Support for #defined(__aarch64__)

[Frank Motta]

Hi, I efforts to get ODE working on my OpenSim build for ThunderX (AARCH64), I downloaded and built up-to 'make install' with my needing to hack the emitted makefiles.

I hacked in some changes that are likely incorrect; just to get linkage on AARCH64.

It appears there is a lot of code that presumes sizeof(unsigned int) == sizeof(void *)

I forced some -fpermissive into the emitted makefiles and it linked/installed and - well ode-config ran (I have no other test cases yet)

screenlog.0 for make as well as config.log are attached for the build of code straight from the repo.

Thanks

Example error: make[4]: Entering directory '/stacks/stores/opensim/ode/x/ode/ode/src/joints' /bin/bash ../../../libtool --tag=CXX --mode=compile g++ -DHAVE_CONFIG_H -I. -I../../../ode/src -I../../../include -I../../../include -I../../../ode/src -D__ODE__ -I../../../ou/include -g -O2 -MT joint.lo -MD -MP -MF .deps/joint.Tpo -c -o joint.lo joint.cpp libtool: compile: g++ -DHAVE_CONFIG_H -I. -I../../../ode/src -I../../../include -I../../../include -I../../../ode/src -D__ODE__ -I../../../ou/include -g -O2 -MT joint.lo -MD -MP -MF .deps/joint.Tpo -c joint.cpp -o joint.o In file included from joint.h:28:0, from joint.cpp:37: ../common.h: In member function ‘void dxAlignedAllocation::allocAligned(size_t, unsigned int)’: ../common.h:66:68: error: cast from ‘void’ to ‘uintptr {aka unsigned int}’ loses precision [-fpermissive] #define dALIGN_PTR(buf_ptr, alignment) ((void *)(((uintptr)(buf_ptr) + ((alignment) - 1)) & (int)(~(alignment - 1)))) // Casting the mask ^

[Oleh Derevenko]

Please try applying the following patch and see if it works for you.

diff -r ce3ea1d5acc7 include/ode/odeconfig.h
--- a/include/ode/odeconfig.h   Fri May 12 01:39:31 2017 +0300
+++ b/include/ode/odeconfig.h   Wed May 17 00:55:15 2017 +0300
@@ -81,7 +81,23 @@


 /* Well-defined common data types...need to define for 64 bit systems */
-#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
+#if defined(__aarch64__)
+    #include <stdint.h>
+    typedef int64_t         dint64;
+    typedef uint64_t        duint64;
+    typedef int32_t         dint32;
+    typedef uint32_t        duint32;
+    typedef int16_t         dint16;
+    typedef uint16_t        duint16;
+    typedef int8_t          dint8;
+    typedef uint8_t         duint8;
+
+    typedef intptr_t        dintptr;
+    typedef uintptr_t       duintptr;
+    typedef ptrdiff_t       ddiffint;
+    typedef size_t          dsizeint;
+
+#elif defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
   #define X86_64_SYSTEM   1
 #if defined(_MSC_VER)
   typedef __int64         dint64;

[Frank Motta]

Thanks,

That built with no errors and warnings.

By the way, any pointers on what is needed for building ODE for OpenSimulator I can use to finish this? I have OpenSimulator running all but physics.

Thanks for your help!

[Oleh Derevenko]

I do not have any information regarding what configuration of ODE is used with OpenSimulator. If it builds for you I assume you can use whatever feature set you configure as the public API generally does not depend on that. Or do you mean anything else?

[Frank Motta]

Thanks again. There is a library built and used by Opensimulator: ./OpenSim.Region.PhysicsModule.Ode.dll ./addin-db-002/addin-data/3/OpenSim.Region.PhysicsModule.ODE,0.8.2.1.maddin ./addin-db-002/addin-data/4/OpenSim.Region.PhysicsModule.ODE,0.8.2.1.maddin ./addin-db-002/addin-data/2/OpenSim.Region.PhysicsModule.ODE,0.8.2.1.maddin ./addin-db-002/addin-data/1/OpenSim.Region.PhysicsModule.ODE,0.8.2.1.maddin ./Ode.NET.dll.config ./lib64/libode-x86_64.so ./lib64/libode.dylib ./lib64/ode.dll ./Ode.NET.dll ./lib32/ode.dll ./lib32/libode.so

I can find no make flow to create these.

[Oleh Derevenko]

There have to exist some OpenSim support/development resources you should ask in.

[Oleh Derevenko]

The fix has been merged into 0.15.x branch and the 0.15.2 release has been repacked