e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
179 lines
3.4 KiB
C++
179 lines
3.4 KiB
C++
|
|
#ifndef B3_MAT3x3_H
|
|
#define B3_MAT3x3_H
|
|
|
|
#include "Bullet3Common/shared/b3Quat.h"
|
|
|
|
|
|
#ifdef __cplusplus
|
|
|
|
#include "Bullet3Common/b3Matrix3x3.h"
|
|
|
|
#define b3Mat3x3 b3Matrix3x3
|
|
#define b3Mat3x3ConstArg const b3Matrix3x3&
|
|
|
|
inline b3Mat3x3 b3QuatGetRotationMatrix(b3QuatConstArg quat)
|
|
{
|
|
return b3Mat3x3(quat);
|
|
}
|
|
|
|
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg mat)
|
|
{
|
|
return mat.absolute();
|
|
}
|
|
|
|
#define b3GetRow(m,row) m.getRow(row)
|
|
|
|
__inline
|
|
b3Float4 mtMul3(b3Float4ConstArg a, b3Mat3x3ConstArg b)
|
|
{
|
|
return b*a;
|
|
}
|
|
|
|
|
|
#else
|
|
|
|
typedef struct
|
|
{
|
|
b3Float4 m_row[3];
|
|
}b3Mat3x3;
|
|
|
|
#define b3Mat3x3ConstArg const b3Mat3x3
|
|
#define b3GetRow(m,row) (m.m_row[row])
|
|
|
|
inline b3Mat3x3 b3QuatGetRotationMatrix(b3Quat quat)
|
|
{
|
|
b3Float4 quat2 = (b3Float4)(quat.x*quat.x, quat.y*quat.y, quat.z*quat.z, 0.f);
|
|
b3Mat3x3 out;
|
|
|
|
out.m_row[0].x=1-2*quat2.y-2*quat2.z;
|
|
out.m_row[0].y=2*quat.x*quat.y-2*quat.w*quat.z;
|
|
out.m_row[0].z=2*quat.x*quat.z+2*quat.w*quat.y;
|
|
out.m_row[0].w = 0.f;
|
|
|
|
out.m_row[1].x=2*quat.x*quat.y+2*quat.w*quat.z;
|
|
out.m_row[1].y=1-2*quat2.x-2*quat2.z;
|
|
out.m_row[1].z=2*quat.y*quat.z-2*quat.w*quat.x;
|
|
out.m_row[1].w = 0.f;
|
|
|
|
out.m_row[2].x=2*quat.x*quat.z-2*quat.w*quat.y;
|
|
out.m_row[2].y=2*quat.y*quat.z+2*quat.w*quat.x;
|
|
out.m_row[2].z=1-2*quat2.x-2*quat2.y;
|
|
out.m_row[2].w = 0.f;
|
|
|
|
return out;
|
|
}
|
|
|
|
inline b3Mat3x3 b3AbsoluteMat3x3(b3Mat3x3ConstArg matIn)
|
|
{
|
|
b3Mat3x3 out;
|
|
out.m_row[0] = fabs(matIn.m_row[0]);
|
|
out.m_row[1] = fabs(matIn.m_row[1]);
|
|
out.m_row[2] = fabs(matIn.m_row[2]);
|
|
return out;
|
|
}
|
|
|
|
|
|
__inline
|
|
b3Mat3x3 mtZero();
|
|
|
|
__inline
|
|
b3Mat3x3 mtIdentity();
|
|
|
|
__inline
|
|
b3Mat3x3 mtTranspose(b3Mat3x3 m);
|
|
|
|
__inline
|
|
b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b);
|
|
|
|
__inline
|
|
b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b);
|
|
|
|
__inline
|
|
b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b);
|
|
|
|
__inline
|
|
b3Mat3x3 mtZero()
|
|
{
|
|
b3Mat3x3 m;
|
|
m.m_row[0] = (b3Float4)(0.f);
|
|
m.m_row[1] = (b3Float4)(0.f);
|
|
m.m_row[2] = (b3Float4)(0.f);
|
|
return m;
|
|
}
|
|
|
|
__inline
|
|
b3Mat3x3 mtIdentity()
|
|
{
|
|
b3Mat3x3 m;
|
|
m.m_row[0] = (b3Float4)(1,0,0,0);
|
|
m.m_row[1] = (b3Float4)(0,1,0,0);
|
|
m.m_row[2] = (b3Float4)(0,0,1,0);
|
|
return m;
|
|
}
|
|
|
|
__inline
|
|
b3Mat3x3 mtTranspose(b3Mat3x3 m)
|
|
{
|
|
b3Mat3x3 out;
|
|
out.m_row[0] = (b3Float4)(m.m_row[0].x, m.m_row[1].x, m.m_row[2].x, 0.f);
|
|
out.m_row[1] = (b3Float4)(m.m_row[0].y, m.m_row[1].y, m.m_row[2].y, 0.f);
|
|
out.m_row[2] = (b3Float4)(m.m_row[0].z, m.m_row[1].z, m.m_row[2].z, 0.f);
|
|
return out;
|
|
}
|
|
|
|
__inline
|
|
b3Mat3x3 mtMul(b3Mat3x3 a, b3Mat3x3 b)
|
|
{
|
|
b3Mat3x3 transB;
|
|
transB = mtTranspose( b );
|
|
b3Mat3x3 ans;
|
|
// why this doesn't run when 0ing in the for{}
|
|
a.m_row[0].w = 0.f;
|
|
a.m_row[1].w = 0.f;
|
|
a.m_row[2].w = 0.f;
|
|
for(int i=0; i<3; i++)
|
|
{
|
|
// a.m_row[i].w = 0.f;
|
|
ans.m_row[i].x = b3Dot3F4(a.m_row[i],transB.m_row[0]);
|
|
ans.m_row[i].y = b3Dot3F4(a.m_row[i],transB.m_row[1]);
|
|
ans.m_row[i].z = b3Dot3F4(a.m_row[i],transB.m_row[2]);
|
|
ans.m_row[i].w = 0.f;
|
|
}
|
|
return ans;
|
|
}
|
|
|
|
__inline
|
|
b3Float4 mtMul1(b3Mat3x3 a, b3Float4 b)
|
|
{
|
|
b3Float4 ans;
|
|
ans.x = b3Dot3F4( a.m_row[0], b );
|
|
ans.y = b3Dot3F4( a.m_row[1], b );
|
|
ans.z = b3Dot3F4( a.m_row[2], b );
|
|
ans.w = 0.f;
|
|
return ans;
|
|
}
|
|
|
|
__inline
|
|
b3Float4 mtMul3(b3Float4 a, b3Mat3x3 b)
|
|
{
|
|
b3Float4 colx = b3MakeFloat4(b.m_row[0].x, b.m_row[1].x, b.m_row[2].x, 0);
|
|
b3Float4 coly = b3MakeFloat4(b.m_row[0].y, b.m_row[1].y, b.m_row[2].y, 0);
|
|
b3Float4 colz = b3MakeFloat4(b.m_row[0].z, b.m_row[1].z, b.m_row[2].z, 0);
|
|
|
|
b3Float4 ans;
|
|
ans.x = b3Dot3F4( a, colx );
|
|
ans.y = b3Dot3F4( a, coly );
|
|
ans.z = b3Dot3F4( a, colz );
|
|
return ans;
|
|
}
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif //B3_MAT3x3_H
|