1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
|
#ifndef IDLINEARMATHINTERFACE_HPP_
#define IDLINEARMATHINTERFACE_HPP_
#include <cstdlib>
#include "../IDConfig.hpp"
#include "../../LinearMath/btMatrix3x3.h"
#include "../../LinearMath/btVector3.h"
#include "../../LinearMath/btMatrixX.h"
#define BT_ID_HAVE_MAT3X
namespace btInverseDynamics {
class vec3;
class vecx;
class mat33;
typedef btMatrixX<idScalar> matxx;
class vec3 : public btVector3 {
public:
vec3() : btVector3() {}
vec3(const btVector3& btv) { *this = btv; }
idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; }
int size() const { return 3; }
const vec3& operator=(const btVector3& rhs) {
*static_cast<btVector3*>(this) = rhs;
return *this;
}
};
class mat33 : public btMatrix3x3 {
public:
mat33() : btMatrix3x3() {}
mat33(const btMatrix3x3& btm) { *this = btm; }
idScalar& operator()(int i, int j) { return (*this)[i][j]; }
const idScalar& operator()(int i, int j) const { return (*this)[i][j]; }
const mat33& operator=(const btMatrix3x3& rhs) {
*static_cast<btMatrix3x3*>(this) = rhs;
return *this;
}
friend mat33 operator*(const idScalar& s, const mat33& a);
friend mat33 operator/(const mat33& a, const idScalar& s);
};
inline mat33 operator/(const mat33& a, const idScalar& s) { return a * (1.0 / s); }
inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
class vecx : public btVectorX<idScalar> {
public:
vecx(int size) : btVectorX<idScalar>(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) {
*static_cast<btVectorX<idScalar>*>(this) = rhs;
return *this;
}
idScalar& operator()(int i) { return (*this)[i]; }
const idScalar& operator()(int i) const { return (*this)[i]; }
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);
};
inline vecx operator*(const vecx& a, const idScalar& s) {
vecx result(a.size());
for (int i = 0; i < result.size(); i++) {
result(i) = a(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()) {
bt_id_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(i) = a(i) + b(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()) {
bt_id_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(i) = a(i) - b(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(i) = a(i) / s;
}
return result;
}
// use btMatrixX to implement 3xX matrix
class mat3x : public matxx {
public:
mat3x(){}
mat3x(const mat3x&rhs) {
matxx::resize(rhs.rows(), rhs.cols());
*this = rhs;
}
mat3x(int rows, int cols): matxx(3,cols) {
}
void operator=(const mat3x& rhs) {
if (m_cols != rhs.m_cols) {
bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
abort();
}
for(int i=0;i<rows();i++) {
for(int k=0;k<cols();k++) {
setElem(i,k,rhs(i,k));
}
}
}
void setZero() {
matxx::setZero();
}
};
inline vec3 operator*(const mat3x& a, const vecx& b) {
vec3 result;
if (a.cols() != b.size()) {
bt_id_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 resize(mat3x &m, idArrayIdx size) {
m.resize(3, size);
m.setZero();
}
inline void setMatxxElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, matxx*m){
m->setElem(row, col, val);
}
inline void setMat3xElem(const idArrayIdx row, const idArrayIdx col, const idScalar val, mat3x*m){
m->setElem(row, col, val);
}
}
#endif // IDLINEARMATHINTERFACE_HPP_
|