diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btQuaternion.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btQuaternion.h | 42 |
1 files changed, 37 insertions, 5 deletions
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h index 7d7f25fb4d3..665421de1e4 100644 --- a/extern/bullet2/src/LinearMath/btQuaternion.h +++ b/extern/bullet2/src/LinearMath/btQuaternion.h @@ -27,11 +27,17 @@ subject to the following restrictions: #ifdef BT_USE_SSE -const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; +#define vOnes (_mm_set_ps(1.0f, 1.0f, 1.0f, 1.0f)) #endif -#if defined(BT_USE_SSE) || defined(BT_USE_NEON) +#if defined(BT_USE_SSE) + +#define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f)) +#define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f)) + +#elif defined(BT_USE_NEON) const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f}; const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f}; @@ -285,7 +291,7 @@ public: * @param q The other quaternion */ btScalar dot(const btQuaternion& q) const { -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 vd; vd = _mm_mul_ps(mVec128, q.mVec128); @@ -384,7 +390,7 @@ public: { return *this / length(); } - /**@brief Return the angle between this quaternion and the other + /**@brief Return the ***half*** angle between this quaternion and the other * @param q The other quaternion */ btScalar angle(const btQuaternion& q) const { @@ -392,6 +398,19 @@ public: btAssert(s != btScalar(0.0)); return btAcos(dot(q) / s); } + + /**@brief Return the angle between this quaternion and the other along the shortest path + * @param q The other quaternion */ + btScalar angleShortestPath(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + return btAcos(dot(-q) / s) * btScalar(2.0); + else + return btAcos(dot(q) / s) * btScalar(2.0); + } + /**@brief Return the angle of rotation represented by this quaternion */ btScalar getAngle() const { @@ -399,6 +418,19 @@ public: return s; } + /**@brief Return the angle of rotation represented by this quaternion along the shortest path*/ + btScalar getAngleShortestPath() const + { + btScalar s; + if (dot(*this) < 0) + s = btScalar(2.) * btAcos(m_floats[3]); + else + s = btScalar(2.) * btAcos(-m_floats[3]); + + return s; + } + + /**@brief Return the axis of the rotation represented by this quaternion */ btVector3 getAxis() const { @@ -835,7 +867,7 @@ quatRotate(const btQuaternion& rotation, const btVector3& v) { btQuaternion q = rotation * v; q *= rotation.inverse(); -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask)); #elif defined(BT_USE_NEON) return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask)); |