/************************************************************************* * * * 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_ODECONFIG_H_ #define _ODE_ODECONFIG_H_ /* Pull in the standard headers */ #include #include #include #include #include #include #include #include //#include "precision.h" //#define dSINGLE 1 // note: dReal is defined in ode_common.hpp // note: ODE only works properly with dReal as a double. float will break collison callbacks! #define dDOUBLE #if defined(ODE_DLL) || defined(ODE_LIB) #define __ODE__ #endif /* Define a DLL export symbol for those platforms that need it */ #if defined(_MSC_VER) || (defined(__GNUC__) && defined(_WIN32)) #if defined(ODE_DLL) #define ODE_API __declspec(dllexport) #else #define ODE_API #endif #endif #if !defined(ODE_API) #define ODE_API #endif #if defined(_MSC_VER) # define ODE_API_DEPRECATED __declspec(deprecated) #elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) ) # define ODE_API_DEPRECATED __attribute__((__deprecated__)) #else # define ODE_API_DEPRECATED #endif #define ODE_PURE_INLINE static __inline #define ODE_INLINE __inline #if defined(__cplusplus) #define ODE_EXTERN_C extern "C" #else #define ODE_EXTERN_C #endif #if defined(__GNUC__) #define ODE_NORETURN __attribute__((noreturn)) #elif defined(_MSC_VER) #define ODE_NORETURN __declspec(noreturn) #else // #if !defined(_MSC_VER) #define ODE_NORETURN #endif // #if !defined(__GNUC__) /* Well-defined common data types...need to be defined for 64 bit systems */ #if defined(__aarch64__) || defined(__alpha__) || defined(__ppc64__) \ || defined(__s390__) || defined(__s390x__) || defined(__zarch__) \ || defined(__mips__) || defined(__powerpc64__) || defined(__riscv) \ || (defined(__sparc__) && defined(__arch64__)) #include typedef int64_t dint64; typedef uint64_t duint64; typedef int32_t dint32; typedef uint32_t duint32; typedef int16_t dint16; typedef uint16_t duint16; typedef int8_t dint8; typedef uint8_t duint8; typedef intptr_t dintptr; typedef uintptr_t duintptr; typedef ptrdiff_t ddiffint; typedef size_t dsizeint; #elif (defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)) && !defined(__ILP32__) && !defined(_ILP32) #define X86_64_SYSTEM 1 #if defined(_MSC_VER) typedef __int64 dint64; typedef unsigned __int64 duint64; #else #if defined(_LP64) || defined(__LP64__) typedef long dint64; typedef unsigned long duint64; #else typedef long long dint64; typedef unsigned long long duint64; #endif #endif typedef int dint32; typedef unsigned int duint32; typedef short dint16; typedef unsigned short duint16; typedef signed char dint8; typedef unsigned char duint8; typedef dint64 dintptr; typedef duint64 duintptr; typedef dint64 ddiffint; typedef duint64 dsizeint; #else #if defined(_MSC_VER) typedef __int64 dint64; typedef unsigned __int64 duint64; #else typedef long long dint64; typedef unsigned long long duint64; #endif typedef int dint32; typedef unsigned int duint32; typedef short dint16; typedef unsigned short duint16; typedef signed char dint8; typedef unsigned char duint8; typedef dint32 dintptr; typedef duint32 duintptr; typedef dint32 ddiffint; typedef duint32 dsizeint; #endif /* Define the dInfinity macro */ #ifdef INFINITY #ifdef dSINGLE #define dInfinity ((float)INFINITY) #else #define dInfinity ((double)INFINITY) #endif #elif defined(HUGE_VAL) #ifdef dSINGLE #ifdef HUGE_VALF #define dInfinity HUGE_VALF #else #define dInfinity ((float)HUGE_VAL) #endif #else #define dInfinity HUGE_VAL #endif #else #ifdef dSINGLE #define dInfinity ((float)(1.0/0.0)) #else #define dInfinity (1.0/0.0) #endif #endif /* Define the dNaN macro */ #if defined(NAN) #define dNaN NAN #elif defined(__GNUC__) #define dNaN ({ union { duint32 m_ui; float m_f; } un; un.m_ui = 0x7FC00000; un.m_f; }) #elif defined(__cplusplus) union _dNaNUnion { _dNaNUnion(): m_ui(0x7FC00000) {} duint32 m_ui; float m_f; }; #define dNaN (_dNaNUnion().m_f) #else #ifdef dSINGLE #define dNaN ((float)(dInfinity - dInfinity)) #else #define dNaN (dInfinity - dInfinity) #endif #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) && defined(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 #if defined(_MSC_VER) && _MSC_VER < 1700 // Also mind similar defines in ccd/vec3.h /* Define fmin, fmax, fminf, fmaxf which are missing from MSVC (up to VS2008 at least) */ static __inline double _ode_fmin(double x, double y) { return __min(x, y); } static __inline double _ode_fmax(double x, double y) { return __max(x, y); } static __inline float _ode_fminf(float x, float y) { return __min(x, y); } static __inline float _ode_fmaxf(float x, float y) { return __max(x, y); } #else // #if !defined(_MSC_VER) || _MSC_VER >= 1700 #define _ode_fmin(x, y) fmin(x, y) #define _ode_fmax(x, y) fmax(x, y) #define _ode_fminf(x, y) fminf(x, y) #define _ode_fmaxf(x, y) fmaxf(x, y) #endif // #if !defined(_MSC_VER) || _MSC_VER >= 1700 #endif