gim_math.h
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00001 #ifndef GIM_MATH_H_INCLUDED
00002 #define GIM_MATH_H_INCLUDED
00003 
00006 /*
00007 -----------------------------------------------------------------------------
00008 This source file is part of GIMPACT Library.
00009 
00010 For the latest info, see http://gimpact.sourceforge.net/
00011 
00012 Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
00013 email: projectileman@yahoo.com
00014 
00015  This library is free software; you can redistribute it and/or
00016  modify it under the terms of EITHER:
00017    (1) The GNU Lesser General Public License as published by the Free
00018        Software Foundation; either version 2.1 of the License, or (at
00019        your option) any later version. The text of the GNU Lesser
00020        General Public License is included with this library in the
00021        file GIMPACT-LICENSE-LGPL.TXT.
00022    (2) The BSD-style license that is included with this library in
00023        the file GIMPACT-LICENSE-BSD.TXT.
00024    (3) The zlib/libpng license that is included with this library in
00025        the file GIMPACT-LICENSE-ZLIB.TXT.
00026 
00027  This library is distributed in the hope that it will be useful,
00028  but WITHOUT ANY WARRANTY; without even the implied warranty of
00029  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
00030  GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
00031 
00032 -----------------------------------------------------------------------------
00033 */
00034 
00035 #include "LinearMath/btScalar.h"
00036 
00037 
00038 
00039 #define GREAL btScalar
00040 #define GREAL2 double
00041 #define GINT int
00042 #define GUINT unsigned int
00043 #define GSHORT short
00044 #define GUSHORT unsigned short
00045 #define GINT64 long long
00046 #define GUINT64 unsigned long long
00047 
00048 
00049 
00050 #define G_PI 3.14159265358979f
00051 #define G_HALF_PI 1.5707963f
00052 //267948966
00053 #define G_TWO_PI 6.28318530f
00054 //71795864
00055 #define G_ROOT3 1.73205f
00056 #define G_ROOT2 1.41421f
00057 #define G_UINT_INFINITY 0xffffffff //!< A very very high value
00058 #define G_REAL_INFINITY FLT_MAX
00059 #define G_SIGN_BITMASK                  0x80000000
00060 #define G_EPSILON SIMD_EPSILON
00061 
00062 
00063 
00064 enum GIM_SCALAR_TYPES
00065 {
00066         G_STYPE_REAL =0,
00067         G_STYPE_REAL2,
00068         G_STYPE_SHORT,
00069         G_STYPE_USHORT,
00070         G_STYPE_INT,
00071         G_STYPE_UINT,
00072         G_STYPE_INT64,
00073         G_STYPE_UINT64
00074 };
00075 
00076 
00077 
00078 #define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)
00079 #define G_RADTODEG(X) ((X)*180.0f/3.1415926f)
00080 
00082 #define GIM_IR(x)                                       ((GUINT&)(x))
00083 
00085 #define GIM_SIR(x)                                      ((GINT&)(x))
00086 
00088 #define GIM_AIR(x)                                      (GIM_IR(x)&0x7fffffff)
00089 
00091 #define GIM_FR(x)                                       ((GREAL&)(x))
00092 
00093 #define GIM_MAX(a,b) (a<b?b:a)
00094 #define GIM_MIN(a,b) (a>b?b:a)
00095 
00096 #define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c))
00097 #define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c))
00098 
00099 #define GIM_IS_ZERO(value) (value < G_EPSILON &&  value > -G_EPSILON)
00100 
00101 #define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON)
00102 
00103 #define GIM_IS_POSISITVE(value) (value >= G_EPSILON)
00104 
00105 #define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2))
00106 
00108 #define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
00109 
00110 #define GIM_GREATER(x, y)       btFabs(x) > (y)
00111 
00113 #define GIM_SWAP_NUMBERS(a,b){ \
00114     a = a+b; \
00115     b = a-b; \
00116     a = a-b; \
00117 }\
00118 
00119 #define GIM_INV_SQRT(va,isva)\
00120 {\
00121     if(va<=0.0000001f)\
00122     {\
00123         isva = G_REAL_INFINITY;\
00124     }\
00125     else\
00126     {\
00127         GREAL _x = va * 0.5f;\
00128         GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\
00129         isva = GIM_FR(_y);\
00130         isva  = isva * ( 1.5f - ( _x * isva * isva ) );\
00131     }\
00132 }\
00133 
00134 #define GIM_SQRT(va,sva)\
00135 {\
00136     GIM_INV_SQRT(va,sva);\
00137     sva = 1.0f/sva;\
00138 }\
00139 
00140 
00141 inline GREAL gim_inv_sqrt(GREAL f)
00142 {
00143     GREAL r;
00144     GIM_INV_SQRT(f,r);
00145     return r;
00146 }
00147 
00148 inline GREAL gim_sqrt(GREAL f)
00149 {
00150     GREAL r;
00151     GIM_SQRT(f,r);
00152     return r;
00153 }
00154 
00155 
00156 
00157 #endif // GIM_MATH_H_INCLUDED
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:31