C++ checktype函数代码示例

void dJointSetPlane2DAngleParam( dxJoint *joint,
                                int parameter, dReal value )
{
    dUASSERT( joint, "bad joint argument" );
    checktype( joint, Plane2D );
    dxJointPlane2D* joint2d = ( dxJointPlane2D* )( joint );
    joint2d->motor_angle.set( parameter, value );
}

void dJointGetSliderAxis ( dJointID j, dVector3 result )
{
    dxJointSlider* joint = ( dxJointSlider* ) j;
    dUASSERT ( joint, "bad joint argument" );
    dUASSERT ( result, "bad result argument" );
    checktype ( joint, Slider );
    getAxis ( joint, result, joint->axis1 );
}

void dJointGetPUAxis3( dJointID j, dVector3 result )
{
    dxJointPU* joint = ( dxJointPU* ) j;
    dUASSERT( joint, "bad joint argument" );
    dUASSERT( result, "bad result argument" );
    checktype( joint, PU );
    getAxis( joint, result, joint->axisP1 );
}

static int
optboolean(lua_State *L, int narg, int def)
{
	if (lua_isnoneornil(L, narg))
		return def;
	checktype (L, narg, LUA_TBOOLEAN, "boolean or nil");
	return (int)lua_toboolean(L, narg);
}

void dJointGetHingeAxis( dJointID j, dVector3 result )
{
    dxJointHinge* joint = ( dxJointHinge* )j;
    dUASSERT( joint, "bad joint argument" );
    dUASSERT( result, "bad result argument" );
    checktype( joint, Hinge );
    getAxis( joint, result, joint->axis1 );
}

void dJointSetHingeAxis( dJointID j, dReal x, dReal y, dReal z )
{
    dxJointHinge* joint = ( dxJointHinge* )j;
    dUASSERT( joint, "bad joint argument" );
    checktype( joint, Hinge );
    setAxes( joint, x, y, z, joint->axis1, joint->axis2 );
    joint->computeInitialRelativeRotation();
}

void dJointGetPRAxis2( dJointID j, dVector3 result )
{
    dxJointPR* joint = ( dxJointPR* ) j;
    dUASSERT( joint, "bad joint argument" );
    dUASSERT( result, "bad result argument" );
    checktype( joint, PR );
    getAxis( joint, result, joint->axisR1 );
}

void dJointSetScrewAnchor( dJointID j, dReal x, dReal y, dReal z )
{
    dxJointScrew* joint = ( dxJointScrew* )j;
    dUASSERT( joint, "bad joint argument" );
    checktype( joint, Screw );
    setAnchors( joint, x, y, z, joint->anchor1, joint->anchor2 );
    joint->computeInitialRelativeRotation();
}

void dJointSetPRAxis2( dJointID j, dReal x, dReal y, dReal z )
{
    dxJointPR* joint = ( dxJointPR* ) j;
    dUASSERT( joint, "bad joint argument" );
    checktype( joint, PR );
    setAxes( joint, x, y, z, joint->axisR1, joint->axisR2 );
    joint->computeInitialRelativeRotation();
}

dReal dJointGetAMotorAngle( dJointID j, int anum )
{
    dxJointAMotor* joint = ( dxJointAMotor* )j;
    dAASSERT( joint && anum >= 0 && anum < 3 );
    checktype( joint, AMotor );
    if ( anum < 0 ) anum = 0;
    if ( anum > 3 ) anum = 3;
    return joint->angle[anum];
}

int dJointGetAMotorAxisRel( dJointID j, int anum )
{
    dxJointAMotor* joint = ( dxJointAMotor* )j;
    dAASSERT( joint && anum >= 0 && anum < 3 );
    checktype( joint, AMotor );
    if ( anum < 0 ) anum = 0;
    if ( anum > 2 ) anum = 2;
    return joint->rel[anum];
}

void dJointGetAMotorAxis( dJointID j, int anum, dVector3 result )
{
    dxJointAMotor* joint = ( dxJointAMotor* )j;
    dAASSERT( joint && anum >= 0 && anum < 3 );
    checktype( joint, AMotor );
    if ( anum < 0 ) anum = 0;
    if ( anum > 2 ) anum = 2;
    
    // If we're in Euler mode, joint->axis[1] doesn't
    // have anything sensible in it.  So don't just return
    // that, find the actual effective axis.
    // Likewise, the actual axis of rotation for the
    // the other axes is different from what's stored.
    if ( joint->mode == dAMotorEuler  ) {
      dVector3 axes[3];
      joint->computeGlobalAxes(axes);
      if (anum == 1) {
        result[0]=axes[1][0];
        result[1]=axes[1][1];
        result[2]=axes[1][2];
      } else if (anum == 0) {
        // This won't be unit length in general,
        // but it's what's used in getInfo2
        // This may be why things freak out as
        // the body-relative axes get close to each other.
        dCalcVectorCross3( result, axes[1], axes[2] );
      } else if (anum == 2) {
        // Same problem as above.
        dCalcVectorCross3( result, axes[0], axes[1] );
      }
    } else if ( joint->rel[anum] > 0 ) {
        if ( joint->rel[anum] == 1 )
        {
            dMultiply0_331( result, joint->node[0].body->posr.R, joint->axis[anum] );
        }
        else
        {
            if ( joint->node[1].body )   // jds
            {
                dMultiply0_331( result, joint->node[1].body->posr.R, joint->axis[anum] );
            }
            else
            {
                result[0] = joint->axis[anum][0];
                result[1] = joint->axis[anum][1];
                result[2] = joint->axis[anum][2];
                result[3] = joint->axis[anum][3];
            }
        }
    }
    else
    {
        result[0] = joint->axis[anum][0];
        result[1] = joint->axis[anum][1];
        result[2] = joint->axis[anum][2];
    }
}

void dJointSetLMotorNumAxes( dJointID j, int num )
{
    dxJointLMotor* joint = ( dxJointLMotor* )j;
    dAASSERT( joint && num >= 0 && num <= 3 );
    checktype( joint, LMotor );
    if ( num < 0 ) num = 0;
    if ( num > 3 ) num = 3;
    joint->num = num;
}

void dJointPlanarSetAnchor(dJointID joint, dVector3 anchor) {
    dUASSERT( joint, "bad joint argument" );
    checktype( joint, Plane2D );
    dxPlanarJoint* planarJoint = (dxPlanarJoint*) joint;

    dCopyVector3(planarJoint->anchor, anchor);

    planarJoint->updatePlane();
}

/**
 * Locking routine.
 * @param type: as passed by user.
 * @param lock: as passed by user.
 * @param func: caller location.
 * @param file: caller location.
 * @param line: caller location.
 * @param tryfunc: the pthread_mutex_trylock or similar function.
 * @param timedfunc: the pthread_mutex_timedlock or similar function.
 *	Uses absolute timeout value.
 * @param arg: what to pass to tryfunc and timedlock.
 * @param exclusive: if lock must be exclusive (only one allowed).
 * @param getwr: if attempts to get writelock (or readlock) for rwlocks.
 */
static void 
checklock_lockit(enum check_lock_type type, struct checked_lock* lock,
        const char* func, const char* file, int line,
	int (*tryfunc)(void*), int (*timedfunc)(void*, struct timespec*),
	void* arg, int exclusive, int getwr)
{
	int err;
	int contend = 0;
	struct thr_check *thr = (struct thr_check*)pthread_getspecific(
		thr_debug_key);
	checktype(type, lock, func, file, line);
	if(!thr) lock_error(lock, func, file, line, "no thread info");
	
	acquire_locklock(lock, func, file, line);
	lock->wait_count ++;
	thr->waiting = lock;
	if(exclusive && lock->hold_count > 0 && lock->holder == thr) 
		lock_error(lock, func, file, line, "thread already owns lock");
	if(type==check_lock_rwlock && getwr && lock->writeholder == thr)
		lock_error(lock, func, file, line, "thread already has wrlock");
	LOCKRET(pthread_mutex_unlock(&lock->lock));

	/* first try; if busy increase contention counter */
	if((err=tryfunc(arg))) {
		struct timespec to;
		if(err != EBUSY) log_err("trylock: %s", strerror(err));
		to.tv_sec = time(NULL) + CHECK_LOCK_TIMEOUT;
		to.tv_nsec = 0;
		if((err=timedfunc(arg, &to))) {
			if(err == ETIMEDOUT)
				lock_error(lock, func, file, line, 
					"timeout possible deadlock");
			log_err("timedlock: %s", strerror(err));
		}
		contend ++;
	}
	/* got the lock */

	acquire_locklock(lock, func, file, line);
	lock->contention_count += contend;
	lock->history_count++;
	if(exclusive && lock->hold_count > 0)
		lock_error(lock, func, file, line, "got nonexclusive lock");
	if(type==check_lock_rwlock && getwr && lock->writeholder)
		lock_error(lock, func, file, line, "got nonexclusive wrlock");
	if(type==check_lock_rwlock && getwr)
		lock->writeholder = thr;
	/* check the memory areas for unauthorized changes,
	 * between last unlock time and current lock time.
	 * we check while holding the lock (threadsafe).
	 */
	if(getwr || exclusive)
		prot_check(lock, func, file, line);
	finish_acquire_lock(thr, lock, func, file, line);
	LOCKRET(pthread_mutex_unlock(&lock->lock));
}