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rename to b3 convention, to avoid naming conflicts when using in combination with Bullet 2.x

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This commit is contained in:
erwincoumans
2013-04-29 15:19:36 -07:00
parent 7366e262fd
commit 55b69201a9
88 changed files with 1682 additions and 1584 deletions
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110
src/Bullet3Common/b3Matrix3x3.h
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@@ -1,5 +1,5 @@
/*
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org
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.
@@ -21,14 +21,14 @@ subject to the following restrictions:
#include <stdio.h>
#ifdef B3_USE_SSE
//const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
//const __m128 B3_ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f};
const __m128 B3_ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f};
#endif
#if defined(B3_USE_SSE) || defined(B3_USE_NEON)
const b3SimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
const b3SimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
const b3SimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f};
const b3SimdFloat4 B3_ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
#endif
#ifdef B3_USE_DOUBLE_PRECISION
@@ -40,7 +40,7 @@ const b3SimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f};
/**@brief The b3Matrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with b3Quaternion, b3Transform and b3Vector3.
* Make sure to only include a pure orthogonal matrix without scaling. */
ATTRIBUTE_ALIGNED16(class) b3Matrix3x3 {
B3_ATTRIBUTE_ALIGNED16(class) b3Matrix3x3 {
///Data storage for the matrix, each vector is a row of the matrix
b3Vector3 m_el[3];
@@ -71,14 +71,14 @@ public:
}
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
SIMD_FORCE_INLINE b3Matrix3x3 (const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2 )
B3_FORCE_INLINE b3Matrix3x3 (const b3SimdFloat4 v0, const b3SimdFloat4 v1, const b3SimdFloat4 v2 )
{
m_el[0].mVec128 = v0;
m_el[1].mVec128 = v1;
m_el[2].mVec128 = v2;
}
SIMD_FORCE_INLINE b3Matrix3x3 (const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2 )
B3_FORCE_INLINE b3Matrix3x3 (const b3Vector3& v0, const b3Vector3& v1, const b3Vector3& v2 )
{
m_el[0] = v0;
m_el[1] = v1;
@@ -86,7 +86,7 @@ public:
}
// Copy constructor
SIMD_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& rhs)
B3_FORCE_INLINE b3Matrix3x3(const b3Matrix3x3& rhs)
{
m_el[0].mVec128 = rhs.m_el[0].mVec128;
m_el[1].mVec128 = rhs.m_el[1].mVec128;
@@ -94,7 +94,7 @@ public:
}
// Assignment Operator
SIMD_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m)
B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& m)
{
m_el[0].mVec128 = m.m_el[0].mVec128;
m_el[1].mVec128 = m.m_el[1].mVec128;
@@ -106,7 +106,7 @@ public:
#else
/** @brief Copy constructor */
SIMD_FORCE_INLINE b3Matrix3x3 (const b3Matrix3x3& other)
B3_FORCE_INLINE b3Matrix3x3 (const b3Matrix3x3& other)
{
m_el[0] = other.m_el[0];
m_el[1] = other.m_el[1];
@@ -114,7 +114,7 @@ public:
}
/** @brief Assignment Operator */
SIMD_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other)
B3_FORCE_INLINE b3Matrix3x3& operator=(const b3Matrix3x3& other)
{
m_el[0] = other.m_el[0];
m_el[1] = other.m_el[1];
@@ -126,7 +126,7 @@ public:
/** @brief Get a column of the matrix as a vector
* @param i Column number 0 indexed */
SIMD_FORCE_INLINE b3Vector3 getColumn(int i) const
B3_FORCE_INLINE b3Vector3 getColumn(int i) const
{
return b3Vector3(m_el[0][i],m_el[1][i],m_el[2][i]);
}
@@ -134,7 +134,7 @@ public:
/** @brief Get a row of the matrix as a vector
* @param i Row number 0 indexed */
SIMD_FORCE_INLINE const b3Vector3& getRow(int i) const
B3_FORCE_INLINE const b3Vector3& getRow(int i) const
{
b3FullAssert(0 <= i && i < 3);
return m_el[i];
@@ -142,7 +142,7 @@ public:
/** @brief Get a mutable reference to a row of the matrix as a vector
* @param i Row number 0 indexed */
SIMD_FORCE_INLINE b3Vector3& operator[](int i)
B3_FORCE_INLINE b3Vector3& operator[](int i)
{
b3FullAssert(0 <= i && i < 3);
return m_el[i];
@@ -150,7 +150,7 @@ public:
/** @brief Get a const reference to a row of the matrix as a vector
* @param i Row number 0 indexed */
SIMD_FORCE_INLINE const b3Vector3& operator[](int i) const
B3_FORCE_INLINE const b3Vector3& operator[](int i) const
{
b3FullAssert(0 <= i && i < 3);
return m_el[i];
@@ -493,17 +493,17 @@ public:
roll = b3Scalar(b3Atan2(m_el[2].getY(), m_el[2].getZ()));
// on pitch = +/-HalfPI
if (b3Fabs(pitch)==SIMD_HALF_PI)
if (b3Fabs(pitch)==B3_HALF_PI)
{
if (yaw>0)
yaw-=SIMD_PI;
yaw-=B3_PI;
else
yaw+=SIMD_PI;
yaw+=B3_PI;
if (roll>0)
roll-=SIMD_PI;
roll-=B3_PI;
else
roll+=SIMD_PI;
roll+=B3_PI;
}
};
@@ -536,15 +536,15 @@ public:
b3Scalar delta = b3Atan2(m_el[0].getX(),m_el[0].getZ());
if (m_el[2].getX() > 0) //gimbal locked up
{
euler_out.pitch = SIMD_PI / b3Scalar(2.0);
euler_out2.pitch = SIMD_PI / b3Scalar(2.0);
euler_out.pitch = B3_PI / b3Scalar(2.0);
euler_out2.pitch = B3_PI / b3Scalar(2.0);
euler_out.roll = euler_out.pitch + delta;
euler_out2.roll = euler_out.pitch + delta;
}
else // gimbal locked down
{
euler_out.pitch = -SIMD_PI / b3Scalar(2.0);
euler_out2.pitch = -SIMD_PI / b3Scalar(2.0);
euler_out.pitch = -B3_PI / b3Scalar(2.0);
euler_out2.pitch = -B3_PI / b3Scalar(2.0);
euler_out.roll = -euler_out.pitch + delta;
euler_out2.roll = -euler_out.pitch + delta;
}
@@ -552,7 +552,7 @@ public:
else
{
euler_out.pitch = - b3Asin(m_el[2].getX());
euler_out2.pitch = SIMD_PI - euler_out.pitch;
euler_out2.pitch = B3_PI - euler_out.pitch;
euler_out.roll = b3Atan2(m_el[2].getY()/b3Cos(euler_out.pitch),
m_el[2].getZ()/b3Cos(euler_out.pitch));
@@ -608,15 +608,15 @@ public:
b3Matrix3x3 transposeTimes(const b3Matrix3x3& m) const;
b3Matrix3x3 timesTranspose(const b3Matrix3x3& m) const;
SIMD_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const
B3_FORCE_INLINE b3Scalar tdotx(const b3Vector3& v) const
{
return m_el[0].getX() * v.getX() + m_el[1].getX() * v.getY() + m_el[2].getX() * v.getZ();
}
SIMD_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const
B3_FORCE_INLINE b3Scalar tdoty(const b3Vector3& v) const
{
return m_el[0].getY() * v.getX() + m_el[1].getY() * v.getY() + m_el[2].getY() * v.getZ();
}
SIMD_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const
B3_FORCE_INLINE b3Scalar tdotz(const b3Vector3& v) const
{
return m_el[0].getZ() * v.getX() + m_el[1].getZ() * v.getY() + m_el[2].getZ() * v.getZ();
}
@@ -660,7 +660,7 @@ public:
b3Scalar t = threshold * (b3Fabs(m_el[0][0]) + b3Fabs(m_el[1][1]) + b3Fabs(m_el[2][2]));
if (max <= t)
{
if (max <= SIMD_EPSILON * t)
if (max <= B3_EPSILON * t)
{
return;
}
@@ -673,7 +673,7 @@ public:
b3Scalar theta2 = theta * theta;
b3Scalar cos;
b3Scalar sin;
if (theta2 * theta2 < b3Scalar(10 / SIMD_EPSILON))
if (theta2 * theta2 < b3Scalar(10 / B3_EPSILON))
{
t = (theta >= 0) ? 1 / (theta + b3Sqrt(1 + theta2))
: 1 / (theta - b3Sqrt(1 + theta2));
@@ -737,7 +737,7 @@ public:
};
SIMD_FORCE_INLINE b3Matrix3x3&
B3_FORCE_INLINE b3Matrix3x3&
b3Matrix3x3::operator*=(const b3Matrix3x3& m)
{
#if defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE)
@@ -827,7 +827,7 @@ b3Matrix3x3::operator*=(const b3Matrix3x3& m)
return *this;
}
SIMD_FORCE_INLINE b3Matrix3x3&
B3_FORCE_INLINE b3Matrix3x3&
b3Matrix3x3::operator+=(const b3Matrix3x3& m)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
@@ -849,7 +849,7 @@ b3Matrix3x3::operator+=(const b3Matrix3x3& m)
return *this;
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
operator*(const b3Matrix3x3& m, const b3Scalar & k)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -871,7 +871,7 @@ operator*(const b3Matrix3x3& m, const b3Scalar & k)
#endif
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
@@ -895,7 +895,7 @@ operator+(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
#endif
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
@@ -920,7 +920,7 @@ operator-(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
}
SIMD_FORCE_INLINE b3Matrix3x3&
B3_FORCE_INLINE b3Matrix3x3&
b3Matrix3x3::operator-=(const b3Matrix3x3& m)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
@@ -943,14 +943,14 @@ b3Matrix3x3::operator-=(const b3Matrix3x3& m)
}
SIMD_FORCE_INLINE b3Scalar
B3_FORCE_INLINE b3Scalar
b3Matrix3x3::determinant() const
{
return b3Triple((*this)[0], (*this)[1], (*this)[2]);
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::absolute() const
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -971,7 +971,7 @@ b3Matrix3x3::absolute() const
#endif
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::transpose() const
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -1008,7 +1008,7 @@ b3Matrix3x3::transpose() const
#endif
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::adjoint() const
{
return b3Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
@@ -1016,7 +1016,7 @@ b3Matrix3x3::adjoint() const
cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::inverse() const
{
b3Vector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
@@ -1028,7 +1028,7 @@ b3Matrix3x3::inverse() const
co.getZ() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -1084,7 +1084,7 @@ b3Matrix3x3::transposeTimes(const b3Matrix3x3& m) const
#endif
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -1137,7 +1137,7 @@ b3Matrix3x3::timesTranspose(const b3Matrix3x3& m) const
#endif
}
SIMD_FORCE_INLINE b3Vector3
B3_FORCE_INLINE b3Vector3
operator*(const b3Matrix3x3& m, const b3Vector3& v)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
@@ -1148,7 +1148,7 @@ operator*(const b3Matrix3x3& m, const b3Vector3& v)
}
SIMD_FORCE_INLINE b3Vector3
B3_FORCE_INLINE b3Vector3
operator*(const b3Vector3& v, const b3Matrix3x3& m)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -1188,7 +1188,7 @@ operator*(const b3Vector3& v, const b3Matrix3x3& m)
#endif
}
SIMD_FORCE_INLINE b3Matrix3x3
B3_FORCE_INLINE b3Matrix3x3
operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -1274,7 +1274,7 @@ operator*(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
}
/*
SIMD_FORCE_INLINE b3Matrix3x3 b3MultTransposeLeft(const b3Matrix3x3& m1, const b3Matrix3x3& m2) {
B3_FORCE_INLINE b3Matrix3x3 b3MultTransposeLeft(const b3Matrix3x3& m1, const b3Matrix3x3& m2) {
return b3Matrix3x3(
m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
@@ -1290,7 +1290,7 @@ m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
/**@brief Equality operator between two matrices
* It will test all elements are equal. */
SIMD_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
B3_FORCE_INLINE bool operator==(const b3Matrix3x3& m1, const b3Matrix3x3& m2)
{
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))
@@ -1327,32 +1327,32 @@ struct b3Matrix3x3DoubleData
SIMD_FORCE_INLINE void b3Matrix3x3::serialize(struct b3Matrix3x3Data& dataOut) const
B3_FORCE_INLINE void b3Matrix3x3::serialize(struct b3Matrix3x3Data& dataOut) const
{
for (int i=0;i<3;i++)
m_el[i].serialize(dataOut.m_el[i]);
}
SIMD_FORCE_INLINE void b3Matrix3x3::serializeFloat(struct b3Matrix3x3FloatData& dataOut) const
B3_FORCE_INLINE void b3Matrix3x3::serializeFloat(struct b3Matrix3x3FloatData& dataOut) const
{
for (int i=0;i<3;i++)
m_el[i].serializeFloat(dataOut.m_el[i]);
}
SIMD_FORCE_INLINE void b3Matrix3x3::deSerialize(const struct b3Matrix3x3Data& dataIn)
B3_FORCE_INLINE void b3Matrix3x3::deSerialize(const struct b3Matrix3x3Data& dataIn)
{
for (int i=0;i<3;i++)
m_el[i].deSerialize(dataIn.m_el[i]);
}
SIMD_FORCE_INLINE void b3Matrix3x3::deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn)
B3_FORCE_INLINE void b3Matrix3x3::deSerializeFloat(const struct b3Matrix3x3FloatData& dataIn)
{
for (int i=0;i<3;i++)
m_el[i].deSerializeFloat(dataIn.m_el[i]);
}
SIMD_FORCE_INLINE void b3Matrix3x3::deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn)
B3_FORCE_INLINE void b3Matrix3x3::deSerializeDouble(const struct b3Matrix3x3DoubleData& dataIn)
{
for (int i=0;i<3;i++)
m_el[i].deSerializeDouble(dataIn.m_el[i]);