trunk/ode/src/objects.cpp
Modified: trunk/ode/src/Makefile.am
===================================================================
--- trunk/ode/src/Makefile.am 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/Makefile.am 2012-03-02 22:13:00 UTC (rev 1870)
@@ -44,7 +44,7 @@
matrix.cpp \
memory.cpp \
misc.cpp \
- objects.h \
+ objects.cpp objects.h \
obstack.cpp obstack.h \
ode.cpp \
odeinit.cpp \
Modified: trunk/ode/src/joints/joint.cpp
===================================================================
--- trunk/ode/src/joints/joint.cpp 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/joints/joint.cpp 2012-03-02 22:13:00 UTC (rev 1870)
@@ -70,6 +70,25 @@
(node[1].body && node[1].body->invMass > 0)) );
}
+
+size_t dxJointGroup::exportJoints(dxJoint **jlist)
+{
+ size_t i=0;
+ dxJoint *j = (dxJoint*) m_stack.rewind();
+ while (j != NULL) {
+ jlist[i++] = j;
+ j = (dxJoint*) (m_stack.next (j->size()));
+ }
+ return i;
+}
+
+void dxJointGroup::freeAll()
+{
+ m_num = 0;
+ m_stack.freeAll();
+}
+
+
//****************************************************************************
// externs
Modified: trunk/ode/src/joints/joint.h
===================================================================
--- trunk/ode/src/joints/joint.h 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/joints/joint.h 2012-03-02 22:13:00 UTC (rev 1870)
@@ -1,24 +1,24 @@
/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
+* *
+* 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_H_
#define _ODE_JOINT_H_
@@ -32,20 +32,20 @@
// joint flags
enum
{
- // if this flag is set, the joint was allocated in a joint group
- dJOINT_INGROUP = 1,
+ // if this flag is set, the joint was allocated in a joint group
+ dJOINT_INGROUP = 1,
- // if this flag is set, the joint was attached with arguments (0,body).
- // our convention is to treat all attaches as (body,0), i.e. so node[0].body
- // is always nonzero, so this flag records the fact that the arguments were
- // swapped.
- dJOINT_REVERSE = 2,
+ // if this flag is set, the joint was attached with arguments (0,body).
+ // our convention is to treat all attaches as (body,0), i.e. so node[0].body
+ // is always nonzero, so this flag records the fact that the arguments were
+ // swapped.
+ dJOINT_REVERSE = 2,
- // if this flag is set, the joint can not have just one body attached to it,
- // it must have either zero or two bodies attached.
- dJOINT_TWOBODIES = 4,
+ // if this flag is set, the joint can not have just one body attached to it,
+ // it must have either zero or two bodies attached.
+ dJOINT_TWOBODIES = 4,
- dJOINT_DISABLED = 8
+ dJOINT_DISABLED = 8
};
@@ -57,104 +57,104 @@
struct dxJointNode
{
- dxJoint *joint; // pointer to enclosing dxJoint object
- dxBody *body; // *other* body this joint is connected to
- dxJointNode *next; // next node in body's list of connected joints
+ dxJoint *joint; // pointer to enclosing dxJoint object
+ dxBody *body; // *other* body this joint is connected to
+ dxJointNode *next; // next node in body's list of connected joints
};
struct dxJoint : public dObject
{
- // naming convention: the "first" body this is connected to is node[0].body,
- // and the "second" body is node[1].body. if this joint is only connected
- // to one body then the second body is 0.
+ // naming convention: the "first" body this is connected to is node[0].body,
+ // and the "second" body is node[1].body. if this joint is only connected
+ // to one body then the second body is 0.
- // info returned by getInfo1 function. the constraint dimension is m (<=6).
- // i.e. that is the total number of rows in the jacobian. `nub' is the
- // number of unbounded variables (which have lo,hi = -/+ infinity).
+ // info returned by getInfo1 function. the constraint dimension is m (<=6).
+ // i.e. that is the total number of rows in the jacobian. `nub' is the
+ // number of unbounded variables (which have lo,hi = -/+ infinity).
- struct Info1
- {
- // Structure size should not exceed sizeof(pointer) bytes to have
- // to have good memory pattern in dxQuickStepper()
- int8 m, nub;
- };
+ struct Info1
+ {
+ // Structure size should not exceed sizeof(pointer) bytes to have
+ // to have good memory pattern in dxQuickStepper()
+ int8 m, nub;
+ };
- // info returned by getInfo2 function
+ // info returned by getInfo2 function
- struct Info2
- {
- // integrator parameters: frames per second (1/stepsize), default error
- // reduction parameter (0..1).
- dReal fps, erp;
+ struct Info2
+ {
+ // integrator parameters: frames per second (1/stepsize), default error
+ // reduction parameter (0..1).
+ dReal fps, erp;
- // for the first and second body, pointers to two (linear and angular)
- // n*3 jacobian sub matrices, stored by rows. these matrices will have
- // been initialized to 0 on entry. if the second body is zero then the
- // J2xx pointers may be 0.
- dReal *J1l, *J1a, *J2l, *J2a;
+ // for the first and second body, pointers to two (linear and angular)
+ // n*3 jacobian sub matrices, stored by rows. these matrices will have
+ // been initialized to 0 on entry. if the second body is zero then the
+ // J2xx pointers may be 0.
+ dReal *J1l, *J1a, *J2l, *J2a;
- // elements to jump from one row to the next in J's
- int rowskip;
+ // elements to jump from one row to the next in J's
+ int rowskip;
- // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
- // "constraint force mixing" vector. c is set to zero on entry, cfm is
- // set to a constant value (typically very small or zero) value on entry.
- dReal *c, *cfm;
+ // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+ // "constraint force mixing" vector. c is set to zero on entry, cfm is
+ // set to a constant value (typically very small or zero) value on entry.
+ dReal *c, *cfm;
- // lo and hi limits for variables (set to -/+ infinity on entry).
- dReal *lo, *hi;
+ // lo and hi limits for variables (set to -/+ infinity on entry).
+ dReal *lo, *hi;
- // findex vector for variables. see the LCP solver interface for a
- // description of what this does. this is set to -1 on entry.
- // note that the returned indexes are relative to the first index of
- // the constraint.
- int *findex;
- };
+ // findex vector for variables. see the LCP solver interface for a
+ // description of what this does. this is set to -1 on entry.
+ // note that the returned indexes are relative to the first index of
+ // the constraint.
+ int *findex;
+ };
- // info returned by getSureMaxInfo function.
- // The information is used for memory reservation in calculations.
+ // info returned by getSureMaxInfo function.
+ // The information is used for memory reservation in calculations.
- struct SureMaxInfo
- {
- // The value of `max_m' must ALWAYS be not less than the value of `m'
- // the getInfo1 call can generate in current joint state. Another
- // requirement is that the value should be provided very quickly,
- // without the excessive calculations.
- // If it is hard/impossible to quickly predict the maximal value of `m'
- // (which is the case for most joint types) the maximum for current
- // joint type in general should be returned. If it can be known the `m'
- // will be smaller, it can save a bit of memory from being reserved
- // for calculations if that smaller value is returned.
+ struct SureMaxInfo
+ {
+ // The value of `max_m' must ALWAYS be not less than the value of `m'
+ // the getInfo1 call can generate in current joint state. Another
+ // requirement is that the value should be provided very quickly,
+ // without the excessive calculations.
+ // If it is hard/impossible to quickly predict the maximal value of `m'
+ // (which is the case for most joint types) the maximum for current
+ // joint type in general should be returned. If it can be known the `m'
+ // 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
- };
+ int8 max_m; // Estimate of maximal `m' in Info1
+ };
- unsigned flags; // dJOINT_xxx flags
- dxJointNode node[2]; // connections to bodies. node[1].body can be 0
- dJointFeedback *feedback; // optional feedback structure
- dReal lambda[6]; // lambda generated by last step
+ unsigned flags; // dJOINT_xxx flags
+ dxJointNode node[2]; // connections to bodies. node[1].body can be 0
+ dJointFeedback *feedback; // optional feedback structure
+ dReal lambda[6]; // lambda generated by last step
- dxJoint( dxWorld *w );
- virtual ~dxJoint();
+ dxJoint( dxWorld *w );
+ virtual ~dxJoint();
- virtual void getInfo1( Info1* info ) = 0;
- virtual void getInfo2( Info2* info ) = 0;
- // This call quickly!!! estimates maximum value of "m" that could be returned by getInfo1()
- // See comments at definition of SureMaxInfo for defails.
- virtual void getSureMaxInfo( SureMaxInfo* info ) = 0;
- virtual dJointType type() const = 0;
- virtual size_t size() const = 0;
+ virtual void getInfo1( Info1* info ) = 0;
+ virtual void getInfo2( Info2* info ) = 0;
+ // This call quickly!!! estimates maximum value of "m" that could be returned by getInfo1()
+ // See comments at definition of SureMaxInfo for defails.
+ virtual void getSureMaxInfo( SureMaxInfo* info ) = 0;
+ virtual dJointType type() const = 0;
+ virtual size_t size() const = 0;
- /// Set values which are relative with respect to bodies.
- /// Each dxJoint should redefine it if needed.
- virtual void setRelativeValues() {};
+ /// Set values which are relative with respect to bodies.
+ /// Each dxJoint should redefine it if needed.
+ virtual void setRelativeValues() {};
- // Test if this joint should be used in the simulation step
- // (has the enabled flag set, and is attached to at least one dynamic body)
- bool isEnabled() const;
+ // Test if this joint should be used in the simulation step
+ // (has the enabled flag set, and is attached to at least one dynamic body)
+ bool isEnabled() const;
};
@@ -163,30 +163,52 @@
struct dxJointGroup : public dBase
{
- int num; // number of joints on the stack
- dObStack stack; // a stack of (possibly differently sized) dxJoint
-}; // objects.
+ dxJointGroup(): m_num(0), m_stack() {}
+ template<class T>
+ T *alloc(dWorldID w)
+ {
+ T *j = (T *)m_stack.alloc(sizeof(T));
+ if (j != NULL) {
+ ++m_num;
+ new(j) T(w);
+ j->flags |= dJOINT_INGROUP;
+ }
+ return j;
+ }
+ size_t getJointCount() const { return m_num; }
+ size_t exportJoints(dxJoint **jlist);
+
+ void *beginEnum() { return m_stack.rewind(); }
+ void *continueEnum(size_t num_bytes) { return m_stack.next(num_bytes); }
+
+ void freeAll();
+
+private:
+ size_t m_num; // number of joints on the stack
+ dObStack m_stack; // a stack of (possibly differently sized) dxJoint objects.
+};
+
// common limit and motor information for a single joint axis of movement
struct dxJointLimitMotor
{
- dReal vel, fmax; // powered joint: velocity, max force
- dReal lostop, histop; // joint limits, relative to initial position
- dReal fudge_factor; // when powering away from joint limits
- dReal normal_cfm; // cfm to use when not at a stop
- dReal stop_erp, stop_cfm; // erp and cfm for when at joint limit
- dReal bounce; // restitution factor
- // variables used between getInfo1() and getInfo2()
- int limit; // 0=free, 1=at lo limit, 2=at hi limit
- dReal limit_err; // if at limit, amount over limit
+ dReal vel, fmax; // powered joint: velocity, max force
+ dReal lostop, histop; // joint limits, relative to initial position
+ dReal fudge_factor; // when powering away from joint limits
+ dReal normal_cfm; // cfm to use when not at a stop
+ dReal stop_erp, stop_cfm; // erp and cfm for when at joint limit
+ dReal bounce; // restitution factor
+ // variables used between getInfo1() and getInfo2()
+ int limit; // 0=free, 1=at lo limit, 2=at hi limit
+ dReal limit_err; // if at limit, amount over limit
- void init( dxWorld * );
- void set( int num, dReal value );
- dReal get( int num );
- int testRotationalLimit( dReal angle );
- int addLimot( dxJoint *joint, dxJoint::Info2 *info, int row,
- const dVector3 ax1, int rotational );
+ void init( dxWorld * );
+ void set( int num, dReal value );
+ dReal get( int num );
+ int testRotationalLimit( dReal angle );
+ int addLimot( dxJoint *joint, dxJoint::Info2 *info, int row,
+ const dVector3 ax1, int rotational );
};
Added: trunk/ode/src/objects.cpp
===================================================================
--- trunk/ode/src/objects.cpp (rev 0)
+++ trunk/ode/src/objects.cpp 2012-03-02 22:13:00 UTC (rev 1870)
@@ -0,0 +1,103 @@
+/*************************************************************************
+ * *
+ * 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. *
+ * *
+ *************************************************************************/
+
+// Object, body, and world methods.
+
+
+#include <ode/common.h>
+#include <ode/objects.h>
+#include <ode/matrix.h>
+#include "config.h"
+
+#include "objects.h"
+#include "util.h"
+
+
+#define dWORLD_DEFAULT_GLOBAL_ERP REAL(0.2)
+
+#if defined(dSINGLE)
+#define dWORLD_DEFAULT_GLOBAL_CFM REAL(1e-5)
+#elif defined(dDOUBLE)
+#define dWORLD_DEFAULT_GLOBAL_CFM REAL(1e-10)
+#else
+#error dSINGLE or dDOUBLE must be defined
+#endif
+
+
+
+dxAutoDisable::dxAutoDisable(void *):
+ idle_time(REAL(0.0)),
+ idle_steps(10),
+ average_samples(1), // Default is 1 sample => Instantaneous velocity
+ linear_average_threshold(REAL(0.01)*REAL(0.01)), // (magnitude squared)
+ angular_average_threshold(REAL(0.01)*REAL(0.01)) // (magnitude squared)
+{
+}
+
+dxDampingParameters::dxDampingParameters(void *):
+ linear_scale(REAL(0.0)),
+ angular_scale(REAL(0.0)),
+ linear_threshold(REAL(0.01) * REAL(0.01)),
+ angular_threshold(REAL(0.01) * REAL(0.01))
+{
+}
+
+dxQuickStepParameters::dxQuickStepParameters(void *):
+ num_iterations(20),
+ w(REAL(1.3))
+{
+}
+
+dxContactParameters::dxContactParameters(void *):
+ max_vel(dInfinity),
+ min_depth(REAL(0.0))
+{
+}
+
+dxWorld::dxWorld():
+ dBase(),
+ firstbody(NULL),
+ firstjoint(NULL),
+ nb(0),
+ nj(0),
+ global_erp(dWORLD_DEFAULT_GLOBAL_ERP),
+ global_cfm(dWORLD_DEFAULT_GLOBAL_CFM),
+ adis(NULL),
+ body_flags(0),
+ wmem(NULL),
+ qs(NULL),
+ contactp(NULL),
+ dampingp(NULL),
+ max_angular_speed(dInfinity)
+{
+ dSetZero (gravity, 4);
+}
+
+dxWorld::~dxWorld()
+{
+ if (wmem)
+ {
+ wmem->Release();
+ }
+}
+
+
Property changes on: trunk/ode/src/objects.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/cpp
Added: svn:eol-style
+ native
Modified: trunk/ode/src/objects.h
===================================================================
--- trunk/ode/src/objects.h 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/objects.h 2012-03-02 22:13:00 UTC (rev 1870)
@@ -76,9 +76,12 @@
struct dxAutoDisable {
dReal idle_time; // time the body needs to be idle to auto-disable it
int idle_steps; // steps the body needs to be idle to auto-disable it
+ unsigned int average_samples; // size of the average_lvel and average_avel buffers
dReal linear_average_threshold; // linear (squared) average velocity threshold
dReal angular_average_threshold; // angular (squared) average velocity threshold
- unsigned int average_samples; // size of the average_lvel and average_avel buffers
+
+ dxAutoDisable() {}
+ explicit dxAutoDisable(void *);
};
@@ -88,6 +91,9 @@
dReal angular_scale; // multiply the angular velocity by (1 - scale)
dReal linear_threshold; // linear (squared) average speed threshold
dReal angular_threshold; // angular (squared) average speed threshold
+
+ dxDampingParameters() {}
+ explicit dxDampingParameters(void *);
};
@@ -95,6 +101,9 @@
struct dxQuickStepParameters {
int num_iterations; // number of SOR iterations to perform
dReal w; // the SOR over-relaxation parameter
+
+ dxQuickStepParameters() {}
+ explicit dxQuickStepParameters(void *);
};
@@ -102,6 +111,9 @@
struct dxContactParameters {
dReal max_vel; // maximum correcting velocity
dReal min_depth; // thickness of 'surface layer'
+
+ dxContactParameters() {}
+ explicit dxContactParameters(void *);
};
// position vector and rotation matrix for geometry objects that are not
@@ -156,6 +168,10 @@
dxContactParameters contactp;
dxDampingParameters dampingp; // damping parameters
dReal max_angular_speed; // limit the angular velocity to this magnitude
+
+
+ dxWorld();
+ ~dxWorld();
};
Modified: trunk/ode/src/obstack.cpp
===================================================================
--- trunk/ode/src/obstack.cpp 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/obstack.cpp 2012-03-02 22:13:00 UTC (rev 1870)
@@ -1,24 +1,24 @@
/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
+* *
+* 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/common.h>
#include <ode/error.h>
@@ -31,7 +31,7 @@
// macros and constants
#define ROUND_UP_OFFSET_TO_EFFICIENT_SIZE(arena,ofs) \
- ofs = (size_t) (dEFFICIENT_SIZE( ((intP)(arena)) + ofs ) - ((intP)(arena)) );
+ ofs = (size_t) (dEFFICIENT_SIZE( ((intP)(arena)) + ofs ) - ((intP)(arena)) )
#define MAX_ALLOC_SIZE \
((size_t)(dOBSTACK_ARENA_SIZE - sizeof (Arena) - EFFICIENT_ALIGNMENT + 1))
@@ -39,12 +39,10 @@
//****************************************************************************
// dObStack
-dObStack::dObStack()
+dObStack::dObStack():
+ m_first(NULL), m_last(NULL),
+ m_current_arena(NULL), m_current_ofs(0)
{
- first = 0;
- last = 0;
- current_arena = 0;
- current_ofs = 0;
}
@@ -52,9 +50,9 @@
{
// free all arenas
Arena *a,*nexta;
- a = first;
+ a = m_first;
while (a) {
- nexta = a->next;
+ nexta = a->m_next;
dFree (a,dOBSTACK_ARENA_SIZE);
a = nexta;
}
@@ -65,68 +63,95 @@
{
if (num_bytes > MAX_ALLOC_SIZE) dDebug (0,"num_bytes too large");
- // allocate or move to a new arena if necessary
- if (!first) {
- // allocate the first arena if necessary
- first = last = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
- first->next = 0;
- first->used = sizeof (Arena);
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
- }
- else {
- // we already have one or more arenas, see if a new arena must be used
- if ((last->used + num_bytes) > dOBSTACK_ARENA_SIZE) {
- if (!last->next) {
- last->next = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
- last->next->next = 0;
+ bool last_alloc_needed = false, last_init_needed = false;
+ Arena **last_ptr = NULL;
+
+ if (m_last != NULL) {
+ if ((m_last->m_used + num_bytes) > dOBSTACK_ARENA_SIZE) {
+ if (m_last->m_next != NULL) {
+ m_last = m_last->m_next;
+ last_init_needed = true;
+ } else {
+ last_ptr = &m_last->m_next;
+ last_alloc_needed = true;
}
- last = last->next;
- last->used = sizeof (Arena);
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
}
+ } else {
+ last_ptr = &m_last;
+ last_alloc_needed = true;
}
+ if (last_alloc_needed) {
+ Arena *new_last = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
+ new_last->m_next = 0;
+ *last_ptr = new_last;
+ if (m_first == NULL) {
+ m_first = new_last;
+ }
+ m_last = new_last;
+ last_init_needed = true;
+ }
+
+ if (last_init_needed) {
+ m_last->m_used = sizeof (Arena);
+ ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (m_last,m_last->m_used);
+ }
+
// allocate an area in the arena
- char *c = ((char*) last) + last->used;
- last->used += num_bytes;
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
+ char *c = ((char*) m_last) + m_last->m_used;
+ m_last->m_used += num_bytes;
+ ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (m_last,m_last->m_used);
return c;
}
void dObStack::freeAll()
{
- last = first;
- if (first) {
- first->used = sizeof(Arena);
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
+ Arena *current = m_first;
+ m_last = current;
+ // It is necessary to reset used sizes in whole arena chain
+ // otherwise enumeration may proceed to remains of old deleted joints in unused arenas
+ while (current) {
+ current->m_used = sizeof(Arena);
+ ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current,current->m_used);
+ current = current->m_next;
}
}
void *dObStack::rewind()
{
- current_arena = first;
- current_ofs = sizeof (Arena);
- if (current_arena) {
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs)
- return ((char*) current_arena) + current_ofs;
- }
- else return 0;
+ return switch_to_arena(m_first);
}
-
void *dObStack::next (size_t num_bytes)
{
// this functions like alloc, except that no new storage is ever allocated
- if (!current_arena) return 0;
- current_ofs += num_bytes;
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
- if (current_ofs >= current_arena->used) {
- current_arena = current_arena->next;
- if (!current_arena) return 0;
- current_ofs = sizeof (Arena);
- ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
+ if (!m_current_arena) {
+ return 0;
}
- return ((char*) current_arena) + current_ofs;
+
+ m_current_ofs += num_bytes;
+ ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (m_current_arena,m_current_ofs);
+
+ if (m_current_ofs < m_current_arena->m_used) {
+ return ((char*) m_current_arena) + m_current_ofs;
+ }
+
+ return switch_to_arena(m_current_arena->m_next);
}
+
+void *dObStack::switch_to_arena(Arena *next_arena)
+{
+ m_current_arena = next_arena;
+ if (!next_arena) {
+ return 0;
+ }
+ m_current_ofs = sizeof (Arena);
+ ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (next_arena, m_current_ofs);
+ // Check if end of allocation has been reached
+ if (m_current_ofs >= next_arena->m_used) {
+ return 0;
+ }
+ return ((char*) next_arena) + m_current_ofs;
+}
Modified: trunk/ode/src/obstack.h
===================================================================
--- trunk/ode/src/obstack.h 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/obstack.h 2012-03-02 22:13:00 UTC (rev 1870)
@@ -30,18 +30,6 @@
struct dObStack : public dBase {
- struct Arena {
- Arena *next; // next arena in linked list
- size_t used; // total number of bytes used in this arena, counting
- }; // this header
-
- Arena *first; // head of the arena linked list. 0 if no arenas yet
- Arena *last; // arena where blocks are currently being allocated
-
- // used for iterator
- Arena *current_arena;
- size_t current_ofs;
-
dObStack();
~dObStack();
@@ -62,6 +50,23 @@
// of the previous block. this returns null if there are no more arenas.
// the sequence of 'num_bytes' parameters passed to next() during a
// traversal of the list must exactly match the parameters passed to alloc().
+
+private:
+ struct Arena {
+ Arena *m_next; // next arena in linked list
+ size_t m_used; // total number of bytes used in this arena, counting
+ }; // this header
+
+private:
+ void *switch_to_arena(Arena *next_arena);
+
+private:
+ Arena *m_first; // head of the arena linked list. 0 if no arenas yet
+ Arena *m_last; // arena where blocks are currently being allocated
+
+ // used for iterator
+ Arena *m_current_arena;
+ size_t m_current_ofs;
};
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-03-02 21:46:22 UTC (rev 1869)
+++ trunk/ode/src/ode.cpp 2012-03-02 22:13:00 UTC (rev 1870)
@@ -1,24 +1,24 @@
/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
+* *
+* 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. *
+* *
+*************************************************************************/
#ifdef _MSC_VER
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
@@ -49,11 +49,11 @@
dObject::dObject(dxWorld *w)
{
- world = w;
- next = 0;
- tome = 0;
- userdata = 0;
- tag = 0;
+ world = w;
+ next = 0;
+ tome = 0;
+ userdata = 0;
+ tag = 0;
}
@@ -90,13 +90,13 @@
dxJointNode *n = body->firstjoint;
dxJointNode *last = 0;
while (n) {
- if (n->joint == j) {
- if (last) last->next = n->next;
- else body->firstjoint = n->next;
- break;
- }
- last = n;
- n = n->next;
+ if (n->joint == j) {
+ if (last) last->next = n->next;
+ else body->firstjoint = n->next;
+ break;
+ }
+ last = n;
+ n = n->next;
}
}
}
@@ -132,8 +132,8 @@
static inline int generateWorldCheckTag()
{
- // Atomicity is not necessary here
- return ++g_world_check_tag_generator;
+ // Atomicity is not necessary here
+ return ++g_world_check_tag_generator;
}
static void checkWorld (dxWorld *w)
@@ -177,11 +177,11 @@
/*
// check for half-connected joints - actually now these are valid
for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
- if (j->node[0].body || j->node[1].body) {
- if (!(j->node[0].body && j->node[1].body))
- dDebug (0,"half connected joint found");
- }
+ if (j->node[0].body || j->node[1].body) {
+ if (!(j->node[0].body && j->node[1].body))
+ dDebug (0,"half connected joint found");
}
+ }
*/
// check that every joint node appears in the joint lists of both bodies it
@@ -189,11 +189,11 @@
for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
for (int i=0; i<2; i++) {
if (j->node[i].body) {
- int ok = 0;
- for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
- if (n->joint == j) ok = 1;
- }
- if (ok==0) dDebug (0,"joint not in joint list of attached body");
+ int ok = 0;
+ for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
+ if (n->joint == j) ok = 1;
+ }
+ if (ok==0) dDebug (0,"joint not in joint list of attached body");
}
}
}
@@ -202,12 +202,12 @@
for (b=w->firstbody; b; b=(dxBody*)b->next) {
for (dxJointNode *n=b->firstjoint; n; n=n->next) {
if (&n->joint->node[0] == n) {
- if (n->joint->node[1].body != b)
- dDebug (0,"bad body pointer in joint node of body list (1)");
+ if (n->joint->node[1].body != b)
+ dDebug (0,"bad body pointer in joint node of body list (1)");
}
else {
- if (n->joint->node[0].body != b)
- dDebug (0,"bad body pointer in joint node of body list (2)");
+ if (n->joint->node[0].body != b)
+ dDebug (0,"bad body pointer in joint node of body list (2)");
}
if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
}
@@ -218,7 +218,7 @@
if (j->node[0].body && (j->node[0].body == j->node[1].body))
dDebug (0,"non-distinct body pointers in joint");
if ((j->node[0].body && j->node[0].body->tag != count) ||
- (j->node[1].body && j->node[1].body->tag != count))
+ (j->node[1].body && j->node[1].body->tag != count))
dDebug (0,"bad body pointer in joint");
}
}
@@ -233,9 +233,9 @@
// body
dxBody::dxBody(dxWorld *w) :
- dObject(w)
+dObject(w)
{
-
+
}
@@ -325,13 +325,13 @@
// delete the average buffers
if(b->average_lvel_buffer)
{
- delete[] (b->average_lvel_buffer);
- b->average_lvel_buffer = 0;
+ delete[] (b->average_lvel_buffer);
+ b->average_lvel_buffer = 0;
}
if(b->average_avel_buffer)
{
- delete[] (b->average_avel_buffer);
- b->average_avel_buffer = 0;
+ delete[] (b->average_avel_buffer);
+ b->average_avel_buffer = 0;
}
delete b;
@@ -423,11 +423,11 @@
void dBodyCopyPosition (dBodyID b, dVector3 pos)
{
- dAASSERT (b);
- dReal* src = b->posr.pos;
- pos[0] = src[0];
- pos[1] = src[1];
- pos[2] = src[2];
+ dAASSERT (b);
+ dReal* src = b->posr.pos;
+ pos[0] = src[0];
+ pos[1] = src[1];
+ pos[2] = src[2];
}
@@ -440,20 +440,20 @@
void dBodyCopyRotation (dBodyID b, dMatrix3 R)
{
- dAASSERT (b);
- const dReal* src = b->posr.R;
- R[0] = src[0];
- R[1] = src[1];
- R[2] = src[2];
- R[3] = src[3];
- R[4] = src[4];
- R[5] = src[5];
- R[6] = src[6];
- R[7] = src[7];
- R[8] = src[8];
- R[9] = src[9];
- R[10] = src[10];
- R[11] = src[11];
+ dAASSERT (b);
+ const dReal* src = b->posr.R;
+ R[0] = src[0];
+ R[1] = src[1];
+ R[2] = src[2];
+ R[3] = src[3];
+ R[4] = src[4];
+ R[5] = src[5];
+ R[6] = src[6];
+ R[7] = src[7];
+ R[8] = src[8];
+ R[9] = src[9];
+ R[10] = src[10];
+ R[11] = src[11];
}
@@ -466,12 +466,12 @@
void dBodyCopyQuaternion (dBodyID b, dQuaternion quat)
{
- dAASSERT (b);
- dReal* src = b->q;
- quat[0] = src[0];
- quat[1] = src[1];
- quat[2] = src[2];
- quat[3] = src[3];
+ dAASSERT (b);
+ dReal* src = b->q;
+ quat[0] = src[0];
+ quat[1] = src[1];
+ quat[2] = src[2];
+ quat[3] = src[3];
}
@@ -497,8 +497,8 @@
// The centre of mass must be at the origin.
// Use dMassTranslate( mass, -mass->c[0], -mass->c[1], -mass->c[2] ) to correct it.
dUASSERT( fabs( mass->c[0] ) <= dEpsilon &&
- fabs( mass->c[1] ) <= dEpsilon &&
- fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." );
+ fabs( mass->c[1] ) <= dEpsilon &&
+ fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." );
memcpy (&b->mass,mass,sizeof(dMass));
if (dInvertPDMatrix (b->mass.I,b->invI,3,NULL)==0) {
@@ -565,7 +565,7 @@
void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
+ dReal px, dReal py, dReal pz)
{
dAASSERT (b);
b->facc[0] += fx;
@@ -583,7 +583,7 @@
void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
+ dReal px, dReal py, dReal pz)
{
dAASSERT (b);
dVector3 prel,f,p;
@@ -604,7 +604,7 @@
void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
+ dReal px, dReal py, dReal pz)
{
dAASSERT (b);
dVector3 frel,f;
@@ -625,7 +625,7 @@
void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
- dReal px, dReal py, dReal pz)
+ dReal px, dReal py, dReal pz)
{
dAASSERT (b);
dVector3 frel,prel,f,p;
@@ -679,7 +679,7 @@
void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
- dVector3 result)
+ dVector3 result)
{
dAASSERT (b);
dVector3 prel,p;
@@ -695,7 +695,7 @@
void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
- dVector3 result)
+ dVector3 result)
{
dAASSERT (b);
dVector3 prel,p;
@@ -712,7 +712,7 @@
void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
- dVector3 result)
+ dVector3 result)
{
dAASSERT (b);
dVector3 p;
@@ -728,7 +728,7 @@
void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
- dVector3 result)
+ dVector3 result)
{
dAASSERT (b);
dVector3 prel;
@@ -741,7 +741,7 @@
void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
- dVector3 result)
+ dVector3 result)
{
dAASSERT (b);
dVector3 p;
@@ -754,7 +754,7 @@
void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
- dVector3 result)
+ dVector3 result)
{
dAASSERT (b);
dVector3 p;
@@ -773,8 +773,8 @@
if (mode) {
b->flags |= dxBodyFlagFiniteRotation;
if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 ||
- b->finite_rot_axis[2] != 0) {
- b->flags |= dxBodyFlagFiniteRotationAxis;
+ b->finite_rot_axis[2] != 0) {
+ b->flags |= dxBodyFlagFiniteRotationAxis;
}
}
}
@@ -834,7 +834,7 @@
void dBodySetDynamic (dBodyID b)
{
dAASSERT (b);
-
+
dBodySetMass(b,&b->mass);
}
@@ -894,132 +894,132 @@
dReal dBodyGetAutoDisableLinearThreshold (dBodyID b)
{
- dAASSERT(b);
- return dSqrt (b->adis.linear_average_threshold);
+ dAASSERT(b);
+ return dSqrt (b->adis.linear_average_threshold);
}
void dBodySetAutoDisableLinearThreshold (dBodyID b, dReal linear_average_threshold)
{
- dAASSERT(b);
- b->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
+ dAASSERT(b);
+ b->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
}
dReal dBodyGetAutoDisableAngularThreshold (dBodyID b)
{
- dAASSERT(b);
- return dSqrt (b->adis.angular_average_threshold);
+ dAASSERT(b);
+ return dSqrt (b->adis.angular_average_threshold);
}
void dBodySetAutoDisableAngularThreshold (dBodyID b, dReal angular_average_threshold)
{
- dAASSERT(b);
- b->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
+ dAASSERT(b);
+ b->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
}
int dBodyGetAutoDisableAverageSamplesCount (dBodyID b)
{
- dAASSERT(b);
- return b->adis.average_samples;
+ dAASSERT(b);
+ return b->adis.average_samples;
}
void dBodySetAutoDisableAverageSamplesCount (dBodyID b, unsigned int average_samples_count)
{
- dAASSERT(b);
- b->adis.average_samples = average_samples_count;
- // update the average buffers
- if(b->average_lvel_buffer)
- {
- delete[] b->average_lvel_buffer;
- b->average_lvel_buffer = 0;
- }
- if(b->average_avel_buffer)
- {
- delete[] b->average_avel_buffer;
- b->average_avel_buffer = 0;
- }
- if(b->adis.average_samples > 0)
- {
- b->average_lvel_buffer = new dVector3[b->adis.average_samples];
- b->average_avel_buffer = new dVector3[b->adis.average_samples];
- }
- else
- {
- b->average_lvel_buffer = 0;
- b->average_avel_buffer = 0;
- }
- // new buffer is empty
- b->average_counter = 0;
- b->average_ready = 0;
+ dAASSERT(b);
+ b->adis.average_samples = average_samples_count;
+ // update the average buffers
+ if(b->average_lvel_buffer)
+ {
+ delete[] b->average_lvel_buffer;
+ b->average_lvel_buffer = 0;
+ }
+ if(b->average_avel_buffer)
+ {
+ delete[] b->average_avel_buffer;
+ b->average_avel_buffer = 0;
+ }
+ if(b->adis.average_samples > 0)
+ {
+ b->average_lvel_buffer = new dVector3[b->adis.average_samples];
+ b->average_avel_buffer = new dVector3[b->adis.average_samples];
+ }
+ else
+ {
+ b->average_lvel_buffer = 0;
+ b->average_avel_buffer = 0;
+ }
+ // new buffer is empty
+ b->average_counter = 0;
+ b->average_ready = 0;
}
int dBodyGetAutoDisableSteps (dBodyID b)
{
- dAASSERT(b);
- return b->adis.idle_steps;
+ dAASSERT(b);
+ return b->adis.idle_steps;
}
void dBodySetAutoDisableSteps (dBodyID b, int steps)
{
- dAASSERT(b);
- b->adis.idle_steps = steps;
+ dAASSERT(b);
+ b->adis.idle_steps = steps;
}
dReal dBodyGetAutoDisableTime (dBodyID b)
{
- dAASSERT(b);
- return b->adis.idle_time;
+ dAASSERT(b);
+ return b->adis.idle_time;
}
void dBodySetAutoDisableTime (dBodyID b, dReal time)
{
- dAASSERT(b);
- b->adis.idle_time = time;
+ dAASSERT(b);
+ b->adis.idle_time = time;
}
int dBodyGetAutoDisableFlag (dBodyID b)
{
- dAASSERT(b);
- return ((b->flags & dxBodyAutoDisable) != 0);
+ dAASSERT(b);
+ return ((b->flags & dxBodyAutoDisable) != 0);
}
void dBodySetAutoDisableFlag (dBodyID b, int do_auto_disable)
{
- dAASSERT(b);
- if (!do_auto_disable)
- {
- b->flags &= ~dxBodyAutoDisable;
- // (mg) we should also reset the IsDisabled state to correspond to the DoDisabling flag
- b->flags &= ~dxBodyDisabled;
- b->adis.idle_steps = dWorldGetAutoDisableSteps(b->world);
- b->adis.idle_time = dWorldGetAutoDisableTime(b->world);
- // resetting the average calculations too
- dBodySetAutoDisableAverageSamplesCount(b, dWorldGetAutoDisableAverageSamplesCount(b->world) );
- }
- else
- {
- b->flags |= dxBodyAutoDisable;
- }
+ dAASSERT(b);
+ if (!do_auto_disable)
+ {
+ b->flags &= ~dxBodyAutoDisable;
+ // (mg) we should also reset the IsDisabled state to correspond to the DoDisabling flag
+ b->flags &= ~dxBodyDisabled;
+ b->adis.idle_steps = dWorldGetAutoDisableSteps(b->world);
+ b->adis.idle_time = dWorldGetAutoDisableTime(b->world);
+ // resetting the average calculations too
+ dBodySetAutoDisableAverageSamplesCount(b, dWorldGetAutoDisableAverageSamplesCount(b->world) );
+ }
+ else
+ {
+ b->flags |= dxBodyAutoDisable;
+ }
}
void dBodySetAutoDisableDefaults (dBodyID b)
{
- dAASSERT(b);
- dWorldID w = b->world;
- dAASSERT(w);
- b->adis = w->adis;
- dBodySetAutoDisableFlag (b, w->body_flags & dxBodyAutoDisable);
+ dAASSERT(b);
+ dWorldID w = b->world;
+ dAASSERT(w);
+ b->adis = w->adis;
+ dBodySetAutoDisableFlag (b, w->body_flags & dxBodyAutoDisable);
}
@@ -1027,129 +1027,129 @@
dReal dBodyGetLinearDamping(dBodyID b)
{
- dAASSERT(b);
- return b->dampingp.linear_scale;
+ dAASSERT(b);
+ return b->dampingp.linear_scale;
}
void dBodySetLinearDamping(dBodyID b, dReal scale)
{
- dAASSERT(b);
- if (scale)
- b->flags |= dxBodyLinearDamping;
- else
- b->flags &= ~dxBodyLinearDamping;
- b->dampingp.linear_scale = scale;
+ dAASSERT(b);
+ if (scale)
+ b->flags |= dxBodyLinearDamping;
+ else
+ b->flags &= ~dxBodyLinearDamping;
+ b->dampingp.linear_scale = scale;
}
dReal dBodyGetAngularDamping(dBodyID b)
{
- dAASSERT(b);
- return b->dampingp.angular_scale;
+ dAASSERT(b);
+ return b->dampingp.angular_scale;
}
void dBodySetAngularDamping(dBodyID b, dReal scale)
{
- dAASSERT(b);
- if (scale)
- b->flags |= dxBodyAngularDamping;
- else
- b->flags &= ~dxBodyAngularDamping;
- b->dampingp.angular_scale = scale;
+ dAASSERT(b);
+ if (scale)
+ b->flags |= dxBodyAngularDamping;
+ else
+ b->flags &= ~dxBodyAngularDamping;
+ b->dampingp.angular_scale = scale;
}
void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale)
{
- dAASSERT(b);
- dBodySetLinearDamping(b, linear_scale);
- dBodySetAngularDamping(b, angular_scale);
+ dAASSERT(b);
+ dBodySetLinearDamping(b, linear_scale);
+ dBodySetAngularDamping(b, angular_scale);
}
dReal dBodyGetLinearDampingThreshold(dBodyID b)
{
- dAASSERT(b);
- return dSqrt(b->dampingp.linear_threshold);
+ dAASSERT(b);
+ return dSqrt(b->dampingp.linear_threshold);
}
void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold)
{
- dAASSERT(b);
- b->dampingp.linear_threshold = threshold*threshold;
+ dAASSERT(b);
+ b->dampingp.linear_threshold = threshold*threshold;
}
dReal dBodyGetAngularDampingThreshold(dBodyID b)
{
- dAASSERT(b);
- return dSqrt(b->dampingp.angular_threshold);
+ dAASSERT(b);
+ return dSqrt(b->dampingp.angular_threshold);
}
void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold)
{
- dAASSERT(b);
- b->dampingp.angular_threshold = threshold*threshold;
+ dAASSERT(b);
+ b->dampingp.angular_threshold = threshold*threshold;
}
void dBodySetDampingDefaults(dBodyID b)
{
- dAASSERT(b);
- dWorldID w = b->world;
- dAASSERT(w);
- b->dampingp = w->dampingp;
- const unsigned mask = dxBodyLinearDamping | dxBodyAngularDamping;
- b->flags &= ~mask; // zero them
- b->flags |= w->body_flags & mask;
+ dAASSERT(b);
+ dWorldID w = b->world;
+ dAASSERT(w);
+ b->dampingp = w->dampingp;
+ const unsigned mask = dxBodyLinearDamping | dxBodyAngularDamping;
+ b->flags &= ~mask; // zero them
+ b->flags |= w->body_flags & mask;
}
dReal dBodyGetMaxAngularSpeed(dBodyID b)
{
- dAASSERT(b);
- return b->max_angular_speed;
+ dAASSERT(b);
+ return b->max_angular_speed;
}
void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed)
{
- dAASSERT(b);
- if (max_speed < dInfinity)
- b->flags |= dxBodyMaxAngularSpeed;
- else
- b->flags &= ~dxBodyMaxAngularSpeed;
- b->max_angular_speed = max_speed;
+ dAASSERT(b);
+ if (max_speed < dInfinity)
+ b->flags |= dxBodyMaxAngularSpeed;
+ else
+ b->flags &= ~dxBodyMaxAngularSpeed;
+ b->max_angular_speed = max_speed;
}
void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID))
{
- dAASSERT(b);
- b->moved_callback = callback;
+ dAASSERT(b);
+ b->moved_callback = callback;
}
dGeomID dBodyGetFirstGeom(dBodyID b)
{
- dAASSERT(b);
- return b->geom;
+ dAASSERT(b);
+ return b->geom;
}
dGeomID dBodyGetNextGeom(dGeomID geom)
{
- dAASSERT(geom);
- return dGeomGetBodyNext(geom);
+ dAASSERT(geom);
+ return dGeomGetBodyNext(geom);
}
int dBodyGetGyroscopicMode(dBodyID b)
{
- dAASSERT(b);
- return b->flags & dxBodyGyroscopic;
+ dAASSERT(b);
+ return b->flags & dxBodyGyroscopic;
}
void dBodySetGyroscopicMode(dBodyID b, int enabled)
{
- dAASSERT(b);
- if (enabled)
- b->flags |= dxBodyGyroscopic;
- else
- b->flags &= ~dxBodyGyroscopic;
+ dAASSERT(b);
+ if (enabled)
+ b->flags |= dxBodyGyroscopic;
+ else
+ b->flags &= ~dxBodyGyroscopic;
}
@@ -1162,186 +1162,206 @@
template<class T>
dxJoint* createJoint(dWorldID w, dJointGroupID group)
{
- dxJoint *j;
- if (group) {
- j = (dxJoint*) group->stack.alloc(sizeof(T));
- group->num++;
- } else
- j = (dxJoint*) dAlloc(sizeof(T));
-
- new(j) T(w);
- if (group)
- j->flags |= dJOINT_INGROUP;
-
- return j;
+ dxJoint *j;
+ if (group) {
+ j = group->alloc<T>(w);
+ } else {
+ j = new T(w);
+ }
+ return j;
}
dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointBall>(w,group);
+ dAASSERT (w);
+ return createJoint<dxJointBall>(w,group);
}
dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointHinge>(w,group);
+ dAASSERT (w);
+ return createJoint<dxJointHinge>(w,group);
}
dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointSlider>(w,group);
+ dAASSERT (w);
+ return createJoint<dxJointSlider>(w,group);
}
dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group,
- const dContact *c)
+ const dContact *c)
{
- dAASSERT (w && c);
- dxJointContact *j = (dxJointContact *)
- createJoint<dxJointContact> (w,group);
- j->contact = *c;
- return j;
+ dAASSERT (w && c);
+ dxJointContact *j = (dxJointContact *)
+ createJoint<dxJointContact> (w,group);
+ j->contact = *c;
+ return j;
}
dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointHinge2> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointHinge2> (w,group);
}
dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointUniversal> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointUniversal> (w,group);
}
dxJoint * dJointCreatePR (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointPR> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointPR> (w,group);
}
dxJoint * dJointCreatePU (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointPU> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointPU> (w,group);
}
dxJoint * dJointCreatePiston (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointPiston> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointPiston> (w,group);
}
dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointFixed> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointFixed> (w,group);
}
dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointNull> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointNull> (w,group);
}
dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointAMotor> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointAMotor> (w,group);
}
dxJoint * dJointCreateLMotor (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointLMotor> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointLMotor> (w,group);
}
dxJoint * dJointCreatePlane2D (dWorldID w, dJointGroupID group)
{
- dAASSERT (w);
- return createJoint<dxJointPlane2D> (w,group);
+ dAASSERT (w);
+ return createJoint<dxJointPlane2D> (w,group);
}
-void dJointDestroy (dxJoint *j)
+static void FinalizeAndDestroyJointInstance(dxJoint *j, bool delete_it)
{
- dAASSERT (j);
- size_t sz = j->size();
- if (j->flags & dJOINT_INGROUP) return;
+ // if any group joints have their world pointer set to 0, their world was
+ // previously destroyed. no special handling is required for these joints.
+ if (j->world != NULL) {
removeJointReferencesFromAttachedBodies (j);
removeObjectFromList (j);
j->world->nj--;
+ }
+ if (delete_it) {
+ delete j;
+ } else {
j->~dxJoint();
- dFree (j, sz);
+ }
}
+void dJointDestroy (dxJoint *j)
+{
+ dAASSERT (j);
+ if (!(j->flags & dJOINT_INGROUP)) {
+ FinalizeAndDestroyJointInstance(j, true);
+ }
+}
+
dJointGroupID dJointGroupCreate (int max_size)
{
- // not any more ... dUASSERT (max_size > 0,"max size must be > 0");
- dxJointGroup *group = new dxJointGroup;
- group->num = 0;
- return group;
+ // not any more ... dUASSERT (max_size > 0,"max size must be > 0");
+ dxJointGroup *group = new dxJointGroup();
+ return group;
}
void dJointGroupDestroy (dJointGroupID group)
{
- dAASSERT (group);
- dJointGroupEmpty (group);
- delete group;
+ dAASSERT (group);
+ dJointGroupEmpty (group);
+ delete group;
}
-
void dJointGroupEmpty (dJointGroupID group)
{
- // the joints in this group are detached starting from the most recently
- // added (at the top of the stack). this helps ensure that the various
- // linked lists are not traversed too much, as the joints will hopefully
- // be at the start of those lists.
- // if any group joints have their world pointer set to 0, their world was
- // previously destroyed. no special handling is required for these joints.
+ dAASSERT (group);
+
+ const size_t num_joints = group->getJointCount();
+ if (num_joints != 0) {
+ // Local array is used since ALLOCA leads to mysterious NULL values in first array element and crashes under VS2005 :)
+ const size_t max_stack_jlist_size = 1024;
+ dxJoint *stack_jlist[max_stack_jlist_size];
+
+ const size_t jlist_size = num_joints * sizeof(dxJoint*);
+ dxJoint **jlist = num_joints <= max_stack_jlist_size ? stack_jlist : (dxJoint **)dAlloc(jlist_size);
- dAASSERT (group);
- int i;
- dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*));
- dxJoint *j = (dxJoint*) group->stack.rewind();
- for (i=0; i < group->num; i++) {
- jlist[i] = j;
- j = (dxJoint*) (group->stack.next (j->size()));
+ if (jlist != NULL) {
+ // the joints in this group are detached starting from the most recently
+ // added (at the top of the stack). this helps ensure that the various
+ // linked lists are not traversed too much, as the joints will hopefully
+ // be at the start of those lists.
+ size_t num_exported = group->exportJoints(jlist);
+ dIVERIFY(num_exported == num_joints);
+
+ for (size_t i = num_joints; i != 0; ) {
+ --i;
+ dxJoint *j = jlist[i];
+ FinalizeAndDestroyJointInstance(j, false);
+ }
+ } else {
+ // ...else if there is no memory, go on detaching the way it is possible
+ size_t joint_bytes;
+ for (dxJoint *j = (dxJoint *)group->beginEnum(); j != NULL; j = (dxJoint *)group->continueEnum(joint_bytes)) {
+ joint_bytes = j->size(); // Get size before object is destroyed!
+ FinalizeAndDestroyJointInstance(j, false);
+ }
}
- for (i=group->num-1; i >= 0; i--) {
- if (jlist[i]->world) {
- removeJointReferencesFromAttachedBodies (jlist[i]);
- removeObjectFromList (jlist[i]);
- jlist[i]->world->nj--;
- jlist[i]->~dxJoint();
- }
+
+ group->freeAll();
+
+ if (jlist != stack_jlist && jlist != NULL) {
+ dFree(jlist, jlist_size);
}
- group->num = 0;
- group->stack.freeAll();
+ }
}
+
int dJointGetNumBodies(dxJoint *joint)
{
- // check arguments
- dUASSERT (joint,"bad joint argument");
+ // check arguments
...
[truncated message content] |
|
From: <ole...@us...> - 2012-03-02 21:46:29
|
Revision: 1869
http://opende.svn.sourceforge.net/opende/?rev=1869&view=rev
Author: oleh_derevenko
Date: 2012-03-02 21:46:22 +0000 (Fri, 02 Mar 2012)
Log Message:
-----------
Assertion checking macros moved from common.h to error.h
Modified Paths:
--------------
trunk/CHANGELOG.txt
trunk/include/ode/common.h
trunk/include/ode/error.h
Modified: trunk/CHANGELOG.txt
===================================================================
--- trunk/CHANGELOG.txt 2012-02-25 23:21:03 UTC (rev 1868)
+++ trunk/CHANGELOG.txt 2012-03-02 21:46:22 UTC (rev 1869)
@@ -8,6 +8,8 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+02/03/12 Oleh Derevenko
+ * Assertion checking macros moved from common.h to error.h
12/18/11 Oleh Derevenko
* dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
expression in release mode) to be used to assert variable value
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-02-25 23:21:03 UTC (rev 1868)
+++ trunk/include/ode/common.h 2012-03-02 21:46:22 UTC (rev 1869)
@@ -22,10 +22,11 @@
#ifndef _ODE_COMMON_H_
#define _ODE_COMMON_H_
+
#include <ode/odeconfig.h>
#include <ode/error.h>
-#include <math.h>
+
#ifdef __cplusplus
extern "C" {
#endif
@@ -50,54 +51,6 @@
#endif
-/* debugging:
- * IASSERT is an internal assertion, i.e. a consistency check. if it fails
- * we want to know where.
- * UASSERT is a user assertion, i.e. if it fails a nice error message
- * should be printed for the user.
- * AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"
- * is printed.
- * DEBUGMSG just prints out a message
- */
-
-# 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)")
-
/* floating point data type, vector, matrix and quaternion types */
#if defined(dSINGLE)
Modified: trunk/include/ode/error.h
===================================================================
--- trunk/include/ode/error.h 2012-02-25 23:21:03 UTC (rev 1868)
+++ trunk/include/ode/error.h 2012-03-02 21:46:22 UTC (rev 1869)
@@ -56,6 +56,57 @@
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
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-02-25 23:21:10
|
Revision: 1868
http://opende.svn.sourceforge.net/opende/?rev=1868&view=rev
Author: oleh_derevenko
Date: 2012-02-25 23:21:03 +0000 (Sat, 25 Feb 2012)
Log Message:
-----------
Cosmetic: Spelling error corrected
Modified Paths:
--------------
trunk/INSTALL.txt
Modified: trunk/INSTALL.txt
===================================================================
--- trunk/INSTALL.txt 2012-02-25 23:16:14 UTC (rev 1867)
+++ trunk/INSTALL.txt 2012-02-25 23:21:03 UTC (rev 1868)
@@ -97,7 +97,7 @@
$ premake4 --help
-4. BUILDING WITH SOMETHING EKSE
+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
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-02-25 23:16:20
|
Revision: 1867
http://opende.svn.sourceforge.net/opende/?rev=1867&view=rev
Author: oleh_derevenko
Date: 2012-02-25 23:16:14 +0000 (Sat, 25 Feb 2012)
Log Message:
-----------
Cosmetic: Changed: CreateThread() -> _beginthreadex()
Modified Paths:
--------------
trunk/drawstuff/src/windows.cpp
Modified: trunk/drawstuff/src/windows.cpp
===================================================================
--- trunk/drawstuff/src/windows.cpp 2012-02-24 20:19:52 UTC (rev 1866)
+++ trunk/drawstuff/src/windows.cpp 2012-02-25 23:16:14 UTC (rev 1867)
@@ -23,6 +23,7 @@
#if defined(WIN32) || defined(__CYGWIN__)// this prevents warnings when dependencies built
#include <windows.h>
#endif
+#include <process.h>
#include <ode/odeconfig.h>
#include <GL/gl.h>
@@ -116,7 +117,7 @@
}
-static DWORD WINAPI renderingThread (LPVOID lpParam)
+static unsigned CALLBACK renderingThread (LPVOID lpParam)
{
// create openGL context and make it current
HGLRC glc = wglCreateContext (renderer_dc);
@@ -425,14 +426,14 @@
renderer_height = window_height;
renderer_fn = fn;
- DWORD threadId, thirdParam = 0;
+ unsigned threadId;
HANDLE hThread;
- hThread = CreateThread(
+ hThread = (HANDLE)_beginthreadex(
NULL, // no security attributes
0, // use default stack size
- renderingThread, // thread function
- &thirdParam, // argument to thread function
+ &renderingThread, // thread function
+ NULL, // argument to thread function
0, // use default creation flags
&threadId); // returns the thread identifier
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2012-02-24 20:19:58
|
Revision: 1866
http://opende.svn.sourceforge.net/opende/?rev=1866&view=rev
Author: danielosmari
Date: 2012-02-24 20:19:52 +0000 (Fri, 24 Feb 2012)
Log Message:
-----------
fixed path in build instructions
Modified Paths:
--------------
trunk/INSTALL.txt
Modified: trunk/INSTALL.txt
===================================================================
--- trunk/INSTALL.txt 2012-02-13 22:44:46 UTC (rev 1865)
+++ trunk/INSTALL.txt 2012-02-24 20:19:52 UTC (rev 1866)
@@ -88,12 +88,12 @@
provide workspaces. Instead, use Premake to create a workspace tailored
for your platform and project. Like so:
- $ cd ode/build
+ $ cd build
$ premake4 --with-tests --with-demos codeblocks
To see a complete list of options:
- $ cd ode/build
+ $ cd build
$ premake4 --help
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2012-02-13 22:44:52
|
Revision: 1865
http://opende.svn.sourceforge.net/opende/?rev=1865&view=rev
Author: oleh_derevenko
Date: 2012-02-13 22:44:46 +0000 (Mon, 13 Feb 2012)
Log Message:
-----------
Cosmetic: Commentary corrected
Modified Paths:
--------------
trunk/include/ode/common.h
Modified: trunk/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2012-02-11 22:17:21 UTC (rev 1864)
+++ trunk/include/ode/common.h 2012-02-13 22:44:46 UTC (rev 1865)
@@ -158,7 +158,7 @@
#define dAtan2(y,x) (atan2f(y,x)) /* arc tangent with 2 args */
#define dFMod(a,b) (fmodf(a,b)) /* modulo */
#define dFloor(x) floorf(x) /* floor */
-#define dCeil(x) ceilf(x) /* floor */
+#define dCeil(x) ceilf(x) /* ceil */
#define dCopySign(a,b) ((dReal)copysignf(a,b)) /* copy value sign */
#define dNextAfter(x, y) nextafterf(x, y) /* next value after */
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|
|
From: <dan...@us...> - 2012-02-11 22:17:27
|
Revision: 1864
http://opende.svn.sourceforge.net/opende/?rev=1864&view=rev
Author: danielosmari
Date: 2012-02-11 22:17:21 +0000 (Sat, 11 Feb 2012)
Log Message:
-----------
tagging the 0.12 release
Added Paths:
-----------
tags/0.12/
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|
|
From: <dan...@us...> - 2012-02-11 22:12:30
|
Revision: 1863
http://opende.svn.sourceforge.net/opende/?rev=1863&view=rev
Author: danielosmari
Date: 2012-02-11 22:12:22 +0000 (Sat, 11 Feb 2012)
Log Message:
-----------
bumped version to 0.12
Modified Paths:
--------------
trunk/configure.in
Modified: trunk/configure.in
===================================================================
--- trunk/configure.in 2012-02-11 22:03:27 UTC (rev 1862)
+++ trunk/configure.in 2012-02-11 22:12:22 UTC (rev 1863)
@@ -1,6 +1,6 @@
dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram
-AC_INIT([ODE],[0.11.1],[od...@od...])
-ODE_RELEASE=0.11.1
+AC_INIT([ODE],[0.12],[od...@od...])
+ODE_RELEASE=0.12
AC_SUBST(ODE_RELEASE)
# Those are instructions from the Libtool manual:
@@ -22,9 +22,9 @@
#
# 6. If any interfaces have been removed since the last public release,
# then set AGE to 0.
-CURRENT=2
-REVISION=1
-AGE=1
+CURRENT=3
+REVISION=0
+AGE=0
AC_ARG_ENABLE(version-info,
AS_HELP_STRING([--disable-version-info],
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|
|
From: <dan...@us...> - 2012-02-11 22:03:33
|
Revision: 1862
http://opende.svn.sourceforge.net/opende/?rev=1862&view=rev
Author: danielosmari
Date: 2012-02-11 22:03:27 +0000 (Sat, 11 Feb 2012)
Log Message:
-----------
Fixed bindings path
Modified Paths:
--------------
trunk/Makefile.am
Modified: trunk/Makefile.am
===================================================================
--- trunk/Makefile.am 2012-02-04 14:05:32 UTC (rev 1861)
+++ trunk/Makefile.am 2012-02-11 22:03:27 UTC (rev 1862)
@@ -38,7 +38,7 @@
EXTRA_DIST = autogen.sh build tools \
CHANGELOG.txt INSTALL.txt README.txt LICENSE.TXT \
- binding
+ bindings
pkgconfigdir = $(libdir)/pkgconfig
pkgconfig_DATA = ode.pc
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|
|
From: <ole...@us...> - 2012-02-04 14:05:38
|
Revision: 1861
http://opende.svn.sourceforge.net/opende/?rev=1861&view=rev
Author: oleh_derevenko
Date: 2012-02-04 14:05:32 +0000 (Sat, 04 Feb 2012)
Log Message:
-----------
Compilation errors fixed
Modified Paths:
--------------
trunk/ode/src/collision_trimesh_opcode.cpp
trunk/ode/src/ode.cpp
Modified: trunk/ode/src/collision_trimesh_opcode.cpp
===================================================================
--- trunk/ode/src/collision_trimesh_opcode.cpp 2012-01-20 07:59:41 UTC (rev 1860)
+++ trunk/ode/src/collision_trimesh_opcode.cpp 2012-02-04 14:05:32 UTC (rev 1861)
@@ -376,7 +376,7 @@
void dGeomTriMeshSetLastTransform( dxGeom* g, dMatrix4 last_trans )
{
- dAASSERT(g)
+ dAASSERT(g);
dUASSERT(g->type == dTriMeshClass, "geom not trimesh");
for (int i=0; i<16; i++)
@@ -388,7 +388,7 @@
dReal* dGeomTriMeshGetLastTransform( dxGeom* g )
{
- dAASSERT(g)
+ dAASSERT(g);
dUASSERT(g->type == dTriMeshClass, "geom not trimesh");
return (dReal*)(((dxTriMesh*)g)->last_trans);
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2012-01-20 07:59:41 UTC (rev 1860)
+++ trunk/ode/src/ode.cpp 2012-02-04 14:05:32 UTC (rev 1861)
@@ -498,7 +498,7 @@
// Use dMassTranslate( mass, -mass->c[0], -mass->c[1], -mass->c[2] ) to correct it.
dUASSERT( fabs( mass->c[0] ) <= dEpsilon &&
fabs( mass->c[1] ) <= dEpsilon &&
- fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." )
+ fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." );
memcpy (&b->mass,mass,sizeof(dMass));
if (dInvertPDMatrix (b->mass.I,b->invI,3,NULL)==0) {
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|
From: <klo...@us...> - 2012-01-20 07:59:53
|
Revision: 1860
http://opende.svn.sourceforge.net/opende/?rev=1860&view=rev
Author: klompjeg
Date: 2012-01-20 07:59:41 +0000 (Fri, 20 Jan 2012)
Log Message:
-----------
Added compatibility for Python versions below 2.7 and fixed running setup.py as executable on Linux
Modified Paths:
--------------
trunk/bindings/python/setup.py
Modified: trunk/bindings/python/setup.py
===================================================================
--- trunk/bindings/python/setup.py 2012-01-15 19:28:21 UTC (rev 1859)
+++ trunk/bindings/python/setup.py 2012-01-20 07:59:41 UTC (rev 1860)
@@ -1,39 +1,41 @@
-#!/usr/bin/env python
-
-import os
-
-from distutils.core import setup
-from distutils.extension import Extension
-from subprocess import check_output,CalledProcessError
-
-try:
- from Cython.Distutils import build_ext
-except ImportError:
- raise SystemExit("Requires Cython (http://cython.org/)")
-
-try:
- ode_cflags = check_output(["pkg-config", "--cflags", "ode"]).split()
- ode_libs = check_output(["pkg-config", "--libs", "ode"]).split()
-except CalledProcessError:
- raise SystemExit("Failed to find ODE with 'pkg-config'. Please make sure that it is installed and available on your system path.")
-
-ode_ext = Extension("ode", ["ode.pyx"],
- extra_compile_args=ode_cflags,
- extra_link_args=ode_libs)
-
-if __name__ == "__main__":
- setup(
- name="Open Dynamics Engine",
- version="0.1",
- author="Gideon Klompje",
-# author_email="",
-# maintainer="",
-# maintainer_email="",
- url="http://www.ode.org",
- description="Bindings for the Open Dynamics Engine",
- long_description="""A free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It's fast, flexible & robust. Built-in collision detection.""",
-# download_url="https://opende.svn.sourceforge.net/svnroot/opende",
-# classifiers=[],
-# platforms=[],
- license="BSD License, GNU Lesser General Public License (LGPL)",
- cmdclass={"build_ext": build_ext}, ext_modules=[ode_ext])
+#! /usr/bin/env python
+
+import os, sys
+
+from distutils.core import setup
+from distutils.extension import Extension
+from subprocess import Popen, PIPE, CalledProcessError
+
+try:
+ from Cython.Distutils import build_ext
+except ImportError:
+ raise SystemExit("Requires Cython (http://cython.org/)")
+
+
+try:
+ ode_cflags = Popen(["pkg-config", "--cflags", "ode"], stdout=PIPE).stdout.read().split()
+ ode_libs = Popen(["pkg-config", "--libs", "ode"], stdout=PIPE).stdout.read().split()
+except (OSError, CalledProcessError):
+ raise SystemExit("Failed to find ODE with 'pkg-config'. Please make sure that it is installed and available on your system path.")
+
+ode_ext = Extension("ode", ["ode.pyx"],
+ extra_compile_args=ode_cflags,
+ extra_link_args=ode_libs)
+
+if __name__ == "__main__":
+ setup(
+ name="Open Dynamics Engine",
+ version="0.1",
+ author="Gideon Klompje",
+# author_email="",
+# maintainer="",
+# maintainer_email="",
+ url="http://www.ode.org",
+ description="Bindings for the Open Dynamics Engine",
+ long_description="""A free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It's fast, flexible & robust. Built-in collision detection.""",
+# download_url="https://opende.svn.sourceforge.net/svnroot/opende",
+# classifiers=[],
+# platforms=[],
+ license="BSD License, GNU Lesser General Public License (LGPL)",
+ cmdclass={"build_ext": build_ext}, ext_modules=[ode_ext])
+
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|
|
From: <ole...@us...> - 2012-01-15 19:28:29
|
Revision: 1859
http://opende.svn.sourceforge.net/opende/?rev=1859&view=rev
Author: oleh_derevenko
Date: 2012-01-15 19:28:21 +0000 (Sun, 15 Jan 2012)
Log Message:
-----------
Changed: Changes/simplifications to dxWorldProcessContext to prepare for threading
Modified Paths:
--------------
trunk/include/ode/common.h
trunk/ode/src/lcp.cpp
trunk/ode/src/lcp.h
trunk/ode/src/ode.cpp
trunk/ode/src/odetls.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/include/ode/common.h
===================================================================
--- trunk/include/ode/common.h 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/include/ode/common.h 2012-01-15 19:28:21 UTC (rev 1859)
@@ -227,7 +227,6 @@
struct dxJointNode;
struct dxJointGroup;
struct dxWorldProcessThreadingManager;
-struct dxWorldProcessContext;
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
@@ -236,7 +235,6 @@
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;
typedef struct dxWorldProcessThreadingManager *dWorldStepThreadingManagerID;
-typedef struct dxWorldProcessContext *dWorldStepContextID;
/* error numbers */
Modified: trunk/ode/src/lcp.cpp
===================================================================
--- trunk/ode/src/lcp.cpp 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/lcp.cpp 2012-01-15 19:28:21 UTC (rev 1859)
@@ -781,7 +781,7 @@
//***************************************************************************
// an optimized Dantzig LCP driver routine for the lo-hi LCP problem.
-void dSolveLCP (dxWorldProcessContext *context, int n, dReal *A, dReal *x, dReal *b,
+void dSolveLCP (dxWorldProcessMemArena *memarena, int n, dReal *A, dReal *x, dReal *b,
dReal *outer_w/*=NULL*/, int nub, dReal *lo, dReal *hi, int *findex)
{
dAASSERT (n>0 && A && x && b && lo && hi && nub >= 0 && nub <= n);
@@ -796,7 +796,7 @@
// if all the variables are unbounded then we can just factor, solve,
// and return
if (nub >= n) {
- dReal *d = context->AllocateArray<dReal> (n);
+ dReal *d = memarena->AllocateArray<dReal> (n);
dSetZero (d, n);
int nskip = dPAD(n);
@@ -808,23 +808,23 @@
}
const int nskip = dPAD(n);
- dReal *L = context->AllocateArray<dReal> (n*nskip);
- dReal *d = context->AllocateArray<dReal> (n);
- dReal *w = outer_w ? outer_w : context->AllocateArray<dReal> (n);
- dReal *delta_w = context->AllocateArray<dReal> (n);
- dReal *delta_x = context->AllocateArray<dReal> (n);
- dReal *Dell = context->AllocateArray<dReal> (n);
- dReal *ell = context->AllocateArray<dReal> (n);
+ dReal *L = memarena->AllocateArray<dReal> (n*nskip);
+ dReal *d = memarena->AllocateArray<dReal> (n);
+ dReal *w = outer_w ? outer_w : memarena->AllocateArray<dReal> (n);
+ dReal *delta_w = memarena->AllocateArray<dReal> (n);
+ dReal *delta_x = memarena->AllocateArray<dReal> (n);
+ dReal *Dell = memarena->AllocateArray<dReal> (n);
+ dReal *ell = memarena->AllocateArray<dReal> (n);
#ifdef ROWPTRS
- dReal **Arows = context->AllocateArray<dReal *> (n);
+ dReal **Arows = memarena->AllocateArray<dReal *> (n);
#else
dReal **Arows = NULL;
#endif
- int *p = context->AllocateArray<int> (n);
- int *C = context->AllocateArray<int> (n);
+ int *p = memarena->AllocateArray<int> (n);
+ int *C = memarena->AllocateArray<int> (n);
// for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
- bool *state = context->AllocateArray<bool> (n);
+ bool *state = memarena->AllocateArray<bool> (n);
// create LCP object. note that tmp is set to delta_w to save space, this
// optimization relies on knowledge of how tmp is used, so be careful!
@@ -1049,13 +1049,13 @@
case 5: // keep going
x[si] = lo[si];
state[si] = false;
- tmpbuf = context->PeekBufferRemainder();
+ tmpbuf = memarena->PeekBufferRemainder();
lcp.transfer_i_from_C_to_N (si, tmpbuf);
break;
case 6: // keep going
x[si] = hi[si];
state[si] = true;
- tmpbuf = context->PeekBufferRemainder();
+ tmpbuf = memarena->PeekBufferRemainder();
lcp.transfer_i_from_C_to_N (si, tmpbuf);
break;
}
@@ -1119,8 +1119,8 @@
const int n = 100;
size_t memreq = EstimateTestSolveLCPMemoryReq(n);
- dxWorldProcessContext *context = dxReallocateTemporayWorldProcessContext(NULL, memreq, NULL, NULL);
- if (!context) {
+ dxWorldProcessMemArena *arena = dxAllocateTemporaryWorldProcessMemArena(memreq, NULL, NULL);
+ if (arena == NULL) {
return 0;
}
@@ -1133,24 +1133,24 @@
#endif
printf ("dTestSolveLCP()\n");
- dReal *A = context->AllocateArray<dReal> (n*nskip);
- dReal *x = context->AllocateArray<dReal> (n);
- dReal *b = context->AllocateArray<dReal> (n);
- dReal *w = context->AllocateArray<dReal> (n);
- dReal *lo = context->AllocateArray<dReal> (n);
- dReal *hi = context->AllocateArray<dReal> (n);
+ dReal *A = arena->AllocateArray<dReal> (n*nskip);
+ dReal *x = arena->AllocateArray<dReal> (n);
+ dReal *b = arena->AllocateArray<dReal> (n);
+ dReal *w = arena->AllocateArray<dReal> (n);
+ dReal *lo = arena->AllocateArray<dReal> (n);
+ dReal *hi = arena->AllocateArray<dReal> (n);
- dReal *A2 = context->AllocateArray<dReal> (n*nskip);
- dReal *b2 = context->AllocateArray<dReal> (n);
- dReal *lo2 = context->AllocateArray<dReal> (n);
- dReal *hi2 = context->AllocateArray<dReal> (n);
+ dReal *A2 = arena->AllocateArray<dReal> (n*nskip);
+ dReal *b2 = arena->AllocateArray<dReal> (n);
+ dReal *lo2 = arena->AllocateArray<dReal> (n);
+ dReal *hi2 = arena->AllocateArray<dReal> (n);
- dReal *tmp1 = context->AllocateArray<dReal> (n);
- dReal *tmp2 = context->AllocateArray<dReal> (n);
+ dReal *tmp1 = arena->AllocateArray<dReal> (n);
+ dReal *tmp2 = arena->AllocateArray<dReal> (n);
double total_time = 0;
for (int count=0; count < 1000; count++) {
- BEGIN_STATE_SAVE(context, saveInner) {
+ BEGIN_STATE_SAVE(arena, saveInner) {
// form (A,b) = a random positive definite LCP problem
dMakeRandomMatrix (A2,n,n,1.0);
@@ -1198,7 +1198,7 @@
dStopwatchReset (&sw);
dStopwatchStart (&sw);
- dSolveLCP (context,n,A2,x,b2,w,nub,lo2,hi2,0);
+ dSolveLCP (arena,n,A2,x,b2,w,nub,lo2,hi2,0);
dStopwatchStop (&sw);
double time = dStopwatchTime(&sw);
@@ -1234,9 +1234,9 @@
printf ("passed: NL=%3d NH=%3d C=%3d ",n1,n2,n3);
printf ("time=%10.3f ms avg=%10.4f\n",time * 1000.0,average);
- } END_STATE_SAVE(context, saveInner);
+ } END_STATE_SAVE(arena, saveInner);
}
- dxFreeWorldProcessContext(context);
+ dxFreeTemporaryWorldProcessMemArena(arena);
return 1;
}
Modified: trunk/ode/src/lcp.h
===================================================================
--- trunk/ode/src/lcp.h 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/lcp.h 2012-01-15 19:28:21 UTC (rev 1859)
@@ -50,9 +50,9 @@
#ifndef _ODE_LCP_H_
#define _ODE_LCP_H_
-struct dxWorldProcessContext;
+class dxWorldProcessMemArena;
-void dSolveLCP (dxWorldProcessContext *context,
+void dSolveLCP (dxWorldProcessMemArena *memarena,
int n, dReal *A, dReal *x, dReal *b, dReal *w,
int nub, dReal *lo, dReal *hi, int *findex);
Modified: trunk/ode/src/ode.cpp
===================================================================
--- trunk/ode/src/ode.cpp 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/ode.cpp 2012-01-15 19:28:21 UTC (rev 1859)
@@ -1791,13 +1791,16 @@
bool result = false;
- if (dxReallocateWorldProcessContext (w, stepsize, &dxEstimateStepMemoryRequirements))
+ dxWorldProcessIslandsInfo islandsinfo;
+ if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateStepMemoryRequirements))
{
- dxProcessIslands (w, stepsize, &dInternalStepIsland);
+ dxProcessIslands (w, islandsinfo, stepsize, &dInternalStepIsland);
result = true;
}
+ dxCleanupWorldProcessContext (w);
+
return result;
}
@@ -1808,13 +1811,16 @@
bool result = false;
- if (dxReallocateWorldProcessContext (w, stepsize, &dxEstimateQuickStepMemoryRequirements))
+ dxWorldProcessIslandsInfo islandsinfo;
+ if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateQuickStepMemoryRequirements))
{
- dxProcessIslands (w, stepsize, &dxQuickStepper);
+ dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepper);
result = true;
}
+ dxCleanupWorldProcessContext (w);
+
return result;
}
Modified: trunk/ode/src/odetls.h
===================================================================
--- trunk/ode/src/odetls.h 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/odetls.h 2012-01-15 19:28:21 UTC (rev 1859)
@@ -43,8 +43,8 @@
struct TrimeshCollidersCache;
-struct dxWorldProcessContext;
+
enum EODETLSKIND
{
OTK__MIN,
Modified: trunk/ode/src/quickstep.cpp
===================================================================
--- trunk/ode/src/quickstep.cpp 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/quickstep.cpp 2012-01-15 19:28:21 UTC (rev 1859)
@@ -218,7 +218,7 @@
for (unsigned int i=0; i<n; i++) x[i] = y[i] + z[i]*alpha;
}
-static void CG_LCP (dxWorldProcessContext *context,
+static void CG_LCP (dxWorldProcessMemArena *memarena,
unsigned int m, unsigned int nb, dRealMutablePtr J, int *jb, dxBody * const *body,
dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b,
dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
@@ -227,17 +227,17 @@
const unsigned int num_iterations = qs->num_iterations;
// precompute iMJ = inv(M)*J'
- dReal *iMJ = context->AllocateArray<dReal> ((size_t)m*12);
+ dReal *iMJ = memarena->AllocateArray<dReal> ((size_t)m*12);
compute_invM_JT (m,J,iMJ,jb,body,invI);
dReal last_rho = 0;
- dReal *r = context->AllocateArray<dReal> (m);
- dReal *z = context->AllocateArray<dReal> (m);
- dReal *p = context->AllocateArray<dReal> (m);
- dReal *q = context->AllocateArray<dReal> (m);
+ dReal *r = memarena->AllocateArray<dReal> (m);
+ dReal *z = memarena->AllocateArray<dReal> (m);
+ dReal *p = memarena->AllocateArray<dReal> (m);
+ dReal *q = memarena->AllocateArray<dReal> (m);
// precompute 1 / diagonals of A
- dReal *Ad = context->AllocateArray<dReal> (m);
+ dReal *Ad = memarena->AllocateArray<dReal> (m);
dRealPtr iMJ_ptr = iMJ;
dRealPtr J_ptr = J;
for (unsigned int i=0; i<m; i++) {
@@ -339,7 +339,7 @@
#endif
-static void SOR_LCP (dxWorldProcessContext *context,
+static void SOR_LCP (dxWorldProcessMemArena *memarena,
const unsigned int m, const unsigned int nb, dRealMutablePtr J, int *jb, dxBody * const *body,
dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b,
dRealPtr lo, dRealPtr hi, dRealPtr cfm, const int *findex,
@@ -356,7 +356,7 @@
#endif
// precompute iMJ = inv(M)*J'
- dReal *iMJ = context->AllocateArray<dReal> ((size_t)m*12);
+ dReal *iMJ = memarena->AllocateArray<dReal> ((size_t)m*12);
compute_invM_JT (m,J,iMJ,jb,body,invI);
// compute fc=(inv(M)*J')*lambda. we will incrementally maintain fc
@@ -367,7 +367,7 @@
dSetZero (fc,(size_t)nb*6);
#endif
- dReal *Ad = context->AllocateArray<dReal> (m);
+ dReal *Ad = memarena->AllocateArray<dReal> (m);
{
const dReal sor_w = qs->w; // SOR over-relaxation parameter
@@ -403,7 +403,7 @@
// order to solve constraint rows in
- IndexError *order = context->AllocateArray<IndexError> (m);
+ IndexError *order = memarena->AllocateArray<IndexError> (m);
#ifndef REORDER_CONSTRAINTS
{
@@ -427,7 +427,7 @@
#ifdef REORDER_CONSTRAINTS
// the lambda computed at the previous iteration.
// this is used to measure error for when we are reordering the indexes.
- dReal *last_lambda = context->AllocateArray<dReal> (m);
+ dReal *last_lambda = memarena->AllocateArray<dReal> (m);
#endif
const unsigned int num_iterations = qs->num_iterations;
@@ -589,7 +589,7 @@
dxJoint::Info1 info;
};
-void dxQuickStepper (dxWorldProcessContext *context,
+void dxQuickStepper (dxWorldProcessMemArena *memarena,
dxWorld *world, dxBody * const *body, unsigned int nb,
dxJoint * const *_joint, unsigned int _nj, dReal stepsize)
{
@@ -605,7 +605,7 @@
// 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 = context->AllocateArray<dReal> (3*4*(size_t)nb);
+ dReal *invI = memarena->AllocateArray<dReal> (3*4*(size_t)nb);
{
dReal *invIrow = invI;
@@ -667,7 +667,7 @@
// 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 = context->AllocateArray<dJointWithInfo1> (_nj);
+ dJointWithInfo1 *const jointiinfos = memarena->AllocateArray<dJointWithInfo1> (_nj);
size_t nj;
{
@@ -685,7 +685,7 @@
nj = jicurr - jointiinfos;
}
- context->ShrinkArray<dJointWithInfo1>(jointiinfos, _nj, nj);
+ 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
@@ -716,34 +716,34 @@
unsigned int mlocal = m;
const size_t jelements = (size_t)mlocal*12;
- J = context->AllocateArray<dReal> (jelements);
+ J = memarena->AllocateArray<dReal> (jelements);
dSetZero (J,jelements);
// create a constraint equation right hand side vector `c', a constraint
// force mixing vector `cfm', and LCP low and high bound vectors, and an
// 'findex' vector.
- cfm = context->AllocateArray<dReal> (mlocal);
+ cfm = memarena->AllocateArray<dReal> (mlocal);
dSetValue (cfm,mlocal,world->global_cfm);
- lo = context->AllocateArray<dReal> (mlocal);
+ lo = memarena->AllocateArray<dReal> (mlocal);
dSetValue (lo,mlocal,-dInfinity);
- hi = context->AllocateArray<dReal> (mlocal);
+ hi = memarena->AllocateArray<dReal> (mlocal);
dSetValue (hi,mlocal, dInfinity);
- findex = context->AllocateArray<int> (mlocal);
+ findex = memarena->AllocateArray<int> (mlocal);
for (unsigned int i=0; i<mlocal; i++) findex[i] = -1;
const size_t jbelements = (size_t)mlocal*2;
- jb = context->AllocateArray<int> (jbelements);
+ jb = memarena->AllocateArray<int> (jbelements);
- rhs = context->AllocateArray<dReal> (mlocal);
+ rhs = memarena->AllocateArray<dReal> (mlocal);
- Jcopy = context->AllocateArray<dReal> ((size_t)mfb*12);
+ Jcopy = memarena->AllocateArray<dReal> ((size_t)mfb*12);
}
- BEGIN_STATE_SAVE(context, cstate) {
- dReal *c = context->AllocateArray<dReal> (m);
+ BEGIN_STATE_SAVE(memarena, cstate) {
+ dReal *c = memarena->AllocateArray<dReal> (m);
dSetZero (c, m);
{
@@ -829,10 +829,10 @@
dIASSERT (jb_ptr == jb+2*(size_t)m);
}
- BEGIN_STATE_SAVE(context, tmp1state) {
+ BEGIN_STATE_SAVE(memarena, tmp1state) {
IFTIMING (dTimerNow ("compute rhs"));
// compute the right hand side `rhs'
- dReal *tmp1 = context->AllocateArray<dReal> ((size_t)nb*6);
+ dReal *tmp1 = memarena->AllocateArray<dReal> ((size_t)nb*6);
// put v/h + invM*fe into tmp1
dReal *tmp1curr = tmp1;
const dReal *invIrow = invI;
@@ -848,7 +848,7 @@
// put J*tmp1 into rhs
multiply_J (m,J,jb,tmp1,rhs);
- } END_STATE_SAVE(context, tmp1state);
+ } END_STATE_SAVE(memarena, tmp1state);
// complete rhs
for (unsigned int i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
@@ -856,10 +856,10 @@
// scale CFM
for (unsigned int j=0; j<m; j++) cfm[j] *= stepsize1;
- } END_STATE_SAVE(context, cstate);
+ } END_STATE_SAVE(memarena, cstate);
// load lambda from the value saved on the previous iteration
- dReal *lambda = context->AllocateArray<dReal> (m);
+ dReal *lambda = memarena->AllocateArray<dReal> (m);
#ifdef WARM_STARTING
{
@@ -874,14 +874,14 @@
}
#endif
- dReal *cforce = context->AllocateArray<dReal> ((size_t)nb*6);
+ dReal *cforce = memarena->AllocateArray<dReal> ((size_t)nb*6);
- BEGIN_STATE_SAVE(context, lcpstate) {
+ BEGIN_STATE_SAVE(memarena, lcpstate) {
IFTIMING (dTimerNow ("solving LCP problem"));
// solve the LCP problem and get lambda and invM*constraint_force
- SOR_LCP (context,m,nb,J,jb,body,invI,lambda,cforce,rhs,lo,hi,cfm,findex,&world->qs);
+ SOR_LCP (memarena,m,nb,J,jb,body,invI,lambda,cforce,rhs,lo,hi,cfm,findex,&world->qs);
- } END_STATE_SAVE(context, lcpstate);
+ } END_STATE_SAVE(memarena, lcpstate);
#ifdef WARM_STARTING
{
@@ -976,8 +976,8 @@
#ifdef CHECK_VELOCITY_OBEYS_CONSTRAINT
if (m > 0) {
- BEGIN_STATE_SAVE(context, velstate) {
- dReal *vel = context->AllocateArray<dReal>((size_t)nb*6);
+ BEGIN_STATE_SAVE(memarena, velstate) {
+ dReal *vel = memarena->AllocateArray<dReal>((size_t)nb*6);
// check that the updated velocity obeys the constraint (this check needs unmodified J)
dReal *velcurr = vel;
@@ -988,13 +988,13 @@
velcurr[3+j] = bodycurr->avel[j];
}
}
- dReal *tmp = context->AllocateArray<dReal> (m);
+ dReal *tmp = memarena->AllocateArray<dReal> (m);
multiply_J (m,J,jb,vel,tmp);
dReal error = 0;
for (unsigned int i=0; i<m; i++) error += dFabs(tmp[i]);
printf ("velocity error = %10.6e\n",error);
- } END_STATE_SAVE(context, velstate)
+ } END_STATE_SAVE(memarena, velstate)
}
#endif
Modified: trunk/ode/src/quickstep.h
===================================================================
--- trunk/ode/src/quickstep.h 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/quickstep.h 2012-01-15 19:28:21 UTC (rev 1859)
@@ -25,10 +25,13 @@
#include <ode/common.h>
+class dxWorldProcessMemArena;
+
+
size_t dxEstimateQuickStepMemoryRequirements (
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj);
-void dxQuickStepper (dxWorldProcessContext *context,
+void dxQuickStepper (dxWorldProcessMemArena *memarena,
dxWorld *world, dxBody * const *body, unsigned int nb,
dxJoint * const *_joint, unsigned int _nj, dReal stepsize);
Modified: trunk/ode/src/step.cpp
===================================================================
--- trunk/ode/src/step.cpp 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/step.cpp 2012-01-15 19:28:21 UTC (rev 1859)
@@ -184,7 +184,7 @@
dxJoint::Info1 info;
};
-static void dInternalStepIsland_x2 (dxWorldProcessContext *context,
+static void dInternalStepIsland_x2 (dxWorldProcessMemArena *memarena,
dxWorld *world, dxBody * const *body, unsigned int nb,
dxJoint * const *_joint, unsigned int _nj, dReal stepsize)
{
@@ -203,7 +203,7 @@
// accumulator. invI are vertically stacked 3x4 matrices, one per body.
// @@@ check computation of rotational force.
- dReal *invI = context->AllocateArray<dReal> (3*4*(size_t)nb);
+ dReal *invI = memarena->AllocateArray<dReal> (3*4*(size_t)nb);
{ // Identical to QuickStep
dReal *invIrow = invI;
@@ -277,7 +277,7 @@
// 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 = context->AllocateArray<dJointWithInfo1> (ji_reserve_count);
+ dJointWithInfo1 *jointiinfos = memarena->AllocateArray<dJointWithInfo1> (ji_reserve_count);
unsigned int nub;
size_t ji_start, ji_end;
@@ -402,7 +402,7 @@
ji_end = lcp_end;
}
- context->ShrinkArray<dJointWithInfo1>(jointiinfos, ji_reserve_count, ji_end);
+ 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);
@@ -423,7 +423,7 @@
}
// this will be set to the force due to the constraints
- dReal *cforce = context->AllocateArray<dReal> ((size_t)nb*8);
+ dReal *cforce = memarena->AllocateArray<dReal> ((size_t)nb*8);
dSetZero (cforce,(size_t)nb*8);
// if there are constraints, compute cforce
@@ -437,34 +437,34 @@
{
unsigned int mlocal = m;
- lo = context->AllocateArray<dReal> (mlocal);
+ lo = memarena->AllocateArray<dReal> (mlocal);
dSetValue (lo,mlocal,-dInfinity);
- hi = context->AllocateArray<dReal> (mlocal);
+ hi = memarena->AllocateArray<dReal> (mlocal);
dSetValue (hi,mlocal, dInfinity);
- J = context->AllocateArray<dReal> (2*8*(size_t)mlocal);
+ J = memarena->AllocateArray<dReal> (2*8*(size_t)mlocal);
dSetZero (J,2*8*(size_t)mlocal);
- findex = context->AllocateArray<int> (mlocal);
+ findex = memarena->AllocateArray<int> (mlocal);
for (unsigned int i=0; i<mlocal; ++i) findex[i] = -1;
unsigned int mskip = dPAD(mlocal);
- A = context->AllocateArray<dReal> (mlocal*(size_t)mskip);
+ A = memarena->AllocateArray<dReal> (mlocal*(size_t)mskip);
dSetZero (A,mlocal*(size_t)mskip);
- rhs = context->AllocateArray<dReal> (mlocal);
+ rhs = memarena->AllocateArray<dReal> (mlocal);
dSetZero (rhs,mlocal);
}
// Put 'c' in the same memory as 'rhs' as they transit into each other
dReal *c = rhs; rhs = NULL; // erase rhs pointer for now as it is not to be used yet
- BEGIN_STATE_SAVE(context, cfmstate) {
- dReal *cfm = context->AllocateArray<dReal> (m);
+ BEGIN_STATE_SAVE(memarena, cfmstate) {
+ dReal *cfm = memarena->AllocateArray<dReal> (m);
dSetValue (cfm,m,world->global_cfm);
- dReal *JinvM = context->AllocateArray<dReal> (2*8*(size_t)m);
+ dReal *JinvM = memarena->AllocateArray<dReal> (2*8*(size_t)m);
dSetZero (JinvM,2*8*(size_t)m);
{
@@ -571,8 +571,8 @@
// i.e. in the same way as the rows of J. block (i,j) of A is only nonzero
// if joints i and j have at least one body in common.
- BEGIN_STATE_SAVE(context, ofsstate) {
- unsigned int *ofs = context->AllocateArray<unsigned int> (m);
+ BEGIN_STATE_SAVE(memarena, ofsstate) {
+ unsigned int *ofs = memarena->AllocateArray<unsigned int> (m);
const unsigned int mskip = dPAD(m);
unsigned ofsi = 0;
@@ -621,7 +621,7 @@
ofsi += infom;
}
- } END_STATE_SAVE(context, ofsstate);
+ } END_STATE_SAVE(memarena, ofsstate);
}
{
@@ -656,13 +656,13 @@
}
}
- } END_STATE_SAVE(context, cfmstate);
+ } END_STATE_SAVE(memarena, cfmstate);
- BEGIN_STATE_SAVE(context, tmp1state) {
+ BEGIN_STATE_SAVE(memarena, tmp1state) {
// compute the right hand side `rhs'
IFTIMING(dTimerNow ("compute rhs"));
- dReal *tmp1 = context->AllocateArray<dReal> ((size_t)nb*8);
+ dReal *tmp1 = memarena->AllocateArray<dReal> ((size_t)nb*8);
//dSetZero (tmp1,nb*8);
{
@@ -704,18 +704,18 @@
ofsi += infom;
}
}
- } END_STATE_SAVE(context, tmp1state);
+ } END_STATE_SAVE(memarena, tmp1state);
- dReal *lambda = context->AllocateArray<dReal> (m);
+ dReal *lambda = memarena->AllocateArray<dReal> (m);
- BEGIN_STATE_SAVE(context, lcpstate) {
+ BEGIN_STATE_SAVE(memarena, lcpstate) {
IFTIMING(dTimerNow ("solving LCP problem"));
// solve the LCP problem and get lambda.
// this will destroy A but that's OK
- dSolveLCP (context, m, A, lambda, rhs, NULL, nub, lo, hi, findex);
+ dSolveLCP (memarena, m, A, lambda, rhs, NULL, nub, lo, hi, findex);
- } END_STATE_SAVE(context, lcpstate);
+ } END_STATE_SAVE(memarena, lcpstate);
{
IFTIMING(dTimerNow ("compute constraint force"));
@@ -838,11 +838,11 @@
//****************************************************************************
-void dInternalStepIsland (dxWorldProcessContext *context,
+void dInternalStepIsland (dxWorldProcessMemArena *memarena,
dxWorld *world, dxBody * const *body, unsigned int nb,
dxJoint * const *joint, unsigned int nj, dReal stepsize)
{
- dInternalStepIsland_x2 (context,world,body,nb,joint,nj,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)
Modified: trunk/ode/src/step.h
===================================================================
--- trunk/ode/src/step.h 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/step.h 2012-01-15 19:28:21 UTC (rev 1859)
@@ -25,10 +25,13 @@
#include <ode/common.h>
+class dxWorldProcessMemArena;
+
+
size_t dxEstimateStepMemoryRequirements (
dxBody * const *body, unsigned int nb, dxJoint * const *_joint, unsigned int _nj);
-void dInternalStepIsland (dxWorldProcessContext *context, dxWorld *world,
+void dInternalStepIsland (dxWorldProcessMemArena *memarena, dxWorld *world,
dxBody * const *body, unsigned int nb,
dxJoint * const *joint, unsigned int nj,
dReal stepsize);
Modified: trunk/ode/src/util.cpp
===================================================================
--- trunk/ode/src/util.cpp 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/util.cpp 2012-01-15 19:28:21 UTC (rev 1859)
@@ -1,24 +1,24 @@
/*************************************************************************
- * *
- * 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. *
- * *
- *************************************************************************/
+* *
+* 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 "config.h"
@@ -26,7 +26,6 @@
#include "joints/joint.h"
#include "util.h"
-static void InternalFreeWorldProcessContext (dxWorldProcessContext *context);
//****************************************************************************
// Malloc based world stepping memory manager
@@ -36,201 +35,201 @@
//****************************************************************************
-// dxWorldProcessContext implementation
+// dxWorldProcessContext
-void dxWorldProcessContext::CleanupContext()
+dxWorldProcessContext::dxWorldProcessContext():
+ m_pmaIslandsArena(NULL),
+ m_pmaStepperArena(NULL)
{
- ResetState();
- ClearPreallocations();
- FreePreallocationsContext();
+ // Do nothing
}
-void dxWorldProcessContext::SavePreallocations(size_t islandcount, unsigned int const *islandsizes, dxBody *const *bodies, dxJoint *const *joints)
+dxWorldProcessContext::~dxWorldProcessContext()
{
- m_IslandCount = islandcount;
- m_pIslandSizes = islandsizes;
- m_pBodies = bodies;
- m_pJoints = joints;
-}
+ if (m_pmaIslandsArena)
+ {
+ dxWorldProcessMemArena::FreeMemArena(m_pmaIslandsArena);
+ }
-void dxWorldProcessContext::RetrievePreallocations(size_t &islandcount, unsigned int const *&islandsizes, dxBody *const *&bodies, dxJoint *const *&joints)
-{
- islandcount = m_IslandCount;
- islandsizes = m_pIslandSizes;
- bodies = m_pBodies;
- joints = m_pJoints;
+ if (m_pmaStepperArena)
+ {
+ dxWorldProcessMemArena::FreeMemArena(m_pmaStepperArena);
+ }
}
-void dxWorldProcessContext::OffsetPreallocations(size_t stOffset)
+bool dxWorldProcessContext::IsStructureValid() const
{
- // m_IslandCount = -- no offset for count
- m_pIslandSizes = m_pIslandSizes ? (unsigned int const *)((size_t)m_pIslandSizes + stOffset) : NULL;
- m_pBodies = m_pBodies ? (dxBody *const *)((size_t)m_pBodies + stOffset) : NULL;
- m_pJoints = m_pJoints ? (dxJoint *const *)((size_t)m_pJoints + stOffset) : NULL;
+ return (!m_pmaIslandsArena || m_pmaIslandsArena->IsStructureValid()) && (!m_pmaStepperArena || m_pmaStepperArena->IsStructureValid());
}
-void dxWorldProcessContext::CopyPreallocations(const dxWorldProcessContext *othercontext)
+void dxWorldProcessContext::CleanupContext()
{
- m_IslandCount = othercontext->m_IslandCount;
- m_pIslandSizes = othercontext->m_pIslandSizes;
- m_pBodies = othercontext->m_pBodies;
- m_pJoints = othercontext->m_pJoints;
+ if (m_pmaIslandsArena)
+ {
+ m_pmaIslandsArena->ResetState();
+ }
+
+ if (m_pmaStepperArena)
+ {
+ m_pmaStepperArena->ResetState();
+ }
}
-void dxWorldProcessContext::ClearPreallocations()
+dxWorldProcessMemArena *dxWorldProcessContext::ReallocateIslandsMemArena(size_t nMemoryRequirement,
+ const dxWorldProcessMemoryManager *pmmMemortManager, float fReserveFactor, unsigned uiReserveMinimum)
{
- m_IslandCount = 0;
- m_pIslandSizes = NULL;
- m_pBodies = NULL;
- m_pJoints = NULL;
+ dxWorldProcessMemArena *pmaExistingArena = GetIslandsMemArena();
+ dxWorldProcessMemArena *pmaNewMemArena = dxWorldProcessMemArena::ReallocateMemArena(pmaExistingArena, nMemoryRequirement, pmmMemortManager, fReserveFactor, uiReserveMinimum);
+ SetIslandsMemArena(pmaNewMemArena);
+ return pmaNewMemArena;
}
-void dxWorldProcessContext::FreePreallocationsContext()
+dxWorldProcessMemArena *dxWorldProcessContext::ReallocateStepperMemArena(size_t nMemoryRequirement,
+ const dxWorldProcessMemoryManager *pmmMemortManager, float fReserveFactor, unsigned uiReserveMinimum)
{
- if (m_pPreallocationcContext) {
- InternalFreeWorldProcessContext(m_pPreallocationcContext);
- m_pPreallocationcContext = NULL;
- }
+ dxWorldProcessMemArena *pmaExistingArena = GetStepperMemArena();
+ dxWorldProcessMemArena *pmaNewMemArena = dxWorldProcessMemArena::ReallocateMemArena(pmaExistingArena, nMemoryRequirement, pmmMemortManager, fReserveFactor, uiReserveMinimum);
+ SetStepperMemArena(pmaNewMemArena);
+ return pmaNewMemArena;
}
-
//****************************************************************************
// Auto disabling
void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize)
{
- dxBody *bb;
- for ( bb=world->firstbody; bb; bb=(dxBody*)bb->next )
- {
- // don't freeze objects mid-air (patch 1586738)
- if ( bb->firstjoint == NULL ) continue;
+ dxBody *bb;
+ for ( bb=world->firstbody; bb; bb=(dxBody*)bb->next )
+ {
+ // don't freeze objects mid-air (patch 1586738)
+ if ( bb->firstjoint == NULL ) continue;
- // nothing to do unless this body is currently enabled and has
- // the auto-disable flag set
- if ( (bb->flags & (dxBodyAutoDisable|dxBodyDisabled)) != dxBodyAutoDisable ) continue;
+ // nothing to do unless this body is currently enabled and has
+ // the auto-disable flag set
+ if ( (bb->flags & (dxBodyAutoDisable|dxBodyDisabled)) != dxBodyAutoDisable ) continue;
- // if sampling / threshold testing is disabled, we can never sleep.
- if ( bb->adis.average_samples == 0 ) continue;
+ // if sampling / threshold testing is disabled, we can never sleep.
+ if ( bb->adis.average_samples == 0 ) continue;
- //
- // see if the body is idle
- //
-
+ //
+ // see if the body is idle
+ //
+
#ifndef dNODEBUG
- // sanity check
- if ( bb->average_counter >= bb->adis.average_samples )
- {
- dUASSERT( bb->average_counter < bb->adis.average_samples, "buffer overflow" );
+ // sanity check
+ if ( bb->average_counter >= bb->adis.average_samples )
+ {
+ dUASSERT( bb->average_counter < bb->adis.average_samples, "buffer overflow" );
- // something is going wrong, reset the average-calculations
- bb->average_ready = 0; // not ready for average calculation
- bb->average_counter = 0; // reset the buffer index
- }
+ // something is going wrong, reset the average-calculations
+ bb->average_ready = 0; // not ready for average calculation
+ bb->average_counter = 0; // reset the buffer index
+ }
#endif // dNODEBUG
- // sample the linear and angular velocity
- bb->average_lvel_buffer[bb->average_counter][0] = bb->lvel[0];
- bb->average_lvel_buffer[bb->average_counter][1] = bb->lvel[1];
- bb->average_lvel_buffer[bb->average_counter][2] = bb->lvel[2];
- bb->average_avel_buffer[bb->average_counter][0] = bb->avel[0];
- bb->average_avel_buffer[bb->average_counter][1] = bb->avel[1];
- bb->average_avel_buffer[bb->average_counter][2] = bb->avel[2];
- bb->average_counter++;
+ // sample the linear and angular velocity
+ bb->average_lvel_buffer[bb->average_counter][0] = bb->lvel[0];
+ bb->average_lvel_buffer[bb->average_counter][1] = bb->lvel[1];
+ bb->average_lvel_buffer[bb->average_counter][2] = bb->lvel[2];
+ bb->average_avel_buffer[bb->average_counter][0] = bb->avel[0];
+ bb->average_avel_buffer[bb->average_counter][1] = bb->avel[1];
+ bb->average_avel_buffer[bb->average_counter][2] = bb->avel[2];
+ bb->average_counter++;
- // buffer ready test
- if ( bb->average_counter >= bb->adis.average_samples )
- {
- bb->average_counter = 0; // fill the buffer from the beginning
- bb->average_ready = 1; // this body is ready now for average calculation
- }
+ // buffer ready test
+ if ( bb->average_counter >= bb->adis.average_samples )
+ {
+ bb->average_counter = 0; // fill the buffer from the beginning
+ bb->average_ready = 1; // this body is ready now for average calculation
+ }
- int idle = 0; // Assume it's in motion unless we have samples to disprove it.
+ int idle = 0; // Assume it's in motion unless we have samples to disprove it.
- // enough samples?
- if ( bb->average_ready )
- {
- idle = 1; // Initial assumption: IDLE
+ // enough samples?
+ if ( bb->average_ready )
+ {
+ idle = 1; // Initial assumption: IDLE
- // the sample buffers are filled and ready for calculation
- dVector3 average_lvel, average_avel;
+ // the sample buffers are filled and ready for calculation
+ dVector3 average_lvel, average_avel;
- // Store first velocity samples
- average_lvel[0] = bb->average_lvel_buffer[0][0];
- average_avel[0] = bb->average_avel_buffer[0][0];
- average_lvel[1] = bb->average_lvel_buffer[0][1];
- average_avel[1] = bb->average_avel_buffer[0][1];
- average_lvel[2] = bb->average_lvel_buffer[0][2];
- average_avel[2] = bb->average_avel_buffer[0][2];
-
- // If we're not in "instantaneous mode"
- if ( bb->adis.average_samples > 1 )
- {
- // add remaining velocities together
- for ( unsigned int i = 1; i < bb->adis.average_samples; ++i )
- {
- average_lvel[0] += bb->average_lvel_buffer[i][0];
- average_avel[0] += bb->average_avel_buffer[i][0];
- average_lvel[1] += bb->average_lvel_buffer[i][1];
- average_avel[1] += bb->average_avel_buffer[i][1];
- average_lvel[2] += bb->average_lvel_buffer[i][2];
- average_avel[2] += bb->average_avel_buffer[i][2];
- }
+ // Store first velocity samples
+ average_lvel[0] = bb->average_lvel_buffer[0][0];
+ average_avel[0] = bb->average_avel_buffer[0][0];
+ average_lvel[1] = bb->average_lvel_buffer[0][1];
+ average_avel[1] = bb->average_avel_buffer[0][1];
+ average_lvel[2] = bb->average_lvel_buffer[0][2];
+ average_avel[2] = bb->average_avel_buffer[0][2];
- // make average
- dReal r1 = dReal( 1.0 ) / dReal( bb->adis.average_samples );
+ // If we're not in "instantaneous mode"
+ if ( bb->adis.average_samples > 1 )
+ {
+ // add remaining velocities together
+ for ( unsigned int i = 1; i < bb->adis.average_samples; ++i )
+ {
+ average_lvel[0] += bb->average_lvel_buffer[i][0];
+ average_avel[0] += bb->average_avel_buffer[i][0];
+ average_lvel[1] += bb->average_lvel_buffer[i][1];
+ average_avel[1] += bb->average_avel_buffer[i][1];
+ average_lvel[2] += bb->average_lvel_buffer[i][2];
+ average_avel[2] += bb->average_avel_buffer[i][2];
+ }
- average_lvel[0] *= r1;
- average_avel[0] *= r1;
- average_lvel[1] *= r1;
- average_avel[1] *= r1;
- average_lvel[2] *= r1;
- average_avel[2] *= r1;
- }
+ // make average
+ dReal r1 = dReal( 1.0 ) / dReal( bb->adis.average_samples );
- // threshold test
- dReal av_lspeed, av_aspeed;
- av_lspeed = dCalcVectorDot3( average_lvel, average_lvel );
- if ( av_lspeed > bb->adis.linear_average_threshold )
- {
- idle = 0; // average linear velocity is too high for idle
- }
- else
- {
- av_aspeed = dCalcVectorDot3( average_avel, average_avel );
- if ( av_aspeed > bb->adis.angular_average_threshold )
- {
- idle = 0; // average angular velocity is too high for idle
- }
- }
- }
+ average_lvel[0] *= r1;
+ average_avel[0] *= r1;
+ average_lvel[1] *= r1;
+ average_avel[1] *= r1;
+ average_lvel[2] *= r1;
+ average_avel[2] *= r1;
+ }
- // if it's idle, accumulate steps and time.
- // these counters won't overflow because this code doesn't run for disabled bodies.
- if (idle) {
- bb->adis_stepsleft--;
- bb->adis_timeleft -= stepsize;
- }
- else {
- // Reset countdowns
- bb->adis_stepsleft = bb->adis.idle_steps;
- bb->adis_timeleft = bb->adis.idle_time;
- }
+ // threshold test
+ dReal av_lspeed, av_aspeed;
+ av_lspeed = dCalcVectorDot3( average_lvel, average_lvel );
+ if ( av_lspeed > bb->adis.linear_average_threshold )
+ {
+ idle = 0; // average linear velocity is too high for idle
+ }
+ else
+ {
+ av_aspeed = dCalcVectorDot3( average_avel, average_avel );
+ if ( av_aspeed > bb->adis.angular_average_threshold )
+ {
+ idle = 0; // average angular velocity is too high for idle
+ }
+ }
+ }
- // disable the body if it's idle for a long enough time
- if ( bb->adis_stepsleft <= 0 && bb->adis_timeleft <= 0 )
- {
- bb->flags |= dxBodyDisabled; // set the disable flag
+ // if it's idle, accumulate steps and time.
+ // these counters won't overflow because this code doesn't run for disabled bodies.
+ if (idle) {
+ bb->adis_stepsleft--;
+ bb->adis_timeleft -= stepsize;
+ }
+ else {
+ // Reset countdowns
+ bb->adis_stepsleft = bb->adis.idle_steps;
+ bb->adis_timeleft = bb->adis.idle_time;
+ }
- // disabling bodies should also include resetting the velocity
- // should prevent jittering in big "islands"
- bb->lvel[0] = 0;
- bb->lvel[1] = 0;
- bb->lvel[2] = 0;
- bb->avel[0] = 0;
- bb->avel[1] = 0;
- bb->avel[2] = 0;
- }
- }
+ // disable the body if it's idle for a long enough time
+ if ( bb->adis_stepsleft <= 0 && bb->adis_timeleft <= 0 )
+ {
+ bb->flags |= dxBodyDisabled; // set the disable flag
+
+ // disabling bodies should also include resetting the velocity
+ // should prevent jittering in big "islands"
+ bb->lvel[0] = 0;
+ bb->lvel[1] = 0;
+ bb->lvel[2] = 0;
+ bb->avel[0] = 0;
+ bb->avel[1] = 0;
+ bb->avel[2] = 0;
+ }
+ }
}
@@ -365,7 +364,7 @@
// island processing
// This estimates dynamic memory requirements for dxProcessIslands
-static size_t EstimateIslandsProcessingMemoryRequirements(dxWorld *world, size_t &sesize)
+static size_t EstimateIslandsProcessingMemoryRequirements(dxWorld *world)
{
size_t res = 0;
@@ -376,11 +375,14 @@
size_t jointssize = dEFFICIENT_SIZE((size_t)(unsigned)world->nj * sizeof(dxJoint*));
res += bodiessize + jointssize;
- sesize = (bodiessize < jointssize) ? bodiessize : jointssize;
+ size_t sesize = (bodiessize < jointssize) ? bodiessize : jointssize;
+ res += sesize;
+
return res;
}
-static size_t BuildIslandsAndEstimateStepperMemoryRequirements(dxWorldProcessContext *context,
+static size_t BuildIslandsAndEstimateStepperMemoryRequirements(
+ dxWorldProcessIslandsInfo &islandsinfo, dxWorldProcessMemArena *memarena,
dxWorld *world, dReal stepsize, dmemestimate_fn_t stepperestimate)
{
const unsigned int sizeelements = 2;
@@ -391,20 +393,20 @@
unsigned int nb = world->nb, nj = world->nj;
// Make array for island body/joint counts
- unsigned int *islandsizes = context->AllocateArray<unsigned int>(2 * (size_t)nb);
+ unsigned int *islandsizes = memarena->AllocateArray<unsigned int>(2 * (size_t)nb);
unsigned int *sizescurr;
// make arrays for body and joint lists (for a single island) to go into
- dxBody **body = context->AllocateArray<dxBody *>(nb);
- dxJoint **joint = context->AllocateArray<dxJoint *>(nj);
+ dxBody **body = memarena->AllocateArray<dxBody *>(nb);
+ dxJoint **joint = memarena->AllocateArray<dxJoint *>(nj);
- BEGIN_STATE_SAVE(context, stackstate) {
+ BEGIN_STATE_SAVE(memarena, stackstate) {
// allocate a stack of unvisited bodies in the island. the maximum size of
// the stack can be the lesser of the number of bodies or joints, because
// new bodies are only ever added to the stack by going through untagged
// joints. all the bodies in the stack must be tagged!
unsigned int stackalloc = (nj < nb) ? nj : nb;
- dxBody **stack = context->AllocateArray<dxBody *>(stackalloc);
+ dxBody **stack = memarena->AllocateArray<dxBody *>(stackalloc);
{
// set all body/joint tags to 0
@@ -483,7 +485,7 @@
}
}
}
- } END_STATE_SAVE(context, stackstate);
+ } END_STATE_SAVE(memarena, stackstate);
# ifndef dNODEBUG
// if debugging, check that all objects (except for disabled bodies,
@@ -513,7 +515,7 @@
# endif
size_t islandcount = ((size_t)(sizescurr - islandsizes) / sizeelements);
- context->SavePreallocations(islandcount, islandsizes, body, joint);
+ islandsinfo.AssignInfo(islandcount, islandsizes, body, joint);
return maxreq;
}
@@ -529,7 +531,8 @@
// bodies will not be included in the simulation. disabled bodies are
// re-enabled if they are found to be part of an active island.
-void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper)
+void dxProcessIslands (dxWorld *world, const dxWorldProcessIslandsInfo &islandsinfo,
+ dReal stepsize, dstepper_fn_t stepper)
{
const unsigned int sizeelements = 2;
@@ -537,13 +540,15 @@
dIASSERT(wmem != NULL);
dxWorldProcessContext *context = wmem->GetWorldProcessingContext();
+ dIASSERT(context != NULL);
- size_t islandcount;
- unsigned int const *islandsizes;
- dxBody *const *body;
- dxJoint *const *joint;
- context->RetrievePreallocations(islandcount, islandsizes, body, joint);
+ size_t islandcount = islandsinfo.GetIslandsCount();
+ unsigned int const *islandsizes = islandsinfo.GetIslandSizes();
+ dxBody *const *body = islandsinfo.GetBodiesArray();
+ dxJoint *const *joint = islandsinfo.GetJointsArray();
+ dxWorldProcessMemArena *stepperarena = context->GetStepperMemArena();
+
dxBody *const *bodystart = body;
dxJoint *const *jointstart = joint;
@@ -552,235 +557,158 @@
unsigned int bcount = sizescurr[0];
unsigned int jcount = sizescurr[1];
- BEGIN_STATE_SAVE(context, stepperstate) {
+ BEGIN_STATE_SAVE(stepperarena, stepperstate) {
// now do something with body and joint lists
- stepper (context,world,bodystart,bcount,jointstart,jcount,stepsize);
- } END_STATE_SAVE(context, stepperstate);
+ stepper (stepperarena,world,bodystart,bcount,jointstart,jcount,stepsize);
+ } END_STATE_SAVE(stepperarena, stepperstate);
bodystart += bcount;
jointstart += jcount;
}
-
- context->CleanupContext();
- dIASSERT(context->IsStructureValid());
}
//****************************************************************************
// World processing context management
-static size_t AdjustArenaSizeForReserveRequirements(size_t arenareq, float rsrvfactor, unsigned rsrvminimum)
-{
- float scaledarena = arenareq * rsrvfactor;
- size_t adjustedarena = (scaledarena < SIZE_MAX) ? (size_t)scaledarena : SIZE_MAX;
- size_t boundedarena = (adjustedarena > rsrvminimum) ? adjustedarena : (size_t)rsrvminimum;
- return dEFFICIENT_SIZE(boundedarena);
-}
-
-static dxWorldProcessContext *InternalReallocateWorldProcessContext (
- dxWorldProcessContext *oldcontext, size_t memreq,
+dxWorldProcessMemArena *dxWorldProcessMemArena::ReallocateMemArena (
+ dxWorldProcessMemArena *oldarena, size_t memreq,
const dxWorldProcessMemoryManager *memmgr, float rsrvfactor, unsigned rsrvminimum)
{
- dxWorldProcessContext *context = oldcontext;
+ dxWorldProcessMemArena *arena = oldarena;
bool allocsuccess = false;
- size_t oldarenasize;
- void *pOldArena;
+ size_t nOldArenaSize;
+ void *pOldArenaBuffer;
do {
- size_t oldmemsize = oldcontext ? oldcontext->GetMemorySize() : 0;
- if (!oldcontext || oldmemsize < memreq) {
- oldarenasize = oldcontext ? dxWorldProcessContext::MakeArenaSize(oldmemsize) : 0;
- pOldArena = oldcontext ? oldcontext->m_pArenaBegin : NULL;
+ size_t oldmemsize = oldarena ? oldarena->GetMemorySize() : 0;
+ if (oldarena == NULL || oldmemsize < memreq) {
+ nOldArenaSize = oldarena ? dxWorldProcessMemArena::MakeArenaSize(oldmemsize) : 0;
+ pOldArenaBuffer = oldarena ? oldarena->m_pArenaBegin : NULL;
- if (!dxWorldProcessContext::IsArenaPossible(memreq)) {
+ if (!dxWorldProcessMemArena::IsArenaPossible(memreq)) {
break;
}
- size_t arenareq = dxWorldProcessContext::MakeArenaSize(memreq);
+ size_t arenareq = dxWorldProcessMemArena::MakeArenaSize(memreq);
size_t arenareq_with_reserve = AdjustArenaSizeForReserveRequirements(arenareq, rsrvfactor, rsrvminimum);
size_t memreq_with_reserve = memreq + (arenareq_with_reserve - arenareq);
- if (oldcontext) {
+ if (oldarena != NULL) {
+ oldarena->m_pArenaMemMgr->m_fnFree(pOldArenaBuffer, nOldArenaSize);
+ oldarena = NULL;
- if (oldcontext->m_pAllocCurrent != oldcontext->m_pAllocBegin) {
-
- // Save old efficient offset and meaningful data size for the case if
- // reallocation throws the block at different efficient offset
- size_t oldcontextofs = (size_t)oldcontext - (size_t)pOldArena;
- size_t datasize = (size_t)oldcontext->m_pAllocCurrent - (size_t)oldcontext;
-
- // Extra EFFICIENT_ALIGNMENT bytes might be needed after re-allocation with different alignment
- size_t shrunkarenasize = dEFFICIENT_SIZE(datasize + oldcontextofs) + EFFICIENT_ALIGNMENT;
- if (shrunkarenasize < oldarenasize) {
-
- void *pShrunkOldArena = oldcontext->m_pArenaMemMgr->m_fnShrink(pOldArena, oldarenasize, shrunkarenasize);
- if (!pShrunkOldArena) {
- break;
- }
-
- // In case if shrinking is not supported and memory manager had to allocate-copy-free
- if (pShrunkOldArena != pOldArena) {
- dxWorldProcessContext *shrunkcontext = (dxWorldProcessContext *)dEFFICIENT_PTR(pShrunkOldArena);
-
- // Preform data shift in case if efficient alignment of new block
- // does not match that of old block
- size_t shrunkcontextofs = (size_t)shrunkcontext - (size_t)pShrunkOldArena;
- size_t offsetdiff = oldcontextofs - shrunkcontextofs;
- if (offsetdiff != 0) {
- memmove(shrunkcontext, (void *)((size_t)shrunkcontext + offsetdiff), datasize);
- }
-
- // Make sure allocation pointers are valid - that is necessary to
- // be able to calculate size and free old arena later
- size_t shrunkdatasize = dxWorldProcessContext::MakeBufferSize(shrunkarenasize);
- void *blockbegin = dEFFICIENT_PTR(shrunkcontext + 1);
- void *blockend = dOFFSET_EFFICIENTLY(blockbegin, shrunkdatasize);
- shrunkcontext->m_pAllocBegin = blockbegin;
- shrunkcontext->m_pAllocEnd = blockend;
- shrunkcontext->m_pAllocCurrent = blockend; // -- set to end to prevent possibility of further allocation
- shrunkcontext->m_pArenaBegin = pShrunkOldArena;
-
- size_t stOffset = ((size_t)pShrunkOldArena - (size_t)pOldArena) - offsetdiff;
- shrunkcontext->OffsetPreallocations(stOffset);
-
- oldcontext = shrunkcontext;
-
- // Reassign to old arena variables for potential freeing at exit
- pOldArena = pShrunkOldArena;
- }
-
- // Reassign to old arena variables for potential freeing at exit
- oldarenasize = shrunkarenasize;
- }
-
- } else {
- oldcontext->m_pArenaMemMgr->m_fnFree(pOldArena, oldarenasize);
- oldcontext = NULL;
-
// Zero variables to avoid another freeing on exit
- pOldArena = NULL;
- oldarenasize = 0;
- }
+ pOldArenaBuffer = NULL;
+ nOldArenaSize = 0;
}
// Allocate new arena
- void *pNewArena = memmgr->m_fnAlloc(arenareq_with_reserve);
- if (!pNewArena) {
+ void *pNewArenaBuffer = memmgr->m_fnAlloc(arenareq_with_reserve);
+ if (pNewArenaBuffer == NULL) {
break;
}
- context = (dxWorldProcessContext *)dEFFICIENT_PTR(pNewArena);
+ arena = (dxWorldProcessMemArena *)dEFFICIENT_PTR(pNewArenaBuffer);
- void *blockbegin = dEFFICIENT_PTR(context + 1);
+ void *blockbegin = dEFFICIENT_PTR(arena + 1);
void *blockend = dOFFSET_EFFICIENTLY(blockbegin, memreq_with_reserve);
- context->m_pAllocBegin = blockbegin;
- context->m_pAllocEnd = blockend;
- context->m_pArenaBegin = pNewArena;
- context->m_pAllocCurrent = blockbegin;
-
- if (oldcontext) {
- context->CopyPreallocations(oldcontext);
- } else {
- context->ClearPreallocations();
- }
-
- context->m_pArenaMemMgr = memmgr;
- context->m_pPreallocationcContext = oldcontext;
+ arena->m_pAllocBegin = blockbegin;
+ arena->m_pAllocEnd = blockend;
+ arena->m_pArenaBegin = pNewArenaBuffer;
+ arena->m_pAllocCurrent = blockbegin;
+ arena->m_pArenaMemMgr = memmgr;
}
allocsuccess = true;
} while (false);
if (!allocsuccess) {
- if (pOldArena) {
- dIASSERT(oldcontext);
- oldcontext->m_pArenaMemMgr->m_fnFree(pOldArena, oldarenasize);
+ if (pOldArenaBuffer != NULL) {
+ dIASSERT(oldarena != NULL);
+ oldarena->m_pArenaMemMgr->m_fnFree(pOldArenaBuffer, nOldArenaSize);
}
- context = NULL;
+ arena = NULL;
}
- return context;
+ return arena;
}
-static void InternalFreeWorldProcessContext (dxWorldProcessContext *context)
+void dxWorldProcessMemArena::FreeMemArena (dxWorldProcessMemArena *arena)
{
- size_t memsize = context->GetMemorySize();
- size_t arenasize = dxWorldProcessContext::MakeArenaSize(memsize);
+ size_t memsize = arena->GetMemorySize();
+ size_t arenasize = dxWorldProcessMemArena::MakeArenaSize(memsize);
- void *pArenaBegin = context->m_pArenaBegin;
- context->m_pArenaMemMgr->m_fnFree(pArenaBegin, arenasize);
+ void *pArenaBegin = arena->m_pArenaBegin;
+ arena->m_pArenaMemMgr->m_fnFree(pArenaBegin, arenasize);
}
-bool dxReallocateWorldProcessContext (dxWorld *world,
+size_t dxWorldProcessMemArena::AdjustArenaSizeForReserveRequirements(size_t arenareq, float rsrvfactor, unsigned rsrvminimum)
+{
+ float scaledarena = arenareq * rsrvfactor;
+ size_t adjustedarena = (scaledarena < SIZE_MAX) ? (size_t)scaledarena : SIZE_MAX;
+ size_t boundedarena = (adjustedarena > rsrvminimum) ? adjustedarena : (size_t)rsrvminimum;
+ return dEFFICIENT_SIZE(boundedarena);
+}
+
+
+bool dxReallocateWorldProcessContext (dxWorld *world, dxWorldProcessIslandsInfo &islandsinfo,
dReal stepsize, dmemestimate_fn_t stepperestimate)
{
dxStepWorkingMemory *wmem = AllocateOnDemand(world->wmem);
- if (!wmem) return false;
+ if (wmem == NULL) return false;
- dxWorldProcessContext *oldcontext = wmem->GetWorldProcessingContext();
- dIASSERT (!oldcontext || oldcontext->IsStructureValid());
+ dxWorldProcessContext *context = wmem->SureGetWorldProcessingContext();
+ if (context == NULL) return false;
+ dIASSERT (context->IsStructureValid());
const dxWorldProcessMemoryReserveInfo *reserveinfo = wmem->SureGetMemoryReserveInfo();
const dxWorldProcessMemoryManager *memmgr = wmem->SureGetMemoryManager();
- dxWorldProcessContext *context = oldcontext;
-
- size_t sesize;
- size_t islandsreq = EstimateIslandsProcessingMemoryRequirements(world, sesize);
+ size_t islandsreq = EstimateIslandsProcessingMemoryRequirements(world);
dIASSERT(islandsreq == dEFFICIENT_SIZE(islandsreq));
- dIASSERT(sesize == dEFFICIENT_SIZE(sesize));
- size_t stepperestimatereq = islandsreq + sesize;
- context = InternalReallocateWorldProcessContext(context, stepperestimatereq, memmgr, 1.0f, reserveinfo->m_uiReserveMinimum);
-
- if (context)
+ dxWorldProcessMemArena *stepperarena = NULL;
+ dxWorldProcessMemArena *islandsarena = context->ReallocateIslandsMemArena(islandsreq, memmgr, 1.0f, reserveinfo->m_uiReserveMinimum);
+
+ if (islandsarena != NULL)
{
- size_t stepperreq = BuildIslandsAndEstimateStepperMemoryRequirements(context, world, stepsize, stepperestimate);
+ size_t stepperreq = BuildIslandsAndEstimateStepperMemoryRequirements(islandsinfo, islandsarena, world, stepsize, stepperestimate);
dIASSERT(stepperreq == dEFFICIENT_SIZE(stepperreq));
- size_t memreq = stepperreq + islandsreq;
- context = InternalReallocateWorldProcessContext(context, memreq, memmgr, reserveinfo->m_fReserveFactor, reserveinfo->m_uiReserveMinimum);
+ stepperarena = context->ReallocateStepperMemArena(stepperreq, memmgr, reserveinfo->m_fReserveFactor, reserveinfo->m_uiReserveMinimum);
}
- wmem->SetWorldProcessingContext(context);
- return context != NULL;
+ return stepperarena != NULL;
}
-dxWorldProcessContext *dxReallocateTemporayWorldProcessContext(dxWorldProcessContext *oldcontext,
- size_t memreq, const dxWorldProcessMemoryManager *memmgr/*=NULL*/, const dxWorldProcessMemoryReserveInfo *reserveinfo/*=NULL*/)
+void dxCleanupWorldProcessContext (dxWorld *world)
{
- dxWorldProcessContext *context = oldcontext;
-
- if (context && context->GetMemorySize() < memreq) {
- dIASSERT(!context->IsPreallocationsContextAssigned());
-
- InternalFreeWorldProcessContext(context);
- context = NULL;
+ dxStepWorkingMemory *wmem = world->wmem;
+ if (wmem != NULL)
+ {
+ dxWorldProcessContext *context = wmem->GetWorldProcessingContext();
+ if (context != NULL)
+ {
+ context->CleanupContext();
+ dIASSERT(context->IsStructureValid());
+ }
}
-
- if (context == NULL) {
- const dxWorldProcessMemoryManager *surememmgr = memmgr ? memmgr : &g_WorldProcessMallocMemoryManager;
- const dxWorldProcessMemoryReserveInfo *surereserveinfo = reserveinfo ? reserveinfo : &g_WorldProcessDefaultReserveInfo;
- context = InternalReallocateWorldProcessContext(context, memreq, surememmgr, surereserveinfo->m_fReserveFactor, surereserveinfo->m_uiReserveMinimum);
- }
-
- return context;
}
-void dxFreeWorldProcessContext (dxWorldProcessContext *context)
+dxWorldProcessMemArena *dxAllocateTemporaryWorldProcessMemArena(
+ size_t memreq, const dxWorldProcessMemoryManager *memmgr/*=NULL*/, const dxWorldProcessMemoryReserveInfo *reserveinfo/*=NULL*/)
{
- // Free old arena for the case if context is freed after reallocation without
- // a call to world stepping function
- context->FreePreallocationsContext();
+ const dxWorldProcessMemoryManager *surememmgr = memmgr ? memmgr : &g_WorldProcessMallocMemoryManager;
+ const dxWorldProcessMemoryReserveInfo *surereserveinfo = reserveinfo ? reserveinfo : &g_WorldProcessDefaultReserveInfo;
+ dxWorldProcessMemArena *arena = dxWorldProcessMemArena::ReallocateMemArena(NULL, memreq, surememmgr, surereserveinfo->m_fReserveFactor, surereserveinfo->m_uiReserveMinimum);
+ return arena;
+}
- // Assert validity after old arena is freed as validation includes checking for
- // old arena to be absent
- dUASSERT (context->IsStructureValid(), "invalid context structure");
-
- InternalFreeWorldProcessContext(context);
+void dxFreeTemporaryWorldProcessMemArena(dxWorldProcessMemArena *arena)
+{
+ dxWorldProcessMemArena::FreeMemArena(arena);
}
-
-
Modified: trunk/ode/src/util.h
===================================================================
--- trunk/ode/src/util.h 2011-12-30 13:41:55 UTC (rev 1858)
+++ trunk/ode/src/util.h 2012-01-15 19:28:21 UTC (rev 1859)
@@ -112,9 +112,11 @@
extern dxWorldProcessMemoryReserveInfo g_WorldProcessDefaultReserveInfo;
-struct dxWorldProcessContext
+class dxWorldProcessMemArena:
+ private dBase // new/delete must not be called for this class
{
-#define BUFFER_TO_ARENA_EXTRA (EFFICIENT_ALIGNMENT + dEFFICIENT_SIZE(sizeof(dxWorldProcessContext)))
+public:
+#define BUFFER_TO_ARENA_EXTRA (EFFICIENT_ALIGNMENT + dEFFICIENT_SIZE(sizeof(dxWorldProcessMemArena)))
static bool IsArenaPossible(size_t nBufferSize)
{
return SIZE_MAX - BUFFER_TO_ARENA_EXTRA >= nBufferSize; // This ensures there will be no overflow
@@ -133,7 +135,7 @@
bool IsStructureValid() const
{
- return !m_pPreallocationcContext && m_pAllocBegin && m_pAllocEnd && m_pAllocBegin <= m_pAllocEnd && m_pAllocCurrent == m_pAllocBegin && m_pArenaBeg...
[truncated message content] |
|
From: <klo...@us...> - 2011-12-30 13:42:01
|
Revision: 1858
http://opende.svn.sourceforge.net/opende/?rev=1858&view=rev
Author: klompjeg
Date: 2011-12-30 13:41:55 +0000 (Fri, 30 Dec 2011)
Log Message:
-----------
Added support for enabling and disabling joints.
Modified Paths:
--------------
trunk/bindings/python/ode.pxd
trunk/bindings/python/ode.pyx
Modified: trunk/bindings/python/ode.pxd
===================================================================
--- trunk/bindings/python/ode.pxd 2011-12-19 22:07:23 UTC (rev 1857)
+++ trunk/bindings/python/ode.pxd 2011-12-30 13:41:55 UTC (rev 1858)
@@ -232,6 +232,10 @@
void dJointDestroy (dJointID)
+ void dJointEnable (dJointID)
+ void dJointDisable (dJointID)
+ int dJointIsEnabled (dJointID)
+
dJointGroupID dJointGroupCreate (int max_size)
void dJointGroupDestroy (dJointGroupID)
void dJointGroupEmpty (dJointGroupID)
Modified: trunk/bindings/python/ode.pyx
===================================================================
--- trunk/bindings/python/ode.pyx 2011-12-19 22:07:23 UTC (rev 1857)
+++ trunk/bindings/python/ode.pyx 2011-12-30 13:41:55 UTC (rev 1858)
@@ -1826,6 +1826,36 @@
"""
self.jid = NULL
+ # enable
+ def enable(self):
+ """enable()
+
+ Enable the joint. Disabled joints are completely ignored during the
+ simulation. Disabled joints don't lose the already computed information
+ like anchors and axes.
+ """
+ dJointEnable(self.jid)
+
+ # disable
+ def disable(self):
+ """disable()
+
+ Disable the joint. Disabled joints are completely ignored during the
+ simulation. Disabled joints don't lose the already computed information
+ like anchors and axes.
+ """
+ dJointDisable(self.jid)
+
+ # isEnabled
+ def isEnabled(self):
+ """isEnabled() -> bool
+
+ Determine whether the joint is enabled. Disabled joints are completely
+ ignored during the simulation. Disabled joints don't lose the already
+ computed information like anchors and axes.
+ """
+ return dJointIsEnabled(self.jid)
+
# attach
def attach(self, Body body1, Body body2):
"""attach(body1, body2)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2011-12-19 22:07:29
|
Revision: 1857
http://opende.svn.sourceforge.net/opende/?rev=1857&view=rev
Author: oleh_derevenko
Date: 2011-12-19 22:07:23 +0000 (Mon, 19 Dec 2011)
Log Message:
-----------
Changed: Renamed "enable-ou" to "with-ou" in premake to stay consistent with all the rest options
Modified Paths:
--------------
trunk/build/premake4.lua
Modified: trunk/build/premake4.lua
===================================================================
--- trunk/build/premake4.lua 2011-12-18 22:48:16 UTC (rev 1856)
+++ trunk/build/premake4.lua 2011-12-19 22:07:23 UTC (rev 1857)
@@ -93,8 +93,8 @@
}
newoption {
- trigger = "enable-ou",
- description = "Use TLS for global variables (experimental)"
+ trigger = "with-ou",
+ description = "Use TLS for global caches (experimental)"
}
newoption {
@@ -311,7 +311,7 @@
configuration { "not no-trimesh", "not with-gimpact" }
files { "../OPCODE/**.h", "../OPCODE/**.cpp" }
- configuration { "enable-ou" }
+ configuration { "with-ou" }
files { "../ou/**.h", "../ou/**.cpp" }
defines { "_OU_NAMESPACE=odeou" }
@@ -367,7 +367,7 @@
text = string.gsub(text, "#define dTRIMESH_OPCODE 1", "#define dTRIMESH_GIMPACT 1")
end
- if _OPTIONS["enable-ou"] then
+ if _OPTIONS["with-ou"] then
text = string.gsub(text, "/%* #define dOU_ENABLED 1 %*/", "#define dOU_ENABLED 1")
text = string.gsub(text, "/%* #define dATOMICS_ENABLED 1 %*/", "#define dATOMICS_ENABLED 1")
text = string.gsub(text, "/%* #define dTLS_ENABLED 1 %*/", "#define dTLS_ENABLED 1")
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <ole...@us...> - 2011-12-18 22:48:22
|
Revision: 1856
http://opende.svn.sourceforge.net/opende/?rev=1856&view=rev
Author: oleh_derevenko
Date: 2011-12-18 22:48:16 +0000 (Sun, 18 Dec 2011)
Log Message:
-----------
Fixed: Compilation fix for Win x64 target
Modified Paths:
--------------
trunk/OPCODE/Ice/IceTypes.h
Modified: trunk/OPCODE/Ice/IceTypes.h
===================================================================
--- trunk/OPCODE/Ice/IceTypes.h 2011-12-18 19:29:04 UTC (rev 1855)
+++ trunk/OPCODE/Ice/IceTypes.h 2011-12-18 22:48:16 UTC (rev 1856)
@@ -127,7 +127,7 @@
#define ONE_OVER_RAND_MAX (1.0f / float(RAND_MAX)) //!< Inverse of the max possible value returned by rand()
- typedef int (__stdcall* PROC)(); //!< A standard procedure call.
+ // typedef int (__stdcall* PROC)(); -- Oleh Derevenko: Conflicts with Windows headers in x64 mode //!< A standard procedure call.
typedef bool (*ENUMERATION)(udword value, udword param, udword context); //!< ICE standard enumeration call
typedef void** VTABLE; //!< A V-Table.
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <dan...@us...> - 2011-12-18 19:29:12
|
Revision: 1855
http://opende.svn.sourceforge.net/opende/?rev=1855&view=rev
Author: danielosmari
Date: 2011-12-18 19:29:04 +0000 (Sun, 18 Dec 2011)
Log Message:
-----------
* Removed useless Makefile.deps
* Updated autoconf scripts to maintain third-party m4 scripts in tree. Now pkg-config is not
required anymore to build ode from svn.
Modified Paths:
--------------
trunk/Makefile.am
trunk/autogen.sh
trunk/configure.in
Added Paths:
-----------
trunk/m4/
trunk/m4/libtool.m4
trunk/m4/ltoptions.m4
trunk/m4/ltsugar.m4
trunk/m4/ltversion.m4
trunk/m4/lt~obsolete.m4
trunk/m4/pkg.m4
Removed Paths:
-------------
trunk/Makefile.deps
Modified: trunk/Makefile.am
===================================================================
--- trunk/Makefile.am 2011-12-17 23:15:41 UTC (rev 1854)
+++ trunk/Makefile.am 2011-12-18 19:29:04 UTC (rev 1855)
@@ -1,3 +1,6 @@
+AUTOMAKE_OPTIONS = foreign
+ACLOCAL_AMFLAGS = -I m4 --install
+
if ENABLE_OU
OU_DIR = ou
endif
Deleted: trunk/Makefile.deps
===================================================================
--- trunk/Makefile.deps 2011-12-17 23:15:41 UTC (rev 1854)
+++ trunk/Makefile.deps 2011-12-18 19:29:04 UTC (rev 1855)
@@ -1,1845 +0,0 @@
-ode/src/array.o: \
- ode/src/array.cpp \
- include/ode/config.h \
- include/ode/memory.h \
- include/ode/error.h \
- ode/src/array.h
-ode/src/error.o: \
- ode/src/error.cpp \
- include/ode/config.h \
- include/ode/error.h
-ode/src/memory.o: \
- ode/src/memory.cpp \
- include/ode/config.h \
- include/ode/memory.h \
- include/ode/error.h
-ode/src/obstack.o: \
- ode/src/obstack.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/memory.h \
- ode/src/obstack.h \
- ode/src/objects.h \
- include/ode/mass.h \
- ode/src/array.h
-ode/src/odemath.o: \
- ode/src/odemath.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/odemath.h
-ode/src/matrix.o: \
- ode/src/matrix.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/matrix.h
-ode/src/misc.o: \
- ode/src/misc.cpp \
- include/ode/config.h \
- include/ode/misc.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/matrix.h
-ode/src/rotation.o: \
- ode/src/rotation.cpp \
- include/ode/rotation.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/compatibility.h \
- include/ode/odemath.h
-ode/src/mass.o: \
- ode/src/mass.cpp \
- include/ode/config.h \
- include/ode/mass.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/odemath.h \
- include/ode/matrix.h
-ode/src/ode.o: \
- ode/src/ode.cpp \
- ode/src/objects.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- include/ode/ode.h \
- include/ode/compatibility.h \
- include/ode/contact.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- ode/src/joint.h \
- ode/src/obstack.h \
- ode/src/step.h \
- ode/src/quickstep.h \
- ode/src/util.h
-ode/src/step.o: \
- ode/src/step.cpp \
- ode/src/objects.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/joint.h \
- include/ode/contact.h \
- ode/src/obstack.h \
- include/ode/odemath.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/timer.h \
- include/ode/matrix.h \
- ode/src/lcp.h \
- ode/src/util.h
-ode/src/stepfast.o: \
- ode/src/stepfast.cpp \
- ode/src/objects.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/joint.h \
- include/ode/contact.h \
- ode/src/obstack.h \
- include/ode/objects.h \
- include/ode/odemath.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/timer.h \
- include/ode/matrix.h \
- include/ode/misc.h \
- ode/src/lcp.h \
- ode/src/step.h \
- ode/src/util.h
-ode/src/quickstep.o: \
- ode/src/quickstep.cpp \
- ode/src/objects.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/joint.h \
- include/ode/contact.h \
- ode/src/obstack.h \
- include/ode/odemath.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/timer.h \
- include/ode/matrix.h \
- ode/src/lcp.h \
- ode/src/util.h
-ode/src/util.o: \
- ode/src/util.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- ode/src/objects.h \
- ode/src/array.h \
- ode/src/joint.h \
- ode/src/obstack.h \
- ode/src/util.h
-ode/src/lcp.o: \
- ode/src/lcp.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- ode/src/lcp.h \
- include/ode/matrix.h \
- include/ode/misc.h \
- ode/src/mat.h \
- include/ode/timer.h
-ode/src/joint.o: \
- ode/src/joint.cpp \
- include/ode/odemath.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/matrix.h \
- ode/src/joint.h \
- ode/src/objects.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- include/ode/contact.h \
- ode/src/obstack.h
-ode/src/timer.o: \
- ode/src/timer.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/timer.h
-ode/src/mat.o: \
- ode/src/mat.cpp \
- include/ode/config.h \
- include/ode/misc.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/matrix.h \
- include/ode/memory.h \
- ode/src/mat.h
-ode/src/testing.o: \
- ode/src/testing.cpp \
- include/ode/config.h \
- include/ode/misc.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/memory.h \
- ode/src/testing.h \
- ode/src/array.h
-ode/src/export-dif.o: \
- ode/src/export-dif.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- ode/src/objects.h \
- ode/src/array.h \
- ode/src/joint.h \
- ode/src/obstack.h \
- ode/src/collision_kernel.h
-ode/src/collision_kernel.o: \
- ode/src/collision_kernel.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/matrix.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/objects.h \
- include/ode/mass.h \
- include/ode/contact.h \
- ode/src/collision_kernel.h \
- include/ode/collision.h \
- include/ode/collision_space.h \
- include/ode/collision_trimesh.h \
- ode/src/objects.h \
- include/ode/memory.h \
- ode/src/array.h \
- ode/src/collision_util.h \
- ode/src/collision_std.h \
- ode/src/collision_transform.h \
- ode/src/collision_trimesh_internal.h
-ode/src/collision_util.o: \
- ode/src/collision_util.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/collision.h \
- include/ode/collision_space.h \
- include/ode/contact.h \
- include/ode/collision_trimesh.h \
- include/ode/odemath.h \
- ode/src/collision_util.h
-ode/src/collision_std.o: \
- ode/src/collision_std.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/collision.h \
- include/ode/collision_space.h \
- include/ode/contact.h \
- include/ode/collision_trimesh.h \
- include/ode/matrix.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/odemath.h \
- ode/src/collision_kernel.h \
- ode/src/objects.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/collision_std.h \
- ode/src/collision_util.h
-ode/src/collision_space.o: \
- ode/src/collision_space.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/matrix.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/contact.h \
- include/ode/collision_trimesh.h \
- ode/src/collision_kernel.h \
- ode/src/objects.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/collision_space_internal.h
-ode/src/collision_transform.o: \
- ode/src/collision_transform.cpp \
- include/ode/collision.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/collision_space.h \
- include/ode/contact.h \
- include/ode/collision_trimesh.h \
- include/ode/matrix.h \
- include/ode/rotation.h \
- include/ode/compatibility.h \
- include/ode/odemath.h \
- ode/src/collision_transform.h \
- ode/src/collision_kernel.h \
- ode/src/objects.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/collision_util.h
-ode/src/collision_quadtreespace.o: \
- ode/src/collision_quadtreespace.cpp \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h \
- include/ode/matrix.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/contact.h \
- include/ode/collision_trimesh.h \
- ode/src/collision_kernel.h \
- ode/src/objects.h \
- include/ode/memory.h \
- include/ode/mass.h \
- ode/src/array.h \
- ode/src/collision_space_internal.h
-ode/src/OPC_AABBCollider.o: \
- OPCODE/OPC_AABBCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_BoxBoxOverlap.h \
- OPCODE/OPC_TriBoxOverlap.h
-ode/src/OPC_AABBTree.o: \
- OPCODE/OPC_AABBTree.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_BaseModel.o: \
- OPCODE/OPC_BaseModel.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_BoxPruning.o: \
- OPCODE/OPC_BoxPruning.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_Collider.o: \
- OPCODE/OPC_Collider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_Common.o: \
- OPCODE/OPC_Common.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_HybridModel.o: \
- OPCODE/OPC_HybridModel.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_LSSCollider.o: \
- OPCODE/OPC_LSSCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_LSSAABBOverlap.h \
- OPCODE/OPC_LSSTriOverlap.h
-ode/src/OPC_MeshInterface.o: \
- OPCODE/OPC_MeshInterface.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_Model.o: \
- OPCODE/OPC_Model.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_OBBCollider.o: \
- OPCODE/OPC_OBBCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_BoxBoxOverlap.h \
- OPCODE/OPC_TriBoxOverlap.h
-ode/src/Opcode.o: \
- OPCODE/Opcode.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_OptimizedTree.o: \
- OPCODE/OPC_OptimizedTree.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_Picking.o: \
- OPCODE/OPC_Picking.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_PlanesCollider.o: \
- OPCODE/OPC_PlanesCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_PlanesAABBOverlap.h \
- OPCODE/OPC_PlanesTriOverlap.h
-ode/src/OPC_RayCollider.o: \
- OPCODE/OPC_RayCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_RayAABBOverlap.h \
- OPCODE/OPC_RayTriOverlap.h
-ode/src/OPC_SphereCollider.o: \
- OPCODE/OPC_SphereCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_SphereAABBOverlap.h \
- OPCODE/OPC_SphereTriOverlap.h
-ode/src/OPC_SweepAndPrune.o: \
- OPCODE/OPC_SweepAndPrune.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_TreeBuilders.o: \
- OPCODE/OPC_TreeBuilders.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/OPC_TreeCollider.o: \
- OPCODE/OPC_TreeCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h \
- OPCODE/OPC_BoxBoxOverlap.h \
- OPCODE/OPC_TriBoxOverlap.h \
- OPCODE/OPC_TriTriOverlap.h
-ode/src/OPC_VolumeCollider.o: \
- OPCODE/OPC_VolumeCollider.cpp \
- OPCODE/Stdafx.h \
- OPCODE/Opcode.h \
- OPCODE/OPC_IceHook.h \
- OPCODE/Ice/IcePreprocessor.h \
- OPCODE/Ice/IceTypes.h \
- OPCODE/Ice/IceFPU.h \
- OPCODE/Ice/IceMemoryMacros.h \
- OPCODE/Ice/IceUtils.h \
- OPCODE/Ice/IceContainer.h \
- OPCODE/Ice/IcePairs.h \
- OPCODE/Ice/IceRevisitedRadix.h \
- OPCODE/Ice/IceRandom.h \
- OPCODE/Ice/IceAxes.h \
- OPCODE/Ice/IcePoint.h \
- OPCODE/Ice/IceHPoint.h \
- OPCODE/Ice/IceMatrix3x3.h \
- OPCODE/Ice/IceMatrix4x4.h \
- OPCODE/Ice/IcePlane.h \
- OPCODE/Ice/IceRay.h \
- OPCODE/Ice/IceIndexedTriangle.h \
- OPCODE/Ice/IceTriangle.h \
- OPCODE/Ice/IceTriList.h \
- OPCODE/Ice/IceAABB.h \
- OPCODE/Ice/IceOBB.h \
- OPCODE/Ice/IceBoundingSphere.h \
- OPCODE/Ice/IceSegment.h \
- OPCODE/Ice/IceLSS.h \
- OPCODE/OPC_Settings.h \
- OPCODE/OPC_Common.h \
- OPCODE/OPC_MeshInterface.h \
- OPCODE/OPC_TreeBuilders.h \
- OPCODE/OPC_AABBTree.h \
- OPCODE/OPC_OptimizedTree.h \
- OPCODE/OPC_BaseModel.h \
- OPCODE/OPC_Model.h \
- OPCODE/OPC_HybridModel.h \
- OPCODE/OPC_Collider.h \
- OPCODE/OPC_VolumeCollider.h \
- OPCODE/OPC_TreeCollider.h \
- OPCODE/OPC_RayCollider.h \
- OPCODE/OPC_SphereCollider.h \
- OPCODE/OPC_OBBCollider.h \
- OPCODE/OPC_AABBCollider.h \
- OPCODE/OPC_LSSCollider.h \
- OPCODE/OPC_PlanesCollider.h \
- OPCODE/OPC_Picking.h \
- OPCODE/OPC_BoxPruning.h \
- OPCODE/OPC_SweepAndPrune.h
-ode/src/fastldlt.o: \
- ode/src/fastldlt.c \
- include/ode/matrix.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h
-ode/src/fastlsolve.o: \
- ode/src/fastlsolve.c \
- include/ode/matrix.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h
-ode/src/fastltsolve.o: \
- ode/src/fastltsolve.c \
- include/ode/matrix.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h
-ode/src/fastdot.o: \
- ode/src/fastdot.c \
- include/ode/matrix.h \
- include/ode/common.h \
- include/ode/config.h \
- include/ode/error.h
-drawstuff/src/drawstuff.o: \
- drawstuff/src/drawstuff.cpp \
- include/ode/config.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h \
- drawstuff/src/internal.h
-drawstuff/src/x11.o: \
- drawstuff/src/x11.cpp \
- include/ode/config.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h \
- drawstuff/src/internal.h
-ode/test/test_ode.o: \
- ode/test/test_ode.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h
-ode/test/test_chain2.o: \
- ode/test/test_chain2.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_hinge.o: \
- ode/test/test_hinge.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_slider.o: \
- ode/test/test_slider.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_collision.o: \
- ode/test/test_collision.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_boxstack.o: \
- ode/test/test_boxstack.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_buggy.o: \
- ode/test/test_buggy.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_crash.o: \
- ode/test/test_crash.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_joints.o: \
- ode/test/test_joints.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_space.o: \
- ode/test/test_space.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_I.o: \
- ode/test/test_I.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_step.o: \
- ode/test/test_step.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_friction.o: \
- ode/test/test_friction.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_space_stress.o: \
- ode/test/test_space_stress.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_trimesh.o: \
- ode/test/test_trimesh.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-ode/test/test_moving_trimesh.o: \
- ode/test/test_moving_trimesh.cpp \
- include/ode/ode.h \
- include/ode/config.h \
- include/ode/compatibility.h \
- include/ode/common.h \
- include/ode/error.h \
- include/ode/contact.h \
- include/ode/memory.h \
- include/ode/odemath.h \
- include/ode/matrix.h \
- include/ode/timer.h \
- include/ode/rotation.h \
- include/ode/mass.h \
- include/ode/misc.h \
- include/ode/objects.h \
- include/ode/odecpp.h \
- include/ode/collision_space.h \
- include/ode/collision.h \
- include/ode/collision_trimesh.h \
- include/ode/odecpp_collision.h \
- include/ode/export-dif.h \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
-drawstuff/dstest/dstest.o: \
- drawstuff/dstest/dstest.cpp \
- include/drawstuff/drawstuff.h \
- include/drawstuff/version.h
Modified: trunk/autogen.sh
===================================================================
--- trunk/autogen.sh 2011-12-17 23:15:41 UTC (rev 1854)
+++ trunk/autogen.sh 2011-12-18 19:29:04 UTC (rev 1855)
@@ -30,7 +30,7 @@
echo "Warnings about underquoted definitions are harmless"
echo "Running aclocal"
-aclocal -I . || exit 1
+aclocal -I m4 --install || exit 1
# on Mac libtoolize is called glibtoolize
LIBTOOLIZE=libtoolize
#if [ `uname -s` = Darwin ]; then
Modified: trunk/configure.in
===================================================================
--- trunk/configure.in 2011-12-17 23:15:41 UTC (rev 1854)
+++ trunk/configure.in 2011-12-18 19:29:04 UTC (rev 1855)
@@ -1,6 +1,5 @@
dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram
AC_INIT([ODE],[0.11.1],[od...@od...])
-AC_CONFIG_SRCDIR([ode/src/ode.cpp])
ODE_RELEASE=0.11.1
AC_SUBST(ODE_RELEASE)
@@ -41,6 +40,8 @@
AC_SUBST(ODE_VERSION_INFO)
+AC_CONFIG_SRCDIR([ode/src/ode.cpp])
+AC_CONFIG_MACRO_DIR([m4])
AC_CANONICAL_HOST
@@ -64,8 +65,6 @@
AC_C_BIGENDIAN
AC_C_INLINE
AC_C_VOLATILE
-AC_HEADER_STDBOOL
-AC_TYPE_SIZE_T
PKG_PROG_PKG_CONFIG
@@ -94,7 +93,8 @@
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 ])
+ string.h stdarg.h malloc.h float.h time.h sys/time.h \
+ limits.h stddef.h])
opcode=no
@@ -135,21 +135,23 @@
AC_SUBST(ODE_PRECISION)
-AC_ARG_WITH([drawstuff],AS_HELP_STRING([--with-drawstuff=X11|Win32|OSX|none],[force a particular drawstuff implementation or disable it.]),
- [drawstuff=$withval],[drawstuff=])
+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"$drawstuff" = x
+ if test "x$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"$drawstuff" = x
+ if test "x$drawstuff" = x
then
drawstuff="OSX"
fi
@@ -159,7 +161,7 @@
LINK="$CXXLINK"
;;
*)
- if test x"$drawstuff" = x
+ if test "x$drawstuff" = x
then
drawstuff="X11" # if anything else default to X11
fi
@@ -174,9 +176,8 @@
if test "x$drawstuff" = "xX11"
then
- # The built-in macro causes too many problems, these days everyone uses Xorg,
+ # 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.
- #AC_PATH_XTRA
PKG_CHECK_MODULES(X11, x11, [], [drawstuff="none"])
fi
@@ -272,10 +273,18 @@
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 select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf])
+AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf strchr strstr])
AC_FUNC_ALLOCA
AC_FUNC_MALLOC
AC_FUNC_OBSTACK
Added: trunk/m4/libtool.m4
===================================================================
--- trunk/m4/libtool.m4 (rev 0)
+++ trunk/m4/libtool.m4 2011-12-18 19:29:04 UTC (rev 1855)
@@ -0,0 +1,7857 @@
+# 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.
+# Written by Gordon Matzigkeit, 1996
+#
+# This file is free software; the Free Software Foundation gives
+# unlimited permission to copy and/or distribute it, with or without
+# modifications, as long as this notice is preserved.
+
+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.
+# Written by Gordon Matzigkeit, 1996
+#
+# This file is part of GNU Libtool.
+#
+# GNU Libtool is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License as
+# published by the Free Software Foundation; either version 2 of
+# the License, or (at your option) any later version.
+#
+# As a special exception to the GNU General Public License,
+# if you distribute this file as part of a program or library that
+# is built using GNU Libtool, you may include this file under the
+# same distribution terms that you use for the rest of that program.
+#
+# GNU Libtool is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNU Libtool; see the file COPYING. If not, a copy
+# can be downloaded from http://www.gnu.org/licenses/gpl.html, or
+# obtained by writing to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+])
+
+# serial 57 LT_INIT
+
+
+# LT_PREREQ(VERSION)
+# ------------------
+# Complain and exit if this libtool version is less that VERSION.
+m4_defun([LT_PREREQ],
+[m4_if(m4_version_compare(m4_defn([LT_PACKAGE_VERSION]), [$1]), -1,
+ [m4_default([$3],
+ [m4_fatal([Libtool version $1 or higher is required],
+ 63)])],
+ [$2])])
+
+
+# _LT_CHECK_BUILDDIR
+# ------------------
+# Complain if the absolute build directory name contains unusual characters
+m4_defun([_LT_CHECK_BUILDDIR],
+[case `pwd` in
+ *\ * | *\ *)
+ AC_MSG_WARN([Libtool does not cope well with whitespace in `pwd`]) ;;
+esac
+])
+
+
+# LT_INIT([OPTIONS])
+# ------------------
+AC_DEFUN([LT_INIT],
+[AC_PREREQ([2.58])dnl We use AC_INCLUDES_DEFAULT
+AC_REQUIRE([AC_CONFIG_AUX_DIR_DEFAULT])dnl
+AC_BEFORE([$0], [LT_LANG])dnl
+AC_BEFORE([$0], [LT_OUTPUT])dnl
+AC_BEFORE([$0], [LTDL_INIT])dnl
+m4_require([_LT_CHECK_BUILDDIR])dnl
+
+dnl Autoconf doesn't catch unexpanded LT_ macros by default:
+m4_pattern_forbid([^_?LT_[A-Z_]+$])dnl
+m4_pattern_allow([^(_LT_EOF|LT_DLGLOBAL|LT_DLLAZY_OR_NOW|LT_MULTI_MODULE)$])dnl
+dnl aclocal doesn't pull ltoptions.m4, ltsugar.m4, or ltversion.m4
+dnl unless we require an AC_DEFUNed macro:
+AC_REQUIRE([LTOPTIONS_VERSION])dnl
+AC_REQUIRE([LTSUGAR_VERSION])dnl
+AC_REQUIRE([LTVERSION_VERSION])dnl
+AC_REQUIRE([LTOBSOLETE_VERSION])dnl
+m4_require([_LT_PROG_LTMAIN])dnl
+
+_LT_SHELL_INIT([SHELL=${CONFIG_SHELL-/bin/sh}])
+
+d...
[truncated message content] |