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removed STL usage of Extras/ConvexBuilder and replaced by btAlignedObjectArray

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fixed several warnings, thanks to sparkprime
added comments patch for linear math, thanks to Tully Foote
This commit is contained in:
erwin.coumans
2008-10-28 18:52:46 +00:00
parent c5112e68e5
commit 28e580c203
39 changed files with 435 additions and 196 deletions
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108
src/LinearMath/btMatrix3x3.h
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@@ -23,14 +23,16 @@ subject to the following restrictions:
///The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
///Make sure to only include a pure orthogonal matrix without scaling.
/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
* Make sure to only include a pure orthogonal matrix without scaling. */
class btMatrix3x3 {
public:
/** @brief No initializaion constructor */
btMatrix3x3 () {}
// explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
/**@brief Constructor from Quaternion */
explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
/*
template <typename btScalar>
@@ -39,6 +41,7 @@ class btMatrix3x3 {
setEulerYPR(yaw, pitch, roll);
}
*/
/** @brief Constructor with row major formatting */
btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
const btScalar& yx, const btScalar& yy, const btScalar& yz,
const btScalar& zx, const btScalar& zy, const btScalar& zz)
@@ -47,14 +50,14 @@ class btMatrix3x3 {
yx, yy, yz,
zx, zy, zz);
}
/** @brief Copy constructor */
SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
{
m_el[0] = other.m_el[0];
m_el[1] = other.m_el[1];
m_el[2] = other.m_el[2];
}
/** @brief Assignment Operator */
SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
{
m_el[0] = other.m_el[0];
@@ -63,34 +66,45 @@ class btMatrix3x3 {
return *this;
}
/** @brief Get a column of the matrix as a vector
* @param i Column number 0 indexed */
SIMD_FORCE_INLINE btVector3 getColumn(int i) const
{
return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
}
/** @brief Get a row of the matrix as a vector
* @param i Row number 0 indexed */
SIMD_FORCE_INLINE const btVector3& getRow(int i) const
{
btFullAssert(0 <= i && i < 3);
return m_el[i];
}
/** @brief Get a mutable reference to a row of the matrix as a vector
* @param i Row number 0 indexed */
SIMD_FORCE_INLINE btVector3& operator[](int i)
{
btFullAssert(0 <= i && i < 3);
return m_el[i];
}
/** @brief Get a const reference to a row of the matrix as a vector
* @param i Row number 0 indexed */
SIMD_FORCE_INLINE const btVector3& operator[](int i) const
{
btFullAssert(0 <= i && i < 3);
return m_el[i];
}
/** @brief Multiply by the target matrix on the right
* @param m Rotation matrix to be applied
* Equivilant to this = this * m */
btMatrix3x3& operator*=(const btMatrix3x3& m);
/** @brief Set from a carray of btScalars
* @param m A pointer to the beginning of an array of 9 btScalars */
void setFromOpenGLSubMatrix(const btScalar *m)
{
m_el[0].setValue(m[0],m[4],m[8]);
@@ -98,7 +112,16 @@ class btMatrix3x3 {
m_el[2].setValue(m[2],m[6],m[10]);
}
/** @brief Set the values of the matrix explicitly (row major)
* @param xx Top left
* @param xy Top Middle
* @param xz Top Right
* @param yx Middle Left
* @param yy Middle Middle
* @param yz Middle Right
* @param zx Bottom Left
* @param zy Bottom Middle
* @param zz Bottom Right*/
void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
const btScalar& yx, const btScalar& yy, const btScalar& yz,
const btScalar& zx, const btScalar& zy, const btScalar& zz)
@@ -107,7 +130,9 @@ class btMatrix3x3 {
m_el[1].setValue(yx,yy,yz);
m_el[2].setValue(zx,zy,zz);
}
/** @brief Set the matrix from a quaternion
* @param q The Quaternion to match */
void setRotation(const btQuaternion& q)
{
btScalar d = q.length2();
@@ -123,7 +148,11 @@ class btMatrix3x3 {
}
/** @brief Set the matrix from euler angles using YPR around YXZ respectively
* @param yaw Yaw about Y axis
* @param pitch Pitch about X axis
* @param roll Roll about Z axis
*/
void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
{
@@ -143,15 +172,17 @@ class btMatrix3x3 {
}
/**
* setEulerZYX
* @param euler a const reference to a btVector3 of euler angles
/** @brief Set the matrix from euler angles YPR around ZYX axes
* @param eulerX Roll about X axis
* @param eulerY Pitch around Y axis
* @param eulerZ Yaw aboud Z axis
*
* These angles are used to produce a rotation matrix. The euler
* angles are applied in ZYX order. I.e a vector is first rotated
* about X then Y and then Z
**/
void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) {
void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) {
///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
btScalar ci ( btCos(eulerX));
btScalar cj ( btCos(eulerY));
btScalar ch ( btCos(eulerZ));
@@ -168,13 +199,15 @@ class btMatrix3x3 {
-sj, cj * si, cj * ci);
}
/**@brief Set the matrix to the identity */
void setIdentity()
{
setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
btScalar(0.0), btScalar(1.0), btScalar(0.0),
btScalar(0.0), btScalar(0.0), btScalar(1.0));
}
/**@brief Fill the values of the matrix into a 9 element array
* @param m The array to be filled */
void getOpenGLSubMatrix(btScalar *m) const
{
m[0] = btScalar(m_el[0].x());
@@ -191,6 +224,8 @@ class btMatrix3x3 {
m[11] = btScalar(0.0);
}
/**@brief Get the matrix represented as a quaternion
* @param q The quaternion which will be set */
void getRotation(btQuaternion& q) const
{
btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
@@ -224,7 +259,11 @@ class btMatrix3x3 {
}
q.setValue(temp[0],temp[1],temp[2],temp[3]);
}
/**@brief Get the matrix represented as euler angles around YXZ
* @param yaw Yaw around Y axis
* @param pitch Pitch around X axis
* @param roll around Z axis */
void getEuler(btScalar& yaw, btScalar& pitch, btScalar& roll) const
{
@@ -250,9 +289,9 @@ class btMatrix3x3 {
roll = btScalar(0.0);
}
}
/**@brief Create a scaled copy of the matrix
* @param s Scaling vector The elements of the vector will scale each column */
btMatrix3x3 scaled(const btVector3& s) const
{
@@ -261,10 +300,15 @@ class btMatrix3x3 {
m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
}
/**@brief Return the determinant of the matrix */
btScalar determinant() const;
/**@brief Return the adjoint of the matrix */
btMatrix3x3 adjoint() const;
/**@brief Return the matrix with all values non negative */
btMatrix3x3 absolute() const;
/**@brief Return the transpose of the matrix */
btMatrix3x3 transpose() const;
/**@brief Return the inverse of the matrix */
btMatrix3x3 inverse() const;
btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
@@ -284,12 +328,15 @@ class btMatrix3x3 {
}
///diagonalizes this matrix by the Jacobi method. rot stores the rotation
///from the coordinate system in which the matrix is diagonal to the original
///coordinate system, i.e., old_this = rot * new_this * rot^T. The iteration
///stops when all off-diagonal elements are less than the threshold multiplied
///by the sum of the absolute values of the diagonal, or when maxSteps have
///been executed. Note that this matrix is assumed to be symmetric.
/**@brief diagonalizes this matrix by the Jacobi method.
* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
* coordinate system, i.e., old_this = rot * new_this * rot^T.
* @param threshold See iteration
* @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
* by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
*
* Note that this matrix is assumed to be symmetric.
*/
void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
{
rot.setIdentity();
@@ -371,11 +418,18 @@ class btMatrix3x3 {
protected:
/**@brief Calculate the matrix cofactor
* @param r1 The first row to use for calculating the cofactor
* @param c1 The first column to use for calculating the cofactor
* @param r1 The second row to use for calculating the cofactor
* @param c1 The second column to use for calculating the cofactor
* See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
*/
btScalar cofac(int r1, int c1, int r2, int c2) const
{
return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
}
///Data storage for the matrix, each vector is a row of the matrix
btVector3 m_el[3];
};
@@ -494,6 +548,8 @@ class btMatrix3x3 {
}
*/
/**@brief Equality operator between two matrices
* It will test all elements are equal. */
SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
{
return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&