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x() -> x or getX() or [0]

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y() -> y or getY() or [1]
z() -> z or getZ() or [2]
w() -> w or getW() or [3]

make sphere-convex and sphere-compound collision work (still issues remaining)
This commit is contained in:
erwin coumans
2013-04-03 18:27:36 -07:00
parent 8cee2e9b23
commit 4a93c2e704
23 changed files with 692 additions and 315 deletions
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138
src/BulletCommon/btMatrix3x3.h
View File

@@ -259,10 +259,10 @@ public:
m_el[1] = V2;
m_el[2] = V3;
#else
btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
btScalar xs = q.getX() * s, ys = q.getY() * s, zs = q.getZ() * s;
btScalar wx = q.getW() * xs, wy = q.getW() * ys, wz = q.getW() * zs;
btScalar xx = q.getX() * xs, xy = q.getX() * ys, xz = q.getX() * zs;
btScalar yy = q.getY() * ys, yz = q.getY() * zs, zz = q.getZ() * zs;
setValue(
btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
@@ -375,17 +375,17 @@ public:
vm[1] = v1;
vm[2] = v2;
#else
m[0] = btScalar(m_el[0].x());
m[1] = btScalar(m_el[1].x());
m[2] = btScalar(m_el[2].x());
m[0] = btScalar(m_el[0].getX());
m[1] = btScalar(m_el[1].getX());
m[2] = btScalar(m_el[2].getX());
m[3] = btScalar(0.0);
m[4] = btScalar(m_el[0].y());
m[5] = btScalar(m_el[1].y());
m[6] = btScalar(m_el[2].y());
m[4] = btScalar(m_el[0].getY());
m[5] = btScalar(m_el[1].getY());
m[6] = btScalar(m_el[2].getY());
m[7] = btScalar(0.0);
m[8] = btScalar(m_el[0].z());
m[9] = btScalar(m_el[1].z());
m[10] = btScalar(m_el[2].z());
m[8] = btScalar(m_el[0].getZ());
m[9] = btScalar(m_el[1].getZ());
m[10] = btScalar(m_el[2].getZ());
m[11] = btScalar(0.0);
#endif
}
@@ -395,7 +395,7 @@ public:
void getRotation(btQuaternion& q) const
{
#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON)
btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
btScalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
btScalar s, x;
union {
@@ -407,25 +407,25 @@ public:
{
x = trace + btScalar(1.0);
temp.f[0]=m_el[2].y() - m_el[1].z();
temp.f[1]=m_el[0].z() - m_el[2].x();
temp.f[2]=m_el[1].x() - m_el[0].y();
temp.f[0]=m_el[2].getY() - m_el[1].getZ();
temp.f[1]=m_el[0].getZ() - m_el[2].getX();
temp.f[2]=m_el[1].getX() - m_el[0].getY();
temp.f[3]=x;
//temp.f[3]= s * btScalar(0.5);
}
else
{
int i, j, k;
if(m_el[0].x() < m_el[1].y())
if(m_el[0].getX() < m_el[1].getY())
{
if( m_el[1].y() < m_el[2].z() )
if( m_el[1].getY() < m_el[2].getZ() )
{ i = 2; j = 0; k = 1; }
else
{ i = 1; j = 2; k = 0; }
}
else
{
if( m_el[0].x() < m_el[2].z())
if( m_el[0].getX() < m_el[2].getZ())
{ i = 2; j = 0; k = 1; }
else
{ i = 0; j = 1; k = 2; }
@@ -446,7 +446,7 @@ public:
q *= s;
#else
btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
btScalar trace = m_el[0].getX() + m_el[1].getY() + m_el[2].getZ();
btScalar temp[4];
@@ -456,15 +456,15 @@ public:
temp[3]=(s * btScalar(0.5));
s = btScalar(0.5) / s;
temp[0]=((m_el[2].y() - m_el[1].z()) * s);
temp[1]=((m_el[0].z() - m_el[2].x()) * s);
temp[2]=((m_el[1].x() - m_el[0].y()) * s);
temp[0]=((m_el[2].getY() - m_el[1].getZ()) * s);
temp[1]=((m_el[0].getZ() - m_el[2].getX()) * s);
temp[2]=((m_el[1].getX() - m_el[0].getY()) * s);
}
else
{
int i = m_el[0].x() < m_el[1].y() ?
(m_el[1].y() < m_el[2].z() ? 2 : 1) :
(m_el[0].x() < m_el[2].z() ? 2 : 0);
int i = m_el[0].getX() < m_el[1].getY() ?
(m_el[1].getY() < m_el[2].getZ() ? 2 : 1) :
(m_el[0].getX() < m_el[2].getZ() ? 2 : 0);
int j = (i + 1) % 3;
int k = (i + 2) % 3;
@@ -488,9 +488,9 @@ public:
{
// first use the normal calculus
yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
pitch = btScalar(btAsin(-m_el[2].x()));
roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
yaw = btScalar(btAtan2(m_el[1].getX(), m_el[0].getX()));
pitch = btScalar(btAsin(-m_el[2].getX()));
roll = btScalar(btAtan2(m_el[2].getY(), m_el[2].getZ()));
// on pitch = +/-HalfPI
if (btFabs(pitch)==SIMD_HALF_PI)
@@ -527,14 +527,14 @@ public:
//get the pointer to the raw data
// Check that pitch is not at a singularity
if (btFabs(m_el[2].x()) >= 1)
if (btFabs(m_el[2].getX()) >= 1)
{
euler_out.yaw = 0;
euler_out2.yaw = 0;
// From difference of angles formula
btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
if (m_el[2].x() > 0) //gimbal locked up
btScalar delta = btAtan2(m_el[0].getX(),m_el[0].getZ());
if (m_el[2].getX() > 0) //gimbal locked up
{
euler_out.pitch = SIMD_PI / btScalar(2.0);
euler_out2.pitch = SIMD_PI / btScalar(2.0);
@@ -551,18 +551,18 @@ public:
}
else
{
euler_out.pitch = - btAsin(m_el[2].x());
euler_out.pitch = - btAsin(m_el[2].getX());
euler_out2.pitch = SIMD_PI - euler_out.pitch;
euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch),
m_el[2].z()/btCos(euler_out.pitch));
euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch),
m_el[2].z()/btCos(euler_out2.pitch));
euler_out.roll = btAtan2(m_el[2].getY()/btCos(euler_out.pitch),
m_el[2].getZ()/btCos(euler_out.pitch));
euler_out2.roll = btAtan2(m_el[2].getY()/btCos(euler_out2.pitch),
m_el[2].getZ()/btCos(euler_out2.pitch));
euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch),
m_el[0].x()/btCos(euler_out.pitch));
euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch),
m_el[0].x()/btCos(euler_out2.pitch));
euler_out.yaw = btAtan2(m_el[1].getX()/btCos(euler_out.pitch),
m_el[0].getX()/btCos(euler_out.pitch));
euler_out2.yaw = btAtan2(m_el[1].getX()/btCos(euler_out2.pitch),
m_el[0].getX()/btCos(euler_out2.pitch));
}
if (solution_number == 1)
@@ -588,9 +588,9 @@ public:
return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s);
#else
return btMatrix3x3(
m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
m_el[0].getX() * s.getX(), m_el[0].getY() * s.getY(), m_el[0].getZ() * s.getZ(),
m_el[1].getX() * s.getX(), m_el[1].getY() * s.getY(), m_el[1].getZ() * s.getZ(),
m_el[2].getX() * s.getX(), m_el[2].getY() * s.getY(), m_el[2].getZ() * s.getZ());
#endif
}
@@ -610,15 +610,15 @@ public:
SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
{
return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ();
}
SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
{
return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ();
}
SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
{
return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ();
}
@@ -865,9 +865,9 @@ operator*(const btMatrix3x3& m, const btScalar & k)
vmulq_n_f32(m[2].mVec128, k));
#else
return btMatrix3x3(
m[0].x()*k,m[0].y()*k,m[0].z()*k,
m[1].x()*k,m[1].y()*k,m[1].z()*k,
m[2].x()*k,m[2].y()*k,m[2].z()*k);
m[0].getX()*k,m[0].getY()*k,m[0].getZ()*k,
m[1].getX()*k,m[1].getY()*k,m[1].getZ()*k,
m[2].getX()*k,m[2].getY()*k,m[2].getZ()*k);
#endif
}
@@ -965,9 +965,9 @@ btMatrix3x3::absolute() const
(float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask));
#else
return btMatrix3x3(
btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
btFabs(m_el[0].getX()), btFabs(m_el[0].getY()), btFabs(m_el[0].getZ()),
btFabs(m_el[1].getX()), btFabs(m_el[1].getY()), btFabs(m_el[1].getZ()),
btFabs(m_el[2].getX()), btFabs(m_el[2].getY()), btFabs(m_el[2].getZ()));
#endif
}
@@ -1002,9 +1002,9 @@ btMatrix3x3::transpose() const
float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q ); // z0 z1 z2 0
return btMatrix3x3( v0, v1, v2 );
#else
return btMatrix3x3( m_el[0].x(), m_el[1].x(), m_el[2].x(),
m_el[0].y(), m_el[1].y(), m_el[2].y(),
m_el[0].z(), m_el[1].z(), m_el[2].z());
return btMatrix3x3( m_el[0].getX(), m_el[1].getX(), m_el[2].getX(),
m_el[0].getY(), m_el[1].getY(), m_el[2].getY(),
m_el[0].getZ(), m_el[1].getZ(), m_el[2].getZ());
#endif
}
@@ -1023,9 +1023,9 @@ btMatrix3x3::inverse() const
btScalar det = (*this)[0].dot(co);
btFullAssert(det != btScalar(0.0));
btScalar s = btScalar(1.0) / det;
return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
return btMatrix3x3(co.getX() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
co.getY() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
}
SIMD_FORCE_INLINE btMatrix3x3
@@ -1072,15 +1072,15 @@ btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
return btMatrix3x3( r0, r1, r2 );
#else
return btMatrix3x3(
m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
m_el[0].getX() * m[0].getX() + m_el[1].getX() * m[1].getX() + m_el[2].getX() * m[2].getX(),
m_el[0].getX() * m[0].getY() + m_el[1].getX() * m[1].getY() + m_el[2].getX() * m[2].getY(),
m_el[0].getX() * m[0].getZ() + m_el[1].getX() * m[1].getZ() + m_el[2].getX() * m[2].getZ(),
m_el[0].getY() * m[0].getX() + m_el[1].getY() * m[1].getX() + m_el[2].getY() * m[2].getX(),
m_el[0].getY() * m[0].getY() + m_el[1].getY() * m[1].getY() + m_el[2].getY() * m[2].getY(),
m_el[0].getY() * m[0].getZ() + m_el[1].getY() * m[1].getZ() + m_el[2].getY() * m[2].getZ(),
m_el[0].getZ() * m[0].getX() + m_el[1].getZ() * m[1].getX() + m_el[2].getZ() * m[2].getX(),
m_el[0].getZ() * m[0].getY() + m_el[1].getZ() * m[1].getY() + m_el[2].getZ() * m[2].getY(),
m_el[0].getZ() * m[0].getZ() + m_el[1].getZ() * m[1].getZ() + m_el[2].getZ() * m[2].getZ());
#endif
}

11
src/BulletCommon/btQuadWord.h
View File

@@ -48,13 +48,14 @@ public:
{
return mVec128;
}
protected:
#else //__CELLOS_LV2__ __SPU__
#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
union {
btSimdFloat4 mVec128;
btScalar m_floats[4];
struct {btScalar x,y,z,w;};
};
public:
SIMD_FORCE_INLINE btSimdFloat4 get128() const
@@ -113,13 +114,7 @@ public:
/**@brief Set the w value */
SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;};
/**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
/**@brief Return the y value */
SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
/**@brief Return the z value */
SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
/**@brief Return the w value */
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]; }

72
src/BulletCommon/btQuaternion.h
View File

@@ -73,7 +73,9 @@ public:
/**@brief Constructor from scalars */
btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w)
: btQuadWord(_x, _y, _z, _w)
{}
{
btAssert(!((_x==1.f) && (_y==0.f) && (_z==0.f) && (_w==0.f)));
}
/**@brief Axis angle Constructor
* @param axis The axis which the rotation is around
* @param angle The magnitude of the rotation around the angle (Radians) */
@@ -101,7 +103,7 @@ public:
btScalar d = axis.length();
btAssert(d != btScalar(0.0));
btScalar s = btSin(_angle * btScalar(0.5)) / d;
setValue(axis.x() * s, axis.y() * s, axis.z() * s,
setValue(axis.getX() * s, axis.getY() * s, axis.getZ() * s,
btCos(_angle * btScalar(0.5)));
}
/**@brief Set the quaternion using Euler angles
@@ -153,9 +155,9 @@ public:
#elif defined(BT_USE_NEON)
mVec128 = vaddq_f32(mVec128, q.mVec128);
#else
m_floats[0] += q.x();
m_floats[1] += q.y();
m_floats[2] += q.z();
m_floats[0] += q.getX();
m_floats[1] += q.getY();
m_floats[2] += q.getZ();
m_floats[3] += q.m_floats[3];
#endif
return *this;
@@ -170,9 +172,9 @@ public:
#elif defined(BT_USE_NEON)
mVec128 = vsubq_f32(mVec128, q.mVec128);
#else
m_floats[0] -= q.x();
m_floats[1] -= q.y();
m_floats[2] -= q.z();
m_floats[0] -= q.getX();
m_floats[1] -= q.getY();
m_floats[2] -= q.getZ();
m_floats[3] -= q.m_floats[3];
#endif
return *this;
@@ -274,10 +276,10 @@ public:
mVec128 = A0;
#else
setValue(
m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
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.getX() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.getZ() - m_floats[2] * q.getY(),
m_floats[3] * q.getY() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.getX() - m_floats[0] * q.getZ(),
m_floats[3] * q.getZ() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.getY() - m_floats[1] * q.getX(),
m_floats[3] * q.m_floats[3] - m_floats[0] * q.getX() - m_floats[1] * q.getY() - m_floats[2] * q.getZ());
#endif
return *this;
}
@@ -302,9 +304,9 @@ public:
x = vpadd_f32(x, x);
return vget_lane_f32(x, 0);
#else
return m_floats[0] * q.x() +
m_floats[1] * q.y() +
m_floats[2] * q.z() +
return m_floats[0] * q.getX() +
m_floats[1] * q.getY() +
m_floats[2] * q.getZ() +
m_floats[3] * q.m_floats[3];
#endif
}
@@ -359,7 +361,7 @@ public:
#elif defined(BT_USE_NEON)
return btQuaternion(vmulq_n_f32(mVec128, s));
#else
return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
return btQuaternion(getX() * s, getY() * s, getZ() * s, m_floats[3] * s);
#endif
}
@@ -433,7 +435,7 @@ public:
return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
#else
const btQuaternion& q1 = *this;
return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
return btQuaternion(q1.getX() + q2.getX(), q1.getY() + q2.getY(), q1.getZ() + q2.getZ(), q1.m_floats[3] + q2.m_floats[3]);
#endif
}
@@ -448,7 +450,7 @@ public:
return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
#else
const btQuaternion& q1 = *this;
return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
return btQuaternion(q1.getX() - q2.getX(), q1.getY() - q2.getY(), q1.getZ() - q2.getZ(), q1.m_floats[3] - q2.m_floats[3]);
#endif
}
@@ -462,7 +464,7 @@ public:
return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask) );
#else
const btQuaternion& q2 = *this;
return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_floats[3]);
return btQuaternion( - q2.getX(), - q2.getY(), - q2.getZ(), - q2.m_floats[3]);
#endif
}
/**@todo document this and it's use */
@@ -509,9 +511,9 @@ public:
const btScalar s0 = btSin((btScalar(1.0) - t) * theta);
return btQuaternion(
(m_floats[0] * s0 + q.x() * s1) * d,
(m_floats[1] * s0 + q.y() * s1) * d,
(m_floats[2] * s0 + q.z() * s1) * d,
(m_floats[0] * s0 + q.getX() * s1) * d,
(m_floats[1] * s0 + q.getY() * s1) * d,
(m_floats[2] * s0 + q.getZ() * s1) * d,
(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
}
else
@@ -617,10 +619,10 @@ operator*(const btQuaternion& q1, const btQuaternion& q2)
#else
return btQuaternion(
q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
q1.getW() * q2.getX() + q1.getX() * q2.getW() + q1.getY() * q2.getZ() - q1.getZ() * q2.getY(),
q1.getW() * q2.getY() + q1.getY() * q2.getW() + q1.getZ() * q2.getX() - q1.getX() * q2.getZ(),
q1.getW() * q2.getZ() + q1.getZ() * q2.getW() + q1.getX() * q2.getY() - q1.getY() * q2.getX(),
q1.getW() * q2.getW() - q1.getX() * q2.getX() - q1.getY() * q2.getY() - q1.getZ() * q2.getZ());
#endif
}
@@ -700,10 +702,10 @@ operator*(const btQuaternion& q, const btVector3& w)
#else
return btQuaternion(
q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
q.getW() * w.getX() + q.getY() * w.getZ() - q.getZ() * w.getY(),
q.getW() * w.getY() + q.getZ() * w.getX() - q.getX() * w.getZ(),
q.getW() * w.getZ() + q.getX() * w.getY() - q.getY() * w.getX(),
-q.getX() * w.getX() - q.getY() * w.getY() - q.getZ() * w.getZ());
#endif
}
@@ -783,10 +785,10 @@ operator*(const btVector3& w, const btQuaternion& q)
#else
return btQuaternion(
+w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
+w.getX() * q.getW() + w.getY() * q.getZ() - w.getZ() * q.getY(),
+w.getY() * q.getW() + w.getZ() * q.getX() - w.getX() * q.getZ(),
+w.getZ() * q.getW() + w.getX() * q.getY() - w.getY() * q.getX(),
-w.getX() * q.getX() - w.getY() * q.getY() - w.getZ() * q.getZ());
#endif
}
@@ -854,7 +856,7 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
{
btVector3 n,unused;
btPlaneSpace1(v0,n,unused);
return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
return btQuaternion(n.getX(),n.getY(),n.getZ(),0.0f); // just pick any vector that is orthogonal to v0
}
btScalar s = btSqrt((1.0f + d) * 2.0f);

6
src/BulletCommon/btTransform.h
View File

@@ -139,9 +139,9 @@ public:
void getOpenGLMatrix(btScalar *m) const
{
m_basis.getOpenGLSubMatrix(m);
m[12] = m_origin.x();
m[13] = m_origin.y();
m[14] = m_origin.z();
m[12] = m_origin.getX();
m[13] = m_origin.getY();
m[14] = m_origin.getZ();
m[15] = btScalar(1.0);
}

12
src/BulletCommon/btTransformUtil.h
View File

@@ -24,9 +24,9 @@ subject to the following restrictions:
SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
{
return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
return btVector3(supportDir.getX() < btScalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
supportDir.getY() < btScalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
supportDir.getZ() < btScalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ());
}
@@ -70,7 +70,7 @@ public:
// sync(fAngle) = sin(c*fAngle)/t
axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
}
btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
btQuaternion dorn (axis.getX(),axis.getY(),axis.getZ(),btCos( fAngle*timeStep*btScalar(0.5) ));
btQuaternion orn0 = curTrans.getRotation();
btQuaternion predictedOrn = dorn * orn0;
@@ -99,7 +99,7 @@ public:
btQuaternion orn1 = orn0.nearest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis = btVector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = btScalar(0.);
//check for axis length
btScalar len = axis.length2();
@@ -128,7 +128,7 @@ public:
dorn.normalize();
angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis = btVector3(dorn.getX(),dorn.getY(),dorn.getZ());
axis[3] = btScalar(0.);
//check for axis length
btScalar len = axis.length2();

23
src/BulletCommon/btVector3.h
View File

@@ -94,6 +94,8 @@ public:
union {
btSimdFloat4 mVec128;
btScalar m_floats[4];
struct {btScalar x,y,z,w;};
};
SIMD_FORCE_INLINE btSimdFloat4 get128() const
{
@@ -548,6 +550,9 @@ public:
SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; }
/**@brief Return the z value */
SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
/**@brief Return the w value */
SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
/**@brief Set the x value */
SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;};
/**@brief Set the y value */
@@ -556,14 +561,6 @@ public:
SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;};
/**@brief Set the w value */
SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;};
/**@brief Return the x value */
SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
/**@brief Return the y value */
SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; }
/**@brief Return the z value */
SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; }
/**@brief Return the w value */
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]; }
@@ -601,7 +598,7 @@ public:
btSetMax(m_floats[0], other.m_floats[0]);
btSetMax(m_floats[1], other.m_floats[1]);
btSetMax(m_floats[2], other.m_floats[2]);
btSetMax(m_floats[3], other.w());
btSetMax(m_floats[3], other.m_floats[3]);
#endif
}
@@ -618,7 +615,7 @@ public:
btSetMin(m_floats[0], other.m_floats[0]);
btSetMin(m_floats[1], other.m_floats[1]);
btSetMin(m_floats[2], other.m_floats[2]);
btSetMin(m_floats[3], other.w());
btSetMin(m_floats[3], other.m_floats[3]);
#endif
}
@@ -647,9 +644,9 @@ public:
v1->mVec128 = V1;
v2->mVec128 = V2;
#else
v0->setValue(0. ,-z() ,y());
v1->setValue(z() ,0. ,-x());
v2->setValue(-y() ,x() ,0.);
v0->setValue(0. ,-getZ() ,getY());
v1->setValue(getZ() ,0. ,-getX());
v2->setValue(-getY() ,getX() ,0.);
#endif
}