dali-physics/third-party/bullet3/src/BulletInverseDynamics/IDConfigBuiltin.hpp

   1 ///@file Configuration for Inverse Dynamics Library without external dependencies
   2 #ifndef INVDYNCONFIG_BUILTIN_HPP_
   3 #define INVDYNCONFIG_BUILTIN_HPP_
   4 #define btInverseDynamics btInverseDynamicsBuiltin
   5 #ifdef BT_USE_DOUBLE_PRECISION
   6 // choose double/single precision version
   7 typedef double idScalar;
   8 #else
   9 typedef float idScalar;
  10 #endif
  11 // use std::vector for arrays
  12 #include <vector>
  13 // this is to make it work with C++2003, otherwise we could do this
  14 // template <typename T>
  15 // using idArray = std::vector<T>;
  16 template <typename T>
  17 struct idArray
  18 {
  19         typedef std::vector<T> type;
  20 };
  21 typedef std::vector<int>::size_type idArrayIdx;
  22 // default to standard malloc/free
  23 #include <cstdlib>
  24 #define idMalloc ::malloc
  25 #define idFree ::free
  26 // currently not aligned at all...
  27 #define ID_DECLARE_ALIGNED_ALLOCATOR()                                                     \
  28         inline void* operator new(std::size_t sizeInBytes) { return idMalloc(sizeInBytes); }   \
  29         inline void operator delete(void* ptr) { idFree(ptr); }                                \
  30         inline void* operator new(std::size_t, void* ptr) { return ptr; }                      \
  31         inline void operator delete(void*, void*) {}                                           \
  32         inline void* operator new[](std::size_t sizeInBytes) { return idMalloc(sizeInBytes); } \
  33         inline void operator delete[](void* ptr) { idFree(ptr); }                              \
  34         inline void* operator new[](std::size_t, void* ptr) { return ptr; }                    \
  35         inline void operator delete[](void*, void*) {}
  36
  37 #include "details/IDMatVec.hpp"
  38 #endif