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00023 #ifndef _ODE_ODEMATH_H_
00024 #define _ODE_ODEMATH_H_
00025
00026 #include <ode/common.h>
00027
00028 #ifdef __GNUC__
00029 #define PURE_INLINE extern inline
00030 #else
00031 #define PURE_INLINE inline
00032 #endif
00033
00034
00035
00036
00037
00038 #define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
00039
00040
00041
00042
00043 #define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
00044 #define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3])))
00045 #define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11])))
00046 #define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) ))
00047
00048
00049
00050
00051
00052
00053
00054 #define dOP(a,op,b,c) do { \
00055 (a)[0] = ((b)[0]) op ((c)[0]); \
00056 (a)[1] = ((b)[1]) op ((c)[1]); \
00057 (a)[2] = ((b)[2]) op ((c)[2]); \
00058 } while (0)
00059 #define dOPC(a,op,b,c) do { \
00060 (a)[0] = ((b)[0]) op (c); \
00061 (a)[1] = ((b)[1]) op (c); \
00062 (a)[2] = ((b)[2]) op (c); \
00063 } while (0)
00064 #define dOPE(a,op,b) do {\
00065 (a)[0] op ((b)[0]); \
00066 (a)[1] op ((b)[1]); \
00067 (a)[2] op ((b)[2]); \
00068 } while (0)
00069 #define dOPEC(a,op,c) do { \
00070 (a)[0] op (c); \
00071 (a)[1] op (c); \
00072 (a)[2] op (c); \
00073 } while (0)
00074
00081 #define dOPE2(a,op1,b,op2,c) do { \
00082 (a)[0] op1 ((b)[0]) op2 ((c)[0]); \
00083 (a)[1] op1 ((b)[1]) op2 ((c)[1]); \
00084 (a)[2] op1 ((b)[2]) op2 ((c)[2]); \
00085 } while (0)
00086
00087
00088
00089
00090
00091
00092 #define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]))
00093
00094 #ifdef __cplusplus
00095
00096 PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); }
00097
00098 #else
00099
00100 #define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) )
00101
00102 #endif
00103
00104
00105
00106
00107
00108
00109
00110
00111
00112
00113
00114
00115 #define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
00116
00117 #ifdef __cplusplus
00118
00119 PURE_INLINE dReal dDOT (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
00120 PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
00121 PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
00122 PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
00123 PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
00124 PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
00125 PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
00126
00127 #else
00128
00129 #define dDOT(a,b) dDOTpq(a,b,1,1)
00130 #define dDOT13(a,b) dDOTpq(a,b,1,3)
00131 #define dDOT31(a,b) dDOTpq(a,b,3,1)
00132 #define dDOT33(a,b) dDOTpq(a,b,3,3)
00133 #define dDOT14(a,b) dDOTpq(a,b,1,4)
00134 #define dDOT41(a,b) dDOTpq(a,b,4,1)
00135 #define dDOT44(a,b) dDOTpq(a,b,4,4)
00136
00137 #endif
00138
00139
00140
00141
00142
00143
00144
00145
00146
00147 #define dCROSS(a,op,b,c) \
00148 do { \
00149 (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
00150 (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
00151 (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
00152 } while(0)
00153 #define dCROSSpqr(a,op,b,c,p,q,r) \
00154 do { \
00155 (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
00156 (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
00157 (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
00158 } while(0)
00159 #define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
00160 #define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
00161 #define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
00162 #define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
00163 #define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
00164 #define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
00165 #define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
00166
00167
00168
00169
00170
00171
00172
00173
00174
00175
00176 #define dCROSSMAT(A,a,skip,plus,minus) \
00177 do { \
00178 (A)[1] = minus (a)[2]; \
00179 (A)[2] = plus (a)[1]; \
00180 (A)[(skip)+0] = plus (a)[2]; \
00181 (A)[(skip)+2] = minus (a)[0]; \
00182 (A)[2*(skip)+0] = minus (a)[1]; \
00183 (A)[2*(skip)+1] = plus (a)[0]; \
00184 } while(0)
00185
00186
00187
00188
00189
00190
00191 #ifdef __cplusplus
00192 PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b)
00193 { return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
00194 #else
00195 #define dDISTANCE(a,b) \
00196 (dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
00197 #endif
00198
00199
00200
00201
00202
00203
00204 #define dMULTIPLYOP0_331(A,op,B,C) \
00205 do { \
00206 (A)[0] op dDOT((B),(C)); \
00207 (A)[1] op dDOT((B+4),(C)); \
00208 (A)[2] op dDOT((B+8),(C)); \
00209 } while(0)
00210 #define dMULTIPLYOP1_331(A,op,B,C) \
00211 do { \
00212 (A)[0] op dDOT41((B),(C)); \
00213 (A)[1] op dDOT41((B+1),(C)); \
00214 (A)[2] op dDOT41((B+2),(C)); \
00215 } while(0)
00216 #define dMULTIPLYOP0_133(A,op,B,C) \
00217 do { \
00218 (A)[0] op dDOT14((B),(C)); \
00219 (A)[1] op dDOT14((B),(C+1)); \
00220 (A)[2] op dDOT14((B),(C+2)); \
00221 } while(0)
00222 #define dMULTIPLYOP0_333(A,op,B,C) \
00223 do { \
00224 (A)[0] op dDOT14((B),(C)); \
00225 (A)[1] op dDOT14((B),(C+1)); \
00226 (A)[2] op dDOT14((B),(C+2)); \
00227 (A)[4] op dDOT14((B+4),(C)); \
00228 (A)[5] op dDOT14((B+4),(C+1)); \
00229 (A)[6] op dDOT14((B+4),(C+2)); \
00230 (A)[8] op dDOT14((B+8),(C)); \
00231 (A)[9] op dDOT14((B+8),(C+1)); \
00232 (A)[10] op dDOT14((B+8),(C+2)); \
00233 } while(0)
00234 #define dMULTIPLYOP1_333(A,op,B,C) \
00235 do { \
00236 (A)[0] op dDOT44((B),(C)); \
00237 (A)[1] op dDOT44((B),(C+1)); \
00238 (A)[2] op dDOT44((B),(C+2)); \
00239 (A)[4] op dDOT44((B+1),(C)); \
00240 (A)[5] op dDOT44((B+1),(C+1)); \
00241 (A)[6] op dDOT44((B+1),(C+2)); \
00242 (A)[8] op dDOT44((B+2),(C)); \
00243 (A)[9] op dDOT44((B+2),(C+1)); \
00244 (A)[10] op dDOT44((B+2),(C+2)); \
00245 } while(0)
00246 #define dMULTIPLYOP2_333(A,op,B,C) \
00247 do { \
00248 (A)[0] op dDOT((B),(C)); \
00249 (A)[1] op dDOT((B),(C+4)); \
00250 (A)[2] op dDOT((B),(C+8)); \
00251 (A)[4] op dDOT((B+4),(C)); \
00252 (A)[5] op dDOT((B+4),(C+4)); \
00253 (A)[6] op dDOT((B+4),(C+8)); \
00254 (A)[8] op dDOT((B+8),(C)); \
00255 (A)[9] op dDOT((B+8),(C+4)); \
00256 (A)[10] op dDOT((B+8),(C+8)); \
00257 } while(0)
00258
00259 #ifdef __cplusplus
00260
00261 #define DECL template <class TA, class TB, class TC> PURE_INLINE void
00262
00263
00264
00265
00266
00267
00268 DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); }
00269 DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); }
00270 DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); }
00271 DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); }
00272 DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); }
00273 DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); }
00274
00275 DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); }
00276 DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); }
00277 DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); }
00278 DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); }
00279 DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); }
00280 DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); }
00281
00282 #undef DECL
00283
00284 #else
00285
00286 #define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
00287 #define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
00288 #define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
00289 #define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
00290 #define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
00291 #define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
00292
00293 #define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
00294 #define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
00295 #define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
00296 #define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
00297 #define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
00298 #define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
00299
00300 #endif
00301
00302
00303 #ifdef __cplusplus
00304 extern "C" {
00305 #endif
00306
00307
00308
00309
00310
00311 #if defined(__ODE__)
00312
00313 int _dSafeNormalize3 (dVector3 a);
00314 int _dSafeNormalize4 (dVector4 a);
00315
00316 static __inline void _dNormalize3(dVector3 a)
00317 {
00318 int bNormalizationResult = _dSafeNormalize3(a);
00319 dIASSERT(bNormalizationResult);
00320 dVARIABLEUSED(bNormalizationResult);
00321 }
00322
00323 static __inline void _dNormalize4(dVector4 a)
00324 {
00325 int bNormalizationResult = _dSafeNormalize4(a);
00326 dIASSERT(bNormalizationResult);
00327 dVARIABLEUSED(bNormalizationResult);
00328 }
00329
00330 #endif // defined(__ODE__)
00331
00332
00333 ODE_API int dSafeNormalize3 (dVector3 a);
00334 ODE_API int dSafeNormalize4 (dVector4 a);
00335 ODE_API void dNormalize3 (dVector3 a);
00336 ODE_API void dNormalize4 (dVector4 a);
00337
00338 #if defined(__ODE__)
00339
00340
00341 #define dSafeNormalize3(a) _dSafeNormalize3(a)
00342 #define dSafeNormalize4(a) _dSafeNormalize4(a)
00343 #define dNormalize3(a) _dNormalize3(a)
00344 #define dNormalize4(a) _dNormalize4(a)
00345
00346 #endif // defined(__ODE__)
00347
00348
00349
00350
00351
00352
00353
00354
00355
00356 ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
00357
00358 ODE_API void dOrthogonalizeR(dMatrix3 m);
00359
00360
00361
00362 #ifdef __cplusplus
00363 }
00364 #endif
00365
00366 #endif