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-rw-r--r--thirdparty/bullet/LinearMath/btReducedVector.h320
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diff --git a/thirdparty/bullet/LinearMath/btReducedVector.h b/thirdparty/bullet/LinearMath/btReducedVector.h
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-//
-// btReducedVectors.h
-// BulletLinearMath
-//
-// Created by Xuchen Han on 4/4/20.
-//
-#ifndef btReducedVectors_h
-#define btReducedVectors_h
-#include "btVector3.h"
-#include "btMatrix3x3.h"
-#include "btAlignedObjectArray.h"
-#include <stdio.h>
-#include <vector>
-#include <algorithm>
-struct TwoInts
-{
- int a,b;
-};
-inline bool operator<(const TwoInts& A, const TwoInts& B)
-{
- return A.b < B.b;
-}
-
-
-// A helper vector type used for CG projections
-class btReducedVector
-{
-public:
- btAlignedObjectArray<int> m_indices;
- btAlignedObjectArray<btVector3> m_vecs;
- int m_sz; // all m_indices value < m_sz
-public:
- btReducedVector():m_sz(0)
- {
- m_indices.resize(0);
- m_vecs.resize(0);
- m_indices.clear();
- m_vecs.clear();
- }
-
- btReducedVector(int sz): m_sz(sz)
- {
- m_indices.resize(0);
- m_vecs.resize(0);
- m_indices.clear();
- m_vecs.clear();
- }
-
- btReducedVector(int sz, const btAlignedObjectArray<int>& indices, const btAlignedObjectArray<btVector3>& vecs): m_sz(sz), m_indices(indices), m_vecs(vecs)
- {
- }
-
- void simplify()
- {
- btAlignedObjectArray<int> old_indices(m_indices);
- btAlignedObjectArray<btVector3> old_vecs(m_vecs);
- m_indices.resize(0);
- m_vecs.resize(0);
- m_indices.clear();
- m_vecs.clear();
- for (int i = 0; i < old_indices.size(); ++i)
- {
- if (old_vecs[i].length2() > SIMD_EPSILON)
- {
- m_indices.push_back(old_indices[i]);
- m_vecs.push_back(old_vecs[i]);
- }
- }
- }
-
- btReducedVector operator+(const btReducedVector& other)
- {
- btReducedVector ret(m_sz);
- int i=0, j=0;
- while (i < m_indices.size() && j < other.m_indices.size())
- {
- if (m_indices[i] < other.m_indices[j])
- {
- ret.m_indices.push_back(m_indices[i]);
- ret.m_vecs.push_back(m_vecs[i]);
- ++i;
- }
- else if (m_indices[i] > other.m_indices[j])
- {
- ret.m_indices.push_back(other.m_indices[j]);
- ret.m_vecs.push_back(other.m_vecs[j]);
- ++j;
- }
- else
- {
- ret.m_indices.push_back(other.m_indices[j]);
- ret.m_vecs.push_back(m_vecs[i] + other.m_vecs[j]);
- ++i; ++j;
- }
- }
- while (i < m_indices.size())
- {
- ret.m_indices.push_back(m_indices[i]);
- ret.m_vecs.push_back(m_vecs[i]);
- ++i;
- }
- while (j < other.m_indices.size())
- {
- ret.m_indices.push_back(other.m_indices[j]);
- ret.m_vecs.push_back(other.m_vecs[j]);
- ++j;
- }
- ret.simplify();
- return ret;
- }
-
- btReducedVector operator-()
- {
- btReducedVector ret(m_sz);
- for (int i = 0; i < m_indices.size(); ++i)
- {
- ret.m_indices.push_back(m_indices[i]);
- ret.m_vecs.push_back(-m_vecs[i]);
- }
- ret.simplify();
- return ret;
- }
-
- btReducedVector operator-(const btReducedVector& other)
- {
- btReducedVector ret(m_sz);
- int i=0, j=0;
- while (i < m_indices.size() && j < other.m_indices.size())
- {
- if (m_indices[i] < other.m_indices[j])
- {
- ret.m_indices.push_back(m_indices[i]);
- ret.m_vecs.push_back(m_vecs[i]);
- ++i;
- }
- else if (m_indices[i] > other.m_indices[j])
- {
- ret.m_indices.push_back(other.m_indices[j]);
- ret.m_vecs.push_back(-other.m_vecs[j]);
- ++j;
- }
- else
- {
- ret.m_indices.push_back(other.m_indices[j]);
- ret.m_vecs.push_back(m_vecs[i] - other.m_vecs[j]);
- ++i; ++j;
- }
- }
- while (i < m_indices.size())
- {
- ret.m_indices.push_back(m_indices[i]);
- ret.m_vecs.push_back(m_vecs[i]);
- ++i;
- }
- while (j < other.m_indices.size())
- {
- ret.m_indices.push_back(other.m_indices[j]);
- ret.m_vecs.push_back(-other.m_vecs[j]);
- ++j;
- }
- ret.simplify();
- return ret;
- }
-
- bool operator==(const btReducedVector& other) const
- {
- if (m_sz != other.m_sz)
- return false;
- if (m_indices.size() != other.m_indices.size())
- return false;
- for (int i = 0; i < m_indices.size(); ++i)
- {
- if (m_indices[i] != other.m_indices[i] || m_vecs[i] != other.m_vecs[i])
- {
- return false;
- }
- }
- return true;
- }
-
- bool operator!=(const btReducedVector& other) const
- {
- return !(*this == other);
- }
-
- btReducedVector& operator=(const btReducedVector& other)
- {
- if (this == &other)
- {
- return *this;
- }
- m_sz = other.m_sz;
- m_indices.copyFromArray(other.m_indices);
- m_vecs.copyFromArray(other.m_vecs);
- return *this;
- }
-
- btScalar dot(const btReducedVector& other) const
- {
- btScalar ret = 0;
- int j = 0;
- for (int i = 0; i < m_indices.size(); ++i)
- {
- while (j < other.m_indices.size() && other.m_indices[j] < m_indices[i])
- {
- ++j;
- }
- if (j < other.m_indices.size() && other.m_indices[j] == m_indices[i])
- {
- ret += m_vecs[i].dot(other.m_vecs[j]);
-// ++j;
- }
- }
- return ret;
- }
-
- btScalar dot(const btAlignedObjectArray<btVector3>& other) const
- {
- btScalar ret = 0;
- for (int i = 0; i < m_indices.size(); ++i)
- {
- ret += m_vecs[i].dot(other[m_indices[i]]);
- }
- return ret;
- }
-
- btScalar length2() const
- {
- return this->dot(*this);
- }
-
- void normalize();
-
- // returns the projection of this onto other
- btReducedVector proj(const btReducedVector& other) const;
-
- bool testAdd() const;
-
- bool testMinus() const;
-
- bool testDot() const;
-
- bool testMultiply() const;
-
- void test() const;
-
- void print() const
- {
- for (int i = 0; i < m_indices.size(); ++i)
- {
- printf("%d: (%f, %f, %f)/", m_indices[i], m_vecs[i][0],m_vecs[i][1],m_vecs[i][2]);
- }
- printf("\n");
- }
-
-
- void sort()
- {
- std::vector<TwoInts> tuples;
- for (int i = 0; i < m_indices.size(); ++i)
- {
- TwoInts ti;
- ti.a = i;
- ti.b = m_indices[i];
- tuples.push_back(ti);
- }
- std::sort(tuples.begin(), tuples.end());
- btAlignedObjectArray<int> new_indices;
- btAlignedObjectArray<btVector3> new_vecs;
- for (size_t i = 0; i < tuples.size(); ++i)
- {
- new_indices.push_back(tuples[i].b);
- new_vecs.push_back(m_vecs[tuples[i].a]);
- }
- m_indices = new_indices;
- m_vecs = new_vecs;
- }
-};
-
-SIMD_FORCE_INLINE btReducedVector operator*(const btReducedVector& v, btScalar s)
-{
- btReducedVector ret(v.m_sz);
- for (int i = 0; i < v.m_indices.size(); ++i)
- {
- ret.m_indices.push_back(v.m_indices[i]);
- ret.m_vecs.push_back(s*v.m_vecs[i]);
- }
- ret.simplify();
- return ret;
-}
-
-SIMD_FORCE_INLINE btReducedVector operator*(btScalar s, const btReducedVector& v)
-{
- return v*s;
-}
-
-SIMD_FORCE_INLINE btReducedVector operator/(const btReducedVector& v, btScalar s)
-{
- return v * (1.0/s);
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator/=(btReducedVector& v, btScalar s)
-{
- v = v/s;
- return v;
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator+=(btReducedVector& v1, const btReducedVector& v2)
-{
- v1 = v1+v2;
- return v1;
-}
-
-SIMD_FORCE_INLINE btReducedVector& operator-=(btReducedVector& v1, const btReducedVector& v2)
-{
- v1 = v1-v2;
- return v1;
-}
-
-#endif /* btReducedVectors_h */
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