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author | Brecht Van Lommel <brechtvanlommel@gmail.com> | 2016-01-17 23:35:32 +0300 |
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committer | Brecht Van Lommel <brechtvanlommel@gmail.com> | 2016-01-26 00:14:46 +0300 |
commit | b64d5809e7e3b832e2a011869db68e70b4b4e6fc (patch) | |
tree | aa4f6714da9f546eeee7dffed9236f9c8309524b /extern/bullet2/src/LinearMath/btMatrix3x3.h | |
parent | 3c72e302e1eb25de43dd9d077f0c730cc02b5674 (diff) |
Upgrade Bullet to version 2.83.
I tried to carefully preserve all patches since the last upgrade.
Improves T47195, cloth collision detection bug.
Differential Revision: https://developer.blender.org/D1739
Diffstat (limited to 'extern/bullet2/src/LinearMath/btMatrix3x3.h')
-rw-r--r-- | extern/bullet2/src/LinearMath/btMatrix3x3.h | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h index 14fe704f81a..41dea694835 100644 --- a/extern/bullet2/src/LinearMath/btMatrix3x3.h +++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h @@ -610,6 +610,27 @@ public: /**@brief Return the inverse of the matrix */ btMatrix3x3 inverse() const; + /// Solve A * x = b, where b is a column vector. This is more efficient + /// than computing the inverse in one-shot cases. + ///Solve33 is from Box2d, thanks to Erin Catto, + btVector3 solve33(const btVector3& b) const + { + btVector3 col1 = getColumn(0); + btVector3 col2 = getColumn(1); + btVector3 col3 = getColumn(2); + + btScalar det = btDot(col1, btCross(col2, col3)); + if (btFabs(det)>SIMD_EPSILON) + { + det = 1.0f / det; + } + btVector3 x; + x[0] = det * btDot(b, btCross(col2, col3)); + x[1] = det * btDot(col1, btCross(b, col3)); + x[2] = det * btDot(col1, btCross(col2, b)); + return x; + } + btMatrix3x3 transposeTimes(const btMatrix3x3& m) const; btMatrix3x3 timesTranspose(const btMatrix3x3& m) const; |