Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -15,7 +15,6 @@ subject to the following restrictions:
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//original author: Erwin Coumans
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*/
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#ifndef MATRIX4x4_H
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#define MATRIX4x4_H
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@@ -23,55 +22,56 @@ subject to the following restrictions:
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#include "LinearMath/btQuaternion.h"
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///This 4x4 matrix class is extremely limited, just created for the purpose of accumulating transform matrices in COLLADA .dae files
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ATTRIBUTE_ALIGNED16(class) btMatrix4x4
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ATTRIBUTE_ALIGNED16(class)
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btMatrix4x4
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{
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btVector4 m_el[4];
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public:
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public:
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btMatrix4x4()
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{
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}
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btMatrix4x4(const btScalar& xx, const btScalar& xy, const btScalar& xz,const btScalar& xw,
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const btScalar& yx, const btScalar& yy, const btScalar& yz,const btScalar& yw,
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const btScalar& zx, const btScalar& zy, const btScalar& zz, const btScalar& zw,
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const btScalar& wx, const btScalar& wy, const btScalar& wz, const btScalar& ww)
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{
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btMatrix4x4(const btScalar& xx, const btScalar& xy, const btScalar& xz, const btScalar& xw,
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const btScalar& yx, const btScalar& yy, const btScalar& yz, const btScalar& yw,
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const btScalar& zx, const btScalar& zy, const btScalar& zz, const btScalar& zw,
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const btScalar& wx, const btScalar& wy, const btScalar& wz, const btScalar& ww)
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{
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setValue(xx, xy, xz, xw,
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yx, yy, yz, yw,
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zx, zy, zz,zw,
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wx, wy, wz,ww);
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yx, yy, yz, yw,
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zx, zy, zz, zw,
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wx, wy, wz, ww);
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}
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~btMatrix4x4()
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{
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}
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inline void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,const btScalar& xw,
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const btScalar& yx, const btScalar& yy, const btScalar& yz,const btScalar& yw,
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const btScalar& zx, const btScalar& zy, const btScalar& zz, const btScalar& zw,
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const btScalar& wx, const btScalar& wy, const btScalar& wz, const btScalar& ww)
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{
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m_el[0].setValue(xx,xy,xz,xw);
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m_el[1].setValue(yx,yy,yz,yw);
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m_el[2].setValue(zx,zy,zz,zw);
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m_el[3].setValue(wx,wy,wz,ww);
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inline void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz, const btScalar& xw,
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const btScalar& yx, const btScalar& yy, const btScalar& yz, const btScalar& yw,
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const btScalar& zx, const btScalar& zy, const btScalar& zz, const btScalar& zw,
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const btScalar& wx, const btScalar& wy, const btScalar& wz, const btScalar& ww)
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{
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m_el[0].setValue(xx, xy, xz, xw);
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m_el[1].setValue(yx, yy, yz, yw);
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m_el[2].setValue(zx, zy, zz, zw);
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m_el[3].setValue(wx, wy, wz, ww);
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}
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inline void setIdentity()
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{
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m_el[0].setValue(1,0,0,0);
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m_el[1].setValue(0,1,0,0);
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m_el[2].setValue(0,0,1,0);
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m_el[3].setValue(0,0,0,1);
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m_el[0].setValue(1, 0, 0, 0);
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m_el[1].setValue(0, 1, 0, 0);
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m_el[2].setValue(0, 0, 1, 0);
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m_el[3].setValue(0, 0, 0, 1);
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}
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inline void setPureRotation(const btQuaternion& orn)
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{
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setIdentity();
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btMatrix3x3 m3(orn);
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for (int i=0;i<3;i++)
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for (int i = 0; i < 3; i++)
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{
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for (int j=0;j<3;j++)
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for (int j = 0; j < 3; j++)
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{
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m_el[i][j] = m3[i][j];
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}
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@@ -80,78 +80,73 @@ ATTRIBUTE_ALIGNED16(class) btMatrix4x4
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inline void setPureScaling(const btVector3& scale)
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{
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m_el[0].setValue(scale[0],0,0,0);
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m_el[1].setValue(0,scale[1],0,0);
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m_el[2].setValue(0,0,scale[2],0);
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m_el[3].setValue(0,0,0,1);
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m_el[0].setValue(scale[0], 0, 0, 0);
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m_el[1].setValue(0, scale[1], 0, 0);
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m_el[2].setValue(0, 0, scale[2], 0);
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m_el[3].setValue(0, 0, 0, 1);
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}
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inline void setPureTranslation(const btVector3& pos)
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{
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m_el[0].setValue(1,0,0,pos[0]);
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m_el[1].setValue(0,1,0,pos[1]);
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m_el[2].setValue(0,0,1,pos[2]);
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m_el[3].setValue(0,0,0,1);
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m_el[0].setValue(1, 0, 0, pos[0]);
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m_el[1].setValue(0, 1, 0, pos[1]);
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m_el[2].setValue(0, 0, 1, pos[2]);
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m_el[3].setValue(0, 0, 0, 1);
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}
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SIMD_FORCE_INLINE const btVector4& operator[](int i) const
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{
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btFullAssert(0 <= i && i < 3);
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return m_el[i];
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return m_el[i];
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}
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SIMD_FORCE_INLINE btScalar tdotx(const btVector4& v) const
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SIMD_FORCE_INLINE btScalar tdotx(const btVector4& v) const
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{
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return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z() + m_el[3].x()* v.w();
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return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z() + m_el[3].x() * v.w();
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}
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SIMD_FORCE_INLINE btScalar tdoty(const btVector4& v) const
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SIMD_FORCE_INLINE btScalar tdoty(const btVector4& v) const
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{
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return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z() + m_el[3].y() * v.w();
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}
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SIMD_FORCE_INLINE btScalar tdotz(const btVector4& v) const
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SIMD_FORCE_INLINE btScalar tdotz(const btVector4& v) const
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{
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return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z() + m_el[3].z() * v.w();
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}
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SIMD_FORCE_INLINE btScalar tdotw(const btVector4& v) const
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SIMD_FORCE_INLINE btScalar tdotw(const btVector4& v) const
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{
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return m_el[0].w() * v.x() + m_el[1].w() * v.y() + m_el[2].w() * v.z() + m_el[3].w() * v.w();
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}
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SIMD_FORCE_INLINE btMatrix4x4 &
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SIMD_FORCE_INLINE btMatrix4x4&
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operator*=(const btMatrix4x4& m)
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{
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setValue(
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m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),m.tdotw(m_el[0]),
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m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),m.tdotw(m_el[1]),
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m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]),m.tdotw(m_el[2]),
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m.tdotx(m_el[3]), m.tdoty(m_el[3]), m.tdotz(m_el[3]),m.tdotw(m_el[3]));
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m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]), m.tdotw(m_el[0]),
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m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]), m.tdotw(m_el[1]),
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m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]), m.tdotw(m_el[2]),
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m.tdotx(m_el[3]), m.tdoty(m_el[3]), m.tdotz(m_el[3]), m.tdotw(m_el[3]));
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return *this;
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}
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};
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inline btScalar btDot4(const btVector4& v0, const btVector4& v1)
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{
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return v0.x()*v1.x()+v0.y()*v1.y()+v0.z()*v1.z()+v0.w()*v1.w();
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return v0.x() * v1.x() + v0.y() * v1.y() + v0.z() * v1.z() + v0.w() * v1.w();
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}
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SIMD_FORCE_INLINE btVector3
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operator*(const btMatrix4x4& m, const btVector3& v1)
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SIMD_FORCE_INLINE btVector3
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operator*(const btMatrix4x4& m, const btVector3& v1)
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{
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btVector4 v(v1[0],v1[1],v1[2],1);
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return btVector3(btDot4(m[0],v), btDot4(m[1],v), btDot4(m[2],v));
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btVector4 v(v1[0], v1[1], v1[2], 1);
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return btVector3(btDot4(m[0], v), btDot4(m[1], v), btDot4(m[2], v));
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}
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SIMD_FORCE_INLINE btMatrix4x4
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operator*(const btMatrix4x4& m1, btMatrix4x4& m2)
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{
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return btMatrix4x4(
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m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),m2.tdotw(m1[0]),
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m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),m2.tdotw(m1[1]),
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m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]),m2.tdotw(m1[2]),
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m2.tdotx(m1[3]), m2.tdoty(m1[3]), m2.tdotz(m1[3]),m2.tdotw(m1[3]));
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}
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SIMD_FORCE_INLINE btMatrix4x4
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operator*(const btMatrix4x4& m1, btMatrix4x4& m2)
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{
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return btMatrix4x4(
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m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]), m2.tdotw(m1[0]),
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m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]), m2.tdotw(m1[1]),
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m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]), m2.tdotw(m1[2]),
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m2.tdotx(m1[3]), m2.tdoty(m1[3]), m2.tdotz(m1[3]), m2.tdotw(m1[3]));
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}
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#endif //MATRIX4x4_H
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#endif //MATRIX4x4_H
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