diff options
Diffstat (limited to 'thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp')
| -rw-r--r-- | thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp | 37 |
1 files changed, 37 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp b/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp new file mode 100644 index 0000000000..130c19c6d6 --- /dev/null +++ b/thirdparty/bullet/BulletInverseDynamics/IDConfigBuiltin.hpp @@ -0,0 +1,37 @@ +///@file Configuration for Inverse Dynamics Library without external dependencies +#ifndef INVDYNCONFIG_BUILTIN_HPP_ +#define INVDYNCONFIG_BUILTIN_HPP_ +#define btInverseDynamics btInverseDynamicsBuiltin +#ifdef BT_USE_DOUBLE_PRECISION +// choose double/single precision version +typedef double idScalar; +#else +typedef float idScalar; +#endif +// use std::vector for arrays +#include <vector> +// this is to make it work with C++2003, otherwise we could do this +// template <typename T> +// using idArray = std::vector<T>; +template <typename T> +struct idArray { + typedef std::vector<T> type; +}; +typedef std::vector<int>::size_type idArrayIdx; +// default to standard malloc/free +#include <cstdlib> +#define idMalloc ::malloc +#define idFree ::free +// currently not aligned at all... +#define ID_DECLARE_ALIGNED_ALLOCATOR() \ + inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \ + inline void operator delete(void* ptr) { idFree(ptr); } \ + inline void* operator new(std::size_t, void* ptr) { return ptr; } \ + inline void operator delete(void*, void*) {} \ + inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \ + inline void operator delete[](void* ptr) { idFree(ptr); } \ + inline void* operator new[](std::size_t, void* ptr) { return ptr; } \ + inline void operator delete[](void*, void*) {} + +#include "details/IDMatVec.hpp" +#endif |