ODE: add to Linux build

Author: eagleivg

Externals/CMakeLists.txt

@@ -4,5 +4,7 @@ add_subdirectory(lzo)
 add_subdirectory(cximage)
 add_subdirectory(NVTT)
 add_subdirectory(OPCODE)
+add_subdirectory(ode)
+#add_subdirectory(pugixml)
 #add_subdirectory(gli)
 #add_subdirectory(glew)

Externals/ode/CMakeLists.txt

@@ -0,0 +1,15 @@
+project(ODE)
+
+list(APPEND DIRS
+	"ode/src"
+	"include/ode"
+	"contrib/msvc7/ode_default"
+	)
+
+add_dir("${DIRS}")
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_SOURCE_DIR}/../../sdk/include )
+
+add_definitions(-DdSINGLE -D_SECURE_SCL=0 -DLINUX -D_cdecl= -D__forceinline=inline)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}__SOURCES} ${${PROJECT_NAME}__INCLUDES})

Externals/ode/include/ode/common.h

@@ -26,6 +26,10 @@
 #include <ode/config.h>
 #include <ode/error.h>
 
+#ifdef LINUX
+#include <alloca.h>
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif

Externals/ode/include/ode/config.h

@@ -23,7 +23,9 @@
 
 /* per-machine configuration */
 
-
+#ifdef LINUX
+#include <stdint.h>
+#endif
 
 #ifndef _ODE_CONFIG_H_
 

Externals/ode/ode/src/error.cpp

@@ -82,6 +82,7 @@ static void printMessage (int num, const char *msg1, const char *msg2,
 // unix
 
 #ifndef WIN32
+#include <stdlib.h>
 
 extern "C" void dError (int num, const char *msg, ...)
 {

Externals/ode/ode/src/odemath.cpp

@@ -23,6 +23,7 @@
 #include <ode/common.h>
 #include <ode/odemath.h>
 #include <float.h>
+#include <cmath>
 
 // this may be called for vectors `a' with extremely small magnitude, for
 // example the result of a cross product on two nearly perpendicular vectors.
@@ -51,7 +52,7 @@ void dNormalize3_slow (dVector3 a)
 			a2 /= aa1;
 			l = dRecipSqrt (a0*a0 + a2*a2 + 1);
 			a[0] = a0*l;
-			a[1] = (dReal)_copysign(l,a1);
+			a[1] = (dReal)std::copysign(l,a1);
 			a[2] = a2*l;
 		}
 	}
@@ -63,7 +64,7 @@ void dNormalize3_slow (dVector3 a)
 			l = dRecipSqrt (a0*a0 + a1*a1 + 1);
 			a[0] = a0*l;
 			a[1] = a1*l;
-			a[2] = (dReal)_copysign(l,a2);
+			a[2] = (dReal)std::copysign(l,a2);
 		}
 		else {		// aa0 is largest
 			if (aa0 <= 0) {
@@ -76,7 +77,7 @@ void dNormalize3_slow (dVector3 a)
 			a1 /= aa0;
 			a2 /= aa0;
 			l = dRecipSqrt (a1*a1 + a2*a2 + 1);
-			a[0] = (dReal)_copysign(l,a0);
+			a[0] = (dReal)std::copysign(l,a0);
 			a[1] = a1*l;
 			a[2] = a2*l;
 		}

Externals/ode/ode/src/util.h

@@ -25,6 +25,9 @@
 
 #include "objects.h"
 #include "float.h"
+#if defined(LINUX)
+#include <math.h>
+#endif
 
 void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize);
 extern "C"
@@ -37,19 +40,31 @@ typedef void (*dstepper_fn_t) (dxWorld *world, dxBody * const *body, int nb,
 
 void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper);
 
-inline bool		dValid	(const float x)
+inline bool dValid(const float x)
 {
-	// check for: Signaling NaN, Quiet NaN, Negative infinity ( –INF), Positive infinity (+INF), Negative denormalized, Positive denormalized
-	int			cls			= _fpclass		(double(x));
-	if (cls&(_FPCLASS_SNAN+_FPCLASS_QNAN+_FPCLASS_NINF+_FPCLASS_PINF+_FPCLASS_ND+_FPCLASS_PD))	
-		return	false;	
-
-	/*	*****other cases are*****
-	_FPCLASS_NN Negative normalized non-zero 
-	_FPCLASS_NZ Negative zero ( – 0) 
-	_FPCLASS_PZ Positive 0 (+0) 
-	_FPCLASS_PN Positive normalized non-zero 
-	*/
-	return		true;
+#ifdef MSVC
+    // check for: Signaling NaN, Quiet NaN, Negative infinity ( �INF), Positive infinity (+INF), Negative denormalized, Positive denormalized
+    int cls = _fpclass (double(x));
+    if (cls&(_FPCLASS_SNAN+_FPCLASS_QNAN+_FPCLASS_NINF+_FPCLASS_PINF+_FPCLASS_ND+_FPCLASS_PD))
+       return false;
+#elif defined(LINUX)
+    int cls = fpclassify((double )x);
+    switch (cls)
+    {
+    case FP_NAN:
+    case FP_INFINITE:
+    case FP_SUBNORMAL:
+        return false;
+    default:
+        break;
+    }
+#endif
+    /*	*****other cases are*****
+     _FPCLASS_NN Negative normalized non-zero
+     _FPCLASS_NZ Negative zero ( � 0)
+     _FPCLASS_PZ Positive 0 (+0)
+     _FPCLASS_PN Positive normalized non-zero
+     */
+    return true;
 }
 #endif