diff options
Diffstat (limited to 'thirdparty/bullet/BulletInverseDynamics/IDMath.hpp')
| -rw-r--r-- | thirdparty/bullet/BulletInverseDynamics/IDMath.hpp | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp index b355474d44..40bee5302b 100644 --- a/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/IDMath.hpp @@ -5,7 +5,8 @@ #define IDMATH_HPP_ #include "IDConfig.hpp" -namespace btInverseDynamics { +namespace btInverseDynamics +{ /// set all elements to zero void setZero(vec3& v); /// set all elements to zero @@ -23,11 +24,11 @@ idScalar maxAbs(const vec3& v); #if (defined BT_ID_HAVE_MAT3X) idScalar maxAbsMat3x(const mat3x& m); -void setZero(mat3x&m); +void setZero(mat3x& m); // define math functions on mat3x here to avoid allocations in operators. -void mul(const mat33&a, const mat3x&b, mat3x* result); -void add(const mat3x&a, const mat3x&b, mat3x* result); -void sub(const mat3x&a, const mat3x&b, mat3x* result); +void mul(const mat33& a, const mat3x& b, mat3x* result); +void add(const mat3x& a, const mat3x& b, mat3x* result); +void sub(const mat3x& a, const mat3x& b, mat3x* result); #endif /// get offset vector & transform matrix from DH parameters @@ -94,6 +95,6 @@ mat33 transformZ(const idScalar& gamma); ///calculate rpy angles (x-y-z Euler angles) from a given rotation matrix /// @param rot rotation matrix /// @returns x-y-z Euler angles -vec3 rpyFromMatrix(const mat33&rot); -} +vec3 rpyFromMatrix(const mat33& rot); +} // namespace btInverseDynamics #endif // IDMATH_HPP_ |