/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file ode.h
 * @author drose
 * @date 2007-06-27
 */

/**
 * @file config.h
 * common internal api header.
 */

#ifndef _ODE_CONFIG_H_
#define _ODE_CONFIG_H_

#define dSINGLE 1
#define ODE_PLATFORM_WINDOWS

#if !defined(ODE_API)
  #define ODE_API
#endif

#endif /* _ODE_CONFIG_H */

/**
 * @file common.h
 * common internal api header.
 */

#ifndef COMMON_H
#define COMMON_H

#endif /* COMMON_H */



/* ODE header stuff */

#ifndef _ODE_COMMON_H_
#define _ODE_COMMON_H_

#if defined(dSINGLE)
typedef float dReal;
#elif defined(dDOUBLE)
typedef double dReal;
#else
#error You must #define dSINGLE or dDOUBLE
#endif

typedef dReal dVector3[4];
typedef dReal dVector4[4];
typedef dReal dMatrix3[4*3];
typedef dReal dMatrix4[4*4];
typedef dReal dMatrix6[8*6];
typedef dReal dQuaternion[4];

struct dxWorld;     /* dynamics world */
struct dxSpace;     /* collision space */
struct dxBody;      /* rigid body (dynamics object) */
struct dxGeom;      /* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;

typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
typedef struct dxGeom *dGeomID;
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;

typedef struct dJointFeedback {
  dVector3 f1;      /* force applied to body 1 */
  dVector3 t1;      /* torque applied to body 1 */
  dVector3 f2;      /* force applied to body 2 */
  dVector3 t2;      /* torque applied to body 2 */
} dJointFeedback;

typedef struct dSurfaceParameters dSurfaceParameters;
typedef struct dMass dMass;
typedef struct dContact dContact;
typedef struct dContactGeom dContactGeom;

struct dxTriMeshData;
typedef struct dxTriMeshData* dTriMeshDataID;

#endif /* _ODE_COMMON_H_ */