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-rw-r--r--thirdparty/bullet/Bullet3Common/shared/b3Float4.h137
-rw-r--r--thirdparty/bullet/Bullet3Common/shared/b3Int2.h15
-rw-r--r--thirdparty/bullet/Bullet3Common/shared/b3Int4.h33
-rw-r--r--thirdparty/bullet/Bullet3Common/shared/b3Mat3x3.h108
-rw-r--r--thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h10
-rw-r--r--thirdparty/bullet/Bullet3Common/shared/b3Quat.h71
6 files changed, 172 insertions, 202 deletions
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h b/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
index 5e4b95bcee..d8a9f47411 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Float4.h
@@ -4,94 +4,87 @@
#include "Bullet3Common/shared/b3PlatformDefinitions.h"
#ifdef __cplusplus
- #include "Bullet3Common/b3Vector3.h"
- #define b3Float4 b3Vector3
- #define b3Float4ConstArg const b3Vector3&
- #define b3Dot3F4 b3Dot
- #define b3Cross3 b3Cross
- #define b3MakeFloat4 b3MakeVector3
- inline b3Vector3 b3Normalized(const b3Vector3& vec)
- {
- return vec.normalized();
- }
-
- inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
- {
- return v.normalized();
- }
-
- inline b3Float4 b3MaxFloat4 (const b3Float4& a, const b3Float4& b)
- {
- b3Float4 tmp = a;
- tmp.setMax(b);
- return tmp;
- }
- inline b3Float4 b3MinFloat4 (const b3Float4& a, const b3Float4& b)
- {
- b3Float4 tmp = a;
- tmp.setMin(b);
- return tmp;
- }
+#include "Bullet3Common/b3Vector3.h"
+#define b3Float4 b3Vector3
+#define b3Float4ConstArg const b3Vector3&
+#define b3Dot3F4 b3Dot
+#define b3Cross3 b3Cross
+#define b3MakeFloat4 b3MakeVector3
+inline b3Vector3 b3Normalized(const b3Vector3& vec)
+{
+ return vec.normalized();
+}
+inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
+{
+ return v.normalized();
+}
+inline b3Float4 b3MaxFloat4(const b3Float4& a, const b3Float4& b)
+{
+ b3Float4 tmp = a;
+ tmp.setMax(b);
+ return tmp;
+}
+inline b3Float4 b3MinFloat4(const b3Float4& a, const b3Float4& b)
+{
+ b3Float4 tmp = a;
+ tmp.setMin(b);
+ return tmp;
+}
#else
- typedef float4 b3Float4;
- #define b3Float4ConstArg const b3Float4
- #define b3MakeFloat4 (float4)
- float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)
- {
- float4 a1 = b3MakeFloat4(v0.xyz,0.f);
- float4 b1 = b3MakeFloat4(v1.xyz,0.f);
- return dot(a1, b1);
- }
- b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)
- {
- float4 a1 = b3MakeFloat4(v0.xyz,0.f);
- float4 b1 = b3MakeFloat4(v1.xyz,0.f);
- return cross(a1, b1);
- }
- #define b3MinFloat4 min
- #define b3MaxFloat4 max
-
- #define b3Normalized(a) normalize(a)
+typedef float4 b3Float4;
+#define b3Float4ConstArg const b3Float4
+#define b3MakeFloat4 (float4)
+float b3Dot3F4(b3Float4ConstArg v0, b3Float4ConstArg v1)
+{
+ float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
+ float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
+ return dot(a1, b1);
+}
+b3Float4 b3Cross3(b3Float4ConstArg v0, b3Float4ConstArg v1)
+{
+ float4 a1 = b3MakeFloat4(v0.xyz, 0.f);
+ float4 b1 = b3MakeFloat4(v1.xyz, 0.f);
+ return cross(a1, b1);
+}
+#define b3MinFloat4 min
+#define b3MaxFloat4 max
-#endif
+#define b3Normalized(a) normalize(a)
+#endif
-
inline bool b3IsAlmostZero(b3Float4ConstArg v)
{
- if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)
+ if (b3Fabs(v.x) > 1e-6 || b3Fabs(v.y) > 1e-6 || b3Fabs(v.z) > 1e-6)
return false;
return true;
}
-
-inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )
+inline int b3MaxDot(b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut)
{
- float maxDot = -B3_INFINITY;
- int i = 0;
- int ptIndex = -1;
- for( i = 0; i < vecLen; i++ )
- {
- float dot = b3Dot3F4(vecArray[i],vec);
-
- if( dot > maxDot )
- {
- maxDot = dot;
- ptIndex = i;
- }
- }
- b3Assert(ptIndex>=0);
- if (ptIndex<0)
+ float maxDot = -B3_INFINITY;
+ int i = 0;
+ int ptIndex = -1;
+ for (i = 0; i < vecLen; i++)
+ {
+ float dot = b3Dot3F4(vecArray[i], vec);
+
+ if (dot > maxDot)
+ {
+ maxDot = dot;
+ ptIndex = i;
+ }
+ }
+ b3Assert(ptIndex >= 0);
+ if (ptIndex < 0)
{
ptIndex = 0;
}
- *dotOut = maxDot;
- return ptIndex;
+ *dotOut = maxDot;
+ return ptIndex;
}
-
-
-#endif //B3_FLOAT4_H
+#endif //B3_FLOAT4_H
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h b/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
index f1d01f81a5..7b84de4436 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Int2.h
@@ -20,11 +20,10 @@ subject to the following restrictions:
struct b3UnsignedInt2
{
- union
- {
+ union {
struct
{
- unsigned int x,y;
+ unsigned int x, y;
};
struct
{
@@ -35,11 +34,10 @@ struct b3UnsignedInt2
struct b3Int2
{
- union
- {
+ union {
struct
{
- int x,y;
+ int x, y;
};
struct
{
@@ -51,7 +49,8 @@ struct b3Int2
inline b3Int2 b3MakeInt2(int x, int y)
{
b3Int2 v;
- v.s[0] = x; v.s[1] = y;
+ v.s[0] = x;
+ v.s[1] = y;
return v;
}
#else
@@ -60,5 +59,5 @@ inline b3Int2 b3MakeInt2(int x, int y)
#define b3Int2 int2
#define b3MakeInt2 (int2)
-#endif //__cplusplus
+#endif //__cplusplus
#endif \ No newline at end of file
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h b/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
index aa02d6beef..f6a1754245 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Int4.h
@@ -5,16 +5,15 @@
#include "Bullet3Common/b3Scalar.h"
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3UnsignedInt4
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3UnsignedInt4
{
B3_DECLARE_ALIGNED_ALLOCATOR();
- union
- {
+ union {
struct
{
- unsigned int x,y,z,w;
+ unsigned int x, y, z, w;
};
struct
{
@@ -23,15 +22,15 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3UnsignedInt4
};
};
-B3_ATTRIBUTE_ALIGNED16(struct) b3Int4
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3Int4
{
B3_DECLARE_ALIGNED_ALLOCATOR();
- union
- {
+ union {
struct
{
- int x,y,z,w;
+ int x, y, z, w;
};
struct
{
@@ -43,26 +42,30 @@ B3_ATTRIBUTE_ALIGNED16(struct) b3Int4
B3_FORCE_INLINE b3Int4 b3MakeInt4(int x, int y, int z, int w = 0)
{
b3Int4 v;
- v.s[0] = x; v.s[1] = y; v.s[2] = z; v.s[3] = w;
+ v.s[0] = x;
+ v.s[1] = y;
+ v.s[2] = z;
+ v.s[3] = w;
return v;
}
B3_FORCE_INLINE b3UnsignedInt4 b3MakeUnsignedInt4(unsigned int x, unsigned int y, unsigned int z, unsigned int w = 0)
{
b3UnsignedInt4 v;
- v.s[0] = x; v.s[1] = y; v.s[2] = z; v.s[3] = w;
+ v.s[0] = x;
+ v.s[1] = y;
+ v.s[2] = z;
+ v.s[3] = w;
return v;
}
#else
-
#define b3UnsignedInt4 uint4
#define b3Int4 int4
#define b3MakeInt4 (int4)
#define b3MakeUnsignedInt4 (uint4)
+#endif //__cplusplus
-#endif //__cplusplus
-
-#endif //B3_INT4_H
+#endif //B3_INT4_H
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
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h b/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
index 1c133fb088..b72bee9310 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3PlatformDefinitions.h
@@ -8,18 +8,18 @@ struct MyTest
#ifdef __cplusplus
//#define b3ConstArray(a) const b3AlignedObjectArray<a>&
-#define b3ConstArray(a) const a*
+#define b3ConstArray(a) const a *
#define b3AtomicInc(a) ((*a)++)
-inline int b3AtomicAdd (volatile int *p, int val)
+inline int b3AtomicAdd(volatile int *p, int val)
{
int oldValue = *p;
- int newValue = oldValue+val;
+ int newValue = oldValue + val;
*p = newValue;
return oldValue;
}
-#define __global
+#define __global
#define B3_STATIC static
#else
@@ -27,7 +27,7 @@ inline int b3AtomicAdd (volatile int *p, int val)
#define B3_LARGE_FLOAT 1e18f
#define B3_INFINITY 1e18f
#define b3Assert(a)
-#define b3ConstArray(a) __global const a*
+#define b3ConstArray(a) __global const a *
#define b3AtomicInc atomic_inc
#define b3AtomicAdd atomic_add
#define b3Fabs fabs
diff --git a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h b/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
index f262d5e08f..940610c77b 100644
--- a/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
+++ b/thirdparty/bullet/Bullet3Common/shared/b3Quat.h
@@ -5,35 +5,34 @@
#include "Bullet3Common/shared/b3Float4.h"
#ifdef __cplusplus
- #include "Bullet3Common/b3Quaternion.h"
- #include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
- #define b3Quat b3Quaternion
- #define b3QuatConstArg const b3Quaternion&
- inline b3Quat b3QuatInverse(b3QuatConstArg orn)
- {
- return orn.inverse();
- }
+#define b3Quat b3Quaternion
+#define b3QuatConstArg const b3Quaternion&
+inline b3Quat b3QuatInverse(b3QuatConstArg orn)
+{
+ return orn.inverse();
+}
- inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
- {
- b3Transform tr;
- tr.setOrigin(translation);
- tr.setRotation(orientation);
- return tr(point);
- }
+inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
+{
+ b3Transform tr;
+ tr.setOrigin(translation);
+ tr.setRotation(orientation);
+ return tr(point);
+}
#else
- typedef float4 b3Quat;
- #define b3QuatConstArg const b3Quat
-
-
+typedef float4 b3Quat;
+#define b3QuatConstArg const b3Quat
+
inline float4 b3FastNormalize4(float4 v)
{
- v = (float4)(v.xyz,0.f);
+ v = (float4)(v.xyz, 0.f);
return fast_normalize(v);
}
-
+
inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
inline b3Quat b3QuatNormalized(b3QuatConstArg in);
inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
@@ -43,20 +42,20 @@ inline b3Quat b3QuatInverse(b3QuatConstArg q);
inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
{
b3Quat ans;
- ans = b3Cross3( a, b );
- ans += a.w*b+b.w*a;
-// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
- ans.w = a.w*b.w - b3Dot3F4(a, b);
+ ans = b3Cross3(a, b);
+ ans += a.w * b + b.w * a;
+ // ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
+ ans.w = a.w * b.w - b3Dot3F4(a, b);
return ans;
}
inline b3Quat b3QuatNormalized(b3QuatConstArg in)
{
b3Quat q;
- q=in;
+ q = in;
//return b3FastNormalize4(in);
float len = native_sqrt(dot(q, q));
- if(len > 0.f)
+ if (len > 0.f)
{
q *= 1.f / len;
}
@@ -69,15 +68,13 @@ inline b3Quat b3QuatNormalized(b3QuatConstArg in)
}
inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
{
- b3Quat qInv = b3QuatInvert( q );
+ b3Quat qInv = b3QuatInvert(q);
float4 vcpy = vec;
vcpy.w = 0.f;
- float4 out = b3QuatMul(b3QuatMul(q,vcpy),qInv);
+ float4 out = b3QuatMul(b3QuatMul(q, vcpy), qInv);
return out;
}
-
-
inline b3Quat b3QuatInverse(b3QuatConstArg q)
{
return (b3Quat)(-q.xyz, q.w);
@@ -90,14 +87,14 @@ inline b3Quat b3QuatInvert(b3QuatConstArg q)
inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)
{
- return b3QuatRotate( b3QuatInvert( q ), vec );
+ return b3QuatRotate(b3QuatInvert(q), vec);
}
-inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
+inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
{
- return b3QuatRotate( orientation, point ) + (translation);
+ return b3QuatRotate(orientation, point) + (translation);
}
-
-#endif
-#endif //B3_QUAT_H
+#endif
+
+#endif //B3_QUAT_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-22 01:37:36 +0000