#ifndef ODECONFIG_H
#define ODECONFIG_H


/* Pull in the standard headers */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <math.h>
#include <string.h>
#include <float.h>


#if defined(ODE_DLL) || defined(ODE_LIB)
#define __ODE__
#endif

/* Define a DLL export symbol for those platforms that need it */
/* OSRF mofication: add visibility definitions and platform checks */
#if defined _WIN32 || defined __CYGWIN__
  #if defined(_MSC_VER)
    #if defined(ODE_DLL)
      #define ODE_API __declspec(dllexport)
    #elif !defined(ODE_LIB)
      #define ODE_DLL_API __declspec(dllimport)
    #endif
  #endif
#else
  #if __GNUC__ >= 4
    #define ODE_API __attribute__ ((visibility ("default")))
  #endif
#endif

#if !defined(ODE_API)
  #define ODE_API
#endif

#if defined(_MSC_VER)
#  define ODE_API_DEPRECATED __declspec(deprecated)
#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) )
#  define ODE_API_DEPRECATED __attribute__((__deprecated__))
#else
#  define ODE_API_DEPRECATED
#endif

/* Well-defined common data types...need to define for 64 bit systems */
#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
  #define X86_64_SYSTEM   1
  typedef int             int32;
  typedef unsigned int    uint32;
  typedef short           int16;
  typedef unsigned short  uint16;
  typedef signed char     int8;
  typedef unsigned char   uint8;
#else
  typedef int             int32;
  typedef unsigned int    uint32;
  typedef short           int16;
  typedef unsigned short  uint16;
  typedef signed char     int8;
  typedef unsigned char   uint8;
#endif

/* Visual C does not define these functions */
#if defined(_MSC_VER)
  #define copysignf(x, y) ((float)_copysign(x, y))
  #define copysign(x, y) _copysign(x, y)
  #define nextafterf(x, y) _nextafterf(x, y)
  #define nextafter(x, y) _nextafter(x, y)
  #define _ODE__NEXTAFTERF_REQUIRED
#endif



/* Define the dInfinity macro */
#ifdef INFINITY
  #define dInfinity INFINITY
#elif defined(HUGE_VAL)
  #ifdef dSINGLE
    #ifdef HUGE_VALF
      #define dInfinity HUGE_VALF
    #else
      #define dInfinity ((float)HUGE_VAL)
    #endif
  #else
    #define dInfinity HUGE_VAL
  #endif
#else
  #ifdef dSINGLE
    #define dInfinity ((float)(1.0/0.0))
  #else
    #define dInfinity (1.0/0.0)
  #endif
#endif


#endif
