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add operator != and operator == to btQuadWord,

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minor fix in 	btTransformUtil::calculateVelocityQuaternion, report zero angular velocity on identical transforms (using above operator to check identical transforms)
This commit is contained in:
erwin.coumans
2008-11-06 23:39:33 +00:00
parent a4c205afc0
commit 33ada42e18
3 changed files with 24 additions and 7 deletions
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16
src/LinearMath/btQuadWord.h
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@@ -54,8 +54,7 @@ class btQuadWord : public btQuadWordStorage
{ {
public: public:
// SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; }
// SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
/**@brief Return the x value */ /**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
/**@brief Return the y value */ /**@brief Return the y value */
@@ -79,10 +78,21 @@ class btQuadWord : public btQuadWordStorage
/**@brief Return the w value */ /**@brief Return the w value */
SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; }
//SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; }
//SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; }
///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons.
SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; }
SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; }
SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const
{
return ((m_floats[3]==m_floats[3]) && (m_floats[2]==m_floats[2]) && (m_floats[1]==m_floats[1]) && (m_floats[0]==m_floats[0]));
}
SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const
{
return !(*this == other);
}
/**@brief Set x,y,z and zero w /**@brief Set x,y,z and zero w
* @param x Value of x * @param x Value of x

3
src/LinearMath/btQuaternion.h
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@@ -104,11 +104,12 @@ public:
} }
/**@brief Add two quaternions /**@brief Add two quaternions
* @param q The quaternion to add to this one */ * @param q The quaternion to add to this one */
btQuaternion& operator+=(const btQuaternion& q) SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q)
{ {
m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3]; m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3];
return *this; return *this;
} }
/**@brief Subtract out a quaternion /**@brief Subtract out a quaternion
* @param q The quaternion to subtract from this one */ * @param q The quaternion to subtract from this one */
btQuaternion& operator-=(const btQuaternion& q) btQuaternion& operator-=(const btQuaternion& q)

6
src/LinearMath/btTransformUtil.h
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@@ -105,8 +105,14 @@ public:
linVel = (pos1 - pos0) / timeStep; linVel = (pos1 - pos0) / timeStep;
btVector3 axis; btVector3 axis;
btScalar angle; btScalar angle;
if (orn0 != orn1)
{
calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle); calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
angVel = axis * angle / timeStep; angVel = axis * angle / timeStep;
} else
{
angVel.setValue(0,0,0);
}
} }
static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle) static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)