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Several changes to sync Bullet trunk with PlayStation 3 spubullet version

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Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
2010-07-08 17:02:38 +00:00
parent 76a58e1f4e
commit fbc17731ec
63 changed files with 10363 additions and 522 deletions
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23
src/LinearMath/btVector3.h
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@@ -667,23 +667,32 @@ SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
vector = swappedVec;
}
SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
template <class T>
SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
{
if (btFabs(n.z()) > SIMDSQRT12) {
if (btFabs(n[2]) > SIMDSQRT12) {
// choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2];
btScalar k = btRecipSqrt (a);
p.setValue(0,-n[2]*k,n[1]*k);
p[0] = 0;
p[1] = -n[2]*k;
p[2] = n[1]*k;
// set q = n x p
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
q[0] = a*k;
q[1] = -n[0]*p[2];
q[2] = n[0]*p[1];
}
else {
// choose p in x-y plane
btScalar a = n.x()*n.x() + n.y()*n.y();
btScalar a = n[0]*n[0] + n[1]*n[1];
btScalar k = btRecipSqrt (a);
p.setValue(-n.y()*k,n.x()*k,0);
p[0] = -n[1]*k;
p[1] = n[0]*k;
p[2] = 0;
// set q = n x p
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
q[0] = -n[2]*p[1];
q[1] = n[2]*p[0];
q[2] = a*k;
}
}