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added ConstraintSolver/btConeTwistConstraint.cpp to allow for ragdolls

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improved hinge constraint: adds limits
added btAtan2Fast
quaternion helper functions
All thanks to Starbreeze Studios / Marcus Hennix, Marten Svanfeldt
This commit is contained in:
ejcoumans
2007-07-05 23:17:13 +00:00
parent 7c5164baaf
commit e4363b6e2b
7 changed files with 723 additions and 53 deletions
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17
src/LinearMath/btScalar.h
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@@ -120,7 +120,6 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
#endif
#define SIMD_2_PI btScalar(6.283185307179586232)
#define SIMD_PI (SIMD_2_PI * btScalar(0.5))
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
@@ -135,6 +134,22 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
#define SIMD_INFINITY FLT_MAX
#endif
SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x)
{
btScalar coeff_1 = SIMD_PI / 4.0f;
btScalar coeff_2 = 3.0f * coeff_1;
btScalar abs_y = btFabs(y);
btScalar angle;
if (x >= 0.0f) {
btScalar r = (x - abs_y) / (x + abs_y);
angle = coeff_1 - coeff_1 * r;
} else {
btScalar r = (x + abs_y) / (abs_y - x);
angle = coeff_2 - coeff_1 * r;
}
return (y < 0.0f) ? -angle : angle;
}
SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; }
SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) {