/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) The GNU Lesser General Public License as published by the Free * * Software Foundation; either version 2.1 of the License, or (at * * your option) any later version. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ #ifndef _ODE_ODEMATH_LEGACY_H_ #define _ODE_ODEMATH_LEGACY_H_ /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /* * These macros are not used any more inside of ODE * They are kept for backward compatibility with external code that * might still be using them. */ /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /* * General purpose vector operations with other vectors or constants. */ #define dOP(a,op,b,c) do { \ (a)[0] = ((b)[0]) op ((c)[0]); \ (a)[1] = ((b)[1]) op ((c)[1]); \ (a)[2] = ((b)[2]) op ((c)[2]); \ } while (0) #define dOPC(a,op,b,c) do { \ (a)[0] = ((b)[0]) op (c); \ (a)[1] = ((b)[1]) op (c); \ (a)[2] = ((b)[2]) op (c); \ } while (0) #define dOPE(a,op,b) do {\ (a)[0] op ((b)[0]); \ (a)[1] op ((b)[1]); \ (a)[2] op ((b)[2]); \ } while (0) #define dOPEC(a,op,c) do { \ (a)[0] op (c); \ (a)[1] op (c); \ (a)[2] op (c); \ } while (0) /// Define an equation with operators /// For example this function can be used to replace /// 
/// for (int i=0; i<3; ++i)
///   a[i] += b[i] + c[i];
///
#define dOPE2(a,op1,b,op2,c) do { \ (a)[0] op1 ((b)[0]) op2 ((c)[0]); \ (a)[1] op1 ((b)[1]) op2 ((c)[1]); \ (a)[2] op1 ((b)[2]) op2 ((c)[2]); \ } while (0) #define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a) #define dLENGTH(a) dCalcVectorLength3(a) #define dDISTANCE(a, b) dCalcPointsDistance3(a, b) #define dDOT(a, b) dCalcVectorDot3(a, b) #define dDOT13(a, b) dCalcVectorDot3_13(a, b) #define dDOT31(a, b) dCalcVectorDot3_31(a, b) #define dDOT33(a, b) dCalcVectorDot3_33(a, b) #define dDOT14(a, b) dCalcVectorDot3_14(a, b) #define dDOT41(a, b) dCalcVectorDot3_41(a, b) #define dDOT44(a, b) dCalcVectorDot3_44(a, b) /* * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b' * and `c' are spaced p, q and r indexes apart respectively. * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to * +=, -= etc to get other effects. */ #define dCROSS(a,op,b,c) \ do { \ (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \ (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \ (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \ } while(0) #define dCROSSpqr(a,op,b,c,p,q,r) \ do { \ (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \ (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \ (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \ } while(0) #define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4) #define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1) #define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4) #define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1) #define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4) #define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1) #define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4) /* * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b. * A is stored by rows, and has `skip' elements per row. the matrix is * assumed to be already zero, so this does not write zero elements! * if (plus,minus) is (+,-) then a positive version will be written. * if (plus,minus) is (-,+) then a negative version will be written. */ #define dCROSSMAT(A,a,skip,plus,minus) \ do { \ (A)[1] = minus (a)[2]; \ (A)[2] = plus (a)[1]; \ (A)[(skip)+0] = plus (a)[2]; \ (A)[(skip)+2] = minus (a)[0]; \ (A)[2*(skip)+0] = minus (a)[1]; \ (A)[2*(skip)+1] = plus (a)[0]; \ } while(0) /* Note: NEVER call any of these functions/macros with the same variable for A and C, it is not equivalent to A*=B. */ #define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C) #define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C) #define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C) #define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C) #define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C) #define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C) #define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C) #define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C) #define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C) #define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C) #define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C) #define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C) /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /* * These macros are not used any more inside of ODE * They are kept for backward compatibility with external code that * might still be using them. */ /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// #endif // #ifndef _ODE_ODEMATH_LEGACY_H_