31 #define assert(e) ((void)0)
40 #define IMETHOD __forceinline
43 #define IMETHOD inline
53 #ifdef KDL_INDEX_CHECK
54 #define FRAMES_CHECKI(a) assert(a)
56 #define FRAMES_CHECKI(a)
85 #pragma warning (disable:4786)
87 inline double sin(
double a) {
91 inline double cos(
double a) {
94 inline double exp(
double a) {
97 inline double log(
double a) {
124 inline double pow(
double a,
double b) {
182 extern const double PI;
203 inline double max(
double a,
double b) {
211 inline double min(
double a,
double b) {
223 #define INLINE __forceinline
226 #define INLINE inline
231 double beta,
double b ) {
250 inline double sign(
double arg) {
251 return (arg<0)?(-1):(1);
254 inline double sqr(
double arg) {
return arg*arg;}
255 inline double Norm(
double arg) {
256 return fabs( (
double)arg );
260 #if defined(__WIN32__) && !defined(__GNUC__)
261 inline double hypot(
double y,
double x) { return ::_hypot(
y,
x);}
271 return ((
eps>tmp)&& (tmp>-
eps) );
275 a = 1.98*rand()/(
double)RAND_MAX -0.99;
279 a = 0.001+0.99*rand()/(
double)RAND_MAX;
282 inline double diff(
double a,
double b,
double dt) {
typedef double(DMatrix)[4][4]
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint y
const T & Arg
Arg is used for passing the element to a function.
ccl_device_inline float2 fabs(const float2 &a)
IMETHOD Vector diff(const Vector &a, const Vector &b, double dt=1)
INLINE S Norm(const Rall1d< T, V, S > &value)
double atan2(double a, double b)
const double deg2rad
the value pi/180
INLINE Rall1d< T, V, S > sinh(const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S > cos(const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S > cosh(const Rall1d< T, V, S > &arg)
INLINE void SetToIdentity(Rall1d< T, V, S > &value)
INLINE Rall1d< T, V, S > pow(const Rall1d< T, V, S > &arg, double m)
INLINE Rall1d< T, V, S > log(const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S > tanh(const Rall1d< T, V, S > &arg)
double pow(double a, double b)
const double rad2deg
the value 180/pi
int MAXLENFILENAME
maximal length of a file name
const double PI
the value of pi
IMETHOD void random(doubleVel &F)
int VSIZE
the number of derivatives used in the RN-... objects.
double epsilon2
power or 2 of epsilon
INLINE Rall1d< T, V, S > asin(const Rall1d< T, V, S > &x)
void SetToZero(Jacobian &jac)
IMETHOD Vector addDelta(const Vector &a, const Vector &da, double dt=1)
INLINE Rall1d< T, V, S > sqrt(const Rall1d< T, V, S > &arg)
double min(double a, double b)
INLINE void LinCombR(S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b, Rall1d< T, V, S > &result)
INLINE Rall1d< T, V, S > atan(const Rall1d< T, V, S > &x)
IMETHOD void posrandom(doubleVel &F)
INLINE Rall1d< T, V, S > acos(const Rall1d< T, V, S > &x)
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
INLINE Rall1d< T, V, S > sin(const Rall1d< T, V, S > &arg)
double max(double a, double b)
INLINE Rall1d< T, V, S > tan(const Rall1d< T, V, S > &arg)
IMETHOD bool Equal(const VectorAcc &, const VectorAcc &, double=epsilon)
INLINE Rall1d< T, V, S > LinComb(S alfa, const Rall1d< T, V, S > &a, const T &beta, const Rall1d< T, V, S > &b)
INLINE Rall1d< T, V, S > atan2(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
INLINE Rall1d< T, V, S > exp(const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S > hypot(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
INLINE Rall1d< T, V, S > sqr(const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S > abs(const Rall1d< T, V, S > &x)
static const pxr::TfToken b("b", pxr::TfToken::Immortal)
ccl_device_inline float beta(float x, float y)