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more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

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removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
This commit is contained in:
ejcoumans
2006-09-30 01:36:39 +00:00
parent 14397a2f72
commit d38549aa54
37 changed files with 317 additions and 995 deletions
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56
src/LinearMath/btTransform.h
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@@ -41,37 +41,26 @@ public:
explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
: m_basis(q),
m_origin(c),
m_type(RIGID)
m_origin(c)
{}
explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)),
unsigned int type = AFFINE)
: m_basis(b),
m_origin(c),
m_type(type)
m_origin(c)
{}
SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
m_type = t1.m_type | t2.m_type;
}
void multInverseLeft(const btTransform& t1, const btTransform& t2) {
btVector3 v = t2.m_origin - t1.m_origin;
if (t1.m_type & SCALING) {
btMatrix3x3 inv = t1.m_basis.inverse();
m_basis = inv * t2.m_basis;
m_origin = inv * v;
}
else {
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
m_type = t1.m_type | t2.m_type;
m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
}
SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
@@ -102,7 +91,6 @@ public:
{
m_basis.setValue(m);
m_origin.setValue(&m[12]);
m_type = AFFINE;
}
@@ -126,7 +114,6 @@ public:
SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
{
m_origin = origin;
m_type |= TRANSLATION;
}
SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
@@ -136,50 +123,36 @@ public:
SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
{
m_basis = basis;
m_type |= LINEAR;
}
SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
{
m_basis.setRotation(q);
m_type = (m_type & ~LINEAR) | ROTATION;
}
SIMD_FORCE_INLINE void scale(const btVector3& scaling)
{
m_basis = m_basis.scaled(scaling);
m_type |= SCALING;
}
void setIdentity()
{
m_basis.setIdentity();
m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
m_type = 0x0;
}
SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
btTransform& operator*=(const btTransform& t)
{
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
m_type |= t.m_type;
return *this;
}
btTransform inverse() const
{
if (m_type)
{
btMatrix3x3 inv = (m_type & SCALING) ?
m_basis.inverse() :
m_basis.transpose();
return btTransform(inv, inv * -m_origin, m_type);
}
return *this;
btMatrix3x3 inv = m_basis.transpose();
return btTransform(inv, inv * -m_origin);
}
btTransform inverseTimes(const btTransform& t) const;
@@ -190,7 +163,6 @@ private:
btMatrix3x3 m_basis;
btVector3 m_origin;
unsigned int m_type;
};
@@ -205,25 +177,15 @@ SIMD_FORCE_INLINE btTransform
btTransform::inverseTimes(const btTransform& t) const
{
btVector3 v = t.getOrigin() - m_origin;
if (m_type & SCALING)
{
btMatrix3x3 inv = m_basis.inverse();
return btTransform(inv * t.getBasis(), inv * v,
m_type | t.m_type);
}
else
{
return btTransform(m_basis.transposeTimes(t.m_basis),
v * m_basis, m_type | t.m_type);
}
v * m_basis);
}
SIMD_FORCE_INLINE btTransform
btTransform::operator*(const btTransform& t) const
{
return btTransform(m_basis * t.m_basis,
(*this)(t.m_origin),
m_type | t.m_type);
(*this)(t.m_origin));
}