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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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55
src/Bullet3Common/b3Transform.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.
@@ -13,7 +13,6 @@ subject to the following restrictions:
*/
#ifndef B3_TRANSFORM_H
#define B3_TRANSFORM_H
@@ -31,7 +30,7 @@ subject to the following restrictions:
/**@brief The b3Transform class supports rigid transforms with only translation and rotation and no scaling/shear.
*It can be used in combination with b3Vector3, b3Quaternion and b3Matrix3x3 linear algebra classes. */
ATTRIBUTE_ALIGNED16(class) b3Transform {
B3_ATTRIBUTE_ALIGNED16(class) b3Transform {
///Storage for the rotation
b3Matrix3x3 m_basis;
@@ -45,7 +44,7 @@ public:
/**@brief Constructor from b3Quaternion (optional b3Vector3 )
* @param q Rotation from quaternion
* @param c Translation from Vector (default 0,0,0) */
explicit SIMD_FORCE_INLINE b3Transform(const b3Quaternion& q,
explicit B3_FORCE_INLINE b3Transform(const b3Quaternion& q,
const b3Vector3& c = b3Vector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
: m_basis(q),
m_origin(c)
@@ -54,19 +53,19 @@ public:
/**@brief Constructor from b3Matrix3x3 (optional b3Vector3)
* @param b Rotation from Matrix
* @param c Translation from Vector default (0,0,0)*/
explicit SIMD_FORCE_INLINE b3Transform(const b3Matrix3x3& b,
explicit B3_FORCE_INLINE b3Transform(const b3Matrix3x3& b,
const b3Vector3& c = b3Vector3(b3Scalar(0), b3Scalar(0), b3Scalar(0)))
: m_basis(b),
m_origin(c)
{}
/**@brief Copy constructor */
SIMD_FORCE_INLINE b3Transform (const b3Transform& other)
B3_FORCE_INLINE b3Transform (const b3Transform& other)
: m_basis(other.m_basis),
m_origin(other.m_origin)
{
}
/**@brief Assignment Operator */
SIMD_FORCE_INLINE b3Transform& operator=(const b3Transform& other)
B3_FORCE_INLINE b3Transform& operator=(const b3Transform& other)
{
m_basis = other.m_basis;
m_origin = other.m_origin;
@@ -78,7 +77,7 @@ public:
* @param t1 Transform 1
* @param t2 Transform 2
* This = Transform1 * Transform2 */
SIMD_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2) {
B3_FORCE_INLINE void mult(const b3Transform& t1, const b3Transform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
}
@@ -91,32 +90,32 @@ public:
*/
/**@brief Return the transform of the vector */
SIMD_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const
B3_FORCE_INLINE b3Vector3 operator()(const b3Vector3& x) const
{
return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
}
/**@brief Return the transform of the vector */
SIMD_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const
B3_FORCE_INLINE b3Vector3 operator*(const b3Vector3& x) const
{
return (*this)(x);
}
/**@brief Return the transform of the b3Quaternion */
SIMD_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const
B3_FORCE_INLINE b3Quaternion operator*(const b3Quaternion& q) const
{
return getRotation() * q;
}
/**@brief Return the basis matrix for the rotation */
SIMD_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; }
B3_FORCE_INLINE b3Matrix3x3& getBasis() { return m_basis; }
/**@brief Return the basis matrix for the rotation */
SIMD_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; }
B3_FORCE_INLINE const b3Matrix3x3& getBasis() const { return m_basis; }
/**@brief Return the origin vector translation */
SIMD_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; }
B3_FORCE_INLINE b3Vector3& getOrigin() { return m_origin; }
/**@brief Return the origin vector translation */
SIMD_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; }
B3_FORCE_INLINE const b3Vector3& getOrigin() const { return m_origin; }
/**@brief Return a quaternion representing the rotation */
b3Quaternion getRotation() const {
@@ -147,22 +146,22 @@ public:
/**@brief Set the translational element
* @param origin The vector to set the translation to */
SIMD_FORCE_INLINE void setOrigin(const b3Vector3& origin)
B3_FORCE_INLINE void setOrigin(const b3Vector3& origin)
{
m_origin = origin;
}
SIMD_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const;
B3_FORCE_INLINE b3Vector3 invXform(const b3Vector3& inVec) const;
/**@brief Set the rotational element by b3Matrix3x3 */
SIMD_FORCE_INLINE void setBasis(const b3Matrix3x3& basis)
B3_FORCE_INLINE void setBasis(const b3Matrix3x3& basis)
{
m_basis = basis;
}
/**@brief Set the rotational element by b3Quaternion */
SIMD_FORCE_INLINE void setRotation(const b3Quaternion& q)
B3_FORCE_INLINE void setRotation(const b3Quaternion& q)
{
m_basis.setRotation(q);
}
@@ -219,14 +218,14 @@ public:
};
SIMD_FORCE_INLINE b3Vector3
B3_FORCE_INLINE b3Vector3
b3Transform::invXform(const b3Vector3& inVec) const
{
b3Vector3 v = inVec - m_origin;
return (m_basis.transpose() * v);
}
SIMD_FORCE_INLINE b3Transform
B3_FORCE_INLINE b3Transform
b3Transform::inverseTimes(const b3Transform& t) const
{
b3Vector3 v = t.getOrigin() - m_origin;
@@ -234,7 +233,7 @@ b3Transform::inverseTimes(const b3Transform& t) const
v * m_basis);
}
SIMD_FORCE_INLINE b3Transform
B3_FORCE_INLINE b3Transform
b3Transform::operator*(const b3Transform& t) const
{
return b3Transform(m_basis * t.m_basis,
@@ -242,7 +241,7 @@ b3Transform::operator*(const b3Transform& t) const
}
/**@brief Test if two transforms have all elements equal */
SIMD_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2)
B3_FORCE_INLINE bool operator==(const b3Transform& t1, const b3Transform& t2)
{
return ( t1.getBasis() == t2.getBasis() &&
t1.getOrigin() == t2.getOrigin() );
@@ -264,32 +263,32 @@ struct b3TransformDoubleData
SIMD_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const
B3_FORCE_INLINE void b3Transform::serialize(b3TransformData& dataOut) const
{
m_basis.serialize(dataOut.m_basis);
m_origin.serialize(dataOut.m_origin);
}
SIMD_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
B3_FORCE_INLINE void b3Transform::serializeFloat(b3TransformFloatData& dataOut) const
{
m_basis.serializeFloat(dataOut.m_basis);
m_origin.serializeFloat(dataOut.m_origin);
}
SIMD_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn)
B3_FORCE_INLINE void b3Transform::deSerialize(const b3TransformData& dataIn)
{
m_basis.deSerialize(dataIn.m_basis);
m_origin.deSerialize(dataIn.m_origin);
}
SIMD_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
B3_FORCE_INLINE void b3Transform::deSerializeFloat(const b3TransformFloatData& dataIn)
{
m_basis.deSerializeFloat(dataIn.m_basis);
m_origin.deSerializeFloat(dataIn.m_origin);
}
SIMD_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
B3_FORCE_INLINE void b3Transform::deSerializeDouble(const b3TransformDoubleData& dataIn)
{
m_basis.deSerializeDouble(dataIn.m_basis);
m_origin.deSerializeDouble(dataIn.m_origin);