Engine/lib/bullet/src/BulletInverseDynamics/IDConfigEigen.hpp

   1 ///@file Configuration for Inverse Dynamics Library with Eigen
   2 #ifndef INVDYNCONFIG_EIGEN_HPP_
   3 #define INVDYNCONFIG_EIGEN_HPP_
   4 #define btInverseDynamics btInverseDynamicsEigen
   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
  12 // use std::vector for arrays
  13 #include <vector>
  14 // this is to make it work with C++2003, otherwise we could do this
  15 // template <typename T>
  16 // using idArray = std::vector<T>;
  17 template <typename T>
  18 struct idArray {
  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 ID_DECLARE_ALIGNED_ALLOCATOR() EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  25 // Note on interfaces:
  26 // Eigen::Matrix has data(), to get c-array storage
  27 // HOWEVER: default storage is column-major!
  28 #define ID_LINEAR_MATH_USE_EIGEN
  29 #include "Eigen/Eigen"
  30 #include "details/IDEigenInterface.hpp"
  31 #endif