98 lines
1.9 KiB
C++
98 lines
1.9 KiB
C++
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#ifndef B3_FLOAT4_H
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#define B3_FLOAT4_H
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#include "Bullet3Common/shared/b3PlatformDefinitions.h"
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#ifdef __cplusplus
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#include "Bullet3Common/b3Vector3.h"
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#define b3Float4 b3Vector3
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#define b3Float4ConstArg const b3Vector3&
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#define b3Dot3F4 b3Dot
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#define b3Cross3 b3Cross
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#define b3MakeFloat4 b3MakeVector3
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inline b3Vector3 b3Normalized(const b3Vector3& vec)
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{
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return vec.normalized();
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}
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inline b3Float4 b3FastNormalized3(b3Float4ConstArg v)
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{
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return v.normalized();
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}
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inline b3Float4 b3MaxFloat4 (const b3Float4& a, const b3Float4& b)
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{
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b3Float4 tmp = a;
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tmp.setMax(b);
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return tmp;
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}
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inline b3Float4 b3MinFloat4 (const b3Float4& a, const b3Float4& b)
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{
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b3Float4 tmp = a;
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tmp.setMin(b);
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return tmp;
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}
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#else
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typedef float4 b3Float4;
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#define b3Float4ConstArg const b3Float4
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#define b3MakeFloat4 (float4)
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float b3Dot3F4(b3Float4ConstArg v0,b3Float4ConstArg v1)
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{
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float4 a1 = b3MakeFloat4(v0.xyz,0.f);
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float4 b1 = b3MakeFloat4(v1.xyz,0.f);
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return dot(a1, b1);
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}
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b3Float4 b3Cross3(b3Float4ConstArg v0,b3Float4ConstArg v1)
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{
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float4 a1 = b3MakeFloat4(v0.xyz,0.f);
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float4 b1 = b3MakeFloat4(v1.xyz,0.f);
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return cross(a1, b1);
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}
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#define b3MinFloat4 min
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#define b3MaxFloat4 max
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#define b3Normalized(a) normalize(a)
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#endif
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inline bool b3IsAlmostZero(b3Float4ConstArg v)
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{
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if(b3Fabs(v.x)>1e-6 || b3Fabs(v.y)>1e-6 || b3Fabs(v.z)>1e-6)
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return false;
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return true;
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}
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inline int b3MaxDot( b3Float4ConstArg vec, __global const b3Float4* vecArray, int vecLen, float* dotOut )
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{
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float maxDot = -B3_INFINITY;
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int i = 0;
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int ptIndex = -1;
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for( i = 0; i < vecLen; i++ )
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{
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float dot = b3Dot3F4(vecArray[i],vec);
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if( dot > maxDot )
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{
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maxDot = dot;
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ptIndex = i;
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}
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}
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b3Assert(ptIndex>=0);
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if (ptIndex<0)
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{
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ptIndex = 0;
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}
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*dotOut = maxDot;
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return ptIndex;
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}
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#endif //B3_FLOAT4_H
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