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
609
Extras/SATConvexCollision/Matrix.inl
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609
Extras/SATConvexCollision/Matrix.inl
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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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//
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// Matrix.inl
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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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#pragma once
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#include <assert.h>
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#include "math.h"
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////////////////////////////////////////////////////////////////////////////////
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// Matrix33
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inline Matrix33::Matrix33()
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{
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}
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inline Matrix33::Matrix33(const Vector3& x, const Vector3& y, const Vector3& z)
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{
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m_rows[0] = x;
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m_rows[1] = y;
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m_rows[2] = z;
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}
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inline Matrix33::Matrix33(const Maths::ZeroTag&)
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{
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m_rows[0] = Maths::Zero;
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m_rows[1] = Maths::Zero;
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m_rows[2] = Maths::Zero;
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}
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inline Matrix33::Matrix33(const Maths::IdentityTag&)
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{
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m_rows[0] = Maths::UnitX;
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m_rows[1] = Maths::UnitY;
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m_rows[2] = Maths::UnitZ;
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}
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inline Matrix33::Matrix33(const Maths::RotateXTag&, float radians)
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{
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float c = cosf(radians);
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float s = sinf(radians);
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m_rows[0] = Maths::UnitX;
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m_rows[1] = Vector3(0.0f, c, s);
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m_rows[2] = Vector3(0.0f, -s, c);
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}
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inline Matrix33::Matrix33(const Maths::RotateYTag&, float radians)
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{
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float c = cosf(radians);
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float s = sinf(radians);
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m_rows[0] = Vector3(c, 0.0f, -s);
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m_rows[1] = Maths::UnitY;
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m_rows[2] = Vector3(s, 0.0f, c);
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}
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inline Matrix33::Matrix33(const Maths::RotateZTag&, float radians)
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{
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float c = cosf(radians);
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float s = sinf(radians);
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m_rows[0] = Vector3(c, s, 0.0f);
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m_rows[1] = Vector3(-s, c, 0.0f);
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m_rows[2] = Maths::UnitZ;
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}
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inline Matrix33::Matrix33(const Maths::ScaleTag&, const Vector3& scale)
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{
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m_rows[0] = scale * Vector3(Maths::UnitX);
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m_rows[1] = scale * Vector3(Maths::UnitY);
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m_rows[2] = scale * Vector3(Maths::UnitZ);
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}
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inline Matrix33::Matrix33(const Maths::SkewTag&, const Vector3& v)
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{
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m_rows[0] = Vector3(0.0f, v[2], -v[1]);
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m_rows[1] = Vector3(-v[2], 0.0f, v[0]);
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m_rows[2] = Vector3(v[1], -v[0], 0.0f);
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}
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inline const Matrix33& Matrix33::operator=(const Matrix33& m)
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{
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m_rows[0] = m.m_rows[0];
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m_rows[1] = m.m_rows[1];
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m_rows[2] = m.m_rows[2];
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return *this;
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}
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inline const Matrix33& Matrix33::operator=(const Maths::ZeroTag&)
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{
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m_rows[0] = m_rows[1] = m_rows[2] = Maths::Zero;
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return *this;
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}
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inline const Matrix33& Matrix33::operator=(const Maths::IdentityTag&)
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{
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m_rows[0] = Maths::UnitX;
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m_rows[1] = Maths::UnitY;
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m_rows[2] = Maths::UnitZ;
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return *this;
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}
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inline Vector3& Matrix33::operator[](int row)
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{
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return m_rows[row];
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}
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inline const Vector3& Matrix33::operator[](int row) const
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{
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return m_rows[row];
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}
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inline Vector3& Matrix33::GetAxisX()
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{
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return m_rows[0];
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}
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inline const Vector3& Matrix33::GetAxisX() const
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{
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return m_rows[0];
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}
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inline void Matrix33::SetAxisX(const Vector3& v)
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{
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m_rows[0] = v;
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}
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inline Vector3& Matrix33::GetAxisY()
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{
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return m_rows[1];
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}
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inline const Vector3& Matrix33::GetAxisY() const
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{
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return m_rows[1];
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}
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inline void Matrix33::SetAxisY(const Vector3& v)
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{
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m_rows[1] = v;
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}
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inline Vector3& Matrix33::GetAxisZ()
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{
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return m_rows[2];
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}
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inline const Vector3& Matrix33::GetAxisZ() const
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{
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return m_rows[2];
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}
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inline void Matrix33::SetAxisZ(const Vector3& v)
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{
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m_rows[2] = v;
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}
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inline const Vector3 operator*(const Vector3& v, const Matrix33& m)
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{
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Scalar xxxx = v.GetX();
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Scalar yyyy = v.GetY();
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Scalar zzzz = v.GetZ();
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return xxxx * m[0] + yyyy * m[1] + zzzz * m[2];
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}
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inline const Vector3 operator*(const Matrix33& m, const Vector3& vT)
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{
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return Vector3(Dot(m[0], vT), Dot(m[1], vT), Dot(m[2], vT));
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}
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inline void Matrix33::operator*=(const Matrix33& a)
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{
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*this = *this * a;
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}
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inline void Matrix33::operator*=(const Scalar& s)
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{
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m_rows[0] *= s;
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m_rows[1] *= s;
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m_rows[2] *= s;
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}
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inline void Matrix33::operator+=(const Matrix33& a)
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{
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m_rows[0] += a[0];
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m_rows[1] += a[1];
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m_rows[2] += a[2];
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}
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inline void Matrix33::operator-=(const Matrix33& a)
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{
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m_rows[0] -= a[0];
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m_rows[1] -= a[1];
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m_rows[2] -= a[2];
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}
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inline const Matrix33 operator*(const Scalar& s, const Matrix33& m)
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{
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Vector3 scale(s);
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return Matrix33(scale * m[0], scale * m[1], scale * m[2]);
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}
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inline const Matrix33 operator*(const Matrix33& m, const Scalar& s)
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{
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Vector3 scale(s);
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return Matrix33(scale * m[0], scale * m[1], scale * m[2]);
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}
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inline const Matrix33 operator*(const Matrix33& a, const Matrix33& b)
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{
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return Matrix33(a[0] * b, a[1] * b, a[2] * b);
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}
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inline const Matrix33 operator+(const Matrix33& a, const Matrix33& b)
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{
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return Matrix33(a[0] + b[0], a[1] + b[1], a[2] + b[2]);
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}
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inline const Matrix33 operator-(const Matrix33& a, const Matrix33& b)
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{
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return Matrix33(a[0] - b[0], a[1] - b[1], a[2] - b[2]);
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}
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inline const Matrix33 Transpose(const Matrix33& m)
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{
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// easiest way is to actually do a 4 * 4 transpose with an implied zero bottom row:
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// a b c d a e i 0
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// e f g h ---> b f j 0
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// i j k l c g k 0
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// 0 0 0 0
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// shuffle the rows to make 4 quarters
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__m128 abef = _mm_shuffle_ps(m[0].base, m[1].base, _MM_SHUFFLE(1, 0, 1, 0));
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__m128 cdgh = _mm_shuffle_ps(m[0].base, m[1].base, _MM_SHUFFLE(3, 2, 3, 2));
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__m128 ij00 = _mm_shuffle_ps(m[2].base, _mm_setzero_ps(), _MM_SHUFFLE(1, 0, 1, 0));
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__m128 kl00 = _mm_shuffle_ps(m[2].base, _mm_setzero_ps(), _MM_SHUFFLE(3, 2, 3, 2));
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// shuffle the quarters to make new rows
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__m128 aei0 = _mm_shuffle_ps(abef, ij00, _MM_SHUFFLE(2, 0, 2, 0));
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__m128 bfj0 = _mm_shuffle_ps(abef, ij00, _MM_SHUFFLE(3, 1, 3, 1));
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__m128 cgk0 = _mm_shuffle_ps(cdgh, kl00, _MM_SHUFFLE(2, 0, 2, 0));
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return Matrix33(Vector3(aei0), Vector3(bfj0), Vector3(cgk0));
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}
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inline const Scalar Det(const Matrix33& m)
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{
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return Dot(Cross(m.GetAxisX(), m.GetAxisY()),m.GetAxisZ());
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}
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////////////////////////////////////////////////////////////////////////////////
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// Matrix44
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inline Matrix44::Matrix44()
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{
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}
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inline Matrix44::Matrix44(const Vector4& x, const Vector4& y, const Vector4& z, const Vector4& w)
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{
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m_rows[0] = x;
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m_rows[1] = y;
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m_rows[2] = z;
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m_rows[3] = w;
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}
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inline Matrix44::Matrix44(const Maths::ZeroTag&)
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{
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m_rows[0] = Maths::Zero;
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m_rows[1] = Maths::Zero;
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m_rows[2] = Maths::Zero;
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m_rows[3] = Maths::Zero;
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}
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inline Matrix44::Matrix44(const Maths::IdentityTag&)
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{
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m_rows[0] = Maths::UnitX;
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m_rows[1] = Maths::UnitY;
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m_rows[2] = Maths::UnitZ;
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m_rows[3] = Maths::UnitW;
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}
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inline Matrix44::Matrix44(const Maths::RotateXTag&, float radians)
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{
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float c = cosf(radians);
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float s = sinf(radians);
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m_rows[0] = Maths::UnitX;
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m_rows[1] = Vector4(0.0f, c, s, 0.0f);
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m_rows[2] = Vector4(0.0f, -s, c, 0.0f);
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m_rows[3] = Maths::UnitW;
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}
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inline Matrix44::Matrix44(const Maths::RotateYTag&, float radians)
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{
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float c = cosf(radians);
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float s = sinf(radians);
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m_rows[0] = Vector4(c, 0.0f, -s, 0.0f);
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m_rows[1] = Maths::UnitY;
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m_rows[2] = Vector4(s, 0.0f, c, 0.0f);
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m_rows[3] = Maths::UnitW;
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}
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inline Matrix44::Matrix44(const Maths::RotateZTag&, float radians)
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{
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float c = cosf(radians);
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float s = sinf(radians);
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m_rows[0] = Vector4(c, s, 0.0f, 0.0f);
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m_rows[1] = Vector4(-s, c, 0.0f, 0.0f);
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m_rows[2] = Maths::UnitZ;
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m_rows[3] = Maths::UnitW;
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}
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inline const Matrix44& Matrix44::operator=(const Matrix44& m)
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{
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m_rows[0] = m.m_rows[0];
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m_rows[1] = m.m_rows[1];
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m_rows[2] = m.m_rows[2];
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m_rows[3] = m.m_rows[3];
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return *this;
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}
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inline const Matrix44& Matrix44::operator=(const Maths::ZeroTag&)
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{
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m_rows[0] = m_rows[1] = m_rows[2] = m_rows[3] = Maths::Zero;
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return *this;
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}
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inline const Matrix44& Matrix44::operator=(const Maths::IdentityTag&)
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{
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m_rows[0] = Maths::UnitX;
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m_rows[1] = Maths::UnitY;
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m_rows[2] = Maths::UnitZ;
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m_rows[3] = Maths::UnitW;
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return *this;
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}
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inline Vector4& Matrix44::operator[](int row)
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{
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return m_rows[row];
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}
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inline const Vector4& Matrix44::operator[](int row) const
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{
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return m_rows[row];
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}
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inline void Matrix44::operator*=(const Matrix44& a)
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{
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*this = *this * a;
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}
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inline void Matrix44::operator*=(const Scalar& s)
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{
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m_rows[0] *= s;
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m_rows[1] *= s;
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m_rows[2] *= s;
|
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m_rows[3] *= s;
|
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}
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inline void Matrix44::operator+=(const Matrix44& a)
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{
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m_rows[0] += a[0];
|
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m_rows[1] += a[1];
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m_rows[2] += a[2];
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m_rows[3] += a[3];
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}
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inline void Matrix44::operator-=(const Matrix44& a)
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{
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m_rows[0] -= a[0];
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m_rows[1] -= a[1];
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m_rows[2] -= a[2];
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m_rows[3] -= a[3];
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}
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inline const Vector3 operator*(const Vector3& v, const Matrix44& m)
|
||||
{
|
||||
Scalar xxxx = v.GetX();
|
||||
Scalar yyyy = v.GetY();
|
||||
Scalar zzzz = v.GetZ();
|
||||
|
||||
return xxxx * Vector3(m[0]) + yyyy * Vector3(m[1]) + zzzz * Vector3(m[2]);
|
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}
|
||||
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||||
inline const Point3 operator*(const Point3& v, const Matrix44& m)
|
||||
{
|
||||
Scalar xxxx = v.GetX();
|
||||
Scalar yyyy = v.GetY();
|
||||
Scalar zzzz = v.GetZ();
|
||||
|
||||
return Point3(xxxx * m[0] + yyyy * m[1] + zzzz * m[2] + m[3]);
|
||||
}
|
||||
|
||||
inline const Vector4 operator*(const Vector4& v, const Matrix44& m)
|
||||
{
|
||||
Scalar xxxx = v.GetX();
|
||||
Scalar yyyy = v.GetY();
|
||||
Scalar zzzz = v.GetZ();
|
||||
Scalar wwww = v.GetW();
|
||||
|
||||
return xxxx * m[0] + yyyy * m[1] + zzzz * m[2] + wwww * m[3];
|
||||
}
|
||||
|
||||
inline const Matrix44 operator*(const Matrix44& a, const Matrix44& b)
|
||||
{
|
||||
return Matrix44(a[0] * b, a[1] * b, a[2] * b, a[3] * b);
|
||||
}
|
||||
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||||
inline const Matrix44 operator*(const Matrix44& m, const Scalar& s)
|
||||
{
|
||||
Vector4 scale(s);
|
||||
return Matrix44(scale * m[0], scale * m[1], scale * m[2], scale * m[3]);
|
||||
}
|
||||
|
||||
inline const Matrix44 operator*(const Scalar& s, const Matrix44& m)
|
||||
{
|
||||
Vector4 scale(s);
|
||||
return Matrix44(scale * m[0], scale * m[1], scale * m[2], scale * m[3]);
|
||||
}
|
||||
|
||||
inline const Matrix44 operator+(const Matrix44& a, const Matrix44& b)
|
||||
{
|
||||
return Matrix44(a[0] + b[0], a[1] + b[1], a[2] + b[2], a[3] + b[3]);
|
||||
}
|
||||
|
||||
inline const Matrix44 operator-(const Matrix44& a, const Matrix44& b)
|
||||
{
|
||||
return Matrix44(a[0] - b[0], a[1] - b[1], a[2] - b[2], a[3] - b[3]);
|
||||
}
|
||||
|
||||
inline const Matrix44 Transpose(const Matrix44& m)
|
||||
{
|
||||
// a b c d a e i m
|
||||
// e f g h ---> b f j n
|
||||
// i j k l c g k o
|
||||
// m n o p d h l p
|
||||
|
||||
// shuffle the rows to make 4 quarters
|
||||
__m128 abef = _mm_shuffle_ps(m[0].base, m[1].base, _MM_SHUFFLE(1, 0, 1, 0));
|
||||
__m128 cdgh = _mm_shuffle_ps(m[0].base, m[1].base, _MM_SHUFFLE(3, 2, 3, 2));
|
||||
__m128 ijmn = _mm_shuffle_ps(m[2].base, m[3].base, _MM_SHUFFLE(1, 0, 1, 0));
|
||||
__m128 klop = _mm_shuffle_ps(m[2].base, m[3].base, _MM_SHUFFLE(3, 2, 3, 2));
|
||||
|
||||
// shuffle the quarters to make new rows
|
||||
__m128 aeim = _mm_shuffle_ps(abef, ijmn, _MM_SHUFFLE(2, 0, 2, 0));
|
||||
__m128 bfjn = _mm_shuffle_ps(abef, ijmn, _MM_SHUFFLE(3, 1, 3, 1));
|
||||
__m128 cgko = _mm_shuffle_ps(cdgh, klop, _MM_SHUFFLE(2, 0, 2, 0));
|
||||
__m128 dhlp = _mm_shuffle_ps(cdgh, klop, _MM_SHUFFLE(3, 1, 3, 1));
|
||||
|
||||
return Matrix44(Vector4(aeim), Vector4(bfjn), Vector4(cgko), Vector4(dhlp));
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Transform
|
||||
|
||||
inline Transform::Transform()
|
||||
{
|
||||
}
|
||||
|
||||
inline Transform::Transform(const Matrix33& xyz, const Point3& w)
|
||||
{
|
||||
m_rotation = xyz;
|
||||
m_translation = w;
|
||||
}
|
||||
|
||||
inline Transform::Transform(const Vector3& x, const Vector3& y, const Vector3& z, const Point3& w)
|
||||
{
|
||||
m_rotation[0] = x;
|
||||
m_rotation[1] = y;
|
||||
m_rotation[2] = z;
|
||||
m_translation = w;
|
||||
}
|
||||
|
||||
inline Transform::Transform(const Maths::IdentityTag&)
|
||||
{
|
||||
m_rotation = Maths::Identity;
|
||||
m_translation = Maths::Zero;
|
||||
}
|
||||
|
||||
inline const Transform& Transform::operator=(const Transform& m)
|
||||
{
|
||||
m_rotation = m.m_rotation;
|
||||
m_translation = m.m_translation;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Transform& Transform::operator=(const Maths::IdentityTag&)
|
||||
{
|
||||
m_rotation = Maths::Identity;
|
||||
m_translation = Maths::Zero;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Matrix33& Transform::GetRotation()
|
||||
{
|
||||
return m_rotation;
|
||||
}
|
||||
|
||||
inline const Matrix33& Transform::GetRotation() const
|
||||
{
|
||||
return m_rotation;
|
||||
}
|
||||
|
||||
inline void Transform::SetRotation(const Matrix33& m)
|
||||
{
|
||||
m_rotation = m;
|
||||
}
|
||||
|
||||
inline void Transform::SetRotation(const Quat& q)
|
||||
{
|
||||
m_rotation = Matrix33(q);
|
||||
}
|
||||
|
||||
inline Point3& Transform::GetTranslation()
|
||||
{
|
||||
return m_translation;
|
||||
}
|
||||
|
||||
inline const Point3& Transform::GetTranslation() const
|
||||
{
|
||||
return m_translation;
|
||||
}
|
||||
|
||||
inline void Transform::SetTranslation(const Point3& t)
|
||||
{
|
||||
m_translation = t;
|
||||
}
|
||||
|
||||
inline Vector3& Transform::GetAxisX()
|
||||
{
|
||||
return m_rotation[0];
|
||||
}
|
||||
|
||||
inline const Vector3& Transform::GetAxisX() const
|
||||
{
|
||||
return m_rotation[0];
|
||||
}
|
||||
|
||||
inline Vector3& Transform::GetAxisY()
|
||||
{
|
||||
return m_rotation[1];
|
||||
}
|
||||
|
||||
inline const Vector3& Transform::GetAxisY() const
|
||||
{
|
||||
return m_rotation[1];
|
||||
}
|
||||
|
||||
inline Vector3& Transform::GetAxisZ()
|
||||
{
|
||||
return m_rotation[2];
|
||||
}
|
||||
|
||||
inline const Vector3& Transform::GetAxisZ() const
|
||||
{
|
||||
return m_rotation[2];
|
||||
}
|
||||
|
||||
inline const Vector3 operator*(const Vector3& v, const Transform& m)
|
||||
{
|
||||
Scalar xxxx = v.GetX();
|
||||
Scalar yyyy = v.GetY();
|
||||
Scalar zzzz = v.GetZ();
|
||||
|
||||
return xxxx * m.GetAxisX() + yyyy * m.GetAxisY() + zzzz * m.GetAxisZ();
|
||||
}
|
||||
|
||||
inline const Point3 operator*(const Point3& v, const Transform& m)
|
||||
{
|
||||
Scalar xxxx = v.GetX();
|
||||
Scalar yyyy = v.GetY();
|
||||
Scalar zzzz = v.GetZ();
|
||||
|
||||
return xxxx * m.GetAxisX() + yyyy * m.GetAxisY() + zzzz * m.GetAxisZ() + m.GetTranslation();
|
||||
}
|
||||
|
||||
inline const Transform operator*(const Transform& a, const Transform& b)
|
||||
{
|
||||
return Transform(a.GetAxisX() * b, a.GetAxisY() * b, a.GetAxisZ() * b, a.GetTranslation() * b);
|
||||
}
|
||||
|
||||
inline const Transform Inv(const Transform& m)
|
||||
{
|
||||
Matrix33 r(Transpose(m.GetRotation()));
|
||||
Point3 t = m.GetTranslation();
|
||||
t = Point3(-(t.GetX() * r.GetAxisX() + t.GetY() * r.GetAxisY() + t.GetZ() * r.GetAxisZ()));
|
||||
|
||||
return Transform(r, t);
|
||||
}
|
||||
Reference in New Issue
Block a user