First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.
Made all buildsystems to work again (jam, msvc, cmake)
This commit is contained in:
ejcoumans
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Extras/SATConvexCollision/Matrix.h
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208
Extras/SATConvexCollision/Matrix.h
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// Bullet Continuous Collision Detection and Physics Library
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// Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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//
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// Matrix.h
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
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//
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// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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//
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// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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#ifndef BULLET_MATRIX_H
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#define BULLET_MATRIX_H
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#ifdef WIN32
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#include "Vector.h"
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#include "Memory2.h"
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class Quat;
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#include <malloc.h>
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////////////////////////////////////////////////////////////////////////////////
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/// Matrix33
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__declspec(align(16)) class Matrix33
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{
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private:
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Vector3 m_rows[3];
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public:
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BULLET_ALIGNED_NEW_AND_DELETE
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// constructors
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Matrix33();
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Matrix33(const Vector3& x, const Vector3& y, const Vector3& z);
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// explicit constructors
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explicit Matrix33(const Quat& q);
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explicit Matrix33(const Maths::ZeroTag&);
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explicit Matrix33(const Maths::IdentityTag&);
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explicit Matrix33(const Maths::RotateXTag&, float radians);
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explicit Matrix33(const Maths::RotateYTag&, float radians);
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explicit Matrix33(const Maths::RotateZTag&, float radians);
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explicit Matrix33(const Maths::ScaleTag&, const Vector3& scale);
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explicit Matrix33(const Maths::SkewTag&, const Vector3& v);
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// assignment
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const Matrix33& operator=(const Matrix33& m);
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// assignment to constant
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const Matrix33& operator=(const Maths::ZeroTag&);
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const Matrix33& operator=(const Maths::IdentityTag&);
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// element access
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Vector3& operator[](int row);
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const Vector3& operator[](int row) const;
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Vector3& GetAxisX();
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const Vector3& GetAxisX() const;
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void SetAxisX(const Vector3& v);
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Vector3& GetAxisY();
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const Vector3& GetAxisY() const;
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void SetAxisY(const Vector3& v);
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Vector3& GetAxisZ();
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const Vector3& GetAxisZ() const;
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void SetAxisZ(const Vector3& v);
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// operations
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void operator*=(const Matrix33& a);
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void operator*=(const Scalar& s);
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void operator+=(const Matrix33& a);
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void operator-=(const Matrix33& a);
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friend const Vector3 operator*(const Vector3& v, const Matrix33& m);
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friend const Vector3 operator*(const Matrix33& m, const Vector3& vT);
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friend const Matrix33 operator*(const Matrix33& a, const Matrix33& b);
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friend const Matrix33 operator*(const Matrix33& m, const Scalar& s);
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friend const Matrix33 operator+(const Matrix33& a, const Matrix33& b);
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friend const Matrix33 operator-(const Matrix33& a, const Matrix33& b);
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friend const Matrix33 Transpose(const Matrix33& m);
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friend const Matrix33 Inv(const Matrix33& m);
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friend const Scalar Det(const Matrix33& m);
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};
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////////////////////////////////////////////////////////////////////////////////
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// Matrix44
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__declspec(align(16)) class Matrix44
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{
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private:
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Vector4 m_rows[4];
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public:
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// constructors
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Matrix44();
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Matrix44(const Vector4& x, const Vector4& y, const Vector4& z, const Vector4& w);
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// explicit constructors
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explicit Matrix44(const Maths::ZeroTag&);
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explicit Matrix44(const Maths::IdentityTag&);
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explicit Matrix44(const Maths::RotateXTag&, float radians);
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explicit Matrix44(const Maths::RotateYTag&, float radians);
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explicit Matrix44(const Maths::RotateZTag&, float radians);
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// assignment
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const Matrix44& operator=(const Matrix44& m);
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// assignment to constant
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const Matrix44& operator=(const Maths::ZeroTag&);
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const Matrix44& operator=(const Maths::IdentityTag&);
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// element access
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Vector4& operator[](int row);
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const Vector4& operator[](int row) const;
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// operations
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void operator*=(const Matrix44& a);
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void operator*=(const Scalar& s);
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void operator+=(const Matrix44& a);
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void operator-=(const Matrix44& a);
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friend const Vector3 operator*(const Vector3& v, const Matrix44& m);
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friend const Point3 operator*(const Point3& v, const Matrix44& m);
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friend const Vector4 operator*(const Vector4& v, const Matrix44& m);
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friend const Matrix44 operator*(const Matrix44& a, const Matrix44& b);
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friend const Matrix44 operator*(const Scalar& s, const Matrix44& m);
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friend const Matrix44 operator*(const Matrix44& m, const Scalar& s);
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friend const Matrix44 operator+(const Matrix44& a, const Matrix44& b);
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friend const Matrix44 operator-(const Matrix44& a, const Matrix44& b);
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friend const Matrix44 Transpose(const Matrix44& m);
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friend const Matrix44 Inv(const Matrix44& m);
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};
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////////////////////////////////////////////////////////////////////////////////
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// Transform
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__declspec(align(16)) class Transform
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{
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private:
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Matrix33 m_rotation;
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Point3 m_translation;
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public:
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// constructors
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Transform();
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Transform(const Matrix33& xyz, const Point3& w);
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Transform(const Vector3& x, const Vector3& y, const Vector3& z, const Point3& w);
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// explicit constructors
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explicit Transform(const Maths::IdentityTag&);
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// assignment
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const Transform& operator=(const Transform& m);
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// assignment to constant
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const Transform& operator=(const Maths::IdentityTag&);
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// element access
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Matrix33& GetRotation();
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const Matrix33& GetRotation() const;
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void SetRotation(const Matrix33& m);
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void SetRotation(const Quat& q);
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Point3& GetTranslation();
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const Point3& GetTranslation() const;
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void SetTranslation(const Point3& p);
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Vector3& GetAxisX();
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const Vector3& GetAxisX() const;
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Vector3& GetAxisY();
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const Vector3& GetAxisY() const;
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Vector3& GetAxisZ();
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const Vector3& GetAxisZ() const;
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// operations
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friend const Vector3 operator*(const Vector3& v, const Transform& m);
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friend const Point3 operator*(const Point3& v, const Transform& m);
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friend const Transform operator*(const Transform& v, const Transform& m);
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friend const Transform Inv(const Transform& m);
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};
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#include "matrix.inl"
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#endif //#ifdef WIN32
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#endif //BULLET_MATRIX_H
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