diff options
Diffstat (limited to 'thirdparty/bullet/LinearMath/btTransform.h')
| -rw-r--r-- | thirdparty/bullet/LinearMath/btTransform.h | 207 |
1 files changed, 94 insertions, 113 deletions
diff --git a/thirdparty/bullet/LinearMath/btTransform.h b/thirdparty/bullet/LinearMath/btTransform.h index d4f939a5d9..6f2f99818c 100644 --- a/thirdparty/bullet/LinearMath/btTransform.h +++ b/thirdparty/bullet/LinearMath/btTransform.h @@ -12,12 +12,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - - #ifndef BT_TRANSFORM_H #define BT_TRANSFORM_H - #include "btMatrix3x3.h" #ifdef BT_USE_DOUBLE_PRECISION @@ -26,46 +23,45 @@ subject to the following restrictions: #define btTransformData btTransformFloatData #endif - - - /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */ -ATTRIBUTE_ALIGNED16(class) btTransform { - - ///Storage for the rotation +ATTRIBUTE_ALIGNED16(class) +btTransform +{ + ///Storage for the rotation btMatrix3x3 m_basis; - ///Storage for the translation - btVector3 m_origin; + ///Storage for the translation + btVector3 m_origin; public: - - /**@brief No initialization constructor */ + /**@brief No initialization constructor */ btTransform() {} - /**@brief Constructor from btQuaternion (optional btVector3 ) + /**@brief Constructor from btQuaternion (optional btVector3 ) * @param q Rotation from quaternion * @param c Translation from Vector (default 0,0,0) */ - explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, - const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) : m_basis(q), - m_origin(c) - {} + m_origin(c) + { + } - /**@brief Constructor from btMatrix3x3 (optional btVector3) + /**@brief Constructor from btMatrix3x3 (optional btVector3) * @param b Rotation from Matrix * @param c Translation from Vector default (0,0,0)*/ - explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, - const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) : m_basis(b), - m_origin(c) - {} - /**@brief Copy constructor */ - SIMD_FORCE_INLINE btTransform (const btTransform& other) + m_origin(c) + { + } + /**@brief Copy constructor */ + SIMD_FORCE_INLINE btTransform(const btTransform& other) : m_basis(other.m_basis), - m_origin(other.m_origin) + m_origin(other.m_origin) { } - /**@brief Assignment Operator */ + /**@brief Assignment Operator */ SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other) { m_basis = other.m_basis; @@ -73,70 +69,70 @@ public: return *this; } - - /**@brief Set the current transform as the value of the product of two transforms + /**@brief Set the current transform as the value of the product of two transforms * @param t1 Transform 1 * @param t2 Transform 2 * This = Transform1 * Transform2 */ - SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) { - m_basis = t1.m_basis * t2.m_basis; - m_origin = t1(t2.m_origin); - } + SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) + { + m_basis = t1.m_basis * t2.m_basis; + m_origin = t1(t2.m_origin); + } -/* void multInverseLeft(const btTransform& t1, const btTransform& t2) { + /* void multInverseLeft(const btTransform& t1, const btTransform& t2) { btVector3 v = t2.m_origin - t1.m_origin; m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis); m_origin = v * t1.m_basis; } */ -/**@brief Return the transform of the vector */ + /**@brief Return the transform of the vector */ SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const { - return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; + return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; } - /**@brief Return the transform of the vector */ + /**@brief Return the transform of the vector */ SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const { return (*this)(x); } - /**@brief Return the transform of the btQuaternion */ + /**@brief Return the transform of the btQuaternion */ SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const { return getRotation() * q; } - /**@brief Return the basis matrix for the rotation */ - SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; } - /**@brief Return the basis matrix for the rotation */ - SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; } + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; } + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; } - /**@brief Return the origin vector translation */ - SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; } - /**@brief Return the origin vector translation */ - SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; } + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; } + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; } - /**@brief Return a quaternion representing the rotation */ - btQuaternion getRotation() const { + /**@brief Return a quaternion representing the rotation */ + btQuaternion getRotation() const + { btQuaternion q; m_basis.getRotation(q); return q; } - - - /**@brief Set from an array + + /**@brief Set from an array * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ - void setFromOpenGLMatrix(const btScalar *m) + void setFromOpenGLMatrix(const btScalar* m) { m_basis.setFromOpenGLSubMatrix(m); - m_origin.setValue(m[12],m[13],m[14]); + m_origin.setValue(m[12], m[13], m[14]); } - /**@brief Fill an array representation + /**@brief Fill an array representation * @param m A pointer to a 16 element array (12 rotation(row major padded on the right by 1), and 3 translation */ - void getOpenGLMatrix(btScalar *m) const + void getOpenGLMatrix(btScalar * m) const { m_basis.getOpenGLSubMatrix(m); m[12] = m_origin.x(); @@ -145,80 +141,76 @@ public: m[15] = btScalar(1.0); } - /**@brief Set the translational element + /**@brief Set the translational element * @param origin The vector to set the translation to */ - SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) - { + SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) + { m_origin = origin; } SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const; - - /**@brief Set the rotational element by btMatrix3x3 */ + /**@brief Set the rotational element by btMatrix3x3 */ SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis) - { + { m_basis = basis; } - /**@brief Set the rotational element by btQuaternion */ + /**@brief Set the rotational element by btQuaternion */ SIMD_FORCE_INLINE void setRotation(const btQuaternion& q) { m_basis.setRotation(q); } - - /**@brief Set this transformation to the identity */ + /**@brief Set this transformation to the identity */ void setIdentity() { m_basis.setIdentity(); m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); } - /**@brief Multiply this Transform by another(this = this * another) + /**@brief Multiply this Transform by another(this = this * another) * @param t The other transform */ - btTransform& operator*=(const btTransform& t) + btTransform& operator*=(const btTransform& t) { m_origin += m_basis * t.m_origin; m_basis *= t.m_basis; return *this; } - /**@brief Return the inverse of this transform */ + /**@brief Return the inverse of this transform */ btTransform inverse() const - { + { btMatrix3x3 inv = m_basis.transpose(); return btTransform(inv, inv * -m_origin); } - /**@brief Return the inverse of this transform times the other transform + /**@brief Return the inverse of this transform times the other transform * @param t The other transform * return this.inverse() * the other */ - btTransform inverseTimes(const btTransform& t) const; + btTransform inverseTimes(const btTransform& t) const; - /**@brief Return the product of this transform and the other */ + /**@brief Return the product of this transform and the other */ btTransform operator*(const btTransform& t) const; - /**@brief Return an identity transform */ - static const btTransform& getIdentity() + /**@brief Return an identity transform */ + static const btTransform& getIdentity() { static const btTransform identityTransform(btMatrix3x3::getIdentity()); return identityTransform; } - void serialize(struct btTransformData& dataOut) const; - - void serializeFloat(struct btTransformFloatData& dataOut) const; + void serialize(struct btTransformData & dataOut) const; - void deSerialize(const struct btTransformData& dataIn); + void serializeFloat(struct btTransformFloatData & dataOut) const; - void deSerializeDouble(const struct btTransformDoubleData& dataIn); + void deSerialize(const struct btTransformData& dataIn); - void deSerializeFloat(const struct btTransformFloatData& dataIn); + void deSerializeDouble(const struct btTransformDoubleData& dataIn); + void deSerializeFloat(const struct btTransformFloatData& dataIn); }; - SIMD_FORCE_INLINE btVector3 btTransform::invXform(const btVector3& inVec) const { @@ -226,80 +218,69 @@ btTransform::invXform(const btVector3& inVec) const return (m_basis.transpose() * v); } -SIMD_FORCE_INLINE btTransform -btTransform::inverseTimes(const btTransform& t) const +SIMD_FORCE_INLINE btTransform +btTransform::inverseTimes(const btTransform& t) const { btVector3 v = t.getOrigin() - m_origin; - return btTransform(m_basis.transposeTimes(t.m_basis), - v * m_basis); + return btTransform(m_basis.transposeTimes(t.m_basis), + v * m_basis); } -SIMD_FORCE_INLINE btTransform -btTransform::operator*(const btTransform& t) const +SIMD_FORCE_INLINE btTransform + btTransform::operator*(const btTransform& t) const { - return btTransform(m_basis * t.m_basis, - (*this)(t.m_origin)); + return btTransform(m_basis * t.m_basis, + (*this)(t.m_origin)); } /**@brief Test if two transforms have all elements equal */ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2) { - return ( t1.getBasis() == t2.getBasis() && - t1.getOrigin() == t2.getOrigin() ); + return (t1.getBasis() == t2.getBasis() && + t1.getOrigin() == t2.getOrigin()); } - ///for serialization -struct btTransformFloatData +struct btTransformFloatData { - btMatrix3x3FloatData m_basis; - btVector3FloatData m_origin; + btMatrix3x3FloatData m_basis; + btVector3FloatData m_origin; }; -struct btTransformDoubleData +struct btTransformDoubleData { - btMatrix3x3DoubleData m_basis; - btVector3DoubleData m_origin; + btMatrix3x3DoubleData m_basis; + btVector3DoubleData m_origin; }; - - -SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const +SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const { m_basis.serialize(dataOut.m_basis); m_origin.serialize(dataOut.m_origin); } -SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const +SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const { m_basis.serializeFloat(dataOut.m_basis); m_origin.serializeFloat(dataOut.m_origin); } - -SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn) +SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn) { m_basis.deSerialize(dataIn.m_basis); m_origin.deSerialize(dataIn.m_origin); } -SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn) +SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn) { m_basis.deSerializeFloat(dataIn.m_basis); m_origin.deSerializeFloat(dataIn.m_origin); } -SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn) +SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn) { m_basis.deSerializeDouble(dataIn.m_basis); m_origin.deSerializeDouble(dataIn.m_origin); } - -#endif //BT_TRANSFORM_H - - - - - - +#endif //BT_TRANSFORM_H |