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authorErwin Coumans <blender@erwincoumans.com>2011-03-12 23:34:17 +0300
committerErwin Coumans <blender@erwincoumans.com>2011-03-12 23:34:17 +0300
commit5e374328a87c1b418f8454d5ef38470484804961 (patch)
tree1d6de85165175c5192f74dbd423e1d5cb48f8ff6 /extern/bullet2/src/LinearMath
parent8c526e79e31d40d56a6fecce9343c74bd9fe62d8 (diff)
update Bullet physics sdk to latest trunk/version 2.78
add PhysicsConstraints.exportBulletFile(char* fileName) python command I'll be checking the bf-committers mailing list, in case this commit broke stuff scons needs to be updated, I'll do that in a second.
Diffstat (limited to 'extern/bullet2/src/LinearMath')
-rw-r--r--extern/bullet2/src/LinearMath/btAlignedAllocator.cpp25
-rw-r--r--extern/bullet2/src/LinearMath/btAlignedObjectArray.h35
-rw-r--r--extern/bullet2/src/LinearMath/btConvexHull.cpp66
-rw-r--r--extern/bullet2/src/LinearMath/btConvexHull.h4
-rw-r--r--extern/bullet2/src/LinearMath/btDefaultMotionState.h2
-rw-r--r--extern/bullet2/src/LinearMath/btHashMap.h211
-rw-r--r--extern/bullet2/src/LinearMath/btIDebugDraw.h186
-rw-r--r--extern/bullet2/src/LinearMath/btMatrix3x3.h1129
-rw-r--r--extern/bullet2/src/LinearMath/btMinMax.h6
-rw-r--r--extern/bullet2/src/LinearMath/btPoolAllocator.h14
-rw-r--r--extern/bullet2/src/LinearMath/btQuaternion.h44
-rw-r--r--extern/bullet2/src/LinearMath/btQuickprof.cpp229
-rw-r--r--extern/bullet2/src/LinearMath/btQuickprof.h198
-rw-r--r--extern/bullet2/src/LinearMath/btScalar.h125
-rw-r--r--extern/bullet2/src/LinearMath/btSerializer.cpp832
-rw-r--r--extern/bullet2/src/LinearMath/btSerializer.h655
-rw-r--r--extern/bullet2/src/LinearMath/btTransform.h78
-rw-r--r--extern/bullet2/src/LinearMath/btTransformUtil.h53
-rw-r--r--extern/bullet2/src/LinearMath/btVector3.h172
19 files changed, 3155 insertions, 909 deletions
diff --git a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
index a3d790f8abc..189b759d237 100644
--- a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
+++ b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp
@@ -160,22 +160,8 @@ void btAlignedFreeInternal (void* ptr,int line,char* filename)
void* btAlignedAllocInternal (size_t size, int alignment)
{
gNumAlignedAllocs++;
- void* ptr;
-#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
+ void* ptr;
ptr = sAlignedAllocFunc(size, alignment);
-#else
- char *real;
- unsigned long offset;
-
- real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
- if (real) {
- offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
- ptr = (void *)((real + sizeof(void *)) + offset);
- *((void **)(ptr)-1) = (void *)(real);
- } else {
- ptr = (void *)(real);
- }
-#endif // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
// printf("btAlignedAllocInternal %d, %x\n",size,ptr);
return ptr;
}
@@ -189,16 +175,7 @@ void btAlignedFreeInternal (void* ptr)
gNumAlignedFree++;
// printf("btAlignedFreeInternal %x\n",ptr);
-#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
sAlignedFreeFunc(ptr);
-#else
- void* real;
-
- if (ptr) {
- real = *((void **)(ptr)-1);
- sFreeFunc(real);
- }
-#endif // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
}
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
index bad1eee1f63..955bb128e83 100644
--- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
+++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h
@@ -138,6 +138,16 @@ class btAlignedObjectArray
return m_size;
}
+ SIMD_FORCE_INLINE const T& at(int n) const
+ {
+ return m_data[n];
+ }
+
+ SIMD_FORCE_INLINE T& at(int n)
+ {
+ return m_data[n];
+ }
+
SIMD_FORCE_INLINE const T& operator[](int n) const
{
return m_data[n];
@@ -171,9 +181,9 @@ class btAlignedObjectArray
{
int curSize = size();
- if (newsize < size())
+ if (newsize < curSize)
{
- for(int i = curSize; i < newsize; i++)
+ for(int i = newsize; i < curSize; i++)
{
m_data[i].~T();
}
@@ -195,6 +205,18 @@ class btAlignedObjectArray
m_size = newsize;
}
+ SIMD_FORCE_INLINE T& expandNonInitializing( )
+ {
+ int sz = size();
+ if( sz == capacity() )
+ {
+ reserve( allocSize(size()) );
+ }
+ m_size++;
+
+ return m_data[sz];
+ }
+
SIMD_FORCE_INLINE T& expand( const T& fillValue=T())
{
@@ -384,7 +406,7 @@ class btAlignedObjectArray
int findBinarySearch(const T& key) const
{
int first = 0;
- int last = size();
+ int last = size()-1;
//assume sorted array
while (first <= last) {
@@ -437,6 +459,13 @@ class btAlignedObjectArray
m_capacity = capacity;
}
+ void copyFromArray(const btAlignedObjectArray& otherArray)
+ {
+ int otherSize = otherArray.size();
+ resize (otherSize);
+ otherArray.copy(0, otherSize, m_data);
+ }
+
};
#endif //BT_OBJECT_ARRAY__
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.cpp b/extern/bullet2/src/LinearMath/btConvexHull.cpp
index 419c752a1d9..532d76d881f 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.cpp
+++ b/extern/bullet2/src/LinearMath/btConvexHull.cpp
@@ -16,9 +16,9 @@ subject to the following restrictions:
#include <string.h>
#include "btConvexHull.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btVector3.h"
+#include "btAlignedObjectArray.h"
+#include "btMinMax.h"
+#include "btVector3.h"
@@ -96,21 +96,21 @@ btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const
// returns the point where the line p0-p1 intersects the plane n&d
static btVector3 dif;
dif = p1-p0;
- btScalar dn= dot(plane.normal,dif);
- btScalar t = -(plane.dist+dot(plane.normal,p0) )/dn;
+ btScalar dn= btDot(plane.normal,dif);
+ btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn;
return p0 + (dif*t);
}
btVector3 PlaneProject(const btPlane &plane, const btVector3 &point)
{
- return point - plane.normal * (dot(point,plane.normal)+plane.dist);
+ return point - plane.normal * (btDot(point,plane.normal)+plane.dist);
}
btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2)
{
// return the normal of the triangle
// inscribed by v0, v1, and v2
- btVector3 cp=cross(v1-v0,v2-v1);
+ btVector3 cp=btCross(v1-v0,v2-v1);
btScalar m=cp.length();
if(m==0) return btVector3(1,0,0);
return cp*(btScalar(1.0)/m);
@@ -120,23 +120,23 @@ btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v
btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint)
{
static btVector3 cp;
- cp = cross(udir,vdir).normalized();
+ cp = btCross(udir,vdir).normalized();
- btScalar distu = -dot(cp,ustart);
- btScalar distv = -dot(cp,vstart);
+ btScalar distu = -btDot(cp,ustart);
+ btScalar distv = -btDot(cp,vstart);
btScalar dist = (btScalar)fabs(distu-distv);
if(upoint)
{
btPlane plane;
- plane.normal = cross(vdir,cp).normalized();
- plane.dist = -dot(plane.normal,vstart);
+ plane.normal = btCross(vdir,cp).normalized();
+ plane.dist = -btDot(plane.normal,vstart);
*upoint = PlaneLineIntersection(plane,ustart,ustart+udir);
}
if(vpoint)
{
btPlane plane;
- plane.normal = cross(udir,cp).normalized();
- plane.dist = -dot(plane.normal,ustart);
+ plane.normal = btCross(udir,cp).normalized();
+ plane.dist = -btDot(plane.normal,ustart);
*vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir);
}
return dist;
@@ -170,7 +170,7 @@ ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size)
int PlaneTest(const btPlane &p, const btVector3 &v);
int PlaneTest(const btPlane &p, const btVector3 &v) {
- btScalar a = dot(v,p.normal)+p.dist;
+ btScalar a = btDot(v,p.normal)+p.dist;
int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR);
return flag;
}
@@ -228,7 +228,7 @@ int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &
for(int i=0;i<count;i++)
if(allow[i])
{
- if(m==-1 || dot(p[i],dir)>dot(p[m],dir))
+ if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir))
m=i;
}
btAssert(m!=-1);
@@ -238,8 +238,8 @@ int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &
btVector3 orth(const btVector3 &v);
btVector3 orth(const btVector3 &v)
{
- btVector3 a=cross(v,btVector3(0,0,1));
- btVector3 b=cross(v,btVector3(0,1,0));
+ btVector3 a=btCross(v,btVector3(0,0,1));
+ btVector3 b=btCross(v,btVector3(0,1,0));
if (a.length() > b.length())
{
return a.normalized();
@@ -258,7 +258,7 @@ int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &al
m = maxdirfiltered(p,count,dir,allow);
if(allow[m]==3) return m;
T u = orth(dir);
- T v = cross(u,dir);
+ T v = btCross(u,dir);
int ma=-1;
for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0))
{
@@ -313,7 +313,7 @@ int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilo
int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon)
{
btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]);
- return (dot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
+ return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON???
}
int hasedge(const int3 &t, int a,int b);
int hasedge(const int3 &t, int a,int b)
@@ -495,8 +495,8 @@ int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectAr
basis[0] = verts[p0]-verts[p1];
if(p0==p1 || basis[0]==btVector3(0,0,0))
return int4(-1,-1,-1,-1);
- basis[1] = cross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
- basis[2] = cross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]);
+ basis[1] = btCross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]);
+ basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]);
if (basis[1].length() > basis[2].length())
{
basis[1].normalize();
@@ -512,13 +512,13 @@ int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectAr
if(p2 == p0 || p2 == p1)
return int4(-1,-1,-1,-1);
basis[1] = verts[p2] - verts[p0];
- basis[2] = cross(basis[1],basis[0]).normalized();
+ basis[2] = btCross(basis[1],basis[0]).normalized();
int p3 = maxdirsterid(verts,verts_count,basis[2],allow);
if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow);
if(p3==p0||p3==p1||p3==p2)
return int4(-1,-1,-1,-1);
btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
- if(dot(verts[p3]-verts[p0],cross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
+ if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
return int4(p0,p1,p2,p3);
}
@@ -564,7 +564,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
btAssert(t->vmax<0);
btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
t->vmax = maxdirsterid(verts,verts_count,n,allow);
- t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+ t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
}
btHullTriangle *te;
vlimit-=4;
@@ -592,7 +592,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
if(!m_tris[j]) continue;
if(!hasvert(*m_tris[j],v)) break;
int3 nt=*m_tris[j];
- if(above(verts,nt,center,btScalar(0.01)*epsilon) || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
+ if(above(verts,nt,center,btScalar(0.01)*epsilon) || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
{
btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
@@ -614,7 +614,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
}
else
{
- t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
+ t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]);
}
}
vlimit --;
@@ -876,7 +876,7 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
vcount = 0;
- btScalar recip[3];
+ btScalar recip[3]={0.f,0.f,0.f};
if ( scale )
{
@@ -1011,9 +1011,9 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
btScalar y = v[1];
btScalar z = v[2];
- btScalar dx = fabsf(x - px );
- btScalar dy = fabsf(y - py );
- btScalar dz = fabsf(z - pz );
+ btScalar dx = btFabs(x - px );
+ btScalar dy = btFabs(y - py );
+ btScalar dz = btFabs(z - pz );
if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
{
@@ -1135,7 +1135,7 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
ocount = 0;
- for (i=0; i<indexcount; i++)
+ for (i=0; i<int (indexcount); i++)
{
unsigned int v = indices[i]; // original array index
@@ -1156,7 +1156,7 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
for (int k=0;k<m_vertexIndexMapping.size();k++)
{
- if (tmpIndices[k]==v)
+ if (tmpIndices[k]==int(v))
m_vertexIndexMapping[k]=ocount;
}
diff --git a/extern/bullet2/src/LinearMath/btConvexHull.h b/extern/bullet2/src/LinearMath/btConvexHull.h
index 92560bddb9c..a23fa4d550f 100644
--- a/extern/bullet2/src/LinearMath/btConvexHull.h
+++ b/extern/bullet2/src/LinearMath/btConvexHull.h
@@ -19,8 +19,8 @@ subject to the following restrictions:
#ifndef CD_HULL_H
#define CD_HULL_H
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedObjectArray.h"
+#include "btVector3.h"
+#include "btAlignedObjectArray.h"
typedef btAlignedObjectArray<unsigned int> TUIntArray;
diff --git a/extern/bullet2/src/LinearMath/btDefaultMotionState.h b/extern/bullet2/src/LinearMath/btDefaultMotionState.h
index d758f77ed81..7858a10d219 100644
--- a/extern/bullet2/src/LinearMath/btDefaultMotionState.h
+++ b/extern/bullet2/src/LinearMath/btDefaultMotionState.h
@@ -1,6 +1,8 @@
#ifndef DEFAULT_MOTION_STATE_H
#define DEFAULT_MOTION_STATE_H
+#include "btMotionState.h"
+
///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
struct btDefaultMotionState : public btMotionState
{
diff --git a/extern/bullet2/src/LinearMath/btHashMap.h b/extern/bullet2/src/LinearMath/btHashMap.h
index f883e0e489a..e3302b5e9ff 100644
--- a/extern/bullet2/src/LinearMath/btHashMap.h
+++ b/extern/bullet2/src/LinearMath/btHashMap.h
@@ -3,94 +3,215 @@
#include "btAlignedObjectArray.h"
+///very basic hashable string implementation, compatible with btHashMap
+struct btHashString
+{
+ const char* m_string;
+ unsigned int m_hash;
+
+ SIMD_FORCE_INLINE unsigned int getHash()const
+ {
+ return m_hash;
+ }
+
+ btHashString(const char* name)
+ :m_string(name)
+ {
+ /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
+ static const unsigned int InitialFNV = 2166136261u;
+ static const unsigned int FNVMultiple = 16777619u;
+
+ /* Fowler / Noll / Vo (FNV) Hash */
+ unsigned int hash = InitialFNV;
+
+ for(int i = 0; m_string[i]; i++)
+ {
+ hash = hash ^ (m_string[i]); /* xor the low 8 bits */
+ hash = hash * FNVMultiple; /* multiply by the magic number */
+ }
+ m_hash = hash;
+ }
+
+ int portableStringCompare(const char* src, const char* dst) const
+ {
+ int ret = 0 ;
+
+ while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+ ++src, ++dst;
+
+ if ( ret < 0 )
+ ret = -1 ;
+ else if ( ret > 0 )
+ ret = 1 ;
+
+ return( ret );
+ }
+
+ bool equals(const btHashString& other) const
+ {
+ return (m_string == other.m_string) ||
+ (0==portableStringCompare(m_string,other.m_string));
+
+ }
+
+};
+
const int BT_HASH_NULL=0xffffffff;
-template <class Value>
-class btHashKey
+
+class btHashInt
{
int m_uid;
public:
-
- btHashKey(int uid)
- :m_uid(uid)
+ btHashInt(int uid) :m_uid(uid)
{
}
- int getUid() const
+ int getUid1() const
{
return m_uid;
}
+ void setUid1(int uid)
+ {
+ m_uid = uid;
+ }
+
+ bool equals(const btHashInt& other) const
+ {
+ return getUid1() == other.getUid1();
+ }
//to our success
SIMD_FORCE_INLINE unsigned int getHash()const
{
int key = m_uid;
// Thomas Wang's hash
- key += ~(key << 15);
- key ^= (key >> 10);
- key += (key << 3);
- key ^= (key >> 6);
- key += ~(key << 11);
- key ^= (key >> 16);
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
return key;
}
+};
- btHashKey getKey(const Value& value) const
+
+
+class btHashPtr
+{
+
+ union
{
- return btHashKey(value.getUid());
+ const void* m_pointer;
+ int m_hashValues[2];
+ };
+
+public:
+
+ btHashPtr(const void* ptr)
+ :m_pointer(ptr)
+ {
+ }
+
+ const void* getPointer() const
+ {
+ return m_pointer;
+ }
+
+ bool equals(const btHashPtr& other) const
+ {
+ return getPointer() == other.getPointer();
+ }
+
+ //to our success
+ SIMD_FORCE_INLINE unsigned int getHash()const
+ {
+ const bool VOID_IS_8 = ((sizeof(void*)==8));
+
+ int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
+
+ // Thomas Wang's hash
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
+ return key;
}
+
+
};
template <class Value>
class btHashKeyPtr
{
+ int m_uid;
+public:
+
+ btHashKeyPtr(int uid) :m_uid(uid)
+ {
+ }
+
+ int getUid1() const
+ {
+ return m_uid;
+ }
+
+ bool equals(const btHashKeyPtr<Value>& other) const
+ {
+ return getUid1() == other.getUid1();
+ }
+
+ //to our success
+ SIMD_FORCE_INLINE unsigned int getHash()const
+ {
+ int key = m_uid;
+ // Thomas Wang's hash
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
+ return key;
+ }
+
+
+};
+
+
+template <class Value>
+class btHashKey
+{
int m_uid;
public:
- btHashKeyPtr(int uid)
- :m_uid(uid)
+ btHashKey(int uid) :m_uid(uid)
{
}
- int getUid() const
+ int getUid1() const
{
return m_uid;
}
+ bool equals(const btHashKey<Value>& other) const
+ {
+ return getUid1() == other.getUid1();
+ }
//to our success
SIMD_FORCE_INLINE unsigned int getHash()const
{
int key = m_uid;
// Thomas Wang's hash
- key += ~(key << 15);
- key ^= (key >> 10);
- key += (key << 3);
- key ^= (key >> 6);
- key += ~(key << 11);
- key ^= (key >> 16);
+ key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
return key;
}
-
- btHashKeyPtr getKey(const Value& value) const
- {
- return btHashKeyPtr(value->getUid());
- }
};
+
///The btHashMap template class implements a generic and lightweight hashmap.
///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp
template <class Key, class Value>
class btHashMap
{
+protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
+
btAlignedObjectArray<Value> m_valueArray;
+ btAlignedObjectArray<Key> m_keyArray;
-
-
- void growTables(const Key& key)
+ void growTables(const Key& /*key*/)
{
int newCapacity = m_valueArray.capacity();
@@ -115,9 +236,10 @@ class btHashMap
for(i=0;i<curHashtableSize;i++)
{
- const Value& value = m_valueArray[i];
+ //const Value& value = m_valueArray[i];
+ //const Key& key = m_keyArray[i];
- int hashValue = key.getKey(value).getHash() & (m_valueArray.capacity()-1); // New hash value with new mask
+ int hashValue = m_keyArray[i].getHash() & (m_valueArray.capacity()-1); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
}
@@ -130,14 +252,20 @@ class btHashMap
void insert(const Key& key, const Value& value) {
int hash = key.getHash() & (m_valueArray.capacity()-1);
- //don't add it if it is already there
- if (find(key))
+
+ //replace value if the key is already there
+ int index = findIndex(key);
+ if (index != BT_HASH_NULL)
{
+ m_valueArray[index]=value;
return;
}
+
int count = m_valueArray.size();
int oldCapacity = m_valueArray.capacity();
m_valueArray.push_back(value);
+ m_keyArray.push_back(key);
+
int newCapacity = m_valueArray.capacity();
if (oldCapacity < newCapacity)
{
@@ -191,12 +319,12 @@ class btHashMap
if (lastPairIndex == pairIndex)
{
m_valueArray.pop_back();
+ m_keyArray.pop_back();
return;
}
// Remove the last pair from the hash table.
- const Value* lastValue = &m_valueArray[lastPairIndex];
- int lastHash = key.getKey(*lastValue).getHash() & (m_valueArray.capacity()-1);
+ int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity()-1);
index = m_hashTable[lastHash];
btAssert(index != BT_HASH_NULL);
@@ -220,12 +348,14 @@ class btHashMap
// Copy the last pair into the remove pair's spot.
m_valueArray[pairIndex] = m_valueArray[lastPairIndex];
+ m_keyArray[pairIndex] = m_keyArray[lastPairIndex];
// Insert the last pair into the hash table
m_next[pairIndex] = m_hashTable[lastHash];
m_hashTable[lastHash] = pairIndex;
m_valueArray.pop_back();
+ m_keyArray.pop_back();
}
@@ -276,15 +406,15 @@ class btHashMap
int findIndex(const Key& key) const
{
- int hash = key.getHash() & (m_valueArray.capacity()-1);
+ unsigned int hash = key.getHash() & (m_valueArray.capacity()-1);
- if (hash >= m_hashTable.size())
+ if (hash >= (unsigned int)m_hashTable.size())
{
return BT_HASH_NULL;
}
int index = m_hashTable[hash];
- while ((index != BT_HASH_NULL) && (key.getUid() == key.getKey(m_valueArray[index]).getUid()) == false)
+ while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false)
{
index = m_next[index];
}
@@ -296,6 +426,7 @@ class btHashMap
m_hashTable.clear();
m_next.clear();
m_valueArray.clear();
+ m_keyArray.clear();
}
};
diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h
index e5a0061b779..48c15806a7d 100644
--- a/extern/bullet2/src/LinearMath/btIDebugDraw.h
+++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h
@@ -1,27 +1,16 @@
/*
-Copyright (c) 2005 Gino van den Bergen / Erwin Coumans http://continuousphysics.com
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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.
*/
@@ -35,6 +24,7 @@ DEALINGS IN THE SOFTWARE.
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
+///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
class btIDebugDraw
{
public:
@@ -55,25 +45,54 @@ class btIDebugDraw
DBG_EnableCCD = 1024,
DBG_DrawConstraints = (1 << 11),
DBG_DrawConstraintLimits = (1 << 12),
+ DBG_FastWireframe = (1<<13),
DBG_MAX_DEBUG_DRAW_MODE
};
virtual ~btIDebugDraw() {};
+ virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
+
virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
{
+ (void) toColor;
drawLine (from, to, fromColor);
}
- virtual void drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+ virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
{
- }
+ btVector3 start = transform.getOrigin();
+
+ const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
+ const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
+ const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
+ // XY
+ drawLine(start-xoffs, start+yoffs, color);
+ drawLine(start+yoffs, start+xoffs, color);
+ drawLine(start+xoffs, start-yoffs, color);
+ drawLine(start-yoffs, start-xoffs, color);
+
+ // XZ
+ drawLine(start-xoffs, start+zoffs, color);
+ drawLine(start+zoffs, start+xoffs, color);
+ drawLine(start+xoffs, start-zoffs, color);
+ drawLine(start-zoffs, start-xoffs, color);
+
+ // YZ
+ drawLine(start-yoffs, start+zoffs, color);
+ drawLine(start+zoffs, start+yoffs, color);
+ drawLine(start+yoffs, start-zoffs, color);
+ drawLine(start-zoffs, start-yoffs, color);
+ }
+
virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
{
+ btTransform tr;
+ tr.setIdentity();
+ tr.setOrigin(p);
+ drawSphere(radius,tr,color);
}
-
- virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
{
@@ -96,7 +115,7 @@ class btIDebugDraw
virtual int getDebugMode() const = 0;
- inline void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
+ virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
@@ -125,7 +144,7 @@ class btIDebugDraw
edgecoord[i]*=-1.f;
}
}
- void drawTransform(const btTransform& transform, btScalar orthoLen)
+ virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
@@ -133,7 +152,7 @@ class btIDebugDraw
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
}
- void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
+ virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
{
const btVector3& vx = axis;
@@ -158,7 +177,7 @@ class btIDebugDraw
drawLine(center, prev, color);
}
}
- void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
+ virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius,
btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
{
btVector3 vA[74];
@@ -260,7 +279,7 @@ class btIDebugDraw
}
}
- void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
+ virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
{
drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
@@ -275,7 +294,7 @@ class btIDebugDraw
drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
}
- void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
+ virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
{
drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
@@ -290,6 +309,107 @@ class btIDebugDraw
drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
}
+
+ virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
+ {
+ btVector3 capStart(0.f,0.f,0.f);
+ capStart[upAxis] = -halfHeight;
+
+ btVector3 capEnd(0.f,0.f,0.f);
+ capEnd[upAxis] = halfHeight;
+
+ // Draw the ends
+ {
+
+ btTransform childTransform = transform;
+ childTransform.getOrigin() = transform * capStart;
+ drawSphere(radius, childTransform, color);
+ }
+
+ {
+ btTransform childTransform = transform;
+ childTransform.getOrigin() = transform * capEnd;
+ drawSphere(radius, childTransform, color);
+ }
+
+ // Draw some additional lines
+ btVector3 start = transform.getOrigin();
+
+ capStart[(upAxis+1)%3] = radius;
+ capEnd[(upAxis+1)%3] = radius;
+ drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+ capStart[(upAxis+1)%3] = -radius;
+ capEnd[(upAxis+1)%3] = -radius;
+ drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+
+ capStart[(upAxis+1)%3] = 0.f;
+ capEnd[(upAxis+1)%3] = 0.f;
+
+ capStart[(upAxis+2)%3] = radius;
+ capEnd[(upAxis+2)%3] = radius;
+ drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+ capStart[(upAxis+2)%3] = -radius;
+ capEnd[(upAxis+2)%3] = -radius;
+ drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+ }
+
+ virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
+ {
+ btVector3 start = transform.getOrigin();
+ btVector3 offsetHeight(0,0,0);
+ offsetHeight[upAxis] = halfHeight;
+ btVector3 offsetRadius(0,0,0);
+ offsetRadius[(upAxis+1)%3] = radius;
+ drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
+ drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
+
+ // Drawing top and bottom caps of the cylinder
+ btVector3 yaxis(0,0,0);
+ yaxis[upAxis] = btScalar(1.0);
+ btVector3 xaxis(0,0,0);
+ xaxis[(upAxis+1)%3] = btScalar(1.0);
+ drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+ drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+ }
+
+ virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
+ {
+
+ btVector3 start = transform.getOrigin();
+
+ btVector3 offsetHeight(0,0,0);
+ offsetHeight[upAxis] = height * btScalar(0.5);
+ btVector3 offsetRadius(0,0,0);
+ offsetRadius[(upAxis+1)%3] = radius;
+ btVector3 offset2Radius(0,0,0);
+ offset2Radius[(upAxis+2)%3] = radius;
+
+ drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
+ drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
+ drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
+ drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
+
+ // Drawing the base of the cone
+ btVector3 yaxis(0,0,0);
+ yaxis[upAxis] = btScalar(1.0);
+ btVector3 xaxis(0,0,0);
+ xaxis[(upAxis+1)%3] = btScalar(1.0);
+ drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
+ }
+
+ virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
+ {
+ btVector3 planeOrigin = planeNormal * planeConst;
+ btVector3 vec0,vec1;
+ btPlaneSpace1(planeNormal,vec0,vec1);
+ btScalar vecLen = 100.f;
+ btVector3 pt0 = planeOrigin + vec0*vecLen;
+ btVector3 pt1 = planeOrigin - vec0*vecLen;
+ btVector3 pt2 = planeOrigin + vec1*vecLen;
+ btVector3 pt3 = planeOrigin - vec1*vecLen;
+ drawLine(transform*pt0,transform*pt1,color);
+ drawLine(transform*pt2,transform*pt3,color);
+ }
};
diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h
index e45afc3c055..d0234a04369 100644
--- a/extern/bullet2/src/LinearMath/btMatrix3x3.h
+++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h
@@ -13,162 +13,179 @@ subject to the following restrictions:
*/
-#ifndef btMatrix3x3_H
-#define btMatrix3x3_H
-
-#include "btScalar.h"
+#ifndef BT_MATRIX3x3_H
+#define BT_MATRIX3x3_H
#include "btVector3.h"
#include "btQuaternion.h"
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btMatrix3x3Data btMatrix3x3DoubleData
+#else
+#define btMatrix3x3Data btMatrix3x3FloatData
+#endif //BT_USE_DOUBLE_PRECISION
/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
- * Make sure to only include a pure orthogonal matrix without scaling. */
+* Make sure to only include a pure orthogonal matrix without scaling. */
class btMatrix3x3 {
- public:
- /** @brief No initializaion constructor */
- btMatrix3x3 () {}
-
-// explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
-
- /**@brief Constructor from Quaternion */
- explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
- /*
- template <typename btScalar>
- Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
- {
- setEulerYPR(yaw, pitch, roll);
- }
- */
- /** @brief Constructor with row major formatting */
- btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
- const btScalar& yx, const btScalar& yy, const btScalar& yz,
- const btScalar& zx, const btScalar& zy, const btScalar& zz)
- {
- setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
- /** @brief Copy constructor */
- SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
- {
- m_el[0] = other.m_el[0];
- m_el[1] = other.m_el[1];
- m_el[2] = other.m_el[2];
- }
- /** @brief Assignment Operator */
- SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
- {
- m_el[0] = other.m_el[0];
- m_el[1] = other.m_el[1];
- m_el[2] = other.m_el[2];
- return *this;
- }
- /** @brief Get a column of the matrix as a vector
- * @param i Column number 0 indexed */
- SIMD_FORCE_INLINE btVector3 getColumn(int i) const
- {
- return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
- }
-
+ ///Data storage for the matrix, each vector is a row of the matrix
+ btVector3 m_el[3];
- /** @brief Get a row of the matrix as a vector
- * @param i Row number 0 indexed */
- SIMD_FORCE_INLINE const btVector3& getRow(int i) const
- {
- btFullAssert(0 <= i && i < 3);
- return m_el[i];
- }
+public:
+ /** @brief No initializaion constructor */
+ btMatrix3x3 () {}
- /** @brief Get a mutable reference to a row of the matrix as a vector
- * @param i Row number 0 indexed */
- SIMD_FORCE_INLINE btVector3& operator[](int i)
- {
- btFullAssert(0 <= i && i < 3);
- return m_el[i];
- }
-
- /** @brief Get a const reference to a row of the matrix as a vector
- * @param i Row number 0 indexed */
- SIMD_FORCE_INLINE const btVector3& operator[](int i) const
- {
- btFullAssert(0 <= i && i < 3);
- return m_el[i];
- }
-
- /** @brief Multiply by the target matrix on the right
- * @param m Rotation matrix to be applied
- * Equivilant to this = this * m */
- btMatrix3x3& operator*=(const btMatrix3x3& m);
-
- /** @brief Set from a carray of btScalars
- * @param m A pointer to the beginning of an array of 9 btScalars */
+ // explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); }
+
+ /**@brief Constructor from Quaternion */
+ explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); }
+ /*
+ template <typename btScalar>
+ Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
+ {
+ setEulerYPR(yaw, pitch, roll);
+ }
+ */
+ /** @brief Constructor with row major formatting */
+ btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz,
+ const btScalar& yx, const btScalar& yy, const btScalar& yz,
+ const btScalar& zx, const btScalar& zy, const btScalar& zz)
+ {
+ setValue(xx, xy, xz,
+ yx, yy, yz,
+ zx, zy, zz);
+ }
+ /** @brief Copy constructor */
+ SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other)
+ {
+ m_el[0] = other.m_el[0];
+ m_el[1] = other.m_el[1];
+ m_el[2] = other.m_el[2];
+ }
+ /** @brief Assignment Operator */
+ SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other)
+ {
+ m_el[0] = other.m_el[0];
+ m_el[1] = other.m_el[1];
+ m_el[2] = other.m_el[2];
+ return *this;
+ }
+
+ /** @brief Get a column of the matrix as a vector
+ * @param i Column number 0 indexed */
+ SIMD_FORCE_INLINE btVector3 getColumn(int i) const
+ {
+ return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
+ }
+
+
+ /** @brief Get a row of the matrix as a vector
+ * @param i Row number 0 indexed */
+ SIMD_FORCE_INLINE const btVector3& getRow(int i) const
+ {
+ btFullAssert(0 <= i && i < 3);
+ return m_el[i];
+ }
+
+ /** @brief Get a mutable reference to a row of the matrix as a vector
+ * @param i Row number 0 indexed */
+ SIMD_FORCE_INLINE btVector3& operator[](int i)
+ {
+ btFullAssert(0 <= i && i < 3);
+ return m_el[i];
+ }
+
+ /** @brief Get a const reference to a row of the matrix as a vector
+ * @param i Row number 0 indexed */
+ SIMD_FORCE_INLINE const btVector3& operator[](int i) const
+ {
+ btFullAssert(0 <= i && i < 3);
+ return m_el[i];
+ }
+
+ /** @brief Multiply by the target matrix on the right
+ * @param m Rotation matrix to be applied
+ * Equivilant to this = this * m */
+ btMatrix3x3& operator*=(const btMatrix3x3& m);
+
+ /** @brief Adds by the target matrix on the right
+ * @param m matrix to be applied
+ * Equivilant to this = this + m */
+ btMatrix3x3& operator+=(const btMatrix3x3& m);
+
+ /** @brief Substractss by the target matrix on the right
+ * @param m matrix to be applied
+ * Equivilant to this = this - m */
+ btMatrix3x3& operator-=(const btMatrix3x3& m);
+
+ /** @brief Set from the rotational part of a 4x4 OpenGL matrix
+ * @param m A pointer to the beginning of the array of scalars*/
void setFromOpenGLSubMatrix(const btScalar *m)
- {
- m_el[0].setValue(m[0],m[4],m[8]);
- m_el[1].setValue(m[1],m[5],m[9]);
- m_el[2].setValue(m[2],m[6],m[10]);
+ {
+ m_el[0].setValue(m[0],m[4],m[8]);
+ m_el[1].setValue(m[1],m[5],m[9]);
+ m_el[2].setValue(m[2],m[6],m[10]);
- }
- /** @brief Set the values of the matrix explicitly (row major)
- * @param xx Top left
- * @param xy Top Middle
- * @param xz Top Right
- * @param yx Middle Left
- * @param yy Middle Middle
- * @param yz Middle Right
- * @param zx Bottom Left
- * @param zy Bottom Middle
- * @param zz Bottom Right*/
- void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
- const btScalar& yx, const btScalar& yy, const btScalar& yz,
- const btScalar& zx, const btScalar& zy, const btScalar& zz)
- {
- m_el[0].setValue(xx,xy,xz);
- m_el[1].setValue(yx,yy,yz);
- m_el[2].setValue(zx,zy,zz);
- }
+ }
+ /** @brief Set the values of the matrix explicitly (row major)
+ * @param xx Top left
+ * @param xy Top Middle
+ * @param xz Top Right
+ * @param yx Middle Left
+ * @param yy Middle Middle
+ * @param yz Middle Right
+ * @param zx Bottom Left
+ * @param zy Bottom Middle
+ * @param zz Bottom Right*/
+ void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,
+ const btScalar& yx, const btScalar& yy, const btScalar& yz,
+ const btScalar& zx, const btScalar& zy, const btScalar& zz)
+ {
+ m_el[0].setValue(xx,xy,xz);
+ m_el[1].setValue(yx,yy,yz);
+ m_el[2].setValue(zx,zy,zz);
+ }
+
+ /** @brief Set the matrix from a quaternion
+ * @param q The Quaternion to match */
+ void setRotation(const btQuaternion& q)
+ {
+ btScalar d = q.length2();
+ btFullAssert(d != btScalar(0.0));
+ btScalar s = btScalar(2.0) / d;
+ btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
+ btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
+ btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
+ btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
+ setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
+ xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
+ xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
+ }
- /** @brief Set the matrix from a quaternion
- * @param q The Quaternion to match */
- void setRotation(const btQuaternion& q)
- {
- btScalar d = q.length2();
- btFullAssert(d != btScalar(0.0));
- btScalar s = btScalar(2.0) / d;
- btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s;
- btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs;
- btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs;
- btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs;
- setValue(btScalar(1.0) - (yy + zz), xy - wz, xz + wy,
- xy + wz, btScalar(1.0) - (xx + zz), yz - wx,
- xz - wy, yz + wx, btScalar(1.0) - (xx + yy));
- }
-
-
- /** @brief Set the matrix from euler angles using YPR around YXZ respectively
- * @param yaw Yaw about Y axis
- * @param pitch Pitch about X axis
- * @param roll Roll about Z axis
- */
- void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
- {
- setEulerZYX(roll, pitch, yaw);
- }
+
+ /** @brief Set the matrix from euler angles using YPR around YXZ respectively
+ * @param yaw Yaw about Y axis
+ * @param pitch Pitch about X axis
+ * @param roll Roll about Z axis
+ */
+ void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
+ {
+ setEulerZYX(roll, pitch, yaw);
+ }
/** @brief Set the matrix from euler angles YPR around ZYX axes
- * @param eulerX Roll about X axis
- * @param eulerY Pitch around Y axis
- * @param eulerZ Yaw aboud Z axis
- *
- * These angles are used to produce a rotation matrix. The euler
- * angles are applied in ZYX order. I.e a vector is first rotated
- * about X then Y and then Z
- **/
+ * @param eulerX Roll about X axis
+ * @param eulerY Pitch around Y axis
+ * @param eulerZ Yaw aboud Z axis
+ *
+ * These angles are used to produce a rotation matrix. The euler
+ * angles are applied in ZYX order. I.e a vector is first rotated
+ * about X then Y and then Z
+ **/
void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) {
- ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
+ ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code
btScalar ci ( btCos(eulerX));
btScalar cj ( btCos(eulerY));
btScalar ch ( btCos(eulerZ));
@@ -179,227 +196,233 @@ class btMatrix3x3 {
btScalar cs = ci * sh;
btScalar sc = si * ch;
btScalar ss = si * sh;
-
+
setValue(cj * ch, sj * sc - cs, sj * cc + ss,
- cj * sh, sj * ss + cc, sj * cs - sc,
- -sj, cj * si, cj * ci);
+ cj * sh, sj * ss + cc, sj * cs - sc,
+ -sj, cj * si, cj * ci);
}
- /**@brief Set the matrix to the identity */
- void setIdentity()
- {
- setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
- btScalar(0.0), btScalar(1.0), btScalar(0.0),
- btScalar(0.0), btScalar(0.0), btScalar(1.0));
- }
+ /**@brief Set the matrix to the identity */
+ void setIdentity()
+ {
+ setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0),
+ btScalar(0.0), btScalar(1.0), btScalar(0.0),
+ btScalar(0.0), btScalar(0.0), btScalar(1.0));
+ }
+
+ static const btMatrix3x3& getIdentity()
+ {
+ static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0),
+ btScalar(0.0), btScalar(1.0), btScalar(0.0),
+ btScalar(0.0), btScalar(0.0), btScalar(1.0));
+ return identityMatrix;
+ }
+
+ /**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective
+ * @param m The array to be filled */
+ void getOpenGLSubMatrix(btScalar *m) const
+ {
+ m[0] = btScalar(m_el[0].x());
+ m[1] = btScalar(m_el[1].x());
+ m[2] = btScalar(m_el[2].x());
+ m[3] = btScalar(0.0);
+ m[4] = btScalar(m_el[0].y());
+ m[5] = btScalar(m_el[1].y());
+ m[6] = btScalar(m_el[2].y());
+ m[7] = btScalar(0.0);
+ m[8] = btScalar(m_el[0].z());
+ m[9] = btScalar(m_el[1].z());
+ m[10] = btScalar(m_el[2].z());
+ m[11] = btScalar(0.0);
+ }
+
+ /**@brief Get the matrix represented as a quaternion
+ * @param q The quaternion which will be set */
+ void getRotation(btQuaternion& q) const
+ {
+ btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
+ btScalar temp[4];
- static const btMatrix3x3& getIdentity()
+ if (trace > btScalar(0.0))
+ {
+ btScalar s = btSqrt(trace + btScalar(1.0));
+ temp[3]=(s * btScalar(0.5));
+ s = btScalar(0.5) / s;
+
+ temp[0]=((m_el[2].y() - m_el[1].z()) * s);
+ temp[1]=((m_el[0].z() - m_el[2].x()) * s);
+ temp[2]=((m_el[1].x() - m_el[0].y()) * s);
+ }
+ else
{
- static const btMatrix3x3 identityMatrix(btScalar(1.0), btScalar(0.0), btScalar(0.0),
- btScalar(0.0), btScalar(1.0), btScalar(0.0),
- btScalar(0.0), btScalar(0.0), btScalar(1.0));
- return identityMatrix;
+ int i = m_el[0].x() < m_el[1].y() ?
+ (m_el[1].y() < m_el[2].z() ? 2 : 1) :
+ (m_el[0].x() < m_el[2].z() ? 2 : 0);
+ int j = (i + 1) % 3;
+ int k = (i + 2) % 3;
+
+ btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
+ temp[i] = s * btScalar(0.5);
+ s = btScalar(0.5) / s;
+
+ temp[3] = (m_el[k][j] - m_el[j][k]) * s;
+ temp[j] = (m_el[j][i] + m_el[i][j]) * s;
+ temp[k] = (m_el[k][i] + m_el[i][k]) * s;
}
+ q.setValue(temp[0],temp[1],temp[2],temp[3]);
+ }
+
+ /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
+ * @param yaw Yaw around Y axis
+ * @param pitch Pitch around X axis
+ * @param roll around Z axis */
+ void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const
+ {
+
+ // first use the normal calculus
+ yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
+ pitch = btScalar(btAsin(-m_el[2].x()));
+ roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
- /**@brief Fill the values of the matrix into a 9 element array
- * @param m The array to be filled */
- void getOpenGLSubMatrix(btScalar *m) const
+ // on pitch = +/-HalfPI
+ if (btFabs(pitch)==SIMD_HALF_PI)
{
- m[0] = btScalar(m_el[0].x());
- m[1] = btScalar(m_el[1].x());
- m[2] = btScalar(m_el[2].x());
- m[3] = btScalar(0.0);
- m[4] = btScalar(m_el[0].y());
- m[5] = btScalar(m_el[1].y());
- m[6] = btScalar(m_el[2].y());
- m[7] = btScalar(0.0);
- m[8] = btScalar(m_el[0].z());
- m[9] = btScalar(m_el[1].z());
- m[10] = btScalar(m_el[2].z());
- m[11] = btScalar(0.0);
+ if (yaw>0)
+ yaw-=SIMD_PI;
+ else
+ yaw+=SIMD_PI;
+
+ if (roll>0)
+ roll-=SIMD_PI;
+ else
+ roll+=SIMD_PI;
}
+ };
- /**@brief Get the matrix represented as a quaternion
- * @param q The quaternion which will be set */
- void getRotation(btQuaternion& q) const
+
+ /**@brief Get the matrix represented as euler angles around ZYX
+ * @param yaw Yaw around X axis
+ * @param pitch Pitch around Y axis
+ * @param roll around X axis
+ * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
+ void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
+ {
+ struct Euler
{
- btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z();
- btScalar temp[4];
-
- if (trace > btScalar(0.0))
+ btScalar yaw;
+ btScalar pitch;
+ btScalar roll;
+ };
+
+ Euler euler_out;
+ Euler euler_out2; //second solution
+ //get the pointer to the raw data
+
+ // Check that pitch is not at a singularity
+ if (btFabs(m_el[2].x()) >= 1)
+ {
+ euler_out.yaw = 0;
+ euler_out2.yaw = 0;
+
+ // From difference of angles formula
+ btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
+ if (m_el[2].x() > 0) //gimbal locked up
{
- btScalar s = btSqrt(trace + btScalar(1.0));
- temp[3]=(s * btScalar(0.5));
- s = btScalar(0.5) / s;
-
- temp[0]=((m_el[2].y() - m_el[1].z()) * s);
- temp[1]=((m_el[0].z() - m_el[2].x()) * s);
- temp[2]=((m_el[1].x() - m_el[0].y()) * s);
- }
- else
+ euler_out.pitch = SIMD_PI / btScalar(2.0);
+ euler_out2.pitch = SIMD_PI / btScalar(2.0);
+ euler_out.roll = euler_out.pitch + delta;
+ euler_out2.roll = euler_out.pitch + delta;
+ }
+ else // gimbal locked down
{
- int i = m_el[0].x() < m_el[1].y() ?
- (m_el[1].y() < m_el[2].z() ? 2 : 1) :
- (m_el[0].x() < m_el[2].z() ? 2 : 0);
- int j = (i + 1) % 3;
- int k = (i + 2) % 3;
-
- btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0));
- temp[i] = s * btScalar(0.5);
- s = btScalar(0.5) / s;
-
- temp[3] = (m_el[k][j] - m_el[j][k]) * s;
- temp[j] = (m_el[j][i] + m_el[i][j]) * s;
- temp[k] = (m_el[k][i] + m_el[i][k]) * s;
+ euler_out.pitch = -SIMD_PI / btScalar(2.0);
+ euler_out2.pitch = -SIMD_PI / btScalar(2.0);
+ euler_out.roll = -euler_out.pitch + delta;
+ euler_out2.roll = -euler_out.pitch + delta;
}
- q.setValue(temp[0],temp[1],temp[2],temp[3]);
}
-
- /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR
- * @param yaw Yaw around Y axis
- * @param pitch Pitch around X axis
- * @param roll around Z axis */
- void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const
+ else
{
-
- // first use the normal calculus
- yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x()));
- pitch = btScalar(btAsin(-m_el[2].x()));
- roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z()));
-
- // on pitch = +/-HalfPI
- if (btFabs(pitch)==SIMD_HALF_PI)
- {
- if (yaw>0)
- yaw-=SIMD_PI;
- else
- yaw+=SIMD_PI;
-
- if (roll>0)
- roll-=SIMD_PI;
- else
- roll+=SIMD_PI;
- }
- };
-
+ euler_out.pitch = - btAsin(m_el[2].x());
+ euler_out2.pitch = SIMD_PI - euler_out.pitch;
- /**@brief Get the matrix represented as euler angles around ZYX
- * @param yaw Yaw around X axis
- * @param pitch Pitch around Y axis
- * @param roll around X axis
- * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
- void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
- {
- struct Euler{btScalar yaw, pitch, roll;};
- Euler euler_out;
- Euler euler_out2; //second solution
- //get the pointer to the raw data
-
- // Check that pitch is not at a singularity
- if (btFabs(m_el[2].x()) >= 1)
- {
- euler_out.yaw = 0;
- euler_out2.yaw = 0;
-
- // From difference of angles formula
- btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
- if (m_el[2].x() > 0) //gimbal locked up
- {
- euler_out.pitch = SIMD_PI / btScalar(2.0);
- euler_out2.pitch = SIMD_PI / btScalar(2.0);
- euler_out.roll = euler_out.pitch + delta;
- euler_out2.roll = euler_out.pitch + delta;
- }
- else // gimbal locked down
- {
- euler_out.pitch = -SIMD_PI / btScalar(2.0);
- euler_out2.pitch = -SIMD_PI / btScalar(2.0);
- euler_out.roll = -euler_out.pitch + delta;
- euler_out2.roll = -euler_out.pitch + delta;
- }
- }
- else
- {
- euler_out.pitch = - btAsin(m_el[2].x());
- euler_out2.pitch = SIMD_PI - euler_out.pitch;
-
- euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch),
- m_el[2].z()/btCos(euler_out.pitch));
- euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch),
+ euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch),
+ m_el[2].z()/btCos(euler_out.pitch));
+ euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch),
m_el[2].z()/btCos(euler_out2.pitch));
-
- euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch),
- m_el[0].x()/btCos(euler_out.pitch));
- euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch),
- m_el[0].x()/btCos(euler_out2.pitch));
- }
-
- if (solution_number == 1)
- {
- yaw = euler_out.yaw;
- pitch = euler_out.pitch;
- roll = euler_out.roll;
- }
- else
- {
- yaw = euler_out2.yaw;
- pitch = euler_out2.pitch;
- roll = euler_out2.roll;
- }
- }
-
- /**@brief Create a scaled copy of the matrix
- * @param s Scaling vector The elements of the vector will scale each column */
-
- btMatrix3x3 scaled(const btVector3& s) const
- {
- return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
- m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
- m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
- }
- /**@brief Return the determinant of the matrix */
- btScalar determinant() const;
- /**@brief Return the adjoint of the matrix */
- btMatrix3x3 adjoint() const;
- /**@brief Return the matrix with all values non negative */
- btMatrix3x3 absolute() const;
- /**@brief Return the transpose of the matrix */
- btMatrix3x3 transpose() const;
- /**@brief Return the inverse of the matrix */
- btMatrix3x3 inverse() const;
-
- btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
- btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
-
- SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
- {
- return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
+ euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch),
+ m_el[0].x()/btCos(euler_out.pitch));
+ euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch),
+ m_el[0].x()/btCos(euler_out2.pitch));
}
- SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
- {
- return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
+
+ if (solution_number == 1)
+ {
+ yaw = euler_out.yaw;
+ pitch = euler_out.pitch;
+ roll = euler_out.roll;
}
- SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
- {
- return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
+ else
+ {
+ yaw = euler_out2.yaw;
+ pitch = euler_out2.pitch;
+ roll = euler_out2.roll;
}
-
-
- /**@brief diagonalizes this matrix by the Jacobi method.
- * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
- * coordinate system, i.e., old_this = rot * new_this * rot^T.
- * @param threshold See iteration
- * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
- * by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
- *
- * Note that this matrix is assumed to be symmetric.
- */
- void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
+ }
+
+ /**@brief Create a scaled copy of the matrix
+ * @param s Scaling vector The elements of the vector will scale each column */
+
+ btMatrix3x3 scaled(const btVector3& s) const
+ {
+ return btMatrix3x3(m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(),
+ m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(),
+ m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z());
+ }
+
+ /**@brief Return the determinant of the matrix */
+ btScalar determinant() const;
+ /**@brief Return the adjoint of the matrix */
+ btMatrix3x3 adjoint() const;
+ /**@brief Return the matrix with all values non negative */
+ btMatrix3x3 absolute() const;
+ /**@brief Return the transpose of the matrix */
+ btMatrix3x3 transpose() const;
+ /**@brief Return the inverse of the matrix */
+ btMatrix3x3 inverse() const;
+
+ btMatrix3x3 transposeTimes(const btMatrix3x3& m) const;
+ btMatrix3x3 timesTranspose(const btMatrix3x3& m) const;
+
+ SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const
+ {
+ return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z();
+ }
+ SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const
+ {
+ return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z();
+ }
+ SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const
+ {
+ return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z();
+ }
+
+
+ /**@brief diagonalizes this matrix by the Jacobi method.
+ * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
+ * coordinate system, i.e., old_this = rot * new_this * rot^T.
+ * @param threshold See iteration
+ * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
+ * by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
+ *
+ * Note that this matrix is assumed to be symmetric.
+ */
+ void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
+ {
+ rot.setIdentity();
+ for (int step = maxSteps; step > 0; step--)
{
- rot.setIdentity();
- for (int step = maxSteps; step > 0; step--)
- {
// find off-diagonal element [p][q] with largest magnitude
int p = 0;
int q = 1;
@@ -408,27 +431,27 @@ class btMatrix3x3 {
btScalar v = btFabs(m_el[0][2]);
if (v > max)
{
- q = 2;
- r = 1;
- max = v;
+ q = 2;
+ r = 1;
+ max = v;
}
v = btFabs(m_el[1][2]);
if (v > max)
{
- p = 1;
- q = 2;
- r = 0;
- max = v;
+ p = 1;
+ q = 2;
+ r = 0;
+ max = v;
}
btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
if (max <= t)
{
- if (max <= SIMD_EPSILON * t)
- {
- return;
- }
- step = 1;
+ if (max <= SIMD_EPSILON * t)
+ {
+ return;
+ }
+ step = 1;
}
// compute Jacobi rotation J which leads to a zero for element [p][q]
@@ -439,17 +462,17 @@ class btMatrix3x3 {
btScalar sin;
if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
{
- t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
- : 1 / (theta - btSqrt(1 + theta2));
- cos = 1 / btSqrt(1 + t * t);
- sin = cos * t;
+ t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
+ : 1 / (theta - btSqrt(1 + theta2));
+ cos = 1 / btSqrt(1 + t * t);
+ sin = cos * t;
}
else
{
- // approximation for large theta-value, i.e., a nearly diagonal matrix
- t = 1 / (theta * (2 + btScalar(0.5) / theta2));
- cos = 1 - btScalar(0.5) * t * t;
- sin = cos * t;
+ // approximation for large theta-value, i.e., a nearly diagonal matrix
+ t = 1 / (theta * (2 + btScalar(0.5) / theta2));
+ cos = 1 - btScalar(0.5) * t * t;
+ sin = cos * t;
}
// apply rotation to matrix (this = J^T * this * J)
@@ -464,155 +487,285 @@ class btMatrix3x3 {
// apply rotation to rot (rot = rot * J)
for (int i = 0; i < 3; i++)
{
- btVector3& row = rot[i];
- mrp = row[p];
- mrq = row[q];
- row[p] = cos * mrp - sin * mrq;
- row[q] = cos * mrq + sin * mrp;
+ btVector3& row = rot[i];
+ mrp = row[p];
+ mrq = row[q];
+ row[p] = cos * mrp - sin * mrq;
+ row[q] = cos * mrq + sin * mrp;
}
- }
}
+ }
-
- protected:
- /**@brief Calculate the matrix cofactor
- * @param r1 The first row to use for calculating the cofactor
- * @param c1 The first column to use for calculating the cofactor
- * @param r1 The second row to use for calculating the cofactor
- * @param c1 The second column to use for calculating the cofactor
- * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
- */
- btScalar cofac(int r1, int c1, int r2, int c2) const
- {
- return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
- }
- ///Data storage for the matrix, each vector is a row of the matrix
- btVector3 m_el[3];
- };
-
- SIMD_FORCE_INLINE btMatrix3x3&
- btMatrix3x3::operator*=(const btMatrix3x3& m)
- {
- setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
- m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
- m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
- return *this;
- }
-
- SIMD_FORCE_INLINE btScalar
- btMatrix3x3::determinant() const
- {
- return triple((*this)[0], (*this)[1], (*this)[2]);
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::absolute() const
- {
- return btMatrix3x3(
- btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
- btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
- btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
- }
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::transpose() const
+ /**@brief Calculate the matrix cofactor
+ * @param r1 The first row to use for calculating the cofactor
+ * @param c1 The first column to use for calculating the cofactor
+ * @param r1 The second row to use for calculating the cofactor
+ * @param c1 The second column to use for calculating the cofactor
+ * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details
+ */
+ btScalar cofac(int r1, int c1, int r2, int c2) const
{
- return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
- m_el[0].y(), m_el[1].y(), m_el[2].y(),
- m_el[0].z(), m_el[1].z(), m_el[2].z());
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::adjoint() const
- {
- return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
- cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
- cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::inverse() const
- {
- btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
- btScalar det = (*this)[0].dot(co);
- btFullAssert(det != btScalar(0.0));
- btScalar s = btScalar(1.0) / det;
- return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
- co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
- co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
- {
- return btMatrix3x3(
- m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
- m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
- m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
- m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
- m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
- m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
- m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
- m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
- m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
- }
-
- SIMD_FORCE_INLINE btMatrix3x3
- btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
- {
- return btMatrix3x3(
- m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
- m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
- m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
-
+ return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
}
- SIMD_FORCE_INLINE btVector3
- operator*(const btMatrix3x3& m, const btVector3& v)
- {
- return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
- }
-
+ void serialize(struct btMatrix3x3Data& dataOut) const;
- SIMD_FORCE_INLINE btVector3
- operator*(const btVector3& v, const btMatrix3x3& m)
- {
- return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
- }
+ void serializeFloat(struct btMatrix3x3FloatData& dataOut) const;
- SIMD_FORCE_INLINE btMatrix3x3
- operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
- {
- return btMatrix3x3(
- m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
- m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
- m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
- }
+ void deSerialize(const struct btMatrix3x3Data& dataIn);
+
+ void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
+
+ void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn);
+
+};
+
+
+SIMD_FORCE_INLINE btMatrix3x3&
+btMatrix3x3::operator*=(const btMatrix3x3& m)
+{
+ setValue(m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),
+ m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),
+ m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]));
+ return *this;
+}
+
+SIMD_FORCE_INLINE btMatrix3x3&
+btMatrix3x3::operator+=(const btMatrix3x3& m)
+{
+ setValue(
+ m_el[0][0]+m.m_el[0][0],
+ m_el[0][1]+m.m_el[0][1],
+ m_el[0][2]+m.m_el[0][2],
+ m_el[1][0]+m.m_el[1][0],
+ m_el[1][1]+m.m_el[1][1],
+ m_el[1][2]+m.m_el[1][2],
+ m_el[2][0]+m.m_el[2][0],
+ m_el[2][1]+m.m_el[2][1],
+ m_el[2][2]+m.m_el[2][2]);
+ return *this;
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+operator*(const btMatrix3x3& m, const btScalar & k)
+{
+ return btMatrix3x3(
+ m[0].x()*k,m[0].y()*k,m[0].z()*k,
+ m[1].x()*k,m[1].y()*k,m[1].z()*k,
+ m[2].x()*k,m[2].y()*k,m[2].z()*k);
+}
+
+ SIMD_FORCE_INLINE btMatrix3x3
+operator+(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+ return btMatrix3x3(
+ m1[0][0]+m2[0][0],
+ m1[0][1]+m2[0][1],
+ m1[0][2]+m2[0][2],
+ m1[1][0]+m2[1][0],
+ m1[1][1]+m2[1][1],
+ m1[1][2]+m2[1][2],
+ m1[2][0]+m2[2][0],
+ m1[2][1]+m2[2][1],
+ m1[2][2]+m2[2][2]);
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+operator-(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+ return btMatrix3x3(
+ m1[0][0]-m2[0][0],
+ m1[0][1]-m2[0][1],
+ m1[0][2]-m2[0][2],
+ m1[1][0]-m2[1][0],
+ m1[1][1]-m2[1][1],
+ m1[1][2]-m2[1][2],
+ m1[2][0]-m2[2][0],
+ m1[2][1]-m2[2][1],
+ m1[2][2]-m2[2][2]);
+}
+
+
+SIMD_FORCE_INLINE btMatrix3x3&
+btMatrix3x3::operator-=(const btMatrix3x3& m)
+{
+ setValue(
+ m_el[0][0]-m.m_el[0][0],
+ m_el[0][1]-m.m_el[0][1],
+ m_el[0][2]-m.m_el[0][2],
+ m_el[1][0]-m.m_el[1][0],
+ m_el[1][1]-m.m_el[1][1],
+ m_el[1][2]-m.m_el[1][2],
+ m_el[2][0]-m.m_el[2][0],
+ m_el[2][1]-m.m_el[2][1],
+ m_el[2][2]-m.m_el[2][2]);
+ return *this;
+}
+
+
+SIMD_FORCE_INLINE btScalar
+btMatrix3x3::determinant() const
+{
+ return btTriple((*this)[0], (*this)[1], (*this)[2]);
+}
+
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::absolute() const
+{
+ return btMatrix3x3(
+ btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()),
+ btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()),
+ btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z()));
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::transpose() const
+{
+ return btMatrix3x3(m_el[0].x(), m_el[1].x(), m_el[2].x(),
+ m_el[0].y(), m_el[1].y(), m_el[2].y(),
+ m_el[0].z(), m_el[1].z(), m_el[2].z());
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::adjoint() const
+{
+ return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
+ cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
+ cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::inverse() const
+{
+ btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
+ btScalar det = (*this)[0].dot(co);
+ btFullAssert(det != btScalar(0.0));
+ btScalar s = btScalar(1.0) / det;
+ return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
+ co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
+ co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::transposeTimes(const btMatrix3x3& m) const
+{
+ return btMatrix3x3(
+ m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(),
+ m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(),
+ m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(),
+ m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(),
+ m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(),
+ m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(),
+ m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(),
+ m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(),
+ m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z());
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+btMatrix3x3::timesTranspose(const btMatrix3x3& m) const
+{
+ return btMatrix3x3(
+ m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
+ m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
+ m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
+
+}
+
+SIMD_FORCE_INLINE btVector3
+operator*(const btMatrix3x3& m, const btVector3& v)
+{
+ return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
+}
+
+
+SIMD_FORCE_INLINE btVector3
+operator*(const btVector3& v, const btMatrix3x3& m)
+{
+ return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
+}
+
+SIMD_FORCE_INLINE btMatrix3x3
+operator*(const btMatrix3x3& m1, const btMatrix3x3& m2)
+{
+ return btMatrix3x3(
+ m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]),
+ m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]),
+ m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2]));
+}
/*
- SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
- return btMatrix3x3(
- m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
- m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
- m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
- m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
- m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
- m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
- m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
- m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
- m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
+SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) {
+return btMatrix3x3(
+m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
+m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
+m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
+m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
+m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
+m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
+m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
+m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
+m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
}
*/
/**@brief Equality operator between two matrices
- * It will test all elements are equal. */
+* It will test all elements are equal. */
SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
{
- return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
- m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
- m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+ return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] &&
+ m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] &&
+ m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
+}
+
+///for serialization
+struct btMatrix3x3FloatData
+{
+ btVector3FloatData m_el[3];
+};
+
+///for serialization
+struct btMatrix3x3DoubleData
+{
+ btVector3DoubleData m_el[3];
+};
+
+
+
+
+SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
+{
+ for (int i=0;i<3;i++)
+ m_el[i].serialize(dataOut.m_el[i]);
}
-#endif
+SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const
+{
+ for (int i=0;i<3;i++)
+ m_el[i].serializeFloat(dataOut.m_el[i]);
+}
+
+
+SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
+{
+ for (int i=0;i<3;i++)
+ m_el[i].deSerialize(dataIn.m_el[i]);
+}
+
+SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn)
+{
+ for (int i=0;i<3;i++)
+ m_el[i].deSerializeFloat(dataIn.m_el[i]);
+}
+
+SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn)
+{
+ for (int i=0;i<3;i++)
+ m_el[i].deSerializeDouble(dataIn.m_el[i]);
+}
+
+#endif //BT_MATRIX3x3_H
+
diff --git a/extern/bullet2/src/LinearMath/btMinMax.h b/extern/bullet2/src/LinearMath/btMinMax.h
index 5e27d62a4a4..80601c1e232 100644
--- a/extern/bullet2/src/LinearMath/btMinMax.h
+++ b/extern/bullet2/src/LinearMath/btMinMax.h
@@ -17,6 +17,8 @@ subject to the following restrictions:
#ifndef GEN_MINMAX_H
#define GEN_MINMAX_H
+#include "LinearMath/btScalar.h"
+
template <class T>
SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b)
{
@@ -30,7 +32,7 @@ SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
}
template <class T>
-SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub)
+SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub)
{
return a < lb ? lb : (ub < a ? ub : a);
}
@@ -54,7 +56,7 @@ SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
}
template <class T>
-SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub)
+SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub)
{
if (a < lb)
{
diff --git a/extern/bullet2/src/LinearMath/btPoolAllocator.h b/extern/bullet2/src/LinearMath/btPoolAllocator.h
index 39d2559c747..e3b4be9b155 100644
--- a/extern/bullet2/src/LinearMath/btPoolAllocator.h
+++ b/extern/bullet2/src/LinearMath/btPoolAllocator.h
@@ -57,6 +57,11 @@ public:
return m_freeCount;
}
+ int getUsedCount() const
+ {
+ return m_maxElements - m_freeCount;
+ }
+
void* allocate(int size)
{
// release mode fix
@@ -96,6 +101,15 @@ public:
return m_elemSize;
}
+ unsigned char* getPoolAddress()
+ {
+ return m_pool;
+ }
+
+ const unsigned char* getPoolAddress() const
+ {
+ return m_pool;
+ }
};
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h
index cbeca2681cc..15cf5f868d9 100644
--- a/extern/bullet2/src/LinearMath/btQuaternion.h
+++ b/extern/bullet2/src/LinearMath/btQuaternion.h
@@ -209,8 +209,17 @@ public:
return s;
}
+ /**@brief Return the axis of the rotation represented by this quaternion */
+ btVector3 getAxis() const
+ {
+ btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
+ if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
+ return btVector3(1.0, 0.0, 0.0); // Arbitrary
+ btScalar s = btSqrt(s_squared);
+ return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
+ }
- /**@brief Return the inverse of this quaternion */
+ /**@brief Return the inverse of this quaternion */
btQuaternion inverse() const
{
return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
@@ -252,6 +261,18 @@ public:
return (-qd);
}
+ /**@todo document this and it's use */
+ SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const
+ {
+ btQuaternion diff,sum;
+ diff = *this - qd;
+ sum = *this + qd;
+ if( diff.dot(diff) < sum.dot(sum) )
+ return qd;
+ return (-qd);
+ }
+
+
/**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion
* @param q The other quaternion to interpolate with
* @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q.
@@ -264,10 +285,17 @@ public:
btScalar d = btScalar(1.0) / btSin(theta);
btScalar s0 = btSin((btScalar(1.0) - t) * theta);
btScalar s1 = btSin(t * theta);
- return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
- (m_floats[1] * s0 + q.y() * s1) * d,
- (m_floats[2] * s0 + q.z() * s1) * d,
- (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+ if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+ return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d,
+ (m_floats[1] * s0 + -q.y() * s1) * d,
+ (m_floats[2] * s0 + -q.z() * s1) * d,
+ (m_floats[3] * s0 + -q.m_floats[3] * s1) * d);
+ else
+ return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
+ (m_floats[1] * s0 + q.y() * s1) * d,
+ (m_floats[2] * s0 + q.z() * s1) * d,
+ (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+
}
else
{
@@ -378,7 +406,11 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
btScalar d = v0.dot(v1);
if (d < -1.0 + SIMD_EPSILON)
- return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
+ {
+ btVector3 n,unused;
+ btPlaneSpace1(v0,n,unused);
+ return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
+ }
btScalar s = btSqrt((1.0f + d) * 2.0f);
btScalar rs = 1.0f / s;
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.cpp b/extern/bullet2/src/LinearMath/btQuickprof.cpp
index 621d50427d6..14534068a0d 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.cpp
+++ b/extern/bullet2/src/LinearMath/btQuickprof.cpp
@@ -1,6 +1,6 @@
+/*
-
-/***************************************************************************************************
+***************************************************************************************************
**
** profile.cpp
**
@@ -13,13 +13,232 @@
// Credits: The Clock class was inspired by the Timer classes in
// Ogre (www.ogre3d.org).
-#include "LinearMath/btQuickprof.h"
+#include "btQuickprof.h"
+#ifndef BT_NO_PROFILE
-#ifdef USE_BT_CLOCK
static btClock gProfileClock;
+
+#ifdef __CELLOS_LV2__
+#include <sys/sys_time.h>
+#include <sys/time_util.h>
+#include <stdio.h>
+#endif
+
+#if defined (SUNOS) || defined (__SUNOS__)
+#include <stdio.h>
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+
+#define BT_USE_WINDOWS_TIMERS
+#define WIN32_LEAN_AND_MEAN
+#define NOWINRES
+#define NOMCX
+#define NOIME
+
+#ifdef _XBOX
+ #include <Xtl.h>
+#else //_XBOX
+ #include <windows.h>
+#endif //_XBOX
+
+#include <time.h>
+
+
+#else //_WIN32
+#include <sys/time.h>
+#endif //_WIN32
+
+#define mymin(a,b) (a > b ? a : b)
+
+struct btClockData
+{
+
+#ifdef BT_USE_WINDOWS_TIMERS
+ LARGE_INTEGER mClockFrequency;
+ DWORD mStartTick;
+ LONGLONG mPrevElapsedTime;
+ LARGE_INTEGER mStartTime;
+#else
+#ifdef __CELLOS_LV2__
+ uint64_t mStartTime;
+#else
+ struct timeval mStartTime;
+#endif
+#endif //__CELLOS_LV2__
+
+};
+
+///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
+btClock::btClock()
+{
+ m_data = new btClockData;
+#ifdef BT_USE_WINDOWS_TIMERS
+ QueryPerformanceFrequency(&m_data->mClockFrequency);
+#endif
+ reset();
+}
+
+btClock::~btClock()
+{
+ delete m_data;
+}
+
+btClock::btClock(const btClock& other)
+{
+ m_data = new btClockData;
+ *m_data = *other.m_data;
+}
+
+btClock& btClock::operator=(const btClock& other)
+{
+ *m_data = *other.m_data;
+ return *this;
+}
+
+
+ /// Resets the initial reference time.
+void btClock::reset()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+ QueryPerformanceCounter(&m_data->mStartTime);
+ m_data->mStartTick = GetTickCount();
+ m_data->mPrevElapsedTime = 0;
+#else
+#ifdef __CELLOS_LV2__
+
+ typedef uint64_t ClockSize;
+ ClockSize newTime;
+ //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+ SYS_TIMEBASE_GET( newTime );
+ m_data->mStartTime = newTime;
+#else
+ gettimeofday(&m_data->mStartTime, 0);
+#endif
+#endif
+}
+
+/// Returns the time in ms since the last call to reset or since
+/// the btClock was created.
+unsigned long int btClock::getTimeMilliseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+ LARGE_INTEGER currentTime;
+ QueryPerformanceCounter(&currentTime);
+ LONGLONG elapsedTime = currentTime.QuadPart -
+ m_data->mStartTime.QuadPart;
+ // Compute the number of millisecond ticks elapsed.
+ unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+ // Check for unexpected leaps in the Win32 performance counter.
+ // (This is caused by unexpected data across the PCI to ISA
+ // bridge, aka south bridge. See Microsoft KB274323.)
+ unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+ signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+ if (msecOff < -100 || msecOff > 100)
+ {
+ // Adjust the starting time forwards.
+ LONGLONG msecAdjustment = mymin(msecOff *
+ m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
+ m_data->mPrevElapsedTime);
+ m_data->mStartTime.QuadPart += msecAdjustment;
+ elapsedTime -= msecAdjustment;
+
+ // Recompute the number of millisecond ticks elapsed.
+ msecTicks = (unsigned long)(1000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+ }
+
+ // Store the current elapsed time for adjustments next time.
+ m_data->mPrevElapsedTime = elapsedTime;
+
+ return msecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+ uint64_t freq=sys_time_get_timebase_frequency();
+ double dFreq=((double) freq) / 1000.0;
+ typedef uint64_t ClockSize;
+ ClockSize newTime;
+ SYS_TIMEBASE_GET( newTime );
+ //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+
+ return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+ struct timeval currentTime;
+ gettimeofday(&currentTime, 0);
+ return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 +
+ (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
+#endif //__CELLOS_LV2__
+#endif
+}
+
+ /// Returns the time in us since the last call to reset or since
+ /// the Clock was created.
+unsigned long int btClock::getTimeMicroseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+ LARGE_INTEGER currentTime;
+ QueryPerformanceCounter(&currentTime);
+ LONGLONG elapsedTime = currentTime.QuadPart -
+ m_data->mStartTime.QuadPart;
+
+ // Compute the number of millisecond ticks elapsed.
+ unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+
+ // Check for unexpected leaps in the Win32 performance counter.
+ // (This is caused by unexpected data across the PCI to ISA
+ // bridge, aka south bridge. See Microsoft KB274323.)
+ unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+ signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+ if (msecOff < -100 || msecOff > 100)
+ {
+ // Adjust the starting time forwards.
+ LONGLONG msecAdjustment = mymin(msecOff *
+ m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
+ m_data->mPrevElapsedTime);
+ m_data->mStartTime.QuadPart += msecAdjustment;
+ elapsedTime -= msecAdjustment;
+ }
+
+ // Store the current elapsed time for adjustments next time.
+ m_data->mPrevElapsedTime = elapsedTime;
+
+ // Convert to microseconds.
+ unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
+ m_data->mClockFrequency.QuadPart);
+
+ return usecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+ uint64_t freq=sys_time_get_timebase_frequency();
+ double dFreq=((double) freq)/ 1000000.0;
+ typedef uint64_t ClockSize;
+ ClockSize newTime;
+ //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+ SYS_TIMEBASE_GET( newTime );
+
+ return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+ struct timeval currentTime;
+ gettimeofday(&currentTime, 0);
+ return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 +
+ (currentTime.tv_usec - m_data->mStartTime.tv_usec);
+#endif//__CELLOS_LV2__
+#endif
+}
+
+
+
+
+
inline void Profile_Get_Ticks(unsigned long int * ticks)
{
*ticks = gProfileClock.getTimeMicroseconds();
@@ -342,5 +561,5 @@ void CProfileManager::dumpAll()
-#endif //USE_BT_CLOCK
+#endif //BT_NO_PROFILE
diff --git a/extern/bullet2/src/LinearMath/btQuickprof.h b/extern/bullet2/src/LinearMath/btQuickprof.h
index f8d47c36861..adfbbe6149c 100644
--- a/extern/bullet2/src/LinearMath/btQuickprof.h
+++ b/extern/bullet2/src/LinearMath/btQuickprof.h
@@ -18,216 +18,42 @@
//To disable built-in profiling, please comment out next line
//#define BT_NO_PROFILE 1
#ifndef BT_NO_PROFILE
-
+#include <stdio.h>//@todo remove this, backwards compatibility
#include "btScalar.h"
-#include "LinearMath/btAlignedAllocator.h"
+#include "btAlignedAllocator.h"
#include <new>
-//if you don't need btClock, you can comment next line
+
#define USE_BT_CLOCK 1
#ifdef USE_BT_CLOCK
-#ifdef __CELLOS_LV2__
-#include <sys/sys_time.h>
-#include <sys/time_util.h>
-#include <stdio.h>
-#endif
-
-#if defined (SUNOS) || defined (__SUNOS__)
-#include <stdio.h>
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-
-#define USE_WINDOWS_TIMERS
-#define WIN32_LEAN_AND_MEAN
-#define NOWINRES
-#define NOMCX
-#define NOIME
-#ifdef _XBOX
-#include <Xtl.h>
-#else
-#include <windows.h>
-#endif
-#include <time.h>
-
-#else
-#include <sys/time.h>
-#endif
-
-#define mymin(a,b) (a > b ? a : b)
///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
class btClock
{
public:
- btClock()
- {
-#ifdef USE_WINDOWS_TIMERS
- QueryPerformanceFrequency(&mClockFrequency);
-#endif
- reset();
- }
-
- ~btClock()
- {
- }
+ btClock();
- /// Resets the initial reference time.
- void reset()
- {
-#ifdef USE_WINDOWS_TIMERS
- QueryPerformanceCounter(&mStartTime);
- mStartTick = GetTickCount();
- mPrevElapsedTime = 0;
-#else
-#ifdef __CELLOS_LV2__
+ btClock(const btClock& other);
+ btClock& operator=(const btClock& other);
- typedef uint64_t ClockSize;
- ClockSize newTime;
- //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
- SYS_TIMEBASE_GET( newTime );
- mStartTime = newTime;
-#else
- gettimeofday(&mStartTime, 0);
-#endif
+ ~btClock();
-#endif
- }
+ /// Resets the initial reference time.
+ void reset();
/// Returns the time in ms since the last call to reset or since
/// the btClock was created.
- unsigned long int getTimeMilliseconds()
- {
-#ifdef USE_WINDOWS_TIMERS
- LARGE_INTEGER currentTime;
- QueryPerformanceCounter(&currentTime);
- LONGLONG elapsedTime = currentTime.QuadPart -
- mStartTime.QuadPart;
-
- // Compute the number of millisecond ticks elapsed.
- unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
- mClockFrequency.QuadPart);
-
- // Check for unexpected leaps in the Win32 performance counter.
- // (This is caused by unexpected data across the PCI to ISA
- // bridge, aka south bridge. See Microsoft KB274323.)
- unsigned long elapsedTicks = GetTickCount() - mStartTick;
- signed long msecOff = (signed long)(msecTicks - elapsedTicks);
- if (msecOff < -100 || msecOff > 100)
- {
- // Adjust the starting time forwards.
- LONGLONG msecAdjustment = mymin(msecOff *
- mClockFrequency.QuadPart / 1000, elapsedTime -
- mPrevElapsedTime);
- mStartTime.QuadPart += msecAdjustment;
- elapsedTime -= msecAdjustment;
-
- // Recompute the number of millisecond ticks elapsed.
- msecTicks = (unsigned long)(1000 * elapsedTime /
- mClockFrequency.QuadPart);
- }
-
- // Store the current elapsed time for adjustments next time.
- mPrevElapsedTime = elapsedTime;
-
- return msecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
- uint64_t freq=sys_time_get_timebase_frequency();
- double dFreq=((double) freq) / 1000.0;
- typedef uint64_t ClockSize;
- ClockSize newTime;
- SYS_TIMEBASE_GET( newTime );
- //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
- return (unsigned long int)((double(newTime-mStartTime)) / dFreq);
-#else
-
- struct timeval currentTime;
- gettimeofday(&currentTime, 0);
- return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 +
- (currentTime.tv_usec - mStartTime.tv_usec) / 1000;
-#endif //__CELLOS_LV2__
-#endif
- }
+ unsigned long int getTimeMilliseconds();
/// Returns the time in us since the last call to reset or since
/// the Clock was created.
- unsigned long int getTimeMicroseconds()
- {
-#ifdef USE_WINDOWS_TIMERS
- LARGE_INTEGER currentTime;
- QueryPerformanceCounter(&currentTime);
- LONGLONG elapsedTime = currentTime.QuadPart -
- mStartTime.QuadPart;
-
- // Compute the number of millisecond ticks elapsed.
- unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
- mClockFrequency.QuadPart);
-
- // Check for unexpected leaps in the Win32 performance counter.
- // (This is caused by unexpected data across the PCI to ISA
- // bridge, aka south bridge. See Microsoft KB274323.)
- unsigned long elapsedTicks = GetTickCount() - mStartTick;
- signed long msecOff = (signed long)(msecTicks - elapsedTicks);
- if (msecOff < -100 || msecOff > 100)
- {
- // Adjust the starting time forwards.
- LONGLONG msecAdjustment = mymin(msecOff *
- mClockFrequency.QuadPart / 1000, elapsedTime -
- mPrevElapsedTime);
- mStartTime.QuadPart += msecAdjustment;
- elapsedTime -= msecAdjustment;
- }
-
- // Store the current elapsed time for adjustments next time.
- mPrevElapsedTime = elapsedTime;
-
- // Convert to microseconds.
- unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
- mClockFrequency.QuadPart);
-
- return usecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
- uint64_t freq=sys_time_get_timebase_frequency();
- double dFreq=((double) freq)/ 1000000.0;
- typedef uint64_t ClockSize;
- ClockSize newTime;
- //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
- SYS_TIMEBASE_GET( newTime );
-
- return (unsigned long int)((double(newTime-mStartTime)) / dFreq);
-#else
-
- struct timeval currentTime;
- gettimeofday(&currentTime, 0);
- return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 +
- (currentTime.tv_usec - mStartTime.tv_usec);
-#endif//__CELLOS_LV2__
-#endif
- }
-
+ unsigned long int getTimeMicroseconds();
private:
-#ifdef USE_WINDOWS_TIMERS
- LARGE_INTEGER mClockFrequency;
- DWORD mStartTick;
- LONGLONG mPrevElapsedTime;
- LARGE_INTEGER mStartTime;
-#else
-#ifdef __CELLOS_LV2__
- uint64_t mStartTime;
-#else
- struct timeval mStartTime;
-#endif
-#endif //__CELLOS_LV2__
-
+ struct btClockData* m_data;
};
#endif //USE_BT_CLOCK
diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
index 08b2dee8af3..165626d530f 100644
--- a/extern/bullet2/src/LinearMath/btScalar.h
+++ b/extern/bullet2/src/LinearMath/btScalar.h
@@ -1,5 +1,5 @@
/*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
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.
@@ -17,15 +17,20 @@ subject to the following restrictions:
#ifndef SIMD___SCALAR_H
#define SIMD___SCALAR_H
-#include <math.h>
+#ifdef BT_MANAGED_CODE
+//Aligned data types not supported in managed code
+#pragma unmanaged
+#endif
-#include <stdlib.h>//size_t for MSVC 6.0
+#include <math.h>
+#include <stdlib.h>//size_t for MSVC 6.0
#include <cstdlib>
#include <cfloat>
#include <float.h>
-#define BT_BULLET_VERSION 274
+/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
+#define BT_BULLET_VERSION 278
inline int btGetVersion()
{
@@ -37,12 +42,13 @@ inline int btGetVersion()
#endif
-#ifdef WIN32
+#ifdef _WIN32
#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
#define SIMD_FORCE_INLINE inline
#define ATTRIBUTE_ALIGNED16(a) a
+ #define ATTRIBUTE_ALIGNED64(a) a
#define ATTRIBUTE_ALIGNED128(a) a
#else
//#define BT_HAS_ALIGNED_ALLOCATOR
@@ -53,6 +59,7 @@ inline int btGetVersion()
#define SIMD_FORCE_INLINE __forceinline
#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+ #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
#ifdef _XBOX
#define BT_USE_VMX128
@@ -62,7 +69,7 @@ inline int btGetVersion()
#define btFsel(a,b,c) __fsel((a),(b),(c))
#else
-#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
+#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
#define BT_USE_SSE
#include <emmintrin.h>
#endif
@@ -86,14 +93,22 @@ inline int btGetVersion()
#else
#if defined (__CELLOS_LV2__)
- #define SIMD_FORCE_INLINE inline
+ #define SIMD_FORCE_INLINE inline __attribute__((always_inline))
#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
#ifndef assert
#include <assert.h>
#endif
#ifdef BT_DEBUG
- #define btAssert assert
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+ #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
+#else
+ #define btAssert assert
+#endif
+
#else
#define btAssert(x)
#endif
@@ -109,6 +124,7 @@ inline int btGetVersion()
#define SIMD_FORCE_INLINE __inline
#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
#ifndef assert
#include <assert.h>
@@ -129,11 +145,39 @@ inline int btGetVersion()
#else
//non-windows systems
+#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
+ #define BT_USE_SSE
+ #include <emmintrin.h>
+
+ #define SIMD_FORCE_INLINE inline
+///@todo: check out alignment methods for other platforms/compilers
+ #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
+ #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
+ #ifndef assert
+ #include <assert.h>
+ #endif
+
+ #if defined(DEBUG) || defined (_DEBUG)
+ #define btAssert assert
+ #else
+ #define btAssert(x)
+ #endif
+
+ //btFullAssert is optional, slows down a lot
+ #define btFullAssert(x)
+ #define btLikely(_c) _c
+ #define btUnlikely(_c) _c
+
+#else
+
#define SIMD_FORCE_INLINE inline
///@todo: check out alignment methods for other platforms/compilers
///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+ ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
#define ATTRIBUTE_ALIGNED16(a) a
+ #define ATTRIBUTE_ALIGNED64(a) a
#define ATTRIBUTE_ALIGNED128(a) a
#ifndef assert
#include <assert.h>
@@ -149,21 +193,13 @@ inline int btGetVersion()
#define btFullAssert(x)
#define btLikely(_c) _c
#define btUnlikely(_c) _c
-
+#endif //__APPLE__
#endif // LIBSPE2
#endif //__CELLOS_LV2__
#endif
-/// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.
-/// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor)
-#if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__))
-//use slow double float precision operation on those platforms
-#ifndef BT_USE_DOUBLE_PRECISION
-#define BT_FORCE_DOUBLE_FUNCTIONS
-#endif
-#endif
///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision.
#if defined(BT_USE_DOUBLE_PRECISION)
@@ -197,13 +233,14 @@ SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
-SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acos(x); }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asin(x); }
+SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return acos(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1)) x=btScalar(-1); if (x>btScalar(1)) x=btScalar(1); return asin(x); }
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); }
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
+SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); }
#else
@@ -216,7 +253,7 @@ SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
tempf = y;
*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
x = tempf;
- z = y*btScalar(0.5); /* hoist out the “/2” */
+ z = y*btScalar(0.5);
x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */
x = (btScalar(1.5)*x)-(x*x)*(x*z);
x = (btScalar(1.5)*x)-(x*x)*(x*z);
@@ -232,15 +269,25 @@ SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
SIMD_FORCE_INLINE btScalar btAcos(btScalar x) {
- btAssert(x <= btScalar(1.));
+ if (x<btScalar(-1))
+ x=btScalar(-1);
+ if (x>btScalar(1))
+ x=btScalar(1);
return acosf(x);
}
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) {
+ if (x<btScalar(-1))
+ x=btScalar(-1);
+ if (x>btScalar(1))
+ x=btScalar(1);
+ return asinf(x);
+}
SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); }
SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
+SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#endif
@@ -249,6 +296,10 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); }
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
+#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
+
+#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
+
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON
@@ -439,5 +490,35 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src)
return d;
}
+// returns normalized value in range [-SIMD_PI, SIMD_PI]
+SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians)
+{
+ angleInRadians = btFmod(angleInRadians, SIMD_2_PI);
+ if(angleInRadians < -SIMD_PI)
+ {
+ return angleInRadians + SIMD_2_PI;
+ }
+ else if(angleInRadians > SIMD_PI)
+ {
+ return angleInRadians - SIMD_2_PI;
+ }
+ else
+ {
+ return angleInRadians;
+ }
+}
+///rudimentary class to provide type info
+struct btTypedObject
+{
+ btTypedObject(int objectType)
+ :m_objectType(objectType)
+ {
+ }
+ int m_objectType;
+ inline int getObjectType() const
+ {
+ return m_objectType;
+ }
+};
#endif //SIMD___SCALAR_H
diff --git a/extern/bullet2/src/LinearMath/btSerializer.cpp b/extern/bullet2/src/LinearMath/btSerializer.cpp
new file mode 100644
index 00000000000..c6d387e6133
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btSerializer.cpp
@@ -0,0 +1,832 @@
+unsigned char sBulletDNAstr[]= {
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+10,0,3,0,10,0,4,0,10,0,5,0,12,0,2,0,9,0,6,0,
+9,0,7,0,13,0,1,0,7,0,8,0,14,0,1,0,8,0,8,0,
+15,0,1,0,13,0,9,0,16,0,1,0,14,0,9,0,17,0,2,0,
+15,0,10,0,13,0,11,0,18,0,2,0,16,0,10,0,14,0,11,0,
+19,0,4,0,4,0,12,0,4,0,13,0,2,0,14,0,2,0,15,0,
+20,0,6,0,13,0,16,0,13,0,17,0,4,0,18,0,4,0,19,0,
+4,0,20,0,0,0,21,0,21,0,6,0,14,0,16,0,14,0,17,0,
+4,0,18,0,4,0,19,0,4,0,20,0,0,0,21,0,22,0,3,0,
+2,0,14,0,2,0,15,0,4,0,22,0,23,0,12,0,13,0,23,0,
+13,0,24,0,13,0,25,0,4,0,26,0,4,0,27,0,4,0,28,0,
+4,0,29,0,20,0,30,0,22,0,31,0,19,0,32,0,4,0,33,0,
+4,0,34,0,24,0,12,0,14,0,23,0,14,0,24,0,14,0,25,0,
+4,0,26,0,4,0,27,0,4,0,28,0,4,0,29,0,21,0,30,0,
+22,0,31,0,4,0,33,0,4,0,34,0,19,0,32,0,25,0,3,0,
+0,0,35,0,4,0,36,0,0,0,37,0,26,0,5,0,25,0,38,0,
+13,0,39,0,13,0,40,0,7,0,41,0,0,0,21,0,27,0,5,0,
+25,0,38,0,13,0,39,0,13,0,42,0,7,0,43,0,4,0,44,0,
+28,0,2,0,13,0,45,0,7,0,46,0,29,0,4,0,27,0,47,0,
+28,0,48,0,4,0,49,0,0,0,37,0,30,0,1,0,4,0,50,0,
+31,0,2,0,2,0,50,0,0,0,51,0,32,0,2,0,2,0,52,0,
+0,0,51,0,33,0,2,0,0,0,52,0,0,0,53,0,34,0,8,0,
+13,0,54,0,14,0,55,0,30,0,56,0,32,0,57,0,33,0,58,0,
+31,0,59,0,4,0,60,0,4,0,61,0,35,0,4,0,34,0,62,0,
+13,0,63,0,4,0,64,0,0,0,37,0,36,0,7,0,25,0,38,0,
+35,0,65,0,23,0,66,0,24,0,67,0,37,0,68,0,7,0,43,0,
+0,0,69,0,38,0,2,0,36,0,70,0,13,0,39,0,39,0,4,0,
+17,0,71,0,25,0,72,0,4,0,73,0,7,0,74,0,40,0,4,0,
+25,0,38,0,39,0,75,0,4,0,76,0,7,0,43,0,41,0,3,0,
+27,0,47,0,4,0,77,0,0,0,37,0,42,0,3,0,27,0,47,0,
+4,0,77,0,0,0,37,0,43,0,4,0,4,0,78,0,7,0,79,0,
+7,0,80,0,7,0,81,0,37,0,14,0,4,0,82,0,4,0,83,0,
+43,0,84,0,4,0,85,0,7,0,86,0,7,0,87,0,7,0,88,0,
+7,0,89,0,7,0,90,0,4,0,91,0,4,0,92,0,4,0,93,0,
+4,0,94,0,0,0,37,0,44,0,5,0,25,0,38,0,35,0,65,0,
+13,0,39,0,7,0,43,0,4,0,95,0,45,0,5,0,27,0,47,0,
+13,0,96,0,14,0,97,0,4,0,98,0,0,0,99,0,46,0,24,0,
+9,0,100,0,9,0,101,0,25,0,102,0,0,0,35,0,18,0,103,0,
+18,0,104,0,14,0,105,0,14,0,106,0,14,0,107,0,8,0,108,0,
+8,0,109,0,8,0,110,0,8,0,111,0,8,0,112,0,8,0,113,0,
+8,0,114,0,4,0,115,0,4,0,116,0,4,0,117,0,4,0,118,0,
+4,0,119,0,4,0,120,0,4,0,121,0,0,0,37,0,47,0,23,0,
+9,0,100,0,9,0,101,0,25,0,102,0,0,0,35,0,17,0,103,0,
+17,0,104,0,13,0,105,0,13,0,106,0,13,0,107,0,7,0,108,0,
+7,0,109,0,7,0,110,0,7,0,111,0,7,0,112,0,7,0,113,0,
+7,0,114,0,4,0,115,0,4,0,116,0,4,0,117,0,4,0,118,0,
+4,0,119,0,4,0,120,0,4,0,121,0,48,0,21,0,47,0,122,0,
+15,0,123,0,13,0,124,0,13,0,125,0,13,0,126,0,13,0,127,0,
+13,0,-128,0,13,0,-127,0,13,0,-126,0,13,0,-125,0,13,0,-124,0,
+7,0,-123,0,7,0,-122,0,7,0,-121,0,7,0,-120,0,7,0,-119,0,
+7,0,-118,0,7,0,-117,0,7,0,-116,0,7,0,-115,0,4,0,-114,0,
+49,0,22,0,46,0,122,0,16,0,123,0,14,0,124,0,14,0,125,0,
+14,0,126,0,14,0,127,0,14,0,-128,0,14,0,-127,0,14,0,-126,0,
+14,0,-125,0,14,0,-124,0,8,0,-123,0,8,0,-122,0,8,0,-121,0,
+8,0,-120,0,8,0,-119,0,8,0,-118,0,8,0,-117,0,8,0,-116,0,
+8,0,-115,0,4,0,-114,0,0,0,37,0,50,0,2,0,4,0,-113,0,
+4,0,-112,0,51,0,11,0,52,0,-111,0,52,0,-110,0,0,0,35,0,
+4,0,-109,0,4,0,-108,0,4,0,-107,0,4,0,-106,0,7,0,-105,0,
+7,0,-104,0,4,0,-103,0,0,0,-102,0,53,0,3,0,51,0,-101,0,
+13,0,-100,0,13,0,-99,0,54,0,3,0,51,0,-101,0,14,0,-100,0,
+14,0,-99,0,55,0,13,0,51,0,-101,0,18,0,-98,0,18,0,-97,0,
+4,0,-96,0,4,0,-95,0,4,0,-94,0,7,0,-93,0,7,0,-92,0,
+7,0,-91,0,7,0,-90,0,7,0,-89,0,7,0,-88,0,7,0,-87,0,
+56,0,13,0,51,0,-101,0,17,0,-98,0,17,0,-97,0,4,0,-96,0,
+4,0,-95,0,4,0,-94,0,7,0,-93,0,7,0,-92,0,7,0,-91,0,
+7,0,-90,0,7,0,-89,0,7,0,-88,0,7,0,-87,0,57,0,11,0,
+51,0,-101,0,17,0,-98,0,17,0,-97,0,7,0,-86,0,7,0,-85,0,
+7,0,-84,0,7,0,-89,0,7,0,-88,0,7,0,-87,0,7,0,-83,0,
+0,0,21,0,58,0,9,0,51,0,-101,0,17,0,-98,0,17,0,-97,0,
+13,0,-82,0,13,0,-81,0,13,0,-80,0,13,0,-79,0,4,0,-78,0,
+4,0,-77,0,59,0,5,0,58,0,-76,0,4,0,-75,0,7,0,-74,0,
+7,0,-73,0,7,0,-72,0,60,0,9,0,51,0,-101,0,17,0,-98,0,
+17,0,-97,0,7,0,-82,0,7,0,-81,0,7,0,-80,0,7,0,-79,0,
+4,0,-78,0,4,0,-77,0,61,0,4,0,7,0,-71,0,7,0,-70,0,
+7,0,-69,0,4,0,78,0,62,0,10,0,61,0,-68,0,13,0,-67,0,
+13,0,-66,0,13,0,-65,0,13,0,-64,0,13,0,-63,0,7,0,-123,0,
+7,0,-62,0,4,0,-61,0,4,0,53,0,63,0,4,0,61,0,-68,0,
+4,0,-60,0,7,0,-59,0,4,0,-58,0,64,0,4,0,13,0,-63,0,
+61,0,-68,0,4,0,-57,0,7,0,-56,0,65,0,7,0,13,0,-55,0,
+61,0,-68,0,4,0,-54,0,7,0,-53,0,7,0,-52,0,7,0,-51,0,
+4,0,53,0,66,0,6,0,15,0,-50,0,13,0,-52,0,13,0,-49,0,
+52,0,-48,0,4,0,-47,0,7,0,-51,0,67,0,26,0,4,0,-46,0,
+7,0,-45,0,7,0,-83,0,7,0,-44,0,7,0,-43,0,7,0,-42,0,
+7,0,-41,0,7,0,-40,0,7,0,-39,0,7,0,-38,0,7,0,-37,0,
+7,0,-36,0,7,0,-35,0,7,0,-34,0,7,0,-33,0,7,0,-32,0,
+7,0,-31,0,7,0,-30,0,7,0,-29,0,7,0,-28,0,7,0,-27,0,
+4,0,-26,0,4,0,-25,0,4,0,-24,0,4,0,-23,0,4,0,116,0,
+68,0,12,0,15,0,-22,0,15,0,-21,0,15,0,-20,0,13,0,-19,0,
+13,0,-18,0,7,0,-17,0,4,0,-16,0,4,0,-15,0,4,0,-14,0,
+4,0,-13,0,7,0,-53,0,4,0,53,0,69,0,27,0,17,0,-12,0,
+15,0,-11,0,15,0,-10,0,13,0,-19,0,13,0,-9,0,13,0,-8,0,
+13,0,-7,0,13,0,-6,0,13,0,-5,0,4,0,-4,0,7,0,-3,0,
+4,0,-2,0,4,0,-1,0,4,0,0,1,7,0,1,1,7,0,2,1,
+4,0,3,1,4,0,4,1,7,0,5,1,7,0,6,1,7,0,7,1,
+7,0,8,1,7,0,9,1,7,0,10,1,4,0,11,1,4,0,12,1,
+4,0,13,1,70,0,12,0,9,0,14,1,9,0,15,1,13,0,16,1,
+7,0,17,1,7,0,18,1,7,0,19,1,4,0,20,1,13,0,21,1,
+4,0,22,1,4,0,23,1,4,0,24,1,4,0,53,0,71,0,19,0,
+47,0,122,0,68,0,25,1,61,0,26,1,62,0,27,1,63,0,28,1,
+64,0,29,1,65,0,30,1,66,0,31,1,69,0,32,1,70,0,33,1,
+4,0,34,1,4,0,-1,0,4,0,35,1,4,0,36,1,4,0,37,1,
+4,0,38,1,4,0,39,1,4,0,40,1,67,0,41,1,};
+int sBulletDNAlen= sizeof(sBulletDNAstr);
+unsigned char sBulletDNAstr64[]= {
+83,68,78,65,78,65,77,69,42,1,0,0,109,95,115,105,122,101,0,109,
+95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
+99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
+108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
+115,116,114,97,105,110,116,115,0,42,102,105,114,115,116,0,42,108,97,115,
+116,0,109,95,102,108,111,97,116,115,91,52,93,0,109,95,101,108,91,51,
+93,0,109,95,98,97,115,105,115,0,109,95,111,114,105,103,105,110,0,109,
+95,114,111,111,116,78,111,100,101,73,110,100,101,120,0,109,95,115,117,98,
+116,114,101,101,83,105,122,101,0,109,95,113,117,97,110,116,105,122,101,100,
+65,97,98,98,77,105,110,91,51,93,0,109,95,113,117,97,110,116,105,122,
+101,100,65,97,98,98,77,97,120,91,51,93,0,109,95,97,97,98,98,77,
+105,110,79,114,103,0,109,95,97,97,98,98,77,97,120,79,114,103,0,109,
+95,101,115,99,97,112,101,73,110,100,101,120,0,109,95,115,117,98,80,97,
+114,116,0,109,95,116,114,105,97,110,103,108,101,73,110,100,101,120,0,109,
+95,112,97,100,91,52,93,0,109,95,101,115,99,97,112,101,73,110,100,101,
+120,79,114,84,114,105,97,110,103,108,101,73,110,100,101,120,0,109,95,98,
+118,104,65,97,98,98,77,105,110,0,109,95,98,118,104,65,97,98,98,77,
+97,120,0,109,95,98,118,104,81,117,97,110,116,105,122,97,116,105,111,110,
+0,109,95,99,117,114,78,111,100,101,73,110,100,101,120,0,109,95,117,115,
+101,81,117,97,110,116,105,122,97,116,105,111,110,0,109,95,110,117,109,67,
+111,110,116,105,103,117,111,117,115,76,101,97,102,78,111,100,101,115,0,109,
+95,110,117,109,81,117,97,110,116,105,122,101,100,67,111,110,116,105,103,117,
+111,117,115,78,111,100,101,115,0,42,109,95,99,111,110,116,105,103,117,111,
+117,115,78,111,100,101,115,80,116,114,0,42,109,95,113,117,97,110,116,105,
+122,101,100,67,111,110,116,105,103,117,111,117,115,78,111,100,101,115,80,116,
+114,0,42,109,95,115,117,98,84,114,101,101,73,110,102,111,80,116,114,0,
+109,95,116,114,97,118,101,114,115,97,108,77,111,100,101,0,109,95,110,117,
+109,83,117,98,116,114,101,101,72,101,97,100,101,114,115,0,42,109,95,110,
+97,109,101,0,109,95,115,104,97,112,101,84,121,112,101,0,109,95,112,97,
+100,100,105,110,103,91,52,93,0,109,95,99,111,108,108,105,115,105,111,110,
+83,104,97,112,101,68,97,116,97,0,109,95,108,111,99,97,108,83,99,97,
+108,105,110,103,0,109,95,112,108,97,110,101,78,111,114,109,97,108,0,109,
+95,112,108,97,110,101,67,111,110,115,116,97,110,116,0,109,95,105,109,112,
+108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
+0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
+95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
+105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
+83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
+115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
+97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
+109,95,118,97,108,117,101,0,109,95,112,97,100,91,50,93,0,109,95,118,
+97,108,117,101,115,91,51,93,0,109,95,112,97,100,0,42,109,95,118,101,
+114,116,105,99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,
+51,100,0,42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,51,
+105,110,100,105,99,101,115,49,54,0,42,109,95,51,105,110,100,105,99,101,
+115,56,0,42,109,95,105,110,100,105,99,101,115,49,54,0,109,95,110,117,
+109,84,114,105,97,110,103,108,101,115,0,109,95,110,117,109,86,101,114,116,
+105,99,101,115,0,42,109,95,109,101,115,104,80,97,114,116,115,80,116,114,
+0,109,95,115,99,97,108,105,110,103,0,109,95,110,117,109,77,101,115,104,
+80,97,114,116,115,0,109,95,109,101,115,104,73,110,116,101,114,102,97,99,
+101,0,42,109,95,113,117,97,110,116,105,122,101,100,70,108,111,97,116,66,
+118,104,0,42,109,95,113,117,97,110,116,105,122,101,100,68,111,117,98,108,
+101,66,118,104,0,42,109,95,116,114,105,97,110,103,108,101,73,110,102,111,
+77,97,112,0,109,95,112,97,100,51,91,52,93,0,109,95,116,114,105,109,
+101,115,104,83,104,97,112,101,68,97,116,97,0,109,95,116,114,97,110,115,
+102,111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,
+95,99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,
+105,108,100,77,97,114,103,105,110,0,42,109,95,99,104,105,108,100,83,104,
+97,112,101,80,116,114,0,109,95,110,117,109,67,104,105,108,100,83,104,97,
+112,101,115,0,109,95,117,112,65,120,105,115,0,109,95,102,108,97,103,115,
+0,109,95,101,100,103,101,86,48,86,49,65,110,103,108,101,0,109,95,101,
+100,103,101,86,49,86,50,65,110,103,108,101,0,109,95,101,100,103,101,86,
+50,86,48,65,110,103,108,101,0,42,109,95,104,97,115,104,84,97,98,108,
+101,80,116,114,0,42,109,95,110,101,120,116,80,116,114,0,42,109,95,118,
+97,108,117,101,65,114,114,97,121,80,116,114,0,42,109,95,107,101,121,65,
+114,114,97,121,80,116,114,0,109,95,99,111,110,118,101,120,69,112,115,105,
+108,111,110,0,109,95,112,108,97,110,97,114,69,112,115,105,108,111,110,0,
+109,95,101,113,117,97,108,86,101,114,116,101,120,84,104,114,101,115,104,111,
+108,100,0,109,95,101,100,103,101,68,105,115,116,97,110,99,101,84,104,114,
+101,115,104,111,108,100,0,109,95,122,101,114,111,65,114,101,97,84,104,114,
+101,115,104,111,108,100,0,109,95,110,101,120,116,83,105,122,101,0,109,95,
+104,97,115,104,84,97,98,108,101,83,105,122,101,0,109,95,110,117,109,86,
+97,108,117,101,115,0,109,95,110,117,109,75,101,121,115,0,109,95,103,105,
+109,112,97,99,116,83,117,98,84,121,112,101,0,42,109,95,117,110,115,99,
+97,108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,
+109,95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,
+108,101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,
+111,105,110,116,115,0,109,95,112,97,100,100,105,110,103,51,91,52,93,0,
+42,109,95,98,114,111,97,100,112,104,97,115,101,72,97,110,100,108,101,0,
+42,109,95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,109,
+95,114,111,111,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,0,
+109,95,119,111,114,108,100,84,114,97,110,115,102,111,114,109,0,109,95,105,
+110,116,101,114,112,111,108,97,116,105,111,110,87,111,114,108,100,84,114,97,
+110,115,102,111,114,109,0,109,95,105,110,116,101,114,112,111,108,97,116,105,
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+13,0,-7,0,13,0,-6,0,13,0,-5,0,4,0,-4,0,7,0,-3,0,
+4,0,-2,0,4,0,-1,0,4,0,0,1,7,0,1,1,7,0,2,1,
+4,0,3,1,4,0,4,1,7,0,5,1,7,0,6,1,7,0,7,1,
+7,0,8,1,7,0,9,1,7,0,10,1,4,0,11,1,4,0,12,1,
+4,0,13,1,70,0,12,0,9,0,14,1,9,0,15,1,13,0,16,1,
+7,0,17,1,7,0,18,1,7,0,19,1,4,0,20,1,13,0,21,1,
+4,0,22,1,4,0,23,1,4,0,24,1,4,0,53,0,71,0,19,0,
+47,0,122,0,68,0,25,1,61,0,26,1,62,0,27,1,63,0,28,1,
+64,0,29,1,65,0,30,1,66,0,31,1,69,0,32,1,70,0,33,1,
+4,0,34,1,4,0,-1,0,4,0,35,1,4,0,36,1,4,0,37,1,
+4,0,38,1,4,0,39,1,4,0,40,1,67,0,41,1,};
+int sBulletDNAlen64= sizeof(sBulletDNAstr64);
diff --git a/extern/bullet2/src/LinearMath/btSerializer.h b/extern/bullet2/src/LinearMath/btSerializer.h
new file mode 100644
index 00000000000..8a89374c612
--- /dev/null
+++ b/extern/bullet2/src/LinearMath/btSerializer.h
@@ -0,0 +1,655 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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_SERIALIZER_H
+#define BT_SERIALIZER_H
+
+#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btStackAlloc.h"
+#include "btHashMap.h"
+
+#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#include <memory.h>
+#endif
+#include <string.h>
+
+
+
+///only the 32bit versions for now
+extern unsigned char sBulletDNAstr[];
+extern int sBulletDNAlen;
+extern unsigned char sBulletDNAstr64[];
+extern int sBulletDNAlen64;
+
+SIMD_FORCE_INLINE int btStrLen(const char* str)
+{
+ if (!str)
+ return(0);
+ int len = 0;
+
+ while (*str != 0)
+ {
+ str++;
+ len++;
+ }
+
+ return len;
+}
+
+
+class btChunk
+{
+public:
+ int m_chunkCode;
+ int m_length;
+ void *m_oldPtr;
+ int m_dna_nr;
+ int m_number;
+};
+
+enum btSerializationFlags
+{
+ BT_SERIALIZE_NO_BVH = 1,
+ BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
+ BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4
+};
+
+class btSerializer
+{
+
+public:
+
+ virtual ~btSerializer() {}
+
+ virtual const unsigned char* getBufferPointer() const = 0;
+
+ virtual int getCurrentBufferSize() const = 0;
+
+ virtual btChunk* allocate(size_t size, int numElements) = 0;
+
+ virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
+
+ virtual void* findPointer(void* oldPtr) = 0;
+
+ virtual void* getUniquePointer(void*oldPtr) = 0;
+
+ virtual void startSerialization() = 0;
+
+ virtual void finishSerialization() = 0;
+
+ virtual const char* findNameForPointer(const void* ptr) const = 0;
+
+ virtual void registerNameForPointer(const void* ptr, const char* name) = 0;
+
+ virtual void serializeName(const char* ptr) = 0;
+
+ virtual int getSerializationFlags() const = 0;
+
+ virtual void setSerializationFlags(int flags) = 0;
+
+
+};
+
+
+
+#define BT_HEADER_LENGTH 12
+#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
+# define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#else
+# define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#endif
+
+#define BT_SOFTBODY_CODE MAKE_ID('S','B','D','Y')
+#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
+#define BT_RIGIDBODY_CODE MAKE_ID('R','B','D','Y')
+#define BT_CONSTRAINT_CODE MAKE_ID('C','O','N','S')
+#define BT_BOXSHAPE_CODE MAKE_ID('B','O','X','S')
+#define BT_QUANTIZED_BVH_CODE MAKE_ID('Q','B','V','H')
+#define BT_TRIANLGE_INFO_MAP MAKE_ID('T','M','A','P')
+#define BT_SHAPE_CODE MAKE_ID('S','H','A','P')
+#define BT_ARRAY_CODE MAKE_ID('A','R','A','Y')
+#define BT_SBMATERIAL_CODE MAKE_ID('S','B','M','T')
+#define BT_SBNODE_CODE MAKE_ID('S','B','N','D')
+#define BT_DNA_CODE MAKE_ID('D','N','A','1')
+
+
+struct btPointerUid
+{
+ union
+ {
+ void* m_ptr;
+ int m_uniqueIds[2];
+ };
+};
+
+///The btDefaultSerializer is the main Bullet serialization class.
+///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
+class btDefaultSerializer : public btSerializer
+{
+
+
+ btAlignedObjectArray<char*> mTypes;
+ btAlignedObjectArray<short*> mStructs;
+ btAlignedObjectArray<short> mTlens;
+ btHashMap<btHashInt, int> mStructReverse;
+ btHashMap<btHashString,int> mTypeLookup;
+
+
+ btHashMap<btHashPtr,void*> m_chunkP;
+
+ btHashMap<btHashPtr,const char*> m_nameMap;
+
+ btHashMap<btHashPtr,btPointerUid> m_uniquePointers;
+ int m_uniqueIdGenerator;
+
+ int m_totalSize;
+ unsigned char* m_buffer;
+ int m_currentSize;
+ void* m_dna;
+ int m_dnaLength;
+
+ int m_serializationFlags;
+
+
+ btAlignedObjectArray<btChunk*> m_chunkPtrs;
+
+protected:
+
+ virtual void* findPointer(void* oldPtr)
+ {
+ void** ptr = m_chunkP.find(oldPtr);
+ if (ptr && *ptr)
+ return *ptr;
+ return 0;
+ }
+
+
+
+
+
+ void writeDNA()
+ {
+ btChunk* dnaChunk = allocate(m_dnaLength,1);
+ memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength);
+ finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna);
+ }
+
+ int getReverseType(const char *type) const
+ {
+
+ btHashString key(type);
+ const int* valuePtr = mTypeLookup.find(key);
+ if (valuePtr)
+ return *valuePtr;
+
+ return -1;
+ }
+
+ void initDNA(const char* bdnaOrg,int dnalen)
+ {
+ ///was already initialized
+ if (m_dna)
+ return;
+
+ int littleEndian= 1;
+ littleEndian= ((char*)&littleEndian)[0];
+
+
+ m_dna = btAlignedAlloc(dnalen,16);
+ memcpy(m_dna,bdnaOrg,dnalen);
+ m_dnaLength = dnalen;
+
+ int *intPtr=0;
+ short *shtPtr=0;
+ char *cp = 0;int dataLen =0;long nr=0;
+ intPtr = (int*)m_dna;
+
+ /*
+ SDNA (4 bytes) (magic number)
+ NAME (4 bytes)
+ <nr> (4 bytes) amount of names (int)
+ <string>
+ <string>
+ */
+
+ if (strncmp((const char*)m_dna, "SDNA", 4)==0)
+ {
+ // skip ++ NAME
+ intPtr++; intPtr++;
+ }
+
+ // Parse names
+ if (!littleEndian)
+ *intPtr = btSwapEndian(*intPtr);
+
+ dataLen = *intPtr;
+
+ intPtr++;
+
+ cp = (char*)intPtr;
+ int i;
+ for ( i=0; i<dataLen; i++)
+ {
+
+ while (*cp)cp++;
+ cp++;
+ }
+ {
+ nr= (long)cp;
+ // long mask=3;
+ nr= ((nr+3)&~3)-nr;
+ while (nr--)
+ {
+ cp++;
+ }
+ }
+
+ /*
+ TYPE (4 bytes)
+ <nr> amount of types (int)
+ <string>
+ <string>
+ */
+
+ intPtr = (int*)cp;
+ assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+
+ if (!littleEndian)
+ *intPtr = btSwapEndian(*intPtr);
+
+ dataLen = *intPtr;
+ intPtr++;
+
+
+ cp = (char*)intPtr;
+ for (i=0; i<dataLen; i++)
+ {
+ mTypes.push_back(cp);
+ while (*cp)cp++;
+ cp++;
+ }
+
+ {
+ nr= (long)cp;
+ // long mask=3;
+ nr= ((nr+3)&~3)-nr;
+ while (nr--)
+ {
+ cp++;
+ }
+ }
+
+
+ /*
+ TLEN (4 bytes)
+ <len> (short) the lengths of types
+ <len>
+ */
+
+ // Parse type lens
+ intPtr = (int*)cp;
+ assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+
+ dataLen = (int)mTypes.size();
+
+ shtPtr = (short*)intPtr;
+ for (i=0; i<dataLen; i++, shtPtr++)
+ {
+ if (!littleEndian)
+ shtPtr[0] = btSwapEndian(shtPtr[0]);
+ mTlens.push_back(shtPtr[0]);
+ }
+
+ if (dataLen & 1) shtPtr++;
+
+ /*
+ STRC (4 bytes)
+ <nr> amount of structs (int)
+ <typenr>
+ <nr_of_elems>
+ <typenr>
+ <namenr>
+ <typenr>
+ <namenr>
+ */
+
+ intPtr = (int*)shtPtr;
+ cp = (char*)intPtr;
+ assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+
+ if (!littleEndian)
+ *intPtr = btSwapEndian(*intPtr);
+ dataLen = *intPtr ;
+ intPtr++;
+
+
+ shtPtr = (short*)intPtr;
+ for (i=0; i<dataLen; i++)
+ {
+ mStructs.push_back (shtPtr);
+
+ if (!littleEndian)
+ {
+ shtPtr[0]= btSwapEndian(shtPtr[0]);
+ shtPtr[1]= btSwapEndian(shtPtr[1]);
+
+ int len = shtPtr[1];
+ shtPtr+= 2;
+
+ for (int a=0; a<len; a++, shtPtr+=2)
+ {
+ shtPtr[0]= btSwapEndian(shtPtr[0]);
+ shtPtr[1]= btSwapEndian(shtPtr[1]);
+ }
+
+ } else
+ {
+ shtPtr+= (2*shtPtr[1])+2;
+ }
+ }
+
+ // build reverse lookups
+ for (i=0; i<(int)mStructs.size(); i++)
+ {
+ short *strc = mStructs.at(i);
+ mStructReverse.insert(strc[0], i);
+ mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
+ }
+ }
+
+public:
+
+
+
+
+ btDefaultSerializer(int totalSize=0)
+ :m_totalSize(totalSize),
+ m_currentSize(0),
+ m_dna(0),
+ m_dnaLength(0),
+ m_serializationFlags(0)
+ {
+ m_buffer = m_totalSize?(unsigned char*)btAlignedAlloc(totalSize,16):0;
+
+ const bool VOID_IS_8 = ((sizeof(void*)==8));
+
+#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+ if (VOID_IS_8)
+ {
+#if _WIN64
+ initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+#else
+ btAssert(0);
+#endif
+ } else
+ {
+#ifndef _WIN64
+ initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+#else
+ btAssert(0);
+#endif
+ }
+
+#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+ if (VOID_IS_8)
+ {
+ initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+ } else
+ {
+ initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+ }
+#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+
+ }
+
+ virtual ~btDefaultSerializer()
+ {
+ if (m_buffer)
+ btAlignedFree(m_buffer);
+ if (m_dna)
+ btAlignedFree(m_dna);
+ }
+
+ void writeHeader(unsigned char* buffer) const
+ {
+
+
+#ifdef BT_USE_DOUBLE_PRECISION
+ memcpy(buffer, "BULLETd", 7);
+#else
+ memcpy(buffer, "BULLETf", 7);
+#endif //BT_USE_DOUBLE_PRECISION
+
+ int littleEndian= 1;
+ littleEndian= ((char*)&littleEndian)[0];
+
+ if (sizeof(void*)==8)
+ {
+ buffer[7] = '-';
+ } else
+ {
+ buffer[7] = '_';
+ }
+
+ if (littleEndian)
+ {
+ buffer[8]='v';
+ } else
+ {
+ buffer[8]='V';
+ }
+
+
+ buffer[9] = '2';
+ buffer[10] = '7';
+ buffer[11] = '8';
+
+ }
+
+ virtual void startSerialization()
+ {
+ m_uniqueIdGenerator= 1;
+ if (m_totalSize)
+ {
+ unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH);
+ writeHeader(buffer);
+ }
+
+ }
+
+ virtual void finishSerialization()
+ {
+ writeDNA();
+
+ //if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
+ int mysize = 0;
+ if (!m_totalSize)
+ {
+ if (m_buffer)
+ btAlignedFree(m_buffer);
+
+ m_currentSize += BT_HEADER_LENGTH;
+ m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize,16);
+
+ unsigned char* currentPtr = m_buffer;
+ writeHeader(m_buffer);
+ currentPtr += BT_HEADER_LENGTH;
+ mysize+=BT_HEADER_LENGTH;
+ for (int i=0;i< m_chunkPtrs.size();i++)
+ {
+ int curLength = sizeof(btChunk)+m_chunkPtrs[i]->m_length;
+ memcpy(currentPtr,m_chunkPtrs[i], curLength);
+ btAlignedFree(m_chunkPtrs[i]);
+ currentPtr+=curLength;
+ mysize+=curLength;
+ }
+ }
+
+ mTypes.clear();
+ mStructs.clear();
+ mTlens.clear();
+ mStructReverse.clear();
+ mTypeLookup.clear();
+ m_chunkP.clear();
+ m_nameMap.clear();
+ m_uniquePointers.clear();
+ m_chunkPtrs.clear();
+ }
+
+ virtual void* getUniquePointer(void*oldPtr)
+ {
+ if (!oldPtr)
+ return 0;
+
+ btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
+ if (uptr)
+ {
+ return uptr->m_ptr;
+ }
+ m_uniqueIdGenerator++;
+
+ btPointerUid uid;
+ uid.m_uniqueIds[0] = m_uniqueIdGenerator;
+ uid.m_uniqueIds[1] = m_uniqueIdGenerator;
+ m_uniquePointers.insert(oldPtr,uid);
+ return uid.m_ptr;
+
+ }
+
+ virtual const unsigned char* getBufferPointer() const
+ {
+ return m_buffer;
+ }
+
+ virtual int getCurrentBufferSize() const
+ {
+ return m_currentSize;
+ }
+
+ virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
+ {
+ if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT))
+ {
+ btAssert(!findPointer(oldPtr));
+ }
+
+ chunk->m_dna_nr = getReverseType(structType);
+
+ chunk->m_chunkCode = chunkCode;
+
+ void* uniquePtr = getUniquePointer(oldPtr);
+
+ m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr);
+ chunk->m_oldPtr = uniquePtr;//oldPtr;
+
+ }
+
+
+ virtual unsigned char* internalAlloc(size_t size)
+ {
+ unsigned char* ptr = 0;
+
+ if (m_totalSize)
+ {
+ ptr = m_buffer+m_currentSize;
+ m_currentSize += int(size);
+ btAssert(m_currentSize<m_totalSize);
+ } else
+ {
+ ptr = (unsigned char*)btAlignedAlloc(size,16);
+ m_currentSize += int(size);
+ }
+ return ptr;
+ }
+
+
+
+ virtual btChunk* allocate(size_t size, int numElements)
+ {
+
+ unsigned char* ptr = internalAlloc(int(size)*numElements+sizeof(btChunk));
+
+ unsigned char* data = ptr + sizeof(btChunk);
+
+ btChunk* chunk = (btChunk*)ptr;
+ chunk->m_chunkCode = 0;
+ chunk->m_oldPtr = data;
+ chunk->m_length = int(size)*numElements;
+ chunk->m_number = numElements;
+
+ m_chunkPtrs.push_back(chunk);
+
+
+ return chunk;
+ }
+
+ virtual const char* findNameForPointer(const void* ptr) const
+ {
+ const char*const * namePtr = m_nameMap.find(ptr);
+ if (namePtr && *namePtr)
+ return *namePtr;
+ return 0;
+
+ }
+
+ virtual void registerNameForPointer(const void* ptr, const char* name)
+ {
+ m_nameMap.insert(ptr,name);
+ }
+
+ virtual void serializeName(const char* name)
+ {
+ if (name)
+ {
+ //don't serialize name twice
+ if (findPointer((void*)name))
+ return;
+
+ int len = btStrLen(name);
+ if (len)
+ {
+
+ int newLen = len+1;
+ int padding = ((newLen+3)&~3)-newLen;
+ newLen += padding;
+
+ //serialize name string now
+ btChunk* chunk = allocate(sizeof(char),newLen);
+ char* destinationName = (char*)chunk->m_oldPtr;
+ for (int i=0;i<len;i++)
+ {
+ destinationName[i] = name[i];
+ }
+ destinationName[len] = 0;
+ finalizeChunk(chunk,"char",BT_ARRAY_CODE,(void*)name);
+ }
+ }
+ }
+
+ virtual int getSerializationFlags() const
+ {
+ return m_serializationFlags;
+ }
+
+ virtual void setSerializationFlags(int flags)
+ {
+ m_serializationFlags = flags;
+ }
+
+};
+
+
+#endif //BT_SERIALIZER_H
+
diff --git a/extern/bullet2/src/LinearMath/btTransform.h b/extern/bullet2/src/LinearMath/btTransform.h
index c4fe33eecd7..187b09116cc 100644
--- a/extern/bullet2/src/LinearMath/btTransform.h
+++ b/extern/bullet2/src/LinearMath/btTransform.h
@@ -17,14 +17,26 @@ subject to the following restrictions:
#ifndef btTransform_H
#define btTransform_H
-#include "btVector3.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. */
class btTransform {
+ ///Storage for the rotation
+ btMatrix3x3 m_basis;
+ ///Storage for the translation
+ btVector3 m_origin;
public:
@@ -195,12 +207,17 @@ public:
static const btTransform identityTransform(btMatrix3x3::getIdentity());
return identityTransform;
}
-
-private:
- ///Storage for the rotation
- btMatrix3x3 m_basis;
- ///Storage for the translation
- btVector3 m_origin;
+
+ 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);
+
};
@@ -234,6 +251,53 @@ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
}
+///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
diff --git a/extern/bullet2/src/LinearMath/btTransformUtil.h b/extern/bullet2/src/LinearMath/btTransformUtil.h
index e8328da4ca6..626110ce4ee 100644
--- a/extern/bullet2/src/LinearMath/btTransformUtil.h
+++ b/extern/bullet2/src/LinearMath/btTransformUtil.h
@@ -21,9 +21,6 @@ subject to the following restrictions:
-#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
-
-#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
{
@@ -33,25 +30,7 @@ SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btV
}
-SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
-{
- if (btFabs(n.z()) > SIMDSQRT12) {
- // choose p in y-z plane
- btScalar a = n[1]*n[1] + n[2]*n[2];
- btScalar k = btRecipSqrt (a);
- p.setValue(0,-n[2]*k,n[1]*k);
- // set q = n x p
- q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
- }
- else {
- // choose p in x-y plane
- btScalar a = n.x()*n.x() + n.y()*n.y();
- btScalar k = btRecipSqrt (a);
- p.setValue(-n.y()*k,n.x()*k,0);
- // set q = n x p
- q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
- }
-}
+
@@ -117,10 +96,8 @@ public:
static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
{
- btQuaternion orn1 = orn0.farthest(orn1a);
+ btQuaternion orn1 = orn0.nearest(orn1a);
btQuaternion dorn = orn1 * orn0.inverse();
- ///floating point inaccuracy can lead to w component > 1..., which breaks
- dorn.normalize();
angle = dorn.getAngle();
axis = btVector3(dorn.x(),dorn.y(),dorn.z());
axis[3] = btScalar(0.);
@@ -209,7 +186,7 @@ public:
btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
- btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
+ btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
if (relLinVelocLength<0.f)
{
relLinVelocLength = 0.f;
@@ -227,17 +204,21 @@ public:
void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
{
- m_separatingNormal = separatingVector;
m_separatingDistance = separatingDistance;
-
- const btVector3& toPosA = transA.getOrigin();
- const btVector3& toPosB = transB.getOrigin();
- btQuaternion toOrnA = transA.getRotation();
- btQuaternion toOrnB = transB.getRotation();
- m_posA = toPosA;
- m_posB = toPosB;
- m_ornA = toOrnA;
- m_ornB = toOrnB;
+
+ if (m_separatingDistance>0.f)
+ {
+ m_separatingNormal = separatingVector;
+
+ const btVector3& toPosA = transA.getOrigin();
+ const btVector3& toPosB = transB.getOrigin();
+ btQuaternion toOrnA = transA.getRotation();
+ btQuaternion toOrnB = transB.getRotation();
+ m_posA = toPosA;
+ m_posB = toPosB;
+ m_ornA = toOrnA;
+ m_ornB = toOrnB;
+ }
}
};
diff --git a/extern/bullet2/src/LinearMath/btVector3.h b/extern/bullet2/src/LinearMath/btVector3.h
index 5d5c39e8587..068e87c94ab 100644
--- a/extern/bullet2/src/LinearMath/btVector3.h
+++ b/extern/bullet2/src/LinearMath/btVector3.h
@@ -19,30 +19,37 @@ subject to the following restrictions:
#include "btScalar.h"
-#include "btScalar.h"
#include "btMinMax.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btVector3Data btVector3DoubleData
+#define btVector3DataName "btVector3DoubleData"
+#else
+#define btVector3Data btVector3FloatData
+#define btVector3DataName "btVector3FloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+
+
/**@brief btVector3 can be used to represent 3D points and vectors.
* It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
* Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
*/
-
ATTRIBUTE_ALIGNED16(class) btVector3
{
public:
#if defined (__SPU__) && defined (__CELLOS_LV2__)
- union {
- vec_float4 mVec128;
btScalar m_floats[4];
- };
public:
- vec_float4 get128() const
+ SIMD_FORCE_INLINE const vec_float4& get128() const
{
- return mVec128;
+ return *((const vec_float4*)&m_floats[0]);
}
public:
#else //__CELLOS_LV2__ __SPU__
-#ifdef BT_USE_SSE // WIN32
+#ifdef BT_USE_SSE // _WIN32
union {
__m128 mVec128;
btScalar m_floats[4];
@@ -141,6 +148,19 @@ public:
* This is symantically treating the vector like a point */
SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const;
+ SIMD_FORCE_INLINE btVector3& safeNormalize()
+ {
+ btVector3 absVec = this->absolute();
+ int maxIndex = absVec.maxAxis();
+ if (absVec[maxIndex]>0)
+ {
+ *this /= absVec[maxIndex];
+ return *this /= length();
+ }
+ setValue(1,0,0);
+ return *this;
+ }
+
/**@brief Normalize this vector
* x^2 + y^2 + z^2 = 1 */
SIMD_FORCE_INLINE btVector3& normalize()
@@ -151,10 +171,10 @@ public:
/**@brief Return a normalized version of this vector */
SIMD_FORCE_INLINE btVector3 normalized() const;
- /**@brief Rotate this vector
+ /**@brief Return a rotated version of this vector
* @param wAxis The axis to rotate about
* @param angle The angle to rotate by */
- SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle );
+ SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const;
/**@brief Return the angle between this and another vector
* @param v The other vector */
@@ -306,7 +326,7 @@ public:
m_floats[0]=x;
m_floats[1]=y;
m_floats[2]=z;
- m_floats[3] = 0.f;
+ m_floats[3] = btScalar(0.);
}
void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const
@@ -316,6 +336,33 @@ public:
v2->setValue(-y() ,x() ,0.);
}
+ void setZero()
+ {
+ setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+ }
+
+ SIMD_FORCE_INLINE bool isZero() const
+ {
+ return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0);
+ }
+
+ SIMD_FORCE_INLINE bool fuzzyZero() const
+ {
+ return length2() < SIMD_EPSILON;
+ }
+
+ SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const;
+
+ SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn);
+
+ SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const;
+
+ SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
+
+ SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const;
+
+ SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
+
};
/**@brief Return the sum of two vectors (Point symantics)*/
@@ -376,7 +423,7 @@ operator/(const btVector3& v1, const btVector3& v2)
/**@brief Return the dot product between two vectors */
SIMD_FORCE_INLINE btScalar
-dot(const btVector3& v1, const btVector3& v2)
+btDot(const btVector3& v1, const btVector3& v2)
{
return v1.dot(v2);
}
@@ -384,7 +431,7 @@ dot(const btVector3& v1, const btVector3& v2)
/**@brief Return the distance squared between two vectors */
SIMD_FORCE_INLINE btScalar
-distance2(const btVector3& v1, const btVector3& v2)
+btDistance2(const btVector3& v1, const btVector3& v2)
{
return v1.distance2(v2);
}
@@ -392,27 +439,27 @@ distance2(const btVector3& v1, const btVector3& v2)
/**@brief Return the distance between two vectors */
SIMD_FORCE_INLINE btScalar
-distance(const btVector3& v1, const btVector3& v2)
+btDistance(const btVector3& v1, const btVector3& v2)
{
return v1.distance(v2);
}
/**@brief Return the angle between two vectors */
SIMD_FORCE_INLINE btScalar
-angle(const btVector3& v1, const btVector3& v2)
+btAngle(const btVector3& v1, const btVector3& v2)
{
return v1.angle(v2);
}
/**@brief Return the cross product of two vectors */
SIMD_FORCE_INLINE btVector3
-cross(const btVector3& v1, const btVector3& v2)
+btCross(const btVector3& v1, const btVector3& v2)
{
return v1.cross(v2);
}
SIMD_FORCE_INLINE btScalar
-triple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
+btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3)
{
return v1.triple(v2, v3);
}
@@ -444,7 +491,7 @@ SIMD_FORCE_INLINE btVector3 btVector3::normalized() const
return *this / length();
}
-SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle )
+SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar angle ) const
{
// wAxis must be a unit lenght vector
@@ -488,7 +535,7 @@ public:
SIMD_FORCE_INLINE int maxAxis4() const
{
int maxIndex = -1;
- btScalar maxVal = btScalar(-1e30);
+ btScalar maxVal = btScalar(-BT_LARGE_FLOAT);
if (m_floats[0] > maxVal)
{
maxIndex = 0;
@@ -521,7 +568,7 @@ public:
SIMD_FORCE_INLINE int minAxis4() const
{
int minIndex = -1;
- btScalar minVal = btScalar(1e30);
+ btScalar minVal = btScalar(BT_LARGE_FLOAT);
if (m_floats[0] < minVal)
{
minIndex = 0;
@@ -585,8 +632,6 @@ public:
}
-
-
};
@@ -635,4 +680,87 @@ SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
vector = swappedVec;
}
+template <class T>
+SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q)
+{
+ if (btFabs(n[2]) > SIMDSQRT12) {
+ // choose p in y-z plane
+ btScalar a = n[1]*n[1] + n[2]*n[2];
+ btScalar k = btRecipSqrt (a);
+ p[0] = 0;
+ p[1] = -n[2]*k;
+ p[2] = n[1]*k;
+ // set q = n x p
+ q[0] = a*k;
+ q[1] = -n[0]*p[2];
+ q[2] = n[0]*p[1];
+ }
+ else {
+ // choose p in x-y plane
+ btScalar a = n[0]*n[0] + n[1]*n[1];
+ btScalar k = btRecipSqrt (a);
+ p[0] = -n[1]*k;
+ p[1] = n[0]*k;
+ p[2] = 0;
+ // set q = n x p
+ q[0] = -n[2]*p[1];
+ q[1] = n[2]*p[0];
+ q[2] = a*k;
+ }
+}
+
+
+struct btVector3FloatData
+{
+ float m_floats[4];
+};
+
+struct btVector3DoubleData
+{
+ double m_floats[4];
+
+};
+
+SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
+{
+ ///could also do a memcpy, check if it is worth it
+ for (int i=0;i<4;i++)
+ dataOut.m_floats[i] = float(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
+{
+ for (int i=0;i<4;i++)
+ m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
+{
+ ///could also do a memcpy, check if it is worth it
+ for (int i=0;i<4;i++)
+ dataOut.m_floats[i] = double(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
+{
+ for (int i=0;i<4;i++)
+ m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
+{
+ ///could also do a memcpy, check if it is worth it
+ for (int i=0;i<4;i++)
+ dataOut.m_floats[i] = m_floats[i];
+}
+
+SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn)
+{
+ for (int i=0;i<4;i++)
+ m_floats[i] = dataIn.m_floats[i];
+}
+
+
#endif //SIMD__VECTOR3_H
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-29 14:50:43 +0300