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