overhauled physics engine

2023-01-21 18:43:21 +01:00
parent 3c7346cf7b
commit 2208ab438a
164 changed files with 22606 additions and 928 deletions
@@ -0,0 +1,116 @@
+/* -------------------------------------------------------------
+
+This file is a component of SDPA
+Copyright (C) 2004-2013 SDPA Project
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
+
+------------------------------------------------------------- */
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include <mex.h>
+
+
+#define BUF_LENGTH 4096
+
+int fprintf(FILE *stream, const char *format, ...)
+{
+  va_list arg;
+  va_start(arg,format);
+  int return_size = 0;
+  if (stream == stdout) {
+    char tmp_buf[BUF_LENGTH];
+    vsprintf(tmp_buf,format,arg);
+    #if 0
+    printf("tmp_buf = %s",tmp_buf);
+    #endif
+    mexPrintf(tmp_buf);
+    mexEvalString("drawnow;"); /* to dump string.*/
+    return_size = strlen(tmp_buf);
+    if ( return_size >= BUF_LENGTH ) {
+      mexPrintf("Too Long Message To PrintOut "
+		"(some part might be truncated)");
+    }
+  }
+  else {
+    return_size = vfprintf(stream,format,arg);
+  }
+  va_end(arg);
+  return return_size;
+}
+
+static int internal_fprintf(FILE *stream, const char *format, ...)
+{
+  va_list arg;
+  va_start(arg,format);
+  int return_size = 0;
+  return_size = vfprintf(stream,format,arg);
+  va_end(arg);
+  return return_size;
+}
+
+size_t fwrite(const void *ptr, size_t size, size_t nmemb,
+              FILE *stream)
+{
+  #if 1
+  fprintf(stream,"%s",(const char*)ptr);
+  #else
+  // internal_fprintf does not work well here
+  internal_fprintf(stream, (const char*) internal_fprintf);
+  #endif
+  return 1;
+}
+
+int fputc(int c, FILE* fp)
+{
+  if (fp == stdout) {
+    mexPrintf("%c",(unsigned char)c);
+  }
+  else {
+    internal_fprintf(fp,"%c",c);
+    /*    fprintf(fp,"%c ",c);*/
+  }
+  return c;
+}
+
+#ifdef __GNUC__
+/*Only GNU, to avoid
+      warning: 'noreturn' function does return
+*/
+static void internal_exit()           __attribute__ ((noreturn));
+extern void mexErrMsgTxt(const char*) __attribute__ ((noreturn));
+       void exit()                    __attribute__ ((noreturn));
+       void abort()                   __attribute__ ((noreturn));
+#endif
+
+static void internal_exit()
+{
+  mexWarnMsgTxt("SDPA-C exits with some error.");
+  mexWarnMsgTxt("Matlab should be reboot to clear up memory space.");
+  mexErrMsgTxt("SDPA-C exits with some error.");
+}
+
+void exit(int status)
+{
+  internal_exit();
+}
+void abort(void)
+{
+  internal_exit();
+}