39 lines
1.5 KiB
C++
39 lines
1.5 KiB
C++
///@file Configuration for Inverse Dynamics Library without external dependencies
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#ifndef INVDYNCONFIG_BUILTIN_HPP_
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#define INVDYNCONFIG_BUILTIN_HPP_
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#define btInverseDynamics btInverseDynamicsBuiltin
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#ifdef BT_USE_DOUBLE_PRECISION
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// choose double/single precision version
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typedef double idScalar;
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#else
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typedef float idScalar;
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#endif
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// use std::vector for arrays
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#include <vector>
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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 = std::vector<T>;
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template <typename T>
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struct idArray
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{
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typedef std::vector<T> type;
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};
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typedef std::vector<int>::size_type idArrayIdx;
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// default to standard malloc/free
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#include <cstdlib>
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#define idMalloc ::malloc
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#define idFree ::free
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// currently not aligned at all...
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#define ID_DECLARE_ALIGNED_ALLOCATOR() \
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inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
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inline void operator delete(void* ptr) { idFree(ptr); } \
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inline void* operator new(std::size_t, void* ptr) { return ptr; } \
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inline void operator delete(void*, void*) {} \
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inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
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inline void operator delete[](void* ptr) { idFree(ptr); } \
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inline void* operator new[](std::size_t, void* ptr) { return ptr; } \
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inline void operator delete[](void*, void*) {}
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#include "details/IDMatVec.hpp"
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#endif
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