moved a few Extras projects into Extras/obsolete.
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erwin.coumans
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Extras/obsolete/SATConvexCollision/Matrix.h
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Extras/obsolete/SATConvexCollision/Matrix.h
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// Bullet Continuous Collision Detection and Physics Library
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// Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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//
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// Matrix.h
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
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//
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// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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//
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// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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#ifndef BULLET_MATRIX_H
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#define BULLET_MATRIX_H
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#ifdef WIN32
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#include "Vector.h"
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#include "Memory2.h"
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class Quat;
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#include <malloc.h>
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////////////////////////////////////////////////////////////////////////////////
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/// Matrix33
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__declspec(align(16)) class Matrix33
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{
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private:
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Vector3 m_rows[3];
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public:
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BULLET_ALIGNED_NEW_AND_DELETE
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// constructors
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Matrix33();
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Matrix33(const Vector3& x, const Vector3& y, const Vector3& z);
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// explicit constructors
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explicit Matrix33(const Quat& q);
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explicit Matrix33(const Maths::ZeroTag&);
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explicit Matrix33(const Maths::IdentityTag&);
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explicit Matrix33(const Maths::RotateXTag&, float radians);
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explicit Matrix33(const Maths::RotateYTag&, float radians);
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explicit Matrix33(const Maths::RotateZTag&, float radians);
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explicit Matrix33(const Maths::ScaleTag&, const Vector3& scale);
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explicit Matrix33(const Maths::SkewTag&, const Vector3& v);
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// assignment
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const Matrix33& operator=(const Matrix33& m);
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// assignment to constant
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const Matrix33& operator=(const Maths::ZeroTag&);
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const Matrix33& operator=(const Maths::IdentityTag&);
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// element access
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Vector3& operator[](int row);
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const Vector3& operator[](int row) const;
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Vector3& GetAxisX();
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const Vector3& GetAxisX() const;
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void SetAxisX(const Vector3& v);
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Vector3& GetAxisY();
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const Vector3& GetAxisY() const;
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void SetAxisY(const Vector3& v);
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Vector3& GetAxisZ();
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const Vector3& GetAxisZ() const;
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void SetAxisZ(const Vector3& v);
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// operations
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void operator*=(const Matrix33& a);
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void operator*=(const Scalar& s);
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void operator+=(const Matrix33& a);
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void operator-=(const Matrix33& a);
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friend const Vector3 operator*(const Vector3& v, const Matrix33& m);
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friend const Vector3 operator*(const Matrix33& m, const Vector3& vT);
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friend const Matrix33 operator*(const Matrix33& a, const Matrix33& b);
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friend const Matrix33 operator*(const Matrix33& m, const Scalar& s);
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friend const Matrix33 operator+(const Matrix33& a, const Matrix33& b);
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friend const Matrix33 operator-(const Matrix33& a, const Matrix33& b);
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friend const Matrix33 Transpose(const Matrix33& m);
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friend const Matrix33 Inv(const Matrix33& m);
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friend const Scalar Det(const Matrix33& m);
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};
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////////////////////////////////////////////////////////////////////////////////
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// Matrix44
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__declspec(align(16)) class Matrix44
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{
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private:
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Vector4 m_rows[4];
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public:
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// constructors
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Matrix44();
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Matrix44(const Vector4& x, const Vector4& y, const Vector4& z, const Vector4& w);
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// explicit constructors
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explicit Matrix44(const Maths::ZeroTag&);
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explicit Matrix44(const Maths::IdentityTag&);
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explicit Matrix44(const Maths::RotateXTag&, float radians);
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explicit Matrix44(const Maths::RotateYTag&, float radians);
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explicit Matrix44(const Maths::RotateZTag&, float radians);
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// assignment
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const Matrix44& operator=(const Matrix44& m);
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// assignment to constant
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const Matrix44& operator=(const Maths::ZeroTag&);
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const Matrix44& operator=(const Maths::IdentityTag&);
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// element access
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Vector4& operator[](int row);
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const Vector4& operator[](int row) const;
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// operations
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void operator*=(const Matrix44& a);
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void operator*=(const Scalar& s);
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void operator+=(const Matrix44& a);
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void operator-=(const Matrix44& a);
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friend const Vector3 operator*(const Vector3& v, const Matrix44& m);
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friend const Point3 operator*(const Point3& v, const Matrix44& m);
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friend const Vector4 operator*(const Vector4& v, const Matrix44& m);
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friend const Matrix44 operator*(const Matrix44& a, const Matrix44& b);
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friend const Matrix44 operator*(const Scalar& s, const Matrix44& m);
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friend const Matrix44 operator*(const Matrix44& m, const Scalar& s);
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friend const Matrix44 operator+(const Matrix44& a, const Matrix44& b);
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friend const Matrix44 operator-(const Matrix44& a, const Matrix44& b);
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friend const Matrix44 Transpose(const Matrix44& m);
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friend const Matrix44 Inv(const Matrix44& m);
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};
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////////////////////////////////////////////////////////////////////////////////
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// Transform
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__declspec(align(16)) class Transform
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{
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private:
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Matrix33 m_rotation;
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Point3 m_translation;
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public:
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// constructors
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Transform();
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Transform(const Matrix33& xyz, const Point3& w);
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Transform(const Vector3& x, const Vector3& y, const Vector3& z, const Point3& w);
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// explicit constructors
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explicit Transform(const Maths::IdentityTag&);
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// assignment
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const Transform& operator=(const Transform& m);
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// assignment to constant
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const Transform& operator=(const Maths::IdentityTag&);
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// element access
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Matrix33& GetRotation();
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const Matrix33& GetRotation() const;
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void SetRotation(const Matrix33& m);
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void SetRotation(const Quat& q);
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Point3& GetTranslation();
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const Point3& GetTranslation() const;
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void SetTranslation(const Point3& p);
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Vector3& GetAxisX();
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const Vector3& GetAxisX() const;
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Vector3& GetAxisY();
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const Vector3& GetAxisY() const;
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Vector3& GetAxisZ();
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const Vector3& GetAxisZ() const;
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// operations
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friend const Vector3 operator*(const Vector3& v, const Transform& m);
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friend const Point3 operator*(const Point3& v, const Transform& m);
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friend const Transform operator*(const Transform& v, const Transform& m);
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friend const Transform Inv(const Transform& m);
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};
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#include "matrix.inl"
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#endif //#ifdef WIN32
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#endif //BULLET_MATRIX_H
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