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1 /*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
23 #ifndef _ODE_ODEMATH_LEGACY_H_
24 #define _ODE_ODEMATH_LEGACY_H_
27 /*
28 * These macros are not used anymore inside of ODE
29 * They are kept for backward compatibility with external code that
30 * might still be using them.
31 */
33 /*
34 * General purpose vector operations with other vectors or constants.
35 */
37 #define dOP(a,op,b,c) do { \
38 (a)[0] = ((b)[0]) op ((c)[0]); \
39 (a)[1] = ((b)[1]) op ((c)[1]); \
40 (a)[2] = ((b)[2]) op ((c)[2]); \
41 } while (0)
42 #define dOPC(a,op,b,c) do { \
43 (a)[0] = ((b)[0]) op (c); \
44 (a)[1] = ((b)[1]) op (c); \
45 (a)[2] = ((b)[2]) op (c); \
46 } while (0)
47 #define dOPE(a,op,b) do {\
48 (a)[0] op ((b)[0]); \
49 (a)[1] op ((b)[1]); \
50 (a)[2] op ((b)[2]); \
51 } while (0)
52 #define dOPEC(a,op,c) do { \
53 (a)[0] op (c); \
54 (a)[1] op (c); \
55 (a)[2] op (c); \
56 } while (0)
58 /* Define an equation with operators
59 * For example this function can be used to replace
60 * <PRE>
61 * for (int i=0; i<3; ++i)
62 * a[i] += b[i] + c[i];
63 * </PRE>
64 */
65 #define dOPE2(a,op1,b,op2,c) do { \
66 (a)[0] op1 ((b)[0]) op2 ((c)[0]); \
67 (a)[1] op1 ((b)[1]) op2 ((c)[1]); \
68 (a)[2] op1 ((b)[2]) op2 ((c)[2]); \
69 } while (0)
72 #define dLENGTHSQUARED(a) dCalcVectorLengthSquare3(a)
73 #define dLENGTH(a) dCalcVectorLength3(a)
74 #define dDISTANCE(a, b) dCalcPointsDistance3(a, b)
77 #define dDOT(a, b) dCalcVectorDot3(a, b)
78 #define dDOT13(a, b) dCalcVectorDot3_13(a, b)
79 #define dDOT31(a, b) dCalcVectorDot3_31(a, b)
80 #define dDOT33(a, b) dCalcVectorDot3_33(a, b)
81 #define dDOT14(a, b) dCalcVectorDot3_14(a, b)
82 #define dDOT41(a, b) dCalcVectorDot3_41(a, b)
83 #define dDOT44(a, b) dCalcVectorDot3_44(a, b)
86 /*
87 * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
88 * and `c' are spaced p, q and r indexes apart respectively.
89 * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
90 * +=, -= etc to get other effects.
91 */
93 #define dCROSS(a,op,b,c) \
94 do { \
95 (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
96 (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
97 (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
98 } while(0)
99 #define dCROSSpqr(a,op,b,c,p,q,r) \
100 do { \
101 (a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
102 (a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
103 (a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
104 } while(0)
105 #define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
106 #define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
107 #define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
108 #define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
109 #define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
110 #define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
111 #define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
114 /*
115 * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
116 * A is stored by rows, and has `skip' elements per row. the matrix is
117 * assumed to be already zero, so this does not write zero elements!
118 * if (plus,minus) is (+,-) then a positive version will be written.
119 * if (plus,minus) is (-,+) then a negative version will be written.
120 */
122 #define dCROSSMAT(A,a,skip,plus,minus) \
123 do { \
124 (A)[1] = minus (a)[2]; \
125 (A)[2] = plus (a)[1]; \
126 (A)[(skip)+0] = plus (a)[2]; \
127 (A)[(skip)+2] = minus (a)[0]; \
128 (A)[2*(skip)+0] = minus (a)[1]; \
129 (A)[2*(skip)+1] = plus (a)[0]; \
130 } while(0)
135 /*
136 Note: NEVER call any of these functions/macros with the same variable for A and C,
137 it is not equivalent to A*=B.
138 */
140 #define dMULTIPLY0_331(A, B, C) dMultiply0_331(A, B, C)
141 #define dMULTIPLY1_331(A, B, C) dMultiply1_331(A, B, C)
142 #define dMULTIPLY0_133(A, B, C) dMultiply0_133(A, B, C)
143 #define dMULTIPLY0_333(A, B, C) dMultiply0_333(A, B, C)
144 #define dMULTIPLY1_333(A, B, C) dMultiply1_333(A, B, C)
145 #define dMULTIPLY2_333(A, B, C) dMultiply2_333(A, B, C)
147 #define dMULTIPLYADD0_331(A, B, C) dMultiplyAdd0_331(A, B, C)
148 #define dMULTIPLYADD1_331(A, B, C) dMultiplyAdd1_331(A, B, C)
149 #define dMULTIPLYADD0_133(A, B, C) dMultiplyAdd0_133(A, B, C)
150 #define dMULTIPLYADD0_333(A, B, C) dMultiplyAdd0_333(A, B, C)
151 #define dMULTIPLYADD1_333(A, B, C) dMultiplyAdd1_333(A, B, C)
152 #define dMULTIPLYADD2_333(A, B, C) dMultiplyAdd2_333(A, B, C)
155 /*
156 * These macros are not used anymore inside of ODE
157 * They are kept for backward compatibility with external code that
158 * might still be using them.
159 */