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Diffstat (limited to 'thirdparty/bullet/src/LinearMath/btTransform.h')
| -rw-r--r-- | thirdparty/bullet/src/LinearMath/btTransform.h | 305 |
1 files changed, 0 insertions, 305 deletions
diff --git a/thirdparty/bullet/src/LinearMath/btTransform.h b/thirdparty/bullet/src/LinearMath/btTransform.h deleted file mode 100644 index d4f939a5d9..0000000000 --- a/thirdparty/bullet/src/LinearMath/btTransform.h +++ /dev/null @@ -1,305 +0,0 @@ -/* -Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - - - -#ifndef BT_TRANSFORM_H -#define BT_TRANSFORM_H - - -#include "btMatrix3x3.h" - -#ifdef BT_USE_DOUBLE_PRECISION -#define btTransformData btTransformDoubleData -#else -#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 - btMatrix3x3 m_basis; - ///Storage for the translation - btVector3 m_origin; - -public: - - /**@brief No initialization constructor */ - btTransform() {} - /**@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))) - : m_basis(q), - m_origin(c) - {} - - /**@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))) - : m_basis(b), - m_origin(c) - {} - /**@brief Copy constructor */ - SIMD_FORCE_INLINE btTransform (const btTransform& other) - : m_basis(other.m_basis), - m_origin(other.m_origin) - { - } - /**@brief Assignment Operator */ - SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other) - { - m_basis = other.m_basis; - m_origin = other.m_origin; - return *this; - } - - - /**@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); - } - -/* 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 */ - SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const - { - return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; - } - - /**@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 */ - 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 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 { - btQuaternion q; - m_basis.getRotation(q); - return q; - } - - - /**@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) - { - m_basis.setFromOpenGLSubMatrix(m); - m_origin.setValue(m[12],m[13],m[14]); - } - - /**@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 - { - m_basis.getOpenGLSubMatrix(m); - m[12] = m_origin.x(); - m[13] = m_origin.y(); - m[14] = m_origin.z(); - m[15] = btScalar(1.0); - } - - /**@brief Set the translational element - * @param origin The vector to set the translation to */ - 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 */ - SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis) - { - m_basis = basis; - } - - /**@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 */ - 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) - * @param t The other transform */ - 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 */ - 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 - * @param t The other transform - * return this.inverse() * the other */ - btTransform inverseTimes(const btTransform& t) const; - - /**@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() - { - static const btTransform identityTransform(btMatrix3x3::getIdentity()); - return identityTransform; - } - - void serialize(struct btTransformData& dataOut) const; - - void serializeFloat(struct btTransformFloatData& dataOut) const; - - void deSerialize(const struct btTransformData& dataIn); - - void deSerializeDouble(const struct btTransformDoubleData& dataIn); - - void deSerializeFloat(const struct btTransformFloatData& dataIn); - -}; - - -SIMD_FORCE_INLINE btVector3 -btTransform::invXform(const btVector3& inVec) const -{ - btVector3 v = inVec - m_origin; - return (m_basis.transpose() * v); -} - -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); -} - -SIMD_FORCE_INLINE btTransform -btTransform::operator*(const btTransform& t) const -{ - 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() ); -} - - -///for serialization -struct btTransformFloatData -{ - btMatrix3x3FloatData m_basis; - btVector3FloatData m_origin; -}; - -struct btTransformDoubleData -{ - btMatrix3x3DoubleData m_basis; - btVector3DoubleData m_origin; -}; - - - -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 -{ - m_basis.serializeFloat(dataOut.m_basis); - m_origin.serializeFloat(dataOut.m_origin); -} - - -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) -{ - m_basis.deSerializeFloat(dataIn.m_basis); - m_origin.deSerializeFloat(dataIn.m_origin); -} - -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 - - - - - - |