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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+///original version written by Erwin Coumans, October 2013
+
+#ifndef BT_MATRIX_X_H
+#define BT_MATRIX_X_H
+
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include <stdio.h>
+
+//#define BT_DEBUG_OSTREAM
+#ifdef BT_DEBUG_OSTREAM
+#include <iostream>
+#include <iomanip> // std::setw
+#endif //BT_DEBUG_OSTREAM
+
+class btIntSortPredicate
+{
+ public:
+ bool operator() ( const int& a, const int& b ) const
+ {
+ return a < b;
+ }
+};
+
+
+template <typename T>
+struct btVectorX
+{
+ btAlignedObjectArray<T> m_storage;
+
+ btVectorX()
+ {
+ }
+ btVectorX(int numRows)
+ {
+ m_storage.resize(numRows);
+ }
+
+ void resize(int rows)
+ {
+ m_storage.resize(rows);
+ }
+ int cols() const
+ {
+ return 1;
+ }
+ int rows() const
+ {
+ return m_storage.size();
+ }
+ int size() const
+ {
+ return rows();
+ }
+
+ T nrm2() const
+ {
+ T norm = T(0);
+
+ int nn = rows();
+
+ {
+ if (nn == 1)
+ {
+ norm = btFabs((*this)[0]);
+ }
+ else
+ {
+ T scale = 0.0;
+ T ssq = 1.0;
+
+ /* The following loop is equivalent to this call to the LAPACK
+ auxiliary routine: CALL SLASSQ( N, X, INCX, SCALE, SSQ ) */
+
+ for (int ix=0;ix<nn;ix++)
+ {
+ if ((*this)[ix] != 0.0)
+ {
+ T absxi = btFabs((*this)[ix]);
+ if (scale < absxi)
+ {
+ T temp;
+ temp = scale / absxi;
+ ssq = ssq * (temp * temp) + BT_ONE;
+ scale = absxi;
+ }
+ else
+ {
+ T temp;
+ temp = absxi / scale;
+ ssq += temp * temp;
+ }
+ }
+ }
+ norm = scale * sqrt(ssq);
+ }
+ }
+ return norm;
+
+ }
+ void setZero()
+ {
+ if (m_storage.size())
+ {
+ // for (int i=0;i<m_storage.size();i++)
+ // m_storage[i]=0;
+ //memset(&m_storage[0],0,sizeof(T)*m_storage.size());
+ btSetZero(&m_storage[0],m_storage.size());
+ }
+ }
+ const T& operator[] (int index) const
+ {
+ return m_storage[index];
+ }
+
+ T& operator[] (int index)
+ {
+ return m_storage[index];
+ }
+
+ T* getBufferPointerWritable()
+ {
+ return m_storage.size() ? &m_storage[0] : 0;
+ }
+
+ const T* getBufferPointer() const
+ {
+ return m_storage.size() ? &m_storage[0] : 0;
+ }
+
+};
+/*
+ template <typename T>
+ void setElem(btMatrixX<T>& mat, int row, int col, T val)
+ {
+ mat.setElem(row,col,val);
+ }
+ */
+
+
+template <typename T>
+struct btMatrixX
+{
+ int m_rows;
+ int m_cols;
+ int m_operations;
+ int m_resizeOperations;
+ int m_setElemOperations;
+
+ btAlignedObjectArray<T> m_storage;
+ mutable btAlignedObjectArray< btAlignedObjectArray<int> > m_rowNonZeroElements1;
+
+ T* getBufferPointerWritable()
+ {
+ return m_storage.size() ? &m_storage[0] : 0;
+ }
+
+ const T* getBufferPointer() const
+ {
+ return m_storage.size() ? &m_storage[0] : 0;
+ }
+ btMatrixX()
+ :m_rows(0),
+ m_cols(0),
+ m_operations(0),
+ m_resizeOperations(0),
+ m_setElemOperations(0)
+ {
+ }
+ btMatrixX(int rows,int cols)
+ :m_rows(rows),
+ m_cols(cols),
+ m_operations(0),
+ m_resizeOperations(0),
+ m_setElemOperations(0)
+ {
+ resize(rows,cols);
+ }
+ void resize(int rows, int cols)
+ {
+ m_resizeOperations++;
+ m_rows = rows;
+ m_cols = cols;
+ {
+ BT_PROFILE("m_storage.resize");
+ m_storage.resize(rows*cols);
+ }
+ }
+ int cols() const
+ {
+ return m_cols;
+ }
+ int rows() const
+ {
+ return m_rows;
+ }
+ ///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead
+ /*T& operator() (int row,int col)
+ {
+ return m_storage[col*m_rows+row];
+ }
+ */
+
+ void addElem(int row,int col, T val)
+ {
+ if (val)
+ {
+ if (m_storage[col+row*m_cols]==0.f)
+ {
+ setElem(row,col,val);
+ } else
+ {
+ m_storage[row*m_cols+col] += val;
+ }
+ }
+ }
+
+
+ void setElem(int row,int col, T val)
+ {
+ m_setElemOperations++;
+ m_storage[row*m_cols+col] = val;
+ }
+
+ void mulElem(int row,int col, T val)
+ {
+ m_setElemOperations++;
+ //mul doesn't change sparsity info
+
+ m_storage[row*m_cols+col] *= val;
+ }
+
+
+
+
+ void copyLowerToUpperTriangle()
+ {
+ int count=0;
+ for (int row=0;row<rows();row++)
+ {
+ for (int col=0;col<row;col++)
+ {
+ setElem(col,row, (*this)(row,col));
+ count++;
+
+ }
+ }
+ //printf("copyLowerToUpperTriangle copied %d elements out of %dx%d=%d\n", count,rows(),cols(),cols()*rows());
+ }
+
+ const T& operator() (int row,int col) const
+ {
+ return m_storage[col+row*m_cols];
+ }
+
+
+ void setZero()
+ {
+ {
+ BT_PROFILE("storage=0");
+ btSetZero(&m_storage[0],m_storage.size());
+ //memset(&m_storage[0],0,sizeof(T)*m_storage.size());
+ //for (int i=0;i<m_storage.size();i++)
+ // m_storage[i]=0;
+ }
+ }
+
+ void setIdentity()
+ {
+ btAssert(rows() == cols());
+
+ setZero();
+ for (int row=0;row<rows();row++)
+ {
+ setElem(row,row,1);
+ }
+ }
+
+
+
+ void printMatrix(const char* msg)
+ {
+ printf("%s ---------------------\n",msg);
+ for (int i=0;i<rows();i++)
+ {
+ printf("\n");
+ for (int j=0;j<cols();j++)
+ {
+ printf("%2.1f\t",(*this)(i,j));
+ }
+ }
+ printf("\n---------------------\n");
+
+ }
+
+
+ void rowComputeNonZeroElements() const
+ {
+ m_rowNonZeroElements1.resize(rows());
+ for (int i=0;i<rows();i++)
+ {
+ m_rowNonZeroElements1[i].resize(0);
+ for (int j=0;j<cols();j++)
+ {
+ if ((*this)(i,j)!=0.f)
+ {
+ m_rowNonZeroElements1[i].push_back(j);
+ }
+ }
+ }
+ }
+ btMatrixX transpose() const
+ {
+ //transpose is optimized for sparse matrices
+ btMatrixX tr(m_cols,m_rows);
+ tr.setZero();
+ for (int i=0;i<m_cols;i++)
+ for (int j=0;j<m_rows;j++)
+ {
+ T v = (*this)(j,i);
+ if (v)
+ {
+ tr.setElem(i,j,v);
+ }
+ }
+ return tr;
+ }
+
+
+ btMatrixX operator*(const btMatrixX& other)
+ {
+ //btMatrixX*btMatrixX implementation, brute force
+ btAssert(cols() == other.rows());
+
+ btMatrixX res(rows(),other.cols());
+ res.setZero();
+// BT_PROFILE("btMatrixX mul");
+ for (int j=0; j < res.cols(); ++j)
+ {
+ {
+ for (int i=0; i < res.rows(); ++i)
+ {
+ T dotProd=0;
+// T dotProd2=0;
+ //int waste=0,waste2=0;
+
+ {
+// bool useOtherCol = true;
+ {
+ for (int v=0;v<rows();v++)
+ {
+ T w = (*this)(i,v);
+ if (other(v,j)!=0.f)
+ {
+ dotProd+=w*other(v,j);
+ }
+
+ }
+ }
+ }
+ if (dotProd)
+ res.setElem(i,j,dotProd);
+ }
+ }
+ }
+ return res;
+ }
+
+ // this assumes the 4th and 8th rows of B and C are zero.
+ void multiplyAdd2_p8r (const btScalar *B, const btScalar *C, int numRows, int numRowsOther ,int row, int col)
+ {
+ const btScalar *bb = B;
+ for ( int i = 0;i<numRows;i++)
+ {
+ const btScalar *cc = C;
+ for ( int j = 0;j<numRowsOther;j++)
+ {
+ btScalar sum;
+ sum = bb[0]*cc[0];
+ sum += bb[1]*cc[1];
+ sum += bb[2]*cc[2];
+ sum += bb[4]*cc[4];
+ sum += bb[5]*cc[5];
+ sum += bb[6]*cc[6];
+ addElem(row+i,col+j,sum);
+ cc += 8;
+ }
+ bb += 8;
+ }
+ }
+
+ void multiply2_p8r (const btScalar *B, const btScalar *C, int numRows, int numRowsOther, int row, int col)
+ {
+ btAssert (numRows>0 && numRowsOther>0 && B && C);
+ const btScalar *bb = B;
+ for ( int i = 0;i<numRows;i++)
+ {
+ const btScalar *cc = C;
+ for ( int j = 0;j<numRowsOther;j++)
+ {
+ btScalar sum;
+ sum = bb[0]*cc[0];
+ sum += bb[1]*cc[1];
+ sum += bb[2]*cc[2];
+ sum += bb[4]*cc[4];
+ sum += bb[5]*cc[5];
+ sum += bb[6]*cc[6];
+ setElem(row+i,col+j,sum);
+ cc += 8;
+ }
+ bb += 8;
+ }
+ }
+
+ void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const T value)
+ {
+ int numRows = rowend+1-rowstart;
+ int numCols = colend+1-colstart;
+
+ for (int row=0;row<numRows;row++)
+ {
+ for (int col=0;col<numCols;col++)
+ {
+ setElem(rowstart+row,colstart+col,value);
+ }
+ }
+ }
+
+ void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btMatrixX& block)
+ {
+ btAssert(rowend+1-rowstart == block.rows());
+ btAssert(colend+1-colstart == block.cols());
+ for (int row=0;row<block.rows();row++)
+ {
+ for (int col=0;col<block.cols();col++)
+ {
+ setElem(rowstart+row,colstart+col,block(row,col));
+ }
+ }
+ }
+ void setSubMatrix(int rowstart,int colstart,int rowend,int colend,const btVectorX<T>& block)
+ {
+ btAssert(rowend+1-rowstart == block.rows());
+ btAssert(colend+1-colstart == block.cols());
+ for (int row=0;row<block.rows();row++)
+ {
+ for (int col=0;col<block.cols();col++)
+ {
+ setElem(rowstart+row,colstart+col,block[row]);
+ }
+ }
+ }
+
+
+ btMatrixX negative()
+ {
+ btMatrixX neg(rows(),cols());
+ for (int i=0;i<rows();i++)
+ for (int j=0;j<cols();j++)
+ {
+ T v = (*this)(i,j);
+ neg.setElem(i,j,-v);
+ }
+ return neg;
+ }
+
+};
+
+
+
+typedef btMatrixX<float> btMatrixXf;
+typedef btVectorX<float> btVectorXf;
+
+typedef btMatrixX<double> btMatrixXd;
+typedef btVectorX<double> btVectorXd;
+
+
+#ifdef BT_DEBUG_OSTREAM
+template <typename T>
+std::ostream& operator<< (std::ostream& os, const btMatrixX<T>& mat)
+ {
+
+ os << " [";
+ //printf("%s ---------------------\n",msg);
+ for (int i=0;i<mat.rows();i++)
+ {
+ for (int j=0;j<mat.cols();j++)
+ {
+ os << std::setw(12) << mat(i,j);
+ }
+ if (i!=mat.rows()-1)
+ os << std::endl << " ";
+ }
+ os << " ]";
+ //printf("\n---------------------\n");
+
+ return os;
+ }
+template <typename T>
+std::ostream& operator<< (std::ostream& os, const btVectorX<T>& mat)
+ {
+
+ os << " [";
+ //printf("%s ---------------------\n",msg);
+ for (int i=0;i<mat.rows();i++)
+ {
+ os << std::setw(12) << mat[i];
+ if (i!=mat.rows()-1)
+ os << std::endl << " ";
+ }
+ os << " ]";
+ //printf("\n---------------------\n");
+
+ return os;
+ }
+
+#endif //BT_DEBUG_OSTREAM
+
+
+inline void setElem(btMatrixXd& mat, int row, int col, double val)
+{
+ mat.setElem(row,col,val);
+}
+
+inline void setElem(btMatrixXf& mat, int row, int col, float val)
+{
+ mat.setElem(row,col,val);
+}
+
+#ifdef BT_USE_DOUBLE_PRECISION
+ #define btVectorXu btVectorXd
+ #define btMatrixXu btMatrixXd
+#else
+ #define btVectorXu btVectorXf
+ #define btMatrixXu btMatrixXf
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+
+#endif//BT_MATRIX_H_H
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