diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btTransformUtil.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btTransformUtil.h | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/extern/bullet2/src/LinearMath/btTransformUtil.h b/extern/bullet2/src/LinearMath/btTransformUtil.h index bc42fd166b6..86ee1da5edf 100644 --- a/extern/bullet2/src/LinearMath/btTransformUtil.h +++ b/extern/bullet2/src/LinearMath/btTransformUtil.h @@ -25,7 +25,7 @@ subject to the following restrictions: #define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ -inline btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) +SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) { return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), @@ -33,7 +33,7 @@ inline btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& sup } -inline void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q) +SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q) { if (btFabs(n.z()) > SIMDSQRT12) { // choose p in y-z plane @@ -70,7 +70,9 @@ public: predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); predictedOrn.normalize(); #else - //exponential map + //Exponential map + //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia + btVector3 axis; btScalar fAngle = angvel.length(); //limit the angular motion @@ -121,6 +123,10 @@ public: dmat.getRotation(dorn); #endif//USE_QUATERNION_DIFF + ///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.); |