1 files changed, 107 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
new file mode 100644
index 0000000000..ebb10e7a16
--- /dev/null
+++ b/thirdparty/bullet/BulletInverseDynamics/IDConfig.hpp
@@ -0,0 +1,107 @@
+///@file Configuration for Inverse Dynamics Library,
+///	  such as choice of linear algebra library and underlying scalar type
+#ifndef IDCONFIG_HPP_
+#define IDCONFIG_HPP_
+
+// If true, enable jacobian calculations.
+// This adds a 3xN matrix to every body, + 2 3-Vectors.
+// so it is not advised for large systems if it is not absolutely necessary.
+// Also, this is not required for standard inverse dynamics calculations.
+// Will only work with vector math libraries that support 3xN matrices.
+#define BT_ID_WITH_JACOBIANS
+
+// If we have a custom configuration, compile without using other parts of bullet.
+#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
+#include <cmath>
+#define BT_ID_WO_BULLET
+#define BT_ID_SQRT(x) std::sqrt(x)
+#define BT_ID_FABS(x) std::fabs(x)
+#define BT_ID_COS(x) std::cos(x)
+#define BT_ID_SIN(x) std::sin(x)
+#define BT_ID_ATAN2(x, y) std::atan2(x, y)
+#define BT_ID_POW(x, y) std::pow(x, y)
+#define BT_ID_SNPRINTF snprintf
+#define BT_ID_PI M_PI
+#define BT_ID_USE_DOUBLE_PRECISION
+#else
+#define BT_ID_SQRT(x) btSqrt(x)
+#define BT_ID_FABS(x) btFabs(x)
+#define BT_ID_COS(x) btCos(x)
+#define BT_ID_SIN(x) btSin(x)
+#define BT_ID_ATAN2(x, y) btAtan2(x, y)
+#define BT_ID_POW(x, y) btPow(x, y)
+#define BT_ID_PI SIMD_PI
+#ifdef _WIN32
+	#define BT_ID_SNPRINTF _snprintf
+#else
+	#define BT_ID_SNPRINTF snprintf
+#endif //
+#endif
+// error messages
+#include "IDErrorMessages.hpp"
+
+#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
+/*
+#include "IDConfigEigen.hpp"
+#include "IDConfigBuiltin.hpp"
+*/
+#define INVDYN_INCLUDE_HELPER_2(x) #x
+#define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
+#include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)
+#ifndef btInverseDynamics
+#error "custom inverse dynamics config, but no custom namespace defined"
+#endif
+
+#define BT_ID_MAX(a,b) std::max(a,b)
+#define BT_ID_MIN(a,b) std::min(a,b)
+
+#else
+#define btInverseDynamics btInverseDynamicsBullet3
+// Use default configuration with bullet's types
+// Use the same scalar type as rest of bullet library
+#include "LinearMath/btScalar.h"
+typedef btScalar idScalar;
+#include "LinearMath/btMinMax.h"
+#define BT_ID_MAX(a,b) btMax(a,b)
+#define BT_ID_MIN(a,b) btMin(a,b)
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define BT_ID_USE_DOUBLE_PRECISION
+#endif
+
+#ifndef BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+
+// use bullet types for arrays and array indices
+#include "Bullet3Common/b3AlignedObjectArray.h"
+// this is to make it work with C++2003, otherwise we could do this:
+// template <typename T>
+// using idArray = b3AlignedObjectArray<T>;
+template <typename T>
+struct idArray {
+	typedef b3AlignedObjectArray<T> type;
+};
+typedef int idArrayIdx;
+#define ID_DECLARE_ALIGNED_ALLOCATOR() B3_DECLARE_ALIGNED_ALLOCATOR()
+
+#else // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+#include "LinearMath/btAlignedObjectArray.h"
+template <typename T>
+struct idArray {
+	typedef btAlignedObjectArray<T> type;
+};
+typedef int idArrayIdx;
+#define ID_DECLARE_ALIGNED_ALLOCATOR() BT_DECLARE_ALIGNED_ALLOCATOR()
+
+#endif // BT_USE_INVERSE_DYNAMICS_WITH_BULLET2
+
+
+// use bullet's allocator functions
+#define idMalloc btAllocFunc
+#define idFree btFreeFunc
+
+#define ID_LINEAR_MATH_USE_BULLET
+#include "details/IDLinearMathInterface.hpp"
+#endif
+#endif