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remove Cooper implicit (it was just for comparison, it is buggy)

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add btMatrix3x3::solve33, thanks to Erin Catto, and added safety against division by zero
This commit is contained in:
Erwin Coumans
2015-03-25 19:33:02 -07:00
parent 2ddd8f78c2
commit 9931dd9684
5 changed files with 40 additions and 114 deletions
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21
src/LinearMath/btMatrix3x3.h
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@@ -610,6 +610,27 @@ public:
/**@brief Return the inverse of the matrix */
btMatrix3x3 inverse() const;
/// Solve A * x = b, where b is a column vector. This is more efficient
/// than computing the inverse in one-shot cases.
///Solve33 is from Box2d, thanks to Erin Catto,
btVector3 solve33(const btVector3& b) const
{
btVector3 col1 = getColumn(0);
btVector3 col2 = getColumn(1);
btVector3 col3 = getColumn(2);
btScalar det = btDot(col1, btCross(col2, col3));
if (btFabs(det)>SIMD_EPSILON)
{
det = 1.0f / det;
}
btVector3 x;
x[0] = det * btDot(b, btCross(col2, col3));
x[1] = det * btDot(col1, btCross(b, col3));
x[2] = det * btDot(col1, btCross(col2, b));
return x;
}
btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;