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#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(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) {
*static_cast<btVectorX*>(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()) {
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()) {
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) {
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()) {
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_
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