File size: 2,005 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 | // Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
#define MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
// IWYU pragma: begin_keep
#if !defined(__cplusplus)
#include <stddef.h>
#include <stdlib.h>
#else
#include <cstddef>
#include <cstdlib>
#endif
// IWYU pragma: end_keep
// Case-insensitive comparison functions.
#ifdef _WIN32
#define strcasecmp _stricmp
#define strncasecmp _strnicmp
#else // assumes POSIX
#include <strings.h>
#endif
// Switch-case fallthrough annotation.
#if defined(__cplusplus)
#define mjFALLTHROUGH [[fallthrough]]
#elif defined(__clang__) || (defined(__GNUC__) && __GNUC__ >= 7)
#define mjFALLTHROUGH __attribute__((fallthrough))
#else
#define mjFALLTHROUGH ((void) 0)
#endif
// MSVC only provides max_align_t in C++.
#if defined(_MSC_VER) && !defined(__clang__) && !defined(__cplusplus)
typedef long double mjtMaxAlign;
#else
typedef max_align_t mjtMaxAlign;
#endif
// Branch prediction hints.
#if defined(__GNUC__)
#define mjLIKELY(x) __builtin_expect(!!(x), 1)
#define mjUNLIKELY(x) __builtin_expect(!!(x), 0)
#else
#define mjLIKELY(x) (x)
#define mjUNLIKELY(x) (x)
#endif
#ifdef __cplusplus
extern "C" {
#endif
#ifdef ADDRESS_SANITIZER
int mj__comparePcFuncName(void* pc1, void* pc2);
const char* mj__getPcDebugInfo(void* pc);
#endif
#ifdef __cplusplus
} // extern "C"
#endif
#endif // MUJOCO_SRC_ENGINE_ENGINE_CROSSPLATFORM_H_
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