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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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79
src/LinearMath/btVector3.h
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@@ -19,20 +19,28 @@ subject to the following restrictions:
#include "btQuadWord.h"
///btVector3 can be used to represent 3D points and vectors.
///It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
///Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
/**@brief btVector3 can be used to represent 3D points and vectors.
* It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
* Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
*/
class btVector3 : public btQuadWord {
public:
/**@brief No initialization constructor */
SIMD_FORCE_INLINE btVector3() {}
/**@brief Constructor from btQuadWordStorage (btVector3 inherits from this so is also valid)
* Note: Vector3 derives from btQuadWordStorage*/
SIMD_FORCE_INLINE btVector3(const btQuadWordStorage& q)
: btQuadWord(q)
{
}
/**@brief Constructor from scalars
* @param x X value
* @param y Y value
* @param z Z value
*/
SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z)
:btQuadWord(x,y,z,btScalar(0.))
{
@@ -44,7 +52,8 @@ public:
// }
/**@brief Add a vector to this one
* @param The vector to add to this one */
SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v)
{
@@ -53,60 +62,80 @@ public:
}
/**@brief Subtract a vector from this one
* @param The vector to subtract */
SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v)
{
m_x -= v.x(); m_y -= v.y(); m_z -= v.z();
return *this;
}
/**@brief Scale the vector
* @param s Scale factor */
SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s)
{
m_x *= s; m_y *= s; m_z *= s;
return *this;
}
/**@brief Inversely scale the vector
* @param s Scale factor to divide by */
SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s)
{
btFullAssert(s != btScalar(0.0));
return *this *= btScalar(1.0) / s;
}
/**@brief Return the dot product
* @param v The other vector in the dot product */
SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const
{
return m_x * v.x() + m_y * v.y() + m_z * v.z();
}
/**@brief Return the length of the vector squared */
SIMD_FORCE_INLINE btScalar length2() const
{
return dot(*this);
}
/**@brief Return the length of the vector */
SIMD_FORCE_INLINE btScalar length() const
{
return btSqrt(length2());
}
/**@brief Return the distance squared between the ends of this and another vector
* This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const;
/**@brief Return the distance between the ends of this and another vector
* This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
/**@brief Normalize this vector
* x^2 + y^2 + z^2 = 1 */
SIMD_FORCE_INLINE btVector3& normalize()
{
return *this /= length();
}
/**@brief Return a normalized version of this vector */
SIMD_FORCE_INLINE btVector3 normalized() const;
/**@brief Rotate this vector
* @param wAxis The axis to rotate about
* @param angle The angle to rotate by */
SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle );
/**@brief Return the angle between this and another vector
* @param v The other vector */
SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const
{
btScalar s = btSqrt(length2() * v.length2());
btFullAssert(s != btScalar(0.0));
return btAcos(dot(v) / s);
}
/**@brief Return a vector will the absolute values of each element */
SIMD_FORCE_INLINE btVector3 absolute() const
{
return btVector3(
@@ -114,7 +143,8 @@ public:
btFabs(m_y),
btFabs(m_z));
}
/**@brief Return the cross product between this and another vector
* @param v The other vector */
SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const
{
return btVector3(
@@ -130,11 +160,15 @@ public:
m_z * (v1.x() * v2.y() - v1.y() * v2.x());
}
/**@brief Return the axis with the smallest value
* Note return values are 0,1,2 for x, y, or z */
SIMD_FORCE_INLINE int minAxis() const
{
return m_x < m_y ? (m_x < m_z ? 0 : 2) : (m_y < m_z ? 1 : 2);
}
/**@brief Return the axis with the largest value
* Note return values are 0,1,2 for x, y, or z */
SIMD_FORCE_INLINE int maxAxis() const
{
return m_x < m_y ? (m_y < m_z ? 2 : 1) : (m_x < m_z ? 2 : 0);
@@ -160,6 +194,9 @@ public:
// m_co[3] = s * v0[3] + rt * v1[3];
}
/**@brief Return the linear interpolation between this and another vector
* @param v The other vector
* @param t The ration of this to v (t = 0 => return this, t=1 => return other) */
SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const
{
return btVector3(m_x + (v.x() - m_x) * t,
@@ -167,7 +204,8 @@ public:
m_z + (v.z() - m_z) * t);
}
/**@brief Elementwise multiply this vector by the other
* @param v The other vector */
SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v)
{
m_x *= v.x(); m_y *= v.y(); m_z *= v.z();
@@ -178,42 +216,48 @@ public:
};
/**@brief Return the sum of two vectors (Point symantics)*/
SIMD_FORCE_INLINE btVector3
operator+(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
}
/**@brief Return the elementwise product of two vectors */
SIMD_FORCE_INLINE btVector3
operator*(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.x() * v2.x(), v1.y() * v2.y(), v1.z() * v2.z());
}
/**@brief Return the difference between two vectors */
SIMD_FORCE_INLINE btVector3
operator-(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.x() - v2.x(), v1.y() - v2.y(), v1.z() - v2.z());
}
/**@brief Return the negative of the vector */
SIMD_FORCE_INLINE btVector3
operator-(const btVector3& v)
{
return btVector3(-v.x(), -v.y(), -v.z());
}
/**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3
operator*(const btVector3& v, const btScalar& s)
{
return btVector3(v.x() * s, v.y() * s, v.z() * s);
}
/**@brief Return the vector scaled by s */
SIMD_FORCE_INLINE btVector3
operator*(const btScalar& s, const btVector3& v)
{
return v * s;
}
/**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v, const btScalar& s)
{
@@ -221,12 +265,14 @@ operator/(const btVector3& v, const btScalar& s)
return v * (btScalar(1.0) / s);
}
/**@brief Return the vector inversely scaled by s */
SIMD_FORCE_INLINE btVector3
operator/(const btVector3& v1, const btVector3& v2)
{
return btVector3(v1.x() / v2.x(),v1.y() / v2.y(),v1.z() / v2.z());
}
/**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar
dot(const btVector3& v1, const btVector3& v2)
{
@@ -234,7 +280,7 @@ dot(const btVector3& v1, const btVector3& v2)
}
/**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar
distance2(const btVector3& v1, const btVector3& v2)
{
@@ -242,18 +288,21 @@ distance2(const btVector3& v1, const btVector3& v2)
}
/**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar
distance(const btVector3& v1, const btVector3& v2)
{
return v1.distance(v2);
}
/**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar
angle(const btVector3& v1, const btVector3& v2)
{
return v1.angle(v2);
}
/**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3
cross(const btVector3& v1, const btVector3& v2)
{
@@ -266,13 +315,17 @@ triple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
return v1.triple(v2, v3);
}
/**@brief Return the linear interpolation between two vectors
* @param v1 One vector
* @param v2 The other vector
* @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */
SIMD_FORCE_INLINE btVector3
lerp(const btVector3& v1, const btVector3& v2, const btScalar& t)
{
return v1.lerp(v2, t);
}
/**@brief Test if each element of the vector is equivalent */
SIMD_FORCE_INLINE bool operator==(const btVector3& p1, const btVector3& p2)
{
return p1.x() == p2.x() && p1.y() == p2.y() && p1.z() == p2.z();