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Added some helper methods for constraints and btMatrix3x3,

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Thanks to  francois, See Issue 466

Prevent crash in SoftBodyDemo, when picking constraints and demo-mode switches to next demo.
This commit is contained in:
erwin.coumans
2011-02-27 03:28:53 +00:00
parent e5b5126876
commit 4e8596eef5
14 changed files with 217 additions and 35 deletions
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83
src/LinearMath/btMatrix3x3.h
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@@ -110,6 +110,16 @@ public:
* Equivilant to this = this * m */
btMatrix3x3& operator*=(const btMatrix3x3& m);
/** @brief Adds by the target matrix on the right
* @param m matrix to be applied
* Equivilant to this = this + m */
btMatrix3x3& operator+=(const btMatrix3x3& m);
/** @brief Substractss by the target matrix on the right
* @param m matrix to be applied
* Equivilant to this = this - m */
btMatrix3x3& operator-=(const btMatrix3x3& m);
/** @brief Set from the rotational part of a 4x4 OpenGL matrix
* @param m A pointer to the beginning of the array of scalars*/
void setFromOpenGLSubMatrix(const btScalar *m)
@@ -523,6 +533,79 @@ btMatrix3x3::operator*=(const btMatrix3x3& m)
return *this;
}
SIMD_FORCE_INLINE btMatrix3x3&
btMatrix3x3::operator+=(const btMatrix3x3& m)
{
setValue(
m_el[0][0]+m.m_el[0][0],
m_el[0][1]+m.m_el[0][1],
m_el[0][2]+m.m_el[0][2],
m_el[1][0]+m.m_el[1][0],
m_el[1][1]+m.m_el[1][1],
m_el[1][2]+m.m_el[1][2],
m_el[2][0]+m.m_el[2][0],
m_el[2][1]+m.m_el[2][1],
m_el[2][2]+m.m_el[2][2]);
return *this;
}
SIMD_FORCE_INLINE btMatrix3x3
operator*(const btMatrix3x3& m, const btScalar & k)
{
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);
}
SIMD_FORCE_INLINE btMatrix3x3
operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
{
return btMatrix3x3(
m1[0][0]+m2[0][0],
m1[0][1]+m2[0][1],
m1[0][2]+m2[0][2],
m1[1][0]+m2[1][0],
m1[1][1]+m2[1][1],
m1[1][2]+m2[1][2],
m1[2][0]+m2[2][0],
m1[2][1]+m2[2][1],
m1[2][2]+m2[2][2]);
}
SIMD_FORCE_INLINE btMatrix3x3
operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
{
return btMatrix3x3(
m1[0][0]-m2[0][0],
m1[0][1]-m2[0][1],
m1[0][2]-m2[0][2],
m1[1][0]-m2[1][0],
m1[1][1]-m2[1][1],
m1[1][2]-m2[1][2],
m1[2][0]-m2[2][0],
m1[2][1]-m2[2][1],
m1[2][2]-m2[2][2]);
}
SIMD_FORCE_INLINE btMatrix3x3&
btMatrix3x3::operator-=(const btMatrix3x3& m)
{
setValue(
m_el[0][0]-m.m_el[0][0],
m_el[0][1]-m.m_el[0][1],
m_el[0][2]-m.m_el[0][2],
m_el[1][0]-m.m_el[1][0],
m_el[1][1]-m.m_el[1][1],
m_el[1][2]-m.m_el[1][2],
m_el[2][0]-m.m_el[2][0],
m_el[2][1]-m.m_el[2][1],
m_el[2][2]-m.m_el[2][2]);
return *this;
}
SIMD_FORCE_INLINE btScalar
btMatrix3x3::determinant() const
{