1 files changed, 415 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletInverseDynamics/details/IDMatVec.hpp b/thirdparty/bullet/src/BulletInverseDynamics/details/IDMatVec.hpp
new file mode 100644
index 0000000000..4d3f6c87e9
--- /dev/null
+++ b/thirdparty/bullet/src/BulletInverseDynamics/details/IDMatVec.hpp
@@ -0,0 +1,415 @@
+/// @file Built-In Matrix-Vector functions
+#ifndef IDMATVEC_HPP_
+#define IDMATVEC_HPP_
+
+#include <cstdlib>
+
+#include "../IDConfig.hpp"
+#define BT_ID_HAVE_MAT3X
+
+namespace btInverseDynamics {
+class vec3;
+class vecx;
+class mat33;
+class matxx;
+class mat3x;
+
+/// This is a very basic implementation to enable stand-alone use of the library.
+/// The implementation is not really optimized and misses many features that you would
+/// want from a "fully featured" linear math library.
+class vec3 {
+public:
+	idScalar& operator()(int i) { return m_data[i]; }
+	const idScalar& operator()(int i) const { return m_data[i]; }
+	const int size() const { return 3; }
+	const vec3& operator=(const vec3& rhs);
+	const vec3& operator+=(const vec3& b);
+	const vec3& operator-=(const vec3& b);
+	vec3 cross(const vec3& b) const;
+	idScalar dot(const vec3& b) const;
+
+	friend vec3 operator*(const mat33& a, const vec3& b);
+	friend vec3 operator*(const vec3& a, const idScalar& s);
+	friend vec3 operator*(const idScalar& s, const vec3& a);
+
+	friend vec3 operator+(const vec3& a, const vec3& b);
+	friend vec3 operator-(const vec3& a, const vec3& b);
+	friend vec3 operator/(const vec3& a, const idScalar& s);
+
+private:
+	idScalar m_data[3];
+};
+
+class mat33 {
+public:
+	idScalar& operator()(int i, int j) { return m_data[3 * i + j]; }
+	const idScalar& operator()(int i, int j) const { return m_data[3 * i + j]; }
+	const mat33& operator=(const mat33& rhs);
+	mat33 transpose() const;
+	const mat33& operator+=(const mat33& b);
+	const mat33& operator-=(const mat33& b);
+
+	friend mat33 operator*(const mat33& a, const mat33& b);
+	friend vec3 operator*(const mat33& a, const vec3& b);
+	friend mat33 operator*(const mat33& a, const idScalar& s);
+	friend mat33 operator*(const idScalar& s, const mat33& a);
+	friend mat33 operator+(const mat33& a, const mat33& b);
+	friend mat33 operator-(const mat33& a, const mat33& b);
+	friend mat33 operator/(const mat33& a, const idScalar& s);
+
+private:
+	// layout is [0,1,2;3,4,5;6,7,8]
+	idScalar m_data[9];
+};
+
+class vecx {
+public:
+	vecx(int size) : m_size(size) {
+		m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * size));
+	}
+	~vecx() { idFree(m_data); }
+	const vecx& operator=(const vecx& rhs);
+	idScalar& operator()(int i) { return m_data[i]; }
+	const idScalar& operator()(int i) const { return m_data[i]; }
+	const int& size() const { return m_size; }
+
+	friend vecx operator*(const vecx& a, const idScalar& s);
+	friend vecx operator*(const idScalar& s, const vecx& a);
+
+	friend vecx operator+(const vecx& a, const vecx& b);
+	friend vecx operator-(const vecx& a, const vecx& b);
+	friend vecx operator/(const vecx& a, const idScalar& s);
+
+private:
+	int m_size;
+	idScalar* m_data;
+};
+
+class matxx {
+public:
+    matxx() {
+        m_data = 0x0;
+        m_cols=0;
+        m_rows=0;
+    }
+	matxx(int rows, int cols) : m_rows(rows), m_cols(cols) {
+		m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * rows * cols));
+	}
+	~matxx() { idFree(m_data); }
+	idScalar& operator()(int row, int col) { return m_data[row * m_cols + col]; }
+	const idScalar& operator()(int row, int col) const { return m_data[row * m_cols + col]; }
+	const int& rows() const { return m_rows; }
+	const int& cols() const { return m_cols; }
+
+private:
+	int m_rows;
+	int m_cols;
+	idScalar* m_data;
+};
+
+class mat3x {
+public:
+    mat3x() {
+        m_data = 0x0;
+        m_cols=0;
+    }
+    mat3x(const mat3x&rhs) {
+        m_cols=rhs.m_cols;
+        allocate();
+        *this = rhs;
+    }
+    mat3x(int rows, int cols): m_cols(cols) {
+        allocate();
+    };
+    void operator=(const mat3x& rhs) {
+	if (m_cols != rhs.m_cols) {
+            error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
+            abort();
+	}
+        for(int i=0;i<3*m_cols;i++) {
+            m_data[i] = rhs.m_data[i];
+        }
+    }
+
+    ~mat3x() {
+        free();
+    }
+    idScalar& operator()(int row, int col) { return m_data[row * m_cols + col]; }
+    const idScalar& operator()(int row, int col) const { return m_data[row * m_cols + col]; }
+    int rows() const { return m_rows; }
+    const int& cols() const { return m_cols; }
+    void resize(int rows, int cols) {
+        m_cols=cols;
+        free();
+        allocate();
+    }
+    void setZero() {
+        memset(m_data,0x0,sizeof(idScalar)*m_rows*m_cols);
+    }
+    // avoid operators that would allocate -- use functions sub/add/mul in IDMath.hpp instead
+private:
+    void allocate(){m_data = static_cast<idScalar*>(idMalloc(sizeof(idScalar) * m_rows * m_cols));}
+    void free() { idFree(m_data);}
+    enum {m_rows=3};
+    int m_cols;
+    idScalar* m_data;
+};
+
+inline void resize(mat3x &m, idArrayIdx size) {
+    m.resize(3, size);
+    m.setZero();
+}
+
+//////////////////////////////////////////////////
+// Implementations
+inline const vec3& vec3::operator=(const vec3& rhs) {
+	if (&rhs != this) {
+		memcpy(m_data, rhs.m_data, 3 * sizeof(idScalar));
+	}
+	return *this;
+}
+
+inline vec3 vec3::cross(const vec3& b) const {
+	vec3 result;
+	result.m_data[0] = m_data[1] * b.m_data[2] - m_data[2] * b.m_data[1];
+	result.m_data[1] = m_data[2] * b.m_data[0] - m_data[0] * b.m_data[2];
+	result.m_data[2] = m_data[0] * b.m_data[1] - m_data[1] * b.m_data[0];
+
+	return result;
+}
+
+inline idScalar vec3::dot(const vec3& b) const {
+	return m_data[0] * b.m_data[0] + m_data[1] * b.m_data[1] + m_data[2] * b.m_data[2];
+}
+
+inline const mat33& mat33::operator=(const mat33& rhs) {
+	if (&rhs != this) {
+		memcpy(m_data, rhs.m_data, 9 * sizeof(idScalar));
+	}
+	return *this;
+}
+inline mat33 mat33::transpose() const {
+	mat33 result;
+	result.m_data[0] = m_data[0];
+	result.m_data[1] = m_data[3];
+	result.m_data[2] = m_data[6];
+	result.m_data[3] = m_data[1];
+	result.m_data[4] = m_data[4];
+	result.m_data[5] = m_data[7];
+	result.m_data[6] = m_data[2];
+	result.m_data[7] = m_data[5];
+	result.m_data[8] = m_data[8];
+
+	return result;
+}
+
+inline mat33 operator*(const mat33& a, const mat33& b) {
+	mat33 result;
+	result.m_data[0] =
+		a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[3] + a.m_data[2] * b.m_data[6];
+	result.m_data[1] =
+		a.m_data[0] * b.m_data[1] + a.m_data[1] * b.m_data[4] + a.m_data[2] * b.m_data[7];
+	result.m_data[2] =
+		a.m_data[0] * b.m_data[2] + a.m_data[1] * b.m_data[5] + a.m_data[2] * b.m_data[8];
+	result.m_data[3] =
+		a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[3] + a.m_data[5] * b.m_data[6];
+	result.m_data[4] =
+		a.m_data[3] * b.m_data[1] + a.m_data[4] * b.m_data[4] + a.m_data[5] * b.m_data[7];
+	result.m_data[5] =
+		a.m_data[3] * b.m_data[2] + a.m_data[4] * b.m_data[5] + a.m_data[5] * b.m_data[8];
+	result.m_data[6] =
+		a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[3] + a.m_data[8] * b.m_data[6];
+	result.m_data[7] =
+		a.m_data[6] * b.m_data[1] + a.m_data[7] * b.m_data[4] + a.m_data[8] * b.m_data[7];
+	result.m_data[8] =
+		a.m_data[6] * b.m_data[2] + a.m_data[7] * b.m_data[5] + a.m_data[8] * b.m_data[8];
+
+	return result;
+}
+
+inline const mat33& mat33::operator+=(const mat33& b) {
+	for (int i = 0; i < 9; i++) {
+		m_data[i] += b.m_data[i];
+	}
+
+	return *this;
+}
+
+inline const mat33& mat33::operator-=(const mat33& b) {
+	for (int i = 0; i < 9; i++) {
+		m_data[i] -= b.m_data[i];
+	}
+	return *this;
+}
+
+inline vec3 operator*(const mat33& a, const vec3& b) {
+	vec3 result;
+
+	result.m_data[0] =
+		a.m_data[0] * b.m_data[0] + a.m_data[1] * b.m_data[1] + a.m_data[2] * b.m_data[2];
+	result.m_data[1] =
+		a.m_data[3] * b.m_data[0] + a.m_data[4] * b.m_data[1] + a.m_data[5] * b.m_data[2];
+	result.m_data[2] =
+		a.m_data[6] * b.m_data[0] + a.m_data[7] * b.m_data[1] + a.m_data[8] * b.m_data[2];
+
+	return result;
+}
+
+inline const vec3& vec3::operator+=(const vec3& b) {
+	for (int i = 0; i < 3; i++) {
+		m_data[i] += b.m_data[i];
+	}
+	return *this;
+}
+
+inline const vec3& vec3::operator-=(const vec3& b) {
+	for (int i = 0; i < 3; i++) {
+		m_data[i] -= b.m_data[i];
+	}
+	return *this;
+}
+
+inline mat33 operator*(const mat33& a, const idScalar& s) {
+	mat33 result;
+	for (int i = 0; i < 9; i++) {
+		result.m_data[i] = a.m_data[i] * s;
+	}
+	return result;
+}
+
+inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
+
+inline vec3 operator*(const vec3& a, const idScalar& s) {
+	vec3 result;
+	for (int i = 0; i < 3; i++) {
+		result.m_data[i] = a.m_data[i] * s;
+	}
+	return result;
+}
+inline vec3 operator*(const idScalar& s, const vec3& a) { return a * s; }
+
+inline mat33 operator+(const mat33& a, const mat33& b) {
+	mat33 result;
+	for (int i = 0; i < 9; i++) {
+		result.m_data[i] = a.m_data[i] + b.m_data[i];
+	}
+	return result;
+}
+inline vec3 operator+(const vec3& a, const vec3& b) {
+	vec3 result;
+	for (int i = 0; i < 3; i++) {
+		result.m_data[i] = a.m_data[i] + b.m_data[i];
+	}
+	return result;
+}
+
+inline mat33 operator-(const mat33& a, const mat33& b) {
+	mat33 result;
+	for (int i = 0; i < 9; i++) {
+		result.m_data[i] = a.m_data[i] - b.m_data[i];
+	}
+	return result;
+}
+inline vec3 operator-(const vec3& a, const vec3& b) {
+	vec3 result;
+	for (int i = 0; i < 3; i++) {
+		result.m_data[i] = a.m_data[i] - b.m_data[i];
+	}
+	return result;
+}
+
+inline mat33 operator/(const mat33& a, const idScalar& s) {
+	mat33 result;
+	for (int i = 0; i < 9; i++) {
+		result.m_data[i] = a.m_data[i] / s;
+	}
+	return result;
+}
+
+inline vec3 operator/(const vec3& a, const idScalar& s) {
+	vec3 result;
+	for (int i = 0; i < 3; i++) {
+		result.m_data[i] = a.m_data[i] / s;
+	}
+	return result;
+}
+
+inline const vecx& vecx::operator=(const vecx& rhs) {
+	if (size() != rhs.size()) {
+		error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
+		abort();
+	}
+	if (&rhs != this) {
+		memcpy(m_data, rhs.m_data, rhs.size() * sizeof(idScalar));
+	}
+	return *this;
+}
+inline vecx operator*(const vecx& a, const idScalar& s) {
+	vecx result(a.size());
+	for (int i = 0; i < result.size(); i++) {
+		result.m_data[i] = a.m_data[i] * s;
+	}
+	return result;
+}
+inline vecx operator*(const idScalar& s, const vecx& a) { return a * s; }
+inline vecx operator+(const vecx& a, const vecx& b) {
+	vecx result(a.size());
+	// TODO: error handling for a.size() != b.size()??
+	if (a.size() != b.size()) {
+		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+		abort();
+	}
+	for (int i = 0; i < a.size(); i++) {
+		result.m_data[i] = a.m_data[i] + b.m_data[i];
+	}
+
+	return result;
+}
+inline vecx operator-(const vecx& a, const vecx& b) {
+	vecx result(a.size());
+	// TODO: error handling for a.size() != b.size()??
+	if (a.size() != b.size()) {
+		error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+		abort();
+	}
+	for (int i = 0; i < a.size(); i++) {
+		result.m_data[i] = a.m_data[i] - b.m_data[i];
+	}
+	return result;
+}
+inline vecx operator/(const vecx& a, const idScalar& s) {
+	vecx result(a.size());
+	for (int i = 0; i < result.size(); i++) {
+		result.m_data[i] = a.m_data[i] / s;
+	}
+
+	return result;
+}
+
+inline vec3 operator*(const mat3x& a, const vecx& b) {
+    vec3 result;
+    if (a.cols() != b.size()) {
+        error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
+        abort();
+    }
+    result(0)=0.0;
+    result(1)=0.0;
+    result(2)=0.0;
+    for(int i=0;i<b.size();i++) {
+        for(int k=0;k<3;k++) {
+            result(k)+=a(k,i)*b(i);
+        }
+    }
+    return result;
+}
+
+inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
+    (*m)(row, col) = val;
+}
+
+inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
+    (*m)(row, col) = val;
+}
+
+} // namespace btInverseDynamcis
+#endif