diff options
Diffstat (limited to 'thirdparty/bullet/src/BulletInverseDynamics/IDConfig.hpp')
-rw-r--r-- | thirdparty/bullet/src/BulletInverseDynamics/IDConfig.hpp | 107 |
1 files changed, 0 insertions, 107 deletions
diff --git a/thirdparty/bullet/src/BulletInverseDynamics/IDConfig.hpp b/thirdparty/bullet/src/BulletInverseDynamics/IDConfig.hpp deleted file mode 100644 index ebb10e7a16..0000000000 --- a/thirdparty/bullet/src/BulletInverseDynamics/IDConfig.hpp +++ /dev/null @@ -1,107 +0,0 @@ -///@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 |