diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h | 108 |
1 files changed, 43 insertions, 65 deletions
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h b/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h index 7b1fef32f8..ce6482b5a6 100644 --- a/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h +++ b/thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h @@ -4,7 +4,6 @@ #include "Bullet3Common/shared/b3Quat.h" - #ifdef __cplusplus #include "Bullet3Common/b3Matrix3x3.h" @@ -22,43 +21,41 @@ inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat) return mat.absolute(); } -#define b3GetRow(m,row) m.getRow(row) +#define b3GetRow(m, row) m.getRow(row) -__inline -b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b) +__inline b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b) { - return b*a; + return b * a; } - #else typedef struct { b3Float4 m_row[3]; -}b3Mat3x3; +} b3Mat3x3; #define b3Mat3x3ConstArg const b3Mat3x3 -#define b3GetRow(m,row) (m.m_row[row]) +#define b3GetRow(m, row) (m.m_row[row]) inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat) { - b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f); + b3Float4 quat2 = (b3Float4)(quat.x * quat.x, quat.y * quat.y, quat.z * quat.z, 0.f); b3Mat3x3 out; - out.m_row[0].x=1-2*quat2.y-2*quat2.z; - out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z; - out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y; + out.m_row[0].x = 1 - 2 * quat2.y - 2 * quat2.z; + out.m_row[0].y = 2 * quat.x * quat.y - 2 * quat.w * quat.z; + out.m_row[0].z = 2 * quat.x * quat.z + 2 * quat.w * quat.y; out.m_row[0].w = 0.f; - out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z; - out.m_row[1].y=1-2*quat2.x-2*quat2.z; - out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x; + out.m_row[1].x = 2 * quat.x * quat.y + 2 * quat.w * quat.z; + out.m_row[1].y = 1 - 2 * quat2.x - 2 * quat2.z; + out.m_row[1].z = 2 * quat.y * quat.z - 2 * quat.w * quat.x; out.m_row[1].w = 0.f; - out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y; - out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x; - out.m_row[2].z=1-2*quat2.x-2*quat2.y; + out.m_row[2].x = 2 * quat.x * quat.z - 2 * quat.w * quat.y; + out.m_row[2].y = 2 * quat.y * quat.z + 2 * quat.w * quat.x; + out.m_row[2].z = 1 - 2 * quat2.x - 2 * quat2.y; out.m_row[2].w = 0.f; return out; @@ -73,27 +70,19 @@ inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn) return out; } +__inline b3Mat3x3 mtZero(); -__inline -b3Mat3x3 mtZero(); - -__inline -b3Mat3x3 mtIdentity(); +__inline b3Mat3x3 mtIdentity(); -__inline -b3Mat3x3 mtTranspose(b3Mat3x3 m); +__inline b3Mat3x3 mtTranspose(b3Mat3x3 m); -__inline -b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b); +__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b); -__inline -b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b); +__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b); -__inline -b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b); +__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b); -__inline -b3Mat3x3 mtZero() +__inline b3Mat3x3 mtZero() { b3Mat3x3 m; m.m_row[0] = (b3Float4)(0.f); @@ -102,18 +91,16 @@ b3Mat3x3 mtZero() return m; } -__inline -b3Mat3x3 mtIdentity() +__inline b3Mat3x3 mtIdentity() { b3Mat3x3 m; - m.m_row[0] = (b3Float4)(1,0,0,0); - m.m_row[1] = (b3Float4)(0,1,0,0); - m.m_row[2] = (b3Float4)(0,0,1,0); + m.m_row[0] = (b3Float4)(1, 0, 0, 0); + m.m_row[1] = (b3Float4)(0, 1, 0, 0); + m.m_row[2] = (b3Float4)(0, 0, 1, 0); return m; } -__inline -b3Mat3x3 mtTranspose(b3Mat3x3 m) +__inline b3Mat3x3 mtTranspose(b3Mat3x3 m) { b3Mat3x3 out; out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f); @@ -122,58 +109,49 @@ b3Mat3x3 mtTranspose(b3Mat3x3 m) return out; } -__inline -b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b) +__inline b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b) { b3Mat3x3 transB; - transB = mtTranspose( b ); + transB = mtTranspose(b); b3Mat3x3 ans; // why this doesn't run when 0ing in the for{} a.m_row[0].w = 0.f; a.m_row[1].w = 0.f; a.m_row[2].w = 0.f; - for(int i=0; i<3; i++) + for (int i = 0; i < 3; i++) { -// a.m_row[i].w = 0.f; - ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]); - ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]); - ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]); + // a.m_row[i].w = 0.f; + ans.m_row[i].x = b3Dot3F4(a.m_row[i], transB.m_row[0]); + ans.m_row[i].y = b3Dot3F4(a.m_row[i], transB.m_row[1]); + ans.m_row[i].z = b3Dot3F4(a.m_row[i], transB.m_row[2]); ans.m_row[i].w = 0.f; } return ans; } -__inline -b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b) +__inline b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b) { b3Float4 ans; - ans.x = b3Dot3F4( a.m_row[0], b ); - ans.y = b3Dot3F4( a.m_row[1], b ); - ans.z = b3Dot3F4( a.m_row[2], b ); + ans.x = b3Dot3F4(a.m_row[0], b); + ans.y = b3Dot3F4(a.m_row[1], b); + ans.z = b3Dot3F4(a.m_row[2], b); ans.w = 0.f; return ans; } -__inline -b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b) +__inline b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b) { b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0); b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0); b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0); b3Float4 ans; - ans.x = b3Dot3F4( a, colx ); - ans.y = b3Dot3F4( a, coly ); - ans.z = b3Dot3F4( a, colz ); + ans.x = b3Dot3F4(a, colx); + ans.y = b3Dot3F4(a, coly); + ans.z = b3Dot3F4(a, colz); return ans; } - #endif - - - - - -#endif //B3_MAT3x3_H +#endif //B3_MAT3x3_H |