diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btQuaternion.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btQuaternion.h | 48 |
1 files changed, 24 insertions, 24 deletions
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h index aec25a54955..d5a7913b742 100644 --- a/extern/bullet2/src/LinearMath/btQuaternion.h +++ b/extern/bullet2/src/LinearMath/btQuaternion.h @@ -17,7 +17,7 @@ subject to the following restrictions: #ifndef SIMD__QUATERNION_H_ #define SIMD__QUATERNION_H_ -#include "LinearMath/btVector3.h" +#include "btVector3.h" class btQuaternion : public btQuadWord { public: @@ -68,13 +68,13 @@ public: btQuaternion& operator+=(const btQuaternion& q) { - m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q[3]; + m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q.m_unusedW; return *this; } btQuaternion& operator-=(const btQuaternion& q) { - m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q[3]; + m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q.m_unusedW; return *this; } @@ -87,16 +87,16 @@ public: btQuaternion& operator*=(const btQuaternion& q) { - setValue(m_unusedW * q.x() + m_x * q[3] + m_y * q.z() - m_z * q.y(), - m_unusedW * q.y() + m_y * q[3] + m_z * q.x() - m_x * q.z(), - m_unusedW * q.z() + m_z * q[3] + m_x * q.y() - m_y * q.x(), - m_unusedW * q[3] - m_x * q.x() - m_y * q.y() - m_z * q.z()); + setValue(m_unusedW * q.x() + m_x * q.m_unusedW + m_y * q.z() - m_z * q.y(), + m_unusedW * q.y() + m_y * q.m_unusedW + m_z * q.x() - m_x * q.z(), + m_unusedW * q.z() + m_z * q.m_unusedW + m_x * q.y() - m_y * q.x(), + m_unusedW * q.m_unusedW - m_x * q.x() - m_y * q.y() - m_z * q.z()); return *this; } btScalar dot(const btQuaternion& q) const { - return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q[3]; + return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q.m_unusedW; } btScalar length2() const @@ -150,7 +150,7 @@ public: btScalar getAngle() const { - btScalar s = 2.f * btAcos(m_unusedW); + btScalar s = btScalar(2.) * btAcos(m_unusedW); return s; } @@ -165,20 +165,20 @@ public: operator+(const btQuaternion& q2) const { const btQuaternion& q1 = *this; - return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1[3] + q2[3]); + return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_unusedW + q2.m_unusedW); } SIMD_FORCE_INLINE btQuaternion operator-(const btQuaternion& q2) const { const btQuaternion& q1 = *this; - return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1[3] - q2[3]); + return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_unusedW - q2.m_unusedW); } SIMD_FORCE_INLINE btQuaternion operator-() const { const btQuaternion& q2 = *this; - return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2[3]); + return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_unusedW); } SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const @@ -202,7 +202,7 @@ public: return btQuaternion((m_x * s0 + q.x() * s1) * d, (m_y * s0 + q.y() * s1) * d, (m_z * s0 + q.z() * s1) * d, - (m_unusedW * s0 + q[3] * s1) * d); + (m_unusedW * s0 + q.m_unusedW * s1) * d); } else { @@ -219,7 +219,7 @@ public: SIMD_FORCE_INLINE btQuaternion operator-(const btQuaternion& q) { - return btQuaternion(-q.x(), -q.y(), -q.z(), -q[3]); + return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w()); } @@ -227,27 +227,27 @@ operator-(const btQuaternion& q) SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q1, const btQuaternion& q2) { - return btQuaternion(q1[3] * q2.x() + q1.x() * q2[3] + q1.y() * q2.z() - q1.z() * q2.y(), - q1[3] * q2.y() + q1.y() * q2[3] + q1.z() * q2.x() - q1.x() * q2.z(), - q1[3] * q2.z() + q1.z() * q2[3] + q1.x() * q2.y() - q1.y() * q2.x(), - q1[3] * q2[3] - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); + return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(), + q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(), + q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(), + q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); } SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q, const btVector3& w) { - return btQuaternion( q[3] * w.x() + q.y() * w.z() - q.z() * w.y(), - q[3] * w.y() + q.z() * w.x() - q.x() * w.z(), - q[3] * w.z() + q.x() * w.y() - q.y() * w.x(), + return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(), + q.w() * w.y() + q.z() * w.x() - q.x() * w.z(), + q.w() * w.z() + q.x() * w.y() - q.y() * w.x(), -q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); } SIMD_FORCE_INLINE btQuaternion operator*(const btVector3& w, const btQuaternion& q) { - return btQuaternion( w.x() * q[3] + w.y() * q.z() - w.z() * q.y(), - w.y() * q[3] + w.z() * q.x() - w.x() * q.z(), - w.z() * q[3] + w.x() * q.y() - w.y() * q.x(), + return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(), + w.y() * q.w() + w.z() * q.x() - w.x() * q.z(), + w.z() * q.w() + w.x() * q.y() - w.y() * q.x(), -w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); } |