1 /************************************************************************* 2 * * 3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * 4 * All rights reserved. Email: russ@q12.org Web: www.q12.org * 5 * * 6 * This library is free software; you can redistribute it and/or * 7 * modify it under the terms of EITHER: * 8 * (1) The GNU Lesser General Public License as published by the Free * 9 * Software Foundation; either version 2.1 of the License, or (at * 10 * your option) any later version. The text of the GNU Lesser * 11 * General Public License is included with this library in the * 12 * file LICENSE.TXT. * 13 * (2) The BSD-style license that is included with this library in * 14 * the file LICENSE-BSD.TXT. * 15 * * 16 * This library is distributed in the hope that it will be useful, * 17 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * 19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. * 20 * * 21 *************************************************************************/ 22 23 /* miscellaneous math functions. these are mostly useful for testing */ 24 25 #ifndef _ODE_MISC_H_ 26 #define _ODE_MISC_H_ 27 28 #include <ode/common.h> 29 30 31 #ifdef __cplusplus 32 extern "C" { 33 #endif 34 35 36 /* return 1 if the random number generator is working. */ 37 ODE_API int dTestRand(void); 38 39 /* return next 32 bit random number. this uses a not-very-random linear 40 * congruential method. 41 */ 42 ODE_API unsigned long dRand(void); 43 44 /* get and set the current random number seed. */ 45 ODE_API unsigned long dRandGetSeed(void); 46 ODE_API void dRandSetSeed (unsigned long s); 47 48 /* return a random integer between 0..n-1. the distribution will get worse 49 * as n approaches 2^32. 50 */ 51 ODE_API int dRandInt (int n); 52 53 /* return a random real number between 0..1 */ 54 ODE_API dReal dRandReal(void); 55 56 /* print out a matrix */ 57 #ifdef __cplusplus 58 ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ", 59 FILE *f=stdout); 60 #else 61 ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f); 62 #endif 63 64 /* make a random vector with entries between +/- range. A has n elements. */ 65 ODE_API void dMakeRandomVector (dReal *A, int n, dReal range); 66 67 /* make a random matrix with entries between +/- range. A has size n*m. */ 68 ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range); 69 70 /* clear the upper triangle of a square matrix */ 71 ODE_API void dClearUpperTriangle (dReal *A, int n); 72 73 /* return the maximum element difference between the two n*m matrices */ 74 ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m); 75 76 /* return the maximum element difference between the lower triangle of two 77 * n*n matrices */ 78 ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n); 79 80 81 #ifdef __cplusplus 82 } 83 #endif 84 85 #endif 86