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added getEulerZYX, thanks to Tully.Foote

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=124
fixed a few warnings (in double-precision mode)
This commit is contained in:
erwin.coumans
2008-11-04 09:48:42 +00:00
parent ee380bcd09
commit ccc63bbce7
2 changed files with 72 additions and 4 deletions
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8
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
View File

@@ -284,7 +284,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
/* fall through */
case BOX_SHAPE_PROXYTYPE:
{
float margin=convexShape->getMarginNV();
btScalar margin=convexShape->getMarginNV();
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
halfExtents += btVector3(margin,margin,margin);
const btTransform& t = xform;
@@ -298,7 +298,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
}
case CAPSULE_SHAPE_PROXYTYPE:
{
float margin=convexShape->getMarginNV();
btScalar margin=convexShape->getMarginNV();
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
//add the radius to y-axis to get full height
btScalar radius = halfExtents[0];
@@ -321,8 +321,8 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
}
case SPHERE_SHAPE_PROXYTYPE:
{
float radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
float margin = radius + convexShape->getMarginNV();
btScalar radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
btScalar margin = radius + convexShape->getMarginNV();
const btTransform& t = xform;
const btVector3& center = t.getOrigin();
btVector3 extent(margin,margin,margin);

68
src/LinearMath/btMatrix3x3.h
View File

@@ -274,6 +274,74 @@ class btMatrix3x3 {
};
/**@brief Get the matrix represented as euler angles around ZYX
* @param yaw Yaw around X axis
* @param pitch Pitch around Y axis
* @param roll around X axis
* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
{
struct Euler{btScalar yaw, pitch, roll;};
Euler euler_out;
Euler euler_out2; //second solution
//get the pointer to the raw data
// Check that pitch is not at a singularity
if (btFabs(m_el[2].x()) >= 1)
{
euler_out.yaw = 0;
euler_out2.yaw = 0;
// From difference of angles formula
double delta = btAtan2(m_el[0].x(),m_el[0].z());
if (m_el[2].x() > 0) //gimbal locked up
{
euler_out.pitch = SIMD_PI / 2.0;
euler_out2.pitch = SIMD_PI / 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 / 2.0;
euler_out2.pitch = -SIMD_PI / 2.0;
euler_out.roll = -euler_out.pitch + delta;
euler_out2.roll = -euler_out.pitch + delta;
}
}
else
{
euler_out.pitch = - btAsin(m_el[2].x());
euler_out2.pitch = SIMD_PI - euler_out.pitch;
euler_out.roll = btAtan2(m_el[2].y()/cos(euler_out.pitch),
m_el[2].z()/cos(euler_out.pitch));
euler_out2.roll = btAtan2(m_el[2].y()/cos(euler_out2.pitch),
m_el[2].z()/cos(euler_out2.pitch));
euler_out.yaw = btAtan2(m_el[1].x()/cos(euler_out.pitch),
m_el[0].x()/cos(euler_out.pitch));
euler_out2.yaw = btAtan2(m_el[1].x()/cos(euler_out2.pitch),
m_el[0].x()/cos(euler_out2.pitch));
}
if (solution_number == 1)
{ yaw = euler_out.yaw;
pitch = euler_out.pitch;
roll = euler_out.roll;
}
else
{ yaw = euler_out2.yaw;
pitch = euler_out2.pitch;
roll = euler_out2.roll;
}
return;
}
/**@brief Create a scaled copy of the matrix
* @param s Scaling vector The elements of the vector will scale each column */