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pyrobolearn/pyrobolearn/simulators/raisim_wrapper/extras/odeou.h
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2019-08-01 03:08:53 +02:00

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/*************************************************************************
* *
* OU library interface file for Open Dynamics Engine, *
* Copyright (C) 2008 Oleh Derevenko. All rights reserved. *
* Email: odar@eleks.com (change all "a" to "e") *
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
/*
ODE interface to OU library functions.
*/
#ifndef _ODE_ODEOU_H_
#define _ODE_ODEOU_H_
#if dOU_ENABLED
#include <ou/assert.h>
#include <ou/enumarrays.h>
#include <ou/macros.h>
#include <ou/templates.h>
#include <ou/typewrapper.h>
#include <ou/simpleflags.h>
#include <ou/customization.h>
#if dATOMICS_ENABLED
#include <ou/atomic.h>
#include <ou/atomicflags.h>
#endif
#if dTLS_ENABLED
#include <ou/threadlocalstorage.h>
#endif
using _OU_NAMESPACE::CEnumUnsortedElementArray;
using _OU_NAMESPACE::CEnumSortedElementArray;
#if dATOMICS_ENABLED
using _OU_NAMESPACE::atomicord32;
using _OU_NAMESPACE::atomicptr;
using _OU_NAMESPACE::InitializeAtomicAPI;
using _OU_NAMESPACE::FinalizeAtomicAPI;
using _OU_NAMESPACE::AtomicCompareExchange;
using _OU_NAMESPACE::AtomicExchange;
using _OU_NAMESPACE::AtomicExchangeAddNoResult;
using _OU_NAMESPACE::AtomicExchangeAdd;
using _OU_NAMESPACE::AtomicCompareExchangePointer;
using _OU_NAMESPACE::AtomicExchangePointer;
#endif
class COdeOu
{
public:
static bool DoOUCustomizations();
static void UndoOUCustomizations();
#if dATOMICS_ENABLED
static bool InitializeAtomics() { return InitializeAtomicAPI(); }
static void FinalizeAtomics() { FinalizeAtomicAPI(); }
#endif
};
#endif
#if !dOU_ENABLED || !dATOMICS_ENABLED
typedef unsigned int atomicord32;
typedef void *atomicptr;
#endif // dOU_ENABLED
#endif // _ODE_ODEOU_H_